id	sid	tid	token	lemma	pos
american_scientific_journal-2941	1	1	191	191	NUM
american_scientific_journal-2941	1	2	american	american	ADJ
american_scientific_journal-2941	1	3	scientific	scientific	ADJ
american_scientific_journal-2941	1	4	research	research	NOUN
american_scientific_journal-2941	1	5	journal	journal	NOUN
american_scientific_journal-2941	1	6	for	for	ADP
american_scientific_journal-2941	1	7	engineering	engineering	NOUN
american_scientific_journal-2941	1	8	,	,	PUNCT
american_scientific_journal-2941	1	9	technology	technology	NOUN
american_scientific_journal-2941	1	10	,	,	PUNCT
american_scientific_journal-2941	1	11	and	and	CCONJ
american_scientific_journal-2941	1	12	sciences	science	NOUN
american_scientific_journal-2941	1	13	(	(	PUNCT
american_scientific_journal-2941	1	14	asrjets	asrjet	NOUN
american_scientific_journal-2941	1	15	)	)	PUNCT
american_scientific_journal-2941	1	16	issn	issn	PROPN
american_scientific_journal-2941	1	17	(	(	PUNCT
american_scientific_journal-2941	1	18	print	print	NOUN
american_scientific_journal-2941	1	19	)	)	PUNCT
american_scientific_journal-2941	1	20	2313	2313	NUM
american_scientific_journal-2941	1	21	-	-	SYM
american_scientific_journal-2941	1	22	4410	4410	NUM
american_scientific_journal-2941	1	23	,	,	PUNCT
american_scientific_journal-2941	1	24	issn	issn	PROPN
american_scientific_journal-2941	1	25	(	(	PUNCT
american_scientific_journal-2941	1	26	online	online	ADJ
american_scientific_journal-2941	1	27	)	)	PUNCT
american_scientific_journal-2941	1	28	2313	2313	NUM
american_scientific_journal-2941	1	29	-	-	SYM
american_scientific_journal-2941	1	30	4402	4402	NUM
american_scientific_journal-2941	1	31	©	©	PROPN
american_scientific_journal-2941	1	32	global	global	ADJ
american_scientific_journal-2941	1	33	society	society	NOUN
american_scientific_journal-2941	1	34	of	of	ADP
american_scientific_journal-2941	1	35	scientific	scientific	ADJ
american_scientific_journal-2941	1	36	research	research	NOUN
american_scientific_journal-2941	1	37	and	and	CCONJ
american_scientific_journal-2941	1	38	researchers	researcher	NOUN
american_scientific_journal-2941	1	39	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-2941	1	40	neural	neural	ADJ
american_scientific_journal-2941	1	41	network	network	NOUN
american_scientific_journal-2941	1	42	control	control	NOUN
american_scientific_journal-2941	1	43	for	for	ADP
american_scientific_journal-2941	1	44	quadrotors	quadrotors	PROPN
american_scientific_journal-2941	1	45	osman	osman	PROPN
american_scientific_journal-2941	1	46	çakira	çakira	PROPN
american_scientific_journal-2941	1	47	*	*	PROPN
american_scientific_journal-2941	1	48	,	,	PUNCT
american_scientific_journal-2941	1	49	tolga	tolga	PROPN
american_scientific_journal-2941	1	50	yükselb	yükselb	PROPN
american_scientific_journal-2941	1	51	akarşıyaka	akarşıyaka	AUX
american_scientific_journal-2941	1	52	tüpraş	tüpraş	VERB
american_scientific_journal-2941	1	53	vocational	vocational	ADJ
american_scientific_journal-2941	1	54	and	and	CCONJ
american_scientific_journal-2941	1	55	technical	technical	ADJ
american_scientific_journal-2941	1	56	anatolian	anatolian	ADJ
american_scientific_journal-2941	1	57	high	high	ADJ
american_scientific_journal-2941	1	58	school	school	NOUN
american_scientific_journal-2941	1	59	,	,	PUNCT
american_scientific_journal-2941	1	60	başiskele	başiskele	PROPN
american_scientific_journal-2941	1	61	,	,	PUNCT
american_scientific_journal-2941	1	62	kocaeli	kocaeli	ADJ
american_scientific_journal-2941	1	63	,	,	PUNCT
american_scientific_journal-2941	1	64	turkey	turkey	NOUN
american_scientific_journal-2941	1	65	bdept	bdept	NOUN
american_scientific_journal-2941	1	66	.	.	PUNCT
american_scientific_journal-2941	1	67	of	of	ADP
american_scientific_journal-2941	1	68	electrical	electrical	ADJ
american_scientific_journal-2941	1	69	and	and	CCONJ
american_scientific_journal-2941	1	70	electronics	electronic	NOUN
american_scientific_journal-2941	1	71	engineering	engineering	NOUN
american_scientific_journal-2941	1	72	,	,	PUNCT
american_scientific_journal-2941	1	73	bilecik	bilecik	PROPN
american_scientific_journal-2941	1	74	şeyh	şeyh	PROPN
american_scientific_journal-2941	1	75	edebali	edebali	PROPN
american_scientific_journal-2941	1	76	university	university	PROPN
american_scientific_journal-2941	1	77	,	,	PUNCT
american_scientific_journal-2941	1	78	bilecik	bilecik	PROPN
american_scientific_journal-2941	1	79	,	,	PUNCT
american_scientific_journal-2941	1	80	turkey	turkey	NOUN
american_scientific_journal-2941	1	81	aemail	aemail	NOUN
american_scientific_journal-2941	1	82	:	:	PUNCT
american_scientific_journal-2941	2	1	cakirosman41@hotmail.com	cakirosman41@hotmail.com	X
american_scientific_journal-2941	2	2	bemail	bemail	NOUN
american_scientific_journal-2941	2	3	:	:	PUNCT
american_scientific_journal-2941	2	4	tolga.yuksel@bilecik.edu.tr	tolga.yuksel@bilecik.edu.tr	NOUN
american_scientific_journal-2941	2	5	abstract	abstract	ADJ
american_scientific_journal-2941	2	6	while	while	SCONJ
american_scientific_journal-2941	2	7	quadrotors	quadrotor	NOUN
american_scientific_journal-2941	2	8	are	be	AUX
american_scientific_journal-2941	2	9	becoming	become	VERB
american_scientific_journal-2941	2	10	more	more	ADV
american_scientific_journal-2941	2	11	popular	popular	ADJ
american_scientific_journal-2941	2	12	,	,	PUNCT
american_scientific_journal-2941	2	13	their	their	PRON
american_scientific_journal-2941	2	14	controllers	controller	NOUN
american_scientific_journal-2941	2	15	should	should	AUX
american_scientific_journal-2941	2	16	be	be	AUX
american_scientific_journal-2941	2	17	improved	improve	VERB
american_scientific_journal-2941	2	18	.	.	PUNCT
american_scientific_journal-2941	3	1	in	in	ADP
american_scientific_journal-2941	3	2	this	this	DET
american_scientific_journal-2941	3	3	study	study	NOUN
american_scientific_journal-2941	3	4	,	,	PUNCT
american_scientific_journal-2941	3	5	neural	neural	ADJ
american_scientific_journal-2941	3	6	network	network	NOUN
american_scientific_journal-2941	3	7	control	control	NOUN
american_scientific_journal-2941	3	8	of	of	ADP
american_scientific_journal-2941	3	9	quadrotors	quadrotor	NOUN
american_scientific_journal-2941	3	10	is	be	AUX
american_scientific_journal-2941	3	11	aimed	aim	VERB
american_scientific_journal-2941	3	12	to	to	PART
american_scientific_journal-2941	3	13	obtain	obtain	VERB
american_scientific_journal-2941	3	14	an	an	DET
american_scientific_journal-2941	3	15	artificial	artificial	ADJ
american_scientific_journal-2941	3	16	intelligence	intelligence	NOUN
american_scientific_journal-2941	3	17	based	base	VERB
american_scientific_journal-2941	3	18	controller	controller	NOUN
american_scientific_journal-2941	3	19	.	.	PUNCT
american_scientific_journal-2941	4	1	firstly	firstly	ADV
american_scientific_journal-2941	4	2	,	,	PUNCT
american_scientific_journal-2941	4	3	the	the	DET
american_scientific_journal-2941	4	4	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	4	5	is	be	AUX
american_scientific_journal-2941	4	6	modeled	model	VERB
american_scientific_journal-2941	4	7	according	accord	VERB
american_scientific_journal-2941	4	8	to	to	ADP
american_scientific_journal-2941	4	9	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	4	10	dynamics	dynamic	NOUN
american_scientific_journal-2941	4	11	.	.	PUNCT
american_scientific_journal-2941	5	1	then	then	ADV
american_scientific_journal-2941	5	2	,	,	PUNCT
american_scientific_journal-2941	5	3	pd	pd	PROPN
american_scientific_journal-2941	5	4	controllers	controller	NOUN
american_scientific_journal-2941	5	5	for	for	ADP
american_scientific_journal-2941	5	6	x	x	PROPN
american_scientific_journal-2941	5	7	,	,	PUNCT
american_scientific_journal-2941	5	8	y	y	PROPN
american_scientific_journal-2941	5	9	,	,	PUNCT
american_scientific_journal-2941	5	10	yaw	yaw	NOUN
american_scientific_journal-2941	5	11	and	and	CCONJ
american_scientific_journal-2941	5	12	z	z	NOUN
american_scientific_journal-2941	5	13	control	control	NOUN
american_scientific_journal-2941	5	14	of	of	ADP
american_scientific_journal-2941	5	15	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	5	16	are	be	AUX
american_scientific_journal-2941	5	17	implemented	implement	VERB
american_scientific_journal-2941	5	18	as	as	ADP
american_scientific_journal-2941	5	19	classical	classical	ADJ
american_scientific_journal-2941	5	20	controllers	controller	NOUN
american_scientific_journal-2941	5	21	.	.	PUNCT
american_scientific_journal-2941	6	1	the	the	DET
american_scientific_journal-2941	6	2	results	result	NOUN
american_scientific_journal-2941	6	3	for	for	ADP
american_scientific_journal-2941	6	4	these	these	DET
american_scientific_journal-2941	6	5	controllers	controller	NOUN
american_scientific_journal-2941	6	6	are	be	AUX
american_scientific_journal-2941	6	7	recorded	record	VERB
american_scientific_journal-2941	6	8	as	as	ADP
american_scientific_journal-2941	6	9	training	training	NOUN
american_scientific_journal-2941	6	10	data	datum	NOUN
american_scientific_journal-2941	6	11	of	of	ADP
american_scientific_journal-2941	6	12	nn	nn	NOUN
american_scientific_journal-2941	6	13	controllers	controller	NOUN
american_scientific_journal-2941	6	14	.	.	PUNCT
american_scientific_journal-2941	7	1	as	as	ADP
american_scientific_journal-2941	7	2	the	the	DET
american_scientific_journal-2941	7	3	proposed	propose	VERB
american_scientific_journal-2941	7	4	controllers	controller	NOUN
american_scientific_journal-2941	7	5	,	,	PUNCT
american_scientific_journal-2941	7	6	nn	nn	PROPN
american_scientific_journal-2941	7	7	controllers	controller	NOUN
american_scientific_journal-2941	7	8	are	be	AUX
american_scientific_journal-2941	7	9	trained	train	VERB
american_scientific_journal-2941	7	10	according	accord	VERB
american_scientific_journal-2941	7	11	to	to	ADP
american_scientific_journal-2941	7	12	these	these	DET
american_scientific_journal-2941	7	13	data	datum	NOUN
american_scientific_journal-2941	7	14	and	and	CCONJ
american_scientific_journal-2941	7	15	performance	performance	NOUN
american_scientific_journal-2941	7	16	of	of	ADP
american_scientific_journal-2941	7	17	these	these	DET
american_scientific_journal-2941	7	18	results	result	NOUN
american_scientific_journal-2941	7	19	are	be	AUX
american_scientific_journal-2941	7	20	examined	examine	VERB
american_scientific_journal-2941	7	21	.	.	PUNCT
american_scientific_journal-2941	8	1	the	the	DET
american_scientific_journal-2941	8	2	results	result	NOUN
american_scientific_journal-2941	8	3	verify	verify	VERB
american_scientific_journal-2941	8	4	that	that	SCONJ
american_scientific_journal-2941	8	5	nn	nn	PROPN
american_scientific_journal-2941	8	6	controllers	controller	NOUN
american_scientific_journal-2941	8	7	achieve	achieve	VERB
american_scientific_journal-2941	8	8	good	good	ADJ
american_scientific_journal-2941	8	9	trajectory	trajectory	NOUN
american_scientific_journal-2941	8	10	tracking	tracking	NOUN
american_scientific_journal-2941	8	11	results	result	NOUN
american_scientific_journal-2941	8	12	.	.	PUNCT
american_scientific_journal-2941	9	1	keywords	keyword	NOUN
american_scientific_journal-2941	9	2	:	:	PUNCT
american_scientific_journal-2941	9	3	quadrotors	quadrotor	NOUN
american_scientific_journal-2941	9	4	;	;	PUNCT
american_scientific_journal-2941	9	5	neural	neural	ADJ
american_scientific_journal-2941	9	6	networks	network	NOUN
american_scientific_journal-2941	9	7	.	.	PUNCT
american_scientific_journal-2941	10	1	1	1	X
american_scientific_journal-2941	10	2	.	.	X
american_scientific_journal-2941	10	3	introduction	introduction	NOUN
american_scientific_journal-2941	10	4	the	the	DET
american_scientific_journal-2941	10	5	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	10	6	is	be	AUX
american_scientific_journal-2941	10	7	one	one	NUM
american_scientific_journal-2941	10	8	of	of	ADP
american_scientific_journal-2941	10	9	the	the	DET
american_scientific_journal-2941	10	10	most	most	ADV
american_scientific_journal-2941	10	11	important	important	ADJ
american_scientific_journal-2941	10	12	unmanned	unmanned	ADJ
american_scientific_journal-2941	10	13	air	air	NOUN
american_scientific_journal-2941	10	14	vehicles	vehicle	NOUN
american_scientific_journal-2941	10	15	(	(	PUNCT
american_scientific_journal-2941	10	16	uavs	uavs	PROPN
american_scientific_journal-2941	10	17	)	)	PUNCT
american_scientific_journal-2941	10	18	in	in	ADP
american_scientific_journal-2941	10	19	the	the	DET
american_scientific_journal-2941	10	20	field	field	NOUN
american_scientific_journal-2941	10	21	of	of	ADP
american_scientific_journal-2941	10	22	vertical	vertical	ADJ
american_scientific_journal-2941	10	23	take	take	VERB
american_scientific_journal-2941	10	24	-	-	PUNCT
american_scientific_journal-2941	10	25	off	off	NOUN
american_scientific_journal-2941	10	26	and	and	CCONJ
american_scientific_journal-2941	10	27	landing	landing	NOUN
american_scientific_journal-2941	10	28	(	(	PUNCT
american_scientific_journal-2941	10	29	vtol	vtol	PROPN
american_scientific_journal-2941	10	30	)	)	PUNCT
american_scientific_journal-2941	10	31	that	that	PRON
american_scientific_journal-2941	10	32	can	can	AUX
american_scientific_journal-2941	10	33	achieve	achieve	VERB
american_scientific_journal-2941	10	34	a	a	DET
american_scientific_journal-2941	10	35	stable	stable	ADJ
american_scientific_journal-2941	10	36	hovering	hovering	NOUN
american_scientific_journal-2941	10	37	and	and	CCONJ
american_scientific_journal-2941	10	38	flight	flight	NOUN
american_scientific_journal-2941	10	39	using	use	VERB
american_scientific_journal-2941	10	40	the	the	DET
american_scientific_journal-2941	10	41	forces	force	NOUN
american_scientific_journal-2941	10	42	produced	produce	VERB
american_scientific_journal-2941	10	43	by	by	ADP
american_scientific_journal-2941	10	44	four	four	NUM
american_scientific_journal-2941	10	45	rotors	rotor	NOUN
american_scientific_journal-2941	10	46	.	.	PUNCT
american_scientific_journal-2941	11	1	during	during	ADP
american_scientific_journal-2941	11	2	the	the	DET
american_scientific_journal-2941	11	3	last	last	ADJ
american_scientific_journal-2941	11	4	decade	decade	NOUN
american_scientific_journal-2941	11	5	,	,	PUNCT
american_scientific_journal-2941	11	6	the	the	DET
american_scientific_journal-2941	11	7	interest	interest	NOUN
american_scientific_journal-2941	11	8	in	in	ADP
american_scientific_journal-2941	11	9	the	the	DET
american_scientific_journal-2941	11	10	quadrotors	quadrotor	NOUN
american_scientific_journal-2941	11	11	has	have	AUX
american_scientific_journal-2941	11	12	been	be	AUX
american_scientific_journal-2941	11	13	increased	increase	VERB
american_scientific_journal-2941	11	14	powerfully	powerfully	ADV
american_scientific_journal-2941	11	15	.	.	PUNCT
american_scientific_journal-2941	12	1	therefore	therefore	ADV
american_scientific_journal-2941	12	2	,	,	PUNCT
american_scientific_journal-2941	12	3	the	the	DET
american_scientific_journal-2941	12	4	design	design	NOUN
american_scientific_journal-2941	12	5	of	of	ADP
american_scientific_journal-2941	12	6	flight	flight	NOUN
american_scientific_journal-2941	12	7	controllers	controller	NOUN
american_scientific_journal-2941	12	8	performing	perform	VERB
american_scientific_journal-2941	12	9	robust	robust	ADJ
american_scientific_journal-2941	12	10	control	control	NOUN
american_scientific_journal-2941	12	11	for	for	ADP
american_scientific_journal-2941	12	12	the	the	DET
american_scientific_journal-2941	12	13	quadrotors	quadrotor	NOUN
american_scientific_journal-2941	12	14	is	be	AUX
american_scientific_journal-2941	12	15	an	an	DET
american_scientific_journal-2941	12	16	important	important	ADJ
american_scientific_journal-2941	12	17	issue	issue	NOUN
american_scientific_journal-2941	12	18	for	for	ADP
american_scientific_journal-2941	12	19	the	the	DET
american_scientific_journal-2941	12	20	fully	fully	ADV
american_scientific_journal-2941	12	21	autonomous	autonomous	ADJ
american_scientific_journal-2941	12	22	vehicles	vehicle	NOUN
american_scientific_journal-2941	12	23	design	design	NOUN
american_scientific_journal-2941	12	24	.	.	PUNCT
american_scientific_journal-2941	13	1	pound	pound	PROPN
american_scientific_journal-2941	13	2	examined	examine	VERB
american_scientific_journal-2941	13	3	the	the	DET
american_scientific_journal-2941	13	4	flight	flight	NOUN
american_scientific_journal-2941	13	5	dynamics	dynamic	NOUN
american_scientific_journal-2941	13	6	and	and	CCONJ
american_scientific_journal-2941	13	7	the	the	DET
american_scientific_journal-2941	13	8	dynamic	dynamic	ADJ
american_scientific_journal-2941	13	9	model	model	NOUN
american_scientific_journal-2941	13	10	of	of	ADP
american_scientific_journal-2941	13	11	a	a	DET
american_scientific_journal-2941	13	12	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	13	13	in[1	in[1	PROPN
american_scientific_journal-2941	13	14	]	]	PUNCT
american_scientific_journal-2941	13	15	.	.	PUNCT
american_scientific_journal-2941	14	1	however	however	ADV
american_scientific_journal-2941	14	2	,	,	PUNCT
american_scientific_journal-2941	14	3	accurate	accurate	ADJ
american_scientific_journal-2941	14	4	dynamics	dynamic	NOUN
american_scientific_journal-2941	14	5	models	model	NOUN
american_scientific_journal-2941	14	6	of	of	ADP
american_scientific_journal-2941	14	7	quadrotors	quadrotor	NOUN
american_scientific_journal-2941	14	8	operating	operate	VERB
american_scientific_journal-2941	14	9	at	at	ADP
american_scientific_journal-2941	14	10	higher	high	ADJ
american_scientific_journal-2941	14	11	speeds	speed	NOUN
american_scientific_journal-2941	14	12	and	and	CCONJ
american_scientific_journal-2941	14	13	in	in	ADP
american_scientific_journal-2941	14	14	outdoor	outdoor	ADJ
american_scientific_journal-2941	14	15	environments	environment	NOUN
american_scientific_journal-2941	14	16	are	be	AUX
american_scientific_journal-2941	14	17	derived	derive	VERB
american_scientific_journal-2941	14	18	difficulty	difficulty	NOUN
american_scientific_journal-2941	14	19	.	.	PUNCT
american_scientific_journal-2941	15	1	for	for	ADP
american_scientific_journal-2941	15	2	this	this	DET
american_scientific_journal-2941	15	3	reason	reason	NOUN
american_scientific_journal-2941	15	4	,	,	PUNCT
american_scientific_journal-2941	15	5	control	control	NOUN
american_scientific_journal-2941	15	6	techniques	technique	NOUN
american_scientific_journal-2941	15	7	based	base	VERB
american_scientific_journal-2941	15	8	upon	upon	SCONJ
american_scientific_journal-2941	15	9	such	such	ADJ
american_scientific_journal-2941	15	10	models	model	NOUN
american_scientific_journal-2941	15	11	are	be	AUX
american_scientific_journal-2941	15	12	critical	critical	ADJ
american_scientific_journal-2941	15	13	for	for	ADP
american_scientific_journal-2941	15	14	precision	precision	NOUN
american_scientific_journal-2941	15	15	and	and	CCONJ
american_scientific_journal-2941	15	16	trajectory	trajectory	NOUN
american_scientific_journal-2941	15	17	tracking	tracking	NOUN
american_scientific_journal-2941	15	18	control	control	NOUN
american_scientific_journal-2941	15	19	.	.	PUNCT
american_scientific_journal-2941	16	1	as	as	ADP
american_scientific_journal-2941	16	2	a	a	DET
american_scientific_journal-2941	16	3	good	good	ADJ
american_scientific_journal-2941	16	4	uav	uav	PROPN
american_scientific_journal-2941	16	5	candidate	candidate	NOUN
american_scientific_journal-2941	16	6	,	,	PUNCT
american_scientific_journal-2941	16	7	quadrotors	quadrotor	NOUN
american_scientific_journal-2941	16	8	have	have	AUX
american_scientific_journal-2941	16	9	become	become	VERB
american_scientific_journal-2941	16	10	ideal	ideal	ADJ
american_scientific_journal-2941	16	11	experimental	experimental	ADJ
american_scientific_journal-2941	16	12	platforms	platform	NOUN
american_scientific_journal-2941	16	13	for	for	ADP
american_scientific_journal-2941	16	14	the	the	DET
american_scientific_journal-2941	16	15	design	design	NOUN
american_scientific_journal-2941	16	16	of	of	ADP
american_scientific_journal-2941	16	17	the	the	DET
american_scientific_journal-2941	16	18	aerial	aerial	ADJ
american_scientific_journal-2941	16	19	vehicle	vehicle	NOUN
american_scientific_journal-2941	16	20	control	control	NOUN
american_scientific_journal-2941	16	21	.	.	PUNCT
american_scientific_journal-2941	17	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-2941	18	1	*	*	PUNCT
american_scientific_journal-2941	18	2	corresponding	correspond	VERB
american_scientific_journal-2941	18	3	author	author	NOUN
american_scientific_journal-2941	18	4	.	.	PUNCT
american_scientific_journal-2941	19	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-2941	19	2	american	american	PROPN
american_scientific_journal-2941	19	3	scientific	scientific	PROPN
american_scientific_journal-2941	19	4	research	research	NOUN
american_scientific_journal-2941	19	5	journal	journal	NOUN
american_scientific_journal-2941	19	6	for	for	ADP
american_scientific_journal-2941	19	7	engineering	engineering	NOUN
american_scientific_journal-2941	19	8	,	,	PUNCT
american_scientific_journal-2941	19	9	technology	technology	NOUN
american_scientific_journal-2941	19	10	,	,	PUNCT
american_scientific_journal-2941	19	11	and	and	CCONJ
american_scientific_journal-2941	19	12	sciences	science	NOUN
american_scientific_journal-2941	19	13	(	(	PUNCT
american_scientific_journal-2941	19	14	asrjets	asrjet	NOUN
american_scientific_journal-2941	19	15	)	)	PUNCT
american_scientific_journal-2941	19	16	(	(	PUNCT
american_scientific_journal-2941	19	17	2017	2017	NUM
american_scientific_journal-2941	19	18	)	)	PUNCT
american_scientific_journal-2941	19	19	volume	volume	NOUN
american_scientific_journal-2941	19	20	31	31	NUM
american_scientific_journal-2941	19	21	,	,	PUNCT
american_scientific_journal-2941	19	22	no	no	DET
american_scientific_journal-2941	19	23	1	1	NUM
american_scientific_journal-2941	19	24	,	,	PUNCT
american_scientific_journal-2941	19	25	pp	pp	ADV
american_scientific_journal-2941	19	26	191	191	NUM
american_scientific_journal-2941	19	27	-	-	SYM
american_scientific_journal-2941	19	28	200	200	NUM
american_scientific_journal-2941	19	29	192	192	NUM
american_scientific_journal-2941	19	30	different	different	ADJ
american_scientific_journal-2941	19	31	control	control	NOUN
american_scientific_journal-2941	19	32	methods	method	NOUN
american_scientific_journal-2941	19	33	for	for	ADP
american_scientific_journal-2941	19	34	the	the	DET
american_scientific_journal-2941	19	35	attitude	attitude	NOUN
american_scientific_journal-2941	19	36	and	and	CCONJ
american_scientific_journal-2941	19	37	position	position	NOUN
american_scientific_journal-2941	19	38	control	control	NOUN
american_scientific_journal-2941	19	39	of	of	ADP
american_scientific_journal-2941	19	40	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	19	41	have	have	AUX
american_scientific_journal-2941	19	42	been	be	AUX
american_scientific_journal-2941	19	43	investigated	investigate	VERB
american_scientific_journal-2941	19	44	in	in	ADP
american_scientific_journal-2941	19	45	the	the	DET
american_scientific_journal-2941	19	46	literature	literature	NOUN
american_scientific_journal-2941	19	47	.	.	PUNCT
american_scientific_journal-2941	20	1	classical	classical	ADJ
american_scientific_journal-2941	20	2	pd	pd	PROPN
american_scientific_journal-2941	20	3	and	and	CCONJ
american_scientific_journal-2941	20	4	pid	pid	NOUN
american_scientific_journal-2941	20	5	controllers	controller	NOUN
american_scientific_journal-2941	20	6	were	be	AUX
american_scientific_journal-2941	20	7	applied	apply	VERB
american_scientific_journal-2941	20	8	to	to	PART
american_scientific_journal-2941	20	9	achieve	achieve	VERB
american_scientific_journal-2941	20	10	the	the	DET
american_scientific_journal-2941	20	11	autonomous	autonomous	ADJ
american_scientific_journal-2941	20	12	flight	flight	NOUN
american_scientific_journal-2941	20	13	of	of	ADP
american_scientific_journal-2941	20	14	the	the	DET
american_scientific_journal-2941	20	15	quadrotors	quadrotor	NOUN
american_scientific_journal-2941	20	16	in	in	ADP
american_scientific_journal-2941	20	17	[	[	X
american_scientific_journal-2941	20	18	2,3	2,3	NUM
american_scientific_journal-2941	20	19	]	]	PUNCT
american_scientific_journal-2941	20	20	.	.	PUNCT
american_scientific_journal-2941	21	1	a	a	DET
american_scientific_journal-2941	21	2	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	21	3	is	be	AUX
american_scientific_journal-2941	21	4	a	a	DET
american_scientific_journal-2941	21	5	mimo	mimo	PROPN
american_scientific_journal-2941	21	6	system	system	NOUN
american_scientific_journal-2941	21	7	affected	affect	VERB
american_scientific_journal-2941	21	8	by	by	ADP
american_scientific_journal-2941	21	9	various	various	ADJ
american_scientific_journal-2941	21	10	uncertainties	uncertainty	NOUN
american_scientific_journal-2941	21	11	such	such	ADJ
american_scientific_journal-2941	21	12	as	as	ADP
american_scientific_journal-2941	21	13	parametric	parametric	ADJ
american_scientific_journal-2941	21	14	uncertainties	uncertainty	NOUN
american_scientific_journal-2941	21	15	,	,	PUNCT
american_scientific_journal-2941	21	16	nonlinear	nonlinear	ADJ
american_scientific_journal-2941	21	17	dynamics	dynamic	NOUN
american_scientific_journal-2941	21	18	,	,	PUNCT
american_scientific_journal-2941	21	19	and	and	CCONJ
american_scientific_journal-2941	21	20	external	external	ADJ
american_scientific_journal-2941	21	21	disturbances	disturbance	NOUN
american_scientific_journal-2941	21	22	.	.	PUNCT
american_scientific_journal-2941	22	1	therefore	therefore	ADV
american_scientific_journal-2941	22	2	,	,	PUNCT
american_scientific_journal-2941	22	3	it	it	PRON
american_scientific_journal-2941	22	4	is	be	AUX
american_scientific_journal-2941	22	5	hard	hard	ADJ
american_scientific_journal-2941	22	6	for	for	SCONJ
american_scientific_journal-2941	22	7	classical	classical	ADJ
american_scientific_journal-2941	22	8	controllers	controller	NOUN
american_scientific_journal-2941	22	9	to	to	PART
american_scientific_journal-2941	22	10	provide	provide	VERB
american_scientific_journal-2941	22	11	robust	robust	ADJ
american_scientific_journal-2941	22	12	tracking	tracking	NOUN
american_scientific_journal-2941	22	13	performance	performance	NOUN
american_scientific_journal-2941	22	14	.	.	PUNCT
american_scientific_journal-2941	23	1	there	there	PRON
american_scientific_journal-2941	23	2	are	be	VERB
american_scientific_journal-2941	23	3	a	a	DET
american_scientific_journal-2941	23	4	variety	variety	NOUN
american_scientific_journal-2941	23	5	of	of	ADP
american_scientific_journal-2941	23	6	techniques	technique	NOUN
american_scientific_journal-2941	23	7	that	that	PRON
american_scientific_journal-2941	23	8	have	have	AUX
american_scientific_journal-2941	23	9	been	be	AUX
american_scientific_journal-2941	23	10	developed	develop	VERB
american_scientific_journal-2941	23	11	to	to	PART
american_scientific_journal-2941	23	12	reduce	reduce	VERB
american_scientific_journal-2941	23	13	the	the	DET
american_scientific_journal-2941	23	14	side	side	NOUN
american_scientific_journal-2941	23	15	effects	effect	NOUN
american_scientific_journal-2941	23	16	of	of	ADP
american_scientific_journal-2941	23	17	the	the	DET
american_scientific_journal-2941	23	18	uncertainties	uncertainty	NOUN
american_scientific_journal-2941	23	19	in	in	ADP
american_scientific_journal-2941	23	20	the	the	DET
american_scientific_journal-2941	23	21	rotational	rotational	ADJ
american_scientific_journal-2941	23	22	dynamics	dynamic	NOUN
american_scientific_journal-2941	23	23	of	of	ADP
american_scientific_journal-2941	23	24	the	the	DET
american_scientific_journal-2941	23	25	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	23	26	.	.	PUNCT
american_scientific_journal-2941	24	1	fuzzy	fuzzy	ADJ
american_scientific_journal-2941	24	2	control[4,5	control[4,5	NOUN
american_scientific_journal-2941	24	3	]	]	PUNCT
american_scientific_journal-2941	24	4	,	,	PUNCT
american_scientific_journal-2941	24	5	sliding	sliding	ADJ
american_scientific_journal-2941	24	6	-	-	PUNCT
american_scientific_journal-2941	24	7	mode	mode	NOUN
american_scientific_journal-2941	24	8	control	control	NOUN
american_scientific_journal-2941	25	1	[	[	X
american_scientific_journal-2941	25	2	6,7	6,7	NUM
american_scientific_journal-2941	25	3	]	]	PUNCT
american_scientific_journal-2941	25	4	,	,	PUNCT
american_scientific_journal-2941	25	5	and	and	CCONJ
american_scientific_journal-2941	25	6	robust	robust	ADJ
american_scientific_journal-2941	25	7	control	control	NOUN
american_scientific_journal-2941	25	8	[	[	X
american_scientific_journal-2941	25	9	8	8	NUM
american_scientific_journal-2941	25	10	]	]	PUNCT
american_scientific_journal-2941	25	11	techniques	technique	NOUN
american_scientific_journal-2941	25	12	were	be	AUX
american_scientific_journal-2941	25	13	applied	apply	VERB
american_scientific_journal-2941	25	14	for	for	ADP
american_scientific_journal-2941	25	15	the	the	DET
american_scientific_journal-2941	25	16	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	25	17	stabilization	stabilization	NOUN
american_scientific_journal-2941	25	18	with	with	ADP
american_scientific_journal-2941	25	19	uncertainties	uncertainty	NOUN
american_scientific_journal-2941	25	20	.	.	PUNCT
american_scientific_journal-2941	26	1	in	in	ADP
american_scientific_journal-2941	26	2	this	this	DET
american_scientific_journal-2941	26	3	study	study	NOUN
american_scientific_journal-2941	26	4	,	,	PUNCT
american_scientific_journal-2941	26	5	neural	neural	ADJ
american_scientific_journal-2941	26	6	networks	network	NOUN
american_scientific_journal-2941	26	7	(	(	PUNCT
american_scientific_journal-2941	26	8	nns	nn	NOUN
american_scientific_journal-2941	26	9	)	)	PUNCT
american_scientific_journal-2941	26	10	are	be	AUX
american_scientific_journal-2941	26	11	considered	consider	VERB
american_scientific_journal-2941	26	12	as	as	ADP
american_scientific_journal-2941	26	13	compensators	compensator	NOUN
american_scientific_journal-2941	26	14	of	of	ADP
american_scientific_journal-2941	26	15	uncertainties	uncertainty	NOUN
american_scientific_journal-2941	26	16	for	for	ADP
american_scientific_journal-2941	26	17	control	control	NOUN
american_scientific_journal-2941	26	18	of	of	ADP
american_scientific_journal-2941	26	19	stabilization	stabilization	NOUN
american_scientific_journal-2941	26	20	.	.	PUNCT
american_scientific_journal-2941	27	1	as	as	SCONJ
american_scientific_journal-2941	27	2	mentioned	mention	VERB
american_scientific_journal-2941	27	3	in	in	ADP
american_scientific_journal-2941	27	4	[	[	X
american_scientific_journal-2941	27	5	9	9	NUM
american_scientific_journal-2941	27	6	]	]	PUNCT
american_scientific_journal-2941	27	7	,	,	PUNCT
american_scientific_journal-2941	27	8	nns	nns	PROPN
american_scientific_journal-2941	27	9	are	be	AUX
american_scientific_journal-2941	27	10	artificial	artificial	ADJ
american_scientific_journal-2941	27	11	intelligence	intelligence	NOUN
american_scientific_journal-2941	27	12	tools	tool	NOUN
american_scientific_journal-2941	27	13	for	for	ADP
american_scientific_journal-2941	27	14	modeling	modeling	NOUN
american_scientific_journal-2941	27	15	and	and	CCONJ
american_scientific_journal-2941	27	16	classification	classification	NOUN
american_scientific_journal-2941	27	17	and	and	CCONJ
american_scientific_journal-2941	27	18	they	they	PRON
american_scientific_journal-2941	27	19	can	can	AUX
american_scientific_journal-2941	27	20	also	also	ADV
american_scientific_journal-2941	27	21	model	model	VERB
american_scientific_journal-2941	27	22	nonlinearities	nonlinearitie	NOUN
american_scientific_journal-2941	27	23	without	without	ADP
american_scientific_journal-2941	27	24	analytical	analytical	ADJ
american_scientific_journal-2941	27	25	methods	method	NOUN
american_scientific_journal-2941	27	26	.	.	PUNCT
american_scientific_journal-2941	28	1	it	it	PRON
american_scientific_journal-2941	28	2	can	can	AUX
american_scientific_journal-2941	28	3	used	use	VERB
american_scientific_journal-2941	28	4	as	as	ADP
american_scientific_journal-2941	28	5	controllers	controller	NOUN
american_scientific_journal-2941	28	6	for	for	ADP
american_scientific_journal-2941	28	7	such	such	ADJ
american_scientific_journal-2941	28	8	systems	system	NOUN
american_scientific_journal-2941	28	9	with	with	ADP
american_scientific_journal-2941	28	10	uncertainties	uncertainty	NOUN
american_scientific_journal-2941	28	11	as	as	ADP
american_scientific_journal-2941	28	12	in	in	ADP
american_scientific_journal-2941	28	13	[	[	X
american_scientific_journal-2941	28	14	10,11	10,11	NOUN
american_scientific_journal-2941	28	15	]	]	PUNCT
american_scientific_journal-2941	28	16	.	.	PUNCT
american_scientific_journal-2941	29	1	in	in	ADP
american_scientific_journal-2941	29	2	this	this	DET
american_scientific_journal-2941	29	3	study	study	NOUN
american_scientific_journal-2941	29	4	,	,	PUNCT
american_scientific_journal-2941	29	5	neural	neural	ADJ
american_scientific_journal-2941	29	6	network	network	NOUN
american_scientific_journal-2941	29	7	controllers	controller	NOUN
american_scientific_journal-2941	29	8	are	be	AUX
american_scientific_journal-2941	29	9	considered	consider	VERB
american_scientific_journal-2941	29	10	and	and	CCONJ
american_scientific_journal-2941	29	11	they	they	PRON
american_scientific_journal-2941	29	12	are	be	AUX
american_scientific_journal-2941	29	13	applied	apply	VERB
american_scientific_journal-2941	29	14	for	for	ADP
american_scientific_journal-2941	29	15	the	the	DET
american_scientific_journal-2941	29	16	control	control	NOUN
american_scientific_journal-2941	29	17	of	of	ADP
american_scientific_journal-2941	29	18	a	a	DET
american_scientific_journal-2941	29	19	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	29	20	.	.	PUNCT
american_scientific_journal-2941	30	1	the	the	DET
american_scientific_journal-2941	30	2	paper	paper	NOUN
american_scientific_journal-2941	30	3	is	be	AUX
american_scientific_journal-2941	30	4	organized	organize	VERB
american_scientific_journal-2941	30	5	as	as	SCONJ
american_scientific_journal-2941	30	6	follows	follow	VERB
american_scientific_journal-2941	30	7	:	:	PUNCT
american_scientific_journal-2941	30	8	the	the	DET
american_scientific_journal-2941	30	9	nonlinear	nonlinear	ADJ
american_scientific_journal-2941	30	10	mathematical	mathematical	ADJ
american_scientific_journal-2941	30	11	model	model	NOUN
american_scientific_journal-2941	30	12	of	of	ADP
american_scientific_journal-2941	30	13	the	the	DET
american_scientific_journal-2941	30	14	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	30	15	is	be	AUX
american_scientific_journal-2941	30	16	described	describe	VERB
american_scientific_journal-2941	30	17	step	step	NOUN
american_scientific_journal-2941	30	18	by	by	ADP
american_scientific_journal-2941	30	19	step	step	NOUN
american_scientific_journal-2941	30	20	in	in	ADP
american_scientific_journal-2941	30	21	section	section	NOUN
american_scientific_journal-2941	30	22	2	2	NUM
american_scientific_journal-2941	30	23	.	.	PUNCT
american_scientific_journal-2941	31	1	the	the	DET
american_scientific_journal-2941	31	2	designs	design	NOUN
american_scientific_journal-2941	31	3	of	of	ADP
american_scientific_journal-2941	31	4	the	the	DET
american_scientific_journal-2941	31	5	proposed	propose	VERB
american_scientific_journal-2941	31	6	nn	nn	PROPN
american_scientific_journal-2941	31	7	controllers	controller	NOUN
american_scientific_journal-2941	31	8	are	be	AUX
american_scientific_journal-2941	31	9	presented	present	VERB
american_scientific_journal-2941	31	10	in	in	ADP
american_scientific_journal-2941	31	11	section	section	NOUN
american_scientific_journal-2941	31	12	3	3	NUM
american_scientific_journal-2941	31	13	.	.	PUNCT
american_scientific_journal-2941	32	1	the	the	DET
american_scientific_journal-2941	32	2	simulation	simulation	NOUN
american_scientific_journal-2941	32	3	results	result	NOUN
american_scientific_journal-2941	32	4	are	be	AUX
american_scientific_journal-2941	32	5	shown	show	VERB
american_scientific_journal-2941	32	6	in	in	ADP
american_scientific_journal-2941	32	7	section	section	NOUN
american_scientific_journal-2941	32	8	4	4	NUM
american_scientific_journal-2941	32	9	with	with	ADP
american_scientific_journal-2941	32	10	analysis	analysis	NOUN
american_scientific_journal-2941	32	11	of	of	ADP
american_scientific_journal-2941	32	12	trajectory	trajectory	NOUN
american_scientific_journal-2941	32	13	tracking	tracking	NOUN
american_scientific_journal-2941	32	14	performance	performance	NOUN
american_scientific_journal-2941	32	15	of	of	ADP
american_scientific_journal-2941	32	16	controller	controller	NOUN
american_scientific_journal-2941	32	17	.	.	PUNCT
american_scientific_journal-2941	33	1	the	the	DET
american_scientific_journal-2941	33	2	conclusion	conclusion	NOUN
american_scientific_journal-2941	33	3	is	be	AUX
american_scientific_journal-2941	33	4	given	give	VERB
american_scientific_journal-2941	33	5	in	in	ADP
american_scientific_journal-2941	33	6	section	section	NOUN
american_scientific_journal-2941	33	7	5	5	NUM
american_scientific_journal-2941	33	8	.	.	NOUN
american_scientific_journal-2941	33	9	2	2	NUM
american_scientific_journal-2941	33	10	.	.	X
american_scientific_journal-2941	33	11	dynamics	dynamic	NOUN
american_scientific_journal-2941	33	12	of	of	ADP
american_scientific_journal-2941	33	13	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	33	14	as	as	ADP
american_scientific_journal-2941	33	15	the	the	DET
american_scientific_journal-2941	33	16	most	most	ADV
american_scientific_journal-2941	33	17	popular	popular	ADJ
american_scientific_journal-2941	33	18	uav	uav	PROPN
american_scientific_journal-2941	33	19	in	in	ADP
american_scientific_journal-2941	33	20	the	the	DET
american_scientific_journal-2941	33	21	last	last	ADJ
american_scientific_journal-2941	33	22	decade	decade	NOUN
american_scientific_journal-2941	33	23	,	,	PUNCT
american_scientific_journal-2941	33	24	an	an	DET
american_scientific_journal-2941	33	25	example	example	NOUN
american_scientific_journal-2941	33	26	of	of	ADP
american_scientific_journal-2941	33	27	a	a	DET
american_scientific_journal-2941	33	28	real	real	ADJ
american_scientific_journal-2941	33	29	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	33	30	named	name	VERB
american_scientific_journal-2941	33	31	as	as	ADP
american_scientific_journal-2941	33	32	pelican	pelican	NOUN
american_scientific_journal-2941	33	33	from	from	ADP
american_scientific_journal-2941	33	34	asc	asc	PROPN
american_scientific_journal-2941	33	35	tec	tec	PROPN
american_scientific_journal-2941	33	36	corporation	corporation	NOUN
american_scientific_journal-2941	33	37	is	be	AUX
american_scientific_journal-2941	33	38	shown	show	VERB
american_scientific_journal-2941	33	39	in	in	ADP
american_scientific_journal-2941	33	40	figure	figure	NOUN
american_scientific_journal-2941	33	41	1	1	NUM
american_scientific_journal-2941	33	42	.	.	PUNCT
american_scientific_journal-2941	34	1	the	the	DET
american_scientific_journal-2941	34	2	fields	field	NOUN
american_scientific_journal-2941	34	3	of	of	ADP
american_scientific_journal-2941	34	4	applications	application	NOUN
american_scientific_journal-2941	34	5	include	include	VERB
american_scientific_journal-2941	34	6	reconnaissance	reconnaissance	NOUN
american_scientific_journal-2941	34	7	,	,	PUNCT
american_scientific_journal-2941	34	8	agricultural	agricultural	ADJ
american_scientific_journal-2941	34	9	application	application	NOUN
american_scientific_journal-2941	34	10	,	,	PUNCT
american_scientific_journal-2941	34	11	and	and	CCONJ
american_scientific_journal-2941	34	12	robotics	robotic	NOUN
american_scientific_journal-2941	34	13	research	research	NOUN
american_scientific_journal-2941	34	14	.	.	PUNCT
american_scientific_journal-2941	35	1	while	while	SCONJ
american_scientific_journal-2941	35	2	fixed	fixed	ADJ
american_scientific_journal-2941	35	3	wing	wing	NOUN
american_scientific_journal-2941	35	4	uavs	uavs	NOUN
american_scientific_journal-2941	35	5	provide	provide	VERB
american_scientific_journal-2941	35	6	lifting	lifting	NOUN
american_scientific_journal-2941	35	7	by	by	ADP
american_scientific_journal-2941	35	8	a	a	DET
american_scientific_journal-2941	35	9	propeller	propeller	NOUN
american_scientific_journal-2941	35	10	or	or	CCONJ
american_scientific_journal-2941	35	11	jet	jet	NOUN
american_scientific_journal-2941	35	12	motor	motor	NOUN
american_scientific_journal-2941	35	13	and	and	CCONJ
american_scientific_journal-2941	35	14	flaps	flap	NOUN
american_scientific_journal-2941	35	15	,	,	PUNCT
american_scientific_journal-2941	35	16	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	35	17	provides	provide	VERB
american_scientific_journal-2941	35	18	this	this	DET
american_scientific_journal-2941	35	19	thrust	thrust	NOUN
american_scientific_journal-2941	35	20	by	by	ADP
american_scientific_journal-2941	35	21	four	four	NUM
american_scientific_journal-2941	35	22	propellers	propeller	NOUN
american_scientific_journal-2941	35	23	in	in	ADP
american_scientific_journal-2941	35	24	each	each	DET
american_scientific_journal-2941	35	25	side	side	NOUN
american_scientific_journal-2941	35	26	of	of	ADP
american_scientific_journal-2941	35	27	the	the	DET
american_scientific_journal-2941	35	28	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	35	29	.	.	PUNCT
american_scientific_journal-2941	36	1	figure	figure	VERB
american_scientific_journal-2941	36	2	1	1	NUM
american_scientific_journal-2941	36	3	:	:	PUNCT
american_scientific_journal-2941	36	4	pelican	pelican	NOUN
american_scientific_journal-2941	36	5	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	36	6	the	the	DET
american_scientific_journal-2941	36	7	notations	notation	NOUN
american_scientific_journal-2941	36	8	of	of	ADP
american_scientific_journal-2941	36	9	a	a	DET
american_scientific_journal-2941	36	10	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	36	11	is	be	AUX
american_scientific_journal-2941	36	12	shown	show	VERB
american_scientific_journal-2941	36	13	in	in	ADP
american_scientific_journal-2941	36	14	figure	figure	NOUN
american_scientific_journal-2941	36	15	2	2	NUM
american_scientific_journal-2941	37	1	[	[	X
american_scientific_journal-2941	37	2	12	12	NUM
american_scientific_journal-2941	37	3	]	]	PUNCT
american_scientific_journal-2941	37	4	.	.	PUNCT
american_scientific_journal-2941	38	1	these	these	DET
american_scientific_journal-2941	38	2	notations	notation	NOUN
american_scientific_journal-2941	38	3	include	include	VERB
american_scientific_journal-2941	38	4	four	four	NUM
american_scientific_journal-2941	38	5	rotors	rotor	NOUN
american_scientific_journal-2941	38	6	,	,	PUNCT
american_scientific_journal-2941	38	7	their	their	PRON
american_scientific_journal-2941	38	8	thrust	thrust	ADJ
american_scientific_journal-2941	38	9	vectors	vector	NOUN
american_scientific_journal-2941	38	10	and	and	CCONJ
american_scientific_journal-2941	38	11	directions	direction	NOUN
american_scientific_journal-2941	38	12	of	of	ADP
american_scientific_journal-2941	38	13	notation	notation	NOUN
american_scientific_journal-2941	38	14	.	.	PUNCT
american_scientific_journal-2941	39	1	it	it	PRON
american_scientific_journal-2941	39	2	is	be	AUX
american_scientific_journal-2941	39	3	also	also	ADV
american_scientific_journal-2941	39	4	assumed	assume	VERB
american_scientific_journal-2941	39	5	as	as	SCONJ
american_scientific_journal-2941	39	6	the	the	DET
american_scientific_journal-2941	39	7	fixed	fix	VERB
american_scientific_journal-2941	39	8	frame	frame	NOUN
american_scientific_journal-2941	39	9	{	{	PUNCT
american_scientific_journal-2941	39	10	b	b	NOUN
american_scientific_journal-2941	39	11	}	}	PUNCT
american_scientific_journal-2941	39	12	of	of	ADP
american_scientific_journal-2941	39	13	the	the	DET
american_scientific_journal-2941	39	14	body	body	NOUN
american_scientific_journal-2941	39	15	is	be	AUX
american_scientific_journal-2941	39	16	attached	attach	VERB
american_scientific_journal-2941	39	17	to	to	ADP
american_scientific_journal-2941	39	18	the	the	DET
american_scientific_journal-2941	39	19	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	39	20	and	and	CCONJ
american_scientific_journal-2941	39	21	american	american	ADJ
american_scientific_journal-2941	39	22	scientific	scientific	ADJ
american_scientific_journal-2941	39	23	research	research	NOUN
american_scientific_journal-2941	39	24	journal	journal	NOUN
american_scientific_journal-2941	39	25	for	for	ADP
american_scientific_journal-2941	39	26	engineering	engineering	NOUN
american_scientific_journal-2941	39	27	,	,	PUNCT
american_scientific_journal-2941	39	28	technology	technology	NOUN
american_scientific_journal-2941	39	29	,	,	PUNCT
american_scientific_journal-2941	39	30	and	and	CCONJ
american_scientific_journal-2941	39	31	sciences	science	NOUN
american_scientific_journal-2941	39	32	(	(	PUNCT
american_scientific_journal-2941	39	33	asrjets	asrjet	NOUN
american_scientific_journal-2941	39	34	)	)	PUNCT
american_scientific_journal-2941	39	35	(	(	PUNCT
american_scientific_journal-2941	39	36	2017	2017	NUM
american_scientific_journal-2941	39	37	)	)	PUNCT
american_scientific_journal-2941	39	38	volume	volume	NOUN
american_scientific_journal-2941	39	39	31	31	NUM
american_scientific_journal-2941	39	40	,	,	PUNCT
american_scientific_journal-2941	39	41	no	no	DET
american_scientific_journal-2941	39	42	1	1	NUM
american_scientific_journal-2941	39	43	,	,	PUNCT
american_scientific_journal-2941	39	44	pp	pp	ADV
american_scientific_journal-2941	39	45	191	191	NUM
american_scientific_journal-2941	39	46	-	-	SYM
american_scientific_journal-2941	39	47	200	200	NUM
american_scientific_journal-2941	39	48	193	193	NUM
american_scientific_journal-2941	39	49	figure	figure	NOUN
american_scientific_journal-2941	39	50	2	2	NUM
american_scientific_journal-2941	39	51	:	:	PUNCT
american_scientific_journal-2941	39	52	notation	notation	NOUN
american_scientific_journal-2941	39	53	for	for	ADP
american_scientific_journal-2941	39	54	equations	equation	NOUN
american_scientific_journal-2941	39	55	of	of	ADP
american_scientific_journal-2941	39	56	motion	motion	NOUN
american_scientific_journal-2941	39	57	of	of	ADP
american_scientific_journal-2941	39	58	the	the	DET
american_scientific_journal-2941	39	59	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	39	60	has	have	VERB
american_scientific_journal-2941	39	61	its	its	PRON
american_scientific_journal-2941	39	62	origin	origin	NOUN
american_scientific_journal-2941	39	63	at	at	ADP
american_scientific_journal-2941	39	64	the	the	DET
american_scientific_journal-2941	39	65	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	39	66	's	's	PART
american_scientific_journal-2941	39	67	center	center	NOUN
american_scientific_journal-2941	39	68	of	of	ADP
american_scientific_journal-2941	39	69	mass	mass	PROPN
american_scientific_journal-2941	39	70	.	.	PUNCT
american_scientific_journal-2941	40	1	directions	direction	NOUN
american_scientific_journal-2941	40	2	of	of	ADP
american_scientific_journal-2941	40	3	rotations	rotation	NOUN
american_scientific_journal-2941	40	4	of	of	ADP
american_scientific_journal-2941	40	5	the	the	DET
american_scientific_journal-2941	40	6	rotors	rotor	NOUN
american_scientific_journal-2941	40	7	define	define	VERB
american_scientific_journal-2941	40	8	the	the	DET
american_scientific_journal-2941	40	9	actions	action	NOUN
american_scientific_journal-2941	40	10	of	of	ADP
american_scientific_journal-2941	40	11	the	the	DET
american_scientific_journal-2941	40	12	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	40	13	.	.	PUNCT
american_scientific_journal-2941	41	1	the	the	DET
american_scientific_journal-2941	41	2	rotors	rotor	NOUN
american_scientific_journal-2941	41	3	are	be	AUX
american_scientific_journal-2941	41	4	driven	drive	VERB
american_scientific_journal-2941	41	5	by	by	ADP
american_scientific_journal-2941	41	6	electric	electric	ADJ
american_scientific_journal-2941	41	7	motors	motor	NOUN
american_scientific_journal-2941	41	8	powered	power	VERB
american_scientific_journal-2941	41	9	by	by	ADP
american_scientific_journal-2941	41	10	electronic	electronic	ADJ
american_scientific_journal-2941	41	11	speed	speed	NOUN
american_scientific_journal-2941	41	12	controllers	controller	NOUN
american_scientific_journal-2941	41	13	.	.	PUNCT
american_scientific_journal-2941	42	1	the	the	DET
american_scientific_journal-2941	42	2	speed	speed	NOUN
american_scientific_journal-2941	42	3	of	of	ADP
american_scientific_journal-2941	42	4	each	each	DET
american_scientific_journal-2941	42	5	rotor	rotor	NOUN
american_scientific_journal-2941	42	6	is	be	AUX
american_scientific_journal-2941	42	7	defined	define	VERB
american_scientific_journal-2941	42	8	as𝜔𝜔𝑖𝑖	as𝜔𝜔𝑖𝑖	NOUN
american_scientific_journal-2941	42	9	and	and	CCONJ
american_scientific_journal-2941	42	10	the	the	DET
american_scientific_journal-2941	42	11	thrust	thrust	NOUN
american_scientific_journal-2941	42	12	obtained	obtain	VERB
american_scientific_journal-2941	42	13	from	from	ADP
american_scientific_journal-2941	42	14	each	each	DET
american_scientific_journal-2941	42	15	rotor	rotor	NOUN
american_scientific_journal-2941	42	16	is	be	AUX
american_scientific_journal-2941	42	17	defined	define	VERB
american_scientific_journal-2941	42	18	using	use	VERB
american_scientific_journal-2941	42	19	an	an	DET
american_scientific_journal-2941	42	20	upward	upward	ADJ
american_scientific_journal-2941	42	21	vector	vector	NOUN
american_scientific_journal-2941	42	22	𝑇𝑇𝑖𝑖	𝑇𝑇𝑖𝑖	PROPN
american_scientific_journal-2941	42	23	=	=	PRON
american_scientific_journal-2941	42	24	𝑏𝑏𝜔𝜔𝑖𝑖	𝑏𝑏𝜔𝜔𝑖𝑖	VERB
american_scientific_journal-2941	42	25	2	2	NUM
american_scientific_journal-2941	42	26	,	,	PUNCT
american_scientific_journal-2941	42	27	𝑖𝑖	𝑖𝑖	NOUN
american_scientific_journal-2941	42	28	=	=	NOUN
american_scientific_journal-2941	42	29	1	1	X
american_scientific_journal-2941	42	30	.	.	NUM
american_scientific_journal-2941	42	31	,	,	PUNCT
american_scientific_journal-2941	42	32	…	…	PUNCT
american_scientific_journal-2941	42	33	,	,	PUNCT
american_scientific_journal-2941	42	34	4	4	X
american_scientific_journal-2941	42	35	.	.	PUNCT
american_scientific_journal-2941	43	1	(	(	PUNCT
american_scientific_journal-2941	43	2	1	1	X
american_scientific_journal-2941	43	3	)	)	PUNCT
american_scientific_journal-2941	43	4	in	in	ADP
american_scientific_journal-2941	43	5	negative	negative	ADJ
american_scientific_journal-2941	43	6	z	z	NOUN
american_scientific_journal-2941	43	7	-	-	PUNCT
american_scientific_journal-2941	43	8	direction	direction	NOUN
american_scientific_journal-2941	43	9	,	,	PUNCT
american_scientific_journal-2941	43	10	where	where	SCONJ
american_scientific_journal-2941	43	11	b>0	b>0	PROPN
american_scientific_journal-2941	43	12	is	be	AUX
american_scientific_journal-2941	43	13	the	the	DET
american_scientific_journal-2941	43	14	constant	constant	ADJ
american_scientific_journal-2941	43	15	of	of	ADP
american_scientific_journal-2941	43	16	lifting	lifting	NOUN
american_scientific_journal-2941	43	17	that	that	PRON
american_scientific_journal-2941	43	18	depends	depend	VERB
american_scientific_journal-2941	43	19	on	on	ADP
american_scientific_journal-2941	43	20	the	the	DET
american_scientific_journal-2941	43	21	rotor	rotor	NOUN
american_scientific_journal-2941	43	22	blade	blade	NOUN
american_scientific_journal-2941	43	23	radius	radius	NOUN
american_scientific_journal-2941	43	24	,	,	PUNCT
american_scientific_journal-2941	43	25	the	the	DET
american_scientific_journal-2941	43	26	number	number	NOUN
american_scientific_journal-2941	43	27	of	of	ADP
american_scientific_journal-2941	43	28	blades	blade	NOUN
american_scientific_journal-2941	43	29	,	,	PUNCT
american_scientific_journal-2941	43	30	the	the	DET
american_scientific_journal-2941	43	31	air	air	NOUN
american_scientific_journal-2941	43	32	density	density	NOUN
american_scientific_journal-2941	43	33	and	and	CCONJ
american_scientific_journal-2941	43	34	the	the	DET
american_scientific_journal-2941	43	35	chord	chord	ADJ
american_scientific_journal-2941	43	36	length	length	NOUN
american_scientific_journal-2941	43	37	of	of	ADP
american_scientific_journal-2941	43	38	the	the	DET
american_scientific_journal-2941	43	39	blade	blade	NOUN
american_scientific_journal-2941	43	40	.	.	PUNCT
american_scientific_journal-2941	44	1	the	the	DET
american_scientific_journal-2941	44	2	translational	translational	ADJ
american_scientific_journal-2941	44	3	dynamics	dynamic	NOUN
american_scientific_journal-2941	44	4	of	of	ADP
american_scientific_journal-2941	44	5	the	the	DET
american_scientific_journal-2941	44	6	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	44	7	is	be	AUX
american_scientific_journal-2941	44	8	given	give	VERB
american_scientific_journal-2941	44	9	by	by	ADP
american_scientific_journal-2941	44	10	newton	newton	PROPN
american_scientific_journal-2941	44	11	's	's	PART
american_scientific_journal-2941	44	12	second	second	ADJ
american_scientific_journal-2941	44	13	law	law	NOUN
american_scientific_journal-2941	44	14	𝑚𝑚	𝑚𝑚	ADP
american_scientific_journal-2941	44	15	�	�	PROPN
american_scientific_journal-2941	44	16	̇	̇	NOUN
american_scientific_journal-2941	44	17	�	�	PROPN
american_scientific_journal-2941	44	18	𝑣	𝑣	ADP
american_scientific_journal-2941	44	19	=	=	SYM
american_scientific_journal-2941	44	20	�	�	PROPN
american_scientific_journal-2941	44	21	0	0	NUM
american_scientific_journal-2941	44	22	0	0	NUM
american_scientific_journal-2941	44	23	𝑚𝑚𝑚𝑚	𝑚𝑚𝑚𝑚	ADJ
american_scientific_journal-2941	44	24	�	�	PROPN
american_scientific_journal-2941	45	1	−	−	PROPN
american_scientific_journal-2941	45	2	𝑅𝑅0	𝑅𝑅0	PROPN
american_scientific_journal-2941	45	3	𝐵𝐵	𝐵𝐵	PROPN
american_scientific_journal-2941	45	4	�	�	PROPN
american_scientific_journal-2941	45	5	0	0	NUM
american_scientific_journal-2941	45	6	0	0	NUM
american_scientific_journal-2941	45	7	𝑇𝑇	𝑇𝑇	PROPN
american_scientific_journal-2941	45	8	�	�	PROPN
american_scientific_journal-2941	45	9	(	(	PUNCT
american_scientific_journal-2941	45	10	2	2	NUM
american_scientific_journal-2941	45	11	)	)	PUNCT
american_scientific_journal-2941	45	12	where	where	SCONJ
american_scientific_journal-2941	45	13	𝑣𝑣	𝑣𝑣	PROPN
american_scientific_journal-2941	45	14	is	be	AUX
american_scientific_journal-2941	45	15	the	the	DET
american_scientific_journal-2941	45	16	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	45	17	’s	’s	PART
american_scientific_journal-2941	45	18	velocity	velocity	NOUN
american_scientific_journal-2941	45	19	in	in	ADP
american_scientific_journal-2941	45	20	the	the	DET
american_scientific_journal-2941	45	21	world	world	NOUN
american_scientific_journal-2941	45	22	frame	frame	NOUN
american_scientific_journal-2941	45	23	,	,	PUNCT
american_scientific_journal-2941	45	24	g	g	PROPN
american_scientific_journal-2941	45	25	is	be	AUX
american_scientific_journal-2941	45	26	gravitational	gravitational	ADJ
american_scientific_journal-2941	45	27	acceleration	acceleration	NOUN
american_scientific_journal-2941	45	28	,	,	PUNCT
american_scientific_journal-2941	45	29	m	m	VERB
american_scientific_journal-2941	45	30	is	be	AUX
american_scientific_journal-2941	45	31	the	the	DET
american_scientific_journal-2941	45	32	total	total	ADJ
american_scientific_journal-2941	45	33	mass	mass	NOUN
american_scientific_journal-2941	45	34	of	of	ADP
american_scientific_journal-2941	45	35	the	the	DET
american_scientific_journal-2941	45	36	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	45	37	and	and	CCONJ
american_scientific_journal-2941	45	38	𝑇𝑇	𝑇𝑇	PROPN
american_scientific_journal-2941	45	39	=	=	SYM
american_scientific_journal-2941	45	40	∑𝑇𝑇𝑖𝑖	∑𝑇𝑇𝑖𝑖	NOUN
american_scientific_journal-2941	45	41	is	be	AUX
american_scientific_journal-2941	45	42	the	the	DET
american_scientific_journal-2941	45	43	total	total	ADJ
american_scientific_journal-2941	45	44	upward	upward	ADJ
american_scientific_journal-2941	45	45	thrust	thrust	NOUN
american_scientific_journal-2941	45	46	.	.	PUNCT
american_scientific_journal-2941	46	1	the	the	DET
american_scientific_journal-2941	46	2	first	first	ADJ
american_scientific_journal-2941	46	3	term	term	NOUN
american_scientific_journal-2941	46	4	in	in	ADP
american_scientific_journal-2941	46	5	(	(	PUNCT
american_scientific_journal-2941	46	6	2	2	NUM
american_scientific_journal-2941	46	7	)	)	PUNCT
american_scientific_journal-2941	46	8	is	be	AUX
american_scientific_journal-2941	46	9	the	the	DET
american_scientific_journal-2941	46	10	force	force	NOUN
american_scientific_journal-2941	46	11	of	of	ADP
american_scientific_journal-2941	46	12	gravity	gravity	NOUN
american_scientific_journal-2941	46	13	which	which	PRON
american_scientific_journal-2941	46	14	acts	act	VERB
american_scientific_journal-2941	46	15	downward	downward	ADV
american_scientific_journal-2941	46	16	in	in	ADP
american_scientific_journal-2941	46	17	the	the	DET
american_scientific_journal-2941	46	18	world	world	NOUN
american_scientific_journal-2941	46	19	frame	frame	NOUN
american_scientific_journal-2941	46	20	and	and	CCONJ
american_scientific_journal-2941	46	21	the	the	DET
american_scientific_journal-2941	46	22	second	second	ADJ
american_scientific_journal-2941	46	23	term	term	NOUN
american_scientific_journal-2941	46	24	is	be	AUX
american_scientific_journal-2941	46	25	the	the	DET
american_scientific_journal-2941	46	26	total	total	ADJ
american_scientific_journal-2941	46	27	thrust	thrust	NOUN
american_scientific_journal-2941	46	28	in	in	ADP
american_scientific_journal-2941	46	29	the	the	DET
american_scientific_journal-2941	46	30	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	46	31	frame	frame	NOUN
american_scientific_journal-2941	46	32	rotated	rotate	VERB
american_scientific_journal-2941	46	33	into	into	ADP
american_scientific_journal-2941	46	34	the	the	DET
american_scientific_journal-2941	46	35	world	world	NOUN
american_scientific_journal-2941	46	36	coordinate	coordinate	NOUN
american_scientific_journal-2941	46	37	frame	frame	NOUN
american_scientific_journal-2941	46	38	to	to	PART
american_scientific_journal-2941	46	39	define	define	VERB
american_scientific_journal-2941	46	40	velocity	velocity	NOUN
american_scientific_journal-2941	46	41	in	in	ADP
american_scientific_journal-2941	46	42	world	world	NOUN
american_scientific_journal-2941	46	43	coordinates	coordinate	NOUN
american_scientific_journal-2941	46	44	.	.	PUNCT
american_scientific_journal-2941	47	1	the	the	DET
american_scientific_journal-2941	47	2	rotational	rotational	ADJ
american_scientific_journal-2941	47	3	acceleration	acceleration	NOUN
american_scientific_journal-2941	47	4	is	be	AUX
american_scientific_journal-2941	47	5	given	give	VERB
american_scientific_journal-2941	47	6	by	by	ADP
american_scientific_journal-2941	47	7	euler	euler	NOUN
american_scientific_journal-2941	47	8	's	's	PART
american_scientific_journal-2941	47	9	equation	equation	NOUN
american_scientific_journal-2941	47	10	of	of	ADP
american_scientific_journal-2941	47	11	motion	motion	NOUN
american_scientific_journal-2941	47	12	𝐽𝐽	𝐽𝐽	PROPN
american_scientific_journal-2941	47	13	�	�	PROPN
american_scientific_journal-2941	47	14	̇	̇	PROPN
american_scientific_journal-2941	47	15	�	�	PROPN
american_scientific_journal-2941	47	16	𝜔	𝜔	NOUN
american_scientific_journal-2941	47	17	=	=	NOUN
american_scientific_journal-2941	47	18	−𝜔𝜔	−𝜔𝜔	NUM
american_scientific_journal-2941	47	19	×	×	NOUN
american_scientific_journal-2941	47	20	𝐽𝐽𝜔𝜔	𝐽𝐽𝜔𝜔	NOUN
american_scientific_journal-2941	47	21	+	+	CCONJ
american_scientific_journal-2941	47	22	𝛤𝛤	𝛤𝛤	PROPN
american_scientific_journal-2941	47	23	(	(	PUNCT
american_scientific_journal-2941	47	24	3	3	NUM
american_scientific_journal-2941	47	25	)	)	PUNCT
american_scientific_journal-2941	47	26	wherej	wherej	NOUN
american_scientific_journal-2941	47	27	is	be	AUX
american_scientific_journal-2941	47	28	the	the	DET
american_scientific_journal-2941	47	29	3	3	NUM
american_scientific_journal-2941	47	30	x	x	SYM
american_scientific_journal-2941	47	31	3	3	NUM
american_scientific_journal-2941	47	32	inertia	inertia	NOUN
american_scientific_journal-2941	47	33	matrix	matrix	NOUN
american_scientific_journal-2941	47	34	of	of	ADP
american_scientific_journal-2941	47	35	the	the	DET
american_scientific_journal-2941	47	36	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	47	37	,	,	PUNCT
american_scientific_journal-2941	47	38	ω	ω	PROPN
american_scientific_journal-2941	47	39	is	be	AUX
american_scientific_journal-2941	47	40	the	the	DET
american_scientific_journal-2941	47	41	angular	angular	ADJ
american_scientific_journal-2941	47	42	velocity	velocity	NOUN
american_scientific_journal-2941	47	43	vector	vector	NOUN
american_scientific_journal-2941	47	44	and	and	CCONJ
american_scientific_journal-2941	47	45	𝛤𝛤	𝛤𝛤	PROPN
american_scientific_journal-2941	47	46	=	=	SYM
american_scientific_journal-2941	47	47	�	�	PROPN
american_scientific_journal-2941	47	48	𝜏𝜏𝑥𝑥	𝜏𝜏𝑥𝑥	NOUN
american_scientific_journal-2941	47	49	,	,	PUNCT
american_scientific_journal-2941	47	50	𝜏𝜏𝑦𝑦	𝜏𝜏𝑦𝑦	NOUN
american_scientific_journal-2941	47	51	,	,	PUNCT
american_scientific_journal-2941	47	52	𝜏𝜏𝑧𝑧	𝜏𝜏𝑧𝑧	PROPN
american_scientific_journal-2941	47	53	�	�	PROPN
american_scientific_journal-2941	47	54	𝑇𝑇	𝑇𝑇	PROPN
american_scientific_journal-2941	47	55	is	be	AUX
american_scientific_journal-2941	47	56	the	the	DET
american_scientific_journal-2941	47	57	torque	torque	NOUN
american_scientific_journal-2941	47	58	applied	apply	VERB
american_scientific_journal-2941	47	59	to	to	ADP
american_scientific_journal-2941	47	60	the	the	DET
american_scientific_journal-2941	47	61	airframe	airframe	NOUN
american_scientific_journal-2941	47	62	where𝜏𝜏𝑥𝑥	where𝜏𝜏𝑥𝑥	PROPN
american_scientific_journal-2941	47	63	is	be	AUX
american_scientific_journal-2941	47	64	the	the	DET
american_scientific_journal-2941	47	65	rolling	rolling	ADJ
american_scientific_journal-2941	47	66	torque	torque	NOUN
american_scientific_journal-2941	47	67	,	,	PUNCT
american_scientific_journal-2941	47	68	𝜏𝜏𝑦𝑦	𝜏𝜏𝑦𝑦	NOUN
american_scientific_journal-2941	47	69	is	be	AUX
american_scientific_journal-2941	47	70	the	the	DET
american_scientific_journal-2941	47	71	pitching	pitch	VERB
american_scientific_journal-2941	47	72	torque	torque	NOUN
american_scientific_journal-2941	47	73	and	and	CCONJ
american_scientific_journal-2941	47	74	𝜏𝜏𝑧𝑧	𝜏𝜏𝑧𝑧	NOUN
american_scientific_journal-2941	47	75	is	be	AUX
american_scientific_journal-2941	47	76	the	the	DET
american_scientific_journal-2941	47	77	total	total	ADJ
american_scientific_journal-2941	47	78	reaction	reaction	NOUN
american_scientific_journal-2941	47	79	torque	torque	NOUN
american_scientific_journal-2941	48	1	𝜏𝜏𝑥𝑥	𝜏𝜏𝑥𝑥	NOUN
american_scientific_journal-2941	48	2	=	=	SYM
american_scientific_journal-2941	48	3	𝑑𝑑𝑇𝑇4	𝑑𝑑𝑇𝑇4	NOUN
american_scientific_journal-2941	48	4	−	−	PROPN
american_scientific_journal-2941	48	5	𝑑𝑑𝑇𝑇2	𝑑𝑑𝑇𝑇2	PROPN
american_scientific_journal-2941	48	6	=	=	PROPN
american_scientific_journal-2941	48	7	𝑑𝑑𝑏𝑏(𝜔𝜔42	𝑑𝑑𝑏𝑏(𝜔𝜔42	PROPN
american_scientific_journal-2941	48	8	−	−	PROPN
american_scientific_journal-2941	48	9	𝜔𝜔2	𝜔𝜔2	NOUN
american_scientific_journal-2941	48	10	2	2	NUM
american_scientific_journal-2941	48	11	)	)	PUNCT
american_scientific_journal-2941	48	12	(	(	PUNCT
american_scientific_journal-2941	48	13	4	4	X
american_scientific_journal-2941	48	14	)	)	PUNCT
american_scientific_journal-2941	48	15	𝜏𝜏𝑦𝑦	𝜏𝜏𝑦𝑦	NOUN
american_scientific_journal-2941	48	16	=	=	SYM
american_scientific_journal-2941	48	17	𝑑𝑑𝑏𝑏(𝜔𝜔12	𝑑𝑑𝑏𝑏(𝜔𝜔12	NUM
american_scientific_journal-2941	48	18	−	−	NOUN
american_scientific_journal-2941	48	19	𝜔𝜔3	𝜔𝜔3	NOUN
american_scientific_journal-2941	48	20	2	2	X
american_scientific_journal-2941	48	21	)	)	PUNCT
american_scientific_journal-2941	48	22	(	(	PUNCT
american_scientific_journal-2941	48	23	5	5	X
american_scientific_journal-2941	48	24	)	)	PUNCT
american_scientific_journal-2941	48	25	american	american	ADJ
american_scientific_journal-2941	48	26	scientific	scientific	ADJ
american_scientific_journal-2941	48	27	research	research	NOUN
american_scientific_journal-2941	48	28	journal	journal	NOUN
american_scientific_journal-2941	48	29	for	for	ADP
american_scientific_journal-2941	48	30	engineering	engineering	NOUN
american_scientific_journal-2941	48	31	,	,	PUNCT
american_scientific_journal-2941	48	32	technology	technology	NOUN
american_scientific_journal-2941	48	33	,	,	PUNCT
american_scientific_journal-2941	48	34	and	and	CCONJ
american_scientific_journal-2941	48	35	sciences	science	NOUN
american_scientific_journal-2941	48	36	(	(	PUNCT
american_scientific_journal-2941	48	37	asrjets	asrjet	NOUN
american_scientific_journal-2941	48	38	)	)	PUNCT
american_scientific_journal-2941	48	39	(	(	PUNCT
american_scientific_journal-2941	48	40	2017	2017	NUM
american_scientific_journal-2941	48	41	)	)	PUNCT
american_scientific_journal-2941	48	42	volume	volume	NOUN
american_scientific_journal-2941	48	43	31	31	NUM
american_scientific_journal-2941	48	44	,	,	PUNCT
american_scientific_journal-2941	48	45	no	no	DET
american_scientific_journal-2941	48	46	1	1	NUM
american_scientific_journal-2941	48	47	,	,	PUNCT
american_scientific_journal-2941	48	48	pp	pp	ADV
american_scientific_journal-2941	48	49	191	191	NUM
american_scientific_journal-2941	48	50	-	-	SYM
american_scientific_journal-2941	48	51	200	200	NUM
american_scientific_journal-2941	48	52	194	194	NUM
american_scientific_journal-2941	48	53	𝜏𝜏𝑧𝑧	𝜏𝜏𝑧𝑧	NOUN
american_scientific_journal-2941	48	54	=	=	PUNCT
american_scientific_journal-2941	49	1	𝑘𝑘(𝜔𝜔12	𝑘𝑘(𝜔𝜔12	PROPN
american_scientific_journal-2941	50	1	+	+	CCONJ
american_scientific_journal-2941	50	2	𝜔𝜔3	𝜔𝜔3	PROPN
american_scientific_journal-2941	50	3	2	2	NUM
american_scientific_journal-2941	50	4	−	−	NOUN
american_scientific_journal-2941	50	5	𝜔𝜔2	𝜔𝜔2	NOUN
american_scientific_journal-2941	50	6	2	2	NUM
american_scientific_journal-2941	50	7	−	−	NOUN
american_scientific_journal-2941	50	8	𝜔𝜔42	𝜔𝜔42	PROPN
american_scientific_journal-2941	50	9	)	)	PUNCT
american_scientific_journal-2941	50	10	(	(	PUNCT
american_scientific_journal-2941	50	11	7	7	X
american_scientific_journal-2941	50	12	)	)	PUNCT
american_scientific_journal-2941	50	13	by	by	ADP
american_scientific_journal-2941	50	14	integrating	integrate	VERB
american_scientific_journal-2941	50	15	the	the	DET
american_scientific_journal-2941	50	16	forward	forward	ADJ
american_scientific_journal-2941	50	17	dynamics	dynamic	NOUN
american_scientific_journal-2941	50	18	equations	equation	NOUN
american_scientific_journal-2941	50	19	from	from	ADP
american_scientific_journal-2941	50	20	eq	eq	NOUN
american_scientific_journal-2941	50	21	.	.	PROPN
american_scientific_journal-2941	50	22	2	2	NUM
american_scientific_journal-2941	50	23	to	to	ADP
american_scientific_journal-2941	50	24	eq	eq	NOUN
american_scientific_journal-2941	50	25	.	.	PROPN
american_scientific_journal-2941	50	26	7	7	NUM
american_scientific_journal-2941	50	27	,	,	PUNCT
american_scientific_journal-2941	50	28	the	the	DET
american_scientific_journal-2941	50	29	motion	motion	NOUN
american_scientific_journal-2941	50	30	of	of	ADP
american_scientific_journal-2941	50	31	the	the	DET
american_scientific_journal-2941	50	32	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	50	33	obtained	obtain	VERB
american_scientific_journal-2941	50	34	where	where	SCONJ
american_scientific_journal-2941	50	35	the	the	DET
american_scientific_journal-2941	50	36	forces	force	NOUN
american_scientific_journal-2941	50	37	and	and	CCONJ
american_scientific_journal-2941	50	38	moments	moment	NOUN
american_scientific_journal-2941	50	39	on	on	ADP
american_scientific_journal-2941	50	40	the	the	DET
american_scientific_journal-2941	50	41	airframe	airframe	NOUN
american_scientific_journal-2941	50	42	.	.	PUNCT
american_scientific_journal-2941	51	1	�	�	PROPN
american_scientific_journal-2941	51	2	𝛵𝛵𝛤𝛤	𝛵𝛵𝛤𝛤	PROPN
american_scientific_journal-2941	51	3	�	�	PROPN
american_scientific_journal-2941	51	4	=	=	SYM
american_scientific_journal-2941	51	5	�	�	PROPN
american_scientific_journal-2941	51	6	−𝑏𝑏	−𝑏𝑏	PROPN
american_scientific_journal-2941	51	7	−𝑏𝑏	−𝑏𝑏	PROPN
american_scientific_journal-2941	51	8	−𝑏𝑏	−𝑏𝑏	PROPN
american_scientific_journal-2941	51	9	−𝑏𝑏	−𝑏𝑏	PROPN
american_scientific_journal-2941	51	10	0	0	NUM
american_scientific_journal-2941	51	11	−𝑑𝑑𝑏𝑏	−𝑑𝑑𝑏𝑏	NOUN
american_scientific_journal-2941	51	12	0	0	NUM
american_scientific_journal-2941	51	13	𝑑𝑑𝑏𝑏	𝑑𝑑𝑏𝑏	PROPN
american_scientific_journal-2941	51	14	𝑑𝑑𝑏𝑏	𝑑𝑑𝑏𝑏	PROPN
american_scientific_journal-2941	51	15	0	0	NUM
american_scientific_journal-2941	51	16	−𝑑𝑑𝑏𝑏	−𝑑𝑑𝑏𝑏	NOUN
american_scientific_journal-2941	51	17	0	0	PUNCT
american_scientific_journal-2941	51	18	𝑘𝑘	𝑘𝑘	PRON
american_scientific_journal-2941	52	1	−𝑘𝑘	−𝑘𝑘	INTJ
american_scientific_journal-2941	52	2	𝑘𝑘	𝑘𝑘	X
american_scientific_journal-2941	52	3	−𝑘𝑘	−𝑘𝑘	PROPN
american_scientific_journal-2941	52	4	�	�	PROPN
american_scientific_journal-2941	52	5	⎝	⎝	PUNCT
american_scientific_journal-2941	52	6	⎜	⎜	PROPN
american_scientific_journal-2941	52	7	⎛	⎛	NOUN
american_scientific_journal-2941	53	1	𝜔𝜔12	𝜔𝜔12	PROPN
american_scientific_journal-2941	53	2	𝜔𝜔2	𝜔𝜔2	NOUN
american_scientific_journal-2941	53	3	2	2	NUM
american_scientific_journal-2941	53	4	𝜔𝜔3	𝜔𝜔3	ADP
american_scientific_journal-2941	53	5	2	2	NUM
american_scientific_journal-2941	53	6	𝜔𝜔42⎠	𝜔𝜔42⎠	PUNCT
american_scientific_journal-2941	53	7	⎟	⎟	X
american_scientific_journal-2941	53	8	⎞	⎞	PROPN
american_scientific_journal-2941	53	9	=	=	SYM
american_scientific_journal-2941	53	10	𝐴𝐴	𝐴𝐴	PROPN
american_scientific_journal-2941	53	11	⎝	⎝	PUNCT
american_scientific_journal-2941	53	12	⎜	⎜	PROPN
american_scientific_journal-2941	53	13	⎛	⎛	NOUN
american_scientific_journal-2941	53	14	𝜔𝜔12	𝜔𝜔12	PROPN
american_scientific_journal-2941	53	15	𝜔𝜔2	𝜔𝜔2	NOUN
american_scientific_journal-2941	53	16	2	2	NUM
american_scientific_journal-2941	53	17	𝜔𝜔3	𝜔𝜔3	ADP
american_scientific_journal-2941	53	18	2	2	NUM
american_scientific_journal-2941	53	19	𝜔𝜔42⎠	𝜔𝜔42⎠	PUNCT
american_scientific_journal-2941	53	20	⎟	⎟	PROPN
american_scientific_journal-2941	53	21	⎞	⎞	PROPN
american_scientific_journal-2941	53	22	(	(	PUNCT
american_scientific_journal-2941	53	23	8)	8)	NUM
american_scientific_journal-2941	53	24	are	be	AUX
american_scientific_journal-2941	53	25	functions	function	NOUN
american_scientific_journal-2941	53	26	of	of	ADP
american_scientific_journal-2941	53	27	the	the	DET
american_scientific_journal-2941	53	28	rotor	rotor	NOUN
american_scientific_journal-2941	53	29	speeds	speed	NOUN
american_scientific_journal-2941	53	30	.	.	PUNCT
american_scientific_journal-2941	54	1	the	the	DET
american_scientific_journal-2941	54	2	matrix	matrix	NOUN
american_scientific_journal-2941	54	3	a	a	PRON
american_scientific_journal-2941	54	4	is	be	AUX
american_scientific_journal-2941	54	5	of	of	ADP
american_scientific_journal-2941	54	6	full	full	ADJ
american_scientific_journal-2941	54	7	rank	rank	NOUN
american_scientific_journal-2941	54	8	and	and	CCONJ
american_scientific_journal-2941	54	9	can	can	AUX
american_scientific_journal-2941	54	10	be	be	AUX
american_scientific_journal-2941	54	11	inverted	invert	VERB
american_scientific_journal-2941	54	12	⎝	⎝	PUNCT
american_scientific_journal-2941	54	13	⎜	⎜	NUM
american_scientific_journal-2941	54	14	⎛	⎛	NOUN
american_scientific_journal-2941	55	1	𝜔𝜔12	𝜔𝜔12	PROPN
american_scientific_journal-2941	55	2	𝜔𝜔2	𝜔𝜔2	NOUN
american_scientific_journal-2941	55	3	2	2	NUM
american_scientific_journal-2941	55	4	𝜔𝜔3	𝜔𝜔3	ADP
american_scientific_journal-2941	55	5	2	2	NUM
american_scientific_journal-2941	55	6	𝜔𝜔42⎠	𝜔𝜔42⎠	PUNCT
american_scientific_journal-2941	55	7	⎟	⎟	X
american_scientific_journal-2941	55	8	⎞	⎞	PROPN
american_scientific_journal-2941	55	9	=	=	VERB
american_scientific_journal-2941	55	10	𝛢𝛢−1	𝛢𝛢−1	ADJ
american_scientific_journal-2941	55	11	�	�	PROPN
american_scientific_journal-2941	55	12	𝛵𝛵	𝛵𝛵	PROPN
american_scientific_journal-2941	55	13	𝜏𝜏𝑥𝑥	𝜏𝜏𝑥𝑥	NOUN
american_scientific_journal-2941	55	14	𝜏𝜏𝑦𝑦	𝜏𝜏𝑦𝑦	PROPN
american_scientific_journal-2941	55	15	𝜏𝜏𝑧𝑧	𝜏𝜏𝑧𝑧	PROPN
american_scientific_journal-2941	55	16	�	�	PROPN
american_scientific_journal-2941	55	17	(	(	PUNCT
american_scientific_journal-2941	55	18	9	9	NUM
american_scientific_journal-2941	55	19	)	)	PUNCT
american_scientific_journal-2941	55	20	to	to	PART
american_scientific_journal-2941	55	21	give	give	VERB
american_scientific_journal-2941	55	22	the	the	DET
american_scientific_journal-2941	55	23	rotor	rotor	NOUN
american_scientific_journal-2941	55	24	speeds	speed	NOUN
american_scientific_journal-2941	55	25	required	require	VERB
american_scientific_journal-2941	55	26	to	to	PART
american_scientific_journal-2941	55	27	apply	apply	VERB
american_scientific_journal-2941	55	28	a	a	DET
american_scientific_journal-2941	55	29	specified	specified	ADJ
american_scientific_journal-2941	55	30	thrust	thrust	NOUN
american_scientific_journal-2941	55	31	τ	τ	PROPN
american_scientific_journal-2941	55	32	and	and	CCONJ
american_scientific_journal-2941	55	33	moment	moment	VERB
american_scientific_journal-2941	55	34	γ	γ	X
american_scientific_journal-2941	55	35	to	to	ADP
american_scientific_journal-2941	55	36	the	the	DET
american_scientific_journal-2941	55	37	airframe	airframe	NOUN
american_scientific_journal-2941	55	38	.	.	PUNCT
american_scientific_journal-2941	56	1	3	3	X
american_scientific_journal-2941	56	2	.	.	NOUN
american_scientific_journal-2941	56	3	neural	neural	ADJ
american_scientific_journal-2941	56	4	network	network	NOUN
american_scientific_journal-2941	56	5	controller	controller	NOUN
american_scientific_journal-2941	56	6	design	design	NOUN
american_scientific_journal-2941	56	7	for	for	ADP
american_scientific_journal-2941	56	8	the	the	DET
american_scientific_journal-2941	56	9	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	56	10	controller	controller	NOUN
american_scientific_journal-2941	56	11	designs	design	NOUN
american_scientific_journal-2941	56	12	for	for	ADP
american_scientific_journal-2941	56	13	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	56	14	control	control	NOUN
american_scientific_journal-2941	56	15	are	be	AUX
american_scientific_journal-2941	56	16	mostly	mostly	ADV
american_scientific_journal-2941	56	17	based	base	VERB
american_scientific_journal-2941	56	18	on	on	ADP
american_scientific_journal-2941	56	19	conventional	conventional	ADJ
american_scientific_journal-2941	56	20	pid	pid	NOUN
american_scientific_journal-2941	56	21	controllers	controller	NOUN
american_scientific_journal-2941	56	22	.	.	PUNCT
american_scientific_journal-2941	57	1	in	in	ADP
american_scientific_journal-2941	57	2	this	this	DET
american_scientific_journal-2941	57	3	study	study	NOUN
american_scientific_journal-2941	57	4	,	,	PUNCT
american_scientific_journal-2941	57	5	we	we	PRON
american_scientific_journal-2941	57	6	have	have	AUX
american_scientific_journal-2941	57	7	designed	design	VERB
american_scientific_journal-2941	57	8	nn	nn	PROPN
american_scientific_journal-2941	57	9	controllers	controller	NOUN
american_scientific_journal-2941	57	10	to	to	PART
american_scientific_journal-2941	57	11	obtain	obtain	VERB
american_scientific_journal-2941	57	12	robustness	robustness	NOUN
american_scientific_journal-2941	57	13	against	against	ADP
american_scientific_journal-2941	57	14	external	external	ADJ
american_scientific_journal-2941	57	15	effects	effect	NOUN
american_scientific_journal-2941	57	16	.	.	PUNCT
american_scientific_journal-2941	58	1	nn	nn	PROPN
american_scientific_journal-2941	58	2	controllers	controller	NOUN
american_scientific_journal-2941	58	3	are	be	AUX
american_scientific_journal-2941	58	4	derived	derive	VERB
american_scientific_journal-2941	58	5	from	from	ADP
american_scientific_journal-2941	58	6	pd	pd	PROPN
american_scientific_journal-2941	58	7	controllers	controller	NOUN
american_scientific_journal-2941	58	8	and	and	CCONJ
american_scientific_journal-2941	58	9	simulation	simulation	NOUN
american_scientific_journal-2941	58	10	results	result	NOUN
american_scientific_journal-2941	58	11	verify	verify	VERB
american_scientific_journal-2941	58	12	the	the	DET
american_scientific_journal-2941	58	13	performance	performance	NOUN
american_scientific_journal-2941	58	14	.	.	PUNCT
american_scientific_journal-2941	59	1	3.1	3.1	NUM
american_scientific_journal-2941	59	2	classical	classical	ADJ
american_scientific_journal-2941	59	3	pd	pd	NOUN
american_scientific_journal-2941	59	4	controller	controller	NOUN
american_scientific_journal-2941	59	5	for	for	ADP
american_scientific_journal-2941	59	6	the	the	DET
american_scientific_journal-2941	59	7	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	59	8	figure	figure	NOUN
american_scientific_journal-2941	59	9	3	3	NUM
american_scientific_journal-2941	59	10	:	:	PUNCT
american_scientific_journal-2941	59	11	block	block	NOUN
american_scientific_journal-2941	59	12	diagram	diagram	NOUN
american_scientific_journal-2941	59	13	of	of	ADP
american_scientific_journal-2941	59	14	pd	pd	PROPN
american_scientific_journal-2941	59	15	control	control	NOUN
american_scientific_journal-2941	59	16	of	of	ADP
american_scientific_journal-2941	59	17	the	the	DET
american_scientific_journal-2941	59	18	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	59	19	in	in	ADP
american_scientific_journal-2941	59	20	figure	figure	NOUN
american_scientific_journal-2941	59	21	3	3	NUM
american_scientific_journal-2941	59	22	,	,	PUNCT
american_scientific_journal-2941	59	23	the	the	DET
american_scientific_journal-2941	59	24	block	block	NOUN
american_scientific_journal-2941	59	25	diagram	diagram	NOUN
american_scientific_journal-2941	59	26	of	of	ADP
american_scientific_journal-2941	59	27	pd	pd	PROPN
american_scientific_journal-2941	59	28	control	control	NOUN
american_scientific_journal-2941	59	29	of	of	ADP
american_scientific_journal-2941	59	30	the	the	DET
american_scientific_journal-2941	59	31	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	59	32	is	be	AUX
american_scientific_journal-2941	59	33	given	give	VERB
american_scientific_journal-2941	59	34	.	.	PUNCT
american_scientific_journal-2941	60	1	x	x	X
american_scientific_journal-2941	60	2	*	*	PUNCT
american_scientific_journal-2941	60	3	,	,	PUNCT
american_scientific_journal-2941	60	4	y	y	PROPN
american_scientific_journal-2941	60	5	*	*	NOUN
american_scientific_journal-2941	60	6	,	,	PUNCT
american_scientific_journal-2941	60	7	yaw	yaw	PROPN
american_scientific_journal-2941	60	8	*	*	PUNCT
american_scientific_journal-2941	60	9	and	and	CCONJ
american_scientific_journal-2941	60	10	z	z	X
american_scientific_journal-2941	60	11	*	*	PUNCT
american_scientific_journal-2941	60	12	as	as	ADP
american_scientific_journal-2941	60	13	reference	reference	NOUN
american_scientific_journal-2941	60	14	signals	signal	NOUN
american_scientific_journal-2941	60	15	of	of	ADP
american_scientific_journal-2941	60	16	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	60	17	are	be	AUX
american_scientific_journal-2941	60	18	given	give	VERB
american_scientific_journal-2941	60	19	externally	externally	ADV
american_scientific_journal-2941	60	20	.	.	PUNCT
american_scientific_journal-2941	61	1	four	four	NUM
american_scientific_journal-2941	61	2	controllers	controller	NOUN
american_scientific_journal-2941	61	3	calculate	calculate	VERB
american_scientific_journal-2941	61	4	pitch	pitch	NOUN
american_scientific_journal-2941	61	5	,	,	PUNCT
american_scientific_journal-2941	61	6	roll	roll	NOUN
american_scientific_journal-2941	61	7	,	,	PUNCT
american_scientific_journal-2941	61	8	yaw	yaw	NOUN
american_scientific_journal-2941	61	9	and	and	CCONJ
american_scientific_journal-2941	61	10	z	z	NOUN
american_scientific_journal-2941	61	11	torque	torque	NOUN
american_scientific_journal-2941	61	12	using	use	VERB
american_scientific_journal-2941	61	13	pd	pd	PROPN
american_scientific_journal-2941	61	14	control	control	PROPN
american_scientific_journal-2941	61	15	american	american	PROPN
american_scientific_journal-2941	61	16	scientific	scientific	PROPN
american_scientific_journal-2941	61	17	research	research	PROPN
american_scientific_journal-2941	61	18	journal	journal	NOUN
american_scientific_journal-2941	61	19	for	for	ADP
american_scientific_journal-2941	61	20	engineering	engineering	NOUN
american_scientific_journal-2941	61	21	,	,	PUNCT
american_scientific_journal-2941	61	22	technology	technology	NOUN
american_scientific_journal-2941	61	23	,	,	PUNCT
american_scientific_journal-2941	61	24	and	and	CCONJ
american_scientific_journal-2941	61	25	sciences	science	NOUN
american_scientific_journal-2941	61	26	(	(	PUNCT
american_scientific_journal-2941	61	27	asrjets	asrjet	NOUN
american_scientific_journal-2941	61	28	)	)	PUNCT
american_scientific_journal-2941	61	29	(	(	PUNCT
american_scientific_journal-2941	61	30	2017	2017	NUM
american_scientific_journal-2941	61	31	)	)	PUNCT
american_scientific_journal-2941	61	32	volume	volume	NOUN
american_scientific_journal-2941	61	33	31	31	NUM
american_scientific_journal-2941	61	34	,	,	PUNCT
american_scientific_journal-2941	61	35	no	no	DET
american_scientific_journal-2941	61	36	1	1	NUM
american_scientific_journal-2941	61	37	,	,	PUNCT
american_scientific_journal-2941	61	38	pp	pp	ADV
american_scientific_journal-2941	61	39	191	191	NUM
american_scientific_journal-2941	61	40	-	-	SYM
american_scientific_journal-2941	61	41	200	200	NUM
american_scientific_journal-2941	61	42	195	195	NUM
american_scientific_journal-2941	61	43	method	method	NOUN
american_scientific_journal-2941	61	44	.	.	PUNCT
american_scientific_journal-2941	62	1	in	in	ADP
american_scientific_journal-2941	62	2	the	the	DET
american_scientific_journal-2941	62	3	control	control	NOUN
american_scientific_journal-2941	62	4	design	design	NOUN
american_scientific_journal-2941	62	5	,	,	PUNCT
american_scientific_journal-2941	62	6	the	the	DET
american_scientific_journal-2941	62	7	torques	torque	NOUN
american_scientific_journal-2941	62	8	are	be	AUX
american_scientific_journal-2941	62	9	converted	convert	VERB
american_scientific_journal-2941	62	10	to	to	ADP
american_scientific_journal-2941	62	11	speed	speed	NOUN
american_scientific_journal-2941	62	12	for	for	ADP
american_scientific_journal-2941	62	13	four	four	NUM
american_scientific_journal-2941	62	14	rotors	rotor	NOUN
american_scientific_journal-2941	62	15	.	.	PUNCT
american_scientific_journal-2941	63	1	the	the	DET
american_scientific_journal-2941	63	2	orientation	orientation	NOUN
american_scientific_journal-2941	63	3	and	and	CCONJ
american_scientific_journal-2941	63	4	position	position	NOUN
american_scientific_journal-2941	63	5	of	of	ADP
american_scientific_journal-2941	63	6	the	the	DET
american_scientific_journal-2941	63	7	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	63	8	is	be	AUX
american_scientific_journal-2941	63	9	controlled	control	VERB
american_scientific_journal-2941	63	10	by	by	ADP
american_scientific_journal-2941	63	11	rotor	rotor	NOUN
american_scientific_journal-2941	63	12	speeds	speed	NOUN
american_scientific_journal-2941	63	13	.	.	PUNCT
american_scientific_journal-2941	64	1	figure	figure	VERB
american_scientific_journal-2941	64	2	4	4	NUM
american_scientific_journal-2941	64	3	:	:	PUNCT
american_scientific_journal-2941	64	4	the	the	DET
american_scientific_journal-2941	64	5	inner	inner	ADJ
american_scientific_journal-2941	64	6	loop	loop	NOUN
american_scientific_journal-2941	64	7	of	of	ADP
american_scientific_journal-2941	64	8	pd	pd	PROPN
american_scientific_journal-2941	64	9	controller	controller	NOUN
american_scientific_journal-2941	64	10	for	for	ADP
american_scientific_journal-2941	64	11	z	z	PROPN
american_scientific_journal-2941	64	12	as	as	ADP
american_scientific_journal-2941	64	13	an	an	DET
american_scientific_journal-2941	64	14	example	example	NOUN
american_scientific_journal-2941	64	15	of	of	ADP
american_scientific_journal-2941	64	16	these	these	DET
american_scientific_journal-2941	64	17	pd	pd	PROPN
american_scientific_journal-2941	64	18	controllers	controller	NOUN
american_scientific_journal-2941	64	19	,	,	PUNCT
american_scientific_journal-2941	64	20	figure	figure	VERB
american_scientific_journal-2941	64	21	4	4	NUM
american_scientific_journal-2941	64	22	shows	show	VERB
american_scientific_journal-2941	64	23	the	the	DET
american_scientific_journal-2941	64	24	inner	inner	ADJ
american_scientific_journal-2941	64	25	loop	loop	NOUN
american_scientific_journal-2941	64	26	of	of	ADP
american_scientific_journal-2941	64	27	the	the	DET
american_scientific_journal-2941	64	28	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	64	29	's	's	PART
american_scientific_journal-2941	64	30	pd	pd	NOUN
american_scientific_journal-2941	64	31	controller	controller	NOUN
american_scientific_journal-2941	64	32	for	for	ADP
american_scientific_journal-2941	64	33	z.	z.	PROPN
american_scientific_journal-2941	64	34	the	the	DET
american_scientific_journal-2941	64	35	error	error	NOUN
american_scientific_journal-2941	64	36	is	be	AUX
american_scientific_journal-2941	64	37	obtained	obtain	VERB
american_scientific_journal-2941	64	38	from	from	ADP
american_scientific_journal-2941	64	39	the	the	DET
american_scientific_journal-2941	64	40	desired	desire	VERB
american_scientific_journal-2941	64	41	z	z	PROPN
american_scientific_journal-2941	64	42	*	*	PUNCT
american_scientific_journal-2941	64	43	and	and	CCONJ
american_scientific_journal-2941	64	44	actual	actual	ADJ
american_scientific_journal-2941	64	45	z.	z.	PROPN
american_scientific_journal-2941	64	46	from	from	ADP
american_scientific_journal-2941	64	47	the	the	DET
american_scientific_journal-2941	64	48	error	error	NOUN
american_scientific_journal-2941	64	49	,	,	PUNCT
american_scientific_journal-2941	64	50	the	the	DET
american_scientific_journal-2941	64	51	error	error	NOUN
american_scientific_journal-2941	64	52	derivative	derivative	ADJ
american_scientific_journal-2941	64	53	term	term	NOUN
american_scientific_journal-2941	64	54	with	with	ADP
american_scientific_journal-2941	64	55	gain	gain	NOUN
american_scientific_journal-2941	64	56	multiplication	multiplication	NOUN
american_scientific_journal-2941	64	57	is	be	AUX
american_scientific_journal-2941	64	58	added	add	VERB
american_scientific_journal-2941	64	59	to	to	ADP
american_scientific_journal-2941	64	60	the	the	DET
american_scientific_journal-2941	64	61	pd	pd	PROPN
american_scientific_journal-2941	64	62	controller	controller	NOUN
american_scientific_journal-2941	64	63	.	.	PUNCT
american_scientific_journal-2941	65	1	the	the	DET
american_scientific_journal-2941	65	2	control	control	NOUN
american_scientific_journal-2941	65	3	signal	signal	NOUN
american_scientific_journal-2941	65	4	and	and	CCONJ
american_scientific_journal-2941	65	5	the	the	DET
american_scientific_journal-2941	65	6	gravitational	gravitational	ADJ
american_scientific_journal-2941	65	7	feed	feed	NOUN
american_scientific_journal-2941	65	8	forward	forward	ADV
american_scientific_journal-2941	65	9	signal	signal	NOUN
american_scientific_journal-2941	65	10	to	to	PART
american_scientific_journal-2941	65	11	compensate	compensate	VERB
american_scientific_journal-2941	65	12	the	the	DET
american_scientific_journal-2941	65	13	gravity	gravity	NOUN
american_scientific_journal-2941	65	14	are	be	AUX
american_scientific_journal-2941	65	15	summed	sum	VERB
american_scientific_journal-2941	65	16	,	,	PUNCT
american_scientific_journal-2941	65	17	and	and	CCONJ
american_scientific_journal-2941	65	18	the	the	DET
american_scientific_journal-2941	65	19	z	z	NOUN
american_scientific_journal-2941	65	20	torque	torque	NOUN
american_scientific_journal-2941	65	21	value	value	NOUN
american_scientific_journal-2941	65	22	is	be	AUX
american_scientific_journal-2941	65	23	calculated	calculate	VERB
american_scientific_journal-2941	65	24	.	.	PUNCT
american_scientific_journal-2941	66	1	to	to	PART
american_scientific_journal-2941	66	2	define	define	VERB
american_scientific_journal-2941	66	3	pd	pd	PROPN
american_scientific_journal-2941	66	4	controllers	controller	NOUN
american_scientific_journal-2941	66	5	,	,	PUNCT
american_scientific_journal-2941	66	6	figure	figure	VERB
american_scientific_journal-2941	66	7	3	3	NUM
american_scientific_journal-2941	66	8	should	should	AUX
american_scientific_journal-2941	66	9	be	be	AUX
american_scientific_journal-2941	66	10	explained	explain	VERB
american_scientific_journal-2941	66	11	.	.	PUNCT
american_scientific_journal-2941	67	1	the	the	DET
american_scientific_journal-2941	67	2	inner	inner	ADJ
american_scientific_journal-2941	67	3	loop	loop	NOUN
american_scientific_journal-2941	67	4	,	,	PUNCT
american_scientific_journal-2941	67	5	shown	show	VERB
american_scientific_journal-2941	67	6	in	in	ADP
american_scientific_journal-2941	67	7	green	green	NOUN
american_scientific_journal-2941	67	8	,	,	PUNCT
american_scientific_journal-2941	67	9	controls	control	VERB
american_scientific_journal-2941	67	10	the	the	DET
american_scientific_journal-2941	67	11	attitude	attitude	NOUN
american_scientific_journal-2941	67	12	of	of	ADP
american_scientific_journal-2941	67	13	the	the	DET
american_scientific_journal-2941	67	14	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	67	15	.	.	PUNCT
american_scientific_journal-2941	68	1	the	the	DET
american_scientific_journal-2941	68	2	actual	actual	ADJ
american_scientific_journal-2941	68	3	and	and	CCONJ
american_scientific_journal-2941	68	4	desired	desire	VERB
american_scientific_journal-2941	68	5	roll	roll	NOUN
american_scientific_journal-2941	68	6	and	and	CCONJ
american_scientific_journal-2941	68	7	pitch	pitch	NOUN
american_scientific_journal-2941	68	8	angles	angle	NOUN
american_scientific_journal-2941	68	9	,	,	PUNCT
american_scientific_journal-2941	68	10	as	as	ADV
american_scientific_journal-2941	68	11	well	well	ADV
american_scientific_journal-2941	68	12	as	as	ADP
american_scientific_journal-2941	68	13	the	the	DET
american_scientific_journal-2941	68	14	roll	roll	NOUN
american_scientific_journal-2941	68	15	and	and	CCONJ
american_scientific_journal-2941	68	16	pitch	pitch	NOUN
american_scientific_journal-2941	68	17	angular	angular	ADJ
american_scientific_journal-2941	68	18	rates	rate	NOUN
american_scientific_journal-2941	68	19	are	be	AUX
american_scientific_journal-2941	68	20	the	the	DET
american_scientific_journal-2941	68	21	inputs	input	NOUN
american_scientific_journal-2941	68	22	of	of	ADP
american_scientific_journal-2941	68	23	this	this	DET
american_scientific_journal-2941	68	24	loop	loop	NOUN
american_scientific_journal-2941	68	25	to	to	PART
american_scientific_journal-2941	68	26	provide	provide	VERB
american_scientific_journal-2941	68	27	damping	damp	VERB
american_scientific_journal-2941	68	28	.	.	PUNCT
american_scientific_journal-2941	69	1	the	the	DET
american_scientific_journal-2941	69	2	outer	outer	ADJ
american_scientific_journal-2941	69	3	loop	loop	NOUN
american_scientific_journal-2941	69	4	controls	control	VERB
american_scientific_journal-2941	69	5	the	the	DET
american_scientific_journal-2941	69	6	xy	xy	NOUN
american_scientific_journal-2941	69	7	-	-	PUNCT
american_scientific_journal-2941	69	8	position	position	NOUN
american_scientific_journal-2941	69	9	of	of	ADP
american_scientific_journal-2941	69	10	the	the	DET
american_scientific_journal-2941	69	11	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	69	12	by	by	ADP
american_scientific_journal-2941	69	13	requesting	request	VERB
american_scientific_journal-2941	69	14	changes	change	NOUN
american_scientific_journal-2941	69	15	in	in	ADP
american_scientific_journal-2941	69	16	roll	roll	NOUN
american_scientific_journal-2941	69	17	and	and	CCONJ
american_scientific_journal-2941	69	18	pitch	pitch	NOUN
american_scientific_journal-2941	69	19	angle	angle	NOUN
american_scientific_journal-2941	69	20	so	so	SCONJ
american_scientific_journal-2941	69	21	as	as	SCONJ
american_scientific_journal-2941	69	22	to	to	PART
american_scientific_journal-2941	69	23	provide	provide	VERB
american_scientific_journal-2941	69	24	a	a	DET
american_scientific_journal-2941	69	25	component	component	NOUN
american_scientific_journal-2941	69	26	of	of	ADP
american_scientific_journal-2941	69	27	thrust	thrust	NOUN
american_scientific_journal-2941	69	28	in	in	ADP
american_scientific_journal-2941	69	29	the	the	DET
american_scientific_journal-2941	69	30	direction	direction	NOUN
american_scientific_journal-2941	69	31	of	of	ADP
american_scientific_journal-2941	69	32	desired	desire	VERB
american_scientific_journal-2941	69	33	xy	xy	NOUN
american_scientific_journal-2941	69	34	-	-	PUNCT
american_scientific_journal-2941	69	35	plane	plane	NOUN
american_scientific_journal-2941	69	36	motion	motion	NOUN
american_scientific_journal-2941	69	37	and	and	CCONJ
american_scientific_journal-2941	69	38	it	it	PRON
american_scientific_journal-2941	69	39	is	be	AUX
american_scientific_journal-2941	69	40	shown	show	VERB
american_scientific_journal-2941	69	41	in	in	ADP
american_scientific_journal-2941	69	42	gray	gray	ADJ
american_scientific_journal-2941	69	43	.	.	PUNCT
american_scientific_journal-2941	70	1	the	the	DET
american_scientific_journal-2941	70	2	pd	pd	PROPN
american_scientific_journal-2941	70	3	controllers	controller	NOUN
american_scientific_journal-2941	70	4	are	be	AUX
american_scientific_journal-2941	70	5	defined	define	VERB
american_scientific_journal-2941	70	6	as	as	SCONJ
american_scientific_journal-2941	70	7	follows	follow	VERB
american_scientific_journal-2941	70	8	:	:	PUNCT
american_scientific_journal-2941	70	9	𝜏𝜏𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟	𝜏𝜏𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟	PROPN
american_scientific_journal-2941	70	10	=	=	SYM
american_scientific_journal-2941	71	1	𝜏𝜏𝑥𝑥	𝜏𝜏𝑥𝑥	PROPN
american_scientific_journal-2941	71	2	=	=	SYM
american_scientific_journal-2941	71	3	𝐾𝐾𝑝𝑝,𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟(𝜃𝜃𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟∗	𝐾𝐾𝑝𝑝,𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟(𝜃𝜃𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟∗	PROPN
american_scientific_journal-2941	71	4	−	−	PROPN
american_scientific_journal-2941	71	5	𝜃𝜃𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟	𝜃𝜃𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟	PROPN
american_scientific_journal-2941	71	6	)	)	PUNCT
american_scientific_journal-2941	72	1	+	+	CCONJ
american_scientific_journal-2941	72	2	𝐾𝐾𝑑𝑑,𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟	𝐾𝐾𝑑𝑑,𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟	PROPN
american_scientific_journal-2941	72	3	�	�	PROPN
american_scientific_journal-2941	72	4	�	�	PROPN
american_scientific_journal-2941	72	5	̇	̇	NOUN
american_scientific_journal-2941	72	6	�	�	NOUN
american_scientific_journal-2941	72	7	𝜃𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟∗	𝜃𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟∗	NOUN
american_scientific_journal-2941	72	8	−	−	NOUN
american_scientific_journal-2941	72	9	�	�	NOUN
american_scientific_journal-2941	72	10	̇	̇	VERB
american_scientific_journal-2941	72	11	�	�	PROPN
american_scientific_journal-2941	72	12	𝜃𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟	𝜃𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟	PROPN
american_scientific_journal-2941	72	13	�	�	PROPN
american_scientific_journal-2941	72	14	(	(	PUNCT
american_scientific_journal-2941	72	15	10	10	NUM
american_scientific_journal-2941	72	16	)	)	PUNCT
american_scientific_journal-2941	72	17	𝜏𝜏𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ	𝜏𝜏𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ	ADJ
american_scientific_journal-2941	72	18	=	=	NOUN
american_scientific_journal-2941	72	19	𝜏𝜏𝑦𝑦	𝜏𝜏𝑦𝑦	NOUN
american_scientific_journal-2941	72	20	=	=	SYM
american_scientific_journal-2941	72	21	𝐾𝐾𝑝𝑝,𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ	𝐾𝐾𝑝𝑝,𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ	NOUN
american_scientific_journal-2941	72	22	�	�	PROPN
american_scientific_journal-2941	72	23	𝜃𝜃𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ∗	𝜃𝜃𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ∗	NOUN
american_scientific_journal-2941	72	24	−	−	PROPN
american_scientific_journal-2941	72	25	𝜃𝜃𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ	𝜃𝜃𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ	PROPN
american_scientific_journal-2941	72	26	�	�	PROPN
american_scientific_journal-2941	72	27	+	+	CCONJ
american_scientific_journal-2941	72	28	𝐾𝐾𝑑𝑑,𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ	𝐾𝐾𝑑𝑑,𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ	PROPN
american_scientific_journal-2941	72	29	�	�	PROPN
american_scientific_journal-2941	72	30	�	�	PROPN
american_scientific_journal-2941	72	31	̇	̇	NOUN
american_scientific_journal-2941	72	32	�	�	PROPN
american_scientific_journal-2941	72	33	𝜃𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ∗	𝜃𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ∗	NOUN
american_scientific_journal-2941	72	34	−	−	PROPN
american_scientific_journal-2941	72	35	�	�	PROPN
american_scientific_journal-2941	72	36	̇	̇	PROPN
american_scientific_journal-2941	72	37	�	�	PROPN
american_scientific_journal-2941	72	38	𝜃𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ	𝜃𝑝𝑝𝑖𝑖𝑝𝑝𝑝𝑝ℎ	PART
american_scientific_journal-2941	72	39	�	�	PROPN
american_scientific_journal-2941	72	40	(	(	PUNCT
american_scientific_journal-2941	72	41	11	11	NUM
american_scientific_journal-2941	72	42	)	)	PUNCT
american_scientific_journal-2941	72	43	𝜏𝜏𝑦𝑦𝑦𝑦𝑦𝑦	𝜏𝜏𝑦𝑦𝑦𝑦𝑦𝑦	NOUN
american_scientific_journal-2941	72	44	=	=	PUNCT
american_scientific_journal-2941	72	45	𝜏𝜏𝑧𝑧	𝜏𝜏𝑧𝑧	PROPN
american_scientific_journal-2941	72	46	=	=	SYM
american_scientific_journal-2941	72	47	𝐾𝐾𝑝𝑝,𝑦𝑦𝑦𝑦𝑦𝑦	𝐾𝐾𝑝𝑝,𝑦𝑦𝑦𝑦𝑦𝑦	ADJ
american_scientific_journal-2941	72	48	�	�	PROPN
american_scientific_journal-2941	72	49	𝜃𝜃𝑦𝑦𝑦𝑦𝑦𝑦∗	𝜃𝜃𝑦𝑦𝑦𝑦𝑦𝑦∗	NOUN
american_scientific_journal-2941	72	50	−	−	PROPN
american_scientific_journal-2941	72	51	𝜃𝜃𝑦𝑦𝑦𝑦𝑦𝑦	𝜃𝜃𝑦𝑦𝑦𝑦𝑦𝑦	PROPN
american_scientific_journal-2941	72	52	�	�	PROPN
american_scientific_journal-2941	72	53	+	+	CCONJ
american_scientific_journal-2941	72	54	𝐾𝐾𝑑𝑑,𝑦𝑦𝑦𝑦𝑦𝑦	𝐾𝐾𝑑𝑑,𝑦𝑦𝑦𝑦𝑦𝑦	PROPN
american_scientific_journal-2941	72	55	�	�	PROPN
american_scientific_journal-2941	72	56	�	�	PROPN
american_scientific_journal-2941	72	57	̇	̇	PROPN
american_scientific_journal-2941	72	58	�	�	PROPN
american_scientific_journal-2941	72	59	𝜃𝑦𝑦𝑦𝑦𝑦𝑦∗	𝜃𝑦𝑦𝑦𝑦𝑦𝑦∗	NOUN
american_scientific_journal-2941	72	60	−	−	PROPN
american_scientific_journal-2941	72	61	�	�	PROPN
american_scientific_journal-2941	72	62	̇	̇	PROPN
american_scientific_journal-2941	72	63	�	�	PROPN
american_scientific_journal-2941	72	64	𝜃𝑦𝑦𝑦𝑦𝑦𝑦	𝜃𝑦𝑦𝑦𝑦𝑦𝑦	PROPN
american_scientific_journal-2941	72	65	�	�	PROPN
american_scientific_journal-2941	72	66	(	(	PUNCT
american_scientific_journal-2941	72	67	12	12	NUM
american_scientific_journal-2941	72	68	)	)	PUNCT
american_scientific_journal-2941	72	69	𝑇𝑇	𝑇𝑇	PROPN
american_scientific_journal-2941	72	70	=	=	SYM
american_scientific_journal-2941	72	71	𝐾𝐾𝑝𝑝(𝑧𝑧∗	𝐾𝐾𝑝𝑝(𝑧𝑧∗	PROPN
american_scientific_journal-2941	72	72	−	−	PROPN
american_scientific_journal-2941	72	73	𝑧𝑧	𝑧𝑧	NOUN
american_scientific_journal-2941	72	74	)	)	PUNCT
american_scientific_journal-2941	72	75	+	+	NUM
american_scientific_journal-2941	72	76	𝐾𝐾𝑑𝑑(	𝐾𝐾𝑑𝑑(	PROPN
american_scientific_journal-2941	72	77	�	�	PROPN
american_scientific_journal-2941	72	78	̇	̇	NOUN
american_scientific_journal-2941	72	79	�	�	PROPN
american_scientific_journal-2941	72	80	𝑧∗	𝑧∗	PROPN
american_scientific_journal-2941	72	81	−	−	PROPN
american_scientific_journal-2941	72	82	�	�	PROPN
american_scientific_journal-2941	72	83	̇	̇	PROPN
american_scientific_journal-2941	72	84	�	�	PROPN
american_scientific_journal-2941	72	85	𝑧	𝑧	PART
american_scientific_journal-2941	72	86	)	)	PUNCT
american_scientific_journal-2941	72	87	+	+	CCONJ
american_scientific_journal-2941	72	88	𝜔𝜔0	𝜔𝜔0	PROPN
american_scientific_journal-2941	72	89	(	(	PUNCT
american_scientific_journal-2941	72	90	13	13	NUM
american_scientific_journal-2941	72	91	)	)	PUNCT
american_scientific_journal-2941	72	92	where𝜔𝜔0	where𝜔𝜔0	X
american_scientific_journal-2941	73	1	=	=	SYM
american_scientific_journal-2941	73	2	�	�	PROPN
american_scientific_journal-2941	73	3	𝑚𝑚𝑚𝑚/4𝑏𝑏is	𝑚𝑚𝑚𝑚/4𝑏𝑏is	NUM
american_scientific_journal-2941	73	4	the	the	DET
american_scientific_journal-2941	73	5	rotor	rotor	NOUN
american_scientific_journal-2941	73	6	speed	speed	NOUN
american_scientific_journal-2941	73	7	necessary	necessary	ADJ
american_scientific_journal-2941	73	8	to	to	PART
american_scientific_journal-2941	73	9	generate	generate	VERB
american_scientific_journal-2941	73	10	a	a	DET
american_scientific_journal-2941	73	11	thrust	thrust	NOUN
american_scientific_journal-2941	73	12	to	to	PART
american_scientific_journal-2941	73	13	compensate	compensate	VERB
american_scientific_journal-2941	73	14	and	and	CCONJ
american_scientific_journal-2941	73	15	stabilize	stabilize	VERB
american_scientific_journal-2941	73	16	the	the	DET
american_scientific_journal-2941	73	17	weight	weight	NOUN
american_scientific_journal-2941	73	18	of	of	ADP
american_scientific_journal-2941	73	19	the	the	DET
american_scientific_journal-2941	73	20	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	73	21	,	,	PUNCT
american_scientific_journal-2941	73	22	b	b	X
american_scientific_journal-2941	73	23	>	>	X
american_scientific_journal-2941	73	24	0	0	NUM
american_scientific_journal-2941	73	25	is	be	AUX
american_scientific_journal-2941	73	26	the	the	DET
american_scientific_journal-2941	73	27	lift	lift	NOUN
american_scientific_journal-2941	73	28	constant	constant	ADJ
american_scientific_journal-2941	73	29	that	that	PRON
american_scientific_journal-2941	73	30	depends	depend	VERB
american_scientific_journal-2941	73	31	on	on	ADP
american_scientific_journal-2941	73	32	the	the	DET
american_scientific_journal-2941	73	33	radius	radius	NOUN
american_scientific_journal-2941	73	34	of	of	ADP
american_scientific_journal-2941	73	35	blades	blade	NOUN
american_scientific_journal-2941	73	36	,	,	PUNCT
american_scientific_journal-2941	73	37	air	air	NOUN
american_scientific_journal-2941	73	38	density	density	NOUN
american_scientific_journal-2941	73	39	and	and	CCONJ
american_scientific_journal-2941	73	40	the	the	DET
american_scientific_journal-2941	73	41	number	number	NOUN
american_scientific_journal-2941	73	42	of	of	ADP
american_scientific_journal-2941	73	43	blades	blade	NOUN
american_scientific_journal-2941	73	44	.	.	PUNCT
american_scientific_journal-2941	74	1	kp	kp	PROPN
american_scientific_journal-2941	74	2	and	and	CCONJ
american_scientific_journal-2941	74	3	kd	kd	PROPN
american_scientific_journal-2941	74	4	gain	gain	VERB
american_scientific_journal-2941	74	5	constant	constant	ADJ
american_scientific_journal-2941	74	6	are	be	AUX
american_scientific_journal-2941	74	7	defined	define	VERB
american_scientific_journal-2941	74	8	by	by	ADP
american_scientific_journal-2941	74	9	the	the	DET
american_scientific_journal-2941	74	10	user	user	NOUN
american_scientific_journal-2941	74	11	to	to	PART
american_scientific_journal-2941	74	12	achieve	achieve	VERB
american_scientific_journal-2941	74	13	good	good	ADJ
american_scientific_journal-2941	74	14	control	control	NOUN
american_scientific_journal-2941	74	15	performance	performance	NOUN
american_scientific_journal-2941	74	16	.	.	PUNCT
american_scientific_journal-2941	75	1	3.2	3.2	NUM
american_scientific_journal-2941	75	2	.	.	PUNCT
american_scientific_journal-2941	75	3	neural	neural	ADJ
american_scientific_journal-2941	75	4	network	network	NOUN
american_scientific_journal-2941	75	5	controller	controller	NOUN
american_scientific_journal-2941	75	6	for	for	ADP
american_scientific_journal-2941	75	7	the	the	DET
american_scientific_journal-2941	75	8	quadrotor	quadrotor	PROPN
american_scientific_journal-2941	75	9	donald	donald	PROPN
american_scientific_journal-2941	75	10	hebb	hebb	PROPN
american_scientific_journal-2941	75	11	(	(	PUNCT
american_scientific_journal-2941	75	12	1949	1949	NUM
american_scientific_journal-2941	75	13	)	)	PUNCT
american_scientific_journal-2941	75	14	is	be	AUX
american_scientific_journal-2941	75	15	known	know	VERB
american_scientific_journal-2941	75	16	as	as	ADP
american_scientific_journal-2941	75	17	the	the	DET
american_scientific_journal-2941	75	18	father	father	NOUN
american_scientific_journal-2941	75	19	of	of	ADP
american_scientific_journal-2941	75	20	today	today	NOUN
american_scientific_journal-2941	75	21	's	's	PART
american_scientific_journal-2941	75	22	neural	neural	ADJ
american_scientific_journal-2941	75	23	network	network	NOUN
american_scientific_journal-2941	75	24	theory	theory	NOUN
american_scientific_journal-2941	75	25	.	.	PUNCT
american_scientific_journal-2941	76	1	hebb	hebb	PROPN
american_scientific_journal-2941	76	2	,	,	PUNCT
american_scientific_journal-2941	76	3	a	a	DET
american_scientific_journal-2941	76	4	neurologist	neurologist	NOUN
american_scientific_journal-2941	76	5	,	,	PUNCT
american_scientific_journal-2941	76	6	has	have	AUX
american_scientific_journal-2941	76	7	worked	work	VERB
american_scientific_journal-2941	76	8	on	on	ADP
american_scientific_journal-2941	76	9	how	how	SCONJ
american_scientific_journal-2941	76	10	his	his	PRON
american_scientific_journal-2941	76	11	brain	brain	NOUN
american_scientific_journal-2941	76	12	learned	learn	VERB
american_scientific_journal-2941	76	13	.	.	PUNCT
american_scientific_journal-2941	77	1	the	the	DET
american_scientific_journal-2941	77	2	studies	study	NOUN
american_scientific_journal-2941	77	3	begin	begin	VERB
american_scientific_journal-2941	77	4	by	by	ADP
american_scientific_journal-2941	77	5	taking	take	VERB
american_scientific_journal-2941	77	6	the	the	DET
american_scientific_journal-2941	77	7	nerve	nerve	NOUN
american_scientific_journal-2941	77	8	cell	cell	NOUN
american_scientific_journal-2941	77	9	,	,	PUNCT
american_scientific_journal-2941	77	10	the	the	DET
american_scientific_journal-2941	77	11	basic	basic	ADJ
american_scientific_journal-2941	77	12	unit	unit	NOUN
american_scientific_journal-2941	77	13	of	of	ADP
american_scientific_journal-2941	77	14	the	the	DET
american_scientific_journal-2941	77	15	brain	brain	NOUN
american_scientific_journal-2941	77	16	.	.	PUNCT
american_scientific_journal-2941	78	1	he	he	PRON
american_scientific_journal-2941	78	2	examines	examine	VERB
american_scientific_journal-2941	78	3	how	how	SCONJ
american_scientific_journal-2941	78	4	the	the	DET
american_scientific_journal-2941	78	5	two	two	NUM
american_scientific_journal-2941	78	6	nerve	nerve	NOUN
american_scientific_journal-2941	78	7	cells	cell	NOUN
american_scientific_journal-2941	78	8	exhibit	exhibit	VERB
american_scientific_journal-2941	78	9	a	a	DET
american_scientific_journal-2941	78	10	correlation	correlation	NOUN
american_scientific_journal-2941	78	11	with	with	ADP
american_scientific_journal-2941	78	12	each	each	DET
american_scientific_journal-2941	78	13	other	other	ADJ
american_scientific_journal-2941	78	14	and	and	CCONJ
american_scientific_journal-2941	78	15	places	place	VERB
american_scientific_journal-2941	78	16	the	the	DET
american_scientific_journal-2941	78	17	neural	neural	ADJ
american_scientific_journal-2941	78	18	network	network	NOUN
american_scientific_journal-2941	78	19	theory	theory	NOUN
american_scientific_journal-2941	78	20	on	on	ADP
american_scientific_journal-2941	78	21	this	this	DET
american_scientific_journal-2941	78	22	basis	basis	NOUN
american_scientific_journal-2941	78	23	.	.	PUNCT
american_scientific_journal-2941	79	1	american	american	ADJ
american_scientific_journal-2941	79	2	scientific	scientific	ADJ
american_scientific_journal-2941	79	3	research	research	PROPN
american_scientific_journal-2941	79	4	journal	journal	NOUN
american_scientific_journal-2941	79	5	for	for	ADP
american_scientific_journal-2941	79	6	engineering	engineering	NOUN
american_scientific_journal-2941	79	7	,	,	PUNCT
american_scientific_journal-2941	79	8	technology	technology	NOUN
american_scientific_journal-2941	79	9	,	,	PUNCT
american_scientific_journal-2941	79	10	and	and	CCONJ
american_scientific_journal-2941	79	11	sciences	science	NOUN
american_scientific_journal-2941	79	12	(	(	PUNCT
american_scientific_journal-2941	79	13	asrjets	asrjet	NOUN
american_scientific_journal-2941	79	14	)	)	PUNCT
american_scientific_journal-2941	79	15	(	(	PUNCT
american_scientific_journal-2941	79	16	2017	2017	NUM
american_scientific_journal-2941	79	17	)	)	PUNCT
american_scientific_journal-2941	79	18	volume	volume	NOUN
american_scientific_journal-2941	79	19	31	31	NUM
american_scientific_journal-2941	79	20	,	,	PUNCT
american_scientific_journal-2941	79	21	no	no	DET
american_scientific_journal-2941	79	22	1	1	NUM
american_scientific_journal-2941	79	23	,	,	PUNCT
american_scientific_journal-2941	79	24	pp	pp	ADV
american_scientific_journal-2941	79	25	191	191	NUM
american_scientific_journal-2941	79	26	-	-	SYM
american_scientific_journal-2941	79	27	200	200	NUM
american_scientific_journal-2941	79	28	196	196	NUM
american_scientific_journal-2941	79	29	by	by	ADP
american_scientific_journal-2941	79	30	using	use	VERB
american_scientific_journal-2941	79	31	these	these	DET
american_scientific_journal-2941	79	32	experiments	experiment	NOUN
american_scientific_journal-2941	79	33	,	,	PUNCT
american_scientific_journal-2941	79	34	artificial	artificial	ADJ
american_scientific_journal-2941	79	35	neural	neural	ADJ
american_scientific_journal-2941	79	36	network	network	NOUN
american_scientific_journal-2941	79	37	(	(	PUNCT
american_scientific_journal-2941	79	38	ann	ann	PROPN
american_scientific_journal-2941	79	39	)	)	PUNCT
american_scientific_journal-2941	79	40	is	be	AUX
american_scientific_journal-2941	79	41	defined	define	VERB
american_scientific_journal-2941	79	42	as	as	ADP
american_scientific_journal-2941	79	43	a	a	DET
american_scientific_journal-2941	79	44	model	model	NOUN
american_scientific_journal-2941	79	45	of	of	ADP
american_scientific_journal-2941	79	46	the	the	DET
american_scientific_journal-2941	79	47	human	human	ADJ
american_scientific_journal-2941	79	48	brain	brain	NOUN
american_scientific_journal-2941	79	49	in	in	ADP
american_scientific_journal-2941	79	50	which	which	PRON
american_scientific_journal-2941	79	51	the	the	DET
american_scientific_journal-2941	79	52	nerve	nerve	NOUN
american_scientific_journal-2941	79	53	cells	cell	NOUN
american_scientific_journal-2941	79	54	are	be	AUX
american_scientific_journal-2941	79	55	layered	layered	ADJ
american_scientific_journal-2941	79	56	and	and	CCONJ
american_scientific_journal-2941	79	57	parallel	parallel	ADJ
american_scientific_journal-2941	79	58	with	with	ADP
american_scientific_journal-2941	79	59	all	all	DET
american_scientific_journal-2941	79	60	the	the	DET
american_scientific_journal-2941	79	61	functions	function	NOUN
american_scientific_journal-2941	79	62	of	of	ADP
american_scientific_journal-2941	79	63	the	the	DET
american_scientific_journal-2941	79	64	structure	structure	NOUN
american_scientific_journal-2941	79	65	to	to	PART
american_scientific_journal-2941	79	66	be	be	AUX
american_scientific_journal-2941	79	67	realized	realize	VERB
american_scientific_journal-2941	79	68	in	in	ADP
american_scientific_journal-2941	79	69	the	the	DET
american_scientific_journal-2941	79	70	numerical	numerical	ADJ
american_scientific_journal-2941	79	71	world	world	NOUN
american_scientific_journal-2941	79	72	.	.	PUNCT
american_scientific_journal-2941	80	1	the	the	DET
american_scientific_journal-2941	80	2	structure	structure	NOUN
american_scientific_journal-2941	80	3	of	of	ADP
american_scientific_journal-2941	80	4	anns	ann	NOUN
american_scientific_journal-2941	80	5	are	be	AUX
american_scientific_journal-2941	80	6	not	not	PART
american_scientific_journal-2941	80	7	explained	explain	VERB
american_scientific_journal-2941	80	8	here	here	ADV
american_scientific_journal-2941	80	9	but	but	CCONJ
american_scientific_journal-2941	80	10	can	can	AUX
american_scientific_journal-2941	80	11	be	be	AUX
american_scientific_journal-2941	80	12	found	find	VERB
american_scientific_journal-2941	80	13	in	in	ADP
american_scientific_journal-2941	80	14	[	[	NOUN
american_scientific_journal-2941	80	15	9	9	NUM
american_scientific_journal-2941	80	16	]	]	PUNCT
american_scientific_journal-2941	80	17	in	in	ADP
american_scientific_journal-2941	80	18	details	detail	NOUN
american_scientific_journal-2941	80	19	.	.	PUNCT
american_scientific_journal-2941	81	1	as	as	ADP
american_scientific_journal-2941	81	2	the	the	DET
american_scientific_journal-2941	81	3	training	training	NOUN
american_scientific_journal-2941	81	4	phase	phase	NOUN
american_scientific_journal-2941	81	5	of	of	ADP
american_scientific_journal-2941	81	6	the	the	DET
american_scientific_journal-2941	81	7	nn	nn	PROPN
american_scientific_journal-2941	81	8	controller	controller	NOUN
american_scientific_journal-2941	81	9	instead	instead	ADV
american_scientific_journal-2941	81	10	of	of	ADP
american_scientific_journal-2941	81	11	pd	pd	PROPN
american_scientific_journal-2941	81	12	controllers	controller	NOUN
american_scientific_journal-2941	81	13	,	,	PUNCT
american_scientific_journal-2941	81	14	the	the	DET
american_scientific_journal-2941	81	15	training	training	NOUN
american_scientific_journal-2941	81	16	data	datum	NOUN
american_scientific_journal-2941	81	17	is	be	AUX
american_scientific_journal-2941	81	18	obtained	obtain	VERB
american_scientific_journal-2941	81	19	from	from	ADP
american_scientific_journal-2941	81	20	the	the	DET
american_scientific_journal-2941	81	21	inputs	input	NOUN
american_scientific_journal-2941	81	22	and	and	CCONJ
american_scientific_journal-2941	81	23	outputs	output	NOUN
american_scientific_journal-2941	81	24	of	of	ADP
american_scientific_journal-2941	81	25	pd	pd	PROPN
american_scientific_journal-2941	81	26	controllers	controller	NOUN
american_scientific_journal-2941	81	27	with	with	ADP
american_scientific_journal-2941	81	28	trials	trial	NOUN
american_scientific_journal-2941	81	29	one	one	NUM
american_scientific_journal-2941	81	30	by	by	ADP
american_scientific_journal-2941	81	31	one	one	NUM
american_scientific_journal-2941	81	32	.	.	PUNCT
american_scientific_journal-2941	82	1	according	accord	VERB
american_scientific_journal-2941	82	2	to	to	ADP
american_scientific_journal-2941	82	3	the	the	DET
american_scientific_journal-2941	82	4	training	training	NOUN
american_scientific_journal-2941	82	5	data	datum	NOUN
american_scientific_journal-2941	82	6	,	,	PUNCT
american_scientific_journal-2941	82	7	each	each	DET
american_scientific_journal-2941	82	8	nn	nn	X
american_scientific_journal-2941	82	9	controller	controller	NOUN
american_scientific_journal-2941	82	10	is	be	AUX
american_scientific_journal-2941	82	11	designed	design	VERB
american_scientific_journal-2941	82	12	for	for	ADP
american_scientific_journal-2941	82	13	each	each	DET
american_scientific_journal-2941	82	14	pd	pd	PROPN
american_scientific_journal-2941	82	15	controller	controller	NOUN
american_scientific_journal-2941	82	16	.	.	PUNCT
american_scientific_journal-2941	83	1	subsequently	subsequently	ADV
american_scientific_journal-2941	83	2	,	,	PUNCT
american_scientific_journal-2941	83	3	the	the	DET
american_scientific_journal-2941	83	4	trajectory	trajectory	NOUN
american_scientific_journal-2941	83	5	of	of	ADP
american_scientific_journal-2941	83	6	the	the	DET
american_scientific_journal-2941	83	7	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	83	8	was	be	AUX
american_scientific_journal-2941	83	9	traced	trace	VERB
american_scientific_journal-2941	83	10	by	by	ADP
american_scientific_journal-2941	83	11	replacing	replace	VERB
american_scientific_journal-2941	83	12	the	the	DET
american_scientific_journal-2941	83	13	nn	nn	PROPN
american_scientific_journal-2941	83	14	controller	controller	NOUN
american_scientific_journal-2941	83	15	.	.	PUNCT
american_scientific_journal-2941	84	1	an	an	DET
american_scientific_journal-2941	84	2	example	example	NOUN
american_scientific_journal-2941	84	3	of	of	ADP
american_scientific_journal-2941	84	4	nn	nn	PROPN
american_scientific_journal-2941	84	5	is	be	AUX
american_scientific_journal-2941	84	6	shown	show	VERB
american_scientific_journal-2941	84	7	in	in	ADP
american_scientific_journal-2941	84	8	figure	figure	NOUN
american_scientific_journal-2941	84	9	5	5	NUM
american_scientific_journal-2941	84	10	with	with	ADP
american_scientific_journal-2941	84	11	hidden	hide	VERB
american_scientific_journal-2941	84	12	layer	layer	NOUN
american_scientific_journal-2941	84	13	nonlinear	nonlinear	ADJ
american_scientific_journal-2941	84	14	function	function	NOUN
american_scientific_journal-2941	84	15	and	and	CCONJ
american_scientific_journal-2941	84	16	output	output	NOUN
american_scientific_journal-2941	84	17	layer	layer	NOUN
american_scientific_journal-2941	84	18	linear	linear	PROPN
american_scientific_journal-2941	84	19	function	function	NOUN
american_scientific_journal-2941	84	20	.	.	PUNCT
american_scientific_journal-2941	85	1	figure	figure	VERB
american_scientific_journal-2941	85	2	5	5	NUM
american_scientific_journal-2941	85	3	:	:	PUNCT
american_scientific_journal-2941	85	4	the	the	DET
american_scientific_journal-2941	85	5	internal	internal	ADJ
american_scientific_journal-2941	85	6	structure	structure	NOUN
american_scientific_journal-2941	85	7	of	of	ADP
american_scientific_journal-2941	85	8	neural	neural	ADJ
american_scientific_journal-2941	85	9	network	network	NOUN
american_scientific_journal-2941	85	10	figure	figure	NOUN
american_scientific_journal-2941	85	11	6	6	NUM
american_scientific_journal-2941	85	12	shows	show	VERB
american_scientific_journal-2941	85	13	the	the	DET
american_scientific_journal-2941	85	14	block	block	NOUN
american_scientific_journal-2941	85	15	diagram	diagram	NOUN
american_scientific_journal-2941	85	16	of	of	ADP
american_scientific_journal-2941	85	17	nn	nn	X
american_scientific_journal-2941	85	18	control	control	NOUN
american_scientific_journal-2941	85	19	of	of	ADP
american_scientific_journal-2941	85	20	the	the	DET
american_scientific_journal-2941	85	21	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	85	22	.	.	PUNCT
american_scientific_journal-2941	86	1	nn	nn	PROPN
american_scientific_journal-2941	86	2	controllers	controller	NOUN
american_scientific_journal-2941	86	3	,	,	PUNCT
american_scientific_journal-2941	86	4	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	86	5	control	control	NOUN
american_scientific_journal-2941	86	6	and	and	CCONJ
american_scientific_journal-2941	86	7	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	86	8	dynamics	dynamic	NOUN
american_scientific_journal-2941	86	9	blocks	block	NOUN
american_scientific_journal-2941	86	10	are	be	AUX
american_scientific_journal-2941	86	11	shown	show	VERB
american_scientific_journal-2941	86	12	in	in	ADP
american_scientific_journal-2941	86	13	blue	blue	ADJ
american_scientific_journal-2941	86	14	,	,	PUNCT
american_scientific_journal-2941	86	15	gray	gray	ADJ
american_scientific_journal-2941	86	16	and	and	CCONJ
american_scientific_journal-2941	86	17	pink	pink	ADJ
american_scientific_journal-2941	86	18	blocks	block	NOUN
american_scientific_journal-2941	86	19	,	,	PUNCT
american_scientific_journal-2941	86	20	respectively	respectively	ADV
american_scientific_journal-2941	86	21	.	.	PUNCT
american_scientific_journal-2941	87	1	in	in	ADP
american_scientific_journal-2941	87	2	figure	figure	NOUN
american_scientific_journal-2941	87	3	7	7	NUM
american_scientific_journal-2941	87	4	,	,	PUNCT
american_scientific_journal-2941	87	5	the	the	DET
american_scientific_journal-2941	87	6	inner	inner	ADJ
american_scientific_journal-2941	87	7	loop	loop	NOUN
american_scientific_journal-2941	87	8	of	of	ADP
american_scientific_journal-2941	87	9	the	the	DET
american_scientific_journal-2941	87	10	nn	nn	X
american_scientific_journal-2941	87	11	controller	controller	NOUN
american_scientific_journal-2941	87	12	for	for	ADP
american_scientific_journal-2941	87	13	z	z	PROPN
american_scientific_journal-2941	87	14	is	be	AUX
american_scientific_journal-2941	87	15	shown	show	VERB
american_scientific_journal-2941	87	16	.	.	PUNCT
american_scientific_journal-2941	88	1	the	the	PRON
american_scientific_journal-2941	88	2	error	error	NOUN
american_scientific_journal-2941	88	3	and	and	CCONJ
american_scientific_journal-2941	88	4	error	error	NOUN
american_scientific_journal-2941	88	5	derivate	derivate	NOUN
american_scientific_journal-2941	88	6	of	of	ADP
american_scientific_journal-2941	88	7	are	be	AUX
american_scientific_journal-2941	88	8	given	give	VERB
american_scientific_journal-2941	88	9	to	to	ADP
american_scientific_journal-2941	88	10	the	the	DET
american_scientific_journal-2941	88	11	nn	nn	PROPN
american_scientific_journal-2941	88	12	controller	controller	NOUN
american_scientific_journal-2941	88	13	.	.	PUNCT
american_scientific_journal-2941	89	1	by	by	ADP
american_scientific_journal-2941	89	2	adding	add	VERB
american_scientific_journal-2941	89	3	gravitational	gravitational	ADJ
american_scientific_journal-2941	89	4	feed	feed	NOUN
american_scientific_journal-2941	89	5	forward	forward	ADV
american_scientific_journal-2941	89	6	signal	signal	NOUN
american_scientific_journal-2941	89	7	onto	onto	ADP
american_scientific_journal-2941	89	8	the	the	DET
american_scientific_journal-2941	89	9	control	control	NOUN
american_scientific_journal-2941	89	10	signal	signal	PROPN
american_scientific_journal-2941	89	11	generated	generate	VERB
american_scientific_journal-2941	89	12	,	,	PUNCT
american_scientific_journal-2941	89	13	a	a	DET
american_scientific_journal-2941	89	14	torque	torque	NOUN
american_scientific_journal-2941	89	15	value	value	NOUN
american_scientific_journal-2941	89	16	is	be	AUX
american_scientific_journal-2941	89	17	sent	send	VERB
american_scientific_journal-2941	89	18	to	to	ADP
american_scientific_journal-2941	89	19	the	the	DET
american_scientific_journal-2941	89	20	control	control	NOUN
american_scientific_journal-2941	89	21	design	design	NOUN
american_scientific_journal-2941	89	22	.	.	PUNCT
american_scientific_journal-2941	90	1	figure	figure	VERB
american_scientific_journal-2941	90	2	6	6	NUM
american_scientific_journal-2941	90	3	:	:	PUNCT
american_scientific_journal-2941	90	4	block	block	NOUN
american_scientific_journal-2941	90	5	diagram	diagram	NOUN
american_scientific_journal-2941	90	6	of	of	ADP
american_scientific_journal-2941	90	7	nn	nn	X
american_scientific_journal-2941	90	8	control	control	NOUN
american_scientific_journal-2941	90	9	of	of	ADP
american_scientific_journal-2941	90	10	the	the	DET
american_scientific_journal-2941	90	11	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	90	12	figure	figure	NOUN
american_scientific_journal-2941	90	13	7	7	NUM
american_scientific_journal-2941	90	14	:	:	PUNCT
american_scientific_journal-2941	90	15	the	the	DET
american_scientific_journal-2941	90	16	inner	inner	ADJ
american_scientific_journal-2941	90	17	loop	loop	NOUN
american_scientific_journal-2941	90	18	of	of	ADP
american_scientific_journal-2941	90	19	nn	nn	X
american_scientific_journal-2941	90	20	controller	controller	NOUN
american_scientific_journal-2941	90	21	for	for	ADP
american_scientific_journal-2941	90	22	z	z	PROPN
american_scientific_journal-2941	90	23	american	american	PROPN
american_scientific_journal-2941	90	24	scientific	scientific	ADJ
american_scientific_journal-2941	90	25	research	research	NOUN
american_scientific_journal-2941	90	26	journal	journal	NOUN
american_scientific_journal-2941	90	27	for	for	ADP
american_scientific_journal-2941	90	28	engineering	engineering	NOUN
american_scientific_journal-2941	90	29	,	,	PUNCT
american_scientific_journal-2941	90	30	technology	technology	NOUN
american_scientific_journal-2941	90	31	,	,	PUNCT
american_scientific_journal-2941	90	32	and	and	CCONJ
american_scientific_journal-2941	90	33	sciences	science	NOUN
american_scientific_journal-2941	90	34	(	(	PUNCT
american_scientific_journal-2941	90	35	asrjets	asrjet	NOUN
american_scientific_journal-2941	90	36	)	)	PUNCT
american_scientific_journal-2941	90	37	(	(	PUNCT
american_scientific_journal-2941	90	38	2017	2017	NUM
american_scientific_journal-2941	90	39	)	)	PUNCT
american_scientific_journal-2941	90	40	volume	volume	NOUN
american_scientific_journal-2941	90	41	31	31	NUM
american_scientific_journal-2941	90	42	,	,	PUNCT
american_scientific_journal-2941	90	43	no	no	DET
american_scientific_journal-2941	90	44	1	1	NUM
american_scientific_journal-2941	90	45	,	,	PUNCT
american_scientific_journal-2941	90	46	pp	pp	ADV
american_scientific_journal-2941	90	47	191	191	NUM
american_scientific_journal-2941	90	48	-	-	SYM
american_scientific_journal-2941	90	49	200	200	NUM
american_scientific_journal-2941	90	50	197	197	NUM
american_scientific_journal-2941	90	51	4	4	NUM
american_scientific_journal-2941	90	52	.	.	PUNCT
american_scientific_journal-2941	90	53	simulation	simulation	NOUN
american_scientific_journal-2941	90	54	results	result	VERB
american_scientific_journal-2941	90	55	in	in	ADP
american_scientific_journal-2941	90	56	this	this	DET
american_scientific_journal-2941	90	57	study	study	NOUN
american_scientific_journal-2941	90	58	,	,	PUNCT
american_scientific_journal-2941	90	59	a	a	DET
american_scientific_journal-2941	90	60	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	90	61	having	have	VERB
american_scientific_journal-2941	90	62	4	4	NUM
american_scientific_journal-2941	90	63	rotors	rotor	NOUN
american_scientific_journal-2941	90	64	and	and	CCONJ
american_scientific_journal-2941	90	65	4	4	NUM
american_scientific_journal-2941	90	66	blades	blade	NOUN
american_scientific_journal-2941	90	67	is	be	AUX
american_scientific_journal-2941	90	68	assumed	assume	VERB
american_scientific_journal-2941	90	69	.	.	PUNCT
american_scientific_journal-2941	91	1	it	it	PRON
american_scientific_journal-2941	91	2	is	be	AUX
american_scientific_journal-2941	91	3	assumed	assume	VERB
american_scientific_journal-2941	91	4	that	that	SCONJ
american_scientific_journal-2941	91	5	the	the	DET
american_scientific_journal-2941	91	6	gravity	gravity	NOUN
american_scientific_journal-2941	91	7	of	of	ADP
american_scientific_journal-2941	91	8	the	the	DET
american_scientific_journal-2941	91	9	system	system	NOUN
american_scientific_journal-2941	91	10	is	be	AUX
american_scientific_journal-2941	91	11	9.81	9.81	NUM
american_scientific_journal-2941	91	12	m	m	NOUN
american_scientific_journal-2941	91	13	/	/	SYM
american_scientific_journal-2941	91	14	s2	s2	PROPN
american_scientific_journal-2941	91	15	and	and	CCONJ
american_scientific_journal-2941	91	16	air	air	NOUN
american_scientific_journal-2941	91	17	density	density	NOUN
american_scientific_journal-2941	91	18	is	be	AUX
american_scientific_journal-2941	91	19	1,184	1,184	NUM
american_scientific_journal-2941	91	20	kg	kg	NOUN
american_scientific_journal-2941	91	21	/	/	SYM
american_scientific_journal-2941	91	22	m3	m3	PROPN
american_scientific_journal-2941	91	23	.	.	PUNCT
american_scientific_journal-2941	92	1	the	the	DET
american_scientific_journal-2941	92	2	mass	mass	NOUN
american_scientific_journal-2941	92	3	of	of	ADP
american_scientific_journal-2941	92	4	the	the	DET
american_scientific_journal-2941	92	5	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	92	6	is	be	AUX
american_scientific_journal-2941	92	7	4	4	NUM
american_scientific_journal-2941	92	8	kg	kg	NOUN
american_scientific_journal-2941	92	9	,	,	PUNCT
american_scientific_journal-2941	92	10	the	the	DET
american_scientific_journal-2941	92	11	wing	wing	NOUN
american_scientific_journal-2941	92	12	length	length	NOUN
american_scientific_journal-2941	92	13	is	be	AUX
american_scientific_journal-2941	92	14	0.315	0.315	NUM
american_scientific_journal-2941	92	15	m	m	NOUN
american_scientific_journal-2941	92	16	,	,	PUNCT
american_scientific_journal-2941	92	17	the	the	DET
american_scientific_journal-2941	92	18	rotor	rotor	NOUN
american_scientific_journal-2941	92	19	radius	radius	NOUN
american_scientific_journal-2941	92	20	is	be	AUX
american_scientific_journal-2941	92	21	0.165	0.165	NUM
american_scientific_journal-2941	92	22	m	m	NOUN
american_scientific_journal-2941	92	23	,	,	PUNCT
american_scientific_journal-2941	92	24	the	the	DET
american_scientific_journal-2941	92	25	wing	wing	NOUN
american_scientific_journal-2941	92	26	width	width	NOUN
american_scientific_journal-2941	92	27	is	be	AUX
american_scientific_journal-2941	92	28	0.018	0.018	NUM
american_scientific_journal-2941	92	29	m	m	NOUN
american_scientific_journal-2941	92	30	and	and	CCONJ
american_scientific_journal-2941	92	31	the	the	DET
american_scientific_journal-2941	92	32	wing	wing	NOUN
american_scientific_journal-2941	92	33	mass	mass	NOUN
american_scientific_journal-2941	92	34	is	be	AUX
american_scientific_journal-2941	92	35	0.005	0.005	NUM
american_scientific_journal-2941	92	36	kg	kg	NOUN
american_scientific_journal-2941	92	37	.	.	PUNCT
american_scientific_journal-2941	93	1	all	all	DET
american_scientific_journal-2941	93	2	the	the	DET
american_scientific_journal-2941	93	3	simulations	simulation	NOUN
american_scientific_journal-2941	93	4	are	be	AUX
american_scientific_journal-2941	93	5	implemented	implement	VERB
american_scientific_journal-2941	93	6	using	use	VERB
american_scientific_journal-2941	93	7	matlab	matlab	PROPN
american_scientific_journal-2941	93	8	simulink	simulink	PROPN
american_scientific_journal-2941	93	9	.	.	PUNCT
american_scientific_journal-2941	94	1	furthermore	furthermore	ADV
american_scientific_journal-2941	94	2	,	,	PUNCT
american_scientific_journal-2941	94	3	nn	nn	X
american_scientific_journal-2941	94	4	controller	controller	PROPN
american_scientific_journal-2941	94	5	design	design	NOUN
american_scientific_journal-2941	94	6	uses	use	VERB
american_scientific_journal-2941	94	7	matlab	matlab	PROPN
american_scientific_journal-2941	94	8	neural	neural	ADJ
american_scientific_journal-2941	94	9	network	network	NOUN
american_scientific_journal-2941	94	10	toolbox[13	toolbox[13	PROPN
american_scientific_journal-2941	94	11	]	]	PUNCT
american_scientific_journal-2941	94	12	.	.	PUNCT
american_scientific_journal-2941	95	1	all	all	DET
american_scientific_journal-2941	95	2	simulations	simulation	NOUN
american_scientific_journal-2941	95	3	are	be	AUX
american_scientific_journal-2941	95	4	executed	execute	VERB
american_scientific_journal-2941	95	5	on	on	ADP
american_scientific_journal-2941	95	6	a	a	DET
american_scientific_journal-2941	95	7	laptop	laptop	NOUN
american_scientific_journal-2941	95	8	with	with	ADP
american_scientific_journal-2941	95	9	amd	amd	PROPN
american_scientific_journal-2941	95	10	athlon	athlon	NOUN
american_scientific_journal-2941	95	11	dual	dual	ADJ
american_scientific_journal-2941	95	12	core	core	NOUN
american_scientific_journal-2941	95	13	processor	processor	NOUN
american_scientific_journal-2941	95	14	and	and	CCONJ
american_scientific_journal-2941	95	15	4	4	NUM
american_scientific_journal-2941	95	16	gb	gb	NOUN
american_scientific_journal-2941	95	17	ram	ram	NOUN
american_scientific_journal-2941	95	18	.	.	PUNCT
american_scientific_journal-2941	96	1	for	for	ADP
american_scientific_journal-2941	96	2	each	each	DET
american_scientific_journal-2941	96	3	controller	controller	NOUN
american_scientific_journal-2941	96	4	design	design	NOUN
american_scientific_journal-2941	96	5	,	,	PUNCT
american_scientific_journal-2941	96	6	data	datum	NOUN
american_scientific_journal-2941	96	7	are	be	AUX
american_scientific_journal-2941	96	8	collected	collect	VERB
american_scientific_journal-2941	96	9	for	for	ADP
american_scientific_journal-2941	96	10	different	different	ADJ
american_scientific_journal-2941	96	11	trajectories	trajectory	NOUN
american_scientific_journal-2941	96	12	.	.	PUNCT
american_scientific_journal-2941	97	1	in	in	ADP
american_scientific_journal-2941	97	2	the	the	DET
american_scientific_journal-2941	97	3	following	following	NOUN
american_scientific_journal-2941	97	4	,	,	PUNCT
american_scientific_journal-2941	97	5	400x2	400x2	NUM
american_scientific_journal-2941	97	6	or	or	CCONJ
american_scientific_journal-2941	97	7	400x3	400x3	NUM
american_scientific_journal-2941	97	8	input	input	NOUN
american_scientific_journal-2941	97	9	and	and	CCONJ
american_scientific_journal-2941	97	10	400x1	400x1	NUM
american_scientific_journal-2941	97	11	output	output	NOUN
american_scientific_journal-2941	97	12	training	training	NOUN
american_scientific_journal-2941	97	13	data	datum	NOUN
american_scientific_journal-2941	97	14	are	be	AUX
american_scientific_journal-2941	97	15	obtained	obtain	VERB
american_scientific_journal-2941	97	16	and	and	CCONJ
american_scientific_journal-2941	97	17	used	use	VERB
american_scientific_journal-2941	97	18	for	for	ADP
american_scientific_journal-2941	97	19	nn	nn	PROPN
american_scientific_journal-2941	97	20	trainings	training	NOUN
american_scientific_journal-2941	97	21	.	.	PUNCT
american_scientific_journal-2941	98	1	all	all	DET
american_scientific_journal-2941	98	2	nn	nn	PROPN
american_scientific_journal-2941	98	3	controllers	controller	NOUN
american_scientific_journal-2941	98	4	are	be	AUX
american_scientific_journal-2941	98	5	trained	train	VERB
american_scientific_journal-2941	98	6	using	use	VERB
american_scientific_journal-2941	98	7	the	the	DET
american_scientific_journal-2941	98	8	levenberg	levenberg	PROPN
american_scientific_journal-2941	98	9	-	-	PUNCT
american_scientific_journal-2941	98	10	marquardt	marquardt	PROPN
american_scientific_journal-2941	98	11	algorithm	algorithm	PROPN
american_scientific_journal-2941	98	12	.	.	PUNCT
american_scientific_journal-2941	99	1	nn	nn	PROPN
american_scientific_journal-2941	99	2	trainings	training	NOUN
american_scientific_journal-2941	99	3	are	be	AUX
american_scientific_journal-2941	99	4	stopped	stop	VERB
american_scientific_journal-2941	99	5	with	with	ADP
american_scientific_journal-2941	99	6	a	a	DET
american_scientific_journal-2941	99	7	maximum	maximum	NOUN
american_scientific_journal-2941	99	8	of	of	ADP
american_scientific_journal-2941	99	9	1000	1000	NUM
american_scientific_journal-2941	99	10	epochs	epoch	NOUN
american_scientific_journal-2941	99	11	.	.	PUNCT
american_scientific_journal-2941	100	1	additionally	additionally	ADV
american_scientific_journal-2941	100	2	,	,	PUNCT
american_scientific_journal-2941	100	3	mean	mean	VERB
american_scientific_journal-2941	100	4	squared	square	VERB
american_scientific_journal-2941	100	5	error	error	NOUN
american_scientific_journal-2941	100	6	(	(	PUNCT
american_scientific_journal-2941	100	7	mse	mse	NOUN
american_scientific_journal-2941	100	8	)	)	PUNCT
american_scientific_journal-2941	100	9	type	type	NOUN
american_scientific_journal-2941	100	10	is	be	AUX
american_scientific_journal-2941	100	11	selected	select	VERB
american_scientific_journal-2941	100	12	.	.	PUNCT
american_scientific_journal-2941	101	1	a	a	DET
american_scientific_journal-2941	101	2	)	)	PUNCT
american_scientific_journal-2941	101	3	b	b	NOUN
american_scientific_journal-2941	101	4	)	)	PUNCT
american_scientific_journal-2941	101	5	c	c	NOUN
american_scientific_journal-2941	101	6	)	)	PUNCT
american_scientific_journal-2941	101	7	d	d	NOUN
american_scientific_journal-2941	101	8	)	)	PUNCT
american_scientific_journal-2941	101	9	figure	figure	NOUN
american_scientific_journal-2941	101	10	8	8	NUM
american_scientific_journal-2941	101	11	:	:	SYM
american_scientific_journal-2941	101	12	nn	nn	X
american_scientific_journal-2941	101	13	training	training	NOUN
american_scientific_journal-2941	101	14	results	result	NOUN
american_scientific_journal-2941	101	15	of	of	ADP
american_scientific_journal-2941	101	16	controllers	controller	NOUN
american_scientific_journal-2941	101	17	for	for	ADP
american_scientific_journal-2941	101	18	a	a	DET
american_scientific_journal-2941	101	19	)	)	PUNCT
american_scientific_journal-2941	101	20	roll	roll	NOUN
american_scientific_journal-2941	101	21	b	b	NOUN
american_scientific_journal-2941	101	22	)	)	PUNCT
american_scientific_journal-2941	101	23	pitch	pitch	NOUN
american_scientific_journal-2941	101	24	c	c	NOUN
american_scientific_journal-2941	101	25	)	)	PUNCT
american_scientific_journal-2941	101	26	yaw	yaw	NOUN
american_scientific_journal-2941	102	1	d	d	NOUN
american_scientific_journal-2941	102	2	)	)	PUNCT
american_scientific_journal-2941	102	3	z	z	NOUN
american_scientific_journal-2941	102	4	american	american	PROPN
american_scientific_journal-2941	102	5	scientific	scientific	ADJ
american_scientific_journal-2941	102	6	research	research	NOUN
american_scientific_journal-2941	102	7	journal	journal	NOUN
american_scientific_journal-2941	102	8	for	for	ADP
american_scientific_journal-2941	102	9	engineering	engineering	NOUN
american_scientific_journal-2941	102	10	,	,	PUNCT
american_scientific_journal-2941	102	11	technology	technology	NOUN
american_scientific_journal-2941	102	12	,	,	PUNCT
american_scientific_journal-2941	102	13	and	and	CCONJ
american_scientific_journal-2941	102	14	sciences	science	NOUN
american_scientific_journal-2941	102	15	(	(	PUNCT
american_scientific_journal-2941	102	16	asrjets	asrjet	NOUN
american_scientific_journal-2941	102	17	)	)	PUNCT
american_scientific_journal-2941	102	18	(	(	PUNCT
american_scientific_journal-2941	102	19	2017	2017	NUM
american_scientific_journal-2941	102	20	)	)	PUNCT
american_scientific_journal-2941	102	21	volume	volume	NOUN
american_scientific_journal-2941	102	22	31	31	NUM
american_scientific_journal-2941	102	23	,	,	PUNCT
american_scientific_journal-2941	102	24	no	no	DET
american_scientific_journal-2941	102	25	1	1	NUM
american_scientific_journal-2941	102	26	,	,	PUNCT
american_scientific_journal-2941	102	27	pp	pp	ADV
american_scientific_journal-2941	102	28	191	191	NUM
american_scientific_journal-2941	102	29	-	-	SYM
american_scientific_journal-2941	102	30	200	200	NUM
american_scientific_journal-2941	102	31	198	198	NUM
american_scientific_journal-2941	102	32	in	in	ADP
american_scientific_journal-2941	102	33	figure	figure	NOUN
american_scientific_journal-2941	102	34	8	8	NUM
american_scientific_journal-2941	102	35	,	,	PUNCT
american_scientific_journal-2941	102	36	nn	nn	X
american_scientific_journal-2941	102	37	training	training	NOUN
american_scientific_journal-2941	102	38	performances	performance	NOUN
american_scientific_journal-2941	102	39	for	for	ADP
american_scientific_journal-2941	102	40	roll	roll	NOUN
american_scientific_journal-2941	102	41	,	,	PUNCT
american_scientific_journal-2941	102	42	pitch	pitch	NOUN
american_scientific_journal-2941	102	43	,	,	PUNCT
american_scientific_journal-2941	102	44	yaw	yaw	NOUN
american_scientific_journal-2941	102	45	and	and	CCONJ
american_scientific_journal-2941	102	46	z	z	NOUN
american_scientific_journal-2941	102	47	controllers	controller	NOUN
american_scientific_journal-2941	102	48	are	be	AUX
american_scientific_journal-2941	102	49	shown	show	VERB
american_scientific_journal-2941	102	50	.	.	PUNCT
american_scientific_journal-2941	103	1	pitch	pitch	NOUN
american_scientific_journal-2941	103	2	nn	nn	X
american_scientific_journal-2941	103	3	controller	controller	NOUN
american_scientific_journal-2941	103	4	training	training	NOUN
american_scientific_journal-2941	103	5	is	be	AUX
american_scientific_journal-2941	103	6	completed	complete	VERB
american_scientific_journal-2941	103	7	with	with	ADP
american_scientific_journal-2941	103	8	2.37.10	2.37.10	NUM
american_scientific_journal-2941	103	9	-	-	SYM
american_scientific_journal-2941	103	10	10	10	NUM
american_scientific_journal-2941	103	11	mse	mse	NOUN
american_scientific_journal-2941	103	12	.	.	PUNCT
american_scientific_journal-2941	104	1	training	training	NOUN
american_scientific_journal-2941	104	2	of	of	ADP
american_scientific_journal-2941	104	3	nn	nn	PROPN
american_scientific_journal-2941	104	4	roll	roll	NOUN
american_scientific_journal-2941	104	5	controller	controller	NOUN
american_scientific_journal-2941	104	6	design	design	NOUN
american_scientific_journal-2941	104	7	is	be	AUX
american_scientific_journal-2941	104	8	completed	complete	VERB
american_scientific_journal-2941	104	9	with	with	ADP
american_scientific_journal-2941	104	10	best	good	ADJ
american_scientific_journal-2941	104	11	validation	validation	NOUN
american_scientific_journal-2941	104	12	performance	performance	NOUN
american_scientific_journal-2941	104	13	of	of	ADP
american_scientific_journal-2941	104	14	4.63.10	4.63.10	PROPN
american_scientific_journal-2941	104	15	-	-	PUNCT
american_scientific_journal-2941	104	16	11	11	NUM
american_scientific_journal-2941	104	17	.	.	PUNCT
american_scientific_journal-2941	105	1	yaw	yaw	NOUN
american_scientific_journal-2941	105	2	nn	nn	PROPN
american_scientific_journal-2941	105	3	controller	controller	NOUN
american_scientific_journal-2941	105	4	training	training	NOUN
american_scientific_journal-2941	105	5	is	be	AUX
american_scientific_journal-2941	105	6	completed	complete	VERB
american_scientific_journal-2941	105	7	with	with	ADP
american_scientific_journal-2941	105	8	error	error	NOUN
american_scientific_journal-2941	105	9	8.07.10	8.07.10	PROPN
american_scientific_journal-2941	105	10	-	-	PUNCT
american_scientific_journal-2941	105	11	9mse	9mse	NUM
american_scientific_journal-2941	105	12	.	.	PUNCT
american_scientific_journal-2941	106	1	these	these	DET
american_scientific_journal-2941	106	2	results	result	NOUN
american_scientific_journal-2941	106	3	prove	prove	VERB
american_scientific_journal-2941	106	4	that	that	SCONJ
american_scientific_journal-2941	106	5	trained	train	VERB
american_scientific_journal-2941	106	6	nn	nn	PROPN
american_scientific_journal-2941	106	7	controllers	controller	NOUN
american_scientific_journal-2941	106	8	will	will	AUX
american_scientific_journal-2941	106	9	provide	provide	VERB
american_scientific_journal-2941	106	10	performances	performance	NOUN
american_scientific_journal-2941	106	11	close	close	ADV
american_scientific_journal-2941	106	12	to	to	ADP
american_scientific_journal-2941	106	13	pd	pd	NOUN
american_scientific_journal-2941	106	14	controllers	controller	NOUN
american_scientific_journal-2941	106	15	.	.	PUNCT
american_scientific_journal-2941	107	1	as	as	ADP
american_scientific_journal-2941	107	2	an	an	DET
american_scientific_journal-2941	107	3	example	example	NOUN
american_scientific_journal-2941	107	4	of	of	ADP
american_scientific_journal-2941	107	5	trajectory	trajectory	NOUN
american_scientific_journal-2941	107	6	following	follow	VERB
american_scientific_journal-2941	107	7	of	of	ADP
american_scientific_journal-2941	107	8	the	the	DET
american_scientific_journal-2941	107	9	proposed	propose	VERB
american_scientific_journal-2941	107	10	controller	controller	NOUN
american_scientific_journal-2941	107	11	,	,	PUNCT
american_scientific_journal-2941	107	12	desired	desire	VERB
american_scientific_journal-2941	107	13	x	x	X
american_scientific_journal-2941	107	14	*	*	PROPN
american_scientific_journal-2941	107	15	,	,	PUNCT
american_scientific_journal-2941	107	16	y	y	PROPN
american_scientific_journal-2941	107	17	*	*	NOUN
american_scientific_journal-2941	107	18	,	,	PUNCT
american_scientific_journal-2941	107	19	yaw	yaw	PROPN
american_scientific_journal-2941	107	20	*	*	PUNCT
american_scientific_journal-2941	107	21	and	and	CCONJ
american_scientific_journal-2941	107	22	z	z	NOUN
american_scientific_journal-2941	107	23	*	*	PUNCT
american_scientific_journal-2941	107	24	are	be	AUX
american_scientific_journal-2941	107	25	defined	define	VERB
american_scientific_journal-2941	107	26	as	as	SCONJ
american_scientific_journal-2941	107	27	follows	follow	VERB
american_scientific_journal-2941	107	28	:	:	PUNCT
american_scientific_journal-2941	107	29	𝑥𝑥∗(𝑡𝑡	𝑥𝑥∗(𝑡𝑡	NOUN
american_scientific_journal-2941	107	30	)	)	PUNCT
american_scientific_journal-2941	108	1	=	=	PRON
american_scientific_journal-2941	108	2	𝑠𝑠𝑖𝑖𝑠𝑠(2.𝜋𝜋.	𝑠𝑠𝑖𝑖𝑠𝑠(2.𝜋𝜋.	VERB
american_scientific_journal-2941	108	3	0.125𝑡𝑡	0.125𝑡𝑡	NOUN
american_scientific_journal-2941	108	4	−	−	ADP
american_scientific_journal-2941	108	5	𝜋𝜋/2	𝜋𝜋/2	PROPN
american_scientific_journal-2941	108	6	)	)	PUNCT
american_scientific_journal-2941	108	7	m	m	PROPN
american_scientific_journal-2941	108	8	(	(	PUNCT
american_scientific_journal-2941	108	9	14	14	NUM
american_scientific_journal-2941	108	10	)	)	PUNCT
american_scientific_journal-2941	108	11	𝑦𝑦∗(𝑡𝑡	𝑦𝑦∗(𝑡𝑡	NOUN
american_scientific_journal-2941	108	12	)	)	PUNCT
american_scientific_journal-2941	109	1	=	=	SYM
american_scientific_journal-2941	109	2	𝑠𝑠𝑖𝑖𝑠𝑠(2.𝜋𝜋.	𝑠𝑠𝑖𝑖𝑠𝑠(2.𝜋𝜋.	ADJ
american_scientific_journal-2941	109	3	0.125𝑡𝑡	0.125𝑡𝑡	NOUN
american_scientific_journal-2941	109	4	)	)	PUNCT
american_scientific_journal-2941	109	5	m	m	VERB
american_scientific_journal-2941	109	6	(	(	PUNCT
american_scientific_journal-2941	109	7	15	15	NUM
american_scientific_journal-2941	109	8	)	)	PUNCT
american_scientific_journal-2941	109	9	𝑦𝑦𝑦𝑦𝑦𝑦∗(𝑡𝑡	𝑦𝑦𝑦𝑦𝑦𝑦∗(𝑡𝑡	NOUN
american_scientific_journal-2941	109	10	)	)	PUNCT
american_scientific_journal-2941	109	11	=	=	PUNCT
american_scientific_journal-2941	109	12	0.2(𝑡𝑡	0.2(𝑡𝑡	NUM
american_scientific_journal-2941	110	1	−	−	NUM
american_scientific_journal-2941	110	2	2)rad	2)rad	NUM
american_scientific_journal-2941	110	3	(	(	PUNCT
american_scientific_journal-2941	110	4	16	16	NUM
american_scientific_journal-2941	110	5	)	)	PUNCT
american_scientific_journal-2941	110	6	𝑧𝑧∗(𝑡𝑡	𝑧𝑧∗(𝑡𝑡	NOUN
american_scientific_journal-2941	110	7	)	)	PUNCT
american_scientific_journal-2941	111	1	=	=	PUNCT
american_scientific_journal-2941	111	2	4	4	NUM
american_scientific_journal-2941	111	3	m	m	NOUN
american_scientific_journal-2941	111	4	(	(	PUNCT
american_scientific_journal-2941	111	5	17	17	NUM
american_scientific_journal-2941	111	6	)	)	PUNCT
american_scientific_journal-2941	111	7	e	e	NOUN
american_scientific_journal-2941	111	8	)	)	PUNCT
american_scientific_journal-2941	111	9	τyaw	τyaw	NOUN
american_scientific_journal-2941	111	10	of	of	ADP
american_scientific_journal-2941	111	11	pd	pd	PROPN
american_scientific_journal-2941	111	12	f	f	PROPN
american_scientific_journal-2941	111	13	)	)	PUNCT
american_scientific_journal-2941	111	14	τyaw	τyaw	NOUN
american_scientific_journal-2941	111	15	of	of	ADP
american_scientific_journal-2941	111	16	nn	nn	PROPN
american_scientific_journal-2941	111	17	g	g	PROPN
american_scientific_journal-2941	111	18	)	)	PUNCT
american_scientific_journal-2941	111	19	t	t	PROPN
american_scientific_journal-2941	111	20	of	of	ADP
american_scientific_journal-2941	111	21	pd	pd	PROPN
american_scientific_journal-2941	111	22	h	h	PROPN
american_scientific_journal-2941	111	23	)	)	PUNCT
american_scientific_journal-2941	111	24	t	t	PROPN
american_scientific_journal-2941	111	25	of	of	ADP
american_scientific_journal-2941	111	26	nn	nn	INTJ
american_scientific_journal-2941	111	27	the	the	DET
american_scientific_journal-2941	111	28	torques	torque	NOUN
american_scientific_journal-2941	111	29	of	of	ADP
american_scientific_journal-2941	111	30	pd	pd	PROPN
american_scientific_journal-2941	111	31	and	and	CCONJ
american_scientific_journal-2941	111	32	nn	nn	PROPN
american_scientific_journal-2941	111	33	controller	controller	NOUN
american_scientific_journal-2941	111	34	are	be	AUX
american_scientific_journal-2941	111	35	shown	show	VERB
american_scientific_journal-2941	111	36	in	in	ADP
american_scientific_journal-2941	111	37	figure	figure	NOUN
american_scientific_journal-2941	111	38	9	9	NUM
american_scientific_journal-2941	111	39	.	.	PUNCT
american_scientific_journal-2941	112	1	it	it	PRON
american_scientific_journal-2941	112	2	is	be	AUX
american_scientific_journal-2941	112	3	clear	clear	ADJ
american_scientific_journal-2941	112	4	that	that	SCONJ
american_scientific_journal-2941	112	5	nn	nn	PROPN
american_scientific_journal-2941	112	6	approximates	approximate	VERB
american_scientific_journal-2941	112	7	torque	torque	NOUN
american_scientific_journal-2941	112	8	values	value	NOUN
american_scientific_journal-2941	112	9	with	with	ADP
american_scientific_journal-2941	112	10	small	small	ADJ
american_scientific_journal-2941	112	11	errors	error	NOUN
american_scientific_journal-2941	112	12	and	and	CCONJ
american_scientific_journal-2941	112	13	this	this	PRON
american_scientific_journal-2941	112	14	will	will	AUX
american_scientific_journal-2941	112	15	result	result	VERB
american_scientific_journal-2941	112	16	similar	similar	ADJ
american_scientific_journal-2941	112	17	performances	performance	NOUN
american_scientific_journal-2941	112	18	of	of	ADP
american_scientific_journal-2941	112	19	pd	pd	PROPN
american_scientific_journal-2941	112	20	controllers	controller	NOUN
american_scientific_journal-2941	112	21	.	.	PUNCT
american_scientific_journal-2941	113	1	four	four	NUM
american_scientific_journal-2941	113	2	nn	nn	PROPN
american_scientific_journal-2941	113	3	controllers	controller	NOUN
american_scientific_journal-2941	113	4	are	be	AUX
american_scientific_journal-2941	113	5	trained	train	VERB
american_scientific_journal-2941	113	6	with	with	ADP
american_scientific_journal-2941	113	7	very	very	ADV
american_scientific_journal-2941	113	8	low	low	ADJ
american_scientific_journal-2941	113	9	errors	error	NOUN
american_scientific_journal-2941	113	10	,	,	PUNCT
american_scientific_journal-2941	113	11	so	so	SCONJ
american_scientific_journal-2941	113	12	that	that	SCONJ
american_scientific_journal-2941	113	13	the	the	DET
american_scientific_journal-2941	113	14	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	113	15	will	will	AUX
american_scientific_journal-2941	113	16	operate	operate	VERB
american_scientific_journal-2941	113	17	with	with	ADP
american_scientific_journal-2941	113	18	a	a	DET
american_scientific_journal-2941	113	19	good	good	ADJ
american_scientific_journal-2941	113	20	trajectory	trajectory	NOUN
american_scientific_journal-2941	113	21	tracking	tracking	NOUN
american_scientific_journal-2941	113	22	performance	performance	NOUN
american_scientific_journal-2941	113	23	.	.	PUNCT
american_scientific_journal-2941	114	1	to	to	PART
american_scientific_journal-2941	114	2	show	show	VERB
american_scientific_journal-2941	114	3	the	the	DET
american_scientific_journal-2941	114	4	performance	performance	NOUN
american_scientific_journal-2941	114	5	,	,	PUNCT
american_scientific_journal-2941	114	6	trajectory	trajectory	NOUN
american_scientific_journal-2941	114	7	tracking	tracking	NOUN
american_scientific_journal-2941	114	8	results	result	NOUN
american_scientific_journal-2941	114	9	of	of	ADP
american_scientific_journal-2941	114	10	pd	pd	PROPN
american_scientific_journal-2941	114	11	and	and	CCONJ
american_scientific_journal-2941	114	12	nn	nn	PROPN
american_scientific_journal-2941	114	13	controllers	controller	NOUN
american_scientific_journal-2941	114	14	are	be	AUX
american_scientific_journal-2941	114	15	shown	show	VERB
american_scientific_journal-2941	114	16	in	in	ADP
american_scientific_journal-2941	114	17	figure	figure	NOUN
american_scientific_journal-2941	114	18	10	10	NUM
american_scientific_journal-2941	114	19	.	.	PUNCT
american_scientific_journal-2941	115	1	the	the	DET
american_scientific_journal-2941	115	2	reference	reference	NOUN
american_scientific_journal-2941	115	3	trajectory	trajectory	NOUN
american_scientific_journal-2941	115	4	is	be	AUX
american_scientific_journal-2941	115	5	shown	show	VERB
american_scientific_journal-2941	115	6	in	in	ADP
american_scientific_journal-2941	115	7	blue	blue	ADJ
american_scientific_journal-2941	115	8	,	,	PUNCT
american_scientific_journal-2941	115	9	the	the	DET
american_scientific_journal-2941	115	10	trajectory	trajectory	NOUN
american_scientific_journal-2941	115	11	of	of	ADP
american_scientific_journal-2941	115	12	pd	pd	PROPN
american_scientific_journal-2941	115	13	controllers	controller	NOUN
american_scientific_journal-2941	115	14	is	be	AUX
american_scientific_journal-2941	115	15	shown	show	VERB
american_scientific_journal-2941	115	16	in	in	ADP
american_scientific_journal-2941	115	17	green	green	ADJ
american_scientific_journal-2941	115	18	and	and	CCONJ
american_scientific_journal-2941	115	19	the	the	DET
american_scientific_journal-2941	115	20	trajectory	trajectory	NOUN
american_scientific_journal-2941	115	21	of	of	ADP
american_scientific_journal-2941	115	22	nn	nn	PROPN
american_scientific_journal-2941	115	23	controllers	controller	NOUN
american_scientific_journal-2941	115	24	are	be	AUX
american_scientific_journal-2941	115	25	shown	show	VERB
american_scientific_journal-2941	115	26	in	in	ADP
american_scientific_journal-2941	115	27	red	red	ADJ
american_scientific_journal-2941	115	28	,	,	PUNCT
american_scientific_journal-2941	115	29	respectively	respectively	ADV
american_scientific_journal-2941	115	30	.	.	PUNCT
american_scientific_journal-2941	116	1	the	the	DET
american_scientific_journal-2941	116	2	error	error	NOUN
american_scientific_journal-2941	116	3	in	in	ADP
american_scientific_journal-2941	116	4	terms	term	NOUN
american_scientific_journal-2941	116	5	of	of	ADP
american_scientific_journal-2941	116	6	root	root	NOUN
american_scientific_journal-2941	116	7	mean	mean	ADJ
american_scientific_journal-2941	116	8	square	square	ADJ
american_scientific_journal-2941	116	9	error	error	NOUN
american_scientific_journal-2941	116	10	(	(	PUNCT
american_scientific_journal-2941	116	11	rmse	rmse	NOUN
american_scientific_journal-2941	116	12	)	)	PUNCT
american_scientific_journal-2941	116	13	is	be	AUX
american_scientific_journal-2941	116	14	0.0696	0.0696	NUM
american_scientific_journal-2941	116	15	for	for	ADP
american_scientific_journal-2941	116	16	nn	nn	X
american_scientific_journal-2941	116	17	controller	controller	NOUN
american_scientific_journal-2941	116	18	while	while	SCONJ
american_scientific_journal-2941	116	19	it	it	PRON
american_scientific_journal-2941	116	20	is	be	AUX
american_scientific_journal-2941	116	21	0.0689	0.0689	NUM
american_scientific_journal-2941	116	22	for	for	ADP
american_scientific_journal-2941	116	23	pd	pd	PROPN
american_scientific_journal-2941	116	24	controller	controller	NOUN
american_scientific_journal-2941	116	25	.	.	PUNCT
american_scientific_journal-2941	117	1	the	the	DET
american_scientific_journal-2941	117	2	results	result	NOUN
american_scientific_journal-2941	117	3	are	be	AUX
american_scientific_journal-2941	117	4	very	very	ADV
american_scientific_journal-2941	117	5	close	close	ADJ
american_scientific_journal-2941	117	6	and	and	CCONJ
american_scientific_journal-2941	117	7	this	this	PRON
american_scientific_journal-2941	117	8	proves	prove	VERB
american_scientific_journal-2941	117	9	the	the	DET
american_scientific_journal-2941	117	10	performance	performance	NOUN
american_scientific_journal-2941	117	11	of	of	ADP
american_scientific_journal-2941	117	12	nn	nn	PROPN
american_scientific_journal-2941	117	13	controllers	controller	NOUN
american_scientific_journal-2941	117	14	.	.	PUNCT
american_scientific_journal-2941	118	1	here	here	ADV
american_scientific_journal-2941	118	2	,	,	PUNCT
american_scientific_journal-2941	118	3	it	it	PRON
american_scientific_journal-2941	118	4	should	should	AUX
american_scientific_journal-2941	118	5	be	be	AUX
american_scientific_journal-2941	118	6	noted	note	VERB
american_scientific_journal-2941	118	7	that	that	SCONJ
american_scientific_journal-2941	118	8	better	well	ADJ
american_scientific_journal-2941	118	9	performance	performance	NOUN
american_scientific_journal-2941	118	10	results	result	NOUN
american_scientific_journal-2941	118	11	can	can	AUX
american_scientific_journal-2941	118	12	be	be	AUX
american_scientific_journal-2941	118	13	obtained	obtain	VERB
american_scientific_journal-2941	118	14	with	with	ADP
american_scientific_journal-2941	118	15	other	other	ADJ
american_scientific_journal-2941	118	16	types	type	NOUN
american_scientific_journal-2941	118	17	of	of	ADP
american_scientific_journal-2941	118	18	neural	neural	ADJ
american_scientific_journal-2941	118	19	networks	network	NOUN
american_scientific_journal-2941	118	20	like	like	ADP
american_scientific_journal-2941	118	21	adaptive	adaptive	ADJ
american_scientific_journal-2941	118	22	neuro	neuro	NOUN
american_scientific_journal-2941	118	23	-	-	PUNCT
american_scientific_journal-2941	118	24	fuzzy	fuzzy	ADJ
american_scientific_journal-2941	118	25	systems	system	NOUN
american_scientific_journal-2941	118	26	(	(	PUNCT
american_scientific_journal-2941	118	27	anfis	anfi	VERB
american_scientific_journal-2941	118	28	)	)	PUNCT
american_scientific_journal-2941	118	29	or	or	CCONJ
american_scientific_journal-2941	118	30	radial	radial	ADJ
american_scientific_journal-2941	118	31	basis	basis	NOUN
american_scientific_journal-2941	118	32	neural	neural	ADJ
american_scientific_journal-2941	118	33	networks	network	NOUN
american_scientific_journal-2941	118	34	(	(	PUNCT
american_scientific_journal-2941	118	35	rbnn	rbnn	NOUN
american_scientific_journal-2941	118	36	)	)	PUNCT
american_scientific_journal-2941	118	37	.	.	PUNCT
american_scientific_journal-2941	119	1	figure	figure	VERB
american_scientific_journal-2941	119	2	10	10	NUM
american_scientific_journal-2941	119	3	:	:	PUNCT
american_scientific_journal-2941	119	4	trajectory	trajectory	NOUN
american_scientific_journal-2941	119	5	tracking	tracking	NOUN
american_scientific_journal-2941	119	6	results	result	NOUN
american_scientific_journal-2941	119	7	of	of	ADP
american_scientific_journal-2941	119	8	pd	pd	PROPN
american_scientific_journal-2941	119	9	and	and	CCONJ
american_scientific_journal-2941	119	10	nn	nn	PROPN
american_scientific_journal-2941	119	11	controllers	controller	NOUN
american_scientific_journal-2941	119	12	american	american	PROPN
american_scientific_journal-2941	119	13	scientific	scientific	PROPN
american_scientific_journal-2941	119	14	research	research	PROPN
american_scientific_journal-2941	119	15	journal	journal	NOUN
american_scientific_journal-2941	119	16	for	for	ADP
american_scientific_journal-2941	119	17	engineering	engineering	NOUN
american_scientific_journal-2941	119	18	,	,	PUNCT
american_scientific_journal-2941	119	19	technology	technology	NOUN
american_scientific_journal-2941	119	20	,	,	PUNCT
american_scientific_journal-2941	119	21	and	and	CCONJ
american_scientific_journal-2941	119	22	sciences	science	NOUN
american_scientific_journal-2941	119	23	(	(	PUNCT
american_scientific_journal-2941	119	24	asrjets	asrjet	NOUN
american_scientific_journal-2941	119	25	)	)	PUNCT
american_scientific_journal-2941	119	26	(	(	PUNCT
american_scientific_journal-2941	119	27	2017	2017	NUM
american_scientific_journal-2941	119	28	)	)	PUNCT
american_scientific_journal-2941	119	29	volume	volume	NOUN
american_scientific_journal-2941	119	30	31	31	NUM
american_scientific_journal-2941	119	31	,	,	PUNCT
american_scientific_journal-2941	119	32	no	no	DET
american_scientific_journal-2941	119	33	1	1	NUM
american_scientific_journal-2941	119	34	,	,	PUNCT
american_scientific_journal-2941	119	35	pp	pp	ADV
american_scientific_journal-2941	119	36	191	191	NUM
american_scientific_journal-2941	119	37	-	-	SYM
american_scientific_journal-2941	119	38	200	200	NUM
american_scientific_journal-2941	119	39	199	199	NUM
american_scientific_journal-2941	119	40	a	a	DET
american_scientific_journal-2941	119	41	)	)	PUNCT
american_scientific_journal-2941	119	42	b	b	NOUN
american_scientific_journal-2941	119	43	)	)	PUNCT
american_scientific_journal-2941	119	44	c	c	NOUN
american_scientific_journal-2941	119	45	)	)	PUNCT
american_scientific_journal-2941	119	46	d	d	NOUN
american_scientific_journal-2941	119	47	)	)	PUNCT
american_scientific_journal-2941	119	48	e	e	NOUN
american_scientific_journal-2941	119	49	)	)	PUNCT
american_scientific_journal-2941	119	50	f	f	X
american_scientific_journal-2941	119	51	)	)	PUNCT
american_scientific_journal-2941	119	52	g	g	NOUN
american_scientific_journal-2941	119	53	)	)	PUNCT
american_scientific_journal-2941	119	54	h	h	NOUN
american_scientific_journal-2941	119	55	)	)	PUNCT
american_scientific_journal-2941	119	56	figure	figure	NOUN
american_scientific_journal-2941	119	57	9	9	NUM
american_scientific_journal-2941	119	58	:	:	PUNCT
american_scientific_journal-2941	119	59	the	the	DET
american_scientific_journal-2941	119	60	torques	torque	NOUN
american_scientific_journal-2941	119	61	of	of	ADP
american_scientific_journal-2941	119	62	pd	pd	PROPN
american_scientific_journal-2941	119	63	and	and	CCONJ
american_scientific_journal-2941	119	64	nn	nn	PROPN
american_scientific_journal-2941	119	65	controllers	controllers	PROPN
american_scientific_journal-2941	119	66	a	a	DET
american_scientific_journal-2941	119	67	)	)	PUNCT
american_scientific_journal-2941	119	68	τroll	τroll	NOUN
american_scientific_journal-2941	119	69	of	of	ADP
american_scientific_journal-2941	119	70	pd	pd	PROPN
american_scientific_journal-2941	119	71	b	b	PROPN
american_scientific_journal-2941	119	72	)	)	PUNCT
american_scientific_journal-2941	119	73	τroll	τroll	NOUN
american_scientific_journal-2941	119	74	of	of	ADP
american_scientific_journal-2941	119	75	nn	nn	PROPN
american_scientific_journal-2941	119	76	c	c	PROPN
american_scientific_journal-2941	119	77	)	)	PUNCT
american_scientific_journal-2941	119	78	τpitch	τpitch	NOUN
american_scientific_journal-2941	119	79	of	of	ADP
american_scientific_journal-2941	119	80	pd	pd	PROPN
american_scientific_journal-2941	119	81	d	d	PROPN
american_scientific_journal-2941	119	82	)	)	PUNCT
american_scientific_journal-2941	119	83	τpitch	τpitch	NOUN
american_scientific_journal-2941	119	84	of	of	ADP
american_scientific_journal-2941	119	85	nn	nn	PROPN
american_scientific_journal-2941	119	86	5	5	NUM
american_scientific_journal-2941	119	87	.	.	PUNCT
american_scientific_journal-2941	119	88	conclusion	conclusion	NOUN
american_scientific_journal-2941	119	89	while	while	SCONJ
american_scientific_journal-2941	119	90	quadrotors	quadrotor	NOUN
american_scientific_journal-2941	119	91	are	be	AUX
american_scientific_journal-2941	119	92	becoming	become	VERB
american_scientific_journal-2941	119	93	more	more	ADV
american_scientific_journal-2941	119	94	popular	popular	ADJ
american_scientific_journal-2941	119	95	,	,	PUNCT
american_scientific_journal-2941	119	96	their	their	PRON
american_scientific_journal-2941	119	97	controllers	controller	NOUN
american_scientific_journal-2941	119	98	should	should	AUX
american_scientific_journal-2941	119	99	be	be	AUX
american_scientific_journal-2941	119	100	improved	improve	VERB
american_scientific_journal-2941	119	101	.	.	PUNCT
american_scientific_journal-2941	120	1	in	in	ADP
american_scientific_journal-2941	120	2	this	this	DET
american_scientific_journal-2941	120	3	study	study	NOUN
american_scientific_journal-2941	120	4	,	,	PUNCT
american_scientific_journal-2941	120	5	neural	neural	ADJ
american_scientific_journal-2941	120	6	network	network	NOUN
american_scientific_journal-2941	120	7	control	control	NOUN
american_scientific_journal-2941	120	8	of	of	ADP
american_scientific_journal-2941	120	9	quadrotors	quadrotor	NOUN
american_scientific_journal-2941	120	10	is	be	AUX
american_scientific_journal-2941	120	11	aimed	aim	VERB
american_scientific_journal-2941	120	12	to	to	PART
american_scientific_journal-2941	120	13	obtain	obtain	VERB
american_scientific_journal-2941	120	14	an	an	DET
american_scientific_journal-2941	120	15	artificial	artificial	ADJ
american_scientific_journal-2941	120	16	intelligence	intelligence	NOUN
american_scientific_journal-2941	120	17	based	base	VERB
american_scientific_journal-2941	120	18	controller	controller	NOUN
american_scientific_journal-2941	120	19	.	.	PUNCT
american_scientific_journal-2941	121	1	firstly	firstly	ADV
american_scientific_journal-2941	121	2	,	,	PUNCT
american_scientific_journal-2941	121	3	the	the	DET
american_scientific_journal-2941	121	4	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	121	5	is	be	AUX
american_scientific_journal-2941	121	6	modeled	model	VERB
american_scientific_journal-2941	121	7	according	accord	VERB
american_scientific_journal-2941	121	8	to	to	ADP
american_scientific_journal-2941	121	9	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	121	10	dynamics	dynamic	NOUN
american_scientific_journal-2941	121	11	.	.	PUNCT
american_scientific_journal-2941	122	1	then	then	ADV
american_scientific_journal-2941	122	2	,	,	PUNCT
american_scientific_journal-2941	122	3	pd	pd	PROPN
american_scientific_journal-2941	122	4	controllers	controller	NOUN
american_scientific_journal-2941	122	5	for	for	ADP
american_scientific_journal-2941	122	6	x	x	PROPN
american_scientific_journal-2941	122	7	,	,	PUNCT
american_scientific_journal-2941	122	8	y	y	PROPN
american_scientific_journal-2941	122	9	,	,	PUNCT
american_scientific_journal-2941	122	10	yaw	yaw	NOUN
american_scientific_journal-2941	122	11	and	and	CCONJ
american_scientific_journal-2941	122	12	z	z	NOUN
american_scientific_journal-2941	122	13	control	control	NOUN
american_scientific_journal-2941	122	14	of	of	ADP
american_scientific_journal-2941	122	15	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	122	16	are	be	AUX
american_scientific_journal-2941	122	17	implemented	implement	VERB
american_scientific_journal-2941	122	18	as	as	ADP
american_scientific_journal-2941	122	19	classical	classical	ADJ
american_scientific_journal-2941	122	20	controllers	controller	NOUN
american_scientific_journal-2941	122	21	.	.	PUNCT
american_scientific_journal-2941	123	1	the	the	DET
american_scientific_journal-2941	123	2	results	result	NOUN
american_scientific_journal-2941	123	3	for	for	ADP
american_scientific_journal-2941	123	4	these	these	DET
american_scientific_journal-2941	123	5	controllers	controller	NOUN
american_scientific_journal-2941	123	6	are	be	AUX
american_scientific_journal-2941	123	7	recorded	record	VERB
american_scientific_journal-2941	123	8	as	as	ADP
american_scientific_journal-2941	123	9	training	training	NOUN
american_scientific_journal-2941	123	10	data	datum	NOUN
american_scientific_journal-2941	123	11	of	of	ADP
american_scientific_journal-2941	123	12	nn	nn	PROPN
american_scientific_journal-2941	123	13	american	american	PROPN
american_scientific_journal-2941	123	14	scientific	scientific	PROPN
american_scientific_journal-2941	123	15	research	research	PROPN
american_scientific_journal-2941	123	16	journal	journal	NOUN
american_scientific_journal-2941	123	17	for	for	ADP
american_scientific_journal-2941	123	18	engineering	engineering	NOUN
american_scientific_journal-2941	123	19	,	,	PUNCT
american_scientific_journal-2941	123	20	technology	technology	NOUN
american_scientific_journal-2941	123	21	,	,	PUNCT
american_scientific_journal-2941	123	22	and	and	CCONJ
american_scientific_journal-2941	123	23	sciences	science	NOUN
american_scientific_journal-2941	123	24	(	(	PUNCT
american_scientific_journal-2941	123	25	asrjets	asrjet	NOUN
american_scientific_journal-2941	123	26	)	)	PUNCT
american_scientific_journal-2941	123	27	(	(	PUNCT
american_scientific_journal-2941	123	28	2017	2017	NUM
american_scientific_journal-2941	123	29	)	)	PUNCT
american_scientific_journal-2941	123	30	volume	volume	NOUN
american_scientific_journal-2941	123	31	31	31	NUM
american_scientific_journal-2941	123	32	,	,	PUNCT
american_scientific_journal-2941	123	33	no	no	DET
american_scientific_journal-2941	123	34	1	1	NUM
american_scientific_journal-2941	123	35	,	,	PUNCT
american_scientific_journal-2941	123	36	pp	pp	ADV
american_scientific_journal-2941	123	37	191	191	NUM
american_scientific_journal-2941	123	38	-	-	SYM
american_scientific_journal-2941	123	39	200	200	NUM
american_scientific_journal-2941	123	40	200	200	NUM
american_scientific_journal-2941	123	41	controllers	controller	NOUN
american_scientific_journal-2941	123	42	.	.	PUNCT
american_scientific_journal-2941	124	1	as	as	ADP
american_scientific_journal-2941	124	2	the	the	DET
american_scientific_journal-2941	124	3	proposed	propose	VERB
american_scientific_journal-2941	124	4	controllers	controller	NOUN
american_scientific_journal-2941	124	5	,	,	PUNCT
american_scientific_journal-2941	124	6	nn	nn	PROPN
american_scientific_journal-2941	124	7	controllers	controller	NOUN
american_scientific_journal-2941	124	8	are	be	AUX
american_scientific_journal-2941	124	9	trained	train	VERB
american_scientific_journal-2941	124	10	according	accord	VERB
american_scientific_journal-2941	124	11	to	to	ADP
american_scientific_journal-2941	124	12	these	these	DET
american_scientific_journal-2941	124	13	data	datum	NOUN
american_scientific_journal-2941	124	14	and	and	CCONJ
american_scientific_journal-2941	124	15	performance	performance	NOUN
american_scientific_journal-2941	124	16	of	of	ADP
american_scientific_journal-2941	124	17	these	these	DET
american_scientific_journal-2941	124	18	results	result	NOUN
american_scientific_journal-2941	124	19	are	be	AUX
american_scientific_journal-2941	124	20	examined	examine	VERB
american_scientific_journal-2941	124	21	.	.	PUNCT
american_scientific_journal-2941	125	1	the	the	DET
american_scientific_journal-2941	125	2	results	result	NOUN
american_scientific_journal-2941	125	3	verify	verify	VERB
american_scientific_journal-2941	125	4	that	that	SCONJ
american_scientific_journal-2941	125	5	nn	nn	PROPN
american_scientific_journal-2941	125	6	controllers	controller	NOUN
american_scientific_journal-2941	125	7	achieve	achieve	VERB
american_scientific_journal-2941	125	8	good	good	ADJ
american_scientific_journal-2941	125	9	trajectory	trajectory	NOUN
american_scientific_journal-2941	125	10	tracking	tracking	NOUN
american_scientific_journal-2941	125	11	results	result	NOUN
american_scientific_journal-2941	125	12	.	.	PUNCT
american_scientific_journal-2941	126	1	in	in	ADP
american_scientific_journal-2941	126	2	the	the	DET
american_scientific_journal-2941	126	3	future	future	ADJ
american_scientific_journal-2941	126	4	studies	study	NOUN
american_scientific_journal-2941	126	5	,	,	PUNCT
american_scientific_journal-2941	126	6	it	it	PRON
american_scientific_journal-2941	126	7	is	be	AUX
american_scientific_journal-2941	126	8	aimed	aim	VERB
american_scientific_journal-2941	126	9	to	to	PART
american_scientific_journal-2941	126	10	implement	implement	VERB
american_scientific_journal-2941	126	11	these	these	DET
american_scientific_journal-2941	126	12	nn	nn	PROPN
american_scientific_journal-2941	126	13	controllers	controller	NOUN
american_scientific_journal-2941	126	14	on	on	ADP
american_scientific_journal-2941	126	15	a	a	DET
american_scientific_journal-2941	126	16	real	real	ADJ
american_scientific_journal-2941	126	17	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	126	18	and	and	CCONJ
american_scientific_journal-2941	126	19	the	the	DET
american_scientific_journal-2941	126	20	results	result	NOUN
american_scientific_journal-2941	126	21	for	for	ADP
american_scientific_journal-2941	126	22	indoor	indoor	ADJ
american_scientific_journal-2941	126	23	and	and	CCONJ
american_scientific_journal-2941	126	24	outdoor	outdoor	ADJ
american_scientific_journal-2941	126	25	environments	environment	NOUN
american_scientific_journal-2941	126	26	will	will	AUX
american_scientific_journal-2941	126	27	be	be	AUX
american_scientific_journal-2941	126	28	obtained	obtain	VERB
american_scientific_journal-2941	126	29	.	.	PUNCT
american_scientific_journal-2941	127	1	references	reference	NOUN
american_scientific_journal-2941	127	2	[	[	X
american_scientific_journal-2941	127	3	1	1	NUM
american_scientific_journal-2941	127	4	]	]	PUNCT
american_scientific_journal-2941	127	5	p.	p.	PROPN
american_scientific_journal-2941	127	6	e.	e.	PROPN
american_scientific_journal-2941	127	7	i.	i.	PROPN
american_scientific_journal-2941	127	8	pounds	pounds	PROPN
american_scientific_journal-2941	127	9	,	,	PUNCT
american_scientific_journal-2941	127	10	“	"	PUNCT
american_scientific_journal-2941	127	11	design	design	NOUN
american_scientific_journal-2941	127	12	,	,	PUNCT
american_scientific_journal-2941	127	13	construction	construction	NOUN
american_scientific_journal-2941	127	14	and	and	CCONJ
american_scientific_journal-2941	127	15	control	control	NOUN
american_scientific_journal-2941	127	16	of	of	ADP
american_scientific_journal-2941	127	17	a	a	DET
american_scientific_journal-2941	127	18	large	large	ADJ
american_scientific_journal-2941	127	19	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	127	20	micro	micro	PROPN
american_scientific_journal-2941	127	21	air	air	PROPN
american_scientific_journal-2941	127	22	vehicle	vehicle	NOUN
american_scientific_journal-2941	127	23	,	,	PUNCT
american_scientific_journal-2941	127	24	”	"	PUNCT
american_scientific_journal-2941	127	25	the	the	DET
american_scientific_journal-2941	127	26	australian	australian	ADJ
american_scientific_journal-2941	127	27	national	national	PROPN
american_scientific_journal-2941	127	28	university	university	NOUN
american_scientific_journal-2941	127	29	,	,	PUNCT
american_scientific_journal-2941	127	30	2007	2007	NUM
american_scientific_journal-2941	127	31	.	.	PUNCT
american_scientific_journal-2941	128	1	[	[	X
american_scientific_journal-2941	128	2	2	2	X
american_scientific_journal-2941	128	3	]	]	X
american_scientific_journal-2941	128	4	g.	g.	PROPN
american_scientific_journal-2941	128	5	m.	m.	PROPN
american_scientific_journal-2941	128	6	hoffmann	hoffmann	PROPN
american_scientific_journal-2941	128	7	,	,	PUNCT
american_scientific_journal-2941	128	8	h.	h.	PROPN
american_scientific_journal-2941	128	9	huang	huang	PROPN
american_scientific_journal-2941	128	10	,	,	PUNCT
american_scientific_journal-2941	128	11	s.	s.	PROPN
american_scientific_journal-2941	128	12	l.	l.	PROPN
american_scientific_journal-2941	128	13	waslander	waslander	PROPN
american_scientific_journal-2941	128	14	,	,	PUNCT
american_scientific_journal-2941	128	15	and	and	CCONJ
american_scientific_journal-2941	128	16	c.	c.	PROPN
american_scientific_journal-2941	128	17	j.	j.	PROPN
american_scientific_journal-2941	128	18	tomlin	tomlin	PROPN
american_scientific_journal-2941	128	19	,	,	PUNCT
american_scientific_journal-2941	128	20	“	"	PUNCT
american_scientific_journal-2941	128	21	precision	precision	NOUN
american_scientific_journal-2941	128	22	flight	flight	NOUN
american_scientific_journal-2941	128	23	control	control	NOUN
american_scientific_journal-2941	128	24	for	for	ADP
american_scientific_journal-2941	128	25	a	a	DET
american_scientific_journal-2941	128	26	multivehicle	multivehicle	NOUN
american_scientific_journal-2941	128	27	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	128	28	helicopter	helicopter	NOUN
american_scientific_journal-2941	128	29	testbed	testbe	VERB
american_scientific_journal-2941	128	30	,	,	PUNCT
american_scientific_journal-2941	128	31	”	"	PUNCT
american_scientific_journal-2941	128	32	control	control	PROPN
american_scientific_journal-2941	128	33	eng	eng	PROPN
american_scientific_journal-2941	128	34	.	.	PROPN
american_scientific_journal-2941	128	35	pract	pract	PROPN
american_scientific_journal-2941	128	36	.	.	PROPN
american_scientific_journal-2941	128	37	,	,	PUNCT
american_scientific_journal-2941	128	38	vol	vol	NOUN
american_scientific_journal-2941	128	39	.	.	PROPN
american_scientific_journal-2941	128	40	19	19	NUM
american_scientific_journal-2941	128	41	,	,	PUNCT
american_scientific_journal-2941	128	42	no	no	INTJ
american_scientific_journal-2941	128	43	.	.	NOUN
american_scientific_journal-2941	128	44	9	9	NUM
american_scientific_journal-2941	128	45	,	,	PUNCT
american_scientific_journal-2941	128	46	pp	pp	ADJ
american_scientific_journal-2941	128	47	.	.	PUNCT
american_scientific_journal-2941	128	48	1023–1036	1023–1036	NUM
american_scientific_journal-2941	128	49	,	,	PUNCT
american_scientific_journal-2941	128	50	2011	2011	NUM
american_scientific_journal-2941	128	51	.	.	PUNCT
american_scientific_journal-2941	129	1	[	[	X
american_scientific_journal-2941	129	2	3	3	X
american_scientific_journal-2941	129	3	]	]	X
american_scientific_journal-2941	129	4	r.	r.	PROPN
american_scientific_journal-2941	129	5	mahony	mahony	PROPN
american_scientific_journal-2941	129	6	,	,	PUNCT
american_scientific_journal-2941	129	7	v.	v.	PROPN
american_scientific_journal-2941	129	8	kumar	kumar	PROPN
american_scientific_journal-2941	129	9	,	,	PUNCT
american_scientific_journal-2941	129	10	and	and	CCONJ
american_scientific_journal-2941	129	11	p.	p.	NOUN
american_scientific_journal-2941	129	12	corke	corke	NOUN
american_scientific_journal-2941	129	13	,	,	PUNCT
american_scientific_journal-2941	129	14	“	"	PUNCT
american_scientific_journal-2941	129	15	multirotor	multirotor	ADJ
american_scientific_journal-2941	129	16	aerial	aerial	ADJ
american_scientific_journal-2941	129	17	vehicles	vehicle	NOUN
american_scientific_journal-2941	129	18	:	:	PUNCT
american_scientific_journal-2941	129	19	modeling	modeling	NOUN
american_scientific_journal-2941	129	20	,	,	PUNCT
american_scientific_journal-2941	129	21	estimation	estimation	NOUN
american_scientific_journal-2941	129	22	,	,	PUNCT
american_scientific_journal-2941	129	23	and	and	CCONJ
american_scientific_journal-2941	129	24	control	control	NOUN
american_scientific_journal-2941	129	25	of	of	ADP
american_scientific_journal-2941	129	26	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	129	27	,	,	PUNCT
american_scientific_journal-2941	129	28	”	"	PUNCT
american_scientific_journal-2941	129	29	ieee	ieee	NOUN
american_scientific_journal-2941	129	30	robot	robot	NOUN
american_scientific_journal-2941	129	31	.	.	PUNCT
american_scientific_journal-2941	130	1	autom	autom	PROPN
american_scientific_journal-2941	130	2	.	.	PUNCT
american_scientific_journal-2941	131	1	mag	mag	PROPN
american_scientific_journal-2941	131	2	.	.	PROPN
american_scientific_journal-2941	131	3	,	,	PUNCT
american_scientific_journal-2941	131	4	vol	vol	NOUN
american_scientific_journal-2941	131	5	.	.	PROPN
american_scientific_journal-2941	132	1	19	19	NUM
american_scientific_journal-2941	132	2	,	,	PUNCT
american_scientific_journal-2941	132	3	no	no	INTJ
american_scientific_journal-2941	132	4	.	.	NOUN
american_scientific_journal-2941	132	5	3	3	NUM
american_scientific_journal-2941	132	6	,	,	PUNCT
american_scientific_journal-2941	132	7	pp	pp	ADJ
american_scientific_journal-2941	132	8	.	.	PUNCT
american_scientific_journal-2941	133	1	20–32	20–32	NUM
american_scientific_journal-2941	133	2	,	,	PUNCT
american_scientific_journal-2941	133	3	2012	2012	NUM
american_scientific_journal-2941	133	4	.	.	PUNCT
american_scientific_journal-2941	134	1	[	[	X
american_scientific_journal-2941	134	2	4	4	X
american_scientific_journal-2941	134	3	]	]	PUNCT
american_scientific_journal-2941	134	4	m.	m.	NOUN
american_scientific_journal-2941	134	5	santos	santos	PROPN
american_scientific_journal-2941	134	6	,	,	PUNCT
american_scientific_journal-2941	134	7	v.	v.	ADP
american_scientific_journal-2941	134	8	lópez	lópez	NOUN
american_scientific_journal-2941	134	9	,	,	PUNCT
american_scientific_journal-2941	134	10	and	and	CCONJ
american_scientific_journal-2941	134	11	f.	f.	PROPN
american_scientific_journal-2941	134	12	morata	morata	PROPN
american_scientific_journal-2941	134	13	,	,	PUNCT
american_scientific_journal-2941	134	14	“	"	PUNCT
american_scientific_journal-2941	134	15	intelligent	intelligent	ADJ
american_scientific_journal-2941	134	16	fuzzy	fuzzy	ADJ
american_scientific_journal-2941	134	17	controller	controller	NOUN
american_scientific_journal-2941	134	18	of	of	ADP
american_scientific_journal-2941	134	19	a	a	DET
american_scientific_journal-2941	134	20	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	134	21	,	,	PUNCT
american_scientific_journal-2941	134	22	”	"	PUNCT
american_scientific_journal-2941	134	23	proc	proc	NOUN
american_scientific_journal-2941	134	24	.	.	PUNCT
american_scientific_journal-2941	135	1	2010	2010	NUM
american_scientific_journal-2941	135	2	ieee	ieee	PROPN
american_scientific_journal-2941	135	3	int	int	NOUN
american_scientific_journal-2941	135	4	.	.	PUNCT
american_scientific_journal-2941	136	1	conf	conf	PROPN
american_scientific_journal-2941	136	2	.	.	PUNCT
american_scientific_journal-2941	137	1	intell	intell	PROPN
american_scientific_journal-2941	137	2	.	.	PUNCT
american_scientific_journal-2941	138	1	syst	syst	PROPN
american_scientific_journal-2941	138	2	.	.	PUNCT
american_scientific_journal-2941	138	3	knowl	knowl	PROPN
american_scientific_journal-2941	138	4	.	.	PUNCT
american_scientific_journal-2941	139	1	eng	eng	PROPN
american_scientific_journal-2941	139	2	.	.	PUNCT
american_scientific_journal-2941	140	1	iske	iske	PROPN
american_scientific_journal-2941	140	2	2010	2010	NUM
american_scientific_journal-2941	140	3	,	,	PUNCT
american_scientific_journal-2941	140	4	pp	pp	ADJ
american_scientific_journal-2941	140	5	.	.	PUNCT
american_scientific_journal-2941	141	1	141–146	141–146	NUM
american_scientific_journal-2941	141	2	,	,	PUNCT
american_scientific_journal-2941	141	3	2010	2010	NUM
american_scientific_journal-2941	141	4	.	.	PUNCT
american_scientific_journal-2941	142	1	[	[	X
american_scientific_journal-2941	142	2	5	5	X
american_scientific_journal-2941	142	3	]	]	PUNCT
american_scientific_journal-2941	142	4	p.	p.	PROPN
american_scientific_journal-2941	142	5	s.	s.	PROPN
american_scientific_journal-2941	142	6	bhatkhande	bhatkhande	PROPN
american_scientific_journal-2941	142	7	,	,	PUNCT
american_scientific_journal-2941	142	8	“	"	PUNCT
american_scientific_journal-2941	142	9	real	real	ADJ
american_scientific_journal-2941	142	10	time	time	NOUN
american_scientific_journal-2941	142	11	fuzzy	fuzzy	ADJ
american_scientific_journal-2941	142	12	controller	controller	NOUN
american_scientific_journal-2941	142	13	for	for	ADP
american_scientific_journal-2941	142	14	quadrotor	quadrotor	PROPN
american_scientific_journal-2941	142	15	stabilitiy	stabilitiy	PROPN
american_scientific_journal-2941	142	16	control	control	PROPN
american_scientific_journal-2941	142	17	,	,	PUNCT
american_scientific_journal-2941	142	18	”	"	PUNCT
american_scientific_journal-2941	142	19	p.	p.	NOUN
american_scientific_journal-2941	142	20	58	58	NUM
american_scientific_journal-2941	142	21	,	,	PUNCT
american_scientific_journal-2941	142	22	2014	2014	NUM
american_scientific_journal-2941	142	23	.	.	PUNCT
american_scientific_journal-2941	143	1	[	[	X
american_scientific_journal-2941	143	2	6	6	NUM
american_scientific_journal-2941	143	3	]	]	PUNCT
american_scientific_journal-2941	143	4	r.	r.	PROPN
american_scientific_journal-2941	143	5	xu	xu	PROPN
american_scientific_journal-2941	143	6	and	and	CCONJ
american_scientific_journal-2941	143	7	u.	u.	PROPN
american_scientific_journal-2941	143	8	ozguner	ozguner	PROPN
american_scientific_journal-2941	143	9	,	,	PUNCT
american_scientific_journal-2941	143	10	“	"	PUNCT
american_scientific_journal-2941	143	11	sliding	slide	VERB
american_scientific_journal-2941	143	12	mode	mode	NOUN
american_scientific_journal-2941	143	13	control	control	NOUN
american_scientific_journal-2941	143	14	of	of	ADP
american_scientific_journal-2941	143	15	a	a	DET
american_scientific_journal-2941	143	16	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	143	17	helicopter	helicopter	NOUN
american_scientific_journal-2941	143	18	,	,	PUNCT
american_scientific_journal-2941	143	19	”	"	PUNCT
american_scientific_journal-2941	143	20	proc	proc	NOUN
american_scientific_journal-2941	143	21	.	.	PUNCT
american_scientific_journal-2941	144	1	45th	45th	ADJ
american_scientific_journal-2941	144	2	ieee	ieee	NOUN
american_scientific_journal-2941	144	3	conf	conf	NOUN
american_scientific_journal-2941	144	4	.	.	PUNCT
american_scientific_journal-2941	145	1	decis	decis	PROPN
american_scientific_journal-2941	145	2	.	.	PROPN
american_scientific_journal-2941	145	3	control	control	PROPN
american_scientific_journal-2941	145	4	,	,	PUNCT
american_scientific_journal-2941	145	5	pp	pp	PROPN
american_scientific_journal-2941	145	6	.	.	PUNCT
american_scientific_journal-2941	145	7	4957–4962	4957–4962	NUM
american_scientific_journal-2941	145	8	,	,	PUNCT
american_scientific_journal-2941	145	9	2006	2006	NUM
american_scientific_journal-2941	145	10	.	.	PUNCT
american_scientific_journal-2941	146	1	[	[	X
american_scientific_journal-2941	146	2	7	7	X
american_scientific_journal-2941	146	3	]	]	PUNCT
american_scientific_journal-2941	146	4	m.	m.	NOUN
american_scientific_journal-2941	146	5	herrera	herrera	PROPN
american_scientific_journal-2941	146	6	,	,	PUNCT
american_scientific_journal-2941	146	7	w.	w.	PROPN
american_scientific_journal-2941	146	8	chamorro	chamorro	PROPN
american_scientific_journal-2941	146	9	,	,	PUNCT
american_scientific_journal-2941	146	10	a.	a.	NOUN
american_scientific_journal-2941	146	11	p.	p.	PROPN
american_scientific_journal-2941	146	12	gomez	gomez	PROPN
american_scientific_journal-2941	146	13	,	,	PUNCT
american_scientific_journal-2941	146	14	and	and	CCONJ
american_scientific_journal-2941	146	15	o.	o.	PROPN
american_scientific_journal-2941	146	16	camacho	camacho	PROPN
american_scientific_journal-2941	146	17	,	,	PUNCT
american_scientific_journal-2941	146	18	“	"	PUNCT
american_scientific_journal-2941	146	19	sliding	slide	VERB
american_scientific_journal-2941	146	20	mode	mode	NOUN
american_scientific_journal-2941	146	21	control	control	NOUN
american_scientific_journal-2941	146	22	:	:	PUNCT
american_scientific_journal-2941	146	23	an	an	DET
american_scientific_journal-2941	146	24	approach	approach	NOUN
american_scientific_journal-2941	146	25	to	to	PART
american_scientific_journal-2941	146	26	control	control	VERB
american_scientific_journal-2941	146	27	a	a	DET
american_scientific_journal-2941	146	28	quadrotor	quadrotor	NOUN
american_scientific_journal-2941	146	29	,	,	PUNCT
american_scientific_journal-2941	146	30	”	"	PUNCT
american_scientific_journal-2941	146	31	2015	2015	NUM
american_scientific_journal-2941	146	32	asia	asia	PROPN
american_scientific_journal-2941	146	33	-	-	PUNCT
american_scientific_journal-2941	146	34	pacific	pacific	PROPN
american_scientific_journal-2941	146	35	conf	conf	NOUN
american_scientific_journal-2941	146	36	.	.	PUNCT
american_scientific_journal-2941	147	1	comput	comput	NOUN
american_scientific_journal-2941	147	2	.	.	PUNCT
american_scientific_journal-2941	148	1	aided	aid	VERB
american_scientific_journal-2941	148	2	syst	syst	NOUN
american_scientific_journal-2941	148	3	.	.	PUNCT
american_scientific_journal-2941	149	1	eng	eng	PROPN
american_scientific_journal-2941	149	2	.	.	PROPN
american_scientific_journal-2941	149	3	,	,	PUNCT
american_scientific_journal-2941	149	4	pp	pp	ADP
american_scientific_journal-2941	149	5	.	.	PUNCT
american_scientific_journal-2941	150	1	314–319	314–319	NUM
american_scientific_journal-2941	150	2	,	,	PUNCT
american_scientific_journal-2941	150	3	2015	2015	NUM
american_scientific_journal-2941	150	4	.	.	PUNCT
american_scientific_journal-2941	151	1	[	[	X
american_scientific_journal-2941	151	2	8	8	NUM
american_scientific_journal-2941	151	3	]	]	X
american_scientific_journal-2941	151	4	y.	y.	PROPN
american_scientific_journal-2941	151	5	bai	bai	PROPN
american_scientific_journal-2941	151	6	,	,	PUNCT
american_scientific_journal-2941	151	7	h.	h.	PROPN
american_scientific_journal-2941	151	8	liu	liu	PROPN
american_scientific_journal-2941	151	9	,	,	PUNCT
american_scientific_journal-2941	151	10	z.	z.	PROPN
american_scientific_journal-2941	151	11	shi	shi	PROPN
american_scientific_journal-2941	151	12	,	,	PUNCT
american_scientific_journal-2941	151	13	and	and	CCONJ
american_scientific_journal-2941	151	14	y.	y.	PROPN
american_scientific_journal-2941	151	15	zhong	zhong	PROPN
american_scientific_journal-2941	151	16	,	,	PUNCT
american_scientific_journal-2941	151	17	“	"	PUNCT
american_scientific_journal-2941	151	18	robust	robust	ADJ
american_scientific_journal-2941	151	19	control	control	NOUN
american_scientific_journal-2941	151	20	of	of	ADP
american_scientific_journal-2941	151	21	quadrotor	quadrotor	PROPN
american_scientific_journal-2941	151	22	unmanned	unmanned	ADJ
american_scientific_journal-2941	151	23	air	air	NOUN
american_scientific_journal-2941	151	24	vehicles	vehicle	NOUN
american_scientific_journal-2941	151	25	,	,	PUNCT
american_scientific_journal-2941	151	26	”	"	PUNCT
american_scientific_journal-2941	151	27	proc	proc	NOUN
american_scientific_journal-2941	151	28	.	.	PUNCT
american_scientific_journal-2941	152	1	31th	31th	PROPN
american_scientific_journal-2941	152	2	chinese	chinese	PROPN
american_scientific_journal-2941	152	3	control	control	PROPN
american_scientific_journal-2941	152	4	conf	conf	PROPN
american_scientific_journal-2941	152	5	.	.	PUNCT
american_scientific_journal-2941	152	6	,	,	PUNCT
american_scientific_journal-2941	153	1	pp	pp	PROPN
american_scientific_journal-2941	153	2	.	.	PUNCT
american_scientific_journal-2941	154	1	4462–4467	4462–4467	NUM
american_scientific_journal-2941	154	2	,	,	PUNCT
american_scientific_journal-2941	154	3	2012	2012	NUM
american_scientific_journal-2941	154	4	.	.	PUNCT
american_scientific_journal-2941	155	1	[	[	X
american_scientific_journal-2941	155	2	9	9	NUM
american_scientific_journal-2941	155	3	]	]	PUNCT
american_scientific_journal-2941	155	4	s.	s.	PROPN
american_scientific_journal-2941	155	5	haykin	haykin	PROPN
american_scientific_journal-2941	155	6	,	,	PUNCT
american_scientific_journal-2941	155	7	neural	neural	ADJ
american_scientific_journal-2941	155	8	networks	network	NOUN
american_scientific_journal-2941	155	9	:	:	PUNCT
american_scientific_journal-2941	155	10	a	a	DET
american_scientific_journal-2941	155	11	comprehensive	comprehensive	ADJ
american_scientific_journal-2941	155	12	foundation	foundation	NOUN
american_scientific_journal-2941	155	13	,	,	PUNCT
american_scientific_journal-2941	155	14	2nd	2nd	PROPN
american_scientific_journal-2941	155	15	ed	ed	NOUN
american_scientific_journal-2941	155	16	.	.	PUNCT
american_scientific_journal-2941	156	1	upper	upper	ADJ
american_scientific_journal-2941	156	2	saddle	saddle	PROPN
american_scientific_journal-2941	156	3	river	river	PROPN
american_scientific_journal-2941	156	4	,	,	PUNCT
american_scientific_journal-2941	156	5	nj	nj	PROPN
american_scientific_journal-2941	156	6	,	,	PUNCT
american_scientific_journal-2941	156	7	usa	usa	PROPN
american_scientific_journal-2941	156	8	:	:	PUNCT
american_scientific_journal-2941	156	9	prentice	prentice	PROPN
american_scientific_journal-2941	156	10	hall	hall	PROPN
american_scientific_journal-2941	156	11	ptr	ptr	PROPN
american_scientific_journal-2941	156	12	,	,	PUNCT
american_scientific_journal-2941	156	13	1998	1998	NUM
american_scientific_journal-2941	156	14	.	.	PUNCT
american_scientific_journal-2941	157	1	[	[	X
american_scientific_journal-2941	157	2	10	10	NUM
american_scientific_journal-2941	157	3	]	]	PUNCT
american_scientific_journal-2941	157	4	j.	j.	PROPN
american_scientific_journal-2941	157	5	p.	p.	PROPN
american_scientific_journal-2941	157	6	antsaklis	antsaklis	PROPN
american_scientific_journal-2941	157	7	,	,	PUNCT
american_scientific_journal-2941	157	8	“	"	PUNCT
american_scientific_journal-2941	157	9	neural	neural	ADJ
american_scientific_journal-2941	157	10	networks	network	NOUN
american_scientific_journal-2941	157	11	for	for	ADP
american_scientific_journal-2941	157	12	control	control	NOUN
american_scientific_journal-2941	157	13	systems	system	NOUN
american_scientific_journal-2941	157	14	,	,	PUNCT
american_scientific_journal-2941	157	15	”	"	PUNCT
american_scientific_journal-2941	157	16	vol	vol	NOUN
american_scientific_journal-2941	157	17	.	.	PROPN
american_scientific_journal-2941	158	1	1	1	NUM
american_scientific_journal-2941	158	2	,	,	PUNCT
american_scientific_journal-2941	158	3	no	no	INTJ
american_scientific_journal-2941	158	4	.	.	NOUN
american_scientific_journal-2941	158	5	2	2	NUM
american_scientific_journal-2941	158	6	,	,	PUNCT
american_scientific_journal-2941	158	7	pp	pp	ADJ
american_scientific_journal-2941	158	8	.	.	PUNCT
american_scientific_journal-2941	159	1	242–244	242–244	NUM
american_scientific_journal-2941	159	2	,	,	PUNCT
american_scientific_journal-2941	159	3	1990	1990	NUM
american_scientific_journal-2941	159	4	.	.	PUNCT
american_scientific_journal-2941	160	1	[	[	X
american_scientific_journal-2941	160	2	11	11	NUM
american_scientific_journal-2941	160	3	]	]	X
american_scientific_journal-2941	160	4	f.	f.	PROPN
american_scientific_journal-2941	160	5	lewis	lewis	PROPN
american_scientific_journal-2941	160	6	and	and	CCONJ
american_scientific_journal-2941	160	7	s.	s.	PROPN
american_scientific_journal-2941	160	8	ge	ge	PROPN
american_scientific_journal-2941	160	9	,	,	PUNCT
american_scientific_journal-2941	160	10	“	"	PUNCT
american_scientific_journal-2941	160	11	neural	neural	ADJ
american_scientific_journal-2941	160	12	networks	network	NOUN
american_scientific_journal-2941	160	13	in	in	ADP
american_scientific_journal-2941	160	14	feedback	feedback	NOUN
american_scientific_journal-2941	160	15	control	control	NOUN
american_scientific_journal-2941	160	16	systems	system	NOUN
american_scientific_journal-2941	160	17	,	,	PUNCT
american_scientific_journal-2941	160	18	”	"	PUNCT
american_scientific_journal-2941	160	19	mech	mech	NOUN
american_scientific_journal-2941	160	20	.	.	PUNCT
american_scientific_journal-2941	161	1	eng	eng	PROPN
american_scientific_journal-2941	161	2	.	.	PROPN
american_scientific_journal-2941	161	3	handbook	handbook	PROPN
american_scientific_journal-2941	161	4	.	.	PUNCT
american_scientific_journal-2941	162	1	wiley	wiley	PROPN
american_scientific_journal-2941	162	2	…	…	PUNCT
american_scientific_journal-2941	162	3	,	,	PUNCT
american_scientific_journal-2941	162	4	pp	pp	ADP
american_scientific_journal-2941	162	5	.	.	PUNCT
american_scientific_journal-2941	163	1	1–28	1–28	NOUN
american_scientific_journal-2941	163	2	,	,	PUNCT
american_scientific_journal-2941	163	3	2005	2005	NUM
american_scientific_journal-2941	163	4	.	.	PUNCT
american_scientific_journal-2941	164	1	[	[	X
american_scientific_journal-2941	164	2	12	12	NUM
american_scientific_journal-2941	164	3	]	]	X
american_scientific_journal-2941	164	4	p.	p.	NOUN
american_scientific_journal-2941	164	5	i.	i.	PROPN
american_scientific_journal-2941	164	6	corke	corke	PROPN
american_scientific_journal-2941	164	7	,	,	PUNCT
american_scientific_journal-2941	164	8	robotics	robotic	NOUN
american_scientific_journal-2941	164	9	,	,	PUNCT
american_scientific_journal-2941	164	10	vision	vision	NOUN
american_scientific_journal-2941	164	11	&	&	CCONJ
american_scientific_journal-2941	164	12	control	control	PROPN
american_scientific_journal-2941	164	13	:	:	PUNCT
american_scientific_journal-2941	164	14	fundamental	fundamental	ADJ
american_scientific_journal-2941	164	15	algorithms	algorithm	NOUN
american_scientific_journal-2941	164	16	in	in	ADP
american_scientific_journal-2941	164	17	matlab	matlab	PROPN
american_scientific_journal-2941	164	18	.	.	PUNCT
american_scientific_journal-2941	165	1	springer	springer	PROPN
american_scientific_journal-2941	165	2	us	we	PRON
american_scientific_journal-2941	165	3	,	,	PUNCT
american_scientific_journal-2941	165	4	2011	2011	NUM
american_scientific_journal-2941	165	5	.	.	PUNCT
american_scientific_journal-2941	166	1	[	[	X
american_scientific_journal-2941	166	2	13	13	NUM
american_scientific_journal-2941	166	3	]	]	PUNCT
american_scientific_journal-2941	166	4	mathworks	mathworks	PROPN
american_scientific_journal-2941	166	5	,	,	PUNCT
american_scientific_journal-2941	166	6	“	"	PUNCT
american_scientific_journal-2941	166	7	neural	neural	ADJ
american_scientific_journal-2941	166	8	network	network	NOUN
american_scientific_journal-2941	166	9	toolbox	toolbox	NOUN
american_scientific_journal-2941	166	10	.	.	PUNCT
american_scientific_journal-2941	166	11	”	"	PUNCT
american_scientific_journal-2941	167	1	[	[	X
american_scientific_journal-2941	167	2	online	online	X
american_scientific_journal-2941	167	3	]	]	X
american_scientific_journal-2941	167	4	.	.	PUNCT
american_scientific_journal-2941	168	1	available	available	ADJ
american_scientific_journal-2941	168	2	:	:	PUNCT
american_scientific_journal-2941	168	3	https://www.mathworks.com/help/nnet/.	https://www.mathworks.com/help/nnet/.	VERB