id	sid	tid	token	lemma	pos
american_scientific_journal-7249	1	1	77	77	NUM
american_scientific_journal-7249	1	2	american	american	ADJ
american_scientific_journal-7249	1	3	academic	academic	ADJ
american_scientific_journal-7249	1	4	scientific	scientific	ADJ
american_scientific_journal-7249	1	5	research	research	NOUN
american_scientific_journal-7249	1	6	journal	journal	NOUN
american_scientific_journal-7249	1	7	for	for	ADP
american_scientific_journal-7249	1	8	engineering	engineering	NOUN
american_scientific_journal-7249	1	9	,	,	PUNCT
american_scientific_journal-7249	1	10	technology	technology	NOUN
american_scientific_journal-7249	1	11	,	,	PUNCT
american_scientific_journal-7249	1	12	and	and	CCONJ
american_scientific_journal-7249	1	13	sciences	sciences	PROPN
american_scientific_journal-7249	1	14	issn	issn	PROPN
american_scientific_journal-7249	1	15	(	(	PUNCT
american_scientific_journal-7249	1	16	print	print	NOUN
american_scientific_journal-7249	1	17	)	)	PUNCT
american_scientific_journal-7249	1	18	2313	2313	NUM
american_scientific_journal-7249	1	19	-	-	SYM
american_scientific_journal-7249	1	20	4410	4410	NUM
american_scientific_journal-7249	1	21	,	,	PUNCT
american_scientific_journal-7249	1	22	issn	issn	PROPN
american_scientific_journal-7249	1	23	(	(	PUNCT
american_scientific_journal-7249	1	24	online	online	ADJ
american_scientific_journal-7249	1	25	)	)	PUNCT
american_scientific_journal-7249	1	26	2313	2313	NUM
american_scientific_journal-7249	1	27	-	-	SYM
american_scientific_journal-7249	1	28	4402	4402	NUM
american_scientific_journal-7249	1	29	http://asrjetsjournal.org/	http://asrjetsjournal.org/	NOUN
american_scientific_journal-7249	1	30	optimized	optimize	VERB
american_scientific_journal-7249	1	31	pid	pid	NOUN
american_scientific_journal-7249	1	32	,	,	PUNCT
american_scientific_journal-7249	1	33	fopid	fopid	NOUN
american_scientific_journal-7249	1	34	and	and	CCONJ
american_scientific_journal-7249	1	35	pidd	pidd	VERB
american_scientific_journal-7249	1	36	2	2	NUM
american_scientific_journal-7249	1	37	for	for	ADP
american_scientific_journal-7249	1	38	controlling	control	VERB
american_scientific_journal-7249	1	39	uav	uav	PROPN
american_scientific_journal-7249	1	40	based	base	VERB
american_scientific_journal-7249	1	41	on	on	ADP
american_scientific_journal-7249	1	42	ssa	ssa	PROPN
american_scientific_journal-7249	1	43	nagham	nagham	PROPN
american_scientific_journal-7249	1	44	m.	m.	NOUN
american_scientific_journal-7249	1	45	abdulridha	abdulridha	VERB
american_scientific_journal-7249	1	46	a	a	DET
american_scientific_journal-7249	1	47	*	*	PROPN
american_scientific_journal-7249	1	48	,	,	PUNCT
american_scientific_journal-7249	1	49	prof	prof	PROPN
american_scientific_journal-7249	1	50	.	.	PUNCT
american_scientific_journal-7249	2	1	dr	dr	PROPN
american_scientific_journal-7249	2	2	.	.	PROPN
american_scientific_journal-7249	2	3	ali	ali	PROPN
american_scientific_journal-7249	2	4	hussien	hussien	PROPN
american_scientific_journal-7249	2	5	mary	mary	PROPN
american_scientific_journal-7249	2	6	b	b	PROPN
american_scientific_journal-7249	2	7	,	,	PUNCT
american_scientific_journal-7249	2	8	asst	asst	NOUN
american_scientific_journal-7249	2	9	.	.	PUNCT
american_scientific_journal-7249	3	1	prof	prof	PROPN
american_scientific_journal-7249	3	2	.	.	PUNCT
american_scientific_journal-7249	4	1	dr	dr	PROPN
american_scientific_journal-7249	4	2	.	.	PROPN
american_scientific_journal-7249	4	3	hisham	hisham	PROPN
american_scientific_journal-7249	4	4	h.	h.	PROPN
american_scientific_journal-7249	4	5	jasim	jasim	PROPN
american_scientific_journal-7249	4	6	c	c	PROPN
american_scientific_journal-7249	4	7	a	a	DET
american_scientific_journal-7249	4	8	,	,	PUNCT
american_scientific_journal-7249	4	9	b	b	NOUN
american_scientific_journal-7249	4	10	,	,	PUNCT
american_scientific_journal-7249	4	11	c	c	PROPN
american_scientific_journal-7249	4	12	mechatronics	mechatronics	PROPN
american_scientific_journal-7249	4	13	department	department	PROPN
american_scientific_journal-7249	4	14	,	,	PUNCT
american_scientific_journal-7249	4	15	al	al	PROPN
american_scientific_journal-7249	4	16	-	-	PUNCT
american_scientific_journal-7249	4	17	khwarizmi	khwarizmi	PROPN
american_scientific_journal-7249	4	18	college	college	PROPN
american_scientific_journal-7249	4	19	of	of	ADP
american_scientific_journal-7249	4	20	engineering	engineering	PROPN
american_scientific_journal-7249	4	21	,	,	PUNCT
american_scientific_journal-7249	4	22	university	university	NOUN
american_scientific_journal-7249	4	23	of	of	ADP
american_scientific_journal-7249	4	24	baghdad	baghdad	PROPN
american_scientific_journal-7249	4	25	,	,	PUNCT
american_scientific_journal-7249	4	26	baghdad	baghdad	PROPN
american_scientific_journal-7249	4	27	10001	10001	NUM
american_scientific_journal-7249	4	28	,	,	PUNCT
american_scientific_journal-7249	4	29	iraq	iraq	PROPN
american_scientific_journal-7249	4	30	a	a	DET
american_scientific_journal-7249	4	31	email	email	NOUN
american_scientific_journal-7249	4	32	:	:	PUNCT
american_scientific_journal-7249	4	33	nagham.mo7@gmail.com	nagham.mo7@gmail.com	PROPN
american_scientific_journal-7249	4	34	,	,	PUNCT
american_scientific_journal-7249	4	35	b	b	PROPN
american_scientific_journal-7249	4	36	email	email	NOUN
american_scientific_journal-7249	4	37	:	:	PUNCT
american_scientific_journal-7249	4	38	alimary76@kecbu.uobaghdad.edu.iq	alimary76@kecbu.uobaghdad.edu.iq	NOUN
american_scientific_journal-7249	4	39	c	c	NOUN
american_scientific_journal-7249	4	40	email	email	NOUN
american_scientific_journal-7249	4	41	:	:	PUNCT
american_scientific_journal-7249	4	42	hisham@kecbu.uobaghdad.edu.iq	hisham@kecbu.uobaghdad.edu.iq	PROPN
american_scientific_journal-7249	4	43	abstract	abstract	ADJ
american_scientific_journal-7249	4	44	unmanned	unmanned	ADJ
american_scientific_journal-7249	4	45	aerial	aerial	ADJ
american_scientific_journal-7249	4	46	vehicles	vehicle	NOUN
american_scientific_journal-7249	4	47	(	(	PUNCT
american_scientific_journal-7249	4	48	uavs	uavs	NOUN
american_scientific_journal-7249	4	49	)	)	PUNCT
american_scientific_journal-7249	4	50	are	be	AUX
american_scientific_journal-7249	4	51	widely	widely	ADV
american_scientific_journal-7249	4	52	used	use	VERB
american_scientific_journal-7249	4	53	in	in	ADP
american_scientific_journal-7249	4	54	recent	recent	ADJ
american_scientific_journal-7249	4	55	years	year	NOUN
american_scientific_journal-7249	4	56	for	for	ADP
american_scientific_journal-7249	4	57	different	different	ADJ
american_scientific_journal-7249	4	58	applications	application	NOUN
american_scientific_journal-7249	4	59	.	.	PUNCT
american_scientific_journal-7249	5	1	thus	thus	ADV
american_scientific_journal-7249	5	2	,	,	PUNCT
american_scientific_journal-7249	5	3	uav	uav	PROPN
american_scientific_journal-7249	5	4	control	control	PROPN
american_scientific_journal-7249	5	5	attracted	attract	VERB
american_scientific_journal-7249	5	6	many	many	ADJ
american_scientific_journal-7249	5	7	researchers	researcher	NOUN
american_scientific_journal-7249	5	8	to	to	PART
american_scientific_journal-7249	5	9	suggest	suggest	VERB
american_scientific_journal-7249	5	10	suitable	suitable	ADJ
american_scientific_journal-7249	5	11	controllers	controller	NOUN
american_scientific_journal-7249	5	12	.	.	PUNCT
american_scientific_journal-7249	6	1	the	the	DET
american_scientific_journal-7249	6	2	simplicity	simplicity	NOUN
american_scientific_journal-7249	6	3	of	of	ADP
american_scientific_journal-7249	6	4	pid	pid	NOUN
american_scientific_journal-7249	6	5	controller	controller	NOUN
american_scientific_journal-7249	6	6	makes	make	VERB
american_scientific_journal-7249	6	7	it	it	PRON
american_scientific_journal-7249	6	8	the	the	DET
american_scientific_journal-7249	6	9	first	first	ADJ
american_scientific_journal-7249	6	10	choice	choice	NOUN
american_scientific_journal-7249	6	11	.	.	PUNCT
american_scientific_journal-7249	7	1	in	in	ADP
american_scientific_journal-7249	7	2	this	this	DET
american_scientific_journal-7249	7	3	paper	paper	NOUN
american_scientific_journal-7249	7	4	,	,	PUNCT
american_scientific_journal-7249	7	5	an	an	DET
american_scientific_journal-7249	7	6	offline	offline	ADJ
american_scientific_journal-7249	7	7	tuning	tuning	NOUN
american_scientific_journal-7249	7	8	procedure	procedure	NOUN
american_scientific_journal-7249	7	9	based	base	VERB
american_scientific_journal-7249	7	10	on	on	ADP
american_scientific_journal-7249	7	11	salp	salp	PROPN
american_scientific_journal-7249	7	12	swarm	swarm	NOUN
american_scientific_journal-7249	7	13	algorithm	algorithm	NOUN
american_scientific_journal-7249	7	14	(	(	PUNCT
american_scientific_journal-7249	7	15	ssa	ssa	NOUN
american_scientific_journal-7249	7	16	)	)	PUNCT
american_scientific_journal-7249	7	17	for	for	ADP
american_scientific_journal-7249	7	18	the	the	DET
american_scientific_journal-7249	7	19	attitude	attitude	NOUN
american_scientific_journal-7249	7	20	control	control	NOUN
american_scientific_journal-7249	7	21	of	of	ADP
american_scientific_journal-7249	7	22	uav	uav	PROPN
american_scientific_journal-7249	7	23	is	be	AUX
american_scientific_journal-7249	7	24	proposed	propose	VERB
american_scientific_journal-7249	7	25	.	.	PUNCT
american_scientific_journal-7249	8	1	the	the	DET
american_scientific_journal-7249	8	2	parameters	parameter	NOUN
american_scientific_journal-7249	8	3	of	of	ADP
american_scientific_journal-7249	8	4	pid	pid	NOUN
american_scientific_journal-7249	8	5	,	,	PUNCT
american_scientific_journal-7249	8	6	fractional	fractional	ADJ
american_scientific_journal-7249	8	7	order	order	NOUN
american_scientific_journal-7249	8	8	pid	pid	NOUN
american_scientific_journal-7249	8	9	(	(	PUNCT
american_scientific_journal-7249	8	10	fopid	fopid	PROPN
american_scientific_journal-7249	8	11	)	)	PUNCT
american_scientific_journal-7249	8	12	,	,	PUNCT
american_scientific_journal-7249	8	13	and	and	CCONJ
american_scientific_journal-7249	8	14	pid	pid	NOUN
american_scientific_journal-7249	8	15	plus	plus	CCONJ
american_scientific_journal-7249	8	16	secondorder	secondorder	ADJ
american_scientific_journal-7249	8	17	derivative	derivative	NOUN
american_scientific_journal-7249	8	18	(	(	PUNCT
american_scientific_journal-7249	8	19	pidd	pidd	PROPN
american_scientific_journal-7249	8	20	2	2	NUM
american_scientific_journal-7249	8	21	)	)	PUNCT
american_scientific_journal-7249	8	22	have	have	AUX
american_scientific_journal-7249	8	23	been	be	AUX
american_scientific_journal-7249	8	24	tuned	tune	VERB
american_scientific_journal-7249	8	25	and	and	CCONJ
american_scientific_journal-7249	8	26	their	their	PRON
american_scientific_journal-7249	8	27	performance	performance	NOUN
american_scientific_journal-7249	8	28	is	be	AUX
american_scientific_journal-7249	8	29	compared	compare	VERB
american_scientific_journal-7249	8	30	in	in	ADP
american_scientific_journal-7249	8	31	terms	term	NOUN
american_scientific_journal-7249	8	32	of	of	ADP
american_scientific_journal-7249	8	33	rise	rise	NOUN
american_scientific_journal-7249	8	34	time	time	NOUN
american_scientific_journal-7249	8	35	,	,	PUNCT
american_scientific_journal-7249	8	36	maximum	maximum	ADJ
american_scientific_journal-7249	8	37	overshoot	overshoot	NOUN
american_scientific_journal-7249	8	38	,	,	PUNCT
american_scientific_journal-7249	8	39	settling	settle	VERB
american_scientific_journal-7249	8	40	time	time	NOUN
american_scientific_journal-7249	8	41	,	,	PUNCT
american_scientific_journal-7249	8	42	and	and	CCONJ
american_scientific_journal-7249	8	43	integral	integral	ADJ
american_scientific_journal-7249	8	44	time	time	NOUN
american_scientific_journal-7249	8	45	absolute	absolute	ADJ
american_scientific_journal-7249	8	46	error	error	NOUN
american_scientific_journal-7249	8	47	.	.	PUNCT
american_scientific_journal-7249	9	1	keywords	keyword	NOUN
american_scientific_journal-7249	9	2	:	:	PUNCT
american_scientific_journal-7249	9	3	uav	uav	PROPN
american_scientific_journal-7249	9	4	;	;	PUNCT
american_scientific_journal-7249	9	5	ssa	ssa	PROPN
american_scientific_journal-7249	9	6	;	;	PUNCT
american_scientific_journal-7249	9	7	pid	pid	NOUN
american_scientific_journal-7249	9	8	;	;	PUNCT
american_scientific_journal-7249	9	9	fopid	fopid	PROPN
american_scientific_journal-7249	9	10	;	;	PUNCT
american_scientific_journal-7249	9	11	pidd	pidd	PROPN
american_scientific_journal-7249	9	12	2	2	NUM
american_scientific_journal-7249	9	13	.	.	X
american_scientific_journal-7249	10	1	1	1	X
american_scientific_journal-7249	10	2	.	.	X
american_scientific_journal-7249	10	3	introduction	introduction	NOUN
american_scientific_journal-7249	10	4	autonomous	autonomous	ADJ
american_scientific_journal-7249	10	5	flying	fly	VERB
american_scientific_journal-7249	10	6	vehicles	vehicle	NOUN
american_scientific_journal-7249	10	7	(	(	PUNCT
american_scientific_journal-7249	10	8	uavs	uavs	NOUN
american_scientific_journal-7249	10	9	)	)	PUNCT
american_scientific_journal-7249	10	10	have	have	AUX
american_scientific_journal-7249	10	11	recently	recently	ADV
american_scientific_journal-7249	10	12	aroused	arouse	VERB
american_scientific_journal-7249	10	13	the	the	DET
american_scientific_journal-7249	10	14	interest	interest	NOUN
american_scientific_journal-7249	10	15	of	of	ADP
american_scientific_journal-7249	10	16	the	the	DET
american_scientific_journal-7249	10	17	commercial	commercial	ADJ
american_scientific_journal-7249	10	18	,	,	PUNCT
american_scientific_journal-7249	10	19	industrial	industrial	ADJ
american_scientific_journal-7249	10	20	,	,	PUNCT
american_scientific_journal-7249	10	21	and	and	CCONJ
american_scientific_journal-7249	10	22	academic	academic	ADJ
american_scientific_journal-7249	10	23	sectors	sector	NOUN
american_scientific_journal-7249	10	24	because	because	SCONJ
american_scientific_journal-7249	10	25	to	to	ADP
american_scientific_journal-7249	10	26	the	the	DET
american_scientific_journal-7249	10	27	wide	wide	ADJ
american_scientific_journal-7249	10	28	range	range	NOUN
american_scientific_journal-7249	10	29	of	of	ADP
american_scientific_journal-7249	10	30	activities	activity	NOUN
american_scientific_journal-7249	10	31	they	they	PRON
american_scientific_journal-7249	10	32	can	can	AUX
american_scientific_journal-7249	10	33	accomplish	accomplish	VERB
american_scientific_journal-7249	10	34	,	,	PUNCT
american_scientific_journal-7249	10	35	their	their	PRON
american_scientific_journal-7249	10	36	capacity	capacity	NOUN
american_scientific_journal-7249	10	37	to	to	PART
american_scientific_journal-7249	10	38	maneuver	maneuver	VERB
american_scientific_journal-7249	10	39	,	,	PUNCT
american_scientific_journal-7249	10	40	and	and	CCONJ
american_scientific_journal-7249	10	41	cover	cover	VERB
american_scientific_journal-7249	10	42	a	a	DET
american_scientific_journal-7249	10	43	large	large	ADJ
american_scientific_journal-7249	10	44	distance	distance	NOUN
american_scientific_journal-7249	10	45	quickly	quickly	ADV
american_scientific_journal-7249	10	46	also	also	ADV
american_scientific_journal-7249	10	47	they	they	PRON
american_scientific_journal-7249	10	48	can	can	AUX
american_scientific_journal-7249	10	49	go	go	VERB
american_scientific_journal-7249	10	50	to	to	ADP
american_scientific_journal-7249	10	51	dangerous	dangerous	ADJ
american_scientific_journal-7249	10	52	places	place	NOUN
american_scientific_journal-7249	10	53	where	where	SCONJ
american_scientific_journal-7249	10	54	people	people	NOUN
american_scientific_journal-7249	10	55	can	can	AUX
american_scientific_journal-7249	10	56	not	not	PART
american_scientific_journal-7249	10	57	go	go	VERB
american_scientific_journal-7249	10	58	[	[	X
american_scientific_journal-7249	10	59	1	1	NUM
american_scientific_journal-7249	10	60	]	]	PUNCT
american_scientific_journal-7249	10	61	.	.	PUNCT
american_scientific_journal-7249	11	1	quadrotor	quadrotor	PROPN
american_scientific_journal-7249	11	2	is	be	AUX
american_scientific_journal-7249	11	3	a	a	DET
american_scientific_journal-7249	11	4	type	type	NOUN
american_scientific_journal-7249	11	5	of	of	ADP
american_scientific_journal-7249	11	6	the	the	DET
american_scientific_journal-7249	11	7	uav	uav	PROPN
american_scientific_journal-7249	11	8	with	with	ADP
american_scientific_journal-7249	11	9	four	four	NUM
american_scientific_journal-7249	11	10	rotors	rotor	NOUN
american_scientific_journal-7249	11	11	that	that	PRON
american_scientific_journal-7249	11	12	has	have	AUX
american_scientific_journal-7249	11	13	attracted	attract	VERB
american_scientific_journal-7249	11	14	the	the	DET
american_scientific_journal-7249	11	15	interest	interest	NOUN
american_scientific_journal-7249	11	16	of	of	ADP
american_scientific_journal-7249	11	17	researchers	researcher	NOUN
american_scientific_journal-7249	11	18	due	due	ADJ
american_scientific_journal-7249	11	19	to	to	ADP
american_scientific_journal-7249	11	20	advantages	advantage	NOUN
american_scientific_journal-7249	11	21	such	such	ADJ
american_scientific_journal-7249	11	22	as	as	ADP
american_scientific_journal-7249	11	23	vertical	vertical	ADJ
american_scientific_journal-7249	11	24	take	take	VERB
american_scientific_journal-7249	11	25	-	-	PUNCT
american_scientific_journal-7249	11	26	off	off	NOUN
american_scientific_journal-7249	11	27	and	and	CCONJ
american_scientific_journal-7249	11	28	landing	landing	NOUN
american_scientific_journal-7249	11	29	(	(	PUNCT
american_scientific_journal-7249	11	30	vtol	vtol	PROPN
american_scientific_journal-7249	11	31	)	)	PUNCT
american_scientific_journal-7249	11	32	,	,	PUNCT
american_scientific_journal-7249	11	33	lower	low	ADJ
american_scientific_journal-7249	11	34	mechanical	mechanical	ADJ
american_scientific_journal-7249	11	35	complexity	complexity	NOUN
american_scientific_journal-7249	11	36	,	,	PUNCT
american_scientific_journal-7249	11	37	payload	payload	NOUN
american_scientific_journal-7249	11	38	enhancement	enhancement	NOUN
american_scientific_journal-7249	11	39	,	,	PUNCT
american_scientific_journal-7249	11	40	gyroscopic	gyroscopic	NOUN
american_scientific_journal-7249	11	41	effect	effect	NOUN
american_scientific_journal-7249	11	42	reduction	reduction	NOUN
american_scientific_journal-7249	11	43	,	,	PUNCT
american_scientific_journal-7249	11	44	practical	practical	ADJ
american_scientific_journal-7249	11	45	flight	flight	NOUN
american_scientific_journal-7249	11	46	modes	mode	NOUN
american_scientific_journal-7249	11	47	,	,	PUNCT
american_scientific_journal-7249	11	48	variety	variety	NOUN
american_scientific_journal-7249	11	49	of	of	ADP
american_scientific_journal-7249	11	50	sizes	size	NOUN
american_scientific_journal-7249	11	51	,	,	PUNCT
american_scientific_journal-7249	11	52	perfect	perfect	ADJ
american_scientific_journal-7249	11	53	maneuvering	maneuvering	NOUN
american_scientific_journal-7249	11	54	,	,	PUNCT
american_scientific_journal-7249	11	55	and	and	CCONJ
american_scientific_journal-7249	11	56	less	less	ADJ
american_scientific_journal-7249	11	57	damage	damage	NOUN
american_scientific_journal-7249	11	58	in	in	ADP
american_scientific_journal-7249	11	59	the	the	DET
american_scientific_journal-7249	11	60	event	event	NOUN
american_scientific_journal-7249	11	61	of	of	ADP
american_scientific_journal-7249	11	62	a	a	DET
american_scientific_journal-7249	11	63	collision	collision	NOUN
american_scientific_journal-7249	11	64	[	[	X
american_scientific_journal-7249	11	65	2	2	NUM
american_scientific_journal-7249	11	66	]	]	PUNCT
american_scientific_journal-7249	11	67	.	.	PUNCT
american_scientific_journal-7249	12	1	the	the	DET
american_scientific_journal-7249	12	2	rotors	rotor	NOUN
american_scientific_journal-7249	12	3	of	of	ADP
american_scientific_journal-7249	12	4	the	the	DET
american_scientific_journal-7249	12	5	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	12	6	arranged	arrange	VERB
american_scientific_journal-7249	12	7	in	in	ADP
american_scientific_journal-7249	12	8	a	a	DET
american_scientific_journal-7249	12	9	"	"	PUNCT
american_scientific_journal-7249	12	10	+	+	NOUN
american_scientific_journal-7249	12	11	"	"	PUNCT
american_scientific_journal-7249	12	12	or	or	CCONJ
american_scientific_journal-7249	12	13	"	"	PUNCT
american_scientific_journal-7249	12	14	x	x	NOUN
american_scientific_journal-7249	12	15	"	"	PUNCT
american_scientific_journal-7249	12	16	shape	shape	NOUN
american_scientific_journal-7249	12	17	and	and	CCONJ
american_scientific_journal-7249	12	18	is	be	AUX
american_scientific_journal-7249	12	19	controlled	control	VERB
american_scientific_journal-7249	12	20	by	by	ADP
american_scientific_journal-7249	12	21	variations	variation	NOUN
american_scientific_journal-7249	12	22	in	in	ADP
american_scientific_journal-7249	12	23	motor	motor	NOUN
american_scientific_journal-7249	12	24	speed	speed	NOUN
american_scientific_journal-7249	12	25	;	;	PUNCT
american_scientific_journal-7249	12	26	consequently	consequently	ADV
american_scientific_journal-7249	12	27	,	,	PUNCT
american_scientific_journal-7249	12	28	it	it	PRON
american_scientific_journal-7249	12	29	does	do	AUX
american_scientific_journal-7249	12	30	not	not	PART
american_scientific_journal-7249	12	31	have	have	VERB
american_scientific_journal-7249	12	32	complicated	complicate	VERB
american_scientific_journal-7249	12	33	mechanical	mechanical	ADJ
american_scientific_journal-7249	12	34	control	control	NOUN
american_scientific_journal-7249	12	35	linkages	linkage	NOUN
american_scientific_journal-7249	12	36	.	.	PUNCT
american_scientific_journal-7249	13	1	flight	flight	NOUN
american_scientific_journal-7249	13	2	control	control	NOUN
american_scientific_journal-7249	13	3	becomes	become	VERB
american_scientific_journal-7249	13	4	a	a	DET
american_scientific_journal-7249	13	5	difficult	difficult	ADJ
american_scientific_journal-7249	13	6	problem	problem	NOUN
american_scientific_journal-7249	13	7	due	due	ADP
american_scientific_journal-7249	13	8	to	to	ADP
american_scientific_journal-7249	13	9	the	the	DET
american_scientific_journal-7249	13	10	coupled	couple	VERB
american_scientific_journal-7249	13	11	dynamics	dynamic	NOUN
american_scientific_journal-7249	13	12	,	,	PUNCT
american_scientific_journal-7249	13	13	which	which	PRON
american_scientific_journal-7249	13	14	are	be	AUX
american_scientific_journal-7249	13	15	highly	highly	ADV
american_scientific_journal-7249	13	16	nonlinear	nonlinear	ADJ
american_scientific_journal-7249	13	17	,	,	PUNCT
american_scientific_journal-7249	13	18	an	an	DET
american_scientific_journal-7249	13	19	under	under	ADV
american_scientific_journal-7249	13	20	-	-	PUNCT
american_scientific_journal-7249	13	21	actuated	actuate	VERB
american_scientific_journal-7249	13	22	design	design	NOUN
american_scientific_journal-7249	13	23	configuration	configuration	NOUN
american_scientific_journal-7249	13	24	,	,	PUNCT
american_scientific_journal-7249	13	25	and	and	CCONJ
american_scientific_journal-7249	13	26	different	different	ADJ
american_scientific_journal-7249	13	27	uncertainties	uncertainty	NOUN
american_scientific_journal-7249	13	28	encountered	encounter	VERB
american_scientific_journal-7249	13	29	during	during	ADP
american_scientific_journal-7249	13	30	flight	flight	NOUN
american_scientific_journal-7249	13	31	.	.	PUNCT
american_scientific_journal-7249	14	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-7249	15	1	*	*	PUNCT
american_scientific_journal-7249	15	2	corresponding	correspond	VERB
american_scientific_journal-7249	15	3	author	author	NOUN
american_scientific_journal-7249	15	4	.	.	PUNCT
american_scientific_journal-7249	16	1	american	american	ADJ
american_scientific_journal-7249	16	2	academic	academic	ADJ
american_scientific_journal-7249	16	3	scientific	scientific	ADJ
american_scientific_journal-7249	16	4	research	research	NOUN
american_scientific_journal-7249	16	5	journal	journal	NOUN
american_scientific_journal-7249	16	6	for	for	ADP
american_scientific_journal-7249	16	7	engineering	engineering	NOUN
american_scientific_journal-7249	16	8	,	,	PUNCT
american_scientific_journal-7249	16	9	technology	technology	NOUN
american_scientific_journal-7249	16	10	,	,	PUNCT
american_scientific_journal-7249	16	11	and	and	CCONJ
american_scientific_journal-7249	16	12	sciences	science	NOUN
american_scientific_journal-7249	16	13	(	(	PUNCT
american_scientific_journal-7249	16	14	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	16	15	92	92	NUM
american_scientific_journal-7249	16	16	,	,	PUNCT
american_scientific_journal-7249	16	17	no	no	DET
american_scientific_journal-7249	16	18	1	1	NUM
american_scientific_journal-7249	16	19	,	,	PUNCT
american_scientific_journal-7249	16	20	pp	pp	ADV
american_scientific_journal-7249	16	21	77	77	NUM
american_scientific_journal-7249	16	22	-	-	SYM
american_scientific_journal-7249	16	23	90	90	NUM
american_scientific_journal-7249	16	24	78	78	NUM
american_scientific_journal-7249	16	25	quadrotors	quadrotor	NOUN
american_scientific_journal-7249	16	26	are	be	AUX
american_scientific_journal-7249	16	27	always	always	ADV
american_scientific_journal-7249	16	28	subject	subject	ADJ
american_scientific_journal-7249	16	29	to	to	ADP
american_scientific_journal-7249	16	30	several	several	ADJ
american_scientific_journal-7249	16	31	disturbances	disturbance	NOUN
american_scientific_journal-7249	16	32	and	and	CCONJ
american_scientific_journal-7249	16	33	uncertainties	uncertainty	NOUN
american_scientific_journal-7249	16	34	during	during	ADP
american_scientific_journal-7249	16	35	flight	flight	NOUN
american_scientific_journal-7249	16	36	,	,	PUNCT
american_scientific_journal-7249	16	37	including	include	VERB
american_scientific_journal-7249	16	38	as	as	ADP
american_scientific_journal-7249	16	39	parametric	parametric	ADJ
american_scientific_journal-7249	16	40	perturbations	perturbation	NOUN
american_scientific_journal-7249	16	41	,	,	PUNCT
american_scientific_journal-7249	16	42	noise	noise	NOUN
american_scientific_journal-7249	16	43	,	,	PUNCT
american_scientific_journal-7249	16	44	and	and	CCONJ
american_scientific_journal-7249	16	45	wind	wind	NOUN
american_scientific_journal-7249	16	46	gusts	gust	NOUN
american_scientific_journal-7249	16	47	,	,	PUNCT
american_scientific_journal-7249	16	48	then	then	ADV
american_scientific_journal-7249	16	49	it	it	PRON
american_scientific_journal-7249	16	50	is	be	AUX
american_scientific_journal-7249	16	51	difficult	difficult	ADJ
american_scientific_journal-7249	16	52	to	to	PART
american_scientific_journal-7249	16	53	create	create	VERB
american_scientific_journal-7249	16	54	a	a	DET
american_scientific_journal-7249	16	55	control	control	NOUN
american_scientific_journal-7249	16	56	to	to	PART
american_scientific_journal-7249	16	57	increase	increase	VERB
american_scientific_journal-7249	16	58	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	16	59	flying	fly	VERB
american_scientific_journal-7249	16	60	performance	performance	NOUN
american_scientific_journal-7249	16	61	:	:	PUNCT
american_scientific_journal-7249	16	62	therefore	therefore	ADV
american_scientific_journal-7249	16	63	,	,	PUNCT
american_scientific_journal-7249	16	64	there	there	PRON
american_scientific_journal-7249	16	65	are	be	VERB
american_scientific_journal-7249	16	66	many	many	ADJ
american_scientific_journal-7249	16	67	researchers	researcher	NOUN
american_scientific_journal-7249	16	68	improved	improve	VERB
american_scientific_journal-7249	16	69	their	their	PRON
american_scientific_journal-7249	16	70	controller	controller	NOUN
american_scientific_journal-7249	16	71	(	(	PUNCT
american_scientific_journal-7249	16	72	classic	classic	ADJ
american_scientific_journal-7249	16	73	or	or	CCONJ
american_scientific_journal-7249	16	74	intelligent	intelligent	ADJ
american_scientific_journal-7249	16	75	controllers	controller	NOUN
american_scientific_journal-7249	16	76	)	)	PUNCT
american_scientific_journal-7249	16	77	.	.	PUNCT
american_scientific_journal-7249	17	1	for	for	ADP
american_scientific_journal-7249	17	2	example	example	NOUN
american_scientific_journal-7249	17	3	,	,	PUNCT
american_scientific_journal-7249	17	4	nguyen	nguyen	NOUN
american_scientific_journal-7249	17	5	and	and	CCONJ
american_scientific_journal-7249	17	6	colleagues[3	colleagues[3	PROPN
american_scientific_journal-7249	17	7	]	]	PUNCT
american_scientific_journal-7249	17	8	presented	present	VERB
american_scientific_journal-7249	17	9	a	a	DET
american_scientific_journal-7249	17	10	control	control	NOUN
american_scientific_journal-7249	17	11	algorithm	algorithm	NOUN
american_scientific_journal-7249	17	12	for	for	ADP
american_scientific_journal-7249	17	13	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	17	14	’s	’s	PART
american_scientific_journal-7249	17	15	altitude	altitude	NOUN
american_scientific_journal-7249	17	16	which	which	PRON
american_scientific_journal-7249	17	17	consists	consist	VERB
american_scientific_journal-7249	17	18	of	of	ADP
american_scientific_journal-7249	17	19	a	a	DET
american_scientific_journal-7249	17	20	combination	combination	NOUN
american_scientific_journal-7249	17	21	of	of	ADP
american_scientific_journal-7249	17	22	nonlinear	nonlinear	ADJ
american_scientific_journal-7249	17	23	and	and	CCONJ
american_scientific_journal-7249	17	24	linear	linear	ADJ
american_scientific_journal-7249	17	25	controllers	controller	NOUN
american_scientific_journal-7249	17	26	.	.	PUNCT
american_scientific_journal-7249	18	1	pan	pan	NOUN
american_scientific_journal-7249	18	2	and	and	CCONJ
american_scientific_journal-7249	18	3	colleagues[4	colleagues[4	PROPN
american_scientific_journal-7249	18	4	]	]	PUNCT
american_scientific_journal-7249	18	5	proposed	propose	VERB
american_scientific_journal-7249	18	6	a	a	DET
american_scientific_journal-7249	18	7	double	double	ADJ
american_scientific_journal-7249	18	8	-	-	PUNCT
american_scientific_journal-7249	18	9	loop	loop	NOUN
american_scientific_journal-7249	18	10	cascaded	cascade	VERB
american_scientific_journal-7249	18	11	linear	linear	ADJ
american_scientific_journal-7249	18	12	quadratic	quadratic	ADJ
american_scientific_journal-7249	18	13	regulator	regulator	NOUN
american_scientific_journal-7249	18	14	(	(	PUNCT
american_scientific_journal-7249	18	15	lqr	lqr	PROPN
american_scientific_journal-7249	18	16	)	)	PUNCT
american_scientific_journal-7249	18	17	controller	controller	NOUN
american_scientific_journal-7249	18	18	to	to	PART
american_scientific_journal-7249	18	19	track	track	VERB
american_scientific_journal-7249	18	20	the	the	DET
american_scientific_journal-7249	18	21	referred	refer	VERB
american_scientific_journal-7249	18	22	position	position	NOUN
american_scientific_journal-7249	18	23	and	and	CCONJ
american_scientific_journal-7249	18	24	attitude	attitude	NOUN
american_scientific_journal-7249	18	25	respectively	respectively	ADV
american_scientific_journal-7249	18	26	,	,	PUNCT
american_scientific_journal-7249	18	27	then	then	ADV
american_scientific_journal-7249	18	28	they	they	PRON
american_scientific_journal-7249	18	29	designed	design	VERB
american_scientific_journal-7249	18	30	simultaneous	simultaneous	ADJ
american_scientific_journal-7249	18	31	perturbation	perturbation	NOUN
american_scientific_journal-7249	18	32	stochastic	stochastic	NOUN
american_scientific_journal-7249	18	33	approximation	approximation	NOUN
american_scientific_journal-7249	18	34	(	(	PUNCT
american_scientific_journal-7249	18	35	spsa	spsa	NOUN
american_scientific_journal-7249	18	36	)	)	PUNCT
american_scientific_journal-7249	18	37	to	to	PART
american_scientific_journal-7249	18	38	optimized	optimize	VERB
american_scientific_journal-7249	18	39	the	the	DET
american_scientific_journal-7249	18	40	parameters	parameter	NOUN
american_scientific_journal-7249	18	41	in	in	ADP
american_scientific_journal-7249	18	42	the	the	DET
american_scientific_journal-7249	18	43	position	position	NOUN
american_scientific_journal-7249	18	44	and	and	CCONJ
american_scientific_journal-7249	18	45	altitude	altitude	NOUN
american_scientific_journal-7249	18	46	controllers	controller	NOUN
american_scientific_journal-7249	18	47	,	,	PUNCT
american_scientific_journal-7249	18	48	also	also	ADV
american_scientific_journal-7249	18	49	okyere	okyere	ADV
american_scientific_journal-7249	18	50	and	and	CCONJ
american_scientific_journal-7249	18	51	colleagues[5	colleagues[5	NOUN
american_scientific_journal-7249	18	52	]	]	PUNCT
american_scientific_journal-7249	18	53	and	and	CCONJ
american_scientific_journal-7249	18	54	reyes	reyes	PROPN
american_scientific_journal-7249	18	55	-	-	PUNCT
american_scientific_journal-7249	18	56	valeria	valeria	PROPN
american_scientific_journal-7249	18	57	and	and	CCONJ
american_scientific_journal-7249	18	58	colleagues[6	colleagues[6	NUM
american_scientific_journal-7249	18	59	]	]	PUNCT
american_scientific_journal-7249	18	60	used	use	VERB
american_scientific_journal-7249	18	61	lqr	lqr	PROPN
american_scientific_journal-7249	18	62	controller	controller	NOUN
american_scientific_journal-7249	18	63	,	,	PUNCT
american_scientific_journal-7249	18	64	while	while	SCONJ
american_scientific_journal-7249	18	65	bolandi	bolandi	ADJ
american_scientific_journal-7249	18	66	and	and	CCONJ
american_scientific_journal-7249	18	67	colleagues[7	colleagues[7	NOUN
american_scientific_journal-7249	18	68	]	]	X
american_scientific_journal-7249	18	69	used	use	VERB
american_scientific_journal-7249	18	70	proportional	proportional	ADJ
american_scientific_journal-7249	18	71	-	-	PUNCT
american_scientific_journal-7249	18	72	integral	integral	ADJ
american_scientific_journal-7249	18	73	-	-	PUNCT
american_scientific_journal-7249	18	74	derivative	derivative	ADJ
american_scientific_journal-7249	18	75	(	(	PUNCT
american_scientific_journal-7249	18	76	pid	pid	NOUN
american_scientific_journal-7249	18	77	)	)	PUNCT
american_scientific_journal-7249	18	78	controller	controller	NOUN
american_scientific_journal-7249	18	79	to	to	PART
american_scientific_journal-7249	18	80	control	control	VERB
american_scientific_journal-7249	18	81	the	the	DET
american_scientific_journal-7249	18	82	attitude	attitude	NOUN
american_scientific_journal-7249	18	83	of	of	ADP
american_scientific_journal-7249	18	84	the	the	DET
american_scientific_journal-7249	18	85	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	18	86	and	and	CCONJ
american_scientific_journal-7249	18	87	optimized	optimize	VERB
american_scientific_journal-7249	18	88	the	the	DET
american_scientific_journal-7249	18	89	parameters	parameter	NOUN
american_scientific_journal-7249	18	90	by	by	ADP
american_scientific_journal-7249	18	91	genetic	genetic	ADJ
american_scientific_journal-7249	18	92	algorithm	algorithm	NOUN
american_scientific_journal-7249	18	93	(	(	PUNCT
american_scientific_journal-7249	18	94	ga	ga	PROPN
american_scientific_journal-7249	18	95	)	)	PUNCT
american_scientific_journal-7249	18	96	.	.	PUNCT
american_scientific_journal-7249	19	1	karahan	karahan	PROPN
american_scientific_journal-7249	19	2	and	and	CCONJ
american_scientific_journal-7249	19	3	colleagues[8	colleagues[8	PROPN
american_scientific_journal-7249	19	4	]	]	PUNCT
american_scientific_journal-7249	19	5	and	and	CCONJ
american_scientific_journal-7249	19	6	kamel	kamel	PROPN
american_scientific_journal-7249	19	7	and	and	CCONJ
american_scientific_journal-7249	19	8	colleagues[9	colleagues[9	PROPN
american_scientific_journal-7249	19	9	]	]	PUNCT
american_scientific_journal-7249	19	10	also	also	ADV
american_scientific_journal-7249	19	11	used	use	VERB
american_scientific_journal-7249	19	12	pid	pid	NOUN
american_scientific_journal-7249	19	13	controller	controller	NOUN
american_scientific_journal-7249	19	14	,	,	PUNCT
american_scientific_journal-7249	19	15	while	while	SCONJ
american_scientific_journal-7249	19	16	in	in	ADP
american_scientific_journal-7249	19	17	argentim	argentim	ADJ
american_scientific_journal-7249	19	18	and	and	CCONJ
american_scientific_journal-7249	19	19	colleagues[10	colleagues[10	PROPN
american_scientific_journal-7249	19	20	]	]	PUNCT
american_scientific_journal-7249	19	21	presented	present	VERB
american_scientific_journal-7249	19	22	pid	pid	NOUN
american_scientific_journal-7249	19	23	tuned	tune	VERB
american_scientific_journal-7249	19	24	by	by	ADP
american_scientific_journal-7249	19	25	lqr	lqr	NOUN
american_scientific_journal-7249	19	26	loop	loop	PROPN
american_scientific_journal-7249	19	27	,	,	PUNCT
american_scientific_journal-7249	19	28	and	and	CCONJ
american_scientific_journal-7249	19	29	in	in	ADP
american_scientific_journal-7249	19	30	sheng	sheng	PROPN
american_scientific_journal-7249	19	31	and	and	CCONJ
american_scientific_journal-7249	19	32	colleagues[11	colleagues[11	PROPN
american_scientific_journal-7249	19	33	]	]	PUNCT
american_scientific_journal-7249	19	34	presented	present	VERB
american_scientific_journal-7249	19	35	fuzzy	fuzzy	ADJ
american_scientific_journal-7249	19	36	control	control	NOUN
american_scientific_journal-7249	19	37	pid	pid	NOUN
american_scientific_journal-7249	19	38	system	system	NOUN
american_scientific_journal-7249	19	39	for	for	ADP
american_scientific_journal-7249	19	40	civil	civil	ADJ
american_scientific_journal-7249	19	41	four	four	NUM
american_scientific_journal-7249	19	42	-	-	PUNCT
american_scientific_journal-7249	19	43	rotors	rotor	NOUN
american_scientific_journal-7249	19	44	uav	uav	PROPN
american_scientific_journal-7249	19	45	while	while	SCONJ
american_scientific_journal-7249	19	46	yin	yin	PROPN
american_scientific_journal-7249	19	47	and	and	CCONJ
american_scientific_journal-7249	19	48	colleagues[12	colleagues[12	PROPN
american_scientific_journal-7249	19	49	]	]	PUNCT
american_scientific_journal-7249	19	50	designed	design	VERB
american_scientific_journal-7249	19	51	a	a	DET
american_scientific_journal-7249	19	52	double	double	ADJ
american_scientific_journal-7249	19	53	-	-	PUNCT
american_scientific_journal-7249	19	54	loop	loop	NOUN
american_scientific_journal-7249	19	55	controller	controller	NOUN
american_scientific_journal-7249	19	56	for	for	ADP
american_scientific_journal-7249	19	57	a	a	DET
american_scientific_journal-7249	19	58	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	19	59	by	by	ADP
american_scientific_journal-7249	19	60	using	use	VERB
american_scientific_journal-7249	19	61	pid	pid	NOUN
american_scientific_journal-7249	19	62	and	and	CCONJ
american_scientific_journal-7249	19	63	sliding	slide	VERB
american_scientific_journal-7249	19	64	mode	mode	NOUN
american_scientific_journal-7249	19	65	controller	controller	NOUN
american_scientific_journal-7249	19	66	(	(	PUNCT
american_scientific_journal-7249	19	67	smc	smc	PROPN
american_scientific_journal-7249	19	68	)	)	PUNCT
american_scientific_journal-7249	19	69	.	.	PUNCT
american_scientific_journal-7249	20	1	also	also	ADV
american_scientific_journal-7249	20	2	,	,	PUNCT
american_scientific_journal-7249	20	3	kara	kara	PROPN
american_scientific_journal-7249	20	4	and	and	CCONJ
american_scientific_journal-7249	20	5	colleagues[13	colleagues[13	PROPN
american_scientific_journal-7249	20	6	,	,	PUNCT
american_scientific_journal-7249	20	7	14	14	NUM
american_scientific_journal-7249	20	8	]	]	PUNCT
american_scientific_journal-7249	20	9	combined	combine	VERB
american_scientific_journal-7249	20	10	a	a	DET
american_scientific_journal-7249	20	11	linear	linear	ADJ
american_scientific_journal-7249	20	12	controller	controller	NOUN
american_scientific_journal-7249	20	13	with	with	ADP
american_scientific_journal-7249	20	14	non	non	ADJ
american_scientific_journal-7249	20	15	-	-	ADJ
american_scientific_journal-7249	20	16	linear	linear	ADJ
american_scientific_journal-7249	20	17	controller	controller	NOUN
american_scientific_journal-7249	20	18	used	use	VERB
american_scientific_journal-7249	20	19	smc	smc	PROPN
american_scientific_journal-7249	20	20	with	with	ADP
american_scientific_journal-7249	20	21	pid	pid	NOUN
american_scientific_journal-7249	20	22	or	or	CCONJ
american_scientific_journal-7249	20	23	pd	pd	PROPN
american_scientific_journal-7249	20	24	to	to	PART
american_scientific_journal-7249	20	25	control	control	VERB
american_scientific_journal-7249	20	26	a	a	DET
american_scientific_journal-7249	20	27	trajectory	trajectory	NOUN
american_scientific_journal-7249	20	28	tracking	tracking	NOUN
american_scientific_journal-7249	20	29	then	then	ADV
american_scientific_journal-7249	20	30	the	the	DET
american_scientific_journal-7249	20	31	parameters	parameter	NOUN
american_scientific_journal-7249	20	32	designed	design	VERB
american_scientific_journal-7249	20	33	based	base	VERB
american_scientific_journal-7249	20	34	on	on	ADP
american_scientific_journal-7249	20	35	lyapunov	lyapunov	PROPN
american_scientific_journal-7249	20	36	theory	theory	NOUN
american_scientific_journal-7249	20	37	.	.	PUNCT
american_scientific_journal-7249	21	1	according	accord	VERB
american_scientific_journal-7249	21	2	to	to	ADP
american_scientific_journal-7249	21	3	the	the	DET
american_scientific_journal-7249	21	4	above	above	ADJ
american_scientific_journal-7249	21	5	researches	research	NOUN
american_scientific_journal-7249	21	6	,	,	PUNCT
american_scientific_journal-7249	21	7	the	the	DET
american_scientific_journal-7249	21	8	majority	majority	NOUN
american_scientific_journal-7249	21	9	of	of	ADP
american_scientific_journal-7249	21	10	existing	exist	VERB
american_scientific_journal-7249	21	11	approaches	approach	NOUN
american_scientific_journal-7249	21	12	are	be	AUX
american_scientific_journal-7249	21	13	either	either	ADV
american_scientific_journal-7249	21	14	difficult	difficult	ADJ
american_scientific_journal-7249	21	15	to	to	PART
american_scientific_journal-7249	21	16	create	create	VERB
american_scientific_journal-7249	21	17	and	and	CCONJ
american_scientific_journal-7249	21	18	implement	implement	VERB
american_scientific_journal-7249	21	19	or	or	CCONJ
american_scientific_journal-7249	21	20	require	require	VERB
american_scientific_journal-7249	21	21	great	great	ADJ
american_scientific_journal-7249	21	22	computational	computational	ADJ
american_scientific_journal-7249	21	23	resources	resource	NOUN
american_scientific_journal-7249	21	24	.	.	PUNCT
american_scientific_journal-7249	22	1	meanwhile	meanwhile	ADV
american_scientific_journal-7249	22	2	,	,	PUNCT
american_scientific_journal-7249	22	3	pid	pid	NOUN
american_scientific_journal-7249	22	4	control	control	NOUN
american_scientific_journal-7249	22	5	legislation	legislation	NOUN
american_scientific_journal-7249	22	6	appears	appear	VERB
american_scientific_journal-7249	22	7	to	to	PART
american_scientific_journal-7249	22	8	be	be	AUX
american_scientific_journal-7249	22	9	important	important	ADJ
american_scientific_journal-7249	22	10	in	in	ADP
american_scientific_journal-7249	22	11	determining	determine	VERB
american_scientific_journal-7249	22	12	a	a	DET
american_scientific_journal-7249	22	13	simple	simple	ADJ
american_scientific_journal-7249	22	14	and	and	CCONJ
american_scientific_journal-7249	22	15	efficient	efficient	ADJ
american_scientific_journal-7249	22	16	control	control	NOUN
american_scientific_journal-7249	22	17	strategy	strategy	NOUN
american_scientific_journal-7249	22	18	for	for	ADP
american_scientific_journal-7249	22	19	a	a	DET
american_scientific_journal-7249	22	20	wide	wide	ADJ
american_scientific_journal-7249	22	21	range	range	NOUN
american_scientific_journal-7249	22	22	of	of	ADP
american_scientific_journal-7249	22	23	systems	system	NOUN
american_scientific_journal-7249	22	24	.	.	PUNCT
american_scientific_journal-7249	23	1	this	this	DET
american_scientific_journal-7249	23	2	paper	paper	NOUN
american_scientific_journal-7249	23	3	is	be	AUX
american_scientific_journal-7249	23	4	organized	organize	VERB
american_scientific_journal-7249	23	5	from	from	ADP
american_scientific_journal-7249	23	6	the	the	DET
american_scientific_journal-7249	23	7	beginning	beginning	NOUN
american_scientific_journal-7249	23	8	of	of	ADP
american_scientific_journal-7249	23	9	the	the	DET
american_scientific_journal-7249	23	10	introduction	introduction	NOUN
american_scientific_journal-7249	23	11	then	then	ADV
american_scientific_journal-7249	23	12	the	the	DET
american_scientific_journal-7249	23	13	second	second	ADJ
american_scientific_journal-7249	23	14	section	section	NOUN
american_scientific_journal-7249	23	15	present	present	VERB
american_scientific_journal-7249	23	16	the	the	DET
american_scientific_journal-7249	23	17	mathematical	mathematical	ADJ
american_scientific_journal-7249	23	18	model	model	NOUN
american_scientific_journal-7249	23	19	of	of	ADP
american_scientific_journal-7249	23	20	the	the	DET
american_scientific_journal-7249	23	21	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	23	22	then	then	ADV
american_scientific_journal-7249	23	23	in	in	ADP
american_scientific_journal-7249	23	24	third	third	ADJ
american_scientific_journal-7249	23	25	section	section	NOUN
american_scientific_journal-7249	23	26	different	different	ADJ
american_scientific_journal-7249	23	27	control	control	NOUN
american_scientific_journal-7249	23	28	systems	system	NOUN
american_scientific_journal-7249	23	29	proposed	propose	VERB
american_scientific_journal-7249	23	30	and	and	CCONJ
american_scientific_journal-7249	23	31	in	in	ADP
american_scientific_journal-7249	23	32	section	section	NOUN
american_scientific_journal-7249	23	33	four	four	NUM
american_scientific_journal-7249	23	34	the	the	DET
american_scientific_journal-7249	23	35	optimization	optimization	NOUN
american_scientific_journal-7249	23	36	method	method	NOUN
american_scientific_journal-7249	23	37	presented	present	VERB
american_scientific_journal-7249	23	38	then	then	ADV
american_scientific_journal-7249	23	39	in	in	ADP
american_scientific_journal-7249	23	40	section	section	NOUN
american_scientific_journal-7249	23	41	five	five	NUM
american_scientific_journal-7249	23	42	compare	compare	VERB
american_scientific_journal-7249	23	43	the	the	DET
american_scientific_journal-7249	23	44	results	result	NOUN
american_scientific_journal-7249	23	45	.	.	PUNCT
american_scientific_journal-7249	24	1	2	2	X
american_scientific_journal-7249	24	2	.	.	X
american_scientific_journal-7249	24	3	quadrotor	quadrotor	PROPN
american_scientific_journal-7249	24	4	mathematical	mathematical	PROPN
american_scientific_journal-7249	24	5	model	model	NOUN
american_scientific_journal-7249	24	6	2.1	2.1	NUM
american_scientific_journal-7249	24	7	working	work	VERB
american_scientific_journal-7249	24	8	principle	principle	NOUN
american_scientific_journal-7249	24	9	each	each	PRON
american_scientific_journal-7249	24	10	of	of	ADP
american_scientific_journal-7249	24	11	the	the	DET
american_scientific_journal-7249	24	12	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	24	13	's	's	PART
american_scientific_journal-7249	24	14	four	four	NUM
american_scientific_journal-7249	24	15	rotors	rotor	NOUN
american_scientific_journal-7249	24	16	(	(	PUNCT
american_scientific_journal-7249	24	17	as	as	SCONJ
american_scientific_journal-7249	24	18	illustrated	illustrate	VERB
american_scientific_journal-7249	24	19	in	in	ADP
american_scientific_journal-7249	24	20	figure	figure	NOUN
american_scientific_journal-7249	24	21	1	1	NUM
american_scientific_journal-7249	24	22	)	)	PUNCT
american_scientific_journal-7249	24	23	has	have	VERB
american_scientific_journal-7249	24	24	a	a	DET
american_scientific_journal-7249	24	25	motor	motor	NOUN
american_scientific_journal-7249	24	26	and	and	CCONJ
american_scientific_journal-7249	24	27	propeller	propeller	NOUN
american_scientific_journal-7249	24	28	combination	combination	NOUN
american_scientific_journal-7249	24	29	to	to	PART
american_scientific_journal-7249	24	30	generate	generate	VERB
american_scientific_journal-7249	24	31	thrust	thrust	PROPN
american_scientific_journal-7249	24	32	,	,	PUNCT
american_scientific_journal-7249	24	33	which	which	PRON
american_scientific_journal-7249	24	34	lifts	lift	VERB
american_scientific_journal-7249	24	35	the	the	DET
american_scientific_journal-7249	24	36	aircraft	aircraft	NOUN
american_scientific_journal-7249	24	37	.	.	PUNCT
american_scientific_journal-7249	25	1	each	each	PRON
american_scientific_journal-7249	25	2	of	of	ADP
american_scientific_journal-7249	25	3	these	these	DET
american_scientific_journal-7249	25	4	motors	motor	NOUN
american_scientific_journal-7249	25	5	is	be	AUX
american_scientific_journal-7249	25	6	powered	power	VERB
american_scientific_journal-7249	25	7	independently	independently	ADV
american_scientific_journal-7249	25	8	.	.	PUNCT
american_scientific_journal-7249	26	1	in	in	ADP
american_scientific_journal-7249	26	2	stationary	stationary	ADJ
american_scientific_journal-7249	26	3	flights	flight	NOUN
american_scientific_journal-7249	26	4	,	,	PUNCT
american_scientific_journal-7249	26	5	the	the	DET
american_scientific_journal-7249	26	6	front	front	ADJ
american_scientific_journal-7249	26	7	and	and	CCONJ
american_scientific_journal-7249	26	8	rear	rear	ADJ
american_scientific_journal-7249	26	9	rotors	rotor	NOUN
american_scientific_journal-7249	26	10	revolve	revolve	NOUN
american_scientific_journal-7249	26	11	clockwise	clockwise	NOUN
american_scientific_journal-7249	26	12	,	,	PUNCT
american_scientific_journal-7249	26	13	while	while	SCONJ
american_scientific_journal-7249	26	14	the	the	DET
american_scientific_journal-7249	26	15	right	right	NOUN
american_scientific_journal-7249	26	16	and	and	CCONJ
american_scientific_journal-7249	26	17	left	leave	VERB
american_scientific_journal-7249	26	18	rotors	rotor	NOUN
american_scientific_journal-7249	26	19	rotate	rotate	VERB
american_scientific_journal-7249	26	20	counterclockwise	counterclockwise	NOUN
american_scientific_journal-7249	26	21	,	,	PUNCT
american_scientific_journal-7249	26	22	resulting	result	VERB
american_scientific_journal-7249	26	23	in	in	ADP
american_scientific_journal-7249	26	24	a	a	DET
american_scientific_journal-7249	26	25	balanced	balanced	ADJ
american_scientific_journal-7249	26	26	overall	overall	ADJ
american_scientific_journal-7249	26	27	system	system	NOUN
american_scientific_journal-7249	26	28	torque	torque	NOUN
american_scientific_journal-7249	26	29	and	and	CCONJ
american_scientific_journal-7249	26	30	eliminating	eliminate	VERB
american_scientific_journal-7249	26	31	gyroscopic	gyroscopic	NOUN
american_scientific_journal-7249	26	32	and	and	CCONJ
american_scientific_journal-7249	26	33	aerodynamic	aerodynamic	ADJ
american_scientific_journal-7249	26	34	torques	torque	NOUN
american_scientific_journal-7249	26	35	.	.	PUNCT
american_scientific_journal-7249	27	1	by	by	ADP
american_scientific_journal-7249	27	2	changing	change	VERB
american_scientific_journal-7249	27	3	the	the	DET
american_scientific_journal-7249	27	4	speeds	speed	NOUN
american_scientific_journal-7249	27	5	of	of	ADP
american_scientific_journal-7249	27	6	all	all	DET
american_scientific_journal-7249	27	7	rotors	rotor	NOUN
american_scientific_journal-7249	27	8	produces	produce	VERB
american_scientific_journal-7249	27	9	lift	lift	NOUN
american_scientific_journal-7249	27	10	force	force	NOUN
american_scientific_journal-7249	27	11	and	and	CCONJ
american_scientific_journal-7249	27	12	generates	generate	VERB
american_scientific_journal-7249	27	13	movement	movement	NOUN
american_scientific_journal-7249	27	14	;	;	PUNCT
american_scientific_journal-7249	27	15	therefore	therefore	ADV
american_scientific_journal-7249	27	16	,	,	PUNCT
american_scientific_journal-7249	27	17	the	the	DET
american_scientific_journal-7249	27	18	decrease	decrease	NOUN
american_scientific_journal-7249	27	19	o	o	NOUN
american_scientific_journal-7249	27	20	increase	increase	NOUN
american_scientific_journal-7249	27	21	in	in	ADP
american_scientific_journal-7249	27	22	all	all	DET
american_scientific_journal-7249	27	23	rotors	rotor	NOUN
american_scientific_journal-7249	27	24	changes	change	VERB
american_scientific_journal-7249	27	25	the	the	DET
american_scientific_journal-7249	27	26	vertical	vertical	ADJ
american_scientific_journal-7249	27	27	movement	movement	NOUN
american_scientific_journal-7249	27	28	,	,	PUNCT
american_scientific_journal-7249	27	29	while	while	SCONJ
american_scientific_journal-7249	27	30	the	the	DET
american_scientific_journal-7249	27	31	changing	change	VERB
american_scientific_journal-7249	27	32	in	in	ADP
american_scientific_journal-7249	27	33	speeds	speed	NOUN
american_scientific_journal-7249	27	34	of	of	ADP
american_scientific_journal-7249	27	35	the	the	DET
american_scientific_journal-7249	27	36	second	second	ADJ
american_scientific_journal-7249	27	37	and	and	CCONJ
american_scientific_journal-7249	27	38	fourth	fourth	ADJ
american_scientific_journal-7249	27	39	rotors	rotor	NOUN
american_scientific_journal-7249	27	40	inversely	inversely	ADV
american_scientific_journal-7249	27	41	produces	produce	VERB
american_scientific_journal-7249	27	42	lateral	lateral	ADJ
american_scientific_journal-7249	27	43	movement	movement	NOUN
american_scientific_journal-7249	27	44	with	with	ADP
american_scientific_journal-7249	27	45	roll	roll	NOUN
american_scientific_journal-7249	27	46	rotation	rotation	NOUN
american_scientific_journal-7249	27	47	.	.	PUNCT
american_scientific_journal-7249	28	1	when	when	SCONJ
american_scientific_journal-7249	28	2	the	the	DET
american_scientific_journal-7249	28	3	speed	speed	NOUN
american_scientific_journal-7249	28	4	of	of	ADP
american_scientific_journal-7249	28	5	first	first	ADJ
american_scientific_journal-7249	28	6	and	and	CCONJ
american_scientific_journal-7249	28	7	third	third	ADJ
american_scientific_journal-7249	28	8	rotors	rotor	NOUN
american_scientific_journal-7249	28	9	varying	vary	VERB
american_scientific_journal-7249	28	10	conversely	conversely	ADV
american_scientific_journal-7249	28	11	,	,	PUNCT
american_scientific_journal-7249	28	12	the	the	DET
american_scientific_journal-7249	28	13	pitch	pitch	NOUN
american_scientific_journal-7249	28	14	rotation	rotation	NOUN
american_scientific_journal-7249	28	15	combined	combine	VERB
american_scientific_journal-7249	28	16	with	with	ADP
american_scientific_journal-7249	28	17	lateral	lateral	ADJ
american_scientific_journal-7249	28	18	movement	movement	NOUN
american_scientific_journal-7249	28	19	.	.	PUNCT
american_scientific_journal-7249	29	1	to	to	PART
american_scientific_journal-7249	29	2	generate	generate	VERB
american_scientific_journal-7249	29	3	yaw	yaw	NOUN
american_scientific_journal-7249	29	4	-	-	PUNCT
american_scientific_journal-7249	29	5	motion	motion	NOUN
american_scientific_journal-7249	29	6	,	,	PUNCT
american_scientific_journal-7249	29	7	the	the	DET
american_scientific_journal-7249	29	8	counter	counter	NOUN
american_scientific_journal-7249	29	9	-	-	NOUN
american_scientific_journal-7249	29	10	torque	torque	NOUN
american_scientific_journal-7249	29	11	must	must	AUX
american_scientific_journal-7249	29	12	be	be	AUX
american_scientific_journal-7249	29	13	change	change	NOUN
american_scientific_journal-7249	29	14	between	between	ADP
american_scientific_journal-7249	29	15	each	each	DET
american_scientific_journal-7249	29	16	pair	pair	NOUN
american_scientific_journal-7249	29	17	of	of	ADP
american_scientific_journal-7249	29	18	propellers	propeller	NOUN
american_scientific_journal-7249	29	19	[	[	X
american_scientific_journal-7249	29	20	8	8	NUM
american_scientific_journal-7249	29	21	]	]	PUNCT
american_scientific_journal-7249	29	22	.	.	PUNCT
american_scientific_journal-7249	30	1	american	american	ADJ
american_scientific_journal-7249	30	2	academic	academic	ADJ
american_scientific_journal-7249	30	3	scientific	scientific	ADJ
american_scientific_journal-7249	30	4	research	research	NOUN
american_scientific_journal-7249	30	5	journal	journal	NOUN
american_scientific_journal-7249	30	6	for	for	ADP
american_scientific_journal-7249	30	7	engineering	engineering	NOUN
american_scientific_journal-7249	30	8	,	,	PUNCT
american_scientific_journal-7249	30	9	technology	technology	NOUN
american_scientific_journal-7249	30	10	,	,	PUNCT
american_scientific_journal-7249	30	11	and	and	CCONJ
american_scientific_journal-7249	30	12	sciences	science	NOUN
american_scientific_journal-7249	30	13	(	(	PUNCT
american_scientific_journal-7249	30	14	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	30	15	92	92	NUM
american_scientific_journal-7249	30	16	,	,	PUNCT
american_scientific_journal-7249	30	17	no	no	DET
american_scientific_journal-7249	30	18	1	1	NUM
american_scientific_journal-7249	30	19	,	,	PUNCT
american_scientific_journal-7249	30	20	pp	pp	ADV
american_scientific_journal-7249	30	21	77	77	NUM
american_scientific_journal-7249	30	22	-	-	SYM
american_scientific_journal-7249	30	23	90	90	NUM
american_scientific_journal-7249	30	24	79	79	NUM
american_scientific_journal-7249	30	25	2.2	2.2	NUM
american_scientific_journal-7249	30	26	dynamic	dynamic	ADJ
american_scientific_journal-7249	30	27	model	model	NOUN
american_scientific_journal-7249	30	28	of	of	ADP
american_scientific_journal-7249	30	29	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	30	30	the	the	DET
american_scientific_journal-7249	30	31	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	30	32	has	have	VERB
american_scientific_journal-7249	30	33	two	two	NUM
american_scientific_journal-7249	30	34	coordinate	coordinate	NOUN
american_scientific_journal-7249	30	35	systems	system	NOUN
american_scientific_journal-7249	30	36	(	(	PUNCT
american_scientific_journal-7249	30	37	as	as	SCONJ
american_scientific_journal-7249	30	38	shown	show	VERB
american_scientific_journal-7249	30	39	in	in	ADP
american_scientific_journal-7249	30	40	figure	figure	NOUN
american_scientific_journal-7249	30	41	1	1	NUM
american_scientific_journal-7249	30	42	)	)	PUNCT
american_scientific_journal-7249	30	43	i.	i.	NOUN
american_scientific_journal-7249	30	44	body	body	NOUN
american_scientific_journal-7249	30	45	fixed	fix	VERB
american_scientific_journal-7249	30	46	frame	frame	NOUN
american_scientific_journal-7249	30	47	(	(	PUNCT
american_scientific_journal-7249	30	48	b	b	NOUN
american_scientific_journal-7249	30	49	-	-	PUNCT
american_scientific_journal-7249	30	50	frame	frame	NOUN
american_scientific_journal-7249	30	51	)	)	PUNCT
american_scientific_journal-7249	30	52	.	.	PUNCT
american_scientific_journal-7249	31	1	ii	ii	PROPN
american_scientific_journal-7249	31	2	.	.	PUNCT
american_scientific_journal-7249	31	3	earth	earth	PROPN
american_scientific_journal-7249	31	4	fixed	fix	VERB
american_scientific_journal-7249	31	5	frame	frame	NOUN
american_scientific_journal-7249	31	6	(	(	PUNCT
american_scientific_journal-7249	31	7	e	e	NOUN
american_scientific_journal-7249	31	8	-	-	NOUN
american_scientific_journal-7249	31	9	frame	frame	NOUN
american_scientific_journal-7249	31	10	)	)	PUNCT
american_scientific_journal-7249	31	11	.	.	PUNCT
american_scientific_journal-7249	32	1	the	the	DET
american_scientific_journal-7249	32	2	rotation	rotation	NOUN
american_scientific_journal-7249	32	3	matrix	matrix	NOUN
american_scientific_journal-7249	32	4	between	between	ADP
american_scientific_journal-7249	32	5	the	the	DET
american_scientific_journal-7249	32	6	e	e	NOUN
american_scientific_journal-7249	32	7	-	-	NOUN
american_scientific_journal-7249	32	8	frame	frame	NOUN
american_scientific_journal-7249	32	9	and	and	CCONJ
american_scientific_journal-7249	32	10	b	b	NOUN
american_scientific_journal-7249	32	11	-	-	PUNCT
american_scientific_journal-7249	32	12	frame	frame	NOUN
american_scientific_journal-7249	32	13	presents	present	NOUN
american_scientific_journal-7249	32	14	by	by	ADP
american_scientific_journal-7249	32	15	three	three	NUM
american_scientific_journal-7249	32	16	consecutive	consecutive	ADJ
american_scientific_journal-7249	32	17	rotation	rotation	NOUN
american_scientific_journal-7249	32	18	(	(	PUNCT
american_scientific_journal-7249	32	19	yaw	yaw	PROPN
american_scientific_journal-7249	32	20	,	,	PUNCT
american_scientific_journal-7249	32	21	roll	roll	NOUN
american_scientific_journal-7249	32	22	and	and	CCONJ
american_scientific_journal-7249	32	23	pitch	pitch	NOUN
american_scientific_journal-7249	32	24	)	)	PUNCT
american_scientific_journal-7249	33	1	[	[	X
american_scientific_journal-7249	33	2	1	1	X
american_scientific_journal-7249	33	3	]	]	X
american_scientific_journal-7249	33	4	r=	r=	NOUN
american_scientific_journal-7249	33	5	[	[	PUNCT
american_scientific_journal-7249	33	6	]	]	X
american_scientific_journal-7249	33	7	(	(	PUNCT
american_scientific_journal-7249	33	8	1	1	NUM
american_scientific_journal-7249	33	9	)	)	PUNCT
american_scientific_journal-7249	33	10	because	because	SCONJ
american_scientific_journal-7249	33	11	of	of	ADP
american_scientific_journal-7249	33	12	the	the	DET
american_scientific_journal-7249	33	13	following	follow	VERB
american_scientific_journal-7249	33	14	assumptions	assumption	NOUN
american_scientific_journal-7249	33	15	,	,	PUNCT
american_scientific_journal-7249	33	16	the	the	DET
american_scientific_journal-7249	33	17	equations	equation	NOUN
american_scientific_journal-7249	33	18	of	of	ADP
american_scientific_journal-7249	33	19	motion	motion	NOUN
american_scientific_journal-7249	33	20	are	be	AUX
american_scientific_journal-7249	33	21	more	more	ADV
american_scientific_journal-7249	33	22	easily	easily	ADV
american_scientific_journal-7249	33	23	written	write	VERB
american_scientific_journal-7249	33	24	in	in	ADP
american_scientific_journal-7249	33	25	the	the	DET
american_scientific_journal-7249	33	26	body	body	NOUN
american_scientific_journal-7249	33	27	fixed	fix	VERB
american_scientific_journal-7249	33	28	frame	frame	NOUN
american_scientific_journal-7249	34	1	[	[	X
american_scientific_journal-7249	34	2	15	15	NUM
american_scientific_journal-7249	34	3	]	]	X
american_scientific_journal-7249	34	4	i.	i.	NOUN
american_scientific_journal-7249	34	5	a	a	DET
american_scientific_journal-7249	34	6	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	34	7	is	be	AUX
american_scientific_journal-7249	34	8	a	a	DET
american_scientific_journal-7249	34	9	rigid	rigid	ADJ
american_scientific_journal-7249	34	10	symmetrical	symmetrical	ADJ
american_scientific_journal-7249	34	11	body	body	NOUN
american_scientific_journal-7249	34	12	.	.	PUNCT
american_scientific_journal-7249	35	1	ii	ii	PROPN
american_scientific_journal-7249	35	2	.	.	PUNCT
american_scientific_journal-7249	36	1	the	the	DET
american_scientific_journal-7249	36	2	geometric	geometric	ADJ
american_scientific_journal-7249	36	3	center	center	NOUN
american_scientific_journal-7249	36	4	and	and	CCONJ
american_scientific_journal-7249	36	5	centroid	centroid	NOUN
american_scientific_journal-7249	36	6	of	of	ADP
american_scientific_journal-7249	36	7	the	the	DET
american_scientific_journal-7249	36	8	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	36	9	are	be	AUX
american_scientific_journal-7249	36	10	in	in	ADP
american_scientific_journal-7249	36	11	the	the	DET
american_scientific_journal-7249	36	12	same	same	ADJ
american_scientific_journal-7249	36	13	position	position	NOUN
american_scientific_journal-7249	36	14	as	as	ADP
american_scientific_journal-7249	36	15	the	the	DET
american_scientific_journal-7249	36	16	origin	origin	NOUN
american_scientific_journal-7249	36	17	of	of	ADP
american_scientific_journal-7249	36	18	the	the	DET
american_scientific_journal-7249	36	19	inertial	inertial	ADJ
american_scientific_journal-7249	36	20	coordinate	coordinate	NOUN
american_scientific_journal-7249	36	21	system	system	NOUN
american_scientific_journal-7249	36	22	.	.	PUNCT
american_scientific_journal-7249	37	1	iii	iii	X
american_scientific_journal-7249	37	2	.	.	PUNCT
american_scientific_journal-7249	37	3	flight	flight	NOUN
american_scientific_journal-7249	37	4	altitude	altitude	NOUN
american_scientific_journal-7249	37	5	and	and	CCONJ
american_scientific_journal-7249	37	6	other	other	ADJ
american_scientific_journal-7249	37	7	parameters	parameter	NOUN
american_scientific_journal-7249	37	8	have	have	VERB
american_scientific_journal-7249	37	9	no	no	DET
american_scientific_journal-7249	37	10	effect	effect	NOUN
american_scientific_journal-7249	37	11	on	on	ADP
american_scientific_journal-7249	37	12	the	the	DET
american_scientific_journal-7249	37	13	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	37	14	's	's	PART
american_scientific_journal-7249	37	15	resistance	resistance	NOUN
american_scientific_journal-7249	37	16	and	and	CCONJ
american_scientific_journal-7249	37	17	gravity	gravity	NOUN
american_scientific_journal-7249	37	18	.	.	PUNCT
american_scientific_journal-7249	38	1	iv	iv	X
american_scientific_journal-7249	38	2	.	.	PUNCT
american_scientific_journal-7249	39	1	tensions	tension	NOUN
american_scientific_journal-7249	39	2	in	in	ADP
american_scientific_journal-7249	39	3	both	both	DET
american_scientific_journal-7249	39	4	directions	direction	NOUN
american_scientific_journal-7249	39	5	are	be	AUX
american_scientific_journal-7249	39	6	proportional	proportional	ADJ
american_scientific_journal-7249	39	7	to	to	ADP
american_scientific_journal-7249	39	8	the	the	DET
american_scientific_journal-7249	39	9	square	square	NOUN
american_scientific_journal-7249	39	10	of	of	ADP
american_scientific_journal-7249	39	11	the	the	DET
american_scientific_journal-7249	39	12	propeller	propeller	NOUN
american_scientific_journal-7249	39	13	speed	speed	NOUN
american_scientific_journal-7249	39	14	.	.	PUNCT
american_scientific_journal-7249	40	1	the	the	DET
american_scientific_journal-7249	40	2	model	model	NOUN
american_scientific_journal-7249	40	3	of	of	ADP
american_scientific_journal-7249	40	4	the	the	DET
american_scientific_journal-7249	40	5	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	40	6	system	system	NOUN
american_scientific_journal-7249	40	7	consists	consist	VERB
american_scientific_journal-7249	40	8	of	of	ADP
american_scientific_journal-7249	40	9	translational	translational	ADJ
american_scientific_journal-7249	40	10	and	and	CCONJ
american_scientific_journal-7249	40	11	rotational	rotational	ADJ
american_scientific_journal-7249	40	12	sub	sub	NOUN
american_scientific_journal-7249	40	13	-	-	NOUN
american_scientific_journal-7249	40	14	systems	system	NOUN
american_scientific_journal-7249	40	15	,	,	PUNCT
american_scientific_journal-7249	40	16	then	then	ADV
american_scientific_journal-7249	40	17	the	the	DET
american_scientific_journal-7249	40	18	equations	equation	NOUN
american_scientific_journal-7249	40	19	of	of	ADP
american_scientific_journal-7249	40	20	motion	motion	NOUN
american_scientific_journal-7249	40	21	are	be	AUX
american_scientific_journal-7249	40	22	generated	generate	VERB
american_scientific_journal-7249	40	23	based	base	VERB
american_scientific_journal-7249	40	24	on	on	ADP
american_scientific_journal-7249	40	25	the	the	DET
american_scientific_journal-7249	40	26	newton	newton	PROPN
american_scientific_journal-7249	40	27	-	-	PUNCT
american_scientific_journal-7249	40	28	euler	euler	PROPN
american_scientific_journal-7249	40	29	formulism	formulism	NOUN
american_scientific_journal-7249	40	30	and	and	CCONJ
american_scientific_journal-7249	40	31	newton	newton	PROPN
american_scientific_journal-7249	40	32	’s	’s	PART
american_scientific_journal-7249	40	33	second	second	ADJ
american_scientific_journal-7249	40	34	law	law	NOUN
american_scientific_journal-7249	40	35	.	.	PUNCT
american_scientific_journal-7249	41	1	the	the	DET
american_scientific_journal-7249	41	2	input	input	NOUN
american_scientific_journal-7249	41	3	control	control	NOUN
american_scientific_journal-7249	41	4	vector	vector	NOUN
american_scientific_journal-7249	41	5	is	be	AUX
american_scientific_journal-7249	41	6	define	define	ADJ
american_scientific_journal-7249	41	7	as	as	ADP
american_scientific_journal-7249	41	8	[	[	PUNCT
american_scientific_journal-7249	41	9	]	]	X
american_scientific_journal-7249	41	10	(	(	PUNCT
american_scientific_journal-7249	41	11	2	2	NUM
american_scientific_journal-7249	41	12	)	)	PUNCT
american_scientific_journal-7249	41	13	[	[	PUNCT
american_scientific_journal-7249	41	14	]	]	X
american_scientific_journal-7249	41	15	=	=	PUNCT
american_scientific_journal-7249	42	1	[	[	PUNCT
american_scientific_journal-7249	42	2	]	]	X
american_scientific_journal-7249	42	3	[	[	PUNCT
american_scientific_journal-7249	42	4	]	]	X
american_scientific_journal-7249	42	5	(	(	PUNCT
american_scientific_journal-7249	42	6	3	3	X
american_scientific_journal-7249	42	7	)	)	PUNCT
american_scientific_journal-7249	42	8	each	each	DET
american_scientific_journal-7249	42	9	one	one	NUM
american_scientific_journal-7249	42	10	of	of	ADP
american_scientific_journal-7249	42	11	the	the	DET
american_scientific_journal-7249	42	12	input	input	NOUN
american_scientific_journal-7249	42	13	vectors	vector	NOUN
american_scientific_journal-7249	42	14	can	can	AUX
american_scientific_journal-7249	42	15	control	control	VERB
american_scientific_journal-7249	42	16	a	a	DET
american_scientific_journal-7249	42	17	motion	motion	NOUN
american_scientific_journal-7249	42	18	of	of	ADP
american_scientific_journal-7249	42	19	the	the	DET
american_scientific_journal-7249	42	20	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	42	21	.	.	PUNCT
american_scientific_journal-7249	43	1	note	note	VERB
american_scientific_journal-7249	43	2	that	that	PRON
american_scientific_journal-7249	43	3	generate	generate	VERB
american_scientific_journal-7249	43	4	the	the	DET
american_scientific_journal-7249	43	5	desired	desire	VERB
american_scientific_journal-7249	43	6	altitude	altitude	NOUN
american_scientific_journal-7249	43	7	,	,	PUNCT
american_scientific_journal-7249	43	8	roll	roll	NOUN
american_scientific_journal-7249	43	9	angle	angle	NOUN
american_scientific_journal-7249	43	10	,	,	PUNCT
american_scientific_journal-7249	43	11	pitch	pitch	NOUN
american_scientific_journal-7249	43	12	angle	angle	NOUN
american_scientific_journal-7249	43	13	and	and	CCONJ
american_scientific_journal-7249	43	14	the	the	DET
american_scientific_journal-7249	43	15	yaw	yaw	PROPN
american_scientific_journal-7249	43	16	angle	angle	NOUN
american_scientific_journal-7249	43	17	.	.	PUNCT
american_scientific_journal-7249	44	1	then	then	ADV
american_scientific_journal-7249	44	2	the	the	DET
american_scientific_journal-7249	44	3	quadcopter	quadcopter	PROPN
american_scientific_journal-7249	44	4	dynamics	dynamic	NOUN
american_scientific_journal-7249	44	5	model	model	NOUN
american_scientific_journal-7249	44	6	can	can	AUX
american_scientific_journal-7249	44	7	be	be	AUX
american_scientific_journal-7249	44	8	described	describe	VERB
american_scientific_journal-7249	44	9	as	as	ADP
american_scientific_journal-7249	44	10	american	american	PROPN
american_scientific_journal-7249	44	11	academic	academic	PROPN
american_scientific_journal-7249	44	12	scientific	scientific	ADJ
american_scientific_journal-7249	44	13	research	research	NOUN
american_scientific_journal-7249	44	14	journal	journal	NOUN
american_scientific_journal-7249	44	15	for	for	ADP
american_scientific_journal-7249	44	16	engineering	engineering	NOUN
american_scientific_journal-7249	44	17	,	,	PUNCT
american_scientific_journal-7249	44	18	technology	technology	NOUN
american_scientific_journal-7249	44	19	,	,	PUNCT
american_scientific_journal-7249	44	20	and	and	CCONJ
american_scientific_journal-7249	44	21	sciences	science	NOUN
american_scientific_journal-7249	44	22	(	(	PUNCT
american_scientific_journal-7249	44	23	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	44	24	92	92	NUM
american_scientific_journal-7249	44	25	,	,	PUNCT
american_scientific_journal-7249	44	26	no	no	DET
american_scientific_journal-7249	44	27	1	1	NUM
american_scientific_journal-7249	44	28	,	,	PUNCT
american_scientific_journal-7249	44	29	pp	pp	ADV
american_scientific_journal-7249	44	30	77	77	NUM
american_scientific_journal-7249	44	31	-	-	SYM
american_scientific_journal-7249	44	32	90	90	NUM
american_scientific_journal-7249	44	33	80	80	NUM
american_scientific_journal-7249	44	34	̈	̈	PUNCT
american_scientific_journal-7249	44	35	(	(	PUNCT
american_scientific_journal-7249	44	36	)	)	PUNCT
american_scientific_journal-7249	44	37	̈	̈	PUNCT
american_scientific_journal-7249	44	38	(	(	PUNCT
american_scientific_journal-7249	44	39	)	)	PUNCT
american_scientific_journal-7249	44	40	̈	̈	PUNCT
american_scientific_journal-7249	44	41	(	(	PUNCT
american_scientific_journal-7249	44	42	)	)	PUNCT
american_scientific_journal-7249	44	43	̈	̈	X
american_scientific_journal-7249	44	44	̇	̇	VERB
american_scientific_journal-7249	44	45	̇	̇	VERB
american_scientific_journal-7249	44	46	̇	̇	PROPN
american_scientific_journal-7249	44	47	̇	̇	VERB
american_scientific_journal-7249	44	48	̇	̇	PROPN
american_scientific_journal-7249	44	49	̈	̈	SYM
american_scientific_journal-7249	44	50	̇	̇	VERB
american_scientific_journal-7249	44	51	̇	̇	VERB
american_scientific_journal-7249	44	52	̇	̇	PROPN
american_scientific_journal-7249	44	53	̇	̇	VERB
american_scientific_journal-7249	44	54	̇	̇	PROPN
american_scientific_journal-7249	44	55	̈	̈	SYM
american_scientific_journal-7249	44	56	̇	̇	VERB
american_scientific_journal-7249	44	57	̇	̇	VERB
american_scientific_journal-7249	44	58	̇	̇	VERB
american_scientific_journal-7249	44	59	̇	̇	PROPN
american_scientific_journal-7249	44	60	}	}	PUNCT
american_scientific_journal-7249	44	61	(	(	PUNCT
american_scientific_journal-7249	44	62	4	4	NUM
american_scientific_journal-7249	44	63	)	)	PUNCT
american_scientific_journal-7249	44	64	3	3	NUM
american_scientific_journal-7249	44	65	.	.	PUNCT
american_scientific_journal-7249	44	66	proposed	propose	VERB
american_scientific_journal-7249	44	67	controller	controller	NOUN
american_scientific_journal-7249	44	68	because	because	SCONJ
american_scientific_journal-7249	44	69	of	of	ADP
american_scientific_journal-7249	44	70	its	its	PRON
american_scientific_journal-7249	44	71	six	six	NUM
american_scientific_journal-7249	44	72	degrees	degree	NOUN
american_scientific_journal-7249	44	73	of	of	ADP
american_scientific_journal-7249	44	74	freedom	freedom	NOUN
american_scientific_journal-7249	44	75	and	and	CCONJ
american_scientific_journal-7249	44	76	four	four	NUM
american_scientific_journal-7249	44	77	actuators	actuator	NOUN
american_scientific_journal-7249	44	78	,	,	PUNCT
american_scientific_journal-7249	44	79	a	a	DET
american_scientific_journal-7249	44	80	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	44	81	is	be	AUX
american_scientific_journal-7249	44	82	inherently	inherently	ADV
american_scientific_journal-7249	44	83	unstable	unstable	ADJ
american_scientific_journal-7249	44	84	,	,	PUNCT
american_scientific_journal-7249	44	85	hence	hence	ADV
american_scientific_journal-7249	44	86	stabilization	stabilization	NOUN
american_scientific_journal-7249	44	87	is	be	AUX
american_scientific_journal-7249	44	88	critical	critical	ADJ
american_scientific_journal-7249	44	89	.	.	PUNCT
american_scientific_journal-7249	45	1	in	in	ADP
american_scientific_journal-7249	45	2	this	this	DET
american_scientific_journal-7249	45	3	work	work	NOUN
american_scientific_journal-7249	45	4	the	the	DET
american_scientific_journal-7249	45	5	controllers	controller	NOUN
american_scientific_journal-7249	45	6	used	use	VERB
american_scientific_journal-7249	45	7	to	to	PART
american_scientific_journal-7249	45	8	control	control	VERB
american_scientific_journal-7249	45	9	the	the	DET
american_scientific_journal-7249	45	10	altitude	altitude	NOUN
american_scientific_journal-7249	45	11	and	and	CCONJ
american_scientific_journal-7249	45	12	attitude	attitude	NOUN
american_scientific_journal-7249	45	13	,	,	PUNCT
american_scientific_journal-7249	45	14	which	which	PRON
american_scientific_journal-7249	45	15	mean	mean	VERB
american_scientific_journal-7249	45	16	it	it	PRON
american_scientific_journal-7249	45	17	was	be	AUX
american_scientific_journal-7249	45	18	used	use	VERB
american_scientific_journal-7249	45	19	four	four	NUM
american_scientific_journal-7249	45	20	controllers	controller	NOUN
american_scientific_journal-7249	45	21	to	to	PART
american_scientific_journal-7249	45	22	control	control	VERB
american_scientific_journal-7249	45	23	the	the	PRON
american_scientific_journal-7249	45	24	as	as	SCONJ
american_scientific_journal-7249	45	25	shown	show	VERB
american_scientific_journal-7249	45	26	in	in	ADP
american_scientific_journal-7249	45	27	figure	figure	NOUN
american_scientific_journal-7249	45	28	2	2	NUM
american_scientific_journal-7249	45	29	3.1	3.1	NUM
american_scientific_journal-7249	45	30	.	.	PUNCT
american_scientific_journal-7249	46	1	pid	pid	NOUN
american_scientific_journal-7249	46	2	pid	pid	NOUN
american_scientific_journal-7249	46	3	controllers	controller	NOUN
american_scientific_journal-7249	46	4	are	be	AUX
american_scientific_journal-7249	46	5	employed	employ	VERB
american_scientific_journal-7249	46	6	in	in	ADP
american_scientific_journal-7249	46	7	a	a	DET
american_scientific_journal-7249	46	8	wide	wide	ADJ
american_scientific_journal-7249	46	9	variety	variety	NOUN
american_scientific_journal-7249	46	10	of	of	ADP
american_scientific_journal-7249	46	11	controller	controller	NOUN
american_scientific_journal-7249	46	12	applications	application	NOUN
american_scientific_journal-7249	46	13	.	.	PUNCT
american_scientific_journal-7249	47	1	it	it	PRON
american_scientific_journal-7249	47	2	is	be	AUX
american_scientific_journal-7249	47	3	used	use	VERB
american_scientific_journal-7249	47	4	widely	widely	ADV
american_scientific_journal-7249	47	5	to	to	PART
american_scientific_journal-7249	47	6	control	control	VERB
american_scientific_journal-7249	47	7	the	the	DET
american_scientific_journal-7249	47	8	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	47	9	system	system	NOUN
american_scientific_journal-7249	47	10	,	,	PUNCT
american_scientific_journal-7249	47	11	the	the	DET
american_scientific_journal-7249	47	12	pid	pid	NOUN
american_scientific_journal-7249	47	13	controller	controller	NOUN
american_scientific_journal-7249	47	14	calculates	calculate	VERB
american_scientific_journal-7249	47	15	the	the	DET
american_scientific_journal-7249	47	16	error	error	NOUN
american_scientific_journal-7249	47	17	,	,	PUNCT
american_scientific_journal-7249	47	18	which	which	PRON
american_scientific_journal-7249	47	19	is	be	AUX
american_scientific_journal-7249	47	20	the	the	DET
american_scientific_journal-7249	47	21	difference	difference	NOUN
american_scientific_journal-7249	47	22	between	between	ADP
american_scientific_journal-7249	47	23	set	set	NOUN
american_scientific_journal-7249	47	24	-	-	PUNCT
american_scientific_journal-7249	47	25	point	point	NOUN
american_scientific_journal-7249	47	26	and	and	CCONJ
american_scientific_journal-7249	47	27	the	the	DET
american_scientific_journal-7249	47	28	feedback	feedback	NOUN
american_scientific_journal-7249	47	29	,	,	PUNCT
american_scientific_journal-7249	47	30	and	and	CCONJ
american_scientific_journal-7249	47	31	tries	try	VERB
american_scientific_journal-7249	47	32	to	to	PART
american_scientific_journal-7249	47	33	minimize	minimize	VERB
american_scientific_journal-7249	47	34	it	it	PRON
american_scientific_journal-7249	47	35	.	.	PUNCT
american_scientific_journal-7249	48	1	the	the	DET
american_scientific_journal-7249	48	2	structure	structure	NOUN
american_scientific_journal-7249	48	3	of	of	ADP
american_scientific_journal-7249	48	4	the	the	DET
american_scientific_journal-7249	48	5	pid	pid	NOUN
american_scientific_journal-7249	48	6	controller	controller	NOUN
american_scientific_journal-7249	48	7	presented	present	VERB
american_scientific_journal-7249	48	8	in	in	ADP
american_scientific_journal-7249	48	9	[	[	X
american_scientific_journal-7249	48	10	2	2	NUM
american_scientific_journal-7249	48	11	]	]	PUNCT
american_scientific_journal-7249	48	12	.	.	PUNCT
american_scientific_journal-7249	49	1	the	the	DET
american_scientific_journal-7249	49	2	general	general	ADJ
american_scientific_journal-7249	49	3	equation	equation	NOUN
american_scientific_journal-7249	49	4	of	of	ADP
american_scientific_journal-7249	49	5	the	the	DET
american_scientific_journal-7249	49	6	pid	pid	NOUN
american_scientific_journal-7249	50	1	[	[	X
american_scientific_journal-7249	50	2	2	2	NUM
american_scientific_journal-7249	50	3	]	]	PUNCT
american_scientific_journal-7249	50	4	(	(	PUNCT
american_scientific_journal-7249	50	5	)	)	PUNCT
american_scientific_journal-7249	50	6	(	(	PUNCT
american_scientific_journal-7249	50	7	)	)	PUNCT
american_scientific_journal-7249	50	8	∫	∫	PROPN
american_scientific_journal-7249	50	9	(	(	PUNCT
american_scientific_journal-7249	50	10	)	)	PUNCT
american_scientific_journal-7249	50	11	(	(	PUNCT
american_scientific_journal-7249	50	12	)	)	PUNCT
american_scientific_journal-7249	50	13	(	(	PUNCT
american_scientific_journal-7249	50	14	5	5	X
american_scientific_journal-7249	50	15	)	)	PUNCT
american_scientific_journal-7249	50	16	where	where	SCONJ
american_scientific_journal-7249	50	17	the	the	DET
american_scientific_journal-7249	50	18	error	error	NOUN
american_scientific_journal-7249	50	19	e(t	e(t	NOUN
american_scientific_journal-7249	50	20	)	)	PUNCT
american_scientific_journal-7249	50	21	(	(	PUNCT
american_scientific_journal-7249	50	22	)	)	PUNCT
american_scientific_journal-7249	50	23	(	(	PUNCT
american_scientific_journal-7249	50	24	)	)	PUNCT
american_scientific_journal-7249	50	25	(	(	PUNCT
american_scientific_journal-7249	50	26	6	6	X
american_scientific_journal-7249	50	27	)	)	PUNCT
american_scientific_journal-7249	50	28	figure	figure	NOUN
american_scientific_journal-7249	50	29	1	1	NUM
american_scientific_journal-7249	50	30	:	:	PUNCT
american_scientific_journal-7249	50	31	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	50	32	configuration	configuration	NOUN
american_scientific_journal-7249	50	33	[	[	X
american_scientific_journal-7249	50	34	15	15	NUM
american_scientific_journal-7249	50	35	]	]	PUNCT
american_scientific_journal-7249	50	36	.	.	PUNCT
american_scientific_journal-7249	51	1	american	american	ADJ
american_scientific_journal-7249	51	2	academic	academic	ADJ
american_scientific_journal-7249	51	3	scientific	scientific	ADJ
american_scientific_journal-7249	51	4	research	research	NOUN
american_scientific_journal-7249	51	5	journal	journal	NOUN
american_scientific_journal-7249	51	6	for	for	ADP
american_scientific_journal-7249	51	7	engineering	engineering	NOUN
american_scientific_journal-7249	51	8	,	,	PUNCT
american_scientific_journal-7249	51	9	technology	technology	NOUN
american_scientific_journal-7249	51	10	,	,	PUNCT
american_scientific_journal-7249	51	11	and	and	CCONJ
american_scientific_journal-7249	51	12	sciences	science	NOUN
american_scientific_journal-7249	51	13	(	(	PUNCT
american_scientific_journal-7249	51	14	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	51	15	92	92	NUM
american_scientific_journal-7249	51	16	,	,	PUNCT
american_scientific_journal-7249	51	17	no	no	DET
american_scientific_journal-7249	51	18	1	1	NUM
american_scientific_journal-7249	51	19	,	,	PUNCT
american_scientific_journal-7249	51	20	pp	pp	ADV
american_scientific_journal-7249	51	21	77	77	NUM
american_scientific_journal-7249	51	22	-	-	SYM
american_scientific_journal-7249	51	23	90	90	NUM
american_scientific_journal-7249	51	24	81	81	NUM
american_scientific_journal-7249	51	25	i.	i.	NOUN
american_scientific_journal-7249	51	26	the	the	DET
american_scientific_journal-7249	51	27	altitude	altitude	NOUN
american_scientific_journal-7249	51	28	control	control	NOUN
american_scientific_journal-7249	51	29	equation	equation	NOUN
american_scientific_journal-7249	51	30	(	(	PUNCT
american_scientific_journal-7249	51	31	)	)	PUNCT
american_scientific_journal-7249	51	32	(	(	PUNCT
american_scientific_journal-7249	51	33	)	)	PUNCT
american_scientific_journal-7249	51	34	∫	∫	PROPN
american_scientific_journal-7249	51	35	(	(	PUNCT
american_scientific_journal-7249	51	36	)	)	PUNCT
american_scientific_journal-7249	51	37	(	(	PUNCT
american_scientific_journal-7249	51	38	)	)	PUNCT
american_scientific_journal-7249	51	39	(	(	PUNCT
american_scientific_journal-7249	51	40	7	7	X
american_scientific_journal-7249	51	41	)	)	PUNCT
american_scientific_journal-7249	51	42	then	then	ADV
american_scientific_journal-7249	51	43	the	the	DET
american_scientific_journal-7249	51	44	error	error	NOUN
american_scientific_journal-7249	51	45	of	of	ADP
american_scientific_journal-7249	51	46	the	the	DET
american_scientific_journal-7249	51	47	altitude	altitude	NOUN
american_scientific_journal-7249	51	48	is	be	AUX
american_scientific_journal-7249	51	49	(	(	PUNCT
american_scientific_journal-7249	51	50	)	)	PUNCT
american_scientific_journal-7249	51	51	(	(	PUNCT
american_scientific_journal-7249	51	52	)	)	PUNCT
american_scientific_journal-7249	51	53	(	(	PUNCT
american_scientific_journal-7249	51	54	)	)	PUNCT
american_scientific_journal-7249	51	55	(	(	PUNCT
american_scientific_journal-7249	51	56	8)	8)	NUM
american_scientific_journal-7249	51	57	where	where	SCONJ
american_scientific_journal-7249	51	58	(	(	PUNCT
american_scientific_journal-7249	51	59	)	)	PUNCT
american_scientific_journal-7249	51	60	the	the	DET
american_scientific_journal-7249	51	61	desired	desire	VERB
american_scientific_journal-7249	51	62	set	set	NOUN
american_scientific_journal-7249	51	63	-	-	PUNCT
american_scientific_journal-7249	51	64	point	point	NOUN
american_scientific_journal-7249	51	65	of	of	ADP
american_scientific_journal-7249	51	66	the	the	DET
american_scientific_journal-7249	51	67	altitude	altitude	NOUN
american_scientific_journal-7249	51	68	,	,	PUNCT
american_scientific_journal-7249	51	69	and	and	CCONJ
american_scientific_journal-7249	51	70	(	(	PUNCT
american_scientific_journal-7249	51	71	)	)	PUNCT
american_scientific_journal-7249	51	72	the	the	DET
american_scientific_journal-7249	51	73	altitude	altitude	NOUN
american_scientific_journal-7249	51	74	.	.	PUNCT
american_scientific_journal-7249	52	1	ii	ii	X
american_scientific_journal-7249	52	2	.	.	PUNCT
american_scientific_journal-7249	53	1	the	the	DET
american_scientific_journal-7249	53	2	roll	roll	NOUN
american_scientific_journal-7249	53	3	controller	controller	NOUN
american_scientific_journal-7249	53	4	(	(	PUNCT
american_scientific_journal-7249	53	5	)	)	PUNCT
american_scientific_journal-7249	53	6	(	(	PUNCT
american_scientific_journal-7249	53	7	)	)	PUNCT
american_scientific_journal-7249	53	8	∫	∫	PROPN
american_scientific_journal-7249	53	9	(	(	PUNCT
american_scientific_journal-7249	53	10	)	)	PUNCT
american_scientific_journal-7249	53	11	(	(	PUNCT
american_scientific_journal-7249	53	12	)	)	PUNCT
american_scientific_journal-7249	53	13	(	(	PUNCT
american_scientific_journal-7249	53	14	9	9	NUM
american_scientific_journal-7249	53	15	)	)	PUNCT
american_scientific_journal-7249	53	16	where	where	SCONJ
american_scientific_journal-7249	53	17	(	(	PUNCT
american_scientific_journal-7249	53	18	)	)	PUNCT
american_scientific_journal-7249	53	19	(	(	PUNCT
american_scientific_journal-7249	53	20	)	)	PUNCT
american_scientific_journal-7249	53	21	(	(	PUNCT
american_scientific_journal-7249	53	22	)	)	PUNCT
american_scientific_journal-7249	53	23	(	(	PUNCT
american_scientific_journal-7249	53	24	10	10	NUM
american_scientific_journal-7249	53	25	)	)	PUNCT
american_scientific_journal-7249	53	26	iii	iii	NOUN
american_scientific_journal-7249	53	27	.	.	PUNCT
american_scientific_journal-7249	54	1	the	the	DET
american_scientific_journal-7249	54	2	pitch	pitch	NOUN
american_scientific_journal-7249	54	3	controller	controller	NOUN
american_scientific_journal-7249	54	4	(	(	PUNCT
american_scientific_journal-7249	54	5	)	)	PUNCT
american_scientific_journal-7249	54	6	(	(	PUNCT
american_scientific_journal-7249	54	7	)	)	PUNCT
american_scientific_journal-7249	54	8	∫	∫	PROPN
american_scientific_journal-7249	54	9	(	(	PUNCT
american_scientific_journal-7249	54	10	)	)	PUNCT
american_scientific_journal-7249	54	11	(	(	PUNCT
american_scientific_journal-7249	54	12	)	)	PUNCT
american_scientific_journal-7249	54	13	(	(	PUNCT
american_scientific_journal-7249	54	14	11	11	NUM
american_scientific_journal-7249	54	15	)	)	PUNCT
american_scientific_journal-7249	54	16	where	where	SCONJ
american_scientific_journal-7249	54	17	(	(	PUNCT
american_scientific_journal-7249	54	18	)	)	PUNCT
american_scientific_journal-7249	54	19	(	(	PUNCT
american_scientific_journal-7249	54	20	)	)	PUNCT
american_scientific_journal-7249	54	21	(	(	PUNCT
american_scientific_journal-7249	54	22	)	)	PUNCT
american_scientific_journal-7249	54	23	(	(	PUNCT
american_scientific_journal-7249	54	24	12	12	NUM
american_scientific_journal-7249	54	25	)	)	PUNCT
american_scientific_journal-7249	54	26	iv	iv	NOUN
american_scientific_journal-7249	54	27	.	.	PUNCT
american_scientific_journal-7249	55	1	the	the	DET
american_scientific_journal-7249	55	2	yaw	yaw	NOUN
american_scientific_journal-7249	55	3	controller	controller	NOUN
american_scientific_journal-7249	55	4	(	(	PUNCT
american_scientific_journal-7249	55	5	)	)	PUNCT
american_scientific_journal-7249	55	6	(	(	PUNCT
american_scientific_journal-7249	55	7	)	)	PUNCT
american_scientific_journal-7249	55	8	∫	∫	PROPN
american_scientific_journal-7249	55	9	(	(	PUNCT
american_scientific_journal-7249	55	10	)	)	PUNCT
american_scientific_journal-7249	55	11	(	(	PUNCT
american_scientific_journal-7249	55	12	)	)	PUNCT
american_scientific_journal-7249	55	13	(	(	PUNCT
american_scientific_journal-7249	55	14	13	13	NUM
american_scientific_journal-7249	55	15	)	)	PUNCT
american_scientific_journal-7249	55	16	(	(	PUNCT
american_scientific_journal-7249	55	17	)	)	PUNCT
american_scientific_journal-7249	55	18	(	(	PUNCT
american_scientific_journal-7249	55	19	)	)	PUNCT
american_scientific_journal-7249	55	20	(	(	PUNCT
american_scientific_journal-7249	55	21	)	)	PUNCT
american_scientific_journal-7249	55	22	(	(	PUNCT
american_scientific_journal-7249	55	23	14	14	NUM
american_scientific_journal-7249	55	24	)	)	PUNCT
american_scientific_journal-7249	55	25	american	american	ADJ
american_scientific_journal-7249	55	26	academic	academic	ADJ
american_scientific_journal-7249	55	27	scientific	scientific	ADJ
american_scientific_journal-7249	55	28	research	research	NOUN
american_scientific_journal-7249	55	29	journal	journal	NOUN
american_scientific_journal-7249	55	30	for	for	ADP
american_scientific_journal-7249	55	31	engineering	engineering	NOUN
american_scientific_journal-7249	55	32	,	,	PUNCT
american_scientific_journal-7249	55	33	technology	technology	NOUN
american_scientific_journal-7249	55	34	,	,	PUNCT
american_scientific_journal-7249	55	35	and	and	CCONJ
american_scientific_journal-7249	55	36	sciences	science	NOUN
american_scientific_journal-7249	55	37	(	(	PUNCT
american_scientific_journal-7249	55	38	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	55	39	92	92	NUM
american_scientific_journal-7249	55	40	,	,	PUNCT
american_scientific_journal-7249	55	41	no	no	DET
american_scientific_journal-7249	55	42	1	1	NUM
american_scientific_journal-7249	55	43	,	,	PUNCT
american_scientific_journal-7249	55	44	pp	pp	ADV
american_scientific_journal-7249	55	45	77	77	NUM
american_scientific_journal-7249	55	46	-	-	SYM
american_scientific_journal-7249	55	47	90	90	NUM
american_scientific_journal-7249	55	48	82	82	NUM
american_scientific_journal-7249	55	49	figure	figure	NOUN
american_scientific_journal-7249	55	50	2	2	NUM
american_scientific_journal-7249	55	51	:	:	PUNCT
american_scientific_journal-7249	55	52	block	block	NOUN
american_scientific_journal-7249	55	53	diagram	diagram	NOUN
american_scientific_journal-7249	55	54	of	of	ADP
american_scientific_journal-7249	55	55	altitude	altitude	NOUN
american_scientific_journal-7249	55	56	and	and	CCONJ
american_scientific_journal-7249	55	57	attitude	attitude	NOUN
american_scientific_journal-7249	55	58	of	of	ADP
american_scientific_journal-7249	55	59	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	55	60	system	system	NOUN
american_scientific_journal-7249	55	61	.	.	PUNCT
american_scientific_journal-7249	56	1	3.2	3.2	NUM
american_scientific_journal-7249	56	2	.	.	PUNCT
american_scientific_journal-7249	56	3	fractional	fractional	ADJ
american_scientific_journal-7249	56	4	order	order	NOUN
american_scientific_journal-7249	56	5	pid	pid	NOUN
american_scientific_journal-7249	56	6	(	(	PUNCT
american_scientific_journal-7249	56	7	fopid	fopid	NOUN
american_scientific_journal-7249	56	8	)	)	PUNCT
american_scientific_journal-7249	56	9	controller	controller	NOUN
american_scientific_journal-7249	56	10	the	the	DET
american_scientific_journal-7249	56	11	advent	advent	NOUN
american_scientific_journal-7249	56	12	of	of	ADP
american_scientific_journal-7249	56	13	fractional	fractional	ADJ
american_scientific_journal-7249	56	14	calculus	calculus	NOUN
american_scientific_journal-7249	56	15	in	in	ADP
american_scientific_journal-7249	56	16	recent	recent	ADJ
american_scientific_journal-7249	56	17	years	year	NOUN
american_scientific_journal-7249	56	18	has	have	AUX
american_scientific_journal-7249	56	19	enabled	enable	VERB
american_scientific_journal-7249	56	20	the	the	DET
american_scientific_journal-7249	56	21	transfer	transfer	NOUN
american_scientific_journal-7249	56	22	from	from	ADP
american_scientific_journal-7249	56	23	classical	classical	ADJ
american_scientific_journal-7249	56	24	models	model	NOUN
american_scientific_journal-7249	56	25	and	and	CCONJ
american_scientific_journal-7249	56	26	controllers	controller	NOUN
american_scientific_journal-7249	56	27	to	to	ADP
american_scientific_journal-7249	56	28	ones	one	NOUN
american_scientific_journal-7249	56	29	defined	define	VERB
american_scientific_journal-7249	56	30	by	by	ADP
american_scientific_journal-7249	56	31	non	non	ADJ
american_scientific_journal-7249	56	32	-	-	ADJ
american_scientific_journal-7249	56	33	integer	integer	ADJ
american_scientific_journal-7249	56	34	order	order	NOUN
american_scientific_journal-7249	56	35	differential	differential	NOUN
american_scientific_journal-7249	56	36	equations	equation	NOUN
american_scientific_journal-7249	56	37	.	.	PUNCT
american_scientific_journal-7249	57	1	as	as	ADP
american_scientific_journal-7249	57	2	a	a	DET
american_scientific_journal-7249	57	3	result	result	NOUN
american_scientific_journal-7249	57	4	,	,	PUNCT
american_scientific_journal-7249	57	5	fractional	fractional	ADJ
american_scientific_journal-7249	57	6	-	-	PUNCT
american_scientific_journal-7249	57	7	order	order	NOUN
american_scientific_journal-7249	57	8	dynamic	dynamic	ADJ
american_scientific_journal-7249	57	9	models	model	NOUN
american_scientific_journal-7249	57	10	and	and	CCONJ
american_scientific_journal-7249	57	11	controllers	controller	NOUN
american_scientific_journal-7249	57	12	were	be	AUX
american_scientific_journal-7249	57	13	developed	develop	VERB
american_scientific_journal-7249	57	14	.	.	PUNCT
american_scientific_journal-7249	58	1	it	it	PRON
american_scientific_journal-7249	58	2	is	be	AUX
american_scientific_journal-7249	58	3	the	the	DET
american_scientific_journal-7249	58	4	general	general	ADJ
american_scientific_journal-7249	58	5	form	form	NOUN
american_scientific_journal-7249	58	6	of	of	ADP
american_scientific_journal-7249	58	7	the	the	DET
american_scientific_journal-7249	58	8	pid	pid	NOUN
american_scientific_journal-7249	58	9	with	with	ADP
american_scientific_journal-7249	58	10	derivatives	derivative	NOUN
american_scientific_journal-7249	58	11	and	and	CCONJ
american_scientific_journal-7249	58	12	integrals	integral	NOUN
american_scientific_journal-7249	58	13	in	in	ADP
american_scientific_journal-7249	58	14	fractional	fractional	ADJ
american_scientific_journal-7249	58	15	calculus	calculus	NOUN
american_scientific_journal-7249	58	16	of	of	ADP
american_scientific_journal-7249	58	17	any	any	DET
american_scientific_journal-7249	58	18	order	order	NOUN
american_scientific_journal-7249	58	19	.	.	PUNCT
american_scientific_journal-7249	59	1	the	the	DET
american_scientific_journal-7249	59	2	fopid	fopid	NOUN
american_scientific_journal-7249	59	3	have	have	VERB
american_scientific_journal-7249	59	4	five	five	NUM
american_scientific_journal-7249	59	5	parameters	parameter	NOUN
american_scientific_journal-7249	59	6	(	(	PUNCT
american_scientific_journal-7249	59	7	besides	besides	SCONJ
american_scientific_journal-7249	59	8	the	the	DET
american_scientific_journal-7249	59	9	three	three	NUM
american_scientific_journal-7249	59	10	parameters	parameter	NOUN
american_scientific_journal-7249	59	11	of	of	ADP
american_scientific_journal-7249	59	12	the	the	DET
american_scientific_journal-7249	59	13	classic	classic	ADJ
american_scientific_journal-7249	59	14	pid	pid	NOUN
american_scientific_journal-7249	59	15	,	,	PUNCT
american_scientific_journal-7249	59	16	there	there	PRON
american_scientific_journal-7249	59	17	are	be	VERB
american_scientific_journal-7249	59	18	other	other	ADJ
american_scientific_journal-7249	59	19	two	two	NUM
american_scientific_journal-7249	59	20	parameters	parameter	NOUN
american_scientific_journal-7249	59	21	the	the	DET
american_scientific_journal-7249	59	22	integral	integral	ADJ
american_scientific_journal-7249	59	23	order	order	NOUN
american_scientific_journal-7249	59	24	and	and	CCONJ
american_scientific_journal-7249	59	25	the	the	DET
american_scientific_journal-7249	59	26	derivative	derivative	ADJ
american_scientific_journal-7249	59	27	order	order	NOUN
american_scientific_journal-7249	59	28	;	;	PUNCT
american_scientific_journal-7249	59	29	therefore	therefore	ADV
american_scientific_journal-7249	59	30	,	,	PUNCT
american_scientific_journal-7249	59	31	the	the	DET
american_scientific_journal-7249	59	32	general	general	ADJ
american_scientific_journal-7249	59	33	form	form	NOUN
american_scientific_journal-7249	59	34	of	of	ADP
american_scientific_journal-7249	59	35	the	the	DET
american_scientific_journal-7249	59	36	fopid	fopid	NOUN
american_scientific_journal-7249	59	37	as	as	SCONJ
american_scientific_journal-7249	59	38	it	it	PRON
american_scientific_journal-7249	59	39	is	be	AUX
american_scientific_journal-7249	59	40	presented	present	VERB
american_scientific_journal-7249	59	41	in	in	ADP
american_scientific_journal-7249	59	42	[	[	X
american_scientific_journal-7249	59	43	16	16	NUM
american_scientific_journal-7249	59	44	]	]	PUNCT
american_scientific_journal-7249	59	45	(	(	PUNCT
american_scientific_journal-7249	59	46	)	)	PUNCT
american_scientific_journal-7249	59	47	(	(	PUNCT
american_scientific_journal-7249	59	48	)	)	PUNCT
american_scientific_journal-7249	59	49	(	(	PUNCT
american_scientific_journal-7249	59	50	)	)	PUNCT
american_scientific_journal-7249	59	51	(	(	PUNCT
american_scientific_journal-7249	59	52	)	)	PUNCT
american_scientific_journal-7249	59	53	(	(	PUNCT
american_scientific_journal-7249	59	54	15	15	NUM
american_scientific_journal-7249	59	55	)	)	PUNCT
american_scientific_journal-7249	59	56	where	where	SCONJ
american_scientific_journal-7249	59	57	,	,	PUNCT
american_scientific_journal-7249	59	58	such	such	DET
american_scientific_journal-7249	59	59	a	a	DET
american_scientific_journal-7249	59	60	controller	controller	NOUN
american_scientific_journal-7249	59	61	has	have	AUX
american_scientific_journal-7249	59	62	more	more	ADJ
american_scientific_journal-7249	59	63	tuning	tune	VERB
american_scientific_journal-7249	59	64	freedom	freedom	NOUN
american_scientific_journal-7249	59	65	and	and	CCONJ
american_scientific_journal-7249	59	66	,	,	PUNCT
american_scientific_journal-7249	59	67	as	as	ADP
american_scientific_journal-7249	59	68	a	a	DET
american_scientific_journal-7249	59	69	result	result	NOUN
american_scientific_journal-7249	59	70	,	,	PUNCT
american_scientific_journal-7249	59	71	a	a	DET
american_scientific_journal-7249	59	72	broader	broad	ADJ
american_scientific_journal-7249	59	73	range	range	NOUN
american_scientific_journal-7249	59	74	of	of	ADP
american_scientific_journal-7249	59	75	parameters	parameter	NOUN
american_scientific_journal-7249	59	76	that	that	PRON
american_scientific_journal-7249	59	77	stabilize	stabilize	VERB
american_scientific_journal-7249	59	78	the	the	DET
american_scientific_journal-7249	59	79	plant	plant	NOUN
american_scientific_journal-7249	59	80	under	under	ADP
american_scientific_journal-7249	59	81	control	control	NOUN
american_scientific_journal-7249	59	82	,	,	PUNCT
american_scientific_journal-7249	59	83	as	as	ADV
american_scientific_journal-7249	59	84	well	well	ADV
american_scientific_journal-7249	59	85	as	as	ADP
american_scientific_journal-7249	59	86	improved	improve	VERB
american_scientific_journal-7249	59	87	control	control	NOUN
american_scientific_journal-7249	59	88	loop	loop	NOUN
american_scientific_journal-7249	59	89	robustness	robustness	NOUN
american_scientific_journal-7249	59	90	.	.	PUNCT
american_scientific_journal-7249	60	1	then	then	ADV
american_scientific_journal-7249	60	2	the	the	DET
american_scientific_journal-7249	60	3	equations	equation	NOUN
american_scientific_journal-7249	60	4	of	of	ADP
american_scientific_journal-7249	60	5	fopid	fopid	NOUN
american_scientific_journal-7249	60	6	for	for	ADP
american_scientific_journal-7249	60	7	the	the	DET
american_scientific_journal-7249	60	8	altitude	altitude	NOUN
american_scientific_journal-7249	60	9	and	and	CCONJ
american_scientific_journal-7249	60	10	attitude	attitude	NOUN
american_scientific_journal-7249	60	11	of	of	ADP
american_scientific_journal-7249	60	12	the	the	DET
american_scientific_journal-7249	60	13	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	60	14	become	become	VERB
american_scientific_journal-7249	60	15	(	(	PUNCT
american_scientific_journal-7249	60	16	)	)	PUNCT
american_scientific_journal-7249	60	17	(	(	PUNCT
american_scientific_journal-7249	60	18	)	)	PUNCT
american_scientific_journal-7249	60	19	(	(	PUNCT
american_scientific_journal-7249	60	20	)	)	PUNCT
american_scientific_journal-7249	60	21	(	(	PUNCT
american_scientific_journal-7249	60	22	)	)	PUNCT
american_scientific_journal-7249	60	23	(	(	PUNCT
american_scientific_journal-7249	60	24	16	16	NUM
american_scientific_journal-7249	60	25	)	)	PUNCT
american_scientific_journal-7249	60	26	(	(	PUNCT
american_scientific_journal-7249	60	27	)	)	PUNCT
american_scientific_journal-7249	60	28	(	(	PUNCT
american_scientific_journal-7249	60	29	)	)	PUNCT
american_scientific_journal-7249	60	30	(	(	PUNCT
american_scientific_journal-7249	60	31	)	)	PUNCT
american_scientific_journal-7249	60	32	(	(	PUNCT
american_scientific_journal-7249	60	33	)	)	PUNCT
american_scientific_journal-7249	60	34	(	(	PUNCT
american_scientific_journal-7249	60	35	17	17	NUM
american_scientific_journal-7249	60	36	)	)	PUNCT
american_scientific_journal-7249	60	37	(	(	PUNCT
american_scientific_journal-7249	60	38	)	)	PUNCT
american_scientific_journal-7249	60	39	(	(	PUNCT
american_scientific_journal-7249	60	40	)	)	PUNCT
american_scientific_journal-7249	60	41	(	(	PUNCT
american_scientific_journal-7249	60	42	)	)	PUNCT
american_scientific_journal-7249	60	43	(	(	PUNCT
american_scientific_journal-7249	60	44	)	)	PUNCT
american_scientific_journal-7249	60	45	(	(	PUNCT
american_scientific_journal-7249	60	46	18	18	NUM
american_scientific_journal-7249	60	47	)	)	PUNCT
american_scientific_journal-7249	60	48	(	(	PUNCT
american_scientific_journal-7249	60	49	)	)	PUNCT
american_scientific_journal-7249	60	50	(	(	PUNCT
american_scientific_journal-7249	60	51	)	)	PUNCT
american_scientific_journal-7249	60	52	(	(	PUNCT
american_scientific_journal-7249	60	53	)	)	PUNCT
american_scientific_journal-7249	60	54	(	(	PUNCT
american_scientific_journal-7249	60	55	)	)	PUNCT
american_scientific_journal-7249	60	56	(	(	PUNCT
american_scientific_journal-7249	60	57	19	19	NUM
american_scientific_journal-7249	60	58	)	)	PUNCT
american_scientific_journal-7249	60	59	where	where	SCONJ
american_scientific_journal-7249	60	60	,	,	PUNCT
american_scientific_journal-7249	60	61	,	,	PUNCT
american_scientific_journal-7249	60	62	,	,	PUNCT
american_scientific_journal-7249	60	63	and	and	CCONJ
american_scientific_journal-7249	60	64	are	be	AUX
american_scientific_journal-7249	60	65	presented	present	VERB
american_scientific_journal-7249	60	66	in	in	ADP
american_scientific_journal-7249	60	67	(	(	PUNCT
american_scientific_journal-7249	60	68	8)	8)	NUM
american_scientific_journal-7249	60	69	,	,	PUNCT
american_scientific_journal-7249	60	70	(	(	PUNCT
american_scientific_journal-7249	60	71	10	10	NUM
american_scientific_journal-7249	60	72	)	)	PUNCT
american_scientific_journal-7249	60	73	,	,	PUNCT
american_scientific_journal-7249	60	74	(	(	PUNCT
american_scientific_journal-7249	60	75	12	12	NUM
american_scientific_journal-7249	60	76	)	)	PUNCT
american_scientific_journal-7249	60	77	,	,	PUNCT
american_scientific_journal-7249	60	78	and	and	CCONJ
american_scientific_journal-7249	60	79	(	(	PUNCT
american_scientific_journal-7249	60	80	14	14	NUM
american_scientific_journal-7249	60	81	)	)	PUNCT
american_scientific_journal-7249	60	82	respectively	respectively	ADV
american_scientific_journal-7249	60	83	.	.	PUNCT
american_scientific_journal-7249	61	1	american	american	ADJ
american_scientific_journal-7249	61	2	academic	academic	ADJ
american_scientific_journal-7249	61	3	scientific	scientific	ADJ
american_scientific_journal-7249	61	4	research	research	NOUN
american_scientific_journal-7249	61	5	journal	journal	NOUN
american_scientific_journal-7249	61	6	for	for	ADP
american_scientific_journal-7249	61	7	engineering	engineering	NOUN
american_scientific_journal-7249	61	8	,	,	PUNCT
american_scientific_journal-7249	61	9	technology	technology	NOUN
american_scientific_journal-7249	61	10	,	,	PUNCT
american_scientific_journal-7249	61	11	and	and	CCONJ
american_scientific_journal-7249	61	12	sciences	science	NOUN
american_scientific_journal-7249	61	13	(	(	PUNCT
american_scientific_journal-7249	61	14	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	61	15	92	92	NUM
american_scientific_journal-7249	61	16	,	,	PUNCT
american_scientific_journal-7249	61	17	no	no	DET
american_scientific_journal-7249	61	18	1	1	NUM
american_scientific_journal-7249	61	19	,	,	PUNCT
american_scientific_journal-7249	61	20	pp	pp	ADV
american_scientific_journal-7249	61	21	77	77	NUM
american_scientific_journal-7249	61	22	-	-	SYM
american_scientific_journal-7249	61	23	90	90	NUM
american_scientific_journal-7249	61	24	83	83	NUM
american_scientific_journal-7249	61	25	3.3	3.3	NUM
american_scientific_journal-7249	61	26	.	.	PUNCT
american_scientific_journal-7249	62	1	pid	pid	NOUN
american_scientific_journal-7249	62	2	plus	plus	CCONJ
american_scientific_journal-7249	62	3	second	second	ADJ
american_scientific_journal-7249	62	4	derivative	derivative	ADJ
american_scientific_journal-7249	62	5	controller	controller	NOUN
american_scientific_journal-7249	62	6	(	(	PUNCT
american_scientific_journal-7249	62	7	pidd	pidd	NOUN
american_scientific_journal-7249	62	8	2	2	X
american_scientific_journal-7249	62	9	)	)	PUNCT
american_scientific_journal-7249	62	10	it	it	PRON
american_scientific_journal-7249	62	11	is	be	AUX
american_scientific_journal-7249	62	12	also	also	ADV
american_scientific_journal-7249	62	13	known	know	VERB
american_scientific_journal-7249	62	14	as	as	ADP
american_scientific_journal-7249	62	15	double	double	ADJ
american_scientific_journal-7249	62	16	derivative	derivative	ADJ
american_scientific_journal-7249	62	17	pid	pid	NOUN
american_scientific_journal-7249	62	18	controller	controller	NOUN
american_scientific_journal-7249	62	19	.	.	PUNCT
american_scientific_journal-7249	63	1	it	it	PRON
american_scientific_journal-7249	63	2	is	be	AUX
american_scientific_journal-7249	63	3	distinguished	distinguish	VERB
american_scientific_journal-7249	63	4	from	from	ADP
american_scientific_journal-7249	63	5	typical	typical	ADJ
american_scientific_journal-7249	63	6	pid	pid	NOUN
american_scientific_journal-7249	63	7	controllers	controller	NOUN
american_scientific_journal-7249	63	8	by	by	ADP
american_scientific_journal-7249	63	9	the	the	DET
american_scientific_journal-7249	63	10	addition	addition	NOUN
american_scientific_journal-7249	63	11	of	of	ADP
american_scientific_journal-7249	63	12	a	a	DET
american_scientific_journal-7249	63	13	second	second	ADJ
american_scientific_journal-7249	63	14	order	order	NOUN
american_scientific_journal-7249	63	15	derivative	derivative	ADJ
american_scientific_journal-7249	63	16	term	term	NOUN
american_scientific_journal-7249	63	17	.	.	PUNCT
american_scientific_journal-7249	64	1	this	this	PRON
american_scientific_journal-7249	64	2	contributes	contribute	VERB
american_scientific_journal-7249	64	3	to	to	ADP
american_scientific_journal-7249	64	4	the	the	DET
american_scientific_journal-7249	64	5	reduction	reduction	NOUN
american_scientific_journal-7249	64	6	of	of	ADP
american_scientific_journal-7249	64	7	vibration	vibration	NOUN
american_scientific_journal-7249	64	8	error	error	NOUN
american_scientific_journal-7249	64	9	produced	produce	VERB
american_scientific_journal-7249	64	10	by	by	ADP
american_scientific_journal-7249	64	11	oscillation	oscillation	NOUN
american_scientific_journal-7249	64	12	as	as	ADV
american_scientific_journal-7249	64	13	well	well	ADV
american_scientific_journal-7249	64	14	as	as	ADP
american_scientific_journal-7249	64	15	the	the	DET
american_scientific_journal-7249	64	16	reduction	reduction	NOUN
american_scientific_journal-7249	64	17	of	of	ADP
american_scientific_journal-7249	64	18	reaction	reaction	NOUN
american_scientific_journal-7249	64	19	settling	settling	NOUN
american_scientific_journal-7249	64	20	time	time	NOUN
american_scientific_journal-7249	64	21	.	.	PUNCT
american_scientific_journal-7249	65	1	the	the	DET
american_scientific_journal-7249	65	2	equations	equation	NOUN
american_scientific_journal-7249	65	3	of	of	ADP
american_scientific_journal-7249	65	4	the	the	DET
american_scientific_journal-7249	65	5	pidd	pidd	ADJ
american_scientific_journal-7249	65	6	2	2	NUM
american_scientific_journal-7249	65	7	controller	controller	NOUN
american_scientific_journal-7249	65	8	for	for	ADP
american_scientific_journal-7249	65	9	altitude	altitude	NOUN
american_scientific_journal-7249	65	10	and	and	CCONJ
american_scientific_journal-7249	65	11	attitude	attitude	NOUN
american_scientific_journal-7249	65	12	of	of	ADP
american_scientific_journal-7249	65	13	the	the	DET
american_scientific_journal-7249	65	14	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	65	15	are	be	AUX
american_scientific_journal-7249	65	16	(	(	PUNCT
american_scientific_journal-7249	65	17	)	)	PUNCT
american_scientific_journal-7249	65	18	(	(	PUNCT
american_scientific_journal-7249	65	19	)	)	PUNCT
american_scientific_journal-7249	65	20	∫	∫	PROPN
american_scientific_journal-7249	65	21	(	(	PUNCT
american_scientific_journal-7249	65	22	)	)	PUNCT
american_scientific_journal-7249	65	23	(	(	PUNCT
american_scientific_journal-7249	65	24	)	)	PUNCT
american_scientific_journal-7249	65	25	(	(	PUNCT
american_scientific_journal-7249	65	26	)	)	PUNCT
american_scientific_journal-7249	65	27	(	(	PUNCT
american_scientific_journal-7249	65	28	20	20	NUM
american_scientific_journal-7249	65	29	)	)	PUNCT
american_scientific_journal-7249	65	30	(	(	PUNCT
american_scientific_journal-7249	65	31	)	)	PUNCT
american_scientific_journal-7249	65	32	(	(	PUNCT
american_scientific_journal-7249	65	33	)	)	PUNCT
american_scientific_journal-7249	65	34	∫	∫	PROPN
american_scientific_journal-7249	65	35	(	(	PUNCT
american_scientific_journal-7249	65	36	)	)	PUNCT
american_scientific_journal-7249	65	37	(	(	PUNCT
american_scientific_journal-7249	65	38	)	)	PUNCT
american_scientific_journal-7249	65	39	(	(	PUNCT
american_scientific_journal-7249	65	40	)	)	PUNCT
american_scientific_journal-7249	65	41	(	(	PUNCT
american_scientific_journal-7249	65	42	21	21	NUM
american_scientific_journal-7249	65	43	)	)	PUNCT
american_scientific_journal-7249	65	44	(	(	PUNCT
american_scientific_journal-7249	65	45	)	)	PUNCT
american_scientific_journal-7249	65	46	(	(	PUNCT
american_scientific_journal-7249	65	47	)	)	PUNCT
american_scientific_journal-7249	65	48	∫	∫	PROPN
american_scientific_journal-7249	65	49	(	(	PUNCT
american_scientific_journal-7249	65	50	)	)	PUNCT
american_scientific_journal-7249	65	51	(	(	PUNCT
american_scientific_journal-7249	65	52	)	)	PUNCT
american_scientific_journal-7249	65	53	(	(	PUNCT
american_scientific_journal-7249	65	54	)	)	PUNCT
american_scientific_journal-7249	65	55	(	(	PUNCT
american_scientific_journal-7249	65	56	22	22	NUM
american_scientific_journal-7249	65	57	)	)	PUNCT
american_scientific_journal-7249	65	58	(	(	PUNCT
american_scientific_journal-7249	65	59	)	)	PUNCT
american_scientific_journal-7249	65	60	(	(	PUNCT
american_scientific_journal-7249	65	61	)	)	PUNCT
american_scientific_journal-7249	65	62	∫	∫	PROPN
american_scientific_journal-7249	65	63	(	(	PUNCT
american_scientific_journal-7249	65	64	)	)	PUNCT
american_scientific_journal-7249	65	65	(	(	PUNCT
american_scientific_journal-7249	65	66	)	)	PUNCT
american_scientific_journal-7249	65	67	(	(	PUNCT
american_scientific_journal-7249	65	68	)	)	PUNCT
american_scientific_journal-7249	65	69	(	(	PUNCT
american_scientific_journal-7249	65	70	23	23	NUM
american_scientific_journal-7249	65	71	)	)	PUNCT
american_scientific_journal-7249	65	72	the	the	DET
american_scientific_journal-7249	65	73	error	error	NOUN
american_scientific_journal-7249	65	74	signals	signal	NOUN
american_scientific_journal-7249	65	75	,	,	PUNCT
american_scientific_journal-7249	65	76	,	,	PUNCT
american_scientific_journal-7249	65	77	,	,	PUNCT
american_scientific_journal-7249	65	78	and	and	CCONJ
american_scientific_journal-7249	65	79	are	be	AUX
american_scientific_journal-7249	65	80	presented	present	VERB
american_scientific_journal-7249	65	81	in	in	ADP
american_scientific_journal-7249	65	82	(	(	PUNCT
american_scientific_journal-7249	65	83	8)	8)	NUM
american_scientific_journal-7249	65	84	,	,	PUNCT
american_scientific_journal-7249	65	85	(	(	PUNCT
american_scientific_journal-7249	65	86	10	10	NUM
american_scientific_journal-7249	65	87	)	)	PUNCT
american_scientific_journal-7249	65	88	,	,	PUNCT
american_scientific_journal-7249	65	89	(	(	PUNCT
american_scientific_journal-7249	65	90	12	12	NUM
american_scientific_journal-7249	65	91	)	)	PUNCT
american_scientific_journal-7249	65	92	,	,	PUNCT
american_scientific_journal-7249	65	93	and	and	CCONJ
american_scientific_journal-7249	65	94	(	(	PUNCT
american_scientific_journal-7249	65	95	14	14	NUM
american_scientific_journal-7249	65	96	)	)	PUNCT
american_scientific_journal-7249	65	97	respectively	respectively	ADV
american_scientific_journal-7249	65	98	.	.	PUNCT
american_scientific_journal-7249	66	1	4	4	X
american_scientific_journal-7249	66	2	.	.	X
american_scientific_journal-7249	66	3	optimization	optimization	NOUN
american_scientific_journal-7249	66	4	the	the	DET
american_scientific_journal-7249	66	5	optimization	optimization	NOUN
american_scientific_journal-7249	66	6	technique	technique	NOUN
american_scientific_journal-7249	66	7	is	be	AUX
american_scientific_journal-7249	66	8	mostly	mostly	ADV
american_scientific_journal-7249	66	9	used	use	VERB
american_scientific_journal-7249	66	10	to	to	PART
american_scientific_journal-7249	66	11	identify	identify	VERB
american_scientific_journal-7249	66	12	various	various	ADJ
american_scientific_journal-7249	66	13	ideal	ideal	ADJ
american_scientific_journal-7249	66	14	decisions	decision	NOUN
american_scientific_journal-7249	66	15	or	or	CCONJ
american_scientific_journal-7249	66	16	values	value	NOUN
american_scientific_journal-7249	66	17	in	in	ADP
american_scientific_journal-7249	66	18	order	order	NOUN
american_scientific_journal-7249	66	19	to	to	PART
american_scientific_journal-7249	66	20	provide	provide	VERB
american_scientific_journal-7249	66	21	a	a	DET
american_scientific_journal-7249	66	22	candidate	candidate	NOUN
american_scientific_journal-7249	66	23	solution	solution	NOUN
american_scientific_journal-7249	66	24	that	that	PRON
american_scientific_journal-7249	66	25	can	can	AUX
american_scientific_journal-7249	66	26	effectively	effectively	ADV
american_scientific_journal-7249	66	27	address	address	VERB
american_scientific_journal-7249	66	28	the	the	DET
american_scientific_journal-7249	66	29	problem	problem	NOUN
american_scientific_journal-7249	66	30	.	.	PUNCT
american_scientific_journal-7249	67	1	in	in	ADP
american_scientific_journal-7249	67	2	general	general	ADJ
american_scientific_journal-7249	67	3	,	,	PUNCT
american_scientific_journal-7249	67	4	optimization	optimization	NOUN
american_scientific_journal-7249	67	5	problems	problem	NOUN
american_scientific_journal-7249	67	6	are	be	AUX
american_scientific_journal-7249	67	7	solved	solve	VERB
american_scientific_journal-7249	67	8	by	by	ADP
american_scientific_journal-7249	67	9	examining	examine	VERB
american_scientific_journal-7249	67	10	the	the	DET
american_scientific_journal-7249	67	11	minimization	minimization	NOUN
american_scientific_journal-7249	67	12	or	or	CCONJ
american_scientific_journal-7249	67	13	maximization	maximization	NOUN
american_scientific_journal-7249	67	14	of	of	ADP
american_scientific_journal-7249	67	15	a	a	DET
american_scientific_journal-7249	67	16	prospective	prospective	ADJ
american_scientific_journal-7249	67	17	decision	decision	NOUN
american_scientific_journal-7249	67	18	-	-	PUNCT
american_scientific_journal-7249	67	19	making	make	VERB
american_scientific_journal-7249	67	20	procedure	procedure	NOUN
american_scientific_journal-7249	67	21	.	.	PUNCT
american_scientific_journal-7249	68	1	this	this	DET
american_scientific_journal-7249	68	2	section	section	NOUN
american_scientific_journal-7249	68	3	presents	present	VERB
american_scientific_journal-7249	68	4	an	an	DET
american_scientific_journal-7249	68	5	optimization	optimization	NOUN
american_scientific_journal-7249	68	6	method	method	NOUN
american_scientific_journal-7249	68	7	of	of	ADP
american_scientific_journal-7249	68	8	pid	pid	NOUN
american_scientific_journal-7249	68	9	and	and	CCONJ
american_scientific_journal-7249	68	10	fopid	fopid	PROPN
american_scientific_journal-7249	68	11	controllers	controller	NOUN
american_scientific_journal-7249	68	12	’	’	PART
american_scientific_journal-7249	68	13	parameters	parameter	NOUN
american_scientific_journal-7249	68	14	using	use	VERB
american_scientific_journal-7249	68	15	salp	salp	NOUN
american_scientific_journal-7249	68	16	swarm	swarm	NOUN
american_scientific_journal-7249	68	17	algorithm	algorithm	NOUN
american_scientific_journal-7249	68	18	(	(	PUNCT
american_scientific_journal-7249	68	19	ssa	ssa	PROPN
american_scientific_journal-7249	68	20	)	)	PUNCT
american_scientific_journal-7249	68	21	.	.	PUNCT
american_scientific_journal-7249	69	1	4.1	4.1	NUM
american_scientific_journal-7249	69	2	.	.	PUNCT
american_scientific_journal-7249	69	3	controller	controller	NOUN
american_scientific_journal-7249	69	4	gain	gain	VERB
american_scientific_journal-7249	69	5	tuning	tuning	NOUN
american_scientific_journal-7249	69	6	by	by	ADP
american_scientific_journal-7249	69	7	ssa	ssa	PROPN
american_scientific_journal-7249	69	8	mirjalili	mirjalili	NOUN
american_scientific_journal-7249	69	9	and	and	CCONJ
american_scientific_journal-7249	69	10	colleagues[17	colleagues[17	PROPN
american_scientific_journal-7249	69	11	]	]	PUNCT
american_scientific_journal-7249	69	12	presented	present	VERB
american_scientific_journal-7249	69	13	the	the	DET
american_scientific_journal-7249	69	14	salp	salp	PROPN
american_scientific_journal-7249	69	15	swarm	swarm	NOUN
american_scientific_journal-7249	69	16	algorithm	algorithm	NOUN
american_scientific_journal-7249	69	17	(	(	PUNCT
american_scientific_journal-7249	69	18	ssa	ssa	NOUN
american_scientific_journal-7249	69	19	)	)	PUNCT
american_scientific_journal-7249	69	20	as	as	ADP
american_scientific_journal-7249	69	21	a	a	DET
american_scientific_journal-7249	69	22	population	population	NOUN
american_scientific_journal-7249	69	23	-	-	PUNCT
american_scientific_journal-7249	69	24	based	base	VERB
american_scientific_journal-7249	69	25	optimization	optimization	NOUN
american_scientific_journal-7249	69	26	tool	tool	NOUN
american_scientific_journal-7249	69	27	.	.	PUNCT
american_scientific_journal-7249	70	1	the	the	DET
american_scientific_journal-7249	70	2	ssa	ssa	NOUN
american_scientific_journal-7249	70	3	's	's	PART
american_scientific_journal-7249	70	4	behavior	behavior	NOUN
american_scientific_journal-7249	70	5	may	may	AUX
american_scientific_journal-7249	70	6	be	be	AUX
american_scientific_journal-7249	70	7	demonstrated	demonstrate	VERB
american_scientific_journal-7249	70	8	by	by	ADP
american_scientific_journal-7249	70	9	computing	compute	VERB
american_scientific_journal-7249	70	10	it	it	PRON
american_scientific_journal-7249	70	11	using	use	VERB
american_scientific_journal-7249	70	12	the	the	DET
american_scientific_journal-7249	70	13	salp	salp	NOUN
american_scientific_journal-7249	70	14	chain	chain	NOUN
american_scientific_journal-7249	70	15	in	in	ADP
american_scientific_journal-7249	70	16	search	search	NOUN
american_scientific_journal-7249	70	17	of	of	ADP
american_scientific_journal-7249	70	18	optimal	optimal	ADJ
american_scientific_journal-7249	70	19	food	food	NOUN
american_scientific_journal-7249	70	20	sources	source	NOUN
american_scientific_journal-7249	70	21	(	(	PUNCT
american_scientific_journal-7249	70	22	i.e.	i.e.	X
american_scientific_journal-7249	70	23	,	,	PUNCT
american_scientific_journal-7249	70	24	the	the	DET
american_scientific_journal-7249	70	25	target	target	NOUN
american_scientific_journal-7249	70	26	of	of	ADP
american_scientific_journal-7249	70	27	this	this	DET
american_scientific_journal-7249	70	28	swarm	swarm	NOUN
american_scientific_journal-7249	70	29	is	be	AUX
american_scientific_journal-7249	70	30	a	a	DET
american_scientific_journal-7249	70	31	food	food	NOUN
american_scientific_journal-7249	70	32	source	source	NOUN
american_scientific_journal-7249	70	33	in	in	ADP
american_scientific_journal-7249	70	34	the	the	DET
american_scientific_journal-7249	70	35	search	search	NOUN
american_scientific_journal-7249	70	36	space	space	NOUN
american_scientific_journal-7249	70	37	called	call	VERB
american_scientific_journal-7249	70	38	f	f	PROPN
american_scientific_journal-7249	70	39	)	)	PUNCT
american_scientific_journal-7249	70	40	.	.	PUNCT
american_scientific_journal-7249	71	1	individuals	individual	NOUN
american_scientific_journal-7249	71	2	salps	salp	NOUN
american_scientific_journal-7249	71	3	swarm	swarm	NOUN
american_scientific_journal-7249	71	4	are	be	AUX
american_scientific_journal-7249	71	5	classified	classify	VERB
american_scientific_journal-7249	71	6	as	as	ADP
american_scientific_journal-7249	71	7	leaders	leader	NOUN
american_scientific_journal-7249	71	8	or	or	CCONJ
american_scientific_journal-7249	71	9	followers	follower	NOUN
american_scientific_journal-7249	71	10	in	in	ADP
american_scientific_journal-7249	71	11	ssa	ssa	NOUN
american_scientific_journal-7249	71	12	based	base	VERB
american_scientific_journal-7249	71	13	on	on	ADP
american_scientific_journal-7249	71	14	their	their	PRON
american_scientific_journal-7249	71	15	place	place	NOUN
american_scientific_journal-7249	71	16	in	in	ADP
american_scientific_journal-7249	71	17	the	the	DET
american_scientific_journal-7249	71	18	chain	chain	NOUN
american_scientific_journal-7249	71	19	.	.	PUNCT
american_scientific_journal-7249	72	1	equation	equation	NOUN
american_scientific_journal-7249	72	2	(	(	PUNCT
american_scientific_journal-7249	72	3	24	24	NUM
american_scientific_journal-7249	72	4	)	)	PUNCT
american_scientific_journal-7249	72	5	presents	present	VERB
american_scientific_journal-7249	72	6	the	the	DET
american_scientific_journal-7249	72	7	salp	salp	NOUN
american_scientific_journal-7249	72	8	-	-	PUNCT
american_scientific_journal-7249	72	9	chain	chain	NOUN
american_scientific_journal-7249	72	10	,	,	PUNCT
american_scientific_journal-7249	72	11	while	while	SCONJ
american_scientific_journal-7249	72	12	equation	equation	NOUN
american_scientific_journal-7249	72	13	(	(	PUNCT
american_scientific_journal-7249	72	14	25	25	NUM
american_scientific_journal-7249	72	15	)	)	PUNCT
american_scientific_journal-7249	72	16	presents	present	VERB
american_scientific_journal-7249	72	17	the	the	DET
american_scientific_journal-7249	72	18	leader	leader	NOUN
american_scientific_journal-7249	72	19	position	position	NOUN
american_scientific_journal-7249	72	20	updating	updating	NOUN
american_scientific_journal-7249	72	21	and	and	CCONJ
american_scientific_journal-7249	72	22	equation	equation	NOUN
american_scientific_journal-7249	72	23	(	(	PUNCT
american_scientific_journal-7249	72	24	26	26	NUM
american_scientific_journal-7249	72	25	)	)	PUNCT
american_scientific_journal-7249	72	26	shows	show	VERB
american_scientific_journal-7249	72	27	the	the	DET
american_scientific_journal-7249	72	28	updating	updating	NOUN
american_scientific_journal-7249	72	29	of	of	ADP
american_scientific_journal-7249	72	30	the	the	DET
american_scientific_journal-7249	72	31	followers	follower	NOUN
american_scientific_journal-7249	72	32	[	[	PUNCT
american_scientific_journal-7249	72	33	]	]	X
american_scientific_journal-7249	72	34	(	(	PUNCT
american_scientific_journal-7249	72	35	24	24	NUM
american_scientific_journal-7249	72	36	)	)	PUNCT
american_scientific_journal-7249	72	37	{	{	PUNCT
american_scientific_journal-7249	72	38	(	(	PUNCT
american_scientific_journal-7249	72	39	(	(	PUNCT
american_scientific_journal-7249	72	40	)	)	PUNCT
american_scientific_journal-7249	72	41	)	)	PUNCT
american_scientific_journal-7249	72	42	(	(	PUNCT
american_scientific_journal-7249	72	43	(	(	PUNCT
american_scientific_journal-7249	72	44	)	)	PUNCT
american_scientific_journal-7249	72	45	)	)	PUNCT
american_scientific_journal-7249	72	46	}	}	PUNCT
american_scientific_journal-7249	72	47	(	(	PUNCT
american_scientific_journal-7249	72	48	25	25	NUM
american_scientific_journal-7249	72	49	)	)	PUNCT
american_scientific_journal-7249	72	50	(	(	PUNCT
american_scientific_journal-7249	72	51	26	26	NUM
american_scientific_journal-7249	72	52	)	)	PUNCT
american_scientific_journal-7249	72	53	american	american	ADJ
american_scientific_journal-7249	72	54	academic	academic	ADJ
american_scientific_journal-7249	72	55	scientific	scientific	ADJ
american_scientific_journal-7249	72	56	research	research	NOUN
american_scientific_journal-7249	72	57	journal	journal	NOUN
american_scientific_journal-7249	72	58	for	for	ADP
american_scientific_journal-7249	72	59	engineering	engineering	NOUN
american_scientific_journal-7249	72	60	,	,	PUNCT
american_scientific_journal-7249	72	61	technology	technology	NOUN
american_scientific_journal-7249	72	62	,	,	PUNCT
american_scientific_journal-7249	72	63	and	and	CCONJ
american_scientific_journal-7249	72	64	sciences	science	NOUN
american_scientific_journal-7249	72	65	(	(	PUNCT
american_scientific_journal-7249	72	66	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	72	67	92	92	NUM
american_scientific_journal-7249	72	68	,	,	PUNCT
american_scientific_journal-7249	72	69	no	no	DET
american_scientific_journal-7249	72	70	1	1	NUM
american_scientific_journal-7249	72	71	,	,	PUNCT
american_scientific_journal-7249	72	72	pp	pp	ADV
american_scientific_journal-7249	72	73	77	77	NUM
american_scientific_journal-7249	72	74	-	-	SYM
american_scientific_journal-7249	72	75	90	90	NUM
american_scientific_journal-7249	72	76	84	84	NUM
american_scientific_journal-7249	72	77	where	where	SCONJ
american_scientific_journal-7249	72	78	:	:	PUNCT
american_scientific_journal-7249	72	79	the	the	DET
american_scientific_journal-7249	72	80	position	position	NOUN
american_scientific_journal-7249	72	81	of	of	ADP
american_scientific_journal-7249	72	82	the	the	DET
american_scientific_journal-7249	72	83	first	first	ADJ
american_scientific_journal-7249	72	84	salp	salp	NOUN
american_scientific_journal-7249	72	85	in	in	ADP
american_scientific_journal-7249	72	86	the	the	DET
american_scientific_journal-7249	72	87	ith	ith	PROPN
american_scientific_journal-7249	72	88	dimension	dimension	NOUN
american_scientific_journal-7249	72	89	:	:	PUNCT
american_scientific_journal-7249	72	90	the	the	DET
american_scientific_journal-7249	72	91	food	food	NOUN
american_scientific_journal-7249	72	92	position	position	NOUN
american_scientific_journal-7249	72	93	in	in	ADP
american_scientific_journal-7249	72	94	the	the	DET
american_scientific_journal-7249	72	95	ith	ith	PROPN
american_scientific_journal-7249	72	96	dimension	dimension	NOUN
american_scientific_journal-7249	72	97	.	.	PUNCT
american_scientific_journal-7249	73	1	and	and	CCONJ
american_scientific_journal-7249	73	2	represent	represent	VERB
american_scientific_journal-7249	73	3	the	the	DET
american_scientific_journal-7249	73	4	lower	lower	ADV
american_scientific_journal-7249	73	5	bound	bind	VERB
american_scientific_journal-7249	73	6	and	and	CCONJ
american_scientific_journal-7249	73	7	the	the	DET
american_scientific_journal-7249	73	8	upper	upper	ADJ
american_scientific_journal-7249	73	9	bound	bound	NOUN
american_scientific_journal-7249	73	10	of	of	ADP
american_scientific_journal-7249	73	11	the	the	DET
american_scientific_journal-7249	73	12	ith	ith	PROPN
american_scientific_journal-7249	73	13	dimension	dimension	NOUN
american_scientific_journal-7249	73	14	,	,	PUNCT
american_scientific_journal-7249	73	15	respectively	respectively	ADV
american_scientific_journal-7249	73	16	.	.	PUNCT
american_scientific_journal-7249	74	1	:	:	PUNCT
american_scientific_journal-7249	74	2	coefficient	coefficient	NOUN
american_scientific_journal-7249	74	3	calculates	calculate	VERB
american_scientific_journal-7249	74	4	by	by	ADP
american_scientific_journal-7249	74	5	(	(	PUNCT
american_scientific_journal-7249	74	6	)	)	PUNCT
american_scientific_journal-7249	74	7	and	and	CCONJ
american_scientific_journal-7249	74	8	:	:	PUNCT
american_scientific_journal-7249	74	9	random	random	ADJ
american_scientific_journal-7249	74	10	numbers	number	NOUN
american_scientific_journal-7249	74	11	between	between	ADP
american_scientific_journal-7249	74	12	[	[	X
american_scientific_journal-7249	74	13	0	0	NUM
american_scientific_journal-7249	74	14	-	-	SYM
american_scientific_journal-7249	74	15	1	1	NUM
american_scientific_journal-7249	74	16	]	]	PUNCT
american_scientific_journal-7249	74	17	.	.	PUNCT
american_scientific_journal-7249	75	1	l	l	NOUN
american_scientific_journal-7249	75	2	=	=	PUNCT
american_scientific_journal-7249	76	1	current	current	ADJ
american_scientific_journal-7249	76	2	iteration	iteration	NOUN
american_scientific_journal-7249	76	3	and	and	CCONJ
american_scientific_journal-7249	76	4	l	l	NOUN
american_scientific_journal-7249	76	5	=	=	PUNCT
american_scientific_journal-7249	76	6	maximum	maximum	ADJ
american_scientific_journal-7249	76	7	iterations	iteration	NOUN
american_scientific_journal-7249	76	8	.	.	PUNCT
american_scientific_journal-7249	77	1	:	:	PUNCT
american_scientific_journal-7249	77	2	position	position	NOUN
american_scientific_journal-7249	77	3	of	of	ADP
american_scientific_journal-7249	77	4	followers	follower	NOUN
american_scientific_journal-7249	77	5	on	on	ADP
american_scientific_journal-7249	77	6	the	the	DET
american_scientific_journal-7249	77	7	jth	jth	PROPN
american_scientific_journal-7249	77	8	salp	salp	PROPN
american_scientific_journal-7249	77	9	dimension	dimension	PROPN
american_scientific_journal-7249	77	10	.	.	PUNCT
american_scientific_journal-7249	78	1	,	,	PUNCT
american_scientific_journal-7249	78	2	:	:	PUNCT
american_scientific_journal-7249	78	3	time	time	NOUN
american_scientific_journal-7249	78	4	and	and	CCONJ
american_scientific_journal-7249	78	5	.	.	PUNCT
american_scientific_journal-7249	79	1	assumption	assumption	NOUN
american_scientific_journal-7249	79	2	,	,	PUNCT
american_scientific_journal-7249	79	3	then	then	ADV
american_scientific_journal-7249	79	4	(	(	PUNCT
american_scientific_journal-7249	79	5	)	)	PUNCT
american_scientific_journal-7249	79	6	(	(	PUNCT
american_scientific_journal-7249	79	7	27	27	NUM
american_scientific_journal-7249	79	8	)	)	PUNCT
american_scientific_journal-7249	79	9	5	5	NUM
american_scientific_journal-7249	79	10	.	.	X
american_scientific_journal-7249	79	11	objective	objective	ADJ
american_scientific_journal-7249	79	12	function	function	VERB
american_scientific_journal-7249	79	13	the	the	DET
american_scientific_journal-7249	79	14	formulation	formulation	NOUN
american_scientific_journal-7249	79	15	of	of	ADP
american_scientific_journal-7249	79	16	the	the	DET
american_scientific_journal-7249	79	17	objective	objective	ADJ
american_scientific_journal-7249	79	18	function	function	NOUN
american_scientific_journal-7249	79	19	is	be	AUX
american_scientific_journal-7249	79	20	critical	critical	ADJ
american_scientific_journal-7249	79	21	in	in	ADP
american_scientific_journal-7249	79	22	optimization	optimization	NOUN
american_scientific_journal-7249	79	23	since	since	SCONJ
american_scientific_journal-7249	79	24	it	it	PRON
american_scientific_journal-7249	79	25	is	be	AUX
american_scientific_journal-7249	79	26	the	the	DET
american_scientific_journal-7249	79	27	main	main	ADJ
american_scientific_journal-7249	79	28	parameter	parameter	NOUN
american_scientific_journal-7249	79	29	used	use	VERB
american_scientific_journal-7249	79	30	to	to	PART
american_scientific_journal-7249	79	31	gauge	gauge	VERB
american_scientific_journal-7249	79	32	the	the	DET
american_scientific_journal-7249	79	33	success	success	NOUN
american_scientific_journal-7249	79	34	of	of	ADP
american_scientific_journal-7249	79	35	the	the	DET
american_scientific_journal-7249	79	36	optimization	optimization	NOUN
american_scientific_journal-7249	79	37	approach	approach	NOUN
american_scientific_journal-7249	79	38	and	and	CCONJ
american_scientific_journal-7249	79	39	determine	determine	VERB
american_scientific_journal-7249	79	40	whether	whether	SCONJ
american_scientific_journal-7249	79	41	the	the	DET
american_scientific_journal-7249	79	42	solution	solution	NOUN
american_scientific_journal-7249	79	43	will	will	AUX
american_scientific_journal-7249	79	44	fit	fit	VERB
american_scientific_journal-7249	79	45	the	the	DET
american_scientific_journal-7249	79	46	problem	problem	NOUN
american_scientific_journal-7249	79	47	or	or	CCONJ
american_scientific_journal-7249	79	48	not	not	PART
american_scientific_journal-7249	79	49	.	.	PUNCT
american_scientific_journal-7249	80	1	there	there	PRON
american_scientific_journal-7249	80	2	are	be	VERB
american_scientific_journal-7249	80	3	four	four	NUM
american_scientific_journal-7249	80	4	expression	expression	NOUN
american_scientific_journal-7249	80	5	which	which	PRON
american_scientific_journal-7249	80	6	are	be	AUX
american_scientific_journal-7249	80	7	functions	function	NOUN
american_scientific_journal-7249	80	8	of	of	ADP
american_scientific_journal-7249	80	9	an	an	DET
american_scientific_journal-7249	80	10	error	error	NOUN
american_scientific_journal-7249	80	11	signal	signal	NOUN
american_scientific_journal-7249	80	12	i.	i.	NOUN
american_scientific_journal-7249	80	13	integral	integral	ADJ
american_scientific_journal-7249	80	14	absolute	absolute	ADJ
american_scientific_journal-7249	80	15	error	error	NOUN
american_scientific_journal-7249	80	16	(	(	PUNCT
american_scientific_journal-7249	80	17	iae	iae	NOUN
american_scientific_journal-7249	80	18	)	)	PUNCT
american_scientific_journal-7249	80	19	.	.	PUNCT
american_scientific_journal-7249	81	1	∫	∫	PROPN
american_scientific_journal-7249	82	1	|	|	ADV
american_scientific_journal-7249	82	2	(	(	PUNCT
american_scientific_journal-7249	82	3	)	)	PUNCT
american_scientific_journal-7249	82	4	|	|	CCONJ
american_scientific_journal-7249	82	5	(	(	PUNCT
american_scientific_journal-7249	82	6	28	28	NUM
american_scientific_journal-7249	82	7	)	)	PUNCT
american_scientific_journal-7249	82	8	ii	ii	PROPN
american_scientific_journal-7249	82	9	.	.	PUNCT
american_scientific_journal-7249	82	10	integral	integral	ADJ
american_scientific_journal-7249	82	11	time	time	NOUN
american_scientific_journal-7249	82	12	absolute	absolute	ADJ
american_scientific_journal-7249	82	13	error	error	NOUN
american_scientific_journal-7249	82	14	(	(	PUNCT
american_scientific_journal-7249	82	15	itae	itae	PROPN
american_scientific_journal-7249	82	16	)	)	PUNCT
american_scientific_journal-7249	82	17	.	.	PUNCT
american_scientific_journal-7249	83	1	∫	∫	PROPN
american_scientific_journal-7249	84	1	|	|	ADV
american_scientific_journal-7249	84	2	(	(	PUNCT
american_scientific_journal-7249	84	3	)	)	PUNCT
american_scientific_journal-7249	84	4	|	|	CCONJ
american_scientific_journal-7249	84	5	(	(	PUNCT
american_scientific_journal-7249	84	6	29	29	NUM
american_scientific_journal-7249	84	7	)	)	PUNCT
american_scientific_journal-7249	84	8	iii	iii	PROPN
american_scientific_journal-7249	84	9	.	.	PUNCT
american_scientific_journal-7249	84	10	integral	integral	ADJ
american_scientific_journal-7249	84	11	square	square	ADJ
american_scientific_journal-7249	84	12	error	error	NOUN
american_scientific_journal-7249	84	13	(	(	PUNCT
american_scientific_journal-7249	84	14	ise	ise	NOUN
american_scientific_journal-7249	84	15	)	)	PUNCT
american_scientific_journal-7249	84	16	.	.	PUNCT
american_scientific_journal-7249	85	1	∫	∫	PROPN
american_scientific_journal-7249	85	2	(	(	PUNCT
american_scientific_journal-7249	85	3	)	)	PUNCT
american_scientific_journal-7249	85	4	(	(	PUNCT
american_scientific_journal-7249	85	5	30	30	NUM
american_scientific_journal-7249	85	6	)	)	PUNCT
american_scientific_journal-7249	85	7	iv	iv	NOUN
american_scientific_journal-7249	85	8	.	.	PUNCT
american_scientific_journal-7249	85	9	integral	integral	ADJ
american_scientific_journal-7249	85	10	time	time	NOUN
american_scientific_journal-7249	85	11	square	square	NOUN
american_scientific_journal-7249	85	12	error	error	NOUN
american_scientific_journal-7249	85	13	(	(	PUNCT
american_scientific_journal-7249	85	14	itse	itse	NOUN
american_scientific_journal-7249	85	15	)	)	PUNCT
american_scientific_journal-7249	85	16	.	.	PUNCT
american_scientific_journal-7249	86	1	∫	∫	PROPN
american_scientific_journal-7249	86	2	(	(	PUNCT
american_scientific_journal-7249	86	3	)	)	PUNCT
american_scientific_journal-7249	86	4	(	(	PUNCT
american_scientific_journal-7249	86	5	31	31	NUM
american_scientific_journal-7249	86	6	)	)	PUNCT
american_scientific_journal-7249	86	7	american	american	ADJ
american_scientific_journal-7249	86	8	academic	academic	ADJ
american_scientific_journal-7249	86	9	scientific	scientific	ADJ
american_scientific_journal-7249	86	10	research	research	NOUN
american_scientific_journal-7249	86	11	journal	journal	NOUN
american_scientific_journal-7249	86	12	for	for	ADP
american_scientific_journal-7249	86	13	engineering	engineering	NOUN
american_scientific_journal-7249	86	14	,	,	PUNCT
american_scientific_journal-7249	86	15	technology	technology	NOUN
american_scientific_journal-7249	86	16	,	,	PUNCT
american_scientific_journal-7249	86	17	and	and	CCONJ
american_scientific_journal-7249	86	18	sciences	science	NOUN
american_scientific_journal-7249	86	19	(	(	PUNCT
american_scientific_journal-7249	86	20	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	86	21	92	92	NUM
american_scientific_journal-7249	86	22	,	,	PUNCT
american_scientific_journal-7249	86	23	no	no	DET
american_scientific_journal-7249	86	24	1	1	NUM
american_scientific_journal-7249	86	25	,	,	PUNCT
american_scientific_journal-7249	86	26	pp	pp	ADV
american_scientific_journal-7249	86	27	77	77	NUM
american_scientific_journal-7249	86	28	-	-	SYM
american_scientific_journal-7249	86	29	90	90	NUM
american_scientific_journal-7249	86	30	85	85	NUM
american_scientific_journal-7249	86	31	6	6	NUM
american_scientific_journal-7249	86	32	.	.	PUNCT
american_scientific_journal-7249	87	1	results	result	NOUN
american_scientific_journal-7249	87	2	and	and	CCONJ
american_scientific_journal-7249	87	3	discussion	discussion	NOUN
american_scientific_journal-7249	87	4	in	in	ADP
american_scientific_journal-7249	87	5	this	this	DET
american_scientific_journal-7249	87	6	section	section	NOUN
american_scientific_journal-7249	87	7	,	,	PUNCT
american_scientific_journal-7249	87	8	the	the	DET
american_scientific_journal-7249	87	9	performances	performance	NOUN
american_scientific_journal-7249	87	10	of	of	ADP
american_scientific_journal-7249	87	11	pid	pid	NOUN
american_scientific_journal-7249	87	12	,	,	PUNCT
american_scientific_journal-7249	87	13	fpid	fpid	NOUN
american_scientific_journal-7249	87	14	and	and	CCONJ
american_scientific_journal-7249	87	15	pidd2	pidd2	NOUN
american_scientific_journal-7249	87	16	controllers	controller	NOUN
american_scientific_journal-7249	87	17	are	be	AUX
american_scientific_journal-7249	87	18	tested	test	VERB
american_scientific_journal-7249	87	19	for	for	ADP
american_scientific_journal-7249	87	20	control	control	NOUN
american_scientific_journal-7249	87	21	of	of	ADP
american_scientific_journal-7249	87	22	the	the	DET
american_scientific_journal-7249	87	23	uav	uav	PROPN
american_scientific_journal-7249	87	24	system	system	NOUN
american_scientific_journal-7249	87	25	(	(	PUNCT
american_scientific_journal-7249	87	26	each	each	DET
american_scientific_journal-7249	87	27	controller	controller	NOUN
american_scientific_journal-7249	87	28	is	be	AUX
american_scientific_journal-7249	87	29	used	use	VERB
american_scientific_journal-7249	87	30	four	four	NUM
american_scientific_journal-7249	87	31	times	time	NOUN
american_scientific_journal-7249	87	32	to	to	PART
american_scientific_journal-7249	87	33	control	control	VERB
american_scientific_journal-7249	87	34	the	the	DET
american_scientific_journal-7249	87	35	inner	inner	ADJ
american_scientific_journal-7249	87	36	loop	loop	NOUN
american_scientific_journal-7249	87	37	and	and	CCONJ
american_scientific_journal-7249	87	38	attitude	attitude	NOUN
american_scientific_journal-7249	87	39	)	)	PUNCT
american_scientific_journal-7249	87	40	.	.	PUNCT
american_scientific_journal-7249	88	1	the	the	DET
american_scientific_journal-7249	88	2	results	result	NOUN
american_scientific_journal-7249	88	3	of	of	ADP
american_scientific_journal-7249	88	4	the	the	DET
american_scientific_journal-7249	88	5	study	study	NOUN
american_scientific_journal-7249	88	6	were	be	AUX
american_scientific_journal-7249	88	7	achieved	achieve	VERB
american_scientific_journal-7249	88	8	using	use	VERB
american_scientific_journal-7249	88	9	matlab	matlab	PROPN
american_scientific_journal-7249	88	10	/	/	SYM
american_scientific_journal-7249	88	11	simulink	simulink	PROPN
american_scientific_journal-7249	88	12	depending	depend	VERB
american_scientific_journal-7249	88	13	on	on	ADP
american_scientific_journal-7249	88	14	the	the	DET
american_scientific_journal-7249	88	15	parameters	parameter	NOUN
american_scientific_journal-7249	88	16	of	of	ADP
american_scientific_journal-7249	88	17	the	the	DET
american_scientific_journal-7249	88	18	uav	uav	PROPN
american_scientific_journal-7249	88	19	shown	show	VERB
american_scientific_journal-7249	88	20	in	in	ADP
american_scientific_journal-7249	88	21	(	(	PUNCT
american_scientific_journal-7249	88	22	table	table	NOUN
american_scientific_journal-7249	88	23	1	1	NUM
american_scientific_journal-7249	88	24	)	)	PUNCT
american_scientific_journal-7249	88	25	.	.	PUNCT
american_scientific_journal-7249	89	1	the	the	DET
american_scientific_journal-7249	89	2	ssa	ssa	PROPN
american_scientific_journal-7249	89	3	algorithm	algorithm	NOUN
american_scientific_journal-7249	89	4	is	be	AUX
american_scientific_journal-7249	89	5	applied	apply	VERB
american_scientific_journal-7249	89	6	to	to	ADP
american_scientific_journal-7249	89	7	tune	tune	NOUN
american_scientific_journal-7249	89	8	and	and	CCONJ
american_scientific_journal-7249	89	9	select	select	VERB
american_scientific_journal-7249	89	10	the	the	DET
american_scientific_journal-7249	89	11	gain	gain	NOUN
american_scientific_journal-7249	89	12	parameters	parameter	NOUN
american_scientific_journal-7249	89	13	of	of	ADP
american_scientific_journal-7249	89	14	the	the	DET
american_scientific_journal-7249	89	15	controllers	controller	NOUN
american_scientific_journal-7249	89	16	by	by	ADP
american_scientific_journal-7249	89	17	using	use	VERB
american_scientific_journal-7249	89	18	the	the	DET
american_scientific_journal-7249	89	19	objective	objective	ADJ
american_scientific_journal-7249	89	20	function	function	NOUN
american_scientific_journal-7249	89	21	in	in	ADP
american_scientific_journal-7249	89	22	section	section	NOUN
american_scientific_journal-7249	89	23	5	5	NUM
american_scientific_journal-7249	89	24	(	(	PUNCT
american_scientific_journal-7249	89	25	itae	itae	NOUN
american_scientific_journal-7249	89	26	in	in	ADP
american_scientific_journal-7249	89	27	equation	equation	NOUN
american_scientific_journal-7249	89	28	29	29	NUM
american_scientific_journal-7249	89	29	)	)	PUNCT
american_scientific_journal-7249	89	30	.	.	PUNCT
american_scientific_journal-7249	90	1	consequently	consequently	ADV
american_scientific_journal-7249	90	2	,	,	PUNCT
american_scientific_journal-7249	90	3	table	table	NOUN
american_scientific_journal-7249	90	4	2	2	NUM
american_scientific_journal-7249	90	5	lists	list	VERB
american_scientific_journal-7249	90	6	the	the	DET
american_scientific_journal-7249	90	7	setting	set	VERB
american_scientific_journal-7249	90	8	parameters	parameter	NOUN
american_scientific_journal-7249	90	9	of	of	ADP
american_scientific_journal-7249	90	10	ssa	ssa	NOUN
american_scientific_journal-7249	90	11	with	with	ADP
american_scientific_journal-7249	90	12	the	the	DET
american_scientific_journal-7249	90	13	gains	gain	NOUN
american_scientific_journal-7249	90	14	of	of	ADP
american_scientific_journal-7249	90	15	the	the	DET
american_scientific_journal-7249	90	16	controllers	controller	NOUN
american_scientific_journal-7249	90	17	.	.	PUNCT
american_scientific_journal-7249	91	1	moreover	moreover	ADV
american_scientific_journal-7249	91	2	,	,	PUNCT
american_scientific_journal-7249	91	3	(	(	PUNCT
american_scientific_journal-7249	91	4	figure	figure	NOUN
american_scientific_journal-7249	91	5	3	3	NUM
american_scientific_journal-7249	91	6	)	)	PUNCT
american_scientific_journal-7249	91	7	shows	show	VERB
american_scientific_journal-7249	91	8	the	the	DET
american_scientific_journal-7249	91	9	step	step	NOUN
american_scientific_journal-7249	91	10	responses	response	NOUN
american_scientific_journal-7249	91	11	for	for	ADP
american_scientific_journal-7249	91	12	all	all	DET
american_scientific_journal-7249	91	13	controllers	controller	NOUN
american_scientific_journal-7249	91	14	,	,	PUNCT
american_scientific_journal-7249	91	15	and	and	CCONJ
american_scientific_journal-7249	91	16	it	it	PRON
american_scientific_journal-7249	91	17	can	can	AUX
american_scientific_journal-7249	91	18	be	be	AUX
american_scientific_journal-7249	91	19	noticed	notice	VERB
american_scientific_journal-7249	91	20	that	that	SCONJ
american_scientific_journal-7249	91	21	each	each	DET
american_scientific_journal-7249	91	22	controller	controller	NOUN
american_scientific_journal-7249	91	23	reaches	reach	VERB
american_scientific_journal-7249	91	24	the	the	DET
american_scientific_journal-7249	91	25	steady	steady	ADJ
american_scientific_journal-7249	91	26	-	-	PUNCT
american_scientific_journal-7249	91	27	state	state	NOUN
american_scientific_journal-7249	91	28	in	in	ADP
american_scientific_journal-7249	91	29	a	a	DET
american_scientific_journal-7249	91	30	different	different	ADJ
american_scientific_journal-7249	91	31	time	time	NOUN
american_scientific_journal-7249	91	32	;	;	PUNCT
american_scientific_journal-7249	91	33	whereas	whereas	SCONJ
american_scientific_journal-7249	91	34	,	,	PUNCT
american_scientific_journal-7249	91	35	the	the	DET
american_scientific_journal-7249	91	36	steady	steady	ADJ
american_scientific_journal-7249	91	37	-	-	PUNCT
american_scientific_journal-7249	91	38	state	state	NOUN
american_scientific_journal-7249	91	39	error	error	NOUN
american_scientific_journal-7249	91	40	for	for	ADP
american_scientific_journal-7249	91	41	all	all	DET
american_scientific_journal-7249	91	42	controllers	controller	NOUN
american_scientific_journal-7249	91	43	equals	equal	VERB
american_scientific_journal-7249	91	44	zero	zero	NUM
american_scientific_journal-7249	91	45	.	.	PUNCT
american_scientific_journal-7249	91	46	table	table	NOUN
american_scientific_journal-7249	91	47	3	3	NUM
american_scientific_journal-7249	91	48	,	,	PUNCT
american_scientific_journal-7249	91	49	lists	list	VERB
american_scientific_journal-7249	91	50	the	the	DET
american_scientific_journal-7249	91	51	numerical	numerical	ADJ
american_scientific_journal-7249	91	52	results	result	NOUN
american_scientific_journal-7249	91	53	of	of	ADP
american_scientific_journal-7249	91	54	rise	rise	NOUN
american_scientific_journal-7249	91	55	time	time	NOUN
american_scientific_journal-7249	91	56	,	,	PUNCT
american_scientific_journal-7249	91	57	settling	settle	VERB
american_scientific_journal-7249	91	58	time	time	NOUN
american_scientific_journal-7249	91	59	,	,	PUNCT
american_scientific_journal-7249	91	60	overshoot	overshoot	NOUN
american_scientific_journal-7249	91	61	,	,	PUNCT
american_scientific_journal-7249	91	62	and	and	CCONJ
american_scientific_journal-7249	91	63	integral	integral	ADJ
american_scientific_journal-7249	91	64	time	time	NOUN
american_scientific_journal-7249	91	65	absolute	absolute	ADJ
american_scientific_journal-7249	91	66	error	error	NOUN
american_scientific_journal-7249	91	67	(	(	PUNCT
american_scientific_journal-7249	91	68	itae	itae	PROPN
american_scientific_journal-7249	91	69	)	)	PUNCT
american_scientific_journal-7249	91	70	.	.	PUNCT
american_scientific_journal-7249	92	1	accordingly	accordingly	ADV
american_scientific_journal-7249	92	2	,	,	PUNCT
american_scientific_journal-7249	92	3	the	the	DET
american_scientific_journal-7249	92	4	rise	rise	NOUN
american_scientific_journal-7249	92	5	time	time	NOUN
american_scientific_journal-7249	92	6	of	of	ADP
american_scientific_journal-7249	92	7	the	the	DET
american_scientific_journal-7249	92	8	fpid	fpid	NOUN
american_scientific_journal-7249	92	9	is	be	AUX
american_scientific_journal-7249	92	10	better	well	ADJ
american_scientific_journal-7249	92	11	than	than	ADP
american_scientific_journal-7249	92	12	conventional	conventional	ADJ
american_scientific_journal-7249	92	13	pid	pid	NOUN
american_scientific_journal-7249	92	14	;	;	PUNCT
american_scientific_journal-7249	92	15	whereas	whereas	ADV
american_scientific_journal-7249	92	16	,	,	PUNCT
american_scientific_journal-7249	92	17	the	the	DET
american_scientific_journal-7249	92	18	pidd2	pidd2	NOUN
american_scientific_journal-7249	92	19	has	have	VERB
american_scientific_journal-7249	92	20	the	the	DET
american_scientific_journal-7249	92	21	best	good	ADJ
american_scientific_journal-7249	92	22	rise	rise	NOUN
american_scientific_journal-7249	92	23	time	time	NOUN
american_scientific_journal-7249	92	24	.	.	PUNCT
american_scientific_journal-7249	93	1	in	in	ADP
american_scientific_journal-7249	93	2	addition	addition	NOUN
american_scientific_journal-7249	93	3	,	,	PUNCT
american_scientific_journal-7249	93	4	the	the	DET
american_scientific_journal-7249	93	5	settling	settle	VERB
american_scientific_journal-7249	93	6	times	time	NOUN
american_scientific_journal-7249	93	7	of	of	ADP
american_scientific_journal-7249	93	8	pid	pid	NOUN
american_scientific_journal-7249	93	9	and	and	CCONJ
american_scientific_journal-7249	93	10	fpid	fpid	ADJ
american_scientific_journal-7249	93	11	controllers	controller	NOUN
american_scientific_journal-7249	93	12	are	be	AUX
american_scientific_journal-7249	93	13	almost	almost	ADV
american_scientific_journal-7249	93	14	similar	similar	ADJ
american_scientific_journal-7249	93	15	,	,	PUNCT
american_scientific_journal-7249	93	16	while	while	SCONJ
american_scientific_journal-7249	93	17	it	it	PRON
american_scientific_journal-7249	93	18	is	be	AUX
american_scientific_journal-7249	93	19	*	*	ADJ
american_scientific_journal-7249	93	20	*	*	ADJ
american_scientific_journal-7249	93	21	in	in	ADP
american_scientific_journal-7249	93	22	pidd2	pidd2	PROPN
american_scientific_journal-7249	93	23	controller	controller	NOUN
american_scientific_journal-7249	93	24	.	.	PUNCT
american_scientific_journal-7249	94	1	consequently	consequently	ADV
american_scientific_journal-7249	94	2	,	,	PUNCT
american_scientific_journal-7249	94	3	the	the	DET
american_scientific_journal-7249	94	4	overshoot	overshoot	NOUN
american_scientific_journal-7249	94	5	of	of	ADP
american_scientific_journal-7249	94	6	the	the	DET
american_scientific_journal-7249	94	7	fpid	fpid	NOUN
american_scientific_journal-7249	94	8	is	be	AUX
american_scientific_journal-7249	94	9	the	the	DET
american_scientific_journal-7249	94	10	best	good	ADJ
american_scientific_journal-7249	94	11	compared	compare	VERB
american_scientific_journal-7249	94	12	with	with	ADP
american_scientific_journal-7249	94	13	the	the	DET
american_scientific_journal-7249	94	14	pid	pid	NOUN
american_scientific_journal-7249	94	15	and	and	CCONJ
american_scientific_journal-7249	94	16	pidd2	pidd2	NOUN
american_scientific_journal-7249	94	17	controllers	controller	NOUN
american_scientific_journal-7249	94	18	(	(	PUNCT
american_scientific_journal-7249	94	19	pidd2	pidd2	NOUN
american_scientific_journal-7249	94	20	controller	controller	NOUN
american_scientific_journal-7249	94	21	has	have	VERB
american_scientific_journal-7249	94	22	a	a	DET
american_scientific_journal-7249	94	23	maximum	maximum	ADJ
american_scientific_journal-7249	94	24	overshoot	overshoot	NOUN
american_scientific_journal-7249	94	25	values	value	NOUN
american_scientific_journal-7249	94	26	)	)	PUNCT
american_scientific_journal-7249	94	27	.	.	PUNCT
american_scientific_journal-7249	95	1	finally	finally	ADV
american_scientific_journal-7249	95	2	,	,	PUNCT
american_scientific_journal-7249	95	3	the	the	DET
american_scientific_journal-7249	95	4	itae	itae	NOUN
american_scientific_journal-7249	95	5	for	for	ADP
american_scientific_journal-7249	95	6	the	the	DET
american_scientific_journal-7249	95	7	pidd2	pidd2	PROPN
american_scientific_journal-7249	95	8	controller	controller	NOUN
american_scientific_journal-7249	95	9	is	be	AUX
american_scientific_journal-7249	95	10	better	well	ADJ
american_scientific_journal-7249	95	11	than	than	ADP
american_scientific_journal-7249	95	12	the	the	DET
american_scientific_journal-7249	95	13	fpid	fpid	NOUN
american_scientific_journal-7249	95	14	and	and	CCONJ
american_scientific_journal-7249	95	15	pid	pid	NOUN
american_scientific_journal-7249	95	16	controllers	controller	NOUN
american_scientific_journal-7249	95	17	.	.	PUNCT
american_scientific_journal-7249	96	1	whereas	whereas	ADV
american_scientific_journal-7249	96	2	,	,	PUNCT
american_scientific_journal-7249	96	3	the	the	DET
american_scientific_journal-7249	96	4	pid	pid	NOUN
american_scientific_journal-7249	96	5	controller	controller	NOUN
american_scientific_journal-7249	96	6	has	have	VERB
american_scientific_journal-7249	96	7	the	the	DET
american_scientific_journal-7249	96	8	maximum	maximum	ADJ
american_scientific_journal-7249	96	9	values	value	NOUN
american_scientific_journal-7249	96	10	of	of	ADP
american_scientific_journal-7249	96	11	itae	itae	NOUN
american_scientific_journal-7249	96	12	.	.	PUNCT
american_scientific_journal-7249	97	1	in	in	ADP
american_scientific_journal-7249	97	2	other	other	ADJ
american_scientific_journal-7249	97	3	words	word	NOUN
american_scientific_journal-7249	97	4	,	,	PUNCT
american_scientific_journal-7249	97	5	the	the	DET
american_scientific_journal-7249	97	6	performance	performance	NOUN
american_scientific_journal-7249	97	7	of	of	ADP
american_scientific_journal-7249	97	8	pidd2	pidd2	PROPN
american_scientific_journal-7249	97	9	is	be	AUX
american_scientific_journal-7249	97	10	the	the	DET
american_scientific_journal-7249	97	11	best	good	ADJ
american_scientific_journal-7249	97	12	in	in	ADP
american_scientific_journal-7249	97	13	terms	term	NOUN
american_scientific_journal-7249	97	14	of	of	ADP
american_scientific_journal-7249	97	15	rise	rise	NOUN
american_scientific_journal-7249	97	16	time	time	NOUN
american_scientific_journal-7249	97	17	,	,	PUNCT
american_scientific_journal-7249	97	18	settling	settle	VERB
american_scientific_journal-7249	97	19	time	time	NOUN
american_scientific_journal-7249	97	20	,	,	PUNCT
american_scientific_journal-7249	97	21	and	and	CCONJ
american_scientific_journal-7249	97	22	itae	itae	PROPN
american_scientific_journal-7249	97	23	.	.	PUNCT
american_scientific_journal-7249	98	1	therefore	therefore	ADV
american_scientific_journal-7249	98	2	,	,	PUNCT
american_scientific_journal-7249	98	3	it	it	PRON
american_scientific_journal-7249	98	4	can	can	AUX
american_scientific_journal-7249	98	5	be	be	AUX
american_scientific_journal-7249	98	6	said	say	VERB
american_scientific_journal-7249	98	7	that	that	SCONJ
american_scientific_journal-7249	98	8	the	the	DET
american_scientific_journal-7249	98	9	pidd2	pidd2	PROPN
american_scientific_journal-7249	98	10	controller	controller	NOUN
american_scientific_journal-7249	98	11	is	be	AUX
american_scientific_journal-7249	98	12	the	the	DET
american_scientific_journal-7249	98	13	fastest	fast	ADJ
american_scientific_journal-7249	98	14	.	.	PUNCT
american_scientific_journal-7249	99	1	table	table	NOUN
american_scientific_journal-7249	99	2	1	1	NUM
american_scientific_journal-7249	99	3	:	:	PUNCT
american_scientific_journal-7249	99	4	the	the	DET
american_scientific_journal-7249	99	5	parameters	parameter	NOUN
american_scientific_journal-7249	99	6	of	of	ADP
american_scientific_journal-7249	99	7	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	99	8	.	.	PUNCT
american_scientific_journal-7249	100	1	parameters	parameter	NOUN
american_scientific_journal-7249	100	2	symbol	symbol	NOUN
american_scientific_journal-7249	100	3	value	value	NOUN
american_scientific_journal-7249	100	4	units	unit	NOUN
american_scientific_journal-7249	100	5	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	100	6	moment	moment	NOUN
american_scientific_journal-7249	100	7	of	of	ADP
american_scientific_journal-7249	100	8	inertia	inertia	NOUN
american_scientific_journal-7249	100	9	around	around	ADV
american_scientific_journal-7249	100	10	x	x	PUNCT
american_scientific_journal-7249	100	11	axis	axis	NOUN
american_scientific_journal-7249	100	12	7.5	7.5	NUM
american_scientific_journal-7249	100	13	*	*	SYM
american_scientific_journal-7249	100	14	10	10	NUM
american_scientific_journal-7249	100	15	-3	-3	PUNCT
american_scientific_journal-7249	100	16	kg.m	kg.m	PROPN
american_scientific_journal-7249	100	17	2	2	NUM
american_scientific_journal-7249	100	18	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	100	19	moment	moment	NOUN
american_scientific_journal-7249	100	20	of	of	ADP
american_scientific_journal-7249	100	21	inertia	inertia	NOUN
american_scientific_journal-7249	100	22	around	around	ADP
american_scientific_journal-7249	100	23	y	y	PROPN
american_scientific_journal-7249	100	24	axis	axis	NOUN
american_scientific_journal-7249	100	25	75	75	NUM
american_scientific_journal-7249	100	26	*	*	SYM
american_scientific_journal-7249	100	27	10	10	NUM
american_scientific_journal-7249	100	28	-3	-3	PUNCT
american_scientific_journal-7249	100	29	kg.m	kg.m	PROPN
american_scientific_journal-7249	100	30	2	2	NUM
american_scientific_journal-7249	100	31	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	100	32	moment	moment	NOUN
american_scientific_journal-7249	100	33	of	of	ADP
american_scientific_journal-7249	100	34	inertia	inertia	NOUN
american_scientific_journal-7249	100	35	around	around	ADP
american_scientific_journal-7249	100	36	z	z	NOUN
american_scientific_journal-7249	100	37	axis	axis	VERB
american_scientific_journal-7249	100	38	1.2	1.2	NUM
american_scientific_journal-7249	100	39	*	*	SYM
american_scientific_journal-7249	100	40	10	10	NUM
american_scientific_journal-7249	100	41	-2	-2	NOUN
american_scientific_journal-7249	100	42	kg.m	kg.m	PROPN
american_scientific_journal-7249	100	43	2	2	NUM
american_scientific_journal-7249	100	44	distance	distance	NOUN
american_scientific_journal-7249	100	45	to	to	ADP
american_scientific_journal-7249	100	46	the	the	DET
american_scientific_journal-7249	100	47	center	center	NOUN
american_scientific_journal-7249	100	48	of	of	ADP
american_scientific_journal-7249	100	49	the	the	DET
american_scientific_journal-7249	100	50	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	100	51	0.23	0.23	NUM
american_scientific_journal-7249	100	52	m	m	NOUN
american_scientific_journal-7249	100	53	mass	mass	NOUN
american_scientific_journal-7249	100	54	of	of	ADP
american_scientific_journal-7249	100	55	the	the	DET
american_scientific_journal-7249	100	56	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	100	57	0.65	0.65	NUM
american_scientific_journal-7249	100	58	kg	kg	PROPN
american_scientific_journal-7249	100	59	gravitational	gravitational	ADJ
american_scientific_journal-7249	100	60	acceleration	acceleration	NOUN
american_scientific_journal-7249	100	61	9.81	9.81	NUM
american_scientific_journal-7249	100	62	m	m	NOUN
american_scientific_journal-7249	100	63	/	/	SYM
american_scientific_journal-7249	100	64	s	s	PART
american_scientific_journal-7249	100	65	2	2	NUM
american_scientific_journal-7249	100	66	total	total	ADJ
american_scientific_journal-7249	100	67	rotational	rotational	ADJ
american_scientific_journal-7249	100	68	moment	moment	NOUN
american_scientific_journal-7249	100	69	of	of	ADP
american_scientific_journal-7249	100	70	inertia	inertia	NOUN
american_scientific_journal-7249	100	71	around	around	ADP
american_scientific_journal-7249	100	72	the	the	DET
american_scientific_journal-7249	100	73	propeller	propeller	NOUN
american_scientific_journal-7249	100	74	axis	axis	VERB
american_scientific_journal-7249	100	75	6.5	6.5	NUM
american_scientific_journal-7249	100	76	*	*	SYM
american_scientific_journal-7249	100	77	10	10	NUM
american_scientific_journal-7249	100	78	-5	-5	ADJ
american_scientific_journal-7249	100	79	kg.m	kg.m	NOUN
american_scientific_journal-7249	100	80	2	2	NUM
american_scientific_journal-7249	100	81	aerodynamic	aerodynamic	ADJ
american_scientific_journal-7249	100	82	force	force	NOUN
american_scientific_journal-7249	100	83	constant	constant	ADJ
american_scientific_journal-7249	100	84	3.13	3.13	NUM
american_scientific_journal-7249	100	85	*	*	SYM
american_scientific_journal-7249	100	86	10	10	NUM
american_scientific_journal-7249	100	87	-5	-5	INTJ
american_scientific_journal-7249	100	88	n.	n.	PROPN
american_scientific_journal-7249	100	89	s	s	PART
american_scientific_journal-7249	100	90	2	2	NUM
american_scientific_journal-7249	100	91	aerodynamic	aerodynamic	ADJ
american_scientific_journal-7249	100	92	moments	moment	NOUN
american_scientific_journal-7249	100	93	constant	constant	ADJ
american_scientific_journal-7249	100	94	7.5	7.5	NUM
american_scientific_journal-7249	100	95	*	*	SYM
american_scientific_journal-7249	100	96	10	10	NUM
american_scientific_journal-7249	100	97	-7	-7	NOUN
american_scientific_journal-7249	100	98	nm	nm	NOUN
american_scientific_journal-7249	100	99	.	.	PUNCT
american_scientific_journal-7249	100	100	s	s	PART
american_scientific_journal-7249	100	101	2	2	NUM
american_scientific_journal-7249	100	102	american	american	ADJ
american_scientific_journal-7249	100	103	academic	academic	ADJ
american_scientific_journal-7249	100	104	scientific	scientific	ADJ
american_scientific_journal-7249	100	105	research	research	NOUN
american_scientific_journal-7249	100	106	journal	journal	NOUN
american_scientific_journal-7249	100	107	for	for	ADP
american_scientific_journal-7249	100	108	engineering	engineering	NOUN
american_scientific_journal-7249	100	109	,	,	PUNCT
american_scientific_journal-7249	100	110	technology	technology	NOUN
american_scientific_journal-7249	100	111	,	,	PUNCT
american_scientific_journal-7249	100	112	and	and	CCONJ
american_scientific_journal-7249	100	113	sciences	science	NOUN
american_scientific_journal-7249	100	114	(	(	PUNCT
american_scientific_journal-7249	100	115	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	100	116	92	92	NUM
american_scientific_journal-7249	100	117	,	,	PUNCT
american_scientific_journal-7249	100	118	no	no	DET
american_scientific_journal-7249	100	119	1	1	NUM
american_scientific_journal-7249	100	120	,	,	PUNCT
american_scientific_journal-7249	100	121	pp	pp	ADV
american_scientific_journal-7249	100	122	77	77	NUM
american_scientific_journal-7249	100	123	-	-	SYM
american_scientific_journal-7249	100	124	90	90	NUM
american_scientific_journal-7249	100	125	86	86	NUM
american_scientific_journal-7249	100	126	table	table	NOUN
american_scientific_journal-7249	100	127	2	2	NUM
american_scientific_journal-7249	100	128	:	:	PUNCT
american_scientific_journal-7249	100	129	the	the	DET
american_scientific_journal-7249	100	130	setting	set	VERB
american_scientific_journal-7249	100	131	parameters	parameter	NOUN
american_scientific_journal-7249	100	132	of	of	ADP
american_scientific_journal-7249	100	133	ssa	ssa	NOUN
american_scientific_journal-7249	100	134	with	with	ADP
american_scientific_journal-7249	100	135	gains	gain	NOUN
american_scientific_journal-7249	100	136	’	'	PUNCT
american_scientific_journal-7249	100	137	values	value	NOUN
american_scientific_journal-7249	100	138	of	of	ADP
american_scientific_journal-7249	100	139	the	the	DET
american_scientific_journal-7249	100	140	controllers	controller	NOUN
american_scientific_journal-7249	100	141	.	.	PUNCT
american_scientific_journal-7249	101	1	controller	controller	NOUN
american_scientific_journal-7249	101	2	population	population	NOUN
american_scientific_journal-7249	101	3	iteration	iteration	NOUN
american_scientific_journal-7249	101	4	gains	gain	NOUN
american_scientific_journal-7249	101	5	pid	pid	NOUN
american_scientific_journal-7249	101	6	30	30	NUM
american_scientific_journal-7249	101	7	50	50	NUM
american_scientific_journal-7249	101	8	z	z	NOUN
american_scientific_journal-7249	101	9	7.6532	7.6532	NUM
american_scientific_journal-7249	101	10	1.5003	1.5003	NUM
american_scientific_journal-7249	101	11	7.6502	7.6502	NUM
american_scientific_journal-7249	101	12	phi	phi	NOUN
american_scientific_journal-7249	101	13	8.3302	8.3302	NUM
american_scientific_journal-7249	101	14	0.1135	0.1135	NUM
american_scientific_journal-7249	101	15	2.3298	2.3298	NUM
american_scientific_journal-7249	101	16	theta	theta	NOUN
american_scientific_journal-7249	101	17	1.2514	1.2514	NUM
american_scientific_journal-7249	101	18	0.0931	0.0931	NUM
american_scientific_journal-7249	101	19	0.3120	0.3120	NUM
american_scientific_journal-7249	101	20	psi	psi	VERB
american_scientific_journal-7249	101	21	1.1502	1.1502	NUM
american_scientific_journal-7249	101	22	0.2389	0.2389	NUM
american_scientific_journal-7249	101	23	1.6534	1.6534	NUM
american_scientific_journal-7249	101	24	fopid	fopid	NOUN
american_scientific_journal-7249	101	25	10	10	NUM
american_scientific_journal-7249	101	26	30	30	NUM
american_scientific_journal-7249	101	27	z	z	NOUN
american_scientific_journal-7249	101	28	11.3203	11.3203	NUM
american_scientific_journal-7249	101	29	0.9521	0.9521	NUM
american_scientific_journal-7249	101	30	9.3501	9.3501	NUM
american_scientific_journal-7249	101	31	1.2003	1.2003	NUM
american_scientific_journal-7249	101	32	0.5012	0.5012	NUM
american_scientific_journal-7249	101	33	phi	phi	NOUN
american_scientific_journal-7249	101	34	10.6235	10.6235	NUM
american_scientific_journal-7249	101	35	1.9152	1.9152	NUM
american_scientific_journal-7249	101	36	3.2015	3.2015	NUM
american_scientific_journal-7249	101	37	0.9001	0.9001	NUM
american_scientific_journal-7249	101	38	0.2398	0.2398	NUM
american_scientific_journal-7249	101	39	theta	theta	NOUN
american_scientific_journal-7249	101	40	9.1230	9.1230	NUM
american_scientific_journal-7249	101	41	0.8901	0.8901	NUM
american_scientific_journal-7249	101	42	5.3092	5.3092	NUM
american_scientific_journal-7249	101	43	0.8310	0.8310	NUM
american_scientific_journal-7249	101	44	0.4981	0.4981	NUM
american_scientific_journal-7249	101	45	psi	psi	VERB
american_scientific_journal-7249	101	46	4.0015	4.0015	NUM
american_scientific_journal-7249	101	47	2.3692	2.3692	NUM
american_scientific_journal-7249	101	48	4.6191	4.6191	NUM
american_scientific_journal-7249	101	49	0.9810	0.9810	NUM
american_scientific_journal-7249	101	50	0.8035	0.8035	NUM
american_scientific_journal-7249	101	51	pidd	pidd	VERB
american_scientific_journal-7249	101	52	2	2	NUM
american_scientific_journal-7249	101	53	30	30	NUM
american_scientific_journal-7249	101	54	30	30	NUM
american_scientific_journal-7249	101	55	z	z	NOUN
american_scientific_journal-7249	101	56	11.5013	11.5013	NUM
american_scientific_journal-7249	101	57	0.3025	0.3025	NUM
american_scientific_journal-7249	101	58	8.9102	8.9102	NUM
american_scientific_journal-7249	101	59	0.5210	0.5210	NUM
american_scientific_journal-7249	101	60	phi	phi	NOUN
american_scientific_journal-7249	101	61	4.5928	4.5928	NUM
american_scientific_journal-7249	101	62	0.2056	0.2056	NUM
american_scientific_journal-7249	101	63	0.5192	0.5192	NUM
american_scientific_journal-7249	101	64	0.4136	0.4136	NUM
american_scientific_journal-7249	101	65	theta	theta	NOUN
american_scientific_journal-7249	101	66	8.6301	8.6301	NUM
american_scientific_journal-7249	101	67	1.9410	1.9410	NUM
american_scientific_journal-7249	101	68	4.2109	4.2109	NUM
american_scientific_journal-7249	101	69	0.4152	0.4152	NUM
american_scientific_journal-7249	101	70	psi	psi	VERB
american_scientific_journal-7249	101	71	5.1102	5.1102	NUM
american_scientific_journal-7249	101	72	1.7509	1.7509	NUM
american_scientific_journal-7249	101	73	2.4158	2.4158	NUM
american_scientific_journal-7249	101	74	0.2982	0.2982	NUM
american_scientific_journal-7249	101	75	table	table	NOUN
american_scientific_journal-7249	101	76	3	3	NUM
american_scientific_journal-7249	101	77	:	:	PUNCT
american_scientific_journal-7249	101	78	step	step	VERB
american_scientific_journal-7249	101	79	information	information	NOUN
american_scientific_journal-7249	101	80	of	of	ADP
american_scientific_journal-7249	101	81	controllers	controller	NOUN
american_scientific_journal-7249	101	82	with	with	ADP
american_scientific_journal-7249	101	83	itae	itae	PROPN
american_scientific_journal-7249	101	84	.	.	PUNCT
american_scientific_journal-7249	102	1	step	step	NOUN
american_scientific_journal-7249	102	2	information	information	NOUN
american_scientific_journal-7249	102	3	of	of	ADP
american_scientific_journal-7249	102	4	pid	pid	NOUN
american_scientific_journal-7249	102	5	controller	controller	NOUN
american_scientific_journal-7249	102	6	rise	rise	VERB
american_scientific_journal-7249	102	7	time	time	NOUN
american_scientific_journal-7249	102	8	settling	settle	VERB
american_scientific_journal-7249	102	9	time	time	NOUN
american_scientific_journal-7249	102	10	overshoot	overshoot	PROPN
american_scientific_journal-7249	102	11	itae	itae	NOUN
american_scientific_journal-7249	102	12	z	z	NOUN
american_scientific_journal-7249	102	13	0.2.003	0.2.003	NUM
american_scientific_journal-7249	102	14	3.3505	3.3505	NUM
american_scientific_journal-7249	102	15	9.6461	9.6461	NUM
american_scientific_journal-7249	102	16	0.4696	0.4696	NUM
american_scientific_journal-7249	102	17	phi	phi	NOUN
american_scientific_journal-7249	102	18	0.2428	0.2428	NUM
american_scientific_journal-7249	102	19	1.5591	1.5591	NUM
american_scientific_journal-7249	102	20	0.0184	0.0184	NUM
american_scientific_journal-7249	102	21	9.7830	9.7830	NUM
american_scientific_journal-7249	102	22	theta	theta	NOUN
american_scientific_journal-7249	102	23	0.8288	0.8288	NUM
american_scientific_journal-7249	102	24	2.5754	2.5754	NUM
american_scientific_journal-7249	102	25	0.0058	0.0058	NUM
american_scientific_journal-7249	102	26	17.0919	17.0919	NUM
american_scientific_journal-7249	102	27	psi	psi	NOUN
american_scientific_journal-7249	102	28	0.0524	0.0524	NUM
american_scientific_journal-7249	102	29	1.4982	1.4982	NUM
american_scientific_journal-7249	102	30	2.4209	2.4209	NUM
american_scientific_journal-7249	102	31	3.5930	3.5930	NUM
american_scientific_journal-7249	102	32	step	step	NOUN
american_scientific_journal-7249	102	33	information	information	NOUN
american_scientific_journal-7249	102	34	of	of	ADP
american_scientific_journal-7249	102	35	fopid	fopid	NOUN
american_scientific_journal-7249	102	36	controller	controller	PROPN
american_scientific_journal-7249	102	37	z	z	PROPN
american_scientific_journal-7249	102	38	0.1884	0.1884	NUM
american_scientific_journal-7249	103	1	3.2211	3.2211	NUM
american_scientific_journal-7249	103	2	5.0832	5.0832	NUM
american_scientific_journal-7249	103	3	0.3014	0.3014	NUM
american_scientific_journal-7249	103	4	phi	phi	NOUN
american_scientific_journal-7249	103	5	0.4875	0.4875	NUM
american_scientific_journal-7249	103	6	2.0184	2.0184	NUM
american_scientific_journal-7249	103	7	0.0743	0.0743	NUM
american_scientific_journal-7249	103	8	10.7433	10.7433	NUM
american_scientific_journal-7249	103	9	theta	theta	NOUN
american_scientific_journal-7249	103	10	0.6515	0.6515	NUM
american_scientific_journal-7249	103	11	2.6257	2.6257	NUM
american_scientific_journal-7249	103	12	0.0225	0.0225	NUM
american_scientific_journal-7249	103	13	12.4308	12.4308	NUM
american_scientific_journal-7249	103	14	psi	psi	NOUN
american_scientific_journal-7249	103	15	0.0217	0.0217	NUM
american_scientific_journal-7249	103	16	1.0375	1.0375	NUM
american_scientific_journal-7249	103	17	1.0888	1.0888	NUM
american_scientific_journal-7249	103	18	1.2912	1.2912	NUM
american_scientific_journal-7249	103	19	step	step	NOUN
american_scientific_journal-7249	103	20	information	information	NOUN
american_scientific_journal-7249	103	21	of	of	ADP
american_scientific_journal-7249	103	22	pidd	pidd	ADJ
american_scientific_journal-7249	103	23	2	2	NUM
american_scientific_journal-7249	103	24	controller	controller	NOUN
american_scientific_journal-7249	103	25	z	z	NOUN
american_scientific_journal-7249	103	26	0.1834	0.1834	NUM
american_scientific_journal-7249	103	27	2.6977	2.6977	NUM
american_scientific_journal-7249	103	28	9.2625	9.2625	NUM
american_scientific_journal-7249	103	29	0.2845	0.2845	NUM
american_scientific_journal-7249	103	30	phi	phi	NOUN
american_scientific_journal-7249	103	31	0.2115	0.2115	NOUN
american_scientific_journal-7249	103	32	1.3914	1.3914	NUM
american_scientific_journal-7249	103	33	0.0554	0.0554	NUM
american_scientific_journal-7249	103	34	8.8304	8.8304	NUM
american_scientific_journal-7249	103	35	theta	theta	NOUN
american_scientific_journal-7249	103	36	0.1116	0.1116	NUM
american_scientific_journal-7249	103	37	1.4280	1.4280	NUM
american_scientific_journal-7249	103	38	6.9606	6.9606	NUM
american_scientific_journal-7249	103	39	7.6457	7.6457	NUM
american_scientific_journal-7249	103	40	psi	psi	NOUN
american_scientific_journal-7249	103	41	0.0323	0.0323	NUM
american_scientific_journal-7249	103	42	1.4924	1.4924	NUM
american_scientific_journal-7249	103	43	8.1526	8.1526	NUM
american_scientific_journal-7249	103	44	1.6035	1.6035	NUM
american_scientific_journal-7249	103	45	american	american	ADJ
american_scientific_journal-7249	103	46	academic	academic	ADJ
american_scientific_journal-7249	103	47	scientific	scientific	ADJ
american_scientific_journal-7249	103	48	research	research	NOUN
american_scientific_journal-7249	103	49	journal	journal	NOUN
american_scientific_journal-7249	103	50	for	for	ADP
american_scientific_journal-7249	103	51	engineering	engineering	NOUN
american_scientific_journal-7249	103	52	,	,	PUNCT
american_scientific_journal-7249	103	53	technology	technology	NOUN
american_scientific_journal-7249	103	54	,	,	PUNCT
american_scientific_journal-7249	103	55	and	and	CCONJ
american_scientific_journal-7249	103	56	sciences	science	NOUN
american_scientific_journal-7249	103	57	(	(	PUNCT
american_scientific_journal-7249	103	58	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	103	59	92	92	NUM
american_scientific_journal-7249	103	60	,	,	PUNCT
american_scientific_journal-7249	103	61	no	no	DET
american_scientific_journal-7249	103	62	1	1	NUM
american_scientific_journal-7249	103	63	,	,	PUNCT
american_scientific_journal-7249	103	64	pp	pp	ADV
american_scientific_journal-7249	103	65	77	77	NUM
american_scientific_journal-7249	103	66	-	-	SYM
american_scientific_journal-7249	103	67	90	90	NUM
american_scientific_journal-7249	103	68	87	87	NUM
american_scientific_journal-7249	103	69	(	(	PUNCT
american_scientific_journal-7249	103	70	a	a	NOUN
american_scientific_journal-7249	103	71	)	)	PUNCT
american_scientific_journal-7249	103	72	altitude	altitude	NOUN
american_scientific_journal-7249	103	73	response	response	NOUN
american_scientific_journal-7249	103	74	.	.	PUNCT
american_scientific_journal-7249	104	1	(	(	PUNCT
american_scientific_journal-7249	104	2	b	b	X
american_scientific_journal-7249	104	3	)	)	PUNCT
american_scientific_journal-7249	104	4	roll	roll	NOUN
american_scientific_journal-7249	104	5	response	response	NOUN
american_scientific_journal-7249	104	6	(	(	PUNCT
american_scientific_journal-7249	104	7	c	c	NOUN
american_scientific_journal-7249	104	8	)	)	PUNCT
american_scientific_journal-7249	104	9	pitch	pitch	NOUN
american_scientific_journal-7249	104	10	response	response	NOUN
american_scientific_journal-7249	104	11	.	.	PUNCT
american_scientific_journal-7249	105	1	(	(	PUNCT
american_scientific_journal-7249	105	2	d	d	X
american_scientific_journal-7249	105	3	)	)	PUNCT
american_scientific_journal-7249	105	4	yaw	yaw	NOUN
american_scientific_journal-7249	105	5	response	response	NOUN
american_scientific_journal-7249	105	6	.	.	PUNCT
american_scientific_journal-7249	106	1	figure	figure	VERB
american_scientific_journal-7249	106	2	3	3	NUM
american_scientific_journal-7249	106	3	:	:	PUNCT
american_scientific_journal-7249	106	4	step	step	NOUN
american_scientific_journal-7249	106	5	responses	response	NOUN
american_scientific_journal-7249	106	6	of	of	ADP
american_scientific_journal-7249	106	7	the	the	DET
american_scientific_journal-7249	106	8	controllers	controller	NOUN
american_scientific_journal-7249	106	9	.	.	PUNCT
american_scientific_journal-7249	107	1	american	american	ADJ
american_scientific_journal-7249	107	2	academic	academic	ADJ
american_scientific_journal-7249	107	3	scientific	scientific	ADJ
american_scientific_journal-7249	107	4	research	research	NOUN
american_scientific_journal-7249	107	5	journal	journal	NOUN
american_scientific_journal-7249	107	6	for	for	ADP
american_scientific_journal-7249	107	7	engineering	engineering	NOUN
american_scientific_journal-7249	107	8	,	,	PUNCT
american_scientific_journal-7249	107	9	technology	technology	NOUN
american_scientific_journal-7249	107	10	,	,	PUNCT
american_scientific_journal-7249	107	11	and	and	CCONJ
american_scientific_journal-7249	107	12	sciences	science	NOUN
american_scientific_journal-7249	107	13	(	(	PUNCT
american_scientific_journal-7249	107	14	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	107	15	92	92	NUM
american_scientific_journal-7249	107	16	,	,	PUNCT
american_scientific_journal-7249	107	17	no	no	DET
american_scientific_journal-7249	107	18	1	1	NUM
american_scientific_journal-7249	107	19	,	,	PUNCT
american_scientific_journal-7249	107	20	pp	pp	ADV
american_scientific_journal-7249	107	21	77	77	NUM
american_scientific_journal-7249	107	22	-	-	SYM
american_scientific_journal-7249	107	23	90	90	NUM
american_scientific_journal-7249	107	24	88	88	NUM
american_scientific_journal-7249	107	25	7	7	NUM
american_scientific_journal-7249	107	26	.	.	PUNCT
american_scientific_journal-7249	107	27	related	relate	VERB
american_scientific_journal-7249	107	28	work	work	NOUN
american_scientific_journal-7249	107	29	table	table	NOUN
american_scientific_journal-7249	107	30	table	table	NOUN
american_scientific_journal-7249	107	31	4	4	NUM
american_scientific_journal-7249	107	32	study	study	NOUN
american_scientific_journal-7249	107	33	the	the	DET
american_scientific_journal-7249	107	34	aim	aim	NOUN
american_scientific_journal-7249	107	35	type	type	NOUN
american_scientific_journal-7249	107	36	of	of	ADP
american_scientific_journal-7249	107	37	uav	uav	PROPN
american_scientific_journal-7249	107	38	the	the	DET
american_scientific_journal-7249	107	39	controller	controller	NOUN
american_scientific_journal-7249	107	40	tuned	tune	VERB
american_scientific_journal-7249	107	41	method	method	NOUN
american_scientific_journal-7249	107	42	h.	h.	PROPN
american_scientific_journal-7249	107	43	bolandi	bolandi	PROPN
american_scientific_journal-7249	107	44	and	and	CCONJ
american_scientific_journal-7249	107	45	colleagues	colleague	NOUN
american_scientific_journal-7249	107	46	[	[	X
american_scientific_journal-7249	107	47	7	7	NUM
american_scientific_journal-7249	107	48	]	]	SYM
american_scientific_journal-7249	107	49	2012	2012	NUM
american_scientific_journal-7249	107	50	to	to	PART
american_scientific_journal-7249	107	51	control	control	VERB
american_scientific_journal-7249	107	52	the	the	DET
american_scientific_journal-7249	107	53	attitude	attitude	NOUN
american_scientific_journal-7249	107	54	of	of	ADP
american_scientific_journal-7249	107	55	a	a	DET
american_scientific_journal-7249	107	56	subsystem	subsystem	NOUN
american_scientific_journal-7249	107	57	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	107	58	pid	pid	NOUN
american_scientific_journal-7249	107	59	direct	direct	ADJ
american_scientific_journal-7249	107	60	synthesis	synthesis	NOUN
american_scientific_journal-7249	107	61	method	method	NOUN
american_scientific_journal-7249	107	62	e.reyesvaleria	e.reyesvaleria	NOUN
american_scientific_journal-7249	107	63	and	and	CCONJ
american_scientific_journal-7249	107	64	colleagues	colleague	NOUN
american_scientific_journal-7249	107	65	[	[	X
american_scientific_journal-7249	107	66	6	6	NUM
american_scientific_journal-7249	107	67	]	]	PUNCT
american_scientific_journal-7249	107	68	2013	2013	NUM
american_scientific_journal-7249	107	69	to	to	PART
american_scientific_journal-7249	107	70	control	control	VERB
american_scientific_journal-7249	107	71	the	the	DET
american_scientific_journal-7249	107	72	attitude	attitude	NOUN
american_scientific_journal-7249	107	73	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	107	74	lqr	lqr	NOUN
american_scientific_journal-7249	107	75	gain	gain	VERB
american_scientific_journal-7249	107	76	scheduling	scheduling	NOUN
american_scientific_journal-7249	107	77	control	control	NOUN
american_scientific_journal-7249	107	78	-	-	PUNCT
american_scientific_journal-7249	107	79	l.	l.	PROPN
american_scientific_journal-7249	107	80	argentim	argentim	PROPN
american_scientific_journal-7249	107	81	and	and	CCONJ
american_scientific_journal-7249	107	82	colleagues[10	colleagues[10	ADJ
american_scientific_journal-7249	107	83	]	]	PUNCT
american_scientific_journal-7249	107	84	2013	2013	NUM
american_scientific_journal-7249	107	85	to	to	PART
american_scientific_journal-7249	107	86	compare	compare	VERB
american_scientific_journal-7249	107	87	between	between	ADP
american_scientific_journal-7249	107	88	different	different	ADJ
american_scientific_journal-7249	107	89	types	type	NOUN
american_scientific_journal-7249	107	90	of	of	ADP
american_scientific_journal-7249	107	91	controllers	controller	NOUN
american_scientific_journal-7249	107	92	quadrotor	quadrotor	PROPN
american_scientific_journal-7249	107	93	itae	itae	PROPN
american_scientific_journal-7249	107	94	,	,	PUNCT
american_scientific_journal-7249	107	95	pid	pid	NOUN
american_scientific_journal-7249	107	96	and	and	CCONJ
american_scientific_journal-7249	107	97	lqr	lqr	PROPN
american_scientific_journal-7249	107	98	pid	pid	NOUN
american_scientific_journal-7249	107	99	tuned	tune	VERB
american_scientific_journal-7249	107	100	by	by	ADP
american_scientific_journal-7249	107	101	lqr	lqr	PROPN
american_scientific_journal-7249	107	102	loop	loop	PROPN
american_scientific_journal-7249	107	103	and	and	CCONJ
american_scientific_journal-7249	107	104	itae	itae	NOUN
american_scientific_journal-7249	107	105	tuned	tune	VERB
american_scientific_journal-7249	107	106	by	by	ADP
american_scientific_journal-7249	107	107	pid	pid	PROPN
american_scientific_journal-7249	107	108	h.	h.	PROPN
american_scientific_journal-7249	107	109	yin	yin	PROPN
american_scientific_journal-7249	107	110	and	and	CCONJ
american_scientific_journal-7249	107	111	colleagues[12	colleagues[12	PROPN
american_scientific_journal-7249	107	112	]	]	PUNCT
american_scientific_journal-7249	107	113	2017	2017	NUM
american_scientific_journal-7249	107	114	position	position	NOUN
american_scientific_journal-7249	107	115	and	and	CCONJ
american_scientific_journal-7249	107	116	attitude	attitude	NOUN
american_scientific_journal-7249	107	117	tracking	track	VERB
american_scientific_journal-7249	107	118	control	control	NOUN
american_scientific_journal-7249	107	119	by	by	ADP
american_scientific_journal-7249	107	120	design	design	NOUN
american_scientific_journal-7249	107	121	a	a	DET
american_scientific_journal-7249	107	122	double	double	ADJ
american_scientific_journal-7249	107	123	-	-	PUNCT
american_scientific_journal-7249	107	124	loop	loop	NOUN
american_scientific_journal-7249	107	125	controller	controller	NOUN
american_scientific_journal-7249	107	126	using	use	VERB
american_scientific_journal-7249	107	127	pid	pid	NOUN
american_scientific_journal-7249	107	128	and	and	CCONJ
american_scientific_journal-7249	107	129	sliding	slide	VERB
american_scientific_journal-7249	107	130	mode	mode	NOUN
american_scientific_journal-7249	107	131	controller	controller	NOUN
american_scientific_journal-7249	107	132	(	(	PUNCT
american_scientific_journal-7249	107	133	smc	smc	PROPN
american_scientific_journal-7249	107	134	)	)	PUNCT
american_scientific_journal-7249	107	135	.	.	PUNCT
american_scientific_journal-7249	108	1	quadrotor	quadrotor	PROPN
american_scientific_journal-7249	108	2	pd	pd	PROPN
american_scientific_journal-7249	108	3	and	and	CCONJ
american_scientific_journal-7249	108	4	sliding	slide	VERB
american_scientific_journal-7249	108	5	mode	mode	NOUN
american_scientific_journal-7249	108	6	controller	controller	NOUN
american_scientific_journal-7249	108	7	(	(	PUNCT
american_scientific_journal-7249	108	8	smc	smc	PROPN
american_scientific_journal-7249	108	9	)	)	PUNCT
american_scientific_journal-7249	108	10	.	.	PUNCT
american_scientific_journal-7249	108	11	-	-	PUNCT
american_scientific_journal-7249	108	12	b.	b.	PROPN
american_scientific_journal-7249	108	13	kamel	kamel	PROPN
american_scientific_journal-7249	108	14	and	and	CCONJ
american_scientific_journal-7249	108	15	colleagues	colleague	NOUN
american_scientific_journal-7249	108	16	[	[	X
american_scientific_journal-7249	108	17	9	9	NUM
american_scientific_journal-7249	108	18	]	]	SYM
american_scientific_journal-7249	108	19	2017	2017	NUM
american_scientific_journal-7249	108	20	position	position	NOUN
american_scientific_journal-7249	108	21	and	and	CCONJ
american_scientific_journal-7249	108	22	attitude	attitude	NOUN
american_scientific_journal-7249	108	23	control	control	NOUN
american_scientific_journal-7249	108	24	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	108	25	pid	pid	PROPN
american_scientific_journal-7249	108	26	manual	manual	PROPN
american_scientific_journal-7249	108	27	k.	k.	PROPN
american_scientific_journal-7249	108	28	pan	pan	PROPN
american_scientific_journal-7249	108	29	and	and	CCONJ
american_scientific_journal-7249	108	30	colleagues[4	colleagues[4	PROPN
american_scientific_journal-7249	108	31	]	]	X
american_scientific_journal-7249	108	32	2018	2018	NUM
american_scientific_journal-7249	108	33	track	track	NOUN
american_scientific_journal-7249	108	34	the	the	DET
american_scientific_journal-7249	108	35	referred	refer	VERB
american_scientific_journal-7249	108	36	position	position	NOUN
american_scientific_journal-7249	108	37	and	and	CCONJ
american_scientific_journal-7249	108	38	attitude	attitude	NOUN
american_scientific_journal-7249	108	39	quadrotor	quadrotor	PROPN
american_scientific_journal-7249	108	40	double	double	PROPN
american_scientific_journal-7249	108	41	closedloop	closedloop	NOUN
american_scientific_journal-7249	108	42	cascaded	cascade	VERB
american_scientific_journal-7249	108	43	lqr	lqr	VERB
american_scientific_journal-7249	108	44	simultaneous	simultaneous	ADJ
american_scientific_journal-7249	108	45	perturbation	perturbation	NOUN
american_scientific_journal-7249	108	46	stochastic	stochastic	NOUN
american_scientific_journal-7249	108	47	approximation	approximation	NOUN
american_scientific_journal-7249	108	48	(	(	PUNCT
american_scientific_journal-7249	108	49	spsa	spsa	PROPN
american_scientific_journal-7249	108	50	)	)	PUNCT
american_scientific_journal-7249	109	1	e.	e.	PROPN
american_scientific_journal-7249	109	2	okyere	okyere	PROPN
american_scientific_journal-7249	109	3	and	and	CCONJ
american_scientific_journal-7249	109	4	colleagues	colleague	NOUN
american_scientific_journal-7249	109	5	[	[	X
american_scientific_journal-7249	109	6	5	5	NUM
american_scientific_journal-7249	109	7	]	]	SYM
american_scientific_journal-7249	109	8	2018	2018	NUM
american_scientific_journal-7249	109	9	position	position	NOUN
american_scientific_journal-7249	109	10	and	and	CCONJ
american_scientific_journal-7249	109	11	attitude	attitude	NOUN
american_scientific_journal-7249	109	12	control	control	NOUN
american_scientific_journal-7249	109	13	quadrotor	quadrotor	PROPN
american_scientific_journal-7249	109	14	lqr	lqr	PROPN
american_scientific_journal-7249	109	15	matlab	matlab	PROPN
american_scientific_journal-7249	109	16	command	command	NOUN
american_scientific_journal-7249	109	17	by	by	ADP
american_scientific_journal-7249	109	18	varying	vary	VERB
american_scientific_journal-7249	109	19	q	q	PROPN
american_scientific_journal-7249	109	20	and	and	CCONJ
american_scientific_journal-7249	109	21	r	r	NOUN
american_scientific_journal-7249	109	22	m.	m.	NOUN
american_scientific_journal-7249	109	23	karahan	karahan	PROPN
american_scientific_journal-7249	109	24	and	and	CCONJ
american_scientific_journal-7249	109	25	colleagues	colleague	NOUN
american_scientific_journal-7249	109	26	[	[	X
american_scientific_journal-7249	109	27	8	8	NUM
american_scientific_journal-7249	109	28	]	]	SYM
american_scientific_journal-7249	109	29	2019	2019	NUM
american_scientific_journal-7249	109	30	altitude	altitude	NOUN
american_scientific_journal-7249	109	31	and	and	CCONJ
american_scientific_journal-7249	109	32	attitude	attitude	NOUN
american_scientific_journal-7249	109	33	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	109	34	pid	pid	NOUN
american_scientific_journal-7249	109	35	manual	manual	PROPN
american_scientific_journal-7249	109	36	g.	g.	PROPN
american_scientific_journal-7249	109	37	sheng	sheng	PROPN
american_scientific_journal-7249	109	38	and	and	CCONJ
american_scientific_journal-7249	109	39	colleagues	colleague	NOUN
american_scientific_journal-7249	110	1	[	[	X
american_scientific_journal-7249	110	2	11	11	NUM
american_scientific_journal-7249	110	3	]	]	SYM
american_scientific_journal-7249	110	4	2019	2019	NUM
american_scientific_journal-7249	110	5	presents	present	VERB
american_scientific_journal-7249	110	6	the	the	DET
american_scientific_journal-7249	110	7	application	application	NOUN
american_scientific_journal-7249	110	8	of	of	ADP
american_scientific_journal-7249	110	9	fuzzy	fuzzy	ADJ
american_scientific_journal-7249	110	10	controller	controller	NOUN
american_scientific_journal-7249	110	11	in	in	ADP
american_scientific_journal-7249	110	12	civil	civil	ADJ
american_scientific_journal-7249	110	13	fourrotor	fourrotor	NOUN
american_scientific_journal-7249	110	14	uav	uav	PROPN
american_scientific_journal-7249	110	15	quadrotor	quadrotor	PROPN
american_scientific_journal-7249	110	16	classic	classic	ADJ
american_scientific_journal-7249	110	17	pid	pid	NOUN
american_scientific_journal-7249	110	18	and	and	CCONJ
american_scientific_journal-7249	110	19	fuzzy	fuzzy	ADJ
american_scientific_journal-7249	110	20	control	control	NOUN
american_scientific_journal-7249	110	21	pid	pid	NOUN
american_scientific_journal-7249	110	22	system	system	NOUN
american_scientific_journal-7249	110	23	fuzzy	fuzzy	ADJ
american_scientific_journal-7249	110	24	n.	n.	PROPN
american_scientific_journal-7249	110	25	xuanmung	xuanmung	PROPN
american_scientific_journal-7249	110	26	and	and	CCONJ
american_scientific_journal-7249	110	27	colleagues	colleague	NOUN
american_scientific_journal-7249	110	28	[	[	X
american_scientific_journal-7249	110	29	3	3	NUM
american_scientific_journal-7249	110	30	]	]	SYM
american_scientific_journal-7249	110	31	2019	2019	NUM
american_scientific_journal-7249	110	32	presented	present	VERB
american_scientific_journal-7249	110	33	a	a	DET
american_scientific_journal-7249	110	34	control	control	NOUN
american_scientific_journal-7249	110	35	algorithm	algorithm	NOUN
american_scientific_journal-7249	110	36	for	for	ADP
american_scientific_journal-7249	110	37	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	110	38	’s	’s	PART
american_scientific_journal-7249	110	39	altitude	altitude	NOUN
american_scientific_journal-7249	110	40	which	which	PRON
american_scientific_journal-7249	110	41	consists	consist	VERB
american_scientific_journal-7249	110	42	of	of	ADP
american_scientific_journal-7249	110	43	a	a	DET
american_scientific_journal-7249	110	44	combination	combination	NOUN
american_scientific_journal-7249	110	45	of	of	ADP
american_scientific_journal-7249	110	46	nonlinear	nonlinear	ADJ
american_scientific_journal-7249	110	47	and	and	CCONJ
american_scientific_journal-7249	110	48	linear	linear	ADJ
american_scientific_journal-7249	110	49	controllers	controller	NOUN
american_scientific_journal-7249	110	50	to	to	PART
american_scientific_journal-7249	110	51	control	control	VERB
american_scientific_journal-7249	110	52	position	position	NOUN
american_scientific_journal-7249	110	53	and	and	CCONJ
american_scientific_journal-7249	110	54	attitude	attitude	NOUN
american_scientific_journal-7249	110	55	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	110	56	pid	pid	NOUN
american_scientific_journal-7249	110	57	and	and	CCONJ
american_scientific_journal-7249	110	58	a	a	DET
american_scientific_journal-7249	110	59	new	new	ADJ
american_scientific_journal-7249	110	60	altitude	altitude	NOUN
american_scientific_journal-7249	110	61	controller	controller	NOUN
american_scientific_journal-7249	110	62	which	which	PRON
american_scientific_journal-7249	110	63	consists	consist	VERB
american_scientific_journal-7249	110	64	of	of	ADP
american_scientific_journal-7249	110	65	multi	multi	ADJ
american_scientific_journal-7249	110	66	-	-	ADJ
american_scientific_journal-7249	110	67	loop	loop	ADJ
american_scientific_journal-7249	110	68	controller	controller	NOUN
american_scientific_journal-7249	110	69	-	-	PUNCT
american_scientific_journal-7249	110	70	this	this	DET
american_scientific_journal-7249	110	71	paper	paper	NOUN
american_scientific_journal-7249	110	72	altitude	altitude	NOUN
american_scientific_journal-7249	110	73	and	and	CCONJ
american_scientific_journal-7249	110	74	attitude	attitude	NOUN
american_scientific_journal-7249	110	75	quadrotor	quadrotor	PROPN
american_scientific_journal-7249	110	76	pid	pid	PROPN
american_scientific_journal-7249	110	77	,	,	PUNCT
american_scientific_journal-7249	110	78	fractional	fractional	ADJ
american_scientific_journal-7249	110	79	order	order	NOUN
american_scientific_journal-7249	110	80	pid	pid	NOUN
american_scientific_journal-7249	110	81	,	,	PUNCT
american_scientific_journal-7249	110	82	pid	pid	NOUN
american_scientific_journal-7249	110	83	plus	plus	CCONJ
american_scientific_journal-7249	110	84	second	second	ADJ
american_scientific_journal-7249	110	85	derivative	derivative	ADJ
american_scientific_journal-7249	110	86	controller	controller	NOUN
american_scientific_journal-7249	110	87	(	(	PUNCT
american_scientific_journal-7249	110	88	pidd2	pidd2	NOUN
american_scientific_journal-7249	110	89	)	)	PUNCT
american_scientific_journal-7249	110	90	salp	salp	NOUN
american_scientific_journal-7249	110	91	swarm	swarm	NOUN
american_scientific_journal-7249	110	92	algorithm	algorithm	NOUN
american_scientific_journal-7249	110	93	(	(	PUNCT
american_scientific_journal-7249	110	94	ssa	ssa	NOUN
american_scientific_journal-7249	110	95	)	)	PUNCT
american_scientific_journal-7249	110	96	american	american	ADJ
american_scientific_journal-7249	110	97	academic	academic	ADJ
american_scientific_journal-7249	110	98	scientific	scientific	ADJ
american_scientific_journal-7249	110	99	research	research	NOUN
american_scientific_journal-7249	110	100	journal	journal	NOUN
american_scientific_journal-7249	110	101	for	for	ADP
american_scientific_journal-7249	110	102	engineering	engineering	NOUN
american_scientific_journal-7249	110	103	,	,	PUNCT
american_scientific_journal-7249	110	104	technology	technology	NOUN
american_scientific_journal-7249	110	105	,	,	PUNCT
american_scientific_journal-7249	110	106	and	and	CCONJ
american_scientific_journal-7249	110	107	sciences	science	NOUN
american_scientific_journal-7249	110	108	(	(	PUNCT
american_scientific_journal-7249	110	109	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	110	110	92	92	NUM
american_scientific_journal-7249	110	111	,	,	PUNCT
american_scientific_journal-7249	110	112	no	no	DET
american_scientific_journal-7249	110	113	1	1	NUM
american_scientific_journal-7249	110	114	,	,	PUNCT
american_scientific_journal-7249	110	115	pp	pp	ADV
american_scientific_journal-7249	110	116	77	77	NUM
american_scientific_journal-7249	110	117	-	-	SYM
american_scientific_journal-7249	110	118	90	90	NUM
american_scientific_journal-7249	110	119	89	89	NUM
american_scientific_journal-7249	110	120	8	8	NUM
american_scientific_journal-7249	110	121	.	.	PUNCT
american_scientific_journal-7249	111	1	conclusion	conclusion	NOUN
american_scientific_journal-7249	111	2	in	in	ADP
american_scientific_journal-7249	111	3	this	this	DET
american_scientific_journal-7249	111	4	study	study	NOUN
american_scientific_journal-7249	111	5	,	,	PUNCT
american_scientific_journal-7249	111	6	the	the	DET
american_scientific_journal-7249	111	7	performance	performance	NOUN
american_scientific_journal-7249	111	8	of	of	ADP
american_scientific_journal-7249	111	9	different	different	ADJ
american_scientific_journal-7249	111	10	controllers	controller	NOUN
american_scientific_journal-7249	111	11	are	be	AUX
american_scientific_journal-7249	111	12	tested	test	VERB
american_scientific_journal-7249	111	13	for	for	ADP
american_scientific_journal-7249	111	14	control	control	NOUN
american_scientific_journal-7249	111	15	of	of	ADP
american_scientific_journal-7249	111	16	a	a	DET
american_scientific_journal-7249	111	17	uav	uav	PROPN
american_scientific_journal-7249	111	18	system	system	NOUN
american_scientific_journal-7249	111	19	.	.	PUNCT
american_scientific_journal-7249	112	1	the	the	DET
american_scientific_journal-7249	112	2	ssa	ssa	NOUN
american_scientific_journal-7249	112	3	,	,	PUNCT
american_scientific_journal-7249	112	4	which	which	PRON
american_scientific_journal-7249	112	5	was	be	AUX
american_scientific_journal-7249	112	6	introduced	introduce	VERB
american_scientific_journal-7249	112	7	recently	recently	ADV
american_scientific_journal-7249	112	8	,	,	PUNCT
american_scientific_journal-7249	112	9	is	be	AUX
american_scientific_journal-7249	112	10	applied	apply	VERB
american_scientific_journal-7249	112	11	to	to	PART
american_scientific_journal-7249	112	12	select	select	VERB
american_scientific_journal-7249	112	13	the	the	DET
american_scientific_journal-7249	112	14	optimal	optimal	ADJ
american_scientific_journal-7249	112	15	values	value	NOUN
american_scientific_journal-7249	112	16	for	for	ADP
american_scientific_journal-7249	112	17	the	the	DET
american_scientific_journal-7249	112	18	controllers	controller	NOUN
american_scientific_journal-7249	112	19	’	'	PUNCT
american_scientific_journal-7249	112	20	gains	gain	NOUN
american_scientific_journal-7249	112	21	.	.	PUNCT
american_scientific_journal-7249	113	1	at	at	ADP
american_scientific_journal-7249	113	2	first	first	ADV
american_scientific_journal-7249	113	3	,	,	PUNCT
american_scientific_journal-7249	113	4	matlab	matlab	PROPN
american_scientific_journal-7249	113	5	simulink	simulink	PROPN
american_scientific_journal-7249	113	6	is	be	AUX
american_scientific_journal-7249	113	7	used	use	VERB
american_scientific_journal-7249	113	8	to	to	PART
american_scientific_journal-7249	113	9	simulate	simulate	VERB
american_scientific_journal-7249	113	10	the	the	DET
american_scientific_journal-7249	113	11	dynamic	dynamic	ADJ
american_scientific_journal-7249	113	12	model	model	NOUN
american_scientific_journal-7249	113	13	of	of	ADP
american_scientific_journal-7249	113	14	the	the	DET
american_scientific_journal-7249	113	15	uav	uav	PROPN
american_scientific_journal-7249	113	16	system	system	NOUN
american_scientific_journal-7249	113	17	.	.	PUNCT
american_scientific_journal-7249	114	1	then	then	ADV
american_scientific_journal-7249	114	2	,	,	PUNCT
american_scientific_journal-7249	114	3	ssa	ssa	PROPN
american_scientific_journal-7249	114	4	is	be	AUX
american_scientific_journal-7249	114	5	applied	apply	VERB
american_scientific_journal-7249	114	6	to	to	ADP
american_scientific_journal-7249	114	7	this	this	DET
american_scientific_journal-7249	114	8	model	model	NOUN
american_scientific_journal-7249	114	9	based	base	VERB
american_scientific_journal-7249	114	10	on	on	ADP
american_scientific_journal-7249	114	11	the	the	DET
american_scientific_journal-7249	114	12	integral	integral	ADJ
american_scientific_journal-7249	114	13	time	time	NOUN
american_scientific_journal-7249	114	14	absolute	absolute	ADJ
american_scientific_journal-7249	114	15	error	error	NOUN
american_scientific_journal-7249	114	16	(	(	PUNCT
american_scientific_journal-7249	114	17	itae	itae	PROPN
american_scientific_journal-7249	114	18	)	)	PUNCT
american_scientific_journal-7249	114	19	,	,	PUNCT
american_scientific_journal-7249	114	20	which	which	PRON
american_scientific_journal-7249	114	21	was	be	AUX
american_scientific_journal-7249	114	22	selected	select	VERB
american_scientific_journal-7249	114	23	as	as	ADP
american_scientific_journal-7249	114	24	the	the	DET
american_scientific_journal-7249	114	25	objective	objective	ADJ
american_scientific_journal-7249	114	26	function	function	NOUN
american_scientific_journal-7249	114	27	.	.	PUNCT
american_scientific_journal-7249	115	1	in	in	ADP
american_scientific_journal-7249	115	2	spite	spite	NOUN
american_scientific_journal-7249	115	3	of	of	ADP
american_scientific_journal-7249	115	4	the	the	DET
american_scientific_journal-7249	115	5	complexity	complexity	NOUN
american_scientific_journal-7249	115	6	of	of	ADP
american_scientific_journal-7249	115	7	the	the	DET
american_scientific_journal-7249	115	8	uav	uav	PROPN
american_scientific_journal-7249	115	9	system	system	NOUN
american_scientific_journal-7249	115	10	,	,	PUNCT
american_scientific_journal-7249	115	11	simulation	simulation	NOUN
american_scientific_journal-7249	115	12	’s	’s	PART
american_scientific_journal-7249	115	13	results	result	NOUN
american_scientific_journal-7249	115	14	clearly	clearly	ADV
american_scientific_journal-7249	115	15	illustrated	illustrate	VERB
american_scientific_journal-7249	115	16	the	the	DET
american_scientific_journal-7249	115	17	good	good	ADJ
american_scientific_journal-7249	115	18	performance	performance	NOUN
american_scientific_journal-7249	115	19	of	of	ADP
american_scientific_journal-7249	115	20	optimized	optimize	VERB
american_scientific_journal-7249	115	21	pid	pid	PROPN
american_scientific_journal-7249	115	22	,	,	PUNCT
american_scientific_journal-7249	115	23	fpid	fpid	NOUN
american_scientific_journal-7249	115	24	and	and	CCONJ
american_scientific_journal-7249	115	25	pidd	pidd	VERB
american_scientific_journal-7249	115	26	2	2	NUM
american_scientific_journal-7249	115	27	controllers	controller	NOUN
american_scientific_journal-7249	115	28	.	.	PUNCT
american_scientific_journal-7249	116	1	in	in	ADP
american_scientific_journal-7249	116	2	general	general	ADJ
american_scientific_journal-7249	116	3	,	,	PUNCT
american_scientific_journal-7249	116	4	the	the	DET
american_scientific_journal-7249	116	5	performance	performance	NOUN
american_scientific_journal-7249	116	6	of	of	ADP
american_scientific_journal-7249	116	7	the	the	DET
american_scientific_journal-7249	116	8	pidd	pidd	ADJ
american_scientific_journal-7249	116	9	2	2	NUM
american_scientific_journal-7249	116	10	controller	controller	NOUN
american_scientific_journal-7249	116	11	is	be	AUX
american_scientific_journal-7249	116	12	the	the	DET
american_scientific_journal-7249	116	13	best	good	ADJ
american_scientific_journal-7249	116	14	.	.	PUNCT
american_scientific_journal-7249	117	1	the	the	DET
american_scientific_journal-7249	117	2	constraints	constraint	NOUN
american_scientific_journal-7249	117	3	of	of	ADP
american_scientific_journal-7249	117	4	the	the	DET
american_scientific_journal-7249	117	5	study	study	NOUN
american_scientific_journal-7249	117	6	do	do	AUX
american_scientific_journal-7249	117	7	not	not	PART
american_scientific_journal-7249	117	8	consider	consider	VERB
american_scientific_journal-7249	117	9	the	the	DET
american_scientific_journal-7249	117	10	uncertainties	uncertainty	NOUN
american_scientific_journal-7249	117	11	and	and	CCONJ
american_scientific_journal-7249	117	12	external	external	ADJ
american_scientific_journal-7249	117	13	disturbances	disturbance	NOUN
american_scientific_journal-7249	117	14	.	.	PUNCT
american_scientific_journal-7249	118	1	hence	hence	ADV
american_scientific_journal-7249	118	2	,	,	PUNCT
american_scientific_journal-7249	118	3	it	it	PRON
american_scientific_journal-7249	118	4	can	can	AUX
american_scientific_journal-7249	118	5	improve	improve	VERB
american_scientific_journal-7249	118	6	the	the	DET
american_scientific_journal-7249	118	7	performances	performance	NOUN
american_scientific_journal-7249	118	8	of	of	ADP
american_scientific_journal-7249	118	9	the	the	DET
american_scientific_journal-7249	118	10	controllers	controller	NOUN
american_scientific_journal-7249	118	11	by	by	ADP
american_scientific_journal-7249	118	12	adding	add	VERB
american_scientific_journal-7249	118	13	robust	robust	ADJ
american_scientific_journal-7249	118	14	terms	term	NOUN
american_scientific_journal-7249	118	15	that	that	PRON
american_scientific_journal-7249	118	16	can	can	AUX
american_scientific_journal-7249	118	17	handle	handle	VERB
american_scientific_journal-7249	118	18	system	system	NOUN
american_scientific_journal-7249	118	19	limitations	limitation	NOUN
american_scientific_journal-7249	118	20	and	and	CCONJ
american_scientific_journal-7249	118	21	constraints	constraint	NOUN
american_scientific_journal-7249	118	22	.	.	PUNCT
american_scientific_journal-7249	119	1	references	reference	NOUN
american_scientific_journal-7249	119	2	[	[	X
american_scientific_journal-7249	119	3	1	1	X
american_scientific_journal-7249	119	4	]	]	PUNCT
american_scientific_journal-7249	119	5	t.	t.	PROPN
american_scientific_journal-7249	119	6	oktay	oktay	PROPN
american_scientific_journal-7249	119	7	and	and	CCONJ
american_scientific_journal-7249	119	8	o.	o.	PROPN
american_scientific_journal-7249	119	9	kose	kose	PROPN
american_scientific_journal-7249	119	10	,	,	PUNCT
american_scientific_journal-7249	119	11	"	"	PUNCT
american_scientific_journal-7249	119	12	dynamic	dynamic	ADJ
american_scientific_journal-7249	119	13	modeling	modeling	NOUN
american_scientific_journal-7249	119	14	and	and	CCONJ
american_scientific_journal-7249	119	15	simulation	simulation	NOUN
american_scientific_journal-7249	119	16	of	of	ADP
american_scientific_journal-7249	119	17	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	119	18	for	for	ADP
american_scientific_journal-7249	119	19	different	different	ADJ
american_scientific_journal-7249	119	20	flight	flight	NOUN
american_scientific_journal-7249	119	21	conditions	condition	NOUN
american_scientific_journal-7249	119	22	,	,	PUNCT
american_scientific_journal-7249	119	23	"	"	PUNCT
american_scientific_journal-7249	119	24	european	european	ADJ
american_scientific_journal-7249	119	25	journal	journal	PROPN
american_scientific_journal-7249	119	26	of	of	ADP
american_scientific_journal-7249	119	27	science	science	NOUN
american_scientific_journal-7249	119	28	and	and	CCONJ
american_scientific_journal-7249	119	29	technology	technology	NOUN
american_scientific_journal-7249	119	30	,	,	PUNCT
american_scientific_journal-7249	119	31	vol	vol	NOUN
american_scientific_journal-7249	119	32	.	.	PROPN
american_scientific_journal-7249	119	33	15	15	NUM
american_scientific_journal-7249	119	34	,	,	PUNCT
american_scientific_journal-7249	119	35	pp	pp	ADJ
american_scientific_journal-7249	119	36	.	.	PUNCT
american_scientific_journal-7249	120	1	132	132	NUM
american_scientific_journal-7249	120	2	-	-	SYM
american_scientific_journal-7249	120	3	142	142	NUM
american_scientific_journal-7249	120	4	,	,	PUNCT
american_scientific_journal-7249	120	5	2019	2019	NUM
american_scientific_journal-7249	120	6	.	.	PUNCT
american_scientific_journal-7249	121	1	[	[	X
american_scientific_journal-7249	121	2	2	2	NUM
american_scientific_journal-7249	121	3	]	]	X
american_scientific_journal-7249	121	4	n.	n.	PROPN
american_scientific_journal-7249	121	5	h.	h.	PROPN
american_scientific_journal-7249	121	6	abbas	abbas	PROPN
american_scientific_journal-7249	121	7	and	and	CCONJ
american_scientific_journal-7249	121	8	a.	a.	PROPN
american_scientific_journal-7249	121	9	r.	r.	PROPN
american_scientific_journal-7249	121	10	sami	sami	PROPN
american_scientific_journal-7249	121	11	,	,	PUNCT
american_scientific_journal-7249	121	12	"	"	PUNCT
american_scientific_journal-7249	121	13	tuning	tuning	NOUN
american_scientific_journal-7249	121	14	of	of	ADP
american_scientific_journal-7249	121	15	pid	pid	NOUN
american_scientific_journal-7249	121	16	controllers	controller	NOUN
american_scientific_journal-7249	121	17	for	for	ADP
american_scientific_journal-7249	121	18	quadcopter	quadcopter	NOUN
american_scientific_journal-7249	121	19	system	system	NOUN
american_scientific_journal-7249	121	20	using	use	VERB
american_scientific_journal-7249	121	21	hybrid	hybrid	NOUN
american_scientific_journal-7249	121	22	memory	memory	NOUN
american_scientific_journal-7249	121	23	based	base	VERB
american_scientific_journal-7249	121	24	gravitational	gravitational	ADJ
american_scientific_journal-7249	121	25	search	search	NOUN
american_scientific_journal-7249	121	26	algorithm	algorithm	NOUN
american_scientific_journal-7249	121	27	–	–	PUNCT
american_scientific_journal-7249	121	28	particle	particle	NOUN
american_scientific_journal-7249	121	29	swarm	swarm	NOUN
american_scientific_journal-7249	121	30	optimization	optimization	NOUN
american_scientific_journal-7249	121	31	,	,	PUNCT
american_scientific_journal-7249	121	32	"	"	PUNCT
american_scientific_journal-7249	121	33	international	international	ADJ
american_scientific_journal-7249	121	34	journal	journal	NOUN
american_scientific_journal-7249	121	35	of	of	ADP
american_scientific_journal-7249	121	36	computer	computer	NOUN
american_scientific_journal-7249	121	37	applications	application	NOUN
american_scientific_journal-7249	121	38	,	,	PUNCT
american_scientific_journal-7249	121	39	vol	vol	NOUN
american_scientific_journal-7249	121	40	.	.	PROPN
american_scientific_journal-7249	122	1	172	172	NUM
american_scientific_journal-7249	122	2	,	,	PUNCT
american_scientific_journal-7249	122	3	pp	pp	ADJ
american_scientific_journal-7249	122	4	.	.	PUNCT
american_scientific_journal-7249	123	1	9	9	NUM
american_scientific_journal-7249	123	2	-	-	SYM
american_scientific_journal-7249	123	3	18	18	NUM
american_scientific_journal-7249	123	4	,	,	PUNCT
american_scientific_journal-7249	123	5	august	august	PROPN
american_scientific_journal-7249	123	6	2017	2017	NUM
american_scientific_journal-7249	123	7	.	.	PUNCT
american_scientific_journal-7249	124	1	[	[	X
american_scientific_journal-7249	124	2	3	3	X
american_scientific_journal-7249	124	3	]	]	X
american_scientific_journal-7249	124	4	n.	n.	PROPN
american_scientific_journal-7249	124	5	xuan	xuan	PROPN
american_scientific_journal-7249	124	6	-	-	PUNCT
american_scientific_journal-7249	124	7	mung	mung	PROPN
american_scientific_journal-7249	124	8	and	and	CCONJ
american_scientific_journal-7249	124	9	sung	sung	PROPN
american_scientific_journal-7249	124	10	-	-	PUNCT
american_scientific_journal-7249	124	11	kyung	kyung	PROPN
american_scientific_journal-7249	124	12	hong	hong	PROPN
american_scientific_journal-7249	124	13	,	,	PUNCT
american_scientific_journal-7249	124	14	"	"	PUNCT
american_scientific_journal-7249	124	15	improved	improve	VERB
american_scientific_journal-7249	124	16	altitude	altitude	NOUN
american_scientific_journal-7249	124	17	control	control	NOUN
american_scientific_journal-7249	124	18	algorithm	algorithm	NOUN
american_scientific_journal-7249	124	19	for	for	ADP
american_scientific_journal-7249	124	20	quadcopter	quadcopter	NOUN
american_scientific_journal-7249	124	21	unmanned	unmanned	ADJ
american_scientific_journal-7249	124	22	aerial	aerial	ADJ
american_scientific_journal-7249	124	23	vehicles	vehicle	NOUN
american_scientific_journal-7249	124	24	,	,	PUNCT
american_scientific_journal-7249	124	25	"	"	PUNCT
american_scientific_journal-7249	124	26	applied	apply	VERB
american_scientific_journal-7249	124	27	sciences	science	NOUN
american_scientific_journal-7249	124	28	,	,	PUNCT
american_scientific_journal-7249	124	29	vol	vol	NOUN
american_scientific_journal-7249	124	30	.	.	NOUN
american_scientific_journal-7249	124	31	9	9	NUM
american_scientific_journal-7249	124	32	,	,	PUNCT
american_scientific_journal-7249	124	33	no	no	INTJ
american_scientific_journal-7249	124	34	.	.	NOUN
american_scientific_journal-7249	124	35	10	10	NUM
american_scientific_journal-7249	124	36	,	,	PUNCT
american_scientific_journal-7249	124	37	may	may	AUX
american_scientific_journal-7249	124	38	2019	2019	NUM
american_scientific_journal-7249	124	39	.	.	PUNCT
american_scientific_journal-7249	125	1	[	[	X
american_scientific_journal-7249	125	2	4	4	X
american_scientific_journal-7249	125	3	]	]	PUNCT
american_scientific_journal-7249	125	4	k.	k.	PROPN
american_scientific_journal-7249	125	5	pan	pan	PROPN
american_scientific_journal-7249	125	6	,	,	PUNCT
american_scientific_journal-7249	125	7	y.	y.	PROPN
american_scientific_journal-7249	125	8	chen	chen	PROPN
american_scientific_journal-7249	125	9	,	,	PUNCT
american_scientific_journal-7249	125	10	z.	z.	PROPN
american_scientific_journal-7249	125	11	wang	wang	PROPN
american_scientific_journal-7249	125	12	,	,	PUNCT
american_scientific_journal-7249	125	13	h.	h.	PROPN
american_scientific_journal-7249	125	14	wu	wu	PROPN
american_scientific_journal-7249	125	15	,	,	PUNCT
american_scientific_journal-7249	125	16	and	and	CCONJ
american_scientific_journal-7249	125	17	l.	l.	PROPN
american_scientific_journal-7249	125	18	cheng	cheng	PROPN
american_scientific_journal-7249	125	19	,	,	PUNCT
american_scientific_journal-7249	125	20	"	"	PUNCT
american_scientific_journal-7249	125	21	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	125	22	control	control	NOUN
american_scientific_journal-7249	125	23	based	base	VERB
american_scientific_journal-7249	125	24	on	on	ADP
american_scientific_journal-7249	125	25	self	self	NOUN
american_scientific_journal-7249	125	26	-	-	PUNCT
american_scientific_journal-7249	125	27	tuning	tuning	NOUN
american_scientific_journal-7249	125	28	lqr	lqr	NOUN
american_scientific_journal-7249	125	29	,	,	PUNCT
american_scientific_journal-7249	125	30	"	"	PUNCT
american_scientific_journal-7249	125	31	in	in	ADP
american_scientific_journal-7249	125	32	2018	2018	NUM
american_scientific_journal-7249	125	33	37th	37th	ADJ
american_scientific_journal-7249	125	34	chinese	chinese	ADJ
american_scientific_journal-7249	125	35	control	control	PROPN
american_scientific_journal-7249	125	36	conference	conference	PROPN
american_scientific_journal-7249	125	37	(	(	PUNCT
american_scientific_journal-7249	125	38	ccc	ccc	PROPN
american_scientific_journal-7249	125	39	)	)	PUNCT
american_scientific_journal-7249	125	40	,	,	PUNCT
american_scientific_journal-7249	125	41	wuhan	wuhan	PROPN
american_scientific_journal-7249	125	42	,	,	PUNCT
american_scientific_journal-7249	125	43	china	china	PROPN
american_scientific_journal-7249	125	44	,	,	PUNCT
american_scientific_journal-7249	125	45	2018	2018	NUM
american_scientific_journal-7249	125	46	.	.	PUNCT
american_scientific_journal-7249	126	1	[	[	X
american_scientific_journal-7249	126	2	5	5	X
american_scientific_journal-7249	126	3	]	]	PUNCT
american_scientific_journal-7249	126	4	e.	e.	PROPN
american_scientific_journal-7249	126	5	okyere	okyere	PROPN
american_scientific_journal-7249	126	6	,	,	PUNCT
american_scientific_journal-7249	126	7	a.	a.	NOUN
american_scientific_journal-7249	126	8	bousbaine	bousbaine	NOUN
american_scientific_journal-7249	126	9	,	,	PUNCT
american_scientific_journal-7249	126	10	g.	g.	PROPN
american_scientific_journal-7249	126	11	t.	t.	PROPN
american_scientific_journal-7249	126	12	poyi	poyi	PROPN
american_scientific_journal-7249	126	13	,	,	PUNCT
american_scientific_journal-7249	126	14	a.	a.	PROPN
american_scientific_journal-7249	126	15	k.	k.	PROPN
american_scientific_journal-7249	126	16	joseph	joseph	PROPN
american_scientific_journal-7249	126	17	and	and	CCONJ
american_scientific_journal-7249	126	18	j.	j.	PROPN
american_scientific_journal-7249	126	19	m.	m.	PROPN
american_scientific_journal-7249	126	20	andrade	andrade	PROPN
american_scientific_journal-7249	126	21	,	,	PUNCT
american_scientific_journal-7249	126	22	"	"	PUNCT
american_scientific_journal-7249	126	23	lqr	lqr	VERB
american_scientific_journal-7249	126	24	controller	controller	NOUN
american_scientific_journal-7249	126	25	design	design	NOUN
american_scientific_journal-7249	126	26	for	for	ADP
american_scientific_journal-7249	126	27	quad	quad	ADJ
american_scientific_journal-7249	126	28	-	-	PUNCT
american_scientific_journal-7249	126	29	rotor	rotor	NOUN
american_scientific_journal-7249	126	30	helicopters	helicopter	NOUN
american_scientific_journal-7249	126	31	,	,	PUNCT
american_scientific_journal-7249	126	32	"	"	PUNCT
american_scientific_journal-7249	126	33	the	the	DET
american_scientific_journal-7249	126	34	journal	journal	NOUN
american_scientific_journal-7249	126	35	of	of	ADP
american_scientific_journal-7249	126	36	engineering	engineering	PROPN
american_scientific_journal-7249	126	37	,	,	PUNCT
american_scientific_journal-7249	126	38	january	january	PROPN
american_scientific_journal-7249	126	39	2019	2019	NUM
american_scientific_journal-7249	126	40	.	.	PUNCT
american_scientific_journal-7249	127	1	[	[	X
american_scientific_journal-7249	127	2	6	6	NUM
american_scientific_journal-7249	127	3	]	]	PUNCT
american_scientific_journal-7249	127	4	e.	e.	PROPN
american_scientific_journal-7249	127	5	reyes	reyes	PROPN
american_scientific_journal-7249	127	6	-	-	PUNCT
american_scientific_journal-7249	127	7	valeria	valeria	PROPN
american_scientific_journal-7249	127	8	,	,	PUNCT
american_scientific_journal-7249	127	9	r.	r.	PROPN
american_scientific_journal-7249	127	10	enriquez	enriquez	PROPN
american_scientific_journal-7249	127	11	-	-	PUNCT
american_scientific_journal-7249	127	12	caldera	caldera	PROPN
american_scientific_journal-7249	127	13	,	,	PUNCT
american_scientific_journal-7249	127	14	s.	s.	PROPN
american_scientific_journal-7249	127	15	camacho	camacho	PROPN
american_scientific_journal-7249	127	16	-	-	PUNCT
american_scientific_journal-7249	127	17	lara	lara	PROPN
american_scientific_journal-7249	127	18	and	and	CCONJ
american_scientific_journal-7249	127	19	j.	j.	PROPN
american_scientific_journal-7249	127	20	guichard	guichard	PROPN
american_scientific_journal-7249	127	21	,	,	PUNCT
american_scientific_journal-7249	127	22	"	"	PUNCT
american_scientific_journal-7249	127	23	lqr	lqr	VERB
american_scientific_journal-7249	127	24	control	control	NOUN
american_scientific_journal-7249	127	25	for	for	ADP
american_scientific_journal-7249	127	26	a	a	DET
american_scientific_journal-7249	127	27	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	127	28	using	use	VERB
american_scientific_journal-7249	127	29	unit	unit	NOUN
american_scientific_journal-7249	127	30	quaternions	quaternion	NOUN
american_scientific_journal-7249	127	31	:	:	PUNCT
american_scientific_journal-7249	127	32	modeling	modeling	NOUN
american_scientific_journal-7249	127	33	and	and	CCONJ
american_scientific_journal-7249	127	34	simulation	simulation	NOUN
american_scientific_journal-7249	127	35	,	,	PUNCT
american_scientific_journal-7249	127	36	"	"	PUNCT
american_scientific_journal-7249	127	37	in	in	ADP
american_scientific_journal-7249	127	38	international	international	ADJ
american_scientific_journal-7249	127	39	conference	conference	NOUN
american_scientific_journal-7249	127	40	on	on	ADP
american_scientific_journal-7249	127	41	electronics	electronic	NOUN
american_scientific_journal-7249	127	42	,	,	PUNCT
american_scientific_journal-7249	127	43	communications	communication	NOUN
american_scientific_journal-7249	127	44	and	and	CCONJ
american_scientific_journal-7249	127	45	computing	computing	NOUN
american_scientific_journal-7249	127	46	,	,	PUNCT
american_scientific_journal-7249	127	47	cholula	cholula	PROPN
american_scientific_journal-7249	127	48	,	,	PUNCT
american_scientific_journal-7249	127	49	puebla	puebla	PROPN
american_scientific_journal-7249	127	50	,	,	PUNCT
american_scientific_journal-7249	127	51	mexico	mexico	PROPN
american_scientific_journal-7249	127	52	,	,	PUNCT
american_scientific_journal-7249	127	53	2013	2013	NUM
american_scientific_journal-7249	127	54	.	.	PUNCT
american_scientific_journal-7249	128	1	[	[	X
american_scientific_journal-7249	128	2	7	7	X
american_scientific_journal-7249	128	3	]	]	PUNCT
american_scientific_journal-7249	128	4	m.	m.	PROPN
american_scientific_journal-7249	128	5	r.	r.	PROPN
american_scientific_journal-7249	128	6	r.	r.	PROPN
american_scientific_journal-7249	128	7	m.	m.	PROPN
american_scientific_journal-7249	128	8	h.	h.	PROPN
american_scientific_journal-7249	128	9	n.	n.	PROPN
american_scientific_journal-7249	128	10	s.	s.	PROPN
american_scientific_journal-7249	128	11	m.	m.	PROPN
american_scientific_journal-7249	128	12	s.	s.	PROPN
american_scientific_journal-7249	128	13	hossein	hossein	PROPN
american_scientific_journal-7249	128	14	bolandi	bolandi	PROPN
american_scientific_journal-7249	128	15	,	,	PUNCT
american_scientific_journal-7249	128	16	"	"	PUNCT
american_scientific_journal-7249	128	17	attitude	attitude	NOUN
american_scientific_journal-7249	128	18	control	control	NOUN
american_scientific_journal-7249	128	19	of	of	ADP
american_scientific_journal-7249	128	20	a	a	DET
american_scientific_journal-7249	128	21	quadrotor	quadrotor	NOUN
american_scientific_journal-7249	128	22	with	with	ADP
american_scientific_journal-7249	128	23	optimized	optimize	VERB
american_scientific_journal-7249	128	24	pid	pid	NOUN
american_scientific_journal-7249	128	25	controller	controller	NOUN
american_scientific_journal-7249	128	26	,	,	PUNCT
american_scientific_journal-7249	128	27	"	"	PUNCT
american_scientific_journal-7249	128	28	scientific	scientific	ADJ
american_scientific_journal-7249	128	29	research	research	NOUN
american_scientific_journal-7249	128	30	,	,	PUNCT
american_scientific_journal-7249	128	31	vol	vol	NOUN
american_scientific_journal-7249	128	32	.	.	PROPN
american_scientific_journal-7249	128	33	4	4	NUM
american_scientific_journal-7249	128	34	,	,	PUNCT
american_scientific_journal-7249	128	35	pp	pp	ADJ
american_scientific_journal-7249	128	36	.	.	PUNCT
american_scientific_journal-7249	128	37	335	335	NUM
american_scientific_journal-7249	128	38	-	-	SYM
american_scientific_journal-7249	128	39	342	342	NUM
american_scientific_journal-7249	128	40	,	,	PUNCT
american_scientific_journal-7249	128	41	2013	2013	NUM
american_scientific_journal-7249	128	42	.	.	PUNCT
american_scientific_journal-7249	129	1	[	[	X
american_scientific_journal-7249	129	2	8	8	NUM
american_scientific_journal-7249	129	3	]	]	X
american_scientific_journal-7249	129	4	m.	m.	NOUN
american_scientific_journal-7249	129	5	karahan	karahan	PROPN
american_scientific_journal-7249	129	6	and	and	CCONJ
american_scientific_journal-7249	129	7	c.	c.	PROPN
american_scientific_journal-7249	129	8	kasnakoglu	kasnakoglu	PROPN
american_scientific_journal-7249	129	9	,	,	PUNCT
american_scientific_journal-7249	129	10	"	"	PUNCT
american_scientific_journal-7249	129	11	modeling	modeling	NOUN
american_scientific_journal-7249	129	12	and	and	CCONJ
american_scientific_journal-7249	129	13	simulation	simulation	NOUN
american_scientific_journal-7249	129	14	of	of	ADP
american_scientific_journal-7249	129	15	quadrotor	quadrotor	PROPN
american_scientific_journal-7249	129	16	uav	uav	PROPN
american_scientific_journal-7249	129	17	using	use	VERB
american_scientific_journal-7249	129	18	pid	pid	NOUN
american_scientific_journal-7249	129	19	controller	controller	NOUN
american_scientific_journal-7249	129	20	,	,	PUNCT
american_scientific_journal-7249	129	21	"	"	PUNCT
american_scientific_journal-7249	129	22	in	in	ADP
american_scientific_journal-7249	129	23	international	international	ADJ
american_scientific_journal-7249	129	24	conference	conference	NOUN
american_scientific_journal-7249	129	25	on	on	ADP
american_scientific_journal-7249	129	26	electronics	electronic	NOUN
american_scientific_journal-7249	129	27	,	,	PUNCT
american_scientific_journal-7249	129	28	computers	computer	NOUN
american_scientific_journal-7249	129	29	and	and	CCONJ
american_scientific_journal-7249	129	30	artificial	artificial	ADJ
american_scientific_journal-7249	129	31	intelligence	intelligence	NOUN
american_scientific_journal-7249	129	32	(	(	PUNCT
american_scientific_journal-7249	129	33	ecai	ecai	PROPN
american_scientific_journal-7249	129	34	)	)	PUNCT
american_scientific_journal-7249	129	35	,	,	PUNCT
american_scientific_journal-7249	129	36	pitesti	pitesti	PROPN
american_scientific_journal-7249	129	37	,	,	PUNCT
american_scientific_journal-7249	129	38	romania	romania	PROPN
american_scientific_journal-7249	129	39	,	,	PUNCT
american_scientific_journal-7249	129	40	2019	2019	NUM
american_scientific_journal-7249	129	41	.	.	PUNCT
american_scientific_journal-7249	130	1	[	[	X
american_scientific_journal-7249	130	2	9	9	NUM
american_scientific_journal-7249	130	3	]	]	X
american_scientific_journal-7249	130	4	b.	b.	PROPN
american_scientific_journal-7249	130	5	kamel	kamel	PROPN
american_scientific_journal-7249	130	6	,	,	PUNCT
american_scientific_journal-7249	130	7	b.	b.	PROPN
american_scientific_journal-7249	130	8	yasmina	yasmina	PROPN
american_scientific_journal-7249	130	9	,	,	PUNCT
american_scientific_journal-7249	130	10	b.	b.	PROPN
american_scientific_journal-7249	130	11	laredj	laredj	PROPN
american_scientific_journal-7249	130	12	,	,	PUNCT
american_scientific_journal-7249	130	13	i.	i.	PROPN
american_scientific_journal-7249	130	14	benaoumeur	benaoumeur	PROPN
american_scientific_journal-7249	130	15	and	and	CCONJ
american_scientific_journal-7249	130	16	a.-f	a.-f	PROPN
american_scientific_journal-7249	130	17	.	.	PUNCT
american_scientific_journal-7249	131	1	zoubir	zoubir	NOUN
american_scientific_journal-7249	131	2	,	,	PUNCT
american_scientific_journal-7249	131	3	"	"	PUNCT
american_scientific_journal-7249	131	4	dynamic	dynamic	ADJ
american_scientific_journal-7249	131	5	modeling	modeling	NOUN
american_scientific_journal-7249	131	6	,	,	PUNCT
american_scientific_journal-7249	131	7	simulation	simulation	NOUN
american_scientific_journal-7249	131	8	and	and	CCONJ
american_scientific_journal-7249	131	9	pid	pid	NOUN
american_scientific_journal-7249	131	10	controller	controller	NOUN
american_scientific_journal-7249	131	11	of	of	ADP
american_scientific_journal-7249	131	12	unmanned	unmanned	ADJ
american_scientific_journal-7249	131	13	aerial	aerial	ADJ
american_scientific_journal-7249	131	14	vehicle	vehicle	NOUN
american_scientific_journal-7249	131	15	uav	uav	PROPN
american_scientific_journal-7249	131	16	,	,	PUNCT
american_scientific_journal-7249	131	17	"	"	PUNCT
american_scientific_journal-7249	131	18	in	in	ADP
american_scientific_journal-7249	131	19	seventh	seventh	ADJ
american_scientific_journal-7249	131	20	international	international	ADJ
american_scientific_journal-7249	131	21	conference	conference	NOUN
american_scientific_journal-7249	131	22	on	on	ADP
american_scientific_journal-7249	131	23	american	american	ADJ
american_scientific_journal-7249	131	24	academic	academic	ADJ
american_scientific_journal-7249	131	25	scientific	scientific	ADJ
american_scientific_journal-7249	131	26	research	research	NOUN
american_scientific_journal-7249	131	27	journal	journal	NOUN
american_scientific_journal-7249	131	28	for	for	ADP
american_scientific_journal-7249	131	29	engineering	engineering	NOUN
american_scientific_journal-7249	131	30	,	,	PUNCT
american_scientific_journal-7249	131	31	technology	technology	NOUN
american_scientific_journal-7249	131	32	,	,	PUNCT
american_scientific_journal-7249	131	33	and	and	CCONJ
american_scientific_journal-7249	131	34	sciences	science	NOUN
american_scientific_journal-7249	131	35	(	(	PUNCT
american_scientific_journal-7249	131	36	asrjets)(2023)volume	asrjets)(2023)volume	NUM
american_scientific_journal-7249	131	37	92	92	NUM
american_scientific_journal-7249	131	38	,	,	PUNCT
american_scientific_journal-7249	131	39	no	no	DET
american_scientific_journal-7249	131	40	1	1	NUM
american_scientific_journal-7249	131	41	,	,	PUNCT
american_scientific_journal-7249	131	42	pp	pp	ADV
american_scientific_journal-7249	131	43	77	77	NUM
american_scientific_journal-7249	131	44	-	-	SYM
american_scientific_journal-7249	131	45	90	90	NUM
american_scientific_journal-7249	131	46	90	90	NUM
american_scientific_journal-7249	131	47	innovative	innovative	ADJ
american_scientific_journal-7249	131	48	computing	computing	NOUN
american_scientific_journal-7249	131	49	technology	technology	NOUN
american_scientific_journal-7249	131	50	(	(	PUNCT
american_scientific_journal-7249	131	51	intech	intech	PROPN
american_scientific_journal-7249	131	52	)	)	PUNCT
american_scientific_journal-7249	131	53	,	,	PUNCT
american_scientific_journal-7249	131	54	luton	luton	PROPN
american_scientific_journal-7249	131	55	,	,	PUNCT
american_scientific_journal-7249	131	56	uk	uk	PROPN
american_scientific_journal-7249	131	57	,	,	PUNCT
american_scientific_journal-7249	131	58	2017	2017	NUM
american_scientific_journal-7249	131	59	.	.	PUNCT
american_scientific_journal-7249	132	1	[	[	X
american_scientific_journal-7249	132	2	10	10	NUM
american_scientific_journal-7249	132	3	]	]	X
american_scientific_journal-7249	132	4	l.	l.	PROPN
american_scientific_journal-7249	132	5	m.	m.	PROPN
american_scientific_journal-7249	132	6	argentim	argentim	PROPN
american_scientific_journal-7249	132	7	,	,	PUNCT
american_scientific_journal-7249	132	8	w.	w.	PROPN
american_scientific_journal-7249	132	9	c.	c.	PROPN
american_scientific_journal-7249	132	10	rezende	rezende	PROPN
american_scientific_journal-7249	132	11	,	,	PUNCT
american_scientific_journal-7249	132	12	p.	p.	PROPN
american_scientific_journal-7249	132	13	e.	e.	PROPN
american_scientific_journal-7249	132	14	santos	santos	PROPN
american_scientific_journal-7249	132	15	and	and	CCONJ
american_scientific_journal-7249	132	16	r.	r.	PROPN
american_scientific_journal-7249	132	17	a.	a.	PROPN
american_scientific_journal-7249	132	18	aguiar	aguiar	PROPN
american_scientific_journal-7249	132	19	,	,	PUNCT
american_scientific_journal-7249	132	20	"	"	PUNCT
american_scientific_journal-7249	132	21	pid	pid	NOUN
american_scientific_journal-7249	132	22	,	,	PUNCT
american_scientific_journal-7249	132	23	lqr	lqr	NOUN
american_scientific_journal-7249	132	24	and	and	CCONJ
american_scientific_journal-7249	132	25	lqr	lqr	PROPN
american_scientific_journal-7249	132	26	-	-	PUNCT
american_scientific_journal-7249	132	27	pid	pid	NOUN
american_scientific_journal-7249	132	28	on	on	ADP
american_scientific_journal-7249	132	29	a	a	DET
american_scientific_journal-7249	132	30	quadcopter	quadcopter	NOUN
american_scientific_journal-7249	132	31	platform	platform	NOUN
american_scientific_journal-7249	132	32	,	,	PUNCT
american_scientific_journal-7249	132	33	"	"	PUNCT
american_scientific_journal-7249	132	34	in	in	ADP
american_scientific_journal-7249	132	35	2013	2013	NUM
american_scientific_journal-7249	132	36	international	international	ADJ
american_scientific_journal-7249	132	37	conference	conference	NOUN
american_scientific_journal-7249	132	38	on	on	ADP
american_scientific_journal-7249	132	39	informatics	informatic	NOUN
american_scientific_journal-7249	132	40	,	,	PUNCT
american_scientific_journal-7249	132	41	electronics	electronic	NOUN
american_scientific_journal-7249	132	42	and	and	CCONJ
american_scientific_journal-7249	132	43	vision	vision	NOUN
american_scientific_journal-7249	132	44	(	(	PUNCT
american_scientific_journal-7249	132	45	iciev	iciev	NOUN
american_scientific_journal-7249	132	46	)	)	PUNCT
american_scientific_journal-7249	132	47	,	,	PUNCT
american_scientific_journal-7249	132	48	dhaka	dhaka	PROPN
american_scientific_journal-7249	132	49	,	,	PUNCT
american_scientific_journal-7249	132	50	bangladesh	bangladesh	PROPN
american_scientific_journal-7249	132	51	,	,	PUNCT
american_scientific_journal-7249	132	52	2013	2013	NUM
american_scientific_journal-7249	132	53	.	.	PUNCT
american_scientific_journal-7249	133	1	[	[	X
american_scientific_journal-7249	133	2	11	11	NUM
american_scientific_journal-7249	133	3	]	]	X
american_scientific_journal-7249	133	4	g.	g.	PROPN
american_scientific_journal-7249	133	5	sheng	sheng	PROPN
american_scientific_journal-7249	133	6	and	and	CCONJ
american_scientific_journal-7249	133	7	g.	g.	PROPN
american_scientific_journal-7249	133	8	gao	gao	PROPN
american_scientific_journal-7249	133	9	,	,	PUNCT
american_scientific_journal-7249	133	10	"	"	PUNCT
american_scientific_journal-7249	133	11	research	research	NOUN
american_scientific_journal-7249	133	12	on	on	ADP
american_scientific_journal-7249	133	13	the	the	DET
american_scientific_journal-7249	133	14	attitude	attitude	NOUN
american_scientific_journal-7249	133	15	control	control	NOUN
american_scientific_journal-7249	133	16	of	of	ADP
american_scientific_journal-7249	133	17	civil	civil	ADJ
american_scientific_journal-7249	133	18	quad	quad	ADJ
american_scientific_journal-7249	133	19	-	-	PUNCT
american_scientific_journal-7249	133	20	rotor	rotor	NOUN
american_scientific_journal-7249	133	21	uav	uav	PROPN
american_scientific_journal-7249	133	22	based	base	VERB
american_scientific_journal-7249	133	23	on	on	ADP
american_scientific_journal-7249	133	24	fuzzy	fuzzy	ADJ
american_scientific_journal-7249	133	25	pid	pid	NOUN
american_scientific_journal-7249	133	26	control	control	NOUN
american_scientific_journal-7249	133	27	,	,	PUNCT
american_scientific_journal-7249	133	28	"	"	PUNCT
american_scientific_journal-7249	133	29	in	in	ADP
american_scientific_journal-7249	133	30	2019	2019	NUM
american_scientific_journal-7249	133	31	chinese	chinese	ADJ
american_scientific_journal-7249	133	32	control	control	NOUN
american_scientific_journal-7249	133	33	and	and	CCONJ
american_scientific_journal-7249	133	34	decision	decision	NOUN
american_scientific_journal-7249	133	35	conference	conference	NOUN
american_scientific_journal-7249	133	36	(	(	PUNCT
american_scientific_journal-7249	133	37	ccdc	ccdc	PROPN
american_scientific_journal-7249	133	38	)	)	PUNCT
american_scientific_journal-7249	133	39	,	,	PUNCT
american_scientific_journal-7249	133	40	nanchang	nanchang	PROPN
american_scientific_journal-7249	133	41	,	,	PUNCT
american_scientific_journal-7249	133	42	china	china	PROPN
american_scientific_journal-7249	133	43	,	,	PUNCT
american_scientific_journal-7249	133	44	2019	2019	NUM
american_scientific_journal-7249	133	45	.	.	PUNCT
american_scientific_journal-7249	134	1	[	[	X
american_scientific_journal-7249	134	2	12	12	NUM
american_scientific_journal-7249	134	3	]	]	PUNCT
american_scientific_journal-7249	134	4	h.	h.	PROPN
american_scientific_journal-7249	134	5	yin	yin	PROPN
american_scientific_journal-7249	134	6	,	,	PUNCT
american_scientific_journal-7249	134	7	q.	q.	PROPN
american_scientific_journal-7249	134	8	wang	wang	PROPN
american_scientific_journal-7249	134	9	and	and	CCONJ
american_scientific_journal-7249	134	10	c.	c.	PROPN
american_scientific_journal-7249	134	11	sun	sun	PROPN
american_scientific_journal-7249	134	12	,	,	PUNCT
american_scientific_journal-7249	134	13	"	"	PUNCT
american_scientific_journal-7249	134	14	position	position	NOUN
american_scientific_journal-7249	134	15	and	and	CCONJ
american_scientific_journal-7249	134	16	attitude	attitude	NOUN
american_scientific_journal-7249	134	17	tracking	track	VERB
american_scientific_journal-7249	134	18	control	control	NOUN
american_scientific_journal-7249	134	19	for	for	ADP
american_scientific_journal-7249	134	20	a	a	DET
american_scientific_journal-7249	134	21	quadrotor	quadrotor	PROPN
american_scientific_journal-7249	134	22	uav	uav	PROPN
american_scientific_journal-7249	134	23	via	via	ADP
american_scientific_journal-7249	134	24	doubleloop	doubleloop	NOUN
american_scientific_journal-7249	134	25	controller	controller	NOUN
american_scientific_journal-7249	134	26	,	,	PUNCT
american_scientific_journal-7249	134	27	"	"	PUNCT
american_scientific_journal-7249	134	28	in	in	ADP
american_scientific_journal-7249	134	29	2017	2017	NUM
american_scientific_journal-7249	134	30	29th	29th	ADJ
american_scientific_journal-7249	134	31	chinese	chinese	ADJ
american_scientific_journal-7249	134	32	control	control	NOUN
american_scientific_journal-7249	134	33	and	and	CCONJ
american_scientific_journal-7249	134	34	decision	decision	NOUN
american_scientific_journal-7249	134	35	conference	conference	NOUN
american_scientific_journal-7249	134	36	(	(	PUNCT
american_scientific_journal-7249	134	37	ccdc	ccdc	PROPN
american_scientific_journal-7249	134	38	)	)	PUNCT
american_scientific_journal-7249	134	39	,	,	PUNCT
american_scientific_journal-7249	134	40	chongqing	chongqing	PROPN
american_scientific_journal-7249	134	41	,	,	PUNCT
american_scientific_journal-7249	134	42	china	china	PROPN
american_scientific_journal-7249	134	43	,	,	PUNCT
american_scientific_journal-7249	134	44	2017	2017	NUM
american_scientific_journal-7249	134	45	.	.	PUNCT
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american_scientific_journal-7249	135	2	13	13	NUM
american_scientific_journal-7249	135	3	]	]	PUNCT
american_scientific_journal-7249	135	4	t.	t.	PROPN
american_scientific_journal-7249	135	5	kara	kara	PROPN
american_scientific_journal-7249	135	6	and	and	CCONJ
american_scientific_journal-7249	135	7	a.	a.	PROPN
american_scientific_journal-7249	135	8	mary	mary	PROPN
american_scientific_journal-7249	135	9	,	,	PUNCT
american_scientific_journal-7249	135	10	"	"	PUNCT
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american_scientific_journal-7249	135	12	pd	pd	PROPN
american_scientific_journal-7249	135	13	-	-	PUNCT
american_scientific_journal-7249	135	14	smc	smc	PROPN
american_scientific_journal-7249	135	15	for	for	ADP
american_scientific_journal-7249	135	16	nonlinear	nonlinear	ADJ
american_scientific_journal-7249	135	17	robotic	robotic	ADJ
american_scientific_journal-7249	135	18	manipulator	manipulator	NOUN
american_scientific_journal-7249	135	19	tracking	tracking	NOUN
american_scientific_journal-7249	135	20	control	control	NOUN
american_scientific_journal-7249	135	21	,	,	PUNCT
american_scientific_journal-7249	135	22	"	"	PUNCT
american_scientific_journal-7249	135	23	studies	study	NOUN
american_scientific_journal-7249	135	24	in	in	ADP
american_scientific_journal-7249	135	25	informatics	informatic	NOUN
american_scientific_journal-7249	135	26	and	and	CCONJ
american_scientific_journal-7249	135	27	control	control	NOUN
american_scientific_journal-7249	135	28	,	,	PUNCT
american_scientific_journal-7249	135	29	vol	vol	NOUN
american_scientific_journal-7249	135	30	.	.	PROPN
american_scientific_journal-7249	135	31	26	26	NUM
american_scientific_journal-7249	135	32	,	,	PUNCT
american_scientific_journal-7249	135	33	pp	pp	ADJ
american_scientific_journal-7249	135	34	.	.	PUNCT
american_scientific_journal-7249	135	35	49	49	NUM
american_scientific_journal-7249	135	36	-	-	SYM
american_scientific_journal-7249	135	37	58	58	NUM
american_scientific_journal-7249	135	38	,	,	PUNCT
american_scientific_journal-7249	135	39	march	march	PROPN
american_scientific_journal-7249	135	40	2017	2017	NUM
american_scientific_journal-7249	135	41	.	.	PUNCT
american_scientific_journal-7249	136	1	[	[	X
american_scientific_journal-7249	136	2	14	14	NUM
american_scientific_journal-7249	136	3	]	]	X
american_scientific_journal-7249	136	4	t.	t.	PROPN
american_scientific_journal-7249	136	5	kara	kara	PROPN
american_scientific_journal-7249	136	6	and	and	CCONJ
american_scientific_journal-7249	136	7	a.	a.	PROPN
american_scientific_journal-7249	136	8	h.	h.	PROPN
american_scientific_journal-7249	136	9	mary	mary	PROPN
american_scientific_journal-7249	136	10	,	,	PUNCT
american_scientific_journal-7249	136	11	"	"	PUNCT
american_scientific_journal-7249	136	12	robust	robust	ADJ
american_scientific_journal-7249	136	13	trajectory	trajectory	NOUN
american_scientific_journal-7249	136	14	tracking	tracking	NOUN
american_scientific_journal-7249	136	15	control	control	NOUN
american_scientific_journal-7249	136	16	of	of	ADP
american_scientific_journal-7249	136	17	robotic	robotic	ADJ
american_scientific_journal-7249	136	18	manipulators	manipulator	NOUN
american_scientific_journal-7249	136	19	based	base	VERB
american_scientific_journal-7249	136	20	on	on	ADP
american_scientific_journal-7249	136	21	modelfree	modelfree	PROPN
american_scientific_journal-7249	136	22	pid	pid	PROPN
american_scientific_journal-7249	136	23	-	-	PUNCT
american_scientific_journal-7249	136	24	smc	smc	PROPN
american_scientific_journal-7249	136	25	approach	approach	NOUN
american_scientific_journal-7249	136	26	,	,	PUNCT
american_scientific_journal-7249	136	27	"	"	PUNCT
american_scientific_journal-7249	136	28	journal	journal	NOUN
american_scientific_journal-7249	136	29	of	of	ADP
american_scientific_journal-7249	136	30	engineering	engineering	NOUN
american_scientific_journal-7249	136	31	research	research	NOUN
american_scientific_journal-7249	136	32	,	,	PUNCT
american_scientific_journal-7249	136	33	vol	vol	NOUN
american_scientific_journal-7249	136	34	.	.	PROPN
american_scientific_journal-7249	136	35	6	6	NUM
american_scientific_journal-7249	136	36	,	,	PUNCT
american_scientific_journal-7249	136	37	pp	pp	ADJ
american_scientific_journal-7249	136	38	.	.	PUNCT
american_scientific_journal-7249	137	1	170	170	NUM
american_scientific_journal-7249	137	2	-	-	SYM
american_scientific_journal-7249	137	3	188	188	NUM
american_scientific_journal-7249	137	4	,	,	PUNCT
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american_scientific_journal-7249	137	6	.	.	PUNCT
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american_scientific_journal-7249	138	3	]	]	X
american_scientific_journal-7249	138	4	a.	a.	NOUN
american_scientific_journal-7249	138	5	noordin	noordin	PROPN
american_scientific_journal-7249	138	6	,	,	PUNCT
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american_scientific_journal-7249	138	8	a.	a.	NOUN
american_scientific_journal-7249	138	9	m.	m.	PROPN
american_scientific_journal-7249	138	10	basri	basri	PROPN
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american_scientific_journal-7249	138	12	z.	z.	PROPN
american_scientific_journal-7249	138	13	m.	m.	PROPN
american_scientific_journal-7249	138	14	&	&	CCONJ
american_scientific_journal-7249	138	15	.	.	PUNCT
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american_scientific_journal-7249	138	17	m.	m.	PROPN
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american_scientific_journal-7249	138	19	,	,	PUNCT
american_scientific_journal-7249	138	20	"	"	PUNCT
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american_scientific_journal-7249	138	22	pid	pid	NOUN
american_scientific_journal-7249	138	23	controller	controller	NOUN
american_scientific_journal-7249	138	24	using	use	VERB
american_scientific_journal-7249	138	25	sliding	slide	VERB
american_scientific_journal-7249	138	26	mode	mode	NOUN
american_scientific_journal-7249	138	27	control	control	NOUN
american_scientific_journal-7249	138	28	approaches	approach	NOUN
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american_scientific_journal-7249	138	31	uav	uav	PROPN
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american_scientific_journal-7249	138	33	and	and	CCONJ
american_scientific_journal-7249	138	34	position	position	NOUN
american_scientific_journal-7249	138	35	stabilization	stabilization	NOUN
american_scientific_journal-7249	138	36	,	,	PUNCT
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american_scientific_journal-7249	138	38	arabian	arabian	ADJ
american_scientific_journal-7249	138	39	journal	journal	NOUN
american_scientific_journal-7249	138	40	for	for	ADP
american_scientific_journal-7249	138	41	science	science	NOUN
american_scientific_journal-7249	138	42	and	and	CCONJ
american_scientific_journal-7249	138	43	engineering	engineering	NOUN
american_scientific_journal-7249	138	44	,	,	PUNCT
american_scientific_journal-7249	138	45	vol	vol	NOUN
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american_scientific_journal-7249	138	47	46	46	NUM
american_scientific_journal-7249	138	48	,	,	PUNCT
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american_scientific_journal-7249	138	50	963–981	963–981	NUM
american_scientific_journal-7249	138	51	,	,	PUNCT
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american_scientific_journal-7249	138	53	.	.	PUNCT
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american_scientific_journal-7249	139	5	,	,	PUNCT
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american_scientific_journal-7249	139	11	,	,	PUNCT
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american_scientific_journal-7249	139	14	tuning	tuning	NOUN
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american_scientific_journal-7249	139	16	of	of	ADP
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american_scientific_journal-7249	139	18	fuzzy	fuzzy	ADJ
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american_scientific_journal-7249	139	20	-	-	PUNCT
american_scientific_journal-7249	139	21	order	order	NOUN
american_scientific_journal-7249	139	22	pid	pid	NOUN
american_scientific_journal-7249	139	23	controller	controller	NOUN
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american_scientific_journal-7249	139	25	,	,	PUNCT
american_scientific_journal-7249	139	26	"	"	PUNCT
american_scientific_journal-7249	139	27	procedia	procedia	NOUN
american_scientific_journal-7249	139	28	engineering	engineering	NOUN
american_scientific_journal-7249	139	29	,	,	PUNCT
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american_scientific_journal-7249	139	31	.	.	PROPN
american_scientific_journal-7249	139	32	7	7	NUM
american_scientific_journal-7249	139	33	,	,	PUNCT
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american_scientific_journal-7249	139	35	.	.	PUNCT
american_scientific_journal-7249	140	1	251	251	NUM
american_scientific_journal-7249	140	2	-	-	SYM
american_scientific_journal-7249	140	3	255	255	NUM
american_scientific_journal-7249	140	4	,	,	PUNCT
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american_scientific_journal-7249	140	6	.	.	PUNCT
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american_scientific_journal-7249	141	4	a.	a.	PROPN
american_scientific_journal-7249	141	5	h.	h.	PROPN
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american_scientific_journal-7249	141	8	z.	z.	PROPN
american_scientific_journal-7249	141	9	m.	m.	PROPN
american_scientific_journal-7249	141	10	s.	s.	PROPN
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american_scientific_journal-7249	141	24	:	:	PUNCT
american_scientific_journal-7249	141	25	a	a	DET
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american_scientific_journal-7249	141	27	-	-	PUNCT
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american_scientific_journal-7249	141	30	for	for	ADP
american_scientific_journal-7249	141	31	engineering	engineering	NOUN
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american_scientific_journal-7249	141	34	,	,	PUNCT
american_scientific_journal-7249	141	35	"	"	PUNCT
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american_scientific_journal-7249	141	37	in	in	ADP
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american_scientific_journal-7249	141	40	,	,	PUNCT
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american_scientific_journal-7249	141	42	.	.	PROPN
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american_scientific_journal-7249	141	44	,	,	PUNCT
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american_scientific_journal-7249	141	46	.	.	PUNCT
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american_scientific_journal-7249	142	2	-	-	SYM
american_scientific_journal-7249	142	3	191	191	NUM
american_scientific_journal-7249	142	4	,	,	PUNCT
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