id	sid	tid	token	lemma	pos
american_scientific_journal-814	1	1	american	american	PROPN
american_scientific_journal-814	1	2	scientific	scientific	ADJ
american_scientific_journal-814	1	3	research	research	NOUN
american_scientific_journal-814	1	4	journal	journal	NOUN
american_scientific_journal-814	1	5	for	for	ADP
american_scientific_journal-814	1	6	engineering	engineering	NOUN
american_scientific_journal-814	1	7	,	,	PUNCT
american_scientific_journal-814	1	8	technology	technology	NOUN
american_scientific_journal-814	1	9	,	,	PUNCT
american_scientific_journal-814	1	10	and	and	CCONJ
american_scientific_journal-814	1	11	sciences	science	NOUN
american_scientific_journal-814	1	12	(	(	PUNCT
american_scientific_journal-814	1	13	asrjets	asrjet	NOUN
american_scientific_journal-814	1	14	)	)	PUNCT
american_scientific_journal-814	1	15	issn	issn	PROPN
american_scientific_journal-814	1	16	(	(	PUNCT
american_scientific_journal-814	1	17	print	print	NOUN
american_scientific_journal-814	1	18	)	)	PUNCT
american_scientific_journal-814	1	19	2313	2313	NUM
american_scientific_journal-814	1	20	-	-	SYM
american_scientific_journal-814	1	21	4410	4410	NUM
american_scientific_journal-814	1	22	,	,	PUNCT
american_scientific_journal-814	1	23	issn	issn	PROPN
american_scientific_journal-814	1	24	(	(	PUNCT
american_scientific_journal-814	1	25	online	online	ADJ
american_scientific_journal-814	1	26	)	)	PUNCT
american_scientific_journal-814	1	27	2313	2313	NUM
american_scientific_journal-814	1	28	-	-	SYM
american_scientific_journal-814	1	29	4402	4402	NUM
american_scientific_journal-814	1	30	©	©	PROPN
american_scientific_journal-814	1	31	global	global	ADJ
american_scientific_journal-814	1	32	society	society	NOUN
american_scientific_journal-814	1	33	of	of	ADP
american_scientific_journal-814	1	34	scientific	scientific	ADJ
american_scientific_journal-814	1	35	research	research	NOUN
american_scientific_journal-814	1	36	and	and	CCONJ
american_scientific_journal-814	1	37	researchers	researcher	NOUN
american_scientific_journal-814	2	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	NOUN
american_scientific_journal-814	2	2	modelling	modelling	NOUN
american_scientific_journal-814	2	3	of	of	ADP
american_scientific_journal-814	2	4	dynast	dynast	NOUN
american_scientific_journal-814	2	5	simulator	simulator	NOUN
american_scientific_journal-814	2	6	to	to	ADP
american_scientific_journal-814	2	7	controlling	control	VERB
american_scientific_journal-814	2	8	speed	speed	NOUN
american_scientific_journal-814	2	9	in	in	ADP
american_scientific_journal-814	2	10	a	a	DET
american_scientific_journal-814	2	11	dc	dc	PROPN
american_scientific_journal-814	2	12	motor	motor	NOUN
american_scientific_journal-814	2	13	using	use	VERB
american_scientific_journal-814	2	14	proportional	proportional	ADJ
american_scientific_journal-814	2	15	integral	integral	ADJ
american_scientific_journal-814	2	16	derivative	derivative	ADJ
american_scientific_journal-814	2	17	controller	controller	NOUN
american_scientific_journal-814	2	18	james	james	PROPN
american_scientific_journal-814	2	19	agajoa	agajoa	PROPN
american_scientific_journal-814	2	20	*	*	PUNCT
american_scientific_journal-814	2	21	,	,	PUNCT
american_scientific_journal-814	2	22	okoro	okoro	ADP
american_scientific_journal-814	2	23	patience	patience	PROPN
american_scientific_journal-814	2	24	n.b	n.b	PROPN
american_scientific_journal-814	2	25	,	,	PUNCT
american_scientific_journal-814	2	26	akande	akande	ADJ
american_scientific_journal-814	2	27	akinyinka	akinyinka	PROPN
american_scientific_journal-814	2	28	olukunlec	olukunlec	PROPN
american_scientific_journal-814	2	29	,	,	PUNCT
american_scientific_journal-814	2	30	folorunso	folorunso	NOUN
american_scientific_journal-814	2	31	t.	t.	PROPN
american_scientific_journal-814	2	32	a.d	a.d	PROPN
american_scientific_journal-814	2	33	a	a	DET
american_scientific_journal-814	2	34	,	,	PUNCT
american_scientific_journal-814	2	35	d	d	PROPN
american_scientific_journal-814	2	36	federal	federal	PROPN
american_scientific_journal-814	2	37	university	university	PROPN
american_scientific_journal-814	2	38	of	of	ADP
american_scientific_journal-814	2	39	technology	technology	NOUN
american_scientific_journal-814	2	40	dept	dept	NOUN
american_scientific_journal-814	2	41	.	.	PROPN
american_scientific_journal-814	3	1	of	of	ADP
american_scientific_journal-814	3	2	computer	computer	NOUN
american_scientific_journal-814	3	3	engineering	engineering	NOUN
american_scientific_journal-814	3	4	,	,	PUNCT
american_scientific_journal-814	3	5	p.m.b	p.m.b	VERB
american_scientific_journal-814	3	6	65	65	NUM
american_scientific_journal-814	3	7	minna	minna	PROPN
american_scientific_journal-814	3	8	nigeria	nigeria	PROPN
american_scientific_journal-814	3	9	cfederal	cfederal	PROPN
american_scientific_journal-814	3	10	university	university	PROPN
american_scientific_journal-814	3	11	of	of	ADP
american_scientific_journal-814	3	12	technology	technology	NOUN
american_scientific_journal-814	3	13	,	,	PUNCT
american_scientific_journal-814	3	14	dept	dept	NOUN
american_scientific_journal-814	3	15	.	.	PUNCT
american_scientific_journal-814	4	1	of	of	ADP
american_scientific_journal-814	4	2	electrical	electrical	ADJ
american_scientific_journal-814	4	3	/	/	SYM
american_scientific_journal-814	4	4	electronic	electronic	ADJ
american_scientific_journal-814	4	5	owerri	owerri	NOUN
american_scientific_journal-814	4	6	ino	ino	PROPN
american_scientific_journal-814	4	7	state	state	PROPN
american_scientific_journal-814	4	8	nigeria	nigeria	PROPN
american_scientific_journal-814	4	9	bscientific	bscientific	PROPN
american_scientific_journal-814	4	10	equipment	equipment	PROPN
american_scientific_journal-814	4	11	development	development	PROPN
american_scientific_journal-814	4	12	institute	institute	PROPN
american_scientific_journal-814	4	13	enugu	enugu	PROPN
american_scientific_journal-814	4	14	aemail	aemail	NOUN
american_scientific_journal-814	4	15	:	:	PUNCT
american_scientific_journal-814	5	1	agajojul@gmail.com	agajojul@gmail.com	X
american_scientific_journal-814	5	2	cemail	cemail	NOUN
american_scientific_journal-814	5	3	:	:	PUNCT
american_scientific_journal-814	5	4	akandeoluk@gmail.com	akandeoluk@gmail.com	X
american_scientific_journal-814	6	1	demail	demail	NOUN
american_scientific_journal-814	6	2	:	:	PUNCT
american_scientific_journal-814	6	3	funso.taliha@futminna.edu.ng	funso.taliha@futminna.edu.ng	ADJ
american_scientific_journal-814	6	4	abstract	abstract	ADJ
american_scientific_journal-814	6	5	modelling	modelling	NOUN
american_scientific_journal-814	6	6	of	of	ADP
american_scientific_journal-814	6	7	dynast	dynast	NOUN
american_scientific_journal-814	6	8	simulator	simulator	NOUN
american_scientific_journal-814	6	9	to	to	ADP
american_scientific_journal-814	6	10	controlling	control	VERB
american_scientific_journal-814	6	11	speed	speed	NOUN
american_scientific_journal-814	6	12	in	in	ADP
american_scientific_journal-814	6	13	a	a	DET
american_scientific_journal-814	6	14	dc	dc	PROPN
american_scientific_journal-814	6	15	motor	motor	NOUN
american_scientific_journal-814	6	16	using	use	VERB
american_scientific_journal-814	6	17	proportional	proportional	ADJ
american_scientific_journal-814	6	18	integral	integral	ADJ
american_scientific_journal-814	6	19	derivative	derivative	ADJ
american_scientific_journal-814	6	20	controller	controller	NOUN
american_scientific_journal-814	6	21	is	be	AUX
american_scientific_journal-814	6	22	work	work	NOUN
american_scientific_journal-814	6	23	aimed	aim	VERB
american_scientific_journal-814	6	24	at	at	ADP
american_scientific_journal-814	6	25	designing	design	VERB
american_scientific_journal-814	6	26	,	,	PUNCT
american_scientific_journal-814	6	27	analyzing	analyzing	NOUN
american_scientific_journal-814	6	28	,	,	PUNCT
american_scientific_journal-814	6	29	and	and	CCONJ
american_scientific_journal-814	6	30	modeling	modeling	NOUN
american_scientific_journal-814	6	31	of	of	ADP
american_scientific_journal-814	6	32	a	a	DET
american_scientific_journal-814	6	33	dc	dc	PROPN
american_scientific_journal-814	6	34	motor	motor	NOUN
american_scientific_journal-814	6	35	speed	speed	NOUN
american_scientific_journal-814	6	36	control	control	NOUN
american_scientific_journal-814	6	37	using	use	VERB
american_scientific_journal-814	6	38	proportional	proportional	ADJ
american_scientific_journal-814	6	39	integral	integral	ADJ
american_scientific_journal-814	6	40	derivatives	derivative	NOUN
american_scientific_journal-814	6	41	controller	controller	NOUN
american_scientific_journal-814	6	42	(	(	PUNCT
american_scientific_journal-814	6	43	pid	pid	NOUN
american_scientific_journal-814	6	44	)	)	PUNCT
american_scientific_journal-814	6	45	.	.	PUNCT
american_scientific_journal-814	7	1	it	it	PRON
american_scientific_journal-814	7	2	entails	entail	VERB
american_scientific_journal-814	7	3	how	how	SCONJ
american_scientific_journal-814	7	4	a	a	DET
american_scientific_journal-814	7	5	pid	pid	NOUN
american_scientific_journal-814	7	6	controller	controller	NOUN
american_scientific_journal-814	7	7	can	can	AUX
american_scientific_journal-814	7	8	be	be	AUX
american_scientific_journal-814	7	9	used	use	VERB
american_scientific_journal-814	7	10	to	to	PART
american_scientific_journal-814	7	11	achieve	achieve	VERB
american_scientific_journal-814	7	12	a	a	DET
american_scientific_journal-814	7	13	desired	desire	VERB
american_scientific_journal-814	7	14	speed	speed	NOUN
american_scientific_journal-814	7	15	response	response	NOUN
american_scientific_journal-814	7	16	in	in	ADP
american_scientific_journal-814	7	17	a	a	DET
american_scientific_journal-814	7	18	dc	dc	PROPN
american_scientific_journal-814	7	19	motor	motor	NOUN
american_scientific_journal-814	7	20	speed	speed	NOUN
american_scientific_journal-814	7	21	control	control	NOUN
american_scientific_journal-814	7	22	.	.	PUNCT
american_scientific_journal-814	8	1	it	it	PRON
american_scientific_journal-814	8	2	presents	present	VERB
american_scientific_journal-814	8	3	a	a	DET
american_scientific_journal-814	8	4	detailed	detailed	ADJ
american_scientific_journal-814	8	5	simulation	simulation	NOUN
american_scientific_journal-814	8	6	of	of	ADP
american_scientific_journal-814	8	7	how	how	SCONJ
american_scientific_journal-814	8	8	this	this	DET
american_scientific_journal-814	8	9	pid	pid	NOUN
american_scientific_journal-814	8	10	controller	controller	NOUN
american_scientific_journal-814	8	11	and	and	CCONJ
american_scientific_journal-814	8	12	technology	technology	NOUN
american_scientific_journal-814	8	13	is	be	AUX
american_scientific_journal-814	8	14	added	add	VERB
american_scientific_journal-814	8	15	to	to	ADP
american_scientific_journal-814	8	16	the	the	DET
american_scientific_journal-814	8	17	dc	dc	PROPN
american_scientific_journal-814	8	18	motor	motor	NOUN
american_scientific_journal-814	8	19	speed	speed	NOUN
american_scientific_journal-814	8	20	control	control	NOUN
american_scientific_journal-814	8	21	with	with	ADP
american_scientific_journal-814	8	22	their	their	PRON
american_scientific_journal-814	8	23	varying	vary	VERB
american_scientific_journal-814	8	24	parameters	parameter	NOUN
american_scientific_journal-814	8	25	for	for	ADP
american_scientific_journal-814	8	26	desired	desire	VERB
american_scientific_journal-814	8	27	response	response	NOUN
american_scientific_journal-814	8	28	.	.	PUNCT
american_scientific_journal-814	9	1	using	use	VERB
american_scientific_journal-814	9	2	the	the	DET
american_scientific_journal-814	9	3	dynast	dynast	NOUN
american_scientific_journal-814	9	4	shell	shell	NOUN
american_scientific_journal-814	9	5	simulator	simulator	NOUN
american_scientific_journal-814	9	6	shows	show	VERB
american_scientific_journal-814	9	7	the	the	DET
american_scientific_journal-814	9	8	hardware	hardware	NOUN
american_scientific_journal-814	9	9	and	and	CCONJ
american_scientific_journal-814	9	10	it	it	PRON
american_scientific_journal-814	9	11	sub	sub	VERB
american_scientific_journal-814	9	12	system	system	NOUN
american_scientific_journal-814	9	13	in	in	ADP
american_scientific_journal-814	9	14	their	their	PRON
american_scientific_journal-814	9	15	simulated	simulate	VERB
american_scientific_journal-814	9	16	platform	platform	NOUN
american_scientific_journal-814	9	17	without	without	ADP
american_scientific_journal-814	9	18	the	the	DET
american_scientific_journal-814	9	19	use	use	NOUN
american_scientific_journal-814	9	20	of	of	ADP
american_scientific_journal-814	9	21	complex	complex	ADJ
american_scientific_journal-814	9	22	equations	equation	NOUN
american_scientific_journal-814	9	23	to	to	PART
american_scientific_journal-814	9	24	achieve	achieve	VERB
american_scientific_journal-814	9	25	your	your	PRON
american_scientific_journal-814	9	26	aim	aim	NOUN
american_scientific_journal-814	9	27	.	.	PUNCT
american_scientific_journal-814	10	1	this	this	DET
american_scientific_journal-814	10	2	paper	paper	NOUN
american_scientific_journal-814	10	3	relates	relate	VERB
american_scientific_journal-814	10	4	the	the	DET
american_scientific_journal-814	10	5	place	place	NOUN
american_scientific_journal-814	10	6	of	of	ADP
american_scientific_journal-814	10	7	pid	pid	NOUN
american_scientific_journal-814	10	8	technology	technology	NOUN
american_scientific_journal-814	10	9	in	in	ADP
american_scientific_journal-814	10	10	the	the	DET
american_scientific_journal-814	10	11	present	present	ADJ
american_scientific_journal-814	10	12	control	control	NOUN
american_scientific_journal-814	10	13	discipline	discipline	NOUN
american_scientific_journal-814	10	14	,	,	PUNCT
american_scientific_journal-814	10	15	how	how	SCONJ
american_scientific_journal-814	10	16	it	it	PRON
american_scientific_journal-814	10	17	reduces	reduce	VERB
american_scientific_journal-814	10	18	and	and	CCONJ
american_scientific_journal-814	10	19	eliminates	eliminate	VERB
american_scientific_journal-814	10	20	errors	error	NOUN
american_scientific_journal-814	10	21	in	in	ADP
american_scientific_journal-814	10	22	the	the	DET
american_scientific_journal-814	10	23	control	control	NOUN
american_scientific_journal-814	10	24	processes	process	NOUN
american_scientific_journal-814	10	25	using	use	VERB
american_scientific_journal-814	10	26	dynast	dynast	NOUN
american_scientific_journal-814	10	27	shell	shell	NOUN
american_scientific_journal-814	10	28	simulator	simulator	NOUN
american_scientific_journal-814	10	29	,	,	PUNCT
american_scientific_journal-814	10	30	it	it	PRON
american_scientific_journal-814	10	31	came	come	VERB
american_scientific_journal-814	10	32	up	up	ADP
american_scientific_journal-814	10	33	with	with	ADP
american_scientific_journal-814	10	34	a	a	DET
american_scientific_journal-814	10	35	designs	design	NOUN
american_scientific_journal-814	10	36	of	of	ADP
american_scientific_journal-814	10	37	dc	dc	PROPN
american_scientific_journal-814	10	38	motor	motor	NOUN
american_scientific_journal-814	10	39	speed	speed	NOUN
american_scientific_journal-814	10	40	control	control	NOUN
american_scientific_journal-814	10	41	with	with	ADP
american_scientific_journal-814	10	42	and	and	CCONJ
american_scientific_journal-814	10	43	without	without	ADP
american_scientific_journal-814	10	44	pid	pid	PROPN
american_scientific_journal-814	10	45	.	.	PUNCT
american_scientific_journal-814	11	1	the	the	DET
american_scientific_journal-814	11	2	work	work	NOUN
american_scientific_journal-814	11	3	demonstrated	demonstrate	VERB
american_scientific_journal-814	11	4	that	that	SCONJ
american_scientific_journal-814	11	5	with	with	ADP
american_scientific_journal-814	11	6	proportional	proportional	ADJ
american_scientific_journal-814	11	7	band	band	NOUN
american_scientific_journal-814	11	8	at	at	ADP
american_scientific_journal-814	11	9	kp=100	kp=100	PROPN
american_scientific_journal-814	11	10	,	,	PUNCT
american_scientific_journal-814	11	11	an	an	DET
american_scientific_journal-814	11	12	ki=200	ki=200	PROPN
american_scientific_journal-814	11	13	,	,	PUNCT
american_scientific_journal-814	11	14	the	the	DET
american_scientific_journal-814	11	15	controller	controller	NOUN
american_scientific_journal-814	11	16	output	output	NOUN
american_scientific_journal-814	11	17	is	be	AUX
american_scientific_journal-814	11	18	proportional	proportional	ADJ
american_scientific_journal-814	11	19	to	to	ADP
american_scientific_journal-814	11	20	the	the	DET
american_scientific_journal-814	11	21	error	error	NOUN
american_scientific_journal-814	11	22	or	or	CCONJ
american_scientific_journal-814	11	23	a	a	DET
american_scientific_journal-814	11	24	change	change	NOUN
american_scientific_journal-814	11	25	in	in	ADP
american_scientific_journal-814	11	26	measurement	measurement	NOUN
american_scientific_journal-814	11	27	(	(	PUNCT
american_scientific_journal-814	11	28	depending	depend	VERB
american_scientific_journal-814	11	29	on	on	ADP
american_scientific_journal-814	11	30	the	the	DET
american_scientific_journal-814	11	31	controller	controller	NOUN
american_scientific_journal-814	11	32	)	)	PUNCT
american_scientific_journal-814	11	33	.	.	PUNCT
american_scientific_journal-814	12	1	keywords	keyword	NOUN
american_scientific_journal-814	12	2	:	:	PUNCT
american_scientific_journal-814	12	3	pid	pid	NOUN
american_scientific_journal-814	12	4	;	;	PUNCT
american_scientific_journal-814	12	5	dc	dc	PROPN
american_scientific_journal-814	12	6	motor	motor	NOUN
american_scientific_journal-814	12	7	;	;	PUNCT
american_scientific_journal-814	12	8	dynast	dynast	NOUN
american_scientific_journal-814	12	9	simulator	simulator	NOUN
american_scientific_journal-814	12	10	;	;	PUNCT
american_scientific_journal-814	12	11	speed	speed	NOUN
american_scientific_journal-814	12	12	control	control	NOUN
american_scientific_journal-814	12	13	.	.	PUNCT
american_scientific_journal-814	13	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-814	14	1	*	*	PUNCT
american_scientific_journal-814	14	2	corresponding	correspond	VERB
american_scientific_journal-814	14	3	author	author	NOUN
american_scientific_journal-814	14	4	.	.	PUNCT
american_scientific_journal-814	15	1	e	e	X
american_scientific_journal-814	15	2	-	-	NOUN
american_scientific_journal-814	15	3	mail	mail	NOUN
american_scientific_journal-814	15	4	address	address	NOUN
american_scientific_journal-814	15	5	:	:	PUNCT
american_scientific_journal-814	16	1	agajojul@gmail.com	agajojul@gmail.com	X
american_scientific_journal-814	16	2	.	.	PROPN
american_scientific_journal-814	17	1	64	64	NUM
american_scientific_journal-814	17	2	http://asrjetsjournal.org/	http://asrjetsjournal.org/	NOUN
american_scientific_journal-814	17	3	mailto:agajojul@gmail.com	mailto:agajojul@gmail.com	X
american_scientific_journal-814	17	4	mailto:akandeoluk@gmail.com	mailto:akandeoluk@gmail.com	X
american_scientific_journal-814	18	1	mailto:funso.taliha@futminna.edu.ng	mailto:funso.taliha@futminna.edu.ng	ADJ
american_scientific_journal-814	18	2	american	american	ADJ
american_scientific_journal-814	18	3	scientific	scientific	ADJ
american_scientific_journal-814	18	4	research	research	NOUN
american_scientific_journal-814	18	5	journal	journal	NOUN
american_scientific_journal-814	18	6	for	for	ADP
american_scientific_journal-814	18	7	engineering	engineering	NOUN
american_scientific_journal-814	18	8	,	,	PUNCT
american_scientific_journal-814	18	9	technology	technology	NOUN
american_scientific_journal-814	18	10	,	,	PUNCT
american_scientific_journal-814	18	11	and	and	CCONJ
american_scientific_journal-814	18	12	sciences	science	NOUN
american_scientific_journal-814	18	13	(	(	PUNCT
american_scientific_journal-814	18	14	asrjets	asrjet	NOUN
american_scientific_journal-814	18	15	)	)	PUNCT
american_scientific_journal-814	18	16	(	(	PUNCT
american_scientific_journal-814	18	17	2015	2015	NUM
american_scientific_journal-814	18	18	)	)	PUNCT
american_scientific_journal-814	18	19	volume	volume	NOUN
american_scientific_journal-814	18	20	14	14	NUM
american_scientific_journal-814	18	21	,	,	PUNCT
american_scientific_journal-814	18	22	no	no	DET
american_scientific_journal-814	18	23	1	1	NUM
american_scientific_journal-814	18	24	,	,	PUNCT
american_scientific_journal-814	18	25	pp	pp	ADV
american_scientific_journal-814	18	26	64	64	NUM
american_scientific_journal-814	18	27	-	-	SYM
american_scientific_journal-814	18	28	76	76	NUM
american_scientific_journal-814	18	29	1	1	NUM
american_scientific_journal-814	18	30	.	.	PUNCT
american_scientific_journal-814	19	1	introduction	introduction	NOUN
american_scientific_journal-814	19	2	in	in	ADP
american_scientific_journal-814	19	3	spite	spite	NOUN
american_scientific_journal-814	19	4	of	of	ADP
american_scientific_journal-814	19	5	the	the	DET
american_scientific_journal-814	19	6	development	development	NOUN
american_scientific_journal-814	19	7	of	of	ADP
american_scientific_journal-814	19	8	power	power	NOUN
american_scientific_journal-814	19	9	electronics	electronic	NOUN
american_scientific_journal-814	19	10	resources	resource	NOUN
american_scientific_journal-814	19	11	,	,	PUNCT
american_scientific_journal-814	19	12	the	the	DET
american_scientific_journal-814	19	13	direct	direct	ADJ
american_scientific_journal-814	19	14	current	current	ADJ
american_scientific_journal-814	19	15	machines	machine	NOUN
american_scientific_journal-814	19	16	are	be	AUX
american_scientific_journal-814	19	17	becoming	become	VERB
american_scientific_journal-814	19	18	more	more	ADV
american_scientific_journal-814	19	19	useful	useful	ADJ
american_scientific_journal-814	19	20	as	as	SCONJ
american_scientific_journal-814	19	21	they	they	PRON
american_scientific_journal-814	19	22	have	have	AUX
american_scientific_journal-814	19	23	found	find	VERB
american_scientific_journal-814	19	24	wide	wide	ADJ
american_scientific_journal-814	19	25	application	application	NOUN
american_scientific_journal-814	19	26	,	,	PUNCT
american_scientific_journal-814	19	27	that	that	ADV
american_scientific_journal-814	19	28	is	is	ADV
american_scientific_journal-814	19	29	,	,	PUNCT
american_scientific_journal-814	19	30	automobile	automobile	NOUN
american_scientific_journal-814	19	31	industry	industry	NOUN
american_scientific_journal-814	19	32	(	(	PUNCT
american_scientific_journal-814	19	33	electric	electric	ADJ
american_scientific_journal-814	19	34	vehicle	vehicle	NOUN
american_scientific_journal-814	19	35	)	)	PUNCT
american_scientific_journal-814	19	36	,	,	PUNCT
american_scientific_journal-814	19	37	weak	weak	ADJ
american_scientific_journal-814	19	38	power	power	NOUN
american_scientific_journal-814	19	39	using	use	VERB
american_scientific_journal-814	19	40	battery	battery	NOUN
american_scientific_journal-814	19	41	system	system	NOUN
american_scientific_journal-814	19	42	(	(	PUNCT
american_scientific_journal-814	19	43	motor	motor	NOUN
american_scientific_journal-814	19	44	of	of	ADP
american_scientific_journal-814	19	45	toy	toy	NOUN
american_scientific_journal-814	19	46	)	)	PUNCT
american_scientific_journal-814	19	47	,	,	PUNCT
american_scientific_journal-814	19	48	the	the	DET
american_scientific_journal-814	19	49	electric	electric	ADJ
american_scientific_journal-814	19	50	traction	traction	NOUN
american_scientific_journal-814	19	51	in	in	ADP
american_scientific_journal-814	19	52	the	the	DET
american_scientific_journal-814	19	53	multi	multi	ADJ
american_scientific_journal-814	19	54	-	-	ADJ
american_scientific_journal-814	19	55	machine	machine	ADJ
american_scientific_journal-814	19	56	systems	system	NOUN
american_scientific_journal-814	19	57	,	,	PUNCT
american_scientific_journal-814	19	58	etc	etc	X
american_scientific_journal-814	19	59	.	.	X
american_scientific_journal-814	20	1	the	the	DET
american_scientific_journal-814	20	2	speed	speed	NOUN
american_scientific_journal-814	20	3	of	of	ADP
american_scientific_journal-814	20	4	dc	dc	PROPN
american_scientific_journal-814	20	5	motor	motor	NOUN
american_scientific_journal-814	20	6	can	can	AUX
american_scientific_journal-814	20	7	be	be	AUX
american_scientific_journal-814	20	8	adjusted	adjust	VERB
american_scientific_journal-814	20	9	to	to	ADP
american_scientific_journal-814	20	10	a	a	DET
american_scientific_journal-814	20	11	great	great	ADJ
american_scientific_journal-814	20	12	extent	extent	NOUN
american_scientific_journal-814	20	13	so	so	SCONJ
american_scientific_journal-814	20	14	as	as	SCONJ
american_scientific_journal-814	20	15	to	to	PART
american_scientific_journal-814	20	16	provide	provide	VERB
american_scientific_journal-814	20	17	easy	easy	ADJ
american_scientific_journal-814	20	18	control	control	NOUN
american_scientific_journal-814	20	19	and	and	CCONJ
american_scientific_journal-814	20	20	high	high	ADJ
american_scientific_journal-814	20	21	performance	performance	NOUN
american_scientific_journal-814	20	22	.	.	PUNCT
american_scientific_journal-814	21	1	there	there	PRON
american_scientific_journal-814	21	2	are	be	VERB
american_scientific_journal-814	21	3	several	several	ADJ
american_scientific_journal-814	21	4	conventional	conventional	ADJ
american_scientific_journal-814	21	5	and	and	CCONJ
american_scientific_journal-814	21	6	numeric	numeric	ADJ
american_scientific_journal-814	21	7	controller	controller	NOUN
american_scientific_journal-814	21	8	types	type	NOUN
american_scientific_journal-814	21	9	intended	intend	VERB
american_scientific_journal-814	21	10	for	for	ADP
american_scientific_journal-814	21	11	controling	control	VERB
american_scientific_journal-814	21	12	the	the	DET
american_scientific_journal-814	21	13	dc	dc	PROPN
american_scientific_journal-814	21	14	motor	motor	NOUN
american_scientific_journal-814	21	15	speed	speed	NOUN
american_scientific_journal-814	21	16	at	at	ADP
american_scientific_journal-814	21	17	its	its	PRON
american_scientific_journal-814	21	18	executing	execute	VERB
american_scientific_journal-814	21	19	various	various	ADJ
american_scientific_journal-814	21	20	tasks	task	NOUN
american_scientific_journal-814	22	1	[	[	X
american_scientific_journal-814	22	2	3	3	NUM
american_scientific_journal-814	22	3	]	]	PUNCT
american_scientific_journal-814	22	4	.	.	PUNCT
american_scientific_journal-814	23	1	pid	pid	NOUN
american_scientific_journal-814	23	2	which	which	PRON
american_scientific_journal-814	23	3	simply	simply	ADV
american_scientific_journal-814	23	4	stand	stand	VERB
american_scientific_journal-814	23	5	for	for	ADP
american_scientific_journal-814	23	6	proportional	proportional	ADJ
american_scientific_journal-814	23	7	integral	integral	ADJ
american_scientific_journal-814	23	8	derivative	derivative	ADJ
american_scientific_journal-814	23	9	controller	controller	NOUN
american_scientific_journal-814	23	10	which	which	PRON
american_scientific_journal-814	23	11	is	be	AUX
american_scientific_journal-814	23	12	used	use	VERB
american_scientific_journal-814	23	13	in	in	ADP
american_scientific_journal-814	23	14	control	control	NOUN
american_scientific_journal-814	23	15	processes	process	NOUN
american_scientific_journal-814	23	16	to	to	PART
american_scientific_journal-814	23	17	eliminate	eliminate	VERB
american_scientific_journal-814	23	18	and	and	CCONJ
american_scientific_journal-814	23	19	reduce	reduce	VERB
american_scientific_journal-814	23	20	errors.this	errors.this	PRON
american_scientific_journal-814	23	21	errors	error	NOUN
american_scientific_journal-814	23	22	represents	represent	VERB
american_scientific_journal-814	23	23	the	the	DET
american_scientific_journal-814	23	24	difference	difference	NOUN
american_scientific_journal-814	23	25	between	between	ADP
american_scientific_journal-814	23	26	where	where	SCONJ
american_scientific_journal-814	23	27	you	you	PRON
american_scientific_journal-814	23	28	want	want	VERB
american_scientific_journal-814	23	29	to	to	PART
american_scientific_journal-814	23	30	go	go	VERB
american_scientific_journal-814	23	31	and	and	CCONJ
american_scientific_journal-814	23	32	where	where	SCONJ
american_scientific_journal-814	23	33	you	you	PRON
american_scientific_journal-814	23	34	are	be	AUX
american_scientific_journal-814	23	35	actually	actually	ADV
american_scientific_journal-814	23	36	.	.	PUNCT
american_scientific_journal-814	24	1	errors	error	NOUN
american_scientific_journal-814	24	2	is	be	AUX
american_scientific_journal-814	24	3	thus	thus	ADV
american_scientific_journal-814	24	4	defined	define	VERB
american_scientific_journal-814	24	5	as	as	ADP
american_scientific_journal-814	24	6	the	the	DET
american_scientific_journal-814	24	7	difference	difference	NOUN
american_scientific_journal-814	24	8	between	between	ADP
american_scientific_journal-814	24	9	the	the	DET
american_scientific_journal-814	24	10	set	set	NOUN
american_scientific_journal-814	24	11	point	point	NOUN
american_scientific_journal-814	24	12	and	and	CCONJ
american_scientific_journal-814	24	13	measurement	measurement	NOUN
american_scientific_journal-814	24	14	.	.	PUNCT
american_scientific_journal-814	25	1	pid	pid	NOUN
american_scientific_journal-814	25	2	controllers	controller	NOUN
american_scientific_journal-814	25	3	are	be	AUX
american_scientific_journal-814	25	4	widely	widely	ADV
american_scientific_journal-814	25	5	used	use	VERB
american_scientific_journal-814	25	6	in	in	ADP
american_scientific_journal-814	25	7	industrial	industrial	ADJ
american_scientific_journal-814	25	8	plants	plant	NOUN
american_scientific_journal-814	25	9	because	because	SCONJ
american_scientific_journal-814	25	10	it	it	PRON
american_scientific_journal-814	25	11	is	be	AUX
american_scientific_journal-814	25	12	simple	simple	ADJ
american_scientific_journal-814	25	13	and	and	CCONJ
american_scientific_journal-814	25	14	robust	robust	ADJ
american_scientific_journal-814	25	15	.	.	PUNCT
american_scientific_journal-814	26	1	industrial	industrial	ADJ
american_scientific_journal-814	26	2	processes	process	NOUN
american_scientific_journal-814	26	3	are	be	AUX
american_scientific_journal-814	26	4	subjected	subject	VERB
american_scientific_journal-814	26	5	to	to	ADP
american_scientific_journal-814	26	6	variation	variation	NOUN
american_scientific_journal-814	26	7	in	in	ADP
american_scientific_journal-814	26	8	parameters	parameter	NOUN
american_scientific_journal-814	26	9	and	and	CCONJ
american_scientific_journal-814	26	10	parameter	parameter	NOUN
american_scientific_journal-814	26	11	perturbations	perturbation	NOUN
american_scientific_journal-814	26	12	,	,	PUNCT
american_scientific_journal-814	26	13	which	which	PRON
american_scientific_journal-814	26	14	when	when	SCONJ
american_scientific_journal-814	26	15	significant	significant	ADJ
american_scientific_journal-814	26	16	makes	make	VERB
american_scientific_journal-814	26	17	the	the	DET
american_scientific_journal-814	26	18	system	system	NOUN
american_scientific_journal-814	26	19	unstable	unstable	ADJ
american_scientific_journal-814	26	20	.	.	PUNCT
american_scientific_journal-814	27	1	so	so	ADV
american_scientific_journal-814	27	2	the	the	DET
american_scientific_journal-814	27	3	control	control	NOUN
american_scientific_journal-814	27	4	engineers	engineer	NOUN
american_scientific_journal-814	27	5	are	be	AUX
american_scientific_journal-814	27	6	on	on	ADP
american_scientific_journal-814	27	7	the	the	DET
american_scientific_journal-814	27	8	look	look	NOUN
american_scientific_journal-814	27	9	out	out	ADP
american_scientific_journal-814	27	10	for	for	ADP
american_scientific_journal-814	27	11	automatic	automatic	ADJ
american_scientific_journal-814	27	12	tuning	tuning	NOUN
american_scientific_journal-814	27	13	procedures	procedure	NOUN
american_scientific_journal-814	27	14	.	.	PUNCT
american_scientific_journal-814	28	1	in	in	ADP
american_scientific_journal-814	28	2	this	this	DET
american_scientific_journal-814	28	3	work	work	NOUN
american_scientific_journal-814	28	4	,	,	PUNCT
american_scientific_journal-814	28	5	a	a	DET
american_scientific_journal-814	28	6	scheduling	scheduling	NOUN
american_scientific_journal-814	28	7	pid	pid	NOUN
american_scientific_journal-814	28	8	tuning	tune	VERB
american_scientific_journal-814	28	9	parameters	parameter	NOUN
american_scientific_journal-814	28	10	strategy	strategy	NOUN
american_scientific_journal-814	28	11	for	for	ADP
american_scientific_journal-814	28	12	a	a	DET
american_scientific_journal-814	28	13	dc	dc	PROPN
american_scientific_journal-814	28	14	motor	motor	NOUN
american_scientific_journal-814	28	15	speed	speed	NOUN
american_scientific_journal-814	28	16	control	control	NOUN
american_scientific_journal-814	28	17	is	be	AUX
american_scientific_journal-814	28	18	proposed	propose	VERB
american_scientific_journal-814	28	19	.	.	PUNCT
american_scientific_journal-814	29	1	motors	motor	NOUN
american_scientific_journal-814	29	2	come	come	VERB
american_scientific_journal-814	29	3	in	in	ADP
american_scientific_journal-814	29	4	many	many	ADJ
american_scientific_journal-814	29	5	sizes	size	NOUN
american_scientific_journal-814	29	6	and	and	CCONJ
american_scientific_journal-814	29	7	types	type	NOUN
american_scientific_journal-814	29	8	,	,	PUNCT
american_scientific_journal-814	29	9	but	but	CCONJ
american_scientific_journal-814	29	10	their	their	PRON
american_scientific_journal-814	29	11	basic	basic	ADJ
american_scientific_journal-814	29	12	function	function	NOUN
american_scientific_journal-814	29	13	is	be	AUX
american_scientific_journal-814	29	14	the	the	DET
american_scientific_journal-814	29	15	same	same	ADJ
american_scientific_journal-814	29	16	.	.	PUNCT
american_scientific_journal-814	30	1	motors	motor	NOUN
american_scientific_journal-814	30	2	of	of	ADP
american_scientific_journal-814	30	3	all	all	DET
american_scientific_journal-814	30	4	types	type	NOUN
american_scientific_journal-814	30	5	serve	serve	VERB
american_scientific_journal-814	30	6	to	to	PART
american_scientific_journal-814	30	7	convert	convert	VERB
american_scientific_journal-814	30	8	electrical	electrical	ADJ
american_scientific_journal-814	30	9	energy	energy	NOUN
american_scientific_journal-814	30	10	into	into	ADP
american_scientific_journal-814	30	11	mechanical	mechanical	ADJ
american_scientific_journal-814	30	12	energy	energy	NOUN
american_scientific_journal-814	31	1	[	[	X
american_scientific_journal-814	31	2	1	1	NUM
american_scientific_journal-814	31	3	]	]	PUNCT
american_scientific_journal-814	31	4	.	.	PUNCT
american_scientific_journal-814	32	1	d.c	d.c	PROPN
american_scientific_journal-814	32	2	.	.	PROPN
american_scientific_journal-814	32	3	motors	motor	NOUN
american_scientific_journal-814	32	4	are	be	AUX
american_scientific_journal-814	32	5	motors	motor	NOUN
american_scientific_journal-814	32	6	that	that	PRON
american_scientific_journal-814	32	7	run	run	VERB
american_scientific_journal-814	32	8	on	on	ADP
american_scientific_journal-814	32	9	direct	direct	ADJ
american_scientific_journal-814	32	10	current	current	NOUN
american_scientific_journal-814	32	11	from	from	ADP
american_scientific_journal-814	32	12	a	a	DET
american_scientific_journal-814	32	13	battery	battery	NOUN
american_scientific_journal-814	32	14	or	or	CCONJ
american_scientific_journal-814	32	15	d.c	d.c	PROPN
american_scientific_journal-814	32	16	.	.	PUNCT
american_scientific_journal-814	33	1	power	power	NOUN
american_scientific_journal-814	33	2	supply	supply	NOUN
american_scientific_journal-814	33	3	.	.	PUNCT
american_scientific_journal-814	34	1	direct	direct	ADJ
american_scientific_journal-814	34	2	current	current	NOUN
american_scientific_journal-814	34	3	is	be	AUX
american_scientific_journal-814	34	4	the	the	DET
american_scientific_journal-814	34	5	term	term	NOUN
american_scientific_journal-814	34	6	used	use	VERB
american_scientific_journal-814	34	7	to	to	PART
american_scientific_journal-814	34	8	describe	describe	VERB
american_scientific_journal-814	34	9	electricity	electricity	NOUN
american_scientific_journal-814	34	10	at	at	ADP
american_scientific_journal-814	34	11	a	a	DET
american_scientific_journal-814	34	12	constant	constant	ADJ
american_scientific_journal-814	34	13	voltage	voltage	NOUN
american_scientific_journal-814	34	14	.	.	PUNCT
american_scientific_journal-814	35	1	when	when	SCONJ
american_scientific_journal-814	35	2	a	a	DET
american_scientific_journal-814	35	3	battery	battery	NOUN
american_scientific_journal-814	35	4	or	or	CCONJ
american_scientific_journal-814	35	5	d.c	d.c	PROPN
american_scientific_journal-814	35	6	.	.	PUNCT
american_scientific_journal-814	35	7	power	power	NOUN
american_scientific_journal-814	35	8	supply	supply	NOUN
american_scientific_journal-814	35	9	is	be	AUX
american_scientific_journal-814	35	10	connected	connect	VERB
american_scientific_journal-814	35	11	between	between	ADP
american_scientific_journal-814	35	12	a	a	DET
american_scientific_journal-814	35	13	d.c	d.c	PROPN
american_scientific_journal-814	35	14	motor	motor	NOUN
american_scientific_journal-814	35	15	's	's	PART
american_scientific_journal-814	35	16	electrical	electrical	ADJ
american_scientific_journal-814	35	17	leads	lead	NOUN
american_scientific_journal-814	35	18	,	,	PUNCT
american_scientific_journal-814	35	19	the	the	DET
american_scientific_journal-814	35	20	motor	motor	NOUN
american_scientific_journal-814	35	21	convert	convert	PROPN
american_scientific_journal-814	35	22	’s	’s	PART
american_scientific_journal-814	35	23	electrical	electrical	ADJ
american_scientific_journal-814	35	24	energy	energy	NOUN
american_scientific_journal-814	35	25	to	to	ADP
american_scientific_journal-814	35	26	mechanical	mechanical	ADJ
american_scientific_journal-814	35	27	work	work	NOUN
american_scientific_journal-814	35	28	as	as	ADP
american_scientific_journal-814	35	29	the	the	DET
american_scientific_journal-814	35	30	output	output	NOUN
american_scientific_journal-814	35	31	shaft	shaft	NOUN
american_scientific_journal-814	35	32	rotates	rotate	NOUN
american_scientific_journal-814	35	33	.	.	PUNCT
american_scientific_journal-814	36	1	pid	pid	NOUN
american_scientific_journal-814	36	2	controllers	controller	NOUN
american_scientific_journal-814	36	3	are	be	AUX
american_scientific_journal-814	36	4	designed	design	VERB
american_scientific_journal-814	36	5	to	to	PART
american_scientific_journal-814	36	6	eliminate	eliminate	VERB
american_scientific_journal-814	36	7	the	the	DET
american_scientific_journal-814	36	8	need	need	NOUN
american_scientific_journal-814	36	9	for	for	ADP
american_scientific_journal-814	36	10	continuous	continuous	ADJ
american_scientific_journal-814	36	11	operator	operator	NOUN
american_scientific_journal-814	36	12	attention	attention	NOUN
american_scientific_journal-814	36	13	.	.	PUNCT
american_scientific_journal-814	37	1	cruise	cruise	NOUN
american_scientific_journal-814	37	2	control	control	NOUN
american_scientific_journal-814	37	3	in	in	ADP
american_scientific_journal-814	37	4	a	a	DET
american_scientific_journal-814	37	5	car	car	NOUN
american_scientific_journal-814	37	6	and	and	CCONJ
american_scientific_journal-814	37	7	a	a	DET
american_scientific_journal-814	37	8	house	house	NOUN
american_scientific_journal-814	37	9	thermostat	thermostat	NOUN
american_scientific_journal-814	37	10	are	be	AUX
american_scientific_journal-814	37	11	common	common	ADJ
american_scientific_journal-814	37	12	examples	example	NOUN
american_scientific_journal-814	37	13	of	of	ADP
american_scientific_journal-814	37	14	how	how	SCONJ
american_scientific_journal-814	37	15	controllers	controller	NOUN
american_scientific_journal-814	37	16	are	be	AUX
american_scientific_journal-814	37	17	used	use	VERB
american_scientific_journal-814	37	18	to	to	PART
american_scientific_journal-814	37	19	automatically	automatically	ADV
american_scientific_journal-814	37	20	adjust	adjust	VERB
american_scientific_journal-814	37	21	some	some	DET
american_scientific_journal-814	37	22	variable	variable	NOUN
american_scientific_journal-814	37	23	to	to	PART
american_scientific_journal-814	37	24	hold	hold	VERB
american_scientific_journal-814	37	25	the	the	DET
american_scientific_journal-814	37	26	measurement	measurement	NOUN
american_scientific_journal-814	37	27	(	(	PUNCT
american_scientific_journal-814	37	28	or	or	CCONJ
american_scientific_journal-814	37	29	process	process	NOUN
american_scientific_journal-814	37	30	variable	variable	NOUN
american_scientific_journal-814	37	31	)	)	PUNCT
american_scientific_journal-814	37	32	at	at	ADP
american_scientific_journal-814	37	33	the	the	DET
american_scientific_journal-814	37	34	set	set	NOUN
american_scientific_journal-814	37	35	-	-	PUNCT
american_scientific_journal-814	37	36	point	point	NOUN
american_scientific_journal-814	37	37	.	.	PUNCT
american_scientific_journal-814	38	1	the	the	DET
american_scientific_journal-814	38	2	set	set	NOUN
american_scientific_journal-814	38	3	-	-	PUNCT
american_scientific_journal-814	38	4	point	point	NOUN
american_scientific_journal-814	38	5	is	be	AUX
american_scientific_journal-814	38	6	where	where	SCONJ
american_scientific_journal-814	38	7	you	you	PRON
american_scientific_journal-814	38	8	would	would	AUX
american_scientific_journal-814	38	9	like	like	VERB
american_scientific_journal-814	38	10	the	the	DET
american_scientific_journal-814	38	11	measurement	measurement	NOUN
american_scientific_journal-814	38	12	to	to	PART
american_scientific_journal-814	38	13	be	be	AUX
american_scientific_journal-814	38	14	.	.	PUNCT
american_scientific_journal-814	39	1	error	error	NOUN
american_scientific_journal-814	39	2	is	be	AUX
american_scientific_journal-814	39	3	defined	define	VERB
american_scientific_journal-814	39	4	as	as	ADP
american_scientific_journal-814	39	5	the	the	DET
american_scientific_journal-814	39	6	difference	difference	NOUN
american_scientific_journal-814	39	7	between	between	ADP
american_scientific_journal-814	39	8	set	set	NOUN
american_scientific_journal-814	39	9	-	-	PUNCT
american_scientific_journal-814	39	10	point	point	NOUN
american_scientific_journal-814	39	11	and	and	CCONJ
american_scientific_journal-814	39	12	measurement	measurement	NOUN
american_scientific_journal-814	39	13	.	.	PUNCT
american_scientific_journal-814	40	1	error	error	NOUN
american_scientific_journal-814	40	2	=	=	SYM
american_scientific_journal-814	40	3	(	(	PUNCT
american_scientific_journal-814	40	4	set	set	NOUN
american_scientific_journal-814	40	5	-	-	PUNCT
american_scientific_journal-814	40	6	point	point	NOUN
american_scientific_journal-814	40	7	)	)	PUNCT
american_scientific_journal-814	40	8	(	(	PUNCT
american_scientific_journal-814	40	9	measurement	measurement	NOUN
american_scientific_journal-814	40	10	)	)	PUNCT
american_scientific_journal-814	40	11	.	.	PUNCT
american_scientific_journal-814	41	1	the	the	DET
american_scientific_journal-814	41	2	variable	variable	NOUN
american_scientific_journal-814	41	3	being	be	AUX
american_scientific_journal-814	41	4	adjusted	adjust	VERB
american_scientific_journal-814	41	5	is	be	AUX
american_scientific_journal-814	41	6	called	call	VERB
american_scientific_journal-814	41	7	the	the	DET
american_scientific_journal-814	41	8	manipulated	manipulate	VERB
american_scientific_journal-814	41	9	variable	variable	NOUN
american_scientific_journal-814	41	10	which	which	PRON
american_scientific_journal-814	41	11	usually	usually	ADV
american_scientific_journal-814	41	12	is	be	AUX
american_scientific_journal-814	41	13	equal	equal	ADJ
american_scientific_journal-814	41	14	to	to	ADP
american_scientific_journal-814	41	15	the	the	DET
american_scientific_journal-814	41	16	output	output	NOUN
american_scientific_journal-814	41	17	of	of	ADP
american_scientific_journal-814	41	18	the	the	DET
american_scientific_journal-814	41	19	controller	controller	NOUN
american_scientific_journal-814	41	20	.	.	PUNCT
american_scientific_journal-814	42	1	the	the	DET
american_scientific_journal-814	42	2	output	output	NOUN
american_scientific_journal-814	42	3	of	of	ADP
american_scientific_journal-814	42	4	pid	pid	NOUN
american_scientific_journal-814	42	5	controllers	controller	NOUN
american_scientific_journal-814	42	6	will	will	AUX
american_scientific_journal-814	42	7	change	change	VERB
american_scientific_journal-814	42	8	in	in	ADP
american_scientific_journal-814	42	9	response	response	NOUN
american_scientific_journal-814	42	10	to	to	ADP
american_scientific_journal-814	42	11	a	a	DET
american_scientific_journal-814	42	12	change	change	NOUN
american_scientific_journal-814	42	13	in	in	ADP
american_scientific_journal-814	42	14	measurement	measurement	NOUN
american_scientific_journal-814	42	15	or	or	CCONJ
american_scientific_journal-814	42	16	set	set	NOUN
american_scientific_journal-814	42	17	-	-	PUNCT
american_scientific_journal-814	42	18	point	point	NOUN
american_scientific_journal-814	42	19	.	.	PUNCT
american_scientific_journal-814	43	1	this	this	DET
american_scientific_journal-814	43	2	work	work	NOUN
american_scientific_journal-814	43	3	will	will	AUX
american_scientific_journal-814	43	4	enhance	enhance	VERB
american_scientific_journal-814	43	5	the	the	DET
american_scientific_journal-814	43	6	reduction	reduction	NOUN
american_scientific_journal-814	43	7	of	of	ADP
american_scientific_journal-814	43	8	overshoot	overshoot	NOUN
american_scientific_journal-814	43	9	,	,	PUNCT
american_scientific_journal-814	43	10	reduction	reduction	NOUN
american_scientific_journal-814	43	11	of	of	ADP
american_scientific_journal-814	43	12	settling	settle	VERB
american_scientific_journal-814	43	13	time	time	NOUN
american_scientific_journal-814	43	14	and	and	CCONJ
american_scientific_journal-814	43	15	the	the	DET
american_scientific_journal-814	43	16	steady	steady	ADJ
american_scientific_journal-814	43	17	state	state	NOUN
american_scientific_journal-814	43	18	trasient	trasient	NOUN
american_scientific_journal-814	43	19	response	response	NOUN
american_scientific_journal-814	43	20	of	of	ADP
american_scientific_journal-814	43	21	the	the	DET
american_scientific_journal-814	43	22	control	control	NOUN
american_scientific_journal-814	43	23	signal	signal	NOUN
american_scientific_journal-814	43	24	.	.	PUNCT
american_scientific_journal-814	44	1	pid	pid	NOUN
american_scientific_journal-814	44	2	controller	controller	NOUN
american_scientific_journal-814	44	3	came	come	VERB
american_scientific_journal-814	44	4	to	to	ADP
american_scientific_journal-814	44	5	existence	existence	NOUN
american_scientific_journal-814	44	6	because	because	SCONJ
american_scientific_journal-814	44	7	it	it	PRON
american_scientific_journal-814	44	8	eliminate	eliminate	VERB
american_scientific_journal-814	44	9	these	these	DET
american_scientific_journal-814	44	10	error	error	NOUN
american_scientific_journal-814	44	11	or	or	CCONJ
american_scientific_journal-814	44	12	reduce	reduce	VERB
american_scientific_journal-814	44	13	them	they	PRON
american_scientific_journal-814	44	14	to	to	PART
american_scientific_journal-814	44	15	beareable	beareable	ADJ
american_scientific_journal-814	44	16	extent	extent	NOUN
american_scientific_journal-814	44	17	.	.	PUNCT
american_scientific_journal-814	45	1	these	these	DET
american_scientific_journal-814	45	2	error	error	NOUN
american_scientific_journal-814	45	3	reduction	reduction	NOUN
american_scientific_journal-814	45	4	led	lead	VERB
american_scientific_journal-814	45	5	to	to	ADP
american_scientific_journal-814	45	6	the	the	DET
american_scientific_journal-814	45	7	design	design	NOUN
american_scientific_journal-814	45	8	of	of	ADP
american_scientific_journal-814	45	9	dc	dc	PROPN
american_scientific_journal-814	45	10	motor	motor	NOUN
american_scientific_journal-814	45	11	speed	speed	NOUN
american_scientific_journal-814	45	12	control	control	NOUN
american_scientific_journal-814	45	13	for	for	ADP
american_scientific_journal-814	45	14	effective	effective	ADJ
american_scientific_journal-814	45	15	plant	plant	NOUN
american_scientific_journal-814	45	16	control	control	NOUN
american_scientific_journal-814	45	17	.	.	PUNCT
american_scientific_journal-814	46	1	the	the	DET
american_scientific_journal-814	46	2	design	design	NOUN
american_scientific_journal-814	46	3	and	and	CCONJ
american_scientific_journal-814	46	4	implementation	implementation	NOUN
american_scientific_journal-814	46	5	of	of	ADP
american_scientific_journal-814	46	6	dc	dc	PROPN
american_scientific_journal-814	46	7	motor	motor	NOUN
american_scientific_journal-814	46	8	speed	speed	NOUN
american_scientific_journal-814	46	9	control	control	NOUN
american_scientific_journal-814	46	10	using	use	VERB
american_scientific_journal-814	46	11	pid	pid	NOUN
american_scientific_journal-814	46	12	technology	technology	NOUN
american_scientific_journal-814	46	13	is	be	AUX
american_scientific_journal-814	46	14	achieved	achieve	VERB
american_scientific_journal-814	46	15	by	by	ADP
american_scientific_journal-814	46	16	dynast	dynast	NOUN
american_scientific_journal-814	46	17	shell	shell	NOUN
american_scientific_journal-814	46	18	simulator	simulator	NOUN
american_scientific_journal-814	46	19	.	.	PUNCT
american_scientific_journal-814	47	1	2	2	X
american_scientific_journal-814	47	2	.	.	X
american_scientific_journal-814	47	3	section	section	NOUN
american_scientific_journal-814	47	4	of	of	ADP
american_scientific_journal-814	47	5	dynast	dynast	NOUN
american_scientific_journal-814	47	6	shell	shell	NOUN
american_scientific_journal-814	47	7	solver	solver	VERB
american_scientific_journal-814	47	8	the	the	DET
american_scientific_journal-814	47	9	dynast	dynast	NOUN
american_scientific_journal-814	47	10	simulation	simulation	NOUN
american_scientific_journal-814	47	11	system	system	NOUN
american_scientific_journal-814	47	12	consists	consist	VERB
american_scientific_journal-814	47	13	of	of	ADP
american_scientific_journal-814	47	14	two	two	NUM
american_scientific_journal-814	47	15	separate	separate	ADJ
american_scientific_journal-814	47	16	parts	part	NOUN
american_scientific_journal-814	47	17	.	.	PUNCT
american_scientific_journal-814	48	1	dynast	dynast	NOUN
american_scientific_journal-814	48	2	solver	solver	ADV
american_scientific_journal-814	48	3	and	and	CCONJ
american_scientific_journal-814	48	4	a	a	DET
american_scientific_journal-814	48	5	dynast	dynast	NOUN
american_scientific_journal-814	48	6	working	work	VERB
american_scientific_journal-814	48	7	environment	environment	NOUN
american_scientific_journal-814	48	8	.	.	PUNCT
american_scientific_journal-814	49	1	dynast	dynast	NOUN
american_scientific_journal-814	49	2	solver	solver	NOUN
american_scientific_journal-814	49	3	is	be	AUX
american_scientific_journal-814	49	4	composed	compose	VERB
american_scientific_journal-814	49	5	of	of	ADP
american_scientific_journal-814	49	6	several	several	ADJ
american_scientific_journal-814	49	7	sections	section	NOUN
american_scientific_journal-814	49	8	sharing	share	VERB
american_scientific_journal-814	49	9	common	common	ADJ
american_scientific_journal-814	49	10	data	datum	NOUN
american_scientific_journal-814	49	11	.	.	PUNCT
american_scientific_journal-814	50	1	the	the	DET
american_scientific_journal-814	50	2	section	section	NOUN
american_scientific_journal-814	50	3	system	system	NOUN
american_scientific_journal-814	50	4	65	65	NUM
american_scientific_journal-814	50	5	american	american	ADJ
american_scientific_journal-814	50	6	scientific	scientific	ADJ
american_scientific_journal-814	50	7	research	research	NOUN
american_scientific_journal-814	50	8	journal	journal	NOUN
american_scientific_journal-814	50	9	for	for	ADP
american_scientific_journal-814	50	10	engineering	engineering	NOUN
american_scientific_journal-814	50	11	,	,	PUNCT
american_scientific_journal-814	50	12	technology	technology	NOUN
american_scientific_journal-814	50	13	,	,	PUNCT
american_scientific_journal-814	50	14	and	and	CCONJ
american_scientific_journal-814	50	15	sciences	science	NOUN
american_scientific_journal-814	50	16	(	(	PUNCT
american_scientific_journal-814	50	17	asrjets	asrjet	NOUN
american_scientific_journal-814	50	18	)	)	PUNCT
american_scientific_journal-814	50	19	(	(	PUNCT
american_scientific_journal-814	50	20	2015	2015	NUM
american_scientific_journal-814	50	21	)	)	PUNCT
american_scientific_journal-814	50	22	volume	volume	NOUN
american_scientific_journal-814	50	23	14	14	NUM
american_scientific_journal-814	50	24	,	,	PUNCT
american_scientific_journal-814	50	25	no	no	DET
american_scientific_journal-814	50	26	1	1	NUM
american_scientific_journal-814	50	27	,	,	PUNCT
american_scientific_journal-814	50	28	pp	pp	ADV
american_scientific_journal-814	50	29	64	64	NUM
american_scientific_journal-814	50	30	-	-	SYM
american_scientific_journal-814	50	31	76	76	NUM
american_scientific_journal-814	50	32	reads	read	NOUN
american_scientific_journal-814	50	33	in	in	ADP
american_scientific_journal-814	50	34	the	the	DET
american_scientific_journal-814	50	35	system	system	NOUN
american_scientific_journal-814	50	36	-	-	PUNCT
american_scientific_journal-814	50	37	model	model	NOUN
american_scientific_journal-814	50	38	description	description	NOUN
american_scientific_journal-814	50	39	in	in	ADP
american_scientific_journal-814	50	40	the	the	DET
american_scientific_journal-814	50	41	form	form	NOUN
american_scientific_journal-814	50	42	of	of	ADP
american_scientific_journal-814	50	43	a	a	DET
american_scientific_journal-814	50	44	set	set	NOUN
american_scientific_journal-814	50	45	of	of	ADP
american_scientific_journal-814	50	46	algebro	algebro	ADJ
american_scientific_journal-814	50	47	-	-	PUNCT
american_scientific_journal-814	50	48	differential	differential	NOUN
american_scientific_journal-814	50	49	equations	equation	NOUN
american_scientific_journal-814	50	50	,	,	PUNCT
american_scientific_journal-814	50	51	a	a	DET
american_scientific_journal-814	50	52	block	block	NOUN
american_scientific_journal-814	50	53	diagram	diagram	NOUN
american_scientific_journal-814	50	54	,	,	PUNCT
american_scientific_journal-814	50	55	a	a	DET
american_scientific_journal-814	50	56	multipole	multipole	NOUN
american_scientific_journal-814	50	57	diagram	diagram	NOUN
american_scientific_journal-814	50	58	,	,	PUNCT
american_scientific_journal-814	50	59	or	or	CCONJ
american_scientific_journal-814	50	60	in	in	ADP
american_scientific_journal-814	50	61	a	a	DET
american_scientific_journal-814	50	62	form	form	NOUN
american_scientific_journal-814	50	63	combining	combine	VERB
american_scientific_journal-814	50	64	freely	freely	ADV
american_scientific_journal-814	50	65	these	these	DET
american_scientific_journal-814	50	66	approaches	approach	NOUN
american_scientific_journal-814	50	67	.	.	PUNCT
american_scientific_journal-814	51	1	dynast	dynast	NOUN
american_scientific_journal-814	51	2	input	input	NOUN
american_scientific_journal-814	51	3	-	-	PUNCT
american_scientific_journal-814	51	4	language	language	NOUN
american_scientific_journal-814	51	5	is	be	AUX
american_scientific_journal-814	51	6	composed	compose	VERB
american_scientific_journal-814	51	7	of	of	ADP
american_scientific_journal-814	51	8	statements	statement	NOUN
american_scientific_journal-814	51	9	coded	code	VERB
american_scientific_journal-814	51	10	in	in	ADP
american_scientific_journal-814	51	11	ascii	ascii	NOUN
american_scientific_journal-814	51	12	characters	character	NOUN
american_scientific_journal-814	51	13	and	and	CCONJ
american_scientific_journal-814	51	14	both	both	CCONJ
american_scientific_journal-814	51	15	upper	upper	ADJ
american_scientific_journal-814	51	16	and	and	CCONJ
american_scientific_journal-814	51	17	lower	low	ADJ
american_scientific_journal-814	51	18	case	case	NOUN
american_scientific_journal-814	51	19	letters	letter	NOUN
american_scientific_journal-814	51	20	may	may	AUX
american_scientific_journal-814	51	21	be	be	AUX
american_scientific_journal-814	51	22	used	use	VERB
american_scientific_journal-814	51	23	in	in	ADP
american_scientific_journal-814	51	24	them	they	PRON
american_scientific_journal-814	51	25	.	.	PUNCT
american_scientific_journal-814	52	1	dynast	dynast	NOUN
american_scientific_journal-814	52	2	,	,	PUNCT
american_scientific_journal-814	52	3	however	however	ADV
american_scientific_journal-814	52	4	,	,	PUNCT
american_scientific_journal-814	52	5	is	be	AUX
american_scientific_journal-814	52	6	not	not	PART
american_scientific_journal-814	52	7	case	case	NOUN
american_scientific_journal-814	52	8	sensitive	sensitive	ADJ
american_scientific_journal-814	52	9	and	and	CCONJ
american_scientific_journal-814	52	10	converts	convert	VERB
american_scientific_journal-814	52	11	all	all	DET
american_scientific_journal-814	52	12	the	the	DET
american_scientific_journal-814	52	13	letters	letter	NOUN
american_scientific_journal-814	52	14	into	into	ADP
american_scientific_journal-814	52	15	the	the	DET
american_scientific_journal-814	52	16	uppercase	uppercase	ADJ
american_scientific_journal-814	52	17	ones	one	NOUN
american_scientific_journal-814	52	18	.	.	PUNCT
american_scientific_journal-814	53	1	each	each	PRON
american_scientific_journal-814	53	2	of	of	ADP
american_scientific_journal-814	53	3	the	the	DET
american_scientific_journal-814	53	4	statements	statement	NOUN
american_scientific_journal-814	53	5	is	be	AUX
american_scientific_journal-814	53	6	terminated	terminate	VERB
american_scientific_journal-814	53	7	by	by	ADP
american_scientific_journal-814	53	8	the	the	DET
american_scientific_journal-814	53	9	semicolon	semicolon	PROPN
american_scientific_journal-814	53	10	character	character	NOUN
american_scientific_journal-814	53	11	'	'	PUNCT
american_scientific_journal-814	53	12	;	;	PUNCT
american_scientific_journal-814	53	13	'	'	PUNCT
american_scientific_journal-814	53	14	.	.	PUNCT
american_scientific_journal-814	54	1	a	a	DET
american_scientific_journal-814	54	2	statement	statement	NOUN
american_scientific_journal-814	54	3	may	may	AUX
american_scientific_journal-814	54	4	continue	continue	VERB
american_scientific_journal-814	54	5	on	on	ADP
american_scientific_journal-814	54	6	several	several	ADJ
american_scientific_journal-814	54	7	lines	line	NOUN
american_scientific_journal-814	54	8	,	,	PUNCT
american_scientific_journal-814	54	9	and	and	CCONJ
american_scientific_journal-814	54	10	there	there	PRON
american_scientific_journal-814	54	11	may	may	AUX
american_scientific_journal-814	54	12	be	be	AUX
american_scientific_journal-814	54	13	several	several	ADJ
american_scientific_journal-814	54	14	statements	statement	NOUN
american_scientific_journal-814	54	15	placed	place	VERB
american_scientific_journal-814	54	16	in	in	ADP
american_scientific_journal-814	54	17	one	one	NUM
american_scientific_journal-814	54	18	line	line	NOUN
american_scientific_journal-814	54	19	.	.	PUNCT
american_scientific_journal-814	55	1	the	the	DET
american_scientific_journal-814	55	2	maximum	maximum	ADJ
american_scientific_journal-814	55	3	number	number	NOUN
american_scientific_journal-814	55	4	of	of	ADP
american_scientific_journal-814	55	5	characters	character	NOUN
american_scientific_journal-814	55	6	in	in	ADP
american_scientific_journal-814	55	7	one	one	NUM
american_scientific_journal-814	55	8	line	line	NOUN
american_scientific_journal-814	55	9	including	include	VERB
american_scientific_journal-814	55	10	spaces	space	NOUN
american_scientific_journal-814	55	11	is	be	AUX
american_scientific_journal-814	55	12	80	80	NUM
american_scientific_journal-814	55	13	.	.	PUNCT
american_scientific_journal-814	56	1	3	3	X
american_scientific_journal-814	56	2	.	.	X
american_scientific_journal-814	56	3	system	system	NOUN
american_scientific_journal-814	56	4	design	design	NOUN
american_scientific_journal-814	56	5	and	and	CCONJ
american_scientific_journal-814	56	6	analysis	analysis	NOUN
american_scientific_journal-814	56	7	in	in	ADP
american_scientific_journal-814	56	8	figure	figure	NOUN
american_scientific_journal-814	56	9	1	1	NUM
american_scientific_journal-814	56	10	the	the	DET
american_scientific_journal-814	56	11	block	block	NOUN
american_scientific_journal-814	56	12	diagram	diagram	NOUN
american_scientific_journal-814	56	13	gives	give	VERB
american_scientific_journal-814	56	14	an	an	DET
american_scientific_journal-814	56	15	overview	overview	NOUN
american_scientific_journal-814	56	16	of	of	ADP
american_scientific_journal-814	56	17	a	a	DET
american_scientific_journal-814	56	18	dc	dc	PROPN
american_scientific_journal-814	56	19	motor	motor	NOUN
american_scientific_journal-814	56	20	speed	speed	NOUN
american_scientific_journal-814	56	21	control	control	NOUN
american_scientific_journal-814	56	22	,	,	PUNCT
american_scientific_journal-814	56	23	also	also	ADV
american_scientific_journal-814	56	24	a	a	DET
american_scientific_journal-814	56	25	detailed	detailed	ADJ
american_scientific_journal-814	56	26	clue	clue	NOUN
american_scientific_journal-814	56	27	on	on	ADP
american_scientific_journal-814	56	28	how	how	SCONJ
american_scientific_journal-814	56	29	it	it	PRON
american_scientific_journal-814	56	30	runs[10	runs[10	NOUN
american_scientific_journal-814	56	31	]	]	PUNCT
american_scientific_journal-814	56	32	.	.	PUNCT
american_scientific_journal-814	57	1	figure	figure	NOUN
american_scientific_journal-814	57	2	1	1	NUM
american_scientific_journal-814	57	3	:	:	PUNCT
american_scientific_journal-814	57	4	simple	simple	ADJ
american_scientific_journal-814	57	5	speed	speed	NOUN
american_scientific_journal-814	57	6	control	control	NOUN
american_scientific_journal-814	57	7	block	block	NOUN
american_scientific_journal-814	57	8	diagram	diagram	NOUN
american_scientific_journal-814	57	9	the	the	DET
american_scientific_journal-814	57	10	striped	striped	ADJ
american_scientific_journal-814	57	11	thing	thing	NOUN
american_scientific_journal-814	57	12	between	between	ADP
american_scientific_journal-814	57	13	the	the	DET
american_scientific_journal-814	57	14	motor	motor	NOUN
american_scientific_journal-814	57	15	and	and	CCONJ
american_scientific_journal-814	57	16	the	the	DET
american_scientific_journal-814	57	17	dc	dc	PROPN
american_scientific_journal-814	57	18	generator	generator	NOUN
american_scientific_journal-814	57	19	is	be	AUX
american_scientific_journal-814	57	20	a	a	DET
american_scientific_journal-814	57	21	shaft	shaft	NOUN
american_scientific_journal-814	57	22	which	which	PRON
american_scientific_journal-814	57	23	couples	couple	VERB
american_scientific_journal-814	57	24	them	they	PRON
american_scientific_journal-814	57	25	together	together	ADV
american_scientific_journal-814	57	26	mechanically	mechanically	ADV
american_scientific_journal-814	57	27	.	.	PUNCT
american_scientific_journal-814	58	1	the	the	DET
american_scientific_journal-814	58	2	motor	motor	NOUN
american_scientific_journal-814	58	3	drives	drive	VERB
american_scientific_journal-814	58	4	the	the	DET
american_scientific_journal-814	58	5	generator	generator	NOUN
american_scientific_journal-814	58	6	(	(	PUNCT
american_scientific_journal-814	58	7	tachometer	tachometer	NOUN
american_scientific_journal-814	58	8	)	)	PUNCT
american_scientific_journal-814	58	9	via	via	ADP
american_scientific_journal-814	58	10	this	this	DET
american_scientific_journal-814	58	11	shaft	shaft	NOUN
american_scientific_journal-814	58	12	.	.	PUNCT
american_scientific_journal-814	59	1	the	the	DET
american_scientific_journal-814	59	2	set	set	VERB
american_scientific_journal-814	59	3	speed	speed	NOUN
american_scientific_journal-814	59	4	control	control	NOUN
american_scientific_journal-814	59	5	provides	provide	VERB
american_scientific_journal-814	59	6	a	a	DET
american_scientific_journal-814	59	7	dc	dc	PROPN
american_scientific_journal-814	59	8	voltage	voltage	NOUN
american_scientific_journal-814	59	9	,	,	PUNCT
american_scientific_journal-814	59	10	say	say	VERB
american_scientific_journal-814	59	11	12	12	NUM
american_scientific_journal-814	59	12	volts	volt	NOUN
american_scientific_journal-814	59	13	for	for	ADP
american_scientific_journal-814	59	14	maximum	maximum	ADJ
american_scientific_journal-814	59	15	speed	speed	NOUN
american_scientific_journal-814	59	16	and	and	CCONJ
american_scientific_journal-814	59	17	zero	zero	NUM
american_scientific_journal-814	59	18	for	for	ADP
american_scientific_journal-814	59	19	stationary	stationary	NOUN
american_scientific_journal-814	59	20	.	.	PUNCT
american_scientific_journal-814	60	1	this	this	PRON
american_scientific_journal-814	60	2	could	could	AUX
american_scientific_journal-814	60	3	be	be	AUX
american_scientific_journal-814	60	4	a	a	DET
american_scientific_journal-814	60	5	potentiometer	potentiometer	NOUN
american_scientific_journal-814	60	6	providing	provide	VERB
american_scientific_journal-814	60	7	any	any	DET
american_scientific_journal-814	60	8	voltage	voltage	NOUN
american_scientific_journal-814	60	9	in	in	ADP
american_scientific_journal-814	60	10	a	a	DET
american_scientific_journal-814	60	11	range	range	NOUN
american_scientific_journal-814	60	12	from	from	ADP
american_scientific_journal-814	60	13	zero	zero	NUM
american_scientific_journal-814	60	14	to	to	ADP
american_scientific_journal-814	60	15	+12	+12	PROPN
american_scientific_journal-814	60	16	volts	volt	NOUN
american_scientific_journal-814	60	17	.	.	PUNCT
american_scientific_journal-814	61	1	the	the	DET
american_scientific_journal-814	61	2	differential	differential	ADJ
american_scientific_journal-814	61	3	amplifier	amplifier	NOUN
american_scientific_journal-814	61	4	will	will	AUX
american_scientific_journal-814	61	5	amplify	amplify	VERB
american_scientific_journal-814	61	6	any	any	DET
american_scientific_journal-814	61	7	difference	difference	NOUN
american_scientific_journal-814	61	8	between	between	ADP
american_scientific_journal-814	61	9	its	its	PRON
american_scientific_journal-814	61	10	two	two	NUM
american_scientific_journal-814	61	11	input	input	NOUN
american_scientific_journal-814	61	12	voltages	voltage	NOUN
american_scientific_journal-814	61	13	.	.	PUNCT
american_scientific_journal-814	62	1	if	if	SCONJ
american_scientific_journal-814	62	2	the	the	DET
american_scientific_journal-814	62	3	motor	motor	NOUN
american_scientific_journal-814	62	4	is	be	AUX
american_scientific_journal-814	62	5	stationary	stationary	ADJ
american_scientific_journal-814	62	6	and	and	CCONJ
american_scientific_journal-814	62	7	the	the	DET
american_scientific_journal-814	62	8	speed	speed	NOUN
american_scientific_journal-814	62	9	control	control	NOUN
american_scientific_journal-814	62	10	is	be	AUX
american_scientific_journal-814	62	11	moved	move	VERB
american_scientific_journal-814	62	12	from	from	ADP
american_scientific_journal-814	62	13	zero	zero	NUM
american_scientific_journal-814	62	14	to	to	ADP
american_scientific_journal-814	62	15	half	half	ADJ
american_scientific_journal-814	62	16	speed	speed	NOUN
american_scientific_journal-814	62	17	then	then	ADV
american_scientific_journal-814	62	18	,	,	PUNCT
american_scientific_journal-814	62	19	since	since	SCONJ
american_scientific_journal-814	62	20	the	the	DET
american_scientific_journal-814	62	21	tachometer	tachometer	NOUN
american_scientific_journal-814	62	22	is	be	AUX
american_scientific_journal-814	62	23	not	not	PART
american_scientific_journal-814	62	24	rotating	rotate	VERB
american_scientific_journal-814	62	25	and	and	CCONJ
american_scientific_journal-814	62	26	not	not	PART
american_scientific_journal-814	62	27	producing	produce	VERB
american_scientific_journal-814	62	28	an	an	DET
american_scientific_journal-814	62	29	output	output	NOUN
american_scientific_journal-814	62	30	voltage	voltage	NOUN
american_scientific_journal-814	62	31	,	,	PUNCT
american_scientific_journal-814	62	32	there	there	PRON
american_scientific_journal-814	62	33	will	will	AUX
american_scientific_journal-814	62	34	be	be	AUX
american_scientific_journal-814	62	35	a	a	DET
american_scientific_journal-814	62	36	differential	differential	NOUN
american_scientific_journal-814	62	37	in	in	ADP
american_scientific_journal-814	62	38	voltages	voltage	NOUN
american_scientific_journal-814	62	39	at	at	ADP
american_scientific_journal-814	62	40	the	the	DET
american_scientific_journal-814	62	41	two	two	NUM
american_scientific_journal-814	62	42	inputs	input	NOUN
american_scientific_journal-814	62	43	of	of	ADP
american_scientific_journal-814	62	44	the	the	DET
american_scientific_journal-814	62	45	difference	difference	NOUN
american_scientific_journal-814	62	46	amplifier	amplifier	NOUN
american_scientific_journal-814	62	47	.	.	PUNCT
american_scientific_journal-814	63	1	therefore	therefore	ADV
american_scientific_journal-814	63	2	there	there	PRON
american_scientific_journal-814	63	3	will	will	AUX
american_scientific_journal-814	63	4	be	be	AUX
american_scientific_journal-814	63	5	an	an	DET
american_scientific_journal-814	63	6	output	output	NOUN
american_scientific_journal-814	63	7	voltage	voltage	NOUN
american_scientific_journal-814	63	8	from	from	ADP
american_scientific_journal-814	63	9	the	the	DET
american_scientific_journal-814	63	10	amplifier	amplifier	NOUN
american_scientific_journal-814	63	11	.	.	PUNCT
american_scientific_journal-814	64	1	since	since	SCONJ
american_scientific_journal-814	64	2	this	this	DET
american_scientific_journal-814	64	3	voltage	voltage	NOUN
american_scientific_journal-814	64	4	is	be	AUX
american_scientific_journal-814	64	5	not	not	PART
american_scientific_journal-814	64	6	high	high	ADJ
american_scientific_journal-814	64	7	enough	enough	ADV
american_scientific_journal-814	64	8	in	in	ADP
american_scientific_journal-814	64	9	value	value	NOUN
american_scientific_journal-814	64	10	to	to	PART
american_scientific_journal-814	64	11	drive	drive	VERB
american_scientific_journal-814	64	12	the	the	DET
american_scientific_journal-814	64	13	motor	motor	NOUN
american_scientific_journal-814	64	14	,	,	PUNCT
american_scientific_journal-814	64	15	it	it	PRON
american_scientific_journal-814	64	16	is	be	AUX
american_scientific_journal-814	64	17	increased	increase	VERB
american_scientific_journal-814	64	18	in	in	ADP
american_scientific_journal-814	64	19	amplitude	amplitude	NOUN
american_scientific_journal-814	64	20	by	by	ADP
american_scientific_journal-814	64	21	the	the	DET
american_scientific_journal-814	64	22	dc	dc	PROPN
american_scientific_journal-814	64	23	amplifier	amplifier	NOUN
american_scientific_journal-814	64	24	.	.	PUNCT
american_scientific_journal-814	65	1	a	a	DET
american_scientific_journal-814	65	2	dc	dc	PROPN
american_scientific_journal-814	65	3	amplifier	amplifier	NOUN
american_scientific_journal-814	65	4	is	be	AUX
american_scientific_journal-814	65	5	a	a	DET
american_scientific_journal-814	65	6	special	special	ADJ
american_scientific_journal-814	65	7	type	type	NOUN
american_scientific_journal-814	65	8	of	of	ADP
american_scientific_journal-814	65	9	amplifier	amplifier	NOUN
american_scientific_journal-814	65	10	which	which	PRON
american_scientific_journal-814	65	11	can	can	AUX
american_scientific_journal-814	65	12	increase	increase	VERB
american_scientific_journal-814	65	13	dc	dc	PROPN
american_scientific_journal-814	65	14	voltages	voltage	NOUN
american_scientific_journal-814	65	15	[	[	X
american_scientific_journal-814	65	16	9	9	NUM
american_scientific_journal-814	65	17	]	]	PUNCT
american_scientific_journal-814	65	18	.	.	PUNCT
american_scientific_journal-814	66	1	4	4	NUM
american_scientific_journal-814	66	2	dc	dc	PROPN
american_scientific_journal-814	66	3	motor	motor	NOUN
american_scientific_journal-814	66	4	speed	speed	NOUN
american_scientific_journal-814	66	5	modelling	model	VERB
american_scientific_journal-814	66	6	a	a	DET
american_scientific_journal-814	66	7	common	common	ADJ
american_scientific_journal-814	66	8	actuator	actuator	NOUN
american_scientific_journal-814	66	9	in	in	ADP
american_scientific_journal-814	66	10	control	control	NOUN
american_scientific_journal-814	66	11	systems	system	NOUN
american_scientific_journal-814	66	12	is	be	AUX
american_scientific_journal-814	66	13	the	the	DET
american_scientific_journal-814	66	14	dc	dc	PROPN
american_scientific_journal-814	66	15	motor	motor	NOUN
american_scientific_journal-814	66	16	.	.	PUNCT
american_scientific_journal-814	67	1	it	it	PRON
american_scientific_journal-814	67	2	directly	directly	ADV
american_scientific_journal-814	67	3	provides	provide	VERB
american_scientific_journal-814	67	4	rotary	rotary	ADJ
american_scientific_journal-814	67	5	motion	motion	NOUN
american_scientific_journal-814	67	6	and	and	CCONJ
american_scientific_journal-814	67	7	,	,	PUNCT
american_scientific_journal-814	67	8	coupled	couple	VERB
american_scientific_journal-814	67	9	with	with	ADP
american_scientific_journal-814	67	10	wheels	wheel	NOUN
american_scientific_journal-814	67	11	or	or	CCONJ
american_scientific_journal-814	67	12	drums	drum	NOUN
american_scientific_journal-814	67	13	and	and	CCONJ
american_scientific_journal-814	67	14	cables	cable	NOUN
american_scientific_journal-814	67	15	,	,	PUNCT
american_scientific_journal-814	67	16	can	can	AUX
american_scientific_journal-814	67	17	provide	provide	VERB
american_scientific_journal-814	67	18	transitional	transitional	ADJ
american_scientific_journal-814	67	19	motion	motion	NOUN
american_scientific_journal-814	67	20	.	.	PUNCT
american_scientific_journal-814	68	1	the	the	DET
american_scientific_journal-814	68	2	electric	electric	ADJ
american_scientific_journal-814	68	3	circuit	circuit	NOUN
american_scientific_journal-814	68	4	of	of	ADP
american_scientific_journal-814	68	5	the	the	DET
american_scientific_journal-814	68	6	armature	armature	NOUN
american_scientific_journal-814	68	7	and	and	CCONJ
american_scientific_journal-814	68	8	the	the	DET
american_scientific_journal-814	68	9	free	free	ADJ
american_scientific_journal-814	68	10	body	body	NOUN
american_scientific_journal-814	68	11	diagram	diagram	NOUN
american_scientific_journal-814	68	12	of	of	ADP
american_scientific_journal-814	68	13	the	the	DET
american_scientific_journal-814	68	14	rotor	rotor	NOUN
american_scientific_journal-814	68	15	are	be	AUX
american_scientific_journal-814	68	16	shown	show	VERB
american_scientific_journal-814	68	17	in	in	ADP
american_scientific_journal-814	68	18	figure	figure	NOUN
american_scientific_journal-814	68	19	2	2	NUM
american_scientific_journal-814	68	20	.	.	SYM
american_scientific_journal-814	68	21	66	66	NUM
american_scientific_journal-814	68	22	american	american	ADJ
american_scientific_journal-814	68	23	scientific	scientific	ADJ
american_scientific_journal-814	68	24	research	research	NOUN
american_scientific_journal-814	68	25	journal	journal	NOUN
american_scientific_journal-814	68	26	for	for	ADP
american_scientific_journal-814	68	27	engineering	engineering	NOUN
american_scientific_journal-814	68	28	,	,	PUNCT
american_scientific_journal-814	68	29	technology	technology	NOUN
american_scientific_journal-814	68	30	,	,	PUNCT
american_scientific_journal-814	68	31	and	and	CCONJ
american_scientific_journal-814	68	32	sciences	science	NOUN
american_scientific_journal-814	68	33	(	(	PUNCT
american_scientific_journal-814	68	34	asrjets	asrjet	NOUN
american_scientific_journal-814	68	35	)	)	PUNCT
american_scientific_journal-814	68	36	(	(	PUNCT
american_scientific_journal-814	68	37	2015	2015	NUM
american_scientific_journal-814	68	38	)	)	PUNCT
american_scientific_journal-814	68	39	volume	volume	NOUN
american_scientific_journal-814	68	40	14	14	NUM
american_scientific_journal-814	68	41	,	,	PUNCT
american_scientific_journal-814	68	42	no	no	DET
american_scientific_journal-814	68	43	1	1	NUM
american_scientific_journal-814	68	44	,	,	PUNCT
american_scientific_journal-814	68	45	pp	pp	ADV
american_scientific_journal-814	68	46	64	64	NUM
american_scientific_journal-814	68	47	-	-	SYM
american_scientific_journal-814	68	48	76	76	NUM
american_scientific_journal-814	68	49	figure	figure	NOUN
american_scientific_journal-814	68	50	2	2	NUM
american_scientific_journal-814	68	51	:	:	PUNCT
american_scientific_journal-814	68	52	dc	dc	PROPN
american_scientific_journal-814	68	53	motor	motor	NOUN
american_scientific_journal-814	68	54	design	design	NOUN
american_scientific_journal-814	68	55	for	for	ADP
american_scientific_journal-814	68	56	this	this	DET
american_scientific_journal-814	68	57	example	example	NOUN
american_scientific_journal-814	68	58	,	,	PUNCT
american_scientific_journal-814	68	59	we	we	PRON
american_scientific_journal-814	68	60	will	will	AUX
american_scientific_journal-814	68	61	assume	assume	VERB
american_scientific_journal-814	68	62	the	the	DET
american_scientific_journal-814	68	63	following	follow	VERB
american_scientific_journal-814	68	64	values	value	NOUN
american_scientific_journal-814	68	65	for	for	ADP
american_scientific_journal-814	68	66	the	the	DET
american_scientific_journal-814	68	67	physical	physical	ADJ
american_scientific_journal-814	68	68	parameters	parameter	NOUN
american_scientific_journal-814	68	69	.	.	PUNCT
american_scientific_journal-814	69	1	these	these	DET
american_scientific_journal-814	69	2	values	value	NOUN
american_scientific_journal-814	69	3	were	be	AUX
american_scientific_journal-814	69	4	derived	derive	VERB
american_scientific_journal-814	69	5	by	by	ADP
american_scientific_journal-814	69	6	experiment	experiment	NOUN
american_scientific_journal-814	69	7	from	from	ADP
american_scientific_journal-814	69	8	an	an	DET
american_scientific_journal-814	69	9	actual	actual	ADJ
american_scientific_journal-814	69	10	motor	motor	NOUN
american_scientific_journal-814	69	11	in	in	ADP
american_scientific_journal-814	69	12	carnegie	carnegie	PROPN
american_scientific_journal-814	69	13	mellon	mellon	PROPN
american_scientific_journal-814	69	14	's	's	PART
american_scientific_journal-814	69	15	undergraduate	undergraduate	NOUN
american_scientific_journal-814	69	16	controls	control	VERB
american_scientific_journal-814	69	17	lab	lab	NOUN
american_scientific_journal-814	69	18	.	.	PUNCT
american_scientific_journal-814	70	1	*	*	PUNCT
american_scientific_journal-814	70	2	moment	moment	NOUN
american_scientific_journal-814	70	3	of	of	ADP
american_scientific_journal-814	70	4	inertia	inertia	NOUN
american_scientific_journal-814	70	5	of	of	ADP
american_scientific_journal-814	70	6	the	the	DET
american_scientific_journal-814	70	7	rotor	rotor	NOUN
american_scientific_journal-814	70	8	(	(	PUNCT
american_scientific_journal-814	70	9	j	j	NOUN
american_scientific_journal-814	70	10	)	)	PUNCT
american_scientific_journal-814	70	11	=	=	PUNCT
american_scientific_journal-814	71	1	0.01	0.01	NUM
american_scientific_journal-814	71	2	kg.m2	kg.m2	NOUN
american_scientific_journal-814	71	3	/	/	SYM
american_scientific_journal-814	71	4	s2	s2	NOUN
american_scientific_journal-814	71	5	*	*	PUNCT
american_scientific_journal-814	71	6	damping	damp	VERB
american_scientific_journal-814	71	7	ratio	ratio	NOUN
american_scientific_journal-814	71	8	of	of	ADP
american_scientific_journal-814	71	9	the	the	DET
american_scientific_journal-814	71	10	mechanical	mechanical	ADJ
american_scientific_journal-814	71	11	system	system	NOUN
american_scientific_journal-814	71	12	(	(	PUNCT
american_scientific_journal-814	71	13	b	b	NOUN
american_scientific_journal-814	71	14	)	)	PUNCT
american_scientific_journal-814	71	15	=	=	SYM
american_scientific_journal-814	71	16	0.1	0.1	NUM
american_scientific_journal-814	71	17	nms	nms	NOUN
american_scientific_journal-814	71	18	*	*	PUNCT
american_scientific_journal-814	71	19	electromotive	electromotive	ADJ
american_scientific_journal-814	71	20	force	force	NOUN
american_scientific_journal-814	71	21	constant	constant	ADJ
american_scientific_journal-814	71	22	(	(	PUNCT
american_scientific_journal-814	71	23	k	k	X
american_scientific_journal-814	71	24	=	=	ADJ
american_scientific_journal-814	71	25	ke	ke	NOUN
american_scientific_journal-814	71	26	=	=	NOUN
american_scientific_journal-814	71	27	kt	kt	X
american_scientific_journal-814	71	28	)	)	PUNCT
american_scientific_journal-814	71	29	=	=	NOUN
american_scientific_journal-814	71	30	0.01	0.01	NUM
american_scientific_journal-814	71	31	nm	nm	NOUN
american_scientific_journal-814	71	32	/	/	SYM
american_scientific_journal-814	71	33	amp	amp	PROPN
american_scientific_journal-814	71	34	*	*	PUNCT
american_scientific_journal-814	71	35	electric	electric	ADJ
american_scientific_journal-814	71	36	resistance	resistance	NOUN
american_scientific_journal-814	71	37	(	(	PUNCT
american_scientific_journal-814	71	38	r	r	NOUN
american_scientific_journal-814	71	39	)	)	PUNCT
american_scientific_journal-814	71	40	=	=	SYM
american_scientific_journal-814	71	41	1	1	NUM
american_scientific_journal-814	71	42	ohm	ohm	NOUN
american_scientific_journal-814	71	43	*	*	PUNCT
american_scientific_journal-814	71	44	electric	electric	ADJ
american_scientific_journal-814	71	45	inductance	inductance	NOUN
american_scientific_journal-814	71	46	(	(	PUNCT
american_scientific_journal-814	71	47	l	l	NOUN
american_scientific_journal-814	71	48	)	)	PUNCT
american_scientific_journal-814	71	49	=	=	SYM
american_scientific_journal-814	71	50	0.5	0.5	NUM
american_scientific_journal-814	71	51	h	h	NOUN
american_scientific_journal-814	71	52	*	*	PUNCT
american_scientific_journal-814	71	53	input	input	NOUN
american_scientific_journal-814	71	54	(	(	PUNCT
american_scientific_journal-814	71	55	v	v	NOUN
american_scientific_journal-814	71	56	):	):	PUNCT
american_scientific_journal-814	71	57	source	source	NOUN
american_scientific_journal-814	71	58	voltage	voltage	NOUN
american_scientific_journal-814	71	59	*	*	PUNCT
american_scientific_journal-814	71	60	output	output	NOUN
american_scientific_journal-814	71	61	(	(	PUNCT
american_scientific_journal-814	71	62	theta	theta	NOUN
american_scientific_journal-814	71	63	):	):	PUNCT
american_scientific_journal-814	71	64	position	position	NOUN
american_scientific_journal-814	71	65	of	of	ADP
american_scientific_journal-814	71	66	shaft	shaft	NOUN
american_scientific_journal-814	71	67	*	*	PUNCT
american_scientific_journal-814	71	68	the	the	DET
american_scientific_journal-814	71	69	rotor	rotor	NOUN
american_scientific_journal-814	71	70	and	and	CCONJ
american_scientific_journal-814	71	71	shaft	shaft	NOUN
american_scientific_journal-814	71	72	are	be	AUX
american_scientific_journal-814	71	73	assumed	assume	VERB
american_scientific_journal-814	71	74	to	to	PART
american_scientific_journal-814	71	75	be	be	AUX
american_scientific_journal-814	71	76	rigid	rigid	ADJ
american_scientific_journal-814	71	77	the	the	DET
american_scientific_journal-814	71	78	motor	motor	NOUN
american_scientific_journal-814	71	79	torque	torque	NOUN
american_scientific_journal-814	71	80	,	,	PUNCT
american_scientific_journal-814	71	81	t	t	PROPN
american_scientific_journal-814	71	82	,	,	PUNCT
american_scientific_journal-814	71	83	is	be	AUX
american_scientific_journal-814	71	84	related	relate	VERB
american_scientific_journal-814	71	85	to	to	ADP
american_scientific_journal-814	71	86	the	the	DET
american_scientific_journal-814	71	87	armature	armature	NOUN
american_scientific_journal-814	71	88	current	current	NOUN
american_scientific_journal-814	71	89	,	,	PUNCT
american_scientific_journal-814	71	90	i	i	PRON
american_scientific_journal-814	71	91	,	,	PUNCT
american_scientific_journal-814	71	92	by	by	ADP
american_scientific_journal-814	71	93	a	a	DET
american_scientific_journal-814	71	94	constant	constant	ADJ
american_scientific_journal-814	71	95	factor	factor	NOUN
american_scientific_journal-814	71	96	kt	kt	PROPN
american_scientific_journal-814	71	97	.	.	PUNCT
american_scientific_journal-814	72	1	the	the	DET
american_scientific_journal-814	72	2	back	back	NOUN
american_scientific_journal-814	72	3	emf	emf	NOUN
american_scientific_journal-814	72	4	,	,	PUNCT
american_scientific_journal-814	72	5	e	e	NOUN
american_scientific_journal-814	72	6	,	,	PUNCT
american_scientific_journal-814	72	7	is	be	AUX
american_scientific_journal-814	72	8	related	relate	VERB
american_scientific_journal-814	72	9	to	to	ADP
american_scientific_journal-814	72	10	the	the	DET
american_scientific_journal-814	72	11	rotational	rotational	ADJ
american_scientific_journal-814	72	12	velocity	velocity	NOUN
american_scientific_journal-814	72	13	by	by	ADP
american_scientific_journal-814	72	14	the	the	DET
american_scientific_journal-814	72	15	following	follow	VERB
american_scientific_journal-814	72	16	equations	equation	NOUN
american_scientific_journal-814	72	17	:	:	PUNCT
american_scientific_journal-814	72	18	t	t	PROPN
american_scientific_journal-814	72	19	=	=	SYM
american_scientific_journal-814	72	20	kτi	kτi	PROPN
american_scientific_journal-814	72	21	..........................................................................................	..........................................................................................	PUNCT
american_scientific_journal-814	72	22	(	(	PUNCT
american_scientific_journal-814	72	23	1	1	X
american_scientific_journal-814	72	24	)	)	PUNCT
american_scientific_journal-814	72	25	t	t	NOUN
american_scientific_journal-814	72	26	=	=	NOUN
american_scientific_journal-814	72	27	keθ	keθ	NOUN
american_scientific_journal-814	72	28	...........................................................................................	...........................................................................................	PUNCT
american_scientific_journal-814	72	29	(	(	PUNCT
american_scientific_journal-814	72	30	2	2	NUM
american_scientific_journal-814	72	31	)	)	PUNCT
american_scientific_journal-814	72	32	in	in	ADP
american_scientific_journal-814	72	33	si	si	PROPN
american_scientific_journal-814	72	34	units	unit	NOUN
american_scientific_journal-814	72	35	(	(	PUNCT
american_scientific_journal-814	72	36	which	which	PRON
american_scientific_journal-814	72	37	we	we	PRON
american_scientific_journal-814	72	38	will	will	AUX
american_scientific_journal-814	72	39	use	use	VERB
american_scientific_journal-814	72	40	)	)	PUNCT
american_scientific_journal-814	72	41	,	,	PUNCT
american_scientific_journal-814	72	42	kt	kt	PROPN
american_scientific_journal-814	72	43	(	(	PUNCT
american_scientific_journal-814	72	44	armature	armature	NOUN
american_scientific_journal-814	72	45	constant	constant	ADJ
american_scientific_journal-814	72	46	)	)	PUNCT
american_scientific_journal-814	72	47	is	be	AUX
american_scientific_journal-814	72	48	equal	equal	ADJ
american_scientific_journal-814	72	49	to	to	ADP
american_scientific_journal-814	72	50	ke	ke	PROPN
american_scientific_journal-814	72	51	(	(	PUNCT
american_scientific_journal-814	72	52	motor	motor	NOUN
american_scientific_journal-814	72	53	constant	constant	ADJ
american_scientific_journal-814	72	54	)	)	PUNCT
american_scientific_journal-814	72	55	.	.	PUNCT
american_scientific_journal-814	73	1	5	5	X
american_scientific_journal-814	73	2	.	.	X
american_scientific_journal-814	73	3	transfer	transfer	NOUN
american_scientific_journal-814	73	4	function	function	NOUN
american_scientific_journal-814	73	5	using	use	VERB
american_scientific_journal-814	73	6	laplace	laplace	NOUN
american_scientific_journal-814	73	7	transforms	transform	VERB
american_scientific_journal-814	73	8	,	,	PUNCT
american_scientific_journal-814	73	9	the	the	DET
american_scientific_journal-814	73	10	above	above	ADV
american_scientific_journal-814	73	11	modeling	modeling	NOUN
american_scientific_journal-814	73	12	equations	equation	NOUN
american_scientific_journal-814	73	13	can	can	AUX
american_scientific_journal-814	73	14	be	be	AUX
american_scientific_journal-814	73	15	expressed	express	VERB
american_scientific_journal-814	73	16	in	in	ADP
american_scientific_journal-814	73	17	terms	term	NOUN
american_scientific_journal-814	73	18	of	of	ADP
american_scientific_journal-814	73	19	s.	s.	PROPN
american_scientific_journal-814	73	20	s(js+b	s(js+b	PROPN
american_scientific_journal-814	73	21	)	)	PUNCT
american_scientific_journal-814	73	22	θ(s)=ki(s	θ(s)=ki(s	NUM
american_scientific_journal-814	73	23	)	)	PUNCT
american_scientific_journal-814	73	24	…	…	PUNCT
american_scientific_journal-814	73	25	…	…	PUNCT
american_scientific_journal-814	73	26	…	…	PUNCT
american_scientific_journal-814	73	27	…	…	PUNCT
american_scientific_journal-814	73	28	…	…	PUNCT
american_scientific_journal-814	73	29	…	…	PUNCT
american_scientific_journal-814	73	30	…	…	PUNCT
american_scientific_journal-814	73	31	…	…	PUNCT
american_scientific_journal-814	73	32	…	…	PUNCT
american_scientific_journal-814	73	33	…	…	PUNCT
american_scientific_journal-814	73	34	…	…	PUNCT
american_scientific_journal-814	73	35	…	…	PUNCT
american_scientific_journal-814	73	36	…	…	PUNCT
american_scientific_journal-814	73	37	…	…	PUNCT
american_scientific_journal-814	73	38	…	…	PUNCT
american_scientific_journal-814	73	39	…	…	SYM
american_scientific_journal-814	73	40	.	.	NUM
american_scientific_journal-814	73	41	…	…	PUNCT
american_scientific_journal-814	73	42	.(3	.(3	X
american_scientific_journal-814	73	43	)	)	PUNCT
american_scientific_journal-814	74	1	(	(	PUNCT
american_scientific_journal-814	74	2	ls+r)i(s)=v	ls+r)i(s)=v	PROPN
american_scientific_journal-814	74	3	-	-	PUNCT
american_scientific_journal-814	74	4	ks	ks	NOUN
american_scientific_journal-814	74	5	θ(s	θ(s	PROPN
american_scientific_journal-814	74	6	)	)	PUNCT
american_scientific_journal-814	74	7	…	…	PUNCT
american_scientific_journal-814	74	8	…	…	PUNCT
american_scientific_journal-814	74	9	…	…	PUNCT
american_scientific_journal-814	74	10	…	…	PUNCT
american_scientific_journal-814	74	11	…	…	PUNCT
american_scientific_journal-814	74	12	…	…	PUNCT
american_scientific_journal-814	74	13	…	…	PUNCT
american_scientific_journal-814	74	14	…	…	PUNCT
american_scientific_journal-814	74	15	…	…	PUNCT
american_scientific_journal-814	74	16	…	…	PUNCT
american_scientific_journal-814	74	17	…	…	PUNCT
american_scientific_journal-814	74	18	…	…	PUNCT
american_scientific_journal-814	74	19	…	…	SYM
american_scientific_journal-814	74	20	.	.	NUM
american_scientific_journal-814	74	21	…	…	PUNCT
american_scientific_journal-814	74	22	…	…	PUNCT
american_scientific_journal-814	74	23	.	.	NUM
american_scientific_journal-814	74	24	…	…	PUNCT
american_scientific_journal-814	74	25	.(4	.(4	NUM
american_scientific_journal-814	74	26	)	)	PUNCT
american_scientific_journal-814	74	27	by	by	ADP
american_scientific_journal-814	74	28	eliminating	eliminate	VERB
american_scientific_journal-814	74	29	i(s	i(s	NOUN
american_scientific_journal-814	74	30	)	)	PUNCT
american_scientific_journal-814	75	1	we	we	PRON
american_scientific_journal-814	75	2	can	can	AUX
american_scientific_journal-814	75	3	get	get	VERB
american_scientific_journal-814	75	4	the	the	DET
american_scientific_journal-814	75	5	following	follow	VERB
american_scientific_journal-814	75	6	open	open	ADJ
american_scientific_journal-814	75	7	-	-	PUNCT
american_scientific_journal-814	75	8	loop	loop	NOUN
american_scientific_journal-814	75	9	transfer	transfer	NOUN
american_scientific_journal-814	75	10	function	function	NOUN
american_scientific_journal-814	75	11	,	,	PUNCT
american_scientific_journal-814	75	12	where	where	SCONJ
american_scientific_journal-814	75	13	the	the	DET
american_scientific_journal-814	75	14	rotational	rotational	ADJ
american_scientific_journal-814	75	15	speed	speed	NOUN
american_scientific_journal-814	75	16	is	be	AUX
american_scientific_journal-814	75	17	the	the	DET
american_scientific_journal-814	75	18	output	output	NOUN
american_scientific_journal-814	75	19	and	and	CCONJ
american_scientific_journal-814	75	20	the	the	DET
american_scientific_journal-814	75	21	voltage	voltage	NOUN
american_scientific_journal-814	75	22	is	be	AUX
american_scientific_journal-814	75	23	the	the	DET
american_scientific_journal-814	75	24	input	input	NOUN
american_scientific_journal-814	75	25	.	.	PUNCT
american_scientific_journal-814	76	1	θ	θ	X
american_scientific_journal-814	76	2	/	/	SYM
american_scientific_journal-814	76	3	v	v	NOUN
american_scientific_journal-814	76	4	=	=	SYM
american_scientific_journal-814	76	5	k/(js+b)(ls+r)+k2	k/(js+b)(ls+r)+k2	PROPN
american_scientific_journal-814	76	6	..............................................................	..............................................................	PUNCT
american_scientific_journal-814	76	7	(	(	PUNCT
american_scientific_journal-814	76	8	5	5	X
american_scientific_journal-814	76	9	)	)	PUNCT
american_scientific_journal-814	76	10	67	67	NUM
american_scientific_journal-814	76	11	american	american	ADJ
american_scientific_journal-814	76	12	scientific	scientific	ADJ
american_scientific_journal-814	76	13	research	research	NOUN
american_scientific_journal-814	76	14	journal	journal	NOUN
american_scientific_journal-814	76	15	for	for	ADP
american_scientific_journal-814	76	16	engineering	engineering	NOUN
american_scientific_journal-814	76	17	,	,	PUNCT
american_scientific_journal-814	76	18	technology	technology	NOUN
american_scientific_journal-814	76	19	,	,	PUNCT
american_scientific_journal-814	76	20	and	and	CCONJ
american_scientific_journal-814	76	21	sciences	science	NOUN
american_scientific_journal-814	76	22	(	(	PUNCT
american_scientific_journal-814	76	23	asrjets	asrjet	NOUN
american_scientific_journal-814	76	24	)	)	PUNCT
american_scientific_journal-814	76	25	(	(	PUNCT
american_scientific_journal-814	76	26	2015	2015	NUM
american_scientific_journal-814	76	27	)	)	PUNCT
american_scientific_journal-814	76	28	volume	volume	NOUN
american_scientific_journal-814	76	29	14	14	NUM
american_scientific_journal-814	76	30	,	,	PUNCT
american_scientific_journal-814	76	31	no	no	DET
american_scientific_journal-814	76	32	1	1	NUM
american_scientific_journal-814	76	33	,	,	PUNCT
american_scientific_journal-814	76	34	pp	pp	ADV
american_scientific_journal-814	76	35	64	64	NUM
american_scientific_journal-814	76	36	-	-	SYM
american_scientific_journal-814	76	37	76	76	NUM
american_scientific_journal-814	76	38	6	6	NUM
american_scientific_journal-814	76	39	.	.	PUNCT
american_scientific_journal-814	77	1	state	state	NOUN
american_scientific_journal-814	77	2	-	-	PUNCT
american_scientific_journal-814	77	3	space	space	NOUN
american_scientific_journal-814	77	4	in	in	ADP
american_scientific_journal-814	77	5	the	the	DET
american_scientific_journal-814	77	6	state	state	NOUN
american_scientific_journal-814	77	7	-	-	PUNCT
american_scientific_journal-814	77	8	space	space	NOUN
american_scientific_journal-814	77	9	form	form	NOUN
american_scientific_journal-814	77	10	,	,	PUNCT
american_scientific_journal-814	77	11	the	the	DET
american_scientific_journal-814	77	12	equations	equation	NOUN
american_scientific_journal-814	77	13	above	above	ADV
american_scientific_journal-814	77	14	can	can	AUX
american_scientific_journal-814	77	15	be	be	AUX
american_scientific_journal-814	77	16	expressed	express	VERB
american_scientific_journal-814	77	17	by	by	ADP
american_scientific_journal-814	77	18	choosing	choose	VERB
american_scientific_journal-814	77	19	the	the	DET
american_scientific_journal-814	77	20	rotational	rotational	ADJ
american_scientific_journal-814	77	21	speed	speed	NOUN
american_scientific_journal-814	77	22	and	and	CCONJ
american_scientific_journal-814	77	23	electric	electric	ADJ
american_scientific_journal-814	77	24	current	current	NOUN
american_scientific_journal-814	77	25	as	as	ADP
american_scientific_journal-814	77	26	the	the	DET
american_scientific_journal-814	77	27	state	state	NOUN
american_scientific_journal-814	77	28	variables	variable	NOUN
american_scientific_journal-814	77	29	and	and	CCONJ
american_scientific_journal-814	77	30	the	the	DET
american_scientific_journal-814	77	31	voltage	voltage	NOUN
american_scientific_journal-814	77	32	as	as	ADP
american_scientific_journal-814	77	33	an	an	DET
american_scientific_journal-814	77	34	input	input	NOUN
american_scientific_journal-814	77	35	.	.	PUNCT
american_scientific_journal-814	78	1	the	the	DET
american_scientific_journal-814	78	2	output	output	NOUN
american_scientific_journal-814	78	3	is	be	AUX
american_scientific_journal-814	78	4	chosen	choose	VERB
american_scientific_journal-814	78	5	to	to	PART
american_scientific_journal-814	78	6	be	be	AUX
american_scientific_journal-814	78	7	the	the	DET
american_scientific_journal-814	78	8	rotational	rotational	ADJ
american_scientific_journal-814	78	9	speed	speed	NOUN
american_scientific_journal-814	78	10	.	.	PUNCT
american_scientific_journal-814	79	1	7	7	X
american_scientific_journal-814	79	2	.	.	X
american_scientific_journal-814	79	3	design	design	NOUN
american_scientific_journal-814	79	4	requirements	requirement	NOUN
american_scientific_journal-814	79	5	first	first	ADV
american_scientific_journal-814	79	6	,	,	PUNCT
american_scientific_journal-814	79	7	our	our	PRON
american_scientific_journal-814	79	8	uncompensated	uncompensated	ADJ
american_scientific_journal-814	79	9	motor	motor	NOUN
american_scientific_journal-814	79	10	can	can	AUX
american_scientific_journal-814	79	11	only	only	ADV
american_scientific_journal-814	79	12	rotate	rotate	VERB
american_scientific_journal-814	79	13	at	at	ADP
american_scientific_journal-814	79	14	0.1	0.1	NUM
american_scientific_journal-814	79	15	rad	rad	PROPN
american_scientific_journal-814	79	16	/	/	SYM
american_scientific_journal-814	79	17	sec	sec	PROPN
american_scientific_journal-814	79	18	with	with	ADP
american_scientific_journal-814	79	19	an	an	DET
american_scientific_journal-814	79	20	input	input	NOUN
american_scientific_journal-814	79	21	voltage	voltage	NOUN
american_scientific_journal-814	79	22	of	of	ADP
american_scientific_journal-814	79	23	1	1	NUM
american_scientific_journal-814	79	24	volt	volt	NOUN
american_scientific_journal-814	79	25	(	(	PUNCT
american_scientific_journal-814	79	26	this	this	PRON
american_scientific_journal-814	79	27	will	will	AUX
american_scientific_journal-814	79	28	be	be	AUX
american_scientific_journal-814	79	29	demonstrated	demonstrate	VERB
american_scientific_journal-814	79	30	later	later	ADV
american_scientific_journal-814	79	31	when	when	SCONJ
american_scientific_journal-814	79	32	the	the	DET
american_scientific_journal-814	79	33	open	open	ADJ
american_scientific_journal-814	79	34	-	-	PUNCT
american_scientific_journal-814	79	35	loop	loop	NOUN
american_scientific_journal-814	79	36	response	response	NOUN
american_scientific_journal-814	79	37	is	be	AUX
american_scientific_journal-814	79	38	simulated	simulate	VERB
american_scientific_journal-814	79	39	)	)	PUNCT
american_scientific_journal-814	79	40	.	.	PUNCT
american_scientific_journal-814	80	1	since	since	SCONJ
american_scientific_journal-814	80	2	the	the	DET
american_scientific_journal-814	80	3	most	most	ADV
american_scientific_journal-814	80	4	basic	basic	ADJ
american_scientific_journal-814	80	5	requirement	requirement	NOUN
american_scientific_journal-814	80	6	of	of	ADP
american_scientific_journal-814	80	7	a	a	DET
american_scientific_journal-814	80	8	motor	motor	NOUN
american_scientific_journal-814	80	9	is	be	AUX
american_scientific_journal-814	80	10	that	that	SCONJ
american_scientific_journal-814	80	11	it	it	PRON
american_scientific_journal-814	80	12	should	should	AUX
american_scientific_journal-814	80	13	rotate	rotate	VERB
american_scientific_journal-814	80	14	at	at	ADP
american_scientific_journal-814	80	15	the	the	DET
american_scientific_journal-814	80	16	desired	desire	VERB
american_scientific_journal-814	80	17	speed	speed	NOUN
american_scientific_journal-814	80	18	,	,	PUNCT
american_scientific_journal-814	80	19	the	the	DET
american_scientific_journal-814	80	20	steady	steady	ADJ
american_scientific_journal-814	80	21	-	-	PUNCT
american_scientific_journal-814	80	22	state	state	NOUN
american_scientific_journal-814	80	23	error	error	NOUN
american_scientific_journal-814	80	24	of	of	ADP
american_scientific_journal-814	80	25	the	the	DET
american_scientific_journal-814	80	26	motor	motor	NOUN
american_scientific_journal-814	80	27	speed	speed	NOUN
american_scientific_journal-814	80	28	should	should	AUX
american_scientific_journal-814	80	29	be	be	AUX
american_scientific_journal-814	80	30	less	less	ADJ
american_scientific_journal-814	80	31	than	than	ADP
american_scientific_journal-814	80	32	1	1	NUM
american_scientific_journal-814	80	33	%	%	NOUN
american_scientific_journal-814	80	34	.	.	PUNCT
american_scientific_journal-814	81	1	the	the	DET
american_scientific_journal-814	81	2	other	other	ADJ
american_scientific_journal-814	81	3	performance	performance	NOUN
american_scientific_journal-814	81	4	requirement	requirement	NOUN
american_scientific_journal-814	81	5	is	be	AUX
american_scientific_journal-814	81	6	that	that	SCONJ
american_scientific_journal-814	81	7	the	the	DET
american_scientific_journal-814	81	8	motor	motor	NOUN
american_scientific_journal-814	81	9	must	must	AUX
american_scientific_journal-814	81	10	accelerate	accelerate	VERB
american_scientific_journal-814	81	11	to	to	ADP
american_scientific_journal-814	81	12	its	its	PRON
american_scientific_journal-814	81	13	steady	steady	ADJ
american_scientific_journal-814	81	14	-	-	PUNCT
american_scientific_journal-814	81	15	state	state	NOUN
american_scientific_journal-814	81	16	speed	speed	NOUN
american_scientific_journal-814	81	17	as	as	ADV
american_scientific_journal-814	81	18	soon	soon	ADV
american_scientific_journal-814	81	19	as	as	SCONJ
american_scientific_journal-814	81	20	it	it	PRON
american_scientific_journal-814	81	21	turns	turn	VERB
american_scientific_journal-814	81	22	on	on	ADP
american_scientific_journal-814	81	23	.	.	PUNCT
american_scientific_journal-814	82	1	in	in	ADP
american_scientific_journal-814	82	2	this	this	DET
american_scientific_journal-814	82	3	case	case	NOUN
american_scientific_journal-814	82	4	,	,	PUNCT
american_scientific_journal-814	82	5	we	we	PRON
american_scientific_journal-814	82	6	want	want	VERB
american_scientific_journal-814	82	7	it	it	PRON
american_scientific_journal-814	82	8	to	to	PART
american_scientific_journal-814	82	9	have	have	VERB
american_scientific_journal-814	82	10	a	a	DET
american_scientific_journal-814	82	11	settling	settling	NOUN
american_scientific_journal-814	82	12	time	time	NOUN
american_scientific_journal-814	82	13	of	of	ADP
american_scientific_journal-814	82	14	2	2	NUM
american_scientific_journal-814	82	15	seconds	second	NOUN
american_scientific_journal-814	82	16	.	.	PUNCT
american_scientific_journal-814	83	1	since	since	SCONJ
american_scientific_journal-814	83	2	a	a	DET
american_scientific_journal-814	83	3	speed	speed	NOUN
american_scientific_journal-814	83	4	faster	fast	ADV
american_scientific_journal-814	83	5	than	than	SCONJ
american_scientific_journal-814	83	6	the	the	DET
american_scientific_journal-814	83	7	reference	reference	NOUN
american_scientific_journal-814	83	8	may	may	AUX
american_scientific_journal-814	83	9	damage	damage	VERB
american_scientific_journal-814	83	10	the	the	DET
american_scientific_journal-814	83	11	equipment	equipment	NOUN
american_scientific_journal-814	83	12	,	,	PUNCT
american_scientific_journal-814	83	13	we	we	PRON
american_scientific_journal-814	83	14	want	want	VERB
american_scientific_journal-814	83	15	to	to	PART
american_scientific_journal-814	83	16	have	have	VERB
american_scientific_journal-814	83	17	an	an	DET
american_scientific_journal-814	83	18	overshoot	overshoot	NOUN
american_scientific_journal-814	83	19	of	of	ADP
american_scientific_journal-814	83	20	less	less	ADJ
american_scientific_journal-814	83	21	than	than	ADP
american_scientific_journal-814	83	22	5	5	NUM
american_scientific_journal-814	83	23	%	%	NOUN
american_scientific_journal-814	83	24	.	.	PUNCT
american_scientific_journal-814	84	1	if	if	SCONJ
american_scientific_journal-814	84	2	we	we	PRON
american_scientific_journal-814	84	3	simulate	simulate	VERB
american_scientific_journal-814	84	4	the	the	DET
american_scientific_journal-814	84	5	reference	reference	NOUN
american_scientific_journal-814	84	6	input	input	NOUN
american_scientific_journal-814	84	7	(	(	PUNCT
american_scientific_journal-814	84	8	r	r	NOUN
american_scientific_journal-814	84	9	)	)	PUNCT
american_scientific_journal-814	84	10	by	by	ADP
american_scientific_journal-814	84	11	an	an	DET
american_scientific_journal-814	84	12	unit	unit	NOUN
american_scientific_journal-814	84	13	step	step	NOUN
american_scientific_journal-814	84	14	input	input	NOUN
american_scientific_journal-814	84	15	,	,	PUNCT
american_scientific_journal-814	84	16	then	then	ADV
american_scientific_journal-814	84	17	the	the	DET
american_scientific_journal-814	84	18	motor	motor	NOUN
american_scientific_journal-814	84	19	speed	speed	NOUN
american_scientific_journal-814	84	20	output	output	NOUN
american_scientific_journal-814	84	21	should	should	AUX
american_scientific_journal-814	84	22	have	have	AUX
american_scientific_journal-814	84	23	:	:	PUNCT
american_scientific_journal-814	84	24	settling	settle	VERB
american_scientific_journal-814	84	25	time	time	NOUN
american_scientific_journal-814	84	26	less	less	ADJ
american_scientific_journal-814	84	27	than	than	ADP
american_scientific_journal-814	84	28	2	2	NUM
american_scientific_journal-814	84	29	seconds	second	NOUN
american_scientific_journal-814	84	30			VERB
american_scientific_journal-814	84	31	overshoot	overshoot	NOUN
american_scientific_journal-814	84	32	less	less	ADJ
american_scientific_journal-814	84	33	than	than	ADP
american_scientific_journal-814	84	34	5	5	NUM
american_scientific_journal-814	84	35	%	%	NOUN
american_scientific_journal-814	84	36			VERB
american_scientific_journal-814	84	37	steady	steady	ADJ
american_scientific_journal-814	84	38	-	-	PUNCT
american_scientific_journal-814	84	39	state	state	NOUN
american_scientific_journal-814	84	40	error	error	NOUN
american_scientific_journal-814	84	41	less	less	ADJ
american_scientific_journal-814	84	42	than	than	ADP
american_scientific_journal-814	84	43	1	1	NUM
american_scientific_journal-814	84	44	%	%	NOUN
american_scientific_journal-814	84	45	8	8	NUM
american_scientific_journal-814	84	46	.	.	PUNCT
american_scientific_journal-814	85	1	pid	pid	NOUN
american_scientific_journal-814	85	2	controller	controller	NOUN
american_scientific_journal-814	85	3	pid	pid	NOUN
american_scientific_journal-814	85	4	defines	define	VERB
american_scientific_journal-814	85	5	th	th	X
american_scientific_journal-814	85	6	three	three	NUM
american_scientific_journal-814	85	7	terms	term	NOUN
american_scientific_journal-814	85	8	proportionality	proportionality	NOUN
american_scientific_journal-814	85	9	namely	namely	ADV
american_scientific_journal-814	85	10	:	:	PUNCT
american_scientific_journal-814	85	11	p	p	PROPN
american_scientific_journal-814	85	12	-proportional	-proportional	PROPN
american_scientific_journal-814	85	13	,	,	PUNCT
american_scientific_journal-814	85	14	i	i	PRON
american_scientific_journal-814	85	15	integral	integral	ADJ
american_scientific_journal-814	85	16	,	,	PUNCT
american_scientific_journal-814	85	17	d	d	NOUN
american_scientific_journal-814	85	18	–	–	PUNCT
american_scientific_journal-814	85	19	derivative	derivative	NOUN
american_scientific_journal-814	85	20	as	as	SCONJ
american_scientific_journal-814	85	21	shown	show	VERB
american_scientific_journal-814	85	22	in	in	ADP
american_scientific_journal-814	85	23	figure	figure	NOUN
american_scientific_journal-814	85	24	3	3	NUM
american_scientific_journal-814	85	25	.	.	PUNCT
american_scientific_journal-814	86	1	this	this	DET
american_scientific_journal-814	86	2	error	error	NOUN
american_scientific_journal-814	86	3	represents	represent	VERB
american_scientific_journal-814	86	4	the	the	DET
american_scientific_journal-814	86	5	difference	difference	NOUN
american_scientific_journal-814	86	6	between	between	ADP
american_scientific_journal-814	86	7	where	where	SCONJ
american_scientific_journal-814	86	8	you	you	PRON
american_scientific_journal-814	86	9	want	want	VERB
american_scientific_journal-814	86	10	to	to	PART
american_scientific_journal-814	86	11	go	go	VERB
american_scientific_journal-814	86	12	(	(	PUNCT
american_scientific_journal-814	86	13	vset	vset	NOUN
american_scientific_journal-814	86	14	)	)	PUNCT
american_scientific_journal-814	86	15	,	,	PUNCT
american_scientific_journal-814	86	16	and	and	CCONJ
american_scientific_journal-814	86	17	where	where	SCONJ
american_scientific_journal-814	86	18	you	you	PRON
american_scientific_journal-814	86	19	are	be	AUX
american_scientific_journal-814	86	20	actually	actually	ADV
american_scientific_journal-814	86	21	at	at	ADP
american_scientific_journal-814	86	22	(	(	PUNCT
american_scientific_journal-814	86	23	vsensor	vsensor	NOUN
american_scientific_journal-814	86	24	)	)	PUNCT
american_scientific_journal-814	86	25	.	.	PUNCT
american_scientific_journal-814	87	1	the	the	DET
american_scientific_journal-814	87	2	controller	controller	NOUN
american_scientific_journal-814	87	3	performs	perform	VERB
american_scientific_journal-814	87	4	the	the	DET
american_scientific_journal-814	87	5	pid	pid	NOUN
american_scientific_journal-814	87	6	mathematical	mathematical	ADJ
american_scientific_journal-814	87	7	functions	function	NOUN
american_scientific_journal-814	87	8	on	on	ADP
american_scientific_journal-814	87	9	the	the	DET
american_scientific_journal-814	87	10	error	error	NOUN
american_scientific_journal-814	87	11	and	and	CCONJ
american_scientific_journal-814	87	12	applies	apply	VERB
american_scientific_journal-814	87	13	the	the	DET
american_scientific_journal-814	87	14	their	their	PRON
american_scientific_journal-814	87	15	sum	sum	NOUN
american_scientific_journal-814	87	16	to	to	ADP
american_scientific_journal-814	87	17	a	a	DET
american_scientific_journal-814	87	18	process	process	NOUN
american_scientific_journal-814	87	19	(	(	PUNCT
american_scientific_journal-814	87	20	motor	motor	NOUN
american_scientific_journal-814	87	21	,	,	PUNCT
american_scientific_journal-814	87	22	heater	heater	NOUN
american_scientific_journal-814	87	23	,	,	PUNCT
american_scientific_journal-814	87	24	etc	etc	X
american_scientific_journal-814	87	25	.	.	X
american_scientific_journal-814	87	26	)	)	PUNCT
american_scientific_journal-814	87	27	figure	figure	VERB
american_scientific_journal-814	87	28	3	3	NUM
american_scientific_journal-814	87	29	:	:	PUNCT
american_scientific_journal-814	87	30	complete	complete	ADJ
american_scientific_journal-814	87	31	pid	pid	NOUN
american_scientific_journal-814	87	32	model	model	NOUN
american_scientific_journal-814	88	1	[	[	X
american_scientific_journal-814	88	2	3	3	NUM
american_scientific_journal-814	88	3	]	]	PUNCT
american_scientific_journal-814	88	4	.	.	PUNCT
american_scientific_journal-814	89	1	68	68	NUM
american_scientific_journal-814	89	2	american	american	ADJ
american_scientific_journal-814	89	3	scientific	scientific	ADJ
american_scientific_journal-814	89	4	research	research	NOUN
american_scientific_journal-814	89	5	journal	journal	NOUN
american_scientific_journal-814	89	6	for	for	ADP
american_scientific_journal-814	89	7	engineering	engineering	NOUN
american_scientific_journal-814	89	8	,	,	PUNCT
american_scientific_journal-814	89	9	technology	technology	NOUN
american_scientific_journal-814	89	10	,	,	PUNCT
american_scientific_journal-814	89	11	and	and	CCONJ
american_scientific_journal-814	89	12	sciences	science	NOUN
american_scientific_journal-814	89	13	(	(	PUNCT
american_scientific_journal-814	89	14	asrjets	asrjet	NOUN
american_scientific_journal-814	89	15	)	)	PUNCT
american_scientific_journal-814	89	16	(	(	PUNCT
american_scientific_journal-814	89	17	2015	2015	NUM
american_scientific_journal-814	89	18	)	)	PUNCT
american_scientific_journal-814	89	19	volume	volume	NOUN
american_scientific_journal-814	89	20	14	14	NUM
american_scientific_journal-814	89	21	,	,	PUNCT
american_scientific_journal-814	89	22	no	no	DET
american_scientific_journal-814	89	23	1	1	NUM
american_scientific_journal-814	89	24	,	,	PUNCT
american_scientific_journal-814	89	25	pp	pp	ADV
american_scientific_journal-814	89	26	64	64	NUM
american_scientific_journal-814	89	27	-	-	SYM
american_scientific_journal-814	89	28	76	76	NUM
american_scientific_journal-814	89	29	9	9	NUM
american_scientific_journal-814	89	30	.	.	PUNCT
american_scientific_journal-814	90	1	tuning	tune	VERB
american_scientific_journal-814	90	2	pid	pid	NOUN
american_scientific_journal-814	90	3	tuning	tune	VERB
american_scientific_journal-814	90	4	a	a	DET
american_scientific_journal-814	90	5	system	system	NOUN
american_scientific_journal-814	90	6	means	mean	VERB
american_scientific_journal-814	90	7	adjusting	adjust	VERB
american_scientific_journal-814	90	8	three	three	NUM
american_scientific_journal-814	90	9	multipliers	multiplier	NOUN
american_scientific_journal-814	90	10	kp	kp	PROPN
american_scientific_journal-814	90	11	,	,	PUNCT
american_scientific_journal-814	90	12	ki	ki	PROPN
american_scientific_journal-814	90	13	and	and	CCONJ
american_scientific_journal-814	90	14	kd	kd	PROPN
american_scientific_journal-814	90	15	adding	add	VERB
american_scientific_journal-814	90	16	in	in	ADP
american_scientific_journal-814	90	17	various	various	ADJ
american_scientific_journal-814	90	18	amounts	amount	NOUN
american_scientific_journal-814	90	19	of	of	ADP
american_scientific_journal-814	90	20	these	these	DET
american_scientific_journal-814	90	21	functions	function	NOUN
american_scientific_journal-814	90	22	to	to	PART
american_scientific_journal-814	90	23	get	get	VERB
american_scientific_journal-814	90	24	the	the	DET
american_scientific_journal-814	90	25	system	system	NOUN
american_scientific_journal-814	90	26	to	to	PART
american_scientific_journal-814	90	27	behave	behave	VERB
american_scientific_journal-814	90	28	the	the	DET
american_scientific_journal-814	90	29	way	way	NOUN
american_scientific_journal-814	90	30	you	you	PRON
american_scientific_journal-814	90	31	want	want	VERB
american_scientific_journal-814	90	32	.	.	PUNCT
american_scientific_journal-814	91	1	the	the	DET
american_scientific_journal-814	91	2	table	table	NOUN
american_scientific_journal-814	91	3	summarizes	summarize	VERB
american_scientific_journal-814	91	4	the	the	DET
american_scientific_journal-814	91	5	pid	pid	NOUN
american_scientific_journal-814	91	6	terms	term	NOUN
american_scientific_journal-814	91	7	and	and	CCONJ
american_scientific_journal-814	91	8	their	their	PRON
american_scientific_journal-814	91	9	effect	effect	NOUN
american_scientific_journal-814	91	10	on	on	ADP
american_scientific_journal-814	91	11	a	a	DET
american_scientific_journal-814	91	12	control	control	NOUN
american_scientific_journal-814	91	13	system[5	system[5	NOUN
american_scientific_journal-814	91	14	]	]	PUNCT
american_scientific_journal-814	91	15	.	.	PUNCT
american_scientific_journal-814	92	1	here	here	ADV
american_scientific_journal-814	92	2	is	be	AUX
american_scientific_journal-814	92	3	a	a	DET
american_scientific_journal-814	92	4	straight	straight	ADJ
american_scientific_journal-814	92	5	forward	forward	ADJ
american_scientific_journal-814	92	6	approach	approach	NOUN
american_scientific_journal-814	92	7	to	to	PART
american_scientific_journal-814	92	8	get	get	VERB
american_scientific_journal-814	92	9	one	one	NUM
american_scientific_journal-814	92	10	up	up	ADP
american_scientific_journal-814	92	11	quickly	quickly	ADV
american_scientific_journal-814	92	12	.	.	PUNCT
american_scientific_journal-814	93	1	1	1	X
american_scientific_journal-814	93	2	.	.	X
american_scientific_journal-814	93	3	set	set	VERB
american_scientific_journal-814	93	4	kp	kp	PROPN
american_scientific_journal-814	93	5	.	.	PUNCT
american_scientific_journal-814	94	1	starting	start	VERB
american_scientific_journal-814	94	2	with	with	ADP
american_scientific_journal-814	94	3	kp=0	kp=0	PROPN
american_scientific_journal-814	94	4	,	,	PUNCT
american_scientific_journal-814	94	5	ki=0	ki=0	NOUN
american_scientific_journal-814	94	6	and	and	CCONJ
american_scientific_journal-814	94	7	kd=0	kd=0	PROPN
american_scientific_journal-814	94	8	,	,	PUNCT
american_scientific_journal-814	94	9	increase	increase	VERB
american_scientific_journal-814	94	10	kp	kp	NOUN
american_scientific_journal-814	94	11	until	until	SCONJ
american_scientific_journal-814	94	12	the	the	DET
american_scientific_journal-814	94	13	output	output	NOUN
american_scientific_journal-814	94	14	starts	start	VERB
american_scientific_journal-814	94	15	overshooting	overshoot	VERB
american_scientific_journal-814	94	16	and	and	CCONJ
american_scientific_journal-814	94	17	ringing	ring	VERB
american_scientific_journal-814	94	18	significantly	significantly	ADV
american_scientific_journal-814	94	19	.	.	PUNCT
american_scientific_journal-814	95	1	2	2	X
american_scientific_journal-814	95	2	.	.	X
american_scientific_journal-814	95	3	set	set	VERB
american_scientific_journal-814	95	4	kd	kd	PROPN
american_scientific_journal-814	95	5	.	.	PUNCT
american_scientific_journal-814	96	1	increase	increase	VERB
american_scientific_journal-814	96	2	kd	kd	PROPN
american_scientific_journal-814	96	3	until	until	SCONJ
american_scientific_journal-814	96	4	the	the	DET
american_scientific_journal-814	96	5	overshoot	overshoot	NOUN
american_scientific_journal-814	96	6	is	be	AUX
american_scientific_journal-814	96	7	reduced	reduce	VERB
american_scientific_journal-814	96	8	to	to	ADP
american_scientific_journal-814	96	9	an	an	DET
american_scientific_journal-814	96	10	acceptable	acceptable	ADJ
american_scientific_journal-814	96	11	level	level	NOUN
american_scientific_journal-814	96	12	.	.	PUNCT
american_scientific_journal-814	97	1	3	3	X
american_scientific_journal-814	97	2	.	.	X
american_scientific_journal-814	97	3	set	set	VERB
american_scientific_journal-814	97	4	ki	ki	PROPN
american_scientific_journal-814	97	5	.	.	PUNCT
american_scientific_journal-814	98	1	increase	increase	VERB
american_scientific_journal-814	98	2	ki	ki	PROPN
american_scientific_journal-814	98	3	until	until	SCONJ
american_scientific_journal-814	98	4	the	the	DET
american_scientific_journal-814	98	5	final	final	ADJ
american_scientific_journal-814	98	6	error	error	NOUN
american_scientific_journal-814	98	7	is	be	AUX
american_scientific_journal-814	98	8	equal	equal	ADJ
american_scientific_journal-814	98	9	to	to	ADP
american_scientific_journal-814	98	10	zero	zero	NUM
american_scientific_journal-814	98	11	.	.	PUNCT
american_scientific_journal-814	99	1	10	10	NUM
american_scientific_journal-814	99	2	.	.	PUNCT
american_scientific_journal-814	100	1	the	the	DET
american_scientific_journal-814	100	2	characteristics	characteristic	NOUN
american_scientific_journal-814	100	3	of	of	ADP
american_scientific_journal-814	100	4	p	p	X
american_scientific_journal-814	100	5	,	,	PUNCT
american_scientific_journal-814	100	6	i	i	PRON
american_scientific_journal-814	100	7	,	,	PUNCT
american_scientific_journal-814	100	8	and	and	CCONJ
american_scientific_journal-814	100	9	d	d	PROPN
american_scientific_journal-814	100	10	controllers	controller	NOUN
american_scientific_journal-814	100	11	a	a	DET
american_scientific_journal-814	100	12	proportional	proportional	ADJ
american_scientific_journal-814	100	13	controller	controller	NOUN
american_scientific_journal-814	100	14	(	(	PUNCT
american_scientific_journal-814	100	15	kp	kp	INTJ
american_scientific_journal-814	100	16	)	)	PUNCT
american_scientific_journal-814	100	17	will	will	AUX
american_scientific_journal-814	100	18	have	have	VERB
american_scientific_journal-814	100	19	the	the	DET
american_scientific_journal-814	100	20	effect	effect	NOUN
american_scientific_journal-814	100	21	of	of	ADP
american_scientific_journal-814	100	22	reducing	reduce	VERB
american_scientific_journal-814	100	23	the	the	DET
american_scientific_journal-814	100	24	rise	rise	NOUN
american_scientific_journal-814	100	25	time	time	NOUN
american_scientific_journal-814	100	26	and	and	CCONJ
american_scientific_journal-814	100	27	will	will	AUX
american_scientific_journal-814	100	28	reduce	reduce	VERB
american_scientific_journal-814	100	29	,	,	PUNCT
american_scientific_journal-814	100	30	but	but	CCONJ
american_scientific_journal-814	100	31	never	never	ADV
american_scientific_journal-814	100	32	eliminate	eliminate	VERB
american_scientific_journal-814	100	33	.	.	PUNCT
american_scientific_journal-814	101	1	an	an	DET
american_scientific_journal-814	101	2	integral	integral	ADJ
american_scientific_journal-814	101	3	control	control	NOUN
american_scientific_journal-814	101	4	(	(	PUNCT
american_scientific_journal-814	101	5	ki	ki	INTJ
american_scientific_journal-814	101	6	)	)	PUNCT
american_scientific_journal-814	101	7	will	will	AUX
american_scientific_journal-814	101	8	have	have	VERB
american_scientific_journal-814	101	9	the	the	DET
american_scientific_journal-814	101	10	effect	effect	NOUN
american_scientific_journal-814	101	11	of	of	ADP
american_scientific_journal-814	101	12	eliminating	eliminate	VERB
american_scientific_journal-814	101	13	the	the	DET
american_scientific_journal-814	101	14	steady	steady	ADJ
american_scientific_journal-814	101	15	-	-	PUNCT
american_scientific_journal-814	101	16	state	state	NOUN
american_scientific_journal-814	101	17	error	error	NOUN
american_scientific_journal-814	101	18	,	,	PUNCT
american_scientific_journal-814	101	19	but	but	CCONJ
american_scientific_journal-814	101	20	it	it	PRON
american_scientific_journal-814	101	21	may	may	AUX
american_scientific_journal-814	101	22	make	make	VERB
american_scientific_journal-814	101	23	the	the	DET
american_scientific_journal-814	101	24	transient	transient	ADJ
american_scientific_journal-814	101	25	response	response	NOUN
american_scientific_journal-814	101	26	worse	bad	ADJ
american_scientific_journal-814	101	27	.	.	PUNCT
american_scientific_journal-814	102	1	a	a	DET
american_scientific_journal-814	102	2	derivative	derivative	ADJ
american_scientific_journal-814	102	3	control	control	NOUN
american_scientific_journal-814	102	4	(	(	PUNCT
american_scientific_journal-814	102	5	kd	kd	PROPN
american_scientific_journal-814	102	6	)	)	PUNCT
american_scientific_journal-814	102	7	will	will	AUX
american_scientific_journal-814	102	8	have	have	VERB
american_scientific_journal-814	102	9	the	the	DET
american_scientific_journal-814	102	10	effect	effect	NOUN
american_scientific_journal-814	102	11	of	of	ADP
american_scientific_journal-814	102	12	increasing	increase	VERB
american_scientific_journal-814	102	13	the	the	DET
american_scientific_journal-814	102	14	stability	stability	NOUN
american_scientific_journal-814	102	15	of	of	ADP
american_scientific_journal-814	102	16	the	the	DET
american_scientific_journal-814	102	17	system	system	NOUN
american_scientific_journal-814	102	18	,	,	PUNCT
american_scientific_journal-814	102	19	reducing	reduce	VERB
american_scientific_journal-814	102	20	the	the	DET
american_scientific_journal-814	102	21	overshoot	overshoot	NOUN
american_scientific_journal-814	102	22	,	,	PUNCT
american_scientific_journal-814	102	23	and	and	CCONJ
american_scientific_journal-814	102	24	improving	improve	VERB
american_scientific_journal-814	102	25	the	the	DET
american_scientific_journal-814	102	26	transient	transient	ADJ
american_scientific_journal-814	102	27	response	response	NOUN
american_scientific_journal-814	102	28	.	.	PUNCT
american_scientific_journal-814	103	1	effects	effect	NOUN
american_scientific_journal-814	103	2	of	of	ADP
american_scientific_journal-814	103	3	each	each	PRON
american_scientific_journal-814	103	4	of	of	ADP
american_scientific_journal-814	103	5	controllers	controller	NOUN
american_scientific_journal-814	103	6	kp	kp	PROPN
american_scientific_journal-814	103	7	,	,	PUNCT
american_scientific_journal-814	103	8	kd	kd	PROPN
american_scientific_journal-814	103	9	,	,	PUNCT
american_scientific_journal-814	103	10	and	and	CCONJ
american_scientific_journal-814	103	11	ki	ki	PROPN
american_scientific_journal-814	103	12	on	on	ADP
american_scientific_journal-814	103	13	a	a	DET
american_scientific_journal-814	103	14	closedloop	closedloop	NOUN
american_scientific_journal-814	103	15	system	system	NOUN
american_scientific_journal-814	103	16	are	be	AUX
american_scientific_journal-814	103	17	usually	usually	ADV
american_scientific_journal-814	103	18	summarized[2	summarized[2	ADJ
american_scientific_journal-814	103	19	]	]	PUNCT
american_scientific_journal-814	103	20	.	.	PUNCT
american_scientific_journal-814	104	1	from	from	ADP
american_scientific_journal-814	104	2	the	the	DET
american_scientific_journal-814	104	3	main	main	ADJ
american_scientific_journal-814	104	4	problem	problem	NOUN
american_scientific_journal-814	104	5	,	,	PUNCT
american_scientific_journal-814	104	6	the	the	DET
american_scientific_journal-814	104	7	dynamic	dynamic	ADJ
american_scientific_journal-814	104	8	equations	equation	NOUN
american_scientific_journal-814	104	9	and	and	CCONJ
american_scientific_journal-814	104	10	the	the	DET
american_scientific_journal-814	104	11	open	open	ADJ
american_scientific_journal-814	104	12	-	-	PUNCT
american_scientific_journal-814	104	13	loop	loop	NOUN
american_scientific_journal-814	104	14	transfer	transfer	NOUN
american_scientific_journal-814	104	15	function	function	NOUN
american_scientific_journal-814	104	16	of	of	ADP
american_scientific_journal-814	104	17	the	the	DET
american_scientific_journal-814	104	18	dc	dc	PROPN
american_scientific_journal-814	104	19	motor	motor	NOUN
american_scientific_journal-814	104	20	are	be	AUX
american_scientific_journal-814	104	21	:	:	PUNCT
american_scientific_journal-814	104	22	s(js+b	s(js+b	NOUN
american_scientific_journal-814	104	23	)	)	PUNCT
american_scientific_journal-814	104	24	θ(s)=ki(s	θ(s)=ki(s	NUM
american_scientific_journal-814	104	25	)	)	PUNCT
american_scientific_journal-814	104	26	…	…	PUNCT
american_scientific_journal-814	104	27	…	…	PUNCT
american_scientific_journal-814	104	28	…	…	PUNCT
american_scientific_journal-814	104	29	…	…	PUNCT
american_scientific_journal-814	104	30	…	…	PUNCT
american_scientific_journal-814	104	31	…	…	PUNCT
american_scientific_journal-814	104	32	…	…	PUNCT
american_scientific_journal-814	104	33	…	…	PUNCT
american_scientific_journal-814	104	34	…	…	PUNCT
american_scientific_journal-814	104	35	…	…	PUNCT
american_scientific_journal-814	104	36	…	…	PUNCT
american_scientific_journal-814	104	37	…	…	PUNCT
american_scientific_journal-814	104	38	…	…	PUNCT
american_scientific_journal-814	104	39	…	…	PUNCT
american_scientific_journal-814	104	40	…	…	PUNCT
american_scientific_journal-814	104	41	…	…	PUNCT
american_scientific_journal-814	104	42	…	…	X
american_scientific_journal-814	104	43	.(6	.(6	NOUN
american_scientific_journal-814	104	44	)	)	PUNCT
american_scientific_journal-814	104	45	(	(	PUNCT
american_scientific_journal-814	104	46	ls+r)i(s)=v	ls+r)i(s)=v	PROPN
american_scientific_journal-814	104	47	ks	ks	PROPN
american_scientific_journal-814	104	48	θ(s	θ(s	PROPN
american_scientific_journal-814	104	49	)	)	PUNCT
american_scientific_journal-814	104	50	……	……	VERB
american_scientific_journal-814	104	51	……	……	NOUN
american_scientific_journal-814	104	52	……	……	NOUN
american_scientific_journal-814	104	53	……	……	NOUN
american_scientific_journal-814	104	54	……	……	NOUN
american_scientific_journal-814	104	55	……	……	NOUN
american_scientific_journal-814	104	56	……	……	NOUN
american_scientific_journal-814	104	57	…	…	SYM
american_scientific_journal-814	104	58	.(7	.(7	NUM
american_scientific_journal-814	104	59	)	)	PUNCT
american_scientific_journal-814	104	60	θ	θ	X
american_scientific_journal-814	104	61	/	/	SYM
american_scientific_journal-814	104	62	v	v	NOUN
american_scientific_journal-814	104	63	=	=	SYM
american_scientific_journal-814	104	64	k/(js+b)(ls+r)+k2	k/(js+b)(ls+r)+k2	PROPN
american_scientific_journal-814	104	65	.........................................................	.........................................................	PUNCT
american_scientific_journal-814	104	66	(	(	PUNCT
american_scientific_journal-814	104	67	8)	8)	NUM
american_scientific_journal-814	104	68	and	and	CCONJ
american_scientific_journal-814	104	69	the	the	DET
american_scientific_journal-814	104	70	system	system	NOUN
american_scientific_journal-814	104	71	schematic	schematic	ADJ
american_scientific_journal-814	104	72	looks	looks	AUX
american_scientific_journal-814	104	73	like	like	ADP
american_scientific_journal-814	104	74	figure	figure	NOUN
american_scientific_journal-814	104	75	4	4	NUM
american_scientific_journal-814	104	76	:	:	PUNCT
american_scientific_journal-814	104	77	figure	figure	VERB
american_scientific_journal-814	104	78	4	4	NUM
american_scientific_journal-814	104	79	:	:	PUNCT
american_scientific_journal-814	104	80	simple	simple	ADJ
american_scientific_journal-814	104	81	pid	pid	NOUN
american_scientific_journal-814	104	82	controller	controller	NOUN
american_scientific_journal-814	104	83	block	block	NOUN
american_scientific_journal-814	104	84	model	model	NOUN
american_scientific_journal-814	104	85	with	with	ADP
american_scientific_journal-814	104	86	a	a	DET
american_scientific_journal-814	104	87	1	1	NUM
american_scientific_journal-814	104	88	rad	rad	NOUN
american_scientific_journal-814	104	89	/	/	SYM
american_scientific_journal-814	104	90	sec	sec	PROPN
american_scientific_journal-814	104	91	step	step	NOUN
american_scientific_journal-814	104	92	input	input	NOUN
american_scientific_journal-814	104	93	,	,	PUNCT
american_scientific_journal-814	104	94	the	the	DET
american_scientific_journal-814	104	95	design	design	NOUN
american_scientific_journal-814	104	96	criteria	criterion	NOUN
american_scientific_journal-814	104	97	are	be	AUX
american_scientific_journal-814	104	98	:	:	PUNCT
american_scientific_journal-814	104	99	69	69	NUM
american_scientific_journal-814	104	100	american	american	ADJ
american_scientific_journal-814	104	101	scientific	scientific	ADJ
american_scientific_journal-814	104	102	research	research	NOUN
american_scientific_journal-814	104	103	journal	journal	NOUN
american_scientific_journal-814	104	104	for	for	ADP
american_scientific_journal-814	104	105	engineering	engineering	NOUN
american_scientific_journal-814	104	106	,	,	PUNCT
american_scientific_journal-814	104	107	technology	technology	NOUN
american_scientific_journal-814	104	108	,	,	PUNCT
american_scientific_journal-814	104	109	and	and	CCONJ
american_scientific_journal-814	104	110	sciences	science	NOUN
american_scientific_journal-814	104	111	(	(	PUNCT
american_scientific_journal-814	104	112	asrjets	asrjet	NOUN
american_scientific_journal-814	104	113	)	)	PUNCT
american_scientific_journal-814	104	114	(	(	PUNCT
american_scientific_journal-814	104	115	2015	2015	NUM
american_scientific_journal-814	104	116	)	)	PUNCT
american_scientific_journal-814	104	117	volume	volume	NOUN
american_scientific_journal-814	104	118	14	14	NUM
american_scientific_journal-814	104	119	,	,	PUNCT
american_scientific_journal-814	104	120	no	no	DET
american_scientific_journal-814	104	121	1	1	NUM
american_scientific_journal-814	104	122	,	,	PUNCT
american_scientific_journal-814	104	123	pp	pp	ADV
american_scientific_journal-814	104	124	64	64	NUM
american_scientific_journal-814	104	125	-	-	SYM
american_scientific_journal-814	104	126	76	76	NUM
american_scientific_journal-814	104	127			VERB
american_scientific_journal-814	104	128	settling	settling	NOUN
american_scientific_journal-814	104	129	time	time	NOUN
american_scientific_journal-814	104	130	less	less	ADJ
american_scientific_journal-814	104	131	than	than	ADP
american_scientific_journal-814	104	132	2	2	NUM
american_scientific_journal-814	104	133	seconds	second	NOUN
american_scientific_journal-814	104	134			VERB
american_scientific_journal-814	104	135	overshoot	overshoot	NOUN
american_scientific_journal-814	104	136	less	less	ADJ
american_scientific_journal-814	104	137	than	than	ADP
american_scientific_journal-814	104	138	5	5	NUM
american_scientific_journal-814	104	139	%	%	NOUN
american_scientific_journal-814	104	140			VERB
american_scientific_journal-814	104	141	steady	steady	ADJ
american_scientific_journal-814	104	142	-	-	PUNCT
american_scientific_journal-814	104	143	stage	stage	NOUN
american_scientific_journal-814	104	144	error	error	NOUN
american_scientific_journal-814	104	145	less	less	ADJ
american_scientific_journal-814	104	146	than	than	ADP
american_scientific_journal-814	104	147	1	1	NUM
american_scientific_journal-814	104	148	%	%	NOUN
american_scientific_journal-814	104	149	first	first	ADV
american_scientific_journal-814	104	150	,	,	PUNCT
american_scientific_journal-814	104	151	let	let	VERB
american_scientific_journal-814	104	152	's	us	PRON
american_scientific_journal-814	104	153	take	take	VERB
american_scientific_journal-814	104	154	a	a	DET
american_scientific_journal-814	104	155	look	look	NOUN
american_scientific_journal-814	104	156	at	at	ADP
american_scientific_journal-814	104	157	how	how	SCONJ
american_scientific_journal-814	104	158	the	the	DET
american_scientific_journal-814	104	159	pid	pid	NOUN
american_scientific_journal-814	104	160	controller	controller	NOUN
american_scientific_journal-814	104	161	works	work	VERB
american_scientific_journal-814	104	162	in	in	ADP
american_scientific_journal-814	104	163	a	a	DET
american_scientific_journal-814	104	164	closed	closed	ADJ
american_scientific_journal-814	104	165	-	-	PUNCT
american_scientific_journal-814	104	166	loop	loop	NOUN
american_scientific_journal-814	104	167	system	system	NOUN
american_scientific_journal-814	104	168	like	like	ADP
american_scientific_journal-814	104	169	in	in	ADP
american_scientific_journal-814	104	170	figure	figure	NOUN
american_scientific_journal-814	104	171	4	4	NUM
american_scientific_journal-814	104	172	.	.	PUNCT
american_scientific_journal-814	105	1	the	the	DET
american_scientific_journal-814	105	2	general	general	ADJ
american_scientific_journal-814	105	3	equation	equation	NOUN
american_scientific_journal-814	105	4	is	be	AUX
american_scientific_journal-814	105	5	given	give	VERB
american_scientific_journal-814	105	6	by	by	ADP
american_scientific_journal-814	105	7	...........	...........	PUNCT
american_scientific_journal-814	105	8	(	(	PUNCT
american_scientific_journal-814	105	9	9	9	X
american_scientific_journal-814	105	10	)	)	PUNCT
american_scientific_journal-814	105	11	the	the	DET
american_scientific_journal-814	105	12	variable	variable	NOUN
american_scientific_journal-814	105	13	(	(	PUNCT
american_scientific_journal-814	105	14	e	e	NOUN
american_scientific_journal-814	105	15	)	)	PUNCT
american_scientific_journal-814	105	16	represents	represent	VERB
american_scientific_journal-814	105	17	the	the	DET
american_scientific_journal-814	105	18	tracking	tracking	NOUN
american_scientific_journal-814	105	19	error	error	NOUN
american_scientific_journal-814	105	20	,	,	PUNCT
american_scientific_journal-814	105	21	the	the	DET
american_scientific_journal-814	105	22	difference	difference	NOUN
american_scientific_journal-814	105	23	between	between	ADP
american_scientific_journal-814	105	24	the	the	DET
american_scientific_journal-814	105	25	desired	desire	VERB
american_scientific_journal-814	105	26	input	input	NOUN
american_scientific_journal-814	105	27	value	value	NOUN
american_scientific_journal-814	105	28	(	(	PUNCT
american_scientific_journal-814	105	29	r	r	NOUN
american_scientific_journal-814	105	30	)	)	PUNCT
american_scientific_journal-814	105	31	and	and	CCONJ
american_scientific_journal-814	105	32	the	the	DET
american_scientific_journal-814	105	33	actual	actual	ADJ
american_scientific_journal-814	105	34	output	output	NOUN
american_scientific_journal-814	105	35	(	(	PUNCT
american_scientific_journal-814	105	36	y	y	NOUN
american_scientific_journal-814	105	37	)	)	PUNCT
american_scientific_journal-814	105	38	.	.	PUNCT
american_scientific_journal-814	106	1	this	this	DET
american_scientific_journal-814	106	2	error	error	NOUN
american_scientific_journal-814	106	3	signal	signal	NOUN
american_scientific_journal-814	106	4	(	(	PUNCT
american_scientific_journal-814	106	5	e	e	NOUN
american_scientific_journal-814	106	6	)	)	PUNCT
american_scientific_journal-814	106	7	will	will	AUX
american_scientific_journal-814	106	8	be	be	AUX
american_scientific_journal-814	106	9	sent	send	VERB
american_scientific_journal-814	106	10	to	to	ADP
american_scientific_journal-814	106	11	the	the	DET
american_scientific_journal-814	106	12	pid	pid	NOUN
american_scientific_journal-814	106	13	controller	controller	NOUN
american_scientific_journal-814	106	14	,	,	PUNCT
american_scientific_journal-814	106	15	and	and	CCONJ
american_scientific_journal-814	106	16	the	the	DET
american_scientific_journal-814	106	17	controller	controller	NOUN
american_scientific_journal-814	106	18	computes	compute	VERB
american_scientific_journal-814	106	19	both	both	CCONJ
american_scientific_journal-814	106	20	the	the	DET
american_scientific_journal-814	106	21	derivative	derivative	NOUN
american_scientific_journal-814	106	22	and	and	CCONJ
american_scientific_journal-814	106	23	the	the	DET
american_scientific_journal-814	106	24	integral	integral	ADJ
american_scientific_journal-814	106	25	of	of	ADP
american_scientific_journal-814	106	26	this	this	DET
american_scientific_journal-814	106	27	error	error	NOUN
american_scientific_journal-814	106	28	signal	signal	NOUN
american_scientific_journal-814	106	29	.	.	PUNCT
american_scientific_journal-814	107	1	the	the	DET
american_scientific_journal-814	107	2	signal	signal	NOUN
american_scientific_journal-814	107	3	(	(	PUNCT
american_scientific_journal-814	107	4	u	u	NOUN
american_scientific_journal-814	107	5	)	)	PUNCT
american_scientific_journal-814	107	6	just	just	ADV
american_scientific_journal-814	107	7	past	past	ADP
american_scientific_journal-814	107	8	the	the	DET
american_scientific_journal-814	107	9	controller	controller	NOUN
american_scientific_journal-814	107	10	is	be	AUX
american_scientific_journal-814	107	11	now	now	ADV
american_scientific_journal-814	107	12	equal	equal	ADJ
american_scientific_journal-814	107	13	to	to	ADP
american_scientific_journal-814	107	14	the	the	DET
american_scientific_journal-814	107	15	proportional	proportional	ADJ
american_scientific_journal-814	107	16	gain	gain	NOUN
american_scientific_journal-814	107	17	(	(	PUNCT
american_scientific_journal-814	107	18	kp	kp	NOUN
american_scientific_journal-814	107	19	)	)	PUNCT
american_scientific_journal-814	107	20	times	time	NOUN
american_scientific_journal-814	107	21	the	the	DET
american_scientific_journal-814	107	22	magnitude	magnitude	NOUN
american_scientific_journal-814	107	23	of	of	ADP
american_scientific_journal-814	107	24	the	the	DET
american_scientific_journal-814	107	25	error	error	NOUN
american_scientific_journal-814	107	26	plus	plus	CCONJ
american_scientific_journal-814	107	27	the	the	DET
american_scientific_journal-814	107	28	integral	integral	ADJ
american_scientific_journal-814	107	29	gain	gain	NOUN
american_scientific_journal-814	107	30	(	(	PUNCT
american_scientific_journal-814	107	31	ki	ki	INTJ
american_scientific_journal-814	107	32	)	)	PUNCT
american_scientific_journal-814	107	33	times	time	VERB
american_scientific_journal-814	107	34	the	the	DET
american_scientific_journal-814	107	35	integral	integral	NOUN
american_scientific_journal-814	107	36	of	of	ADP
american_scientific_journal-814	107	37	the	the	DET
american_scientific_journal-814	107	38	error	error	NOUN
american_scientific_journal-814	107	39	plus	plus	CCONJ
american_scientific_journal-814	107	40	the	the	DET
american_scientific_journal-814	107	41	derivative	derivative	ADJ
american_scientific_journal-814	107	42	gain	gain	NOUN
american_scientific_journal-814	107	43	(	(	PUNCT
american_scientific_journal-814	107	44	kd	kd	PROPN
american_scientific_journal-814	107	45	)	)	PUNCT
american_scientific_journal-814	107	46	times	time	NOUN
american_scientific_journal-814	107	47	the	the	DET
american_scientific_journal-814	107	48	derivative	derivative	NOUN
american_scientific_journal-814	107	49	of	of	ADP
american_scientific_journal-814	107	50	the	the	DET
american_scientific_journal-814	107	51	error[7	error[7	NOUN
american_scientific_journal-814	107	52	]	]	PUNCT
american_scientific_journal-814	107	53	.	.	PUNCT
american_scientific_journal-814	108	1	u	u	X
american_scientific_journal-814	108	2	=	=	NOUN
american_scientific_journal-814	108	3	ke	ke	NOUN
american_scientific_journal-814	108	4	+	+	CCONJ
american_scientific_journal-814	108	5	ki∫edt	ki∫edt	NOUN
american_scientific_journal-814	108	6	+	+	CCONJ
american_scientific_journal-814	108	7	kdde	kdde	ADJ
american_scientific_journal-814	108	8	/	/	SYM
american_scientific_journal-814	108	9	dt	dt	NOUN
american_scientific_journal-814	108	10	.............	.............	PUNCT
american_scientific_journal-814	108	11	(10	(10	PUNCT
american_scientific_journal-814	108	12	)	)	PUNCT
american_scientific_journal-814	108	13	this	this	DET
american_scientific_journal-814	108	14	signal	signal	NOUN
american_scientific_journal-814	108	15	(	(	PUNCT
american_scientific_journal-814	108	16	u	u	NOUN
american_scientific_journal-814	108	17	)	)	PUNCT
american_scientific_journal-814	108	18	will	will	AUX
american_scientific_journal-814	108	19	be	be	AUX
american_scientific_journal-814	108	20	sent	send	VERB
american_scientific_journal-814	108	21	to	to	ADP
american_scientific_journal-814	108	22	the	the	DET
american_scientific_journal-814	108	23	plant	plant	NOUN
american_scientific_journal-814	108	24	,	,	PUNCT
american_scientific_journal-814	108	25	and	and	CCONJ
american_scientific_journal-814	108	26	the	the	DET
american_scientific_journal-814	108	27	new	new	ADJ
american_scientific_journal-814	108	28	output	output	NOUN
american_scientific_journal-814	108	29	(	(	PUNCT
american_scientific_journal-814	108	30	y	y	NOUN
american_scientific_journal-814	108	31	)	)	PUNCT
american_scientific_journal-814	108	32	will	will	AUX
american_scientific_journal-814	108	33	be	be	AUX
american_scientific_journal-814	108	34	obtained	obtain	VERB
american_scientific_journal-814	108	35	.	.	PUNCT
american_scientific_journal-814	109	1	this	this	DET
american_scientific_journal-814	109	2	new	new	ADJ
american_scientific_journal-814	109	3	output	output	NOUN
american_scientific_journal-814	109	4	(	(	PUNCT
american_scientific_journal-814	109	5	y	y	NOUN
american_scientific_journal-814	109	6	)	)	PUNCT
american_scientific_journal-814	109	7	will	will	AUX
american_scientific_journal-814	109	8	be	be	AUX
american_scientific_journal-814	109	9	sent	send	VERB
american_scientific_journal-814	109	10	back	back	ADV
american_scientific_journal-814	109	11	to	to	ADP
american_scientific_journal-814	109	12	the	the	DET
american_scientific_journal-814	109	13	sensor	sensor	NOUN
american_scientific_journal-814	109	14	again	again	ADV
american_scientific_journal-814	109	15	to	to	PART
american_scientific_journal-814	109	16	find	find	VERB
american_scientific_journal-814	109	17	the	the	DET
american_scientific_journal-814	109	18	new	new	ADJ
american_scientific_journal-814	109	19	error	error	NOUN
american_scientific_journal-814	109	20	signal	signal	NOUN
american_scientific_journal-814	109	21	(	(	PUNCT
american_scientific_journal-814	109	22	e	e	NOUN
american_scientific_journal-814	109	23	)	)	PUNCT
american_scientific_journal-814	109	24	.	.	PUNCT
american_scientific_journal-814	110	1	the	the	DET
american_scientific_journal-814	110	2	controller	controller	NOUN
american_scientific_journal-814	110	3	takes	take	VERB
american_scientific_journal-814	110	4	this	this	DET
american_scientific_journal-814	110	5	new	new	ADJ
american_scientific_journal-814	110	6	error	error	NOUN
american_scientific_journal-814	110	7	signal	signal	NOUN
american_scientific_journal-814	110	8	and	and	CCONJ
american_scientific_journal-814	110	9	computes	compute	VERB
american_scientific_journal-814	110	10	its	its	PRON
american_scientific_journal-814	110	11	derivative	derivative	NOUN
american_scientific_journal-814	110	12	and	and	CCONJ
american_scientific_journal-814	110	13	its	its	PRON
american_scientific_journal-814	110	14	integral	integral	ADJ
american_scientific_journal-814	110	15	again	again	ADV
american_scientific_journal-814	110	16	.	.	PUNCT
american_scientific_journal-814	111	1	this	this	DET
american_scientific_journal-814	111	2	process	process	NOUN
american_scientific_journal-814	111	3	goes	go	VERB
american_scientific_journal-814	111	4	on	on	ADV
american_scientific_journal-814	111	5	and	and	CCONJ
american_scientific_journal-814	111	6	on	on	ADV
american_scientific_journal-814	111	7	.	.	PUNCT
american_scientific_journal-814	112	1	11	11	NUM
american_scientific_journal-814	112	2	.	.	X
american_scientific_journal-814	112	3	running	run	VERB
american_scientific_journal-814	112	4	simulation	simulation	NOUN
american_scientific_journal-814	112	5	and	and	CCONJ
american_scientific_journal-814	112	6	design	design	NOUN
american_scientific_journal-814	112	7	using	use	VERB
american_scientific_journal-814	112	8	dynast	dynast	NOUN
american_scientific_journal-814	112	9	shell	shell	NOUN
american_scientific_journal-814	112	10	this	this	PRON
american_scientific_journal-814	112	11	is	be	AUX
american_scientific_journal-814	112	12	the	the	DET
american_scientific_journal-814	112	13	final	final	ADJ
american_scientific_journal-814	112	14	step	step	NOUN
american_scientific_journal-814	112	15	as	as	SCONJ
american_scientific_journal-814	112	16	regards	regard	VERB
american_scientific_journal-814	112	17	the	the	DET
american_scientific_journal-814	112	18	problem	problem	NOUN
american_scientific_journal-814	112	19	set	set	VERB
american_scientific_journal-814	112	20	up	up	ADP
american_scientific_journal-814	112	21	,	,	PUNCT
american_scientific_journal-814	112	22	it	it	PRON
american_scientific_journal-814	112	23	is	be	AUX
american_scientific_journal-814	112	24	done	do	VERB
american_scientific_journal-814	112	25	after	after	SCONJ
american_scientific_journal-814	112	26	the	the	DET
american_scientific_journal-814	112	27	dc	dc	PROPN
american_scientific_journal-814	112	28	motor	motor	NOUN
american_scientific_journal-814	112	29	has	have	AUX
american_scientific_journal-814	112	30	been	be	AUX
american_scientific_journal-814	112	31	modelled	model	VERB
american_scientific_journal-814	112	32	,	,	PUNCT
american_scientific_journal-814	112	33	after	after	SCONJ
american_scientific_journal-814	112	34	the	the	DET
american_scientific_journal-814	112	35	pid	pid	NOUN
american_scientific_journal-814	112	36	controller	controller	NOUN
american_scientific_journal-814	112	37	has	have	AUX
american_scientific_journal-814	112	38	been	be	AUX
american_scientific_journal-814	112	39	added	add	VERB
american_scientific_journal-814	112	40	to	to	ADP
american_scientific_journal-814	112	41	the	the	DET
american_scientific_journal-814	112	42	design	design	NOUN
american_scientific_journal-814	112	43	.	.	PUNCT
american_scientific_journal-814	113	1	also	also	ADV
american_scientific_journal-814	113	2	,	,	PUNCT
american_scientific_journal-814	113	3	having	having	AUX
american_scientific_journal-814	113	4	inputed	input	VERB
american_scientific_journal-814	113	5	the	the	DET
american_scientific_journal-814	113	6	correct	correct	ADJ
american_scientific_journal-814	113	7	parameters	parameter	NOUN
american_scientific_journal-814	113	8	of	of	ADP
american_scientific_journal-814	113	9	the	the	DET
american_scientific_journal-814	113	10	pid	pid	NOUN
american_scientific_journal-814	113	11	controller	controller	NOUN
american_scientific_journal-814	113	12	to	to	PART
american_scientific_journal-814	113	13	ensure	ensure	VERB
american_scientific_journal-814	113	14	the	the	DET
american_scientific_journal-814	113	15	desired	desire	VERB
american_scientific_journal-814	113	16	response	response	NOUN
american_scientific_journal-814	113	17	.	.	PUNCT
american_scientific_journal-814	114	1	12	12	NUM
american_scientific_journal-814	114	2	.	.	PUNCT
american_scientific_journal-814	114	3	hardware	hardware	NOUN
american_scientific_journal-814	114	4	sub	sub	NOUN
american_scientific_journal-814	114	5	system	system	NOUN
american_scientific_journal-814	114	6	a	a	DET
american_scientific_journal-814	114	7	permanent	permanent	ADJ
american_scientific_journal-814	114	8	magnet	magnet	NOUN
american_scientific_journal-814	114	9	dc	dc	PROPN
american_scientific_journal-814	114	10	machine	machine	NOUN
american_scientific_journal-814	114	11	in	in	ADP
american_scientific_journal-814	114	12	figure	figure	NOUN
american_scientific_journal-814	114	13	5	5	NUM
american_scientific_journal-814	114	14	looks	look	VERB
american_scientific_journal-814	114	15	like	like	SCONJ
american_scientific_journal-814	114	16	it	it	PRON
american_scientific_journal-814	114	17	figure	figure	VERB
american_scientific_journal-814	114	18	5	5	NUM
american_scientific_journal-814	114	19	:	:	PUNCT
american_scientific_journal-814	114	20	permanent	permanent	ADJ
american_scientific_journal-814	114	21	dc	dc	PROPN
american_scientific_journal-814	114	22	machine	machine	NOUN
american_scientific_journal-814	114	23			PROPN
american_scientific_journal-814	114	24	interface	interface	VERB
american_scientific_journal-814	114	25	a	a	DET
american_scientific_journal-814	114	26	[	[	X
american_scientific_journal-814	114	27	v	v	NOUN
american_scientific_journal-814	114	28	]	]	X
american_scientific_journal-814	114	29	armature	armature	NOUN
american_scientific_journal-814	114	30	-	-	PUNCT
american_scientific_journal-814	114	31	circuit	circuit	NOUN
american_scientific_journal-814	114	32	+	+	PROPN
american_scientific_journal-814	114	33	terminal	terminal	ADJ
american_scientific_journal-814	114	34	70	70	NUM
american_scientific_journal-814	114	35	american	american	ADJ
american_scientific_journal-814	114	36	scientific	scientific	ADJ
american_scientific_journal-814	114	37	research	research	NOUN
american_scientific_journal-814	114	38	journal	journal	NOUN
american_scientific_journal-814	114	39	for	for	ADP
american_scientific_journal-814	114	40	engineering	engineering	NOUN
american_scientific_journal-814	114	41	,	,	PUNCT
american_scientific_journal-814	114	42	technology	technology	NOUN
american_scientific_journal-814	114	43	,	,	PUNCT
american_scientific_journal-814	114	44	and	and	CCONJ
american_scientific_journal-814	114	45	sciences	science	NOUN
american_scientific_journal-814	114	46	(	(	PUNCT
american_scientific_journal-814	114	47	asrjets	asrjet	NOUN
american_scientific_journal-814	114	48	)	)	PUNCT
american_scientific_journal-814	114	49	(	(	PUNCT
american_scientific_journal-814	114	50	2015	2015	NUM
american_scientific_journal-814	114	51	)	)	PUNCT
american_scientific_journal-814	114	52	volume	volume	NOUN
american_scientific_journal-814	114	53	14	14	NUM
american_scientific_journal-814	114	54	,	,	PUNCT
american_scientific_journal-814	114	55	no	no	DET
american_scientific_journal-814	114	56	1	1	NUM
american_scientific_journal-814	114	57	,	,	PUNCT
american_scientific_journal-814	114	58	pp	pp	ADV
american_scientific_journal-814	114	59	64	64	NUM
american_scientific_journal-814	114	60	-	-	SYM
american_scientific_journal-814	114	61	76	76	NUM
american_scientific_journal-814	114	62	b	b	NOUN
american_scientific_journal-814	115	1	[	[	X
american_scientific_journal-814	115	2	v	v	NOUN
american_scientific_journal-814	115	3	]	]	X
american_scientific_journal-814	115	4	armature	armature	NOUN
american_scientific_journal-814	115	5	-	-	PUNCT
american_scientific_journal-814	115	6	circuit	circuit	NOUN
american_scientific_journal-814	115	7	–	–	PUNCT
american_scientific_journal-814	115	8	terminal	terminal	NOUN
american_scientific_journal-814	115	9	s	s	PART
american_scientific_journal-814	116	1	[	[	X
american_scientific_journal-814	116	2	rad	rad	INTJ
american_scientific_journal-814	116	3	/	/	SYM
american_scientific_journal-814	116	4	s	s	PART
american_scientific_journal-814	116	5	]	]	X
american_scientific_journal-814	116	6	machine	machine	NOUN
american_scientific_journal-814	116	7	shaft	shaft	NOUN
american_scientific_journal-814	116	8	h	h	NOUN
american_scientific_journal-814	117	1	[	[	X
american_scientific_journal-814	117	2	rad	rad	PROPN
american_scientific_journal-814	117	3	/	/	SYM
american_scientific_journal-814	117	4	s	s	PART
american_scientific_journal-814	117	5	]	]	X
american_scientific_journal-814	117	6	machine	machine	NOUN
american_scientific_journal-814	117	7	housing	housing	NOUN
american_scientific_journal-814	117	8	external	external	ADJ
american_scientific_journal-814	117	9	parameters	parameter	NOUN
american_scientific_journal-814	117	10	kem	kem	PROPN
american_scientific_journal-814	117	11	=	=	SYM
american_scientific_journal-814	117	12	1	1	NUM
american_scientific_journal-814	117	13	[	[	X
american_scientific_journal-814	117	14	v.s	v.s	ADJ
american_scientific_journal-814	117	15	/	/	SYM
american_scientific_journal-814	117	16	rad	rad	NOUN
american_scientific_journal-814	117	17	]	]	X
american_scientific_journal-814	117	18	machine	machine	NOUN
american_scientific_journal-814	117	19	electro	electro	ADJ
american_scientific_journal-814	117	20	-	-	PUNCT
american_scientific_journal-814	117	21	mechanical	mechanical	ADJ
american_scientific_journal-814	117	22	constant	constant	ADJ
american_scientific_journal-814	117	23	la	la	NOUN
american_scientific_journal-814	117	24	=	=	SYM
american_scientific_journal-814	117	25	0	0	PUNCT
american_scientific_journal-814	118	1	[	[	X
american_scientific_journal-814	118	2	h	h	X
american_scientific_journal-814	118	3	]	]	X
american_scientific_journal-814	118	4	armature	armature	NOUN
american_scientific_journal-814	118	5	-	-	PUNCT
american_scientific_journal-814	118	6	circuit	circuit	NOUN
american_scientific_journal-814	118	7	inductance	inductance	NOUN
american_scientific_journal-814	118	8	ra	ra	PROPN
american_scientific_journal-814	119	1	=	=	NOUN
american_scientific_journal-814	119	2	0.1	0.1	NUM
american_scientific_journal-814	119	3	[	[	X
american_scientific_journal-814	119	4	ω	ω	X
american_scientific_journal-814	119	5	]	]	X
american_scientific_journal-814	119	6	armature	armature	NOUN
american_scientific_journal-814	119	7	-	-	PUNCT
american_scientific_journal-814	119	8	circuit	circuit	NOUN
american_scientific_journal-814	119	9	resistance	resistance	NOUN
american_scientific_journal-814	119	10	jm	jm	PROPN
american_scientific_journal-814	119	11	=	=	PROPN
american_scientific_journal-814	119	12	0	0	PUNCT
american_scientific_journal-814	120	1	[	[	X
american_scientific_journal-814	120	2	kg.m2	kg.m2	X
american_scientific_journal-814	120	3	]	]	X
american_scientific_journal-814	120	4	armature	armature	NOUN
american_scientific_journal-814	120	5	moment	moment	NOUN
american_scientific_journal-814	120	6	of	of	ADP
american_scientific_journal-814	120	7	inertia	inertia	NOUN
american_scientific_journal-814	120	8	bm	bm	PROPN
american_scientific_journal-814	120	9	=	=	PUNCT
american_scientific_journal-814	120	10	0	0	PUNCT
american_scientific_journal-814	121	1	[	[	X
american_scientific_journal-814	121	2	n.m.s	n.m.s	NOUN
american_scientific_journal-814	121	3	/	/	SYM
american_scientific_journal-814	121	4	rad	rad	NOUN
american_scientific_journal-814	121	5	]	]	X
american_scientific_journal-814	121	6	armature	armature	NOUN
american_scientific_journal-814	121	7	-	-	PUNCT
american_scientific_journal-814	121	8	to	to	ADP
american_scientific_journal-814	121	9	-	-	PUNCT
american_scientific_journal-814	121	10	housing	housing	NOUN
american_scientific_journal-814	121	11	damping	damp	VERB
american_scientific_journal-814	121	12	factor	factor	NOUN
american_scientific_journal-814	121	13	12.1	12.1	NUM
american_scientific_journal-814	121	14	pid	pid	NOUN
american_scientific_journal-814	121	15	controller	controller	NOUN
american_scientific_journal-814	121	16	figure	figure	NOUN
american_scientific_journal-814	121	17	6	6	NUM
american_scientific_journal-814	121	18	:	:	PUNCT
american_scientific_journal-814	121	19	tunned	tun	VERB
american_scientific_journal-814	121	20	pid	pid	NOUN
american_scientific_journal-814	121	21	controller	controller	NOUN
american_scientific_journal-814	121	22			VERB
american_scientific_journal-814	121	23	interface	interface	NOUN
american_scientific_journal-814	121	24	up	up	ADP
american_scientific_journal-814	121	25	positive	positive	ADJ
american_scientific_journal-814	121	26	input	input	NOUN
american_scientific_journal-814	121	27	un	un	PROPN
american_scientific_journal-814	121	28	negative	negative	ADJ
american_scientific_journal-814	121	29	input	input	NOUN
american_scientific_journal-814	122	1	y	y	PROPN
american_scientific_journal-814	122	2	output	output	NOUN
american_scientific_journal-814	122	3			VERB
american_scientific_journal-814	122	4	external	external	ADJ
american_scientific_journal-814	122	5	parameters	parameter	NOUN
american_scientific_journal-814	122	6	kp	kp	NOUN
american_scientific_journal-814	122	7	=	=	SYM
american_scientific_journal-814	122	8	1	1	NUM
american_scientific_journal-814	122	9	[	[	X
american_scientific_journal-814	122	10	–	–	PUNCT
american_scientific_journal-814	122	11	]	]	X
american_scientific_journal-814	122	12	proportional	proportional	ADJ
american_scientific_journal-814	122	13	gain	gain	NOUN
american_scientific_journal-814	122	14	ki	ki	PROPN
american_scientific_journal-814	122	15	=	=	PUNCT
american_scientific_journal-814	122	16	0	0	PUNCT
american_scientific_journal-814	123	1	[	[	X
american_scientific_journal-814	123	2	s–1	s–1	X
american_scientific_journal-814	123	3	]	]	X
american_scientific_journal-814	123	4	integral	integral	ADJ
american_scientific_journal-814	123	5	gain	gain	NOUN
american_scientific_journal-814	123	6	kd	kd	X
american_scientific_journal-814	123	7	=	=	PUNCT
american_scientific_journal-814	123	8	0	0	PUNCT
american_scientific_journal-814	124	1	[	[	X
american_scientific_journal-814	124	2	s	s	X
american_scientific_journal-814	124	3	]	]	X
american_scientific_journal-814	124	4	derivative	derivative	ADJ
american_scientific_journal-814	124	5	gain	gain	NOUN
american_scientific_journal-814	124	6	tau	tau	PROPN
american_scientific_journal-814	124	7	=	=	PUNCT
american_scientific_journal-814	124	8	0	0	PUNCT
american_scientific_journal-814	125	1	[	[	X
american_scientific_journal-814	125	2	s	s	X
american_scientific_journal-814	125	3	]	]	X
american_scientific_journal-814	125	4	time	time	NOUN
american_scientific_journal-814	125	5	constant	constant	ADJ
american_scientific_journal-814	125	6	of	of	ADP
american_scientific_journal-814	125	7	derivative	derivative	ADJ
american_scientific_journal-814	125	8	controller	controller	NOUN
american_scientific_journal-814	125	9	13	13	NUM
american_scientific_journal-814	125	10	.	.	PUNCT
american_scientific_journal-814	126	1	integrator	integrator	NOUN
american_scientific_journal-814	126	2	block	block	NOUN
american_scientific_journal-814	126	3	outputs	output	VERB
american_scientific_journal-814	126	4	the	the	DET
american_scientific_journal-814	126	5	integral	integral	ADJ
american_scientific_journal-814	126	6	of	of	ADP
american_scientific_journal-814	126	7	scaled	scale	VERB
american_scientific_journal-814	126	8	input	input	NOUN
american_scientific_journal-814	126	9	signal	signal	NOUN
american_scientific_journal-814	126	10	where	where	SCONJ
american_scientific_journal-814	126	11	t0	t0	PROPN
american_scientific_journal-814	126	12	is	be	AUX
american_scientific_journal-814	126	13	the	the	DET
american_scientific_journal-814	126	14	starting	starting	NOUN
american_scientific_journal-814	126	15	time	time	NOUN
american_scientific_journal-814	126	16	of	of	ADP
american_scientific_journal-814	126	17	transient	transient	ADJ
american_scientific_journal-814	126	18	analysis	analysis	NOUN
american_scientific_journal-814	126	19	.	.	PUNCT
american_scientific_journal-814	127	1	71	71	NUM
american_scientific_journal-814	127	2	american	american	ADJ
american_scientific_journal-814	127	3	scientific	scientific	ADJ
american_scientific_journal-814	127	4	research	research	NOUN
american_scientific_journal-814	127	5	journal	journal	NOUN
american_scientific_journal-814	127	6	for	for	ADP
american_scientific_journal-814	127	7	engineering	engineering	NOUN
american_scientific_journal-814	127	8	,	,	PUNCT
american_scientific_journal-814	127	9	technology	technology	NOUN
american_scientific_journal-814	127	10	,	,	PUNCT
american_scientific_journal-814	127	11	and	and	CCONJ
american_scientific_journal-814	127	12	sciences	science	NOUN
american_scientific_journal-814	127	13	(	(	PUNCT
american_scientific_journal-814	127	14	asrjets	asrjet	NOUN
american_scientific_journal-814	127	15	)	)	PUNCT
american_scientific_journal-814	127	16	(	(	PUNCT
american_scientific_journal-814	127	17	2015	2015	NUM
american_scientific_journal-814	127	18	)	)	PUNCT
american_scientific_journal-814	127	19	volume	volume	NOUN
american_scientific_journal-814	127	20	14	14	NUM
american_scientific_journal-814	127	21	,	,	PUNCT
american_scientific_journal-814	127	22	no	no	DET
american_scientific_journal-814	127	23	1	1	NUM
american_scientific_journal-814	127	24	,	,	PUNCT
american_scientific_journal-814	127	25	pp	pp	ADV
american_scientific_journal-814	127	26	64	64	NUM
american_scientific_journal-814	127	27	-	-	SYM
american_scientific_journal-814	127	28	76	76	NUM
american_scientific_journal-814	127	29			ADJ
american_scientific_journal-814	127	30	interface	interface	NOUN
american_scientific_journal-814	127	31	in	in	ADP
american_scientific_journal-814	127	32	input	input	NOUN
american_scientific_journal-814	127	33	out	out	ADP
american_scientific_journal-814	127	34	output	output	NOUN
american_scientific_journal-814	127	35			VERB
american_scientific_journal-814	127	36	external	external	ADJ
american_scientific_journal-814	127	37	parameters	parameter	NOUN
american_scientific_journal-814	127	38	c	c	NOUN
american_scientific_journal-814	127	39	=	=	SYM
american_scientific_journal-814	127	40	1	1	NUM
american_scientific_journal-814	127	41	coefficient	coefficient	NOUN
american_scientific_journal-814	127	42	14	14	NUM
american_scientific_journal-814	127	43	.	.	PUNCT
american_scientific_journal-814	128	1	modelling	model	VERB
american_scientific_journal-814	128	2	using	use	VERB
american_scientific_journal-814	128	3	dynast	dynast	NOUN
american_scientific_journal-814	128	4	shell	shell	NOUN
american_scientific_journal-814	128	5	when	when	SCONJ
american_scientific_journal-814	128	6	using	use	VERB
american_scientific_journal-814	128	7	dynast	dynast	NOUN
american_scientific_journal-814	128	8	shell	shell	NOUN
american_scientific_journal-814	128	9	,	,	PUNCT
american_scientific_journal-814	128	10	you	you	PRON
american_scientific_journal-814	128	11	need	need	VERB
american_scientific_journal-814	128	12	not	not	PART
american_scientific_journal-814	128	13	to	to	PART
american_scientific_journal-814	128	14	deal	deal	VERB
american_scientific_journal-814	128	15	with	with	ADP
american_scientific_journal-814	128	16	any	any	DET
american_scientific_journal-814	128	17	equations	equation	NOUN
american_scientific_journal-814	128	18	at	at	ADP
american_scientific_journal-814	128	19	all.you	all.you	PRON
american_scientific_journal-814	128	20	can	can	AUX
american_scientific_journal-814	128	21	easily	easily	ADV
american_scientific_journal-814	128	22	set	set	VERB
american_scientific_journal-814	128	23	up	up	ADP
american_scientific_journal-814	128	24	the	the	DET
american_scientific_journal-814	128	25	system	system	NOUN
american_scientific_journal-814	128	26	model	model	NOUN
american_scientific_journal-814	128	27	in	in	ADP
american_scientific_journal-814	128	28	graphical	graphical	ADJ
american_scientific_journal-814	128	29	form	form	NOUN
american_scientific_journal-814	128	30	from	from	ADP
american_scientific_journal-814	128	31	a	a	DET
american_scientific_journal-814	128	32	kit	kit	NOUN
american_scientific_journal-814	128	33	of	of	ADP
american_scientific_journal-814	128	34	dynamic	dynamic	ADJ
american_scientific_journal-814	128	35	elements	element	NOUN
american_scientific_journal-814	128	36	like	like	ADP
american_scientific_journal-814	128	37	in	in	ADP
american_scientific_journal-814	128	38	figure	figure	NOUN
american_scientific_journal-814	128	39	7	7	NUM
american_scientific_journal-814	128	40	.	.	PUNCT
american_scientific_journal-814	128	41	figure	figure	VERB
american_scientific_journal-814	128	42	7	7	NUM
american_scientific_journal-814	128	43	:	:	PUNCT
american_scientific_journal-814	128	44	dc	dc	PROPN
american_scientific_journal-814	128	45	motor	motor	PROPN
american_scientific_journal-814	128	46	design	design	PROPN
american_scientific_journal-814	128	47	without	without	ADP
american_scientific_journal-814	128	48	pid	pid	NOUN
american_scientific_journal-814	128	49	controller	controller	NOUN
american_scientific_journal-814	128	50	15	15	NUM
american_scientific_journal-814	128	51	.	.	PUNCT
american_scientific_journal-814	129	1	step	step	NOUN
american_scientific_journal-814	129	2	response	response	NOUN
american_scientific_journal-814	129	3	computation	computation	NOUN
american_scientific_journal-814	129	4	to	to	PART
american_scientific_journal-814	129	5	compute	compute	VERB
american_scientific_journal-814	129	6	the	the	DET
american_scientific_journal-814	129	7	open	open	ADJ
american_scientific_journal-814	129	8	-	-	PUNCT
american_scientific_journal-814	129	9	loop	loop	NOUN
american_scientific_journal-814	129	10	step	step	NOUN
american_scientific_journal-814	129	11	response	response	NOUN
american_scientific_journal-814	129	12	of	of	ADP
american_scientific_journal-814	129	13	the	the	DET
american_scientific_journal-814	129	14	system	system	NOUN
american_scientific_journal-814	129	15	using	use	VERB
american_scientific_journal-814	129	16	dyncad	dyncad	NOUN
american_scientific_journal-814	129	17			VERB
american_scientific_journal-814	129	18	pull	pull	NOUN
american_scientific_journal-814	129	19	-	-	PUNCT
american_scientific_journal-814	129	20	down	down	NOUN
american_scientific_journal-814	129	21	the	the	DET
american_scientific_journal-814	129	22	menu	menu	NOUN
american_scientific_journal-814	129	23	dynast	dynast	NOUN
american_scientific_journal-814	129	24			VERB
american_scientific_journal-814	129	25	click	click	VERB
american_scientific_journal-814	129	26	compute	compute	ADJ
american_scientific_journal-814	129	27	analysis	analysis	NOUN
american_scientific_journal-814	129	28	16	16	NUM
american_scientific_journal-814	129	29	.	.	PUNCT
american_scientific_journal-814	130	1	transfer	transfer	NOUN
american_scientific_journal-814	130	2	function	function	NOUN
american_scientific_journal-814	130	3	computation	computation	NOUN
american_scientific_journal-814	130	4	dynast	dynast	NOUN
american_scientific_journal-814	130	5	can	can	AUX
american_scientific_journal-814	130	6	also	also	ADV
american_scientific_journal-814	130	7	provide	provide	VERB
american_scientific_journal-814	130	8	linearization	linearization	NOUN
american_scientific_journal-814	130	9	and	and	CCONJ
american_scientific_journal-814	130	10	semisymbolic	semisymbolic	ADJ
american_scientific_journal-814	130	11	analysis	analysis	NOUN
american_scientific_journal-814	130	12	of	of	ADP
american_scientific_journal-814	130	13	the	the	DET
american_scientific_journal-814	130	14	system	system	NOUN
american_scientific_journal-814	130	15	model	model	NOUN
american_scientific_journal-814	130	16	.	.	PUNCT
american_scientific_journal-814	131	1	to	to	PART
american_scientific_journal-814	131	2	see	see	VERB
american_scientific_journal-814	131	3	the	the	DET
american_scientific_journal-814	131	4	following	follow	VERB
american_scientific_journal-814	131	5	list	list	NOUN
american_scientific_journal-814	131	6	of	of	ADP
american_scientific_journal-814	131	7	poles	pole	NOUN
american_scientific_journal-814	131	8	and	and	CCONJ
american_scientific_journal-814	131	9	zeros	zero	NOUN
american_scientific_journal-814	131	10	of	of	ADP
american_scientific_journal-814	131	11	the	the	DET
american_scientific_journal-814	131	12	system	system	NOUN
american_scientific_journal-814	131	13	transfer	transfer	NOUN
american_scientific_journal-814	131	14	function(s	function(s	PROPN
american_scientific_journal-814	131	15	)	)	PUNCT
american_scientific_journal-814	131	16	72	72	NUM
american_scientific_journal-814	131	17	american	american	ADJ
american_scientific_journal-814	131	18	scientific	scientific	ADJ
american_scientific_journal-814	131	19	research	research	NOUN
american_scientific_journal-814	131	20	journal	journal	NOUN
american_scientific_journal-814	131	21	for	for	ADP
american_scientific_journal-814	131	22	engineering	engineering	NOUN
american_scientific_journal-814	131	23	,	,	PUNCT
american_scientific_journal-814	131	24	technology	technology	NOUN
american_scientific_journal-814	131	25	,	,	PUNCT
american_scientific_journal-814	131	26	and	and	CCONJ
american_scientific_journal-814	131	27	sciences	science	NOUN
american_scientific_journal-814	131	28	(	(	PUNCT
american_scientific_journal-814	131	29	asrjets	asrjet	NOUN
american_scientific_journal-814	131	30	)	)	PUNCT
american_scientific_journal-814	131	31	(	(	PUNCT
american_scientific_journal-814	131	32	2015	2015	NUM
american_scientific_journal-814	131	33	)	)	PUNCT
american_scientific_journal-814	131	34	volume	volume	NOUN
american_scientific_journal-814	131	35	14	14	NUM
american_scientific_journal-814	131	36	,	,	PUNCT
american_scientific_journal-814	131	37	no	no	DET
american_scientific_journal-814	131	38	1	1	NUM
american_scientific_journal-814	131	39	,	,	PUNCT
american_scientific_journal-814	131	40	pp	pp	ADV
american_scientific_journal-814	131	41	64	64	NUM
american_scientific_journal-814	131	42	-	-	SYM
american_scientific_journal-814	131	43	76	76	NUM
american_scientific_journal-814	131	44			VERB
american_scientific_journal-814	131	45	pull	pull	VERB
american_scientific_journal-814	131	46	down	down	ADP
american_scientific_journal-814	131	47	the	the	DET
american_scientific_journal-814	131	48	menu	menu	NOUN
american_scientific_journal-814	131	49	results	result	NOUN
american_scientific_journal-814	131	50	in	in	ADP
american_scientific_journal-814	131	51	dyncad	dyncad	NOUN
american_scientific_journal-814	131	52			VERB
american_scientific_journal-814	131	53	click	click	VERB
american_scientific_journal-814	131	54	textual	textual	ADJ
american_scientific_journal-814	131	55	you	you	PRON
american_scientific_journal-814	131	56	can	can	AUX
american_scientific_journal-814	131	57	even	even	ADV
american_scientific_journal-814	131	58	find	find	VERB
american_scientific_journal-814	131	59	in	in	ADP
american_scientific_journal-814	131	60	the	the	DET
american_scientific_journal-814	131	61	listing	listing	NOUN
american_scientific_journal-814	131	62	the	the	DET
american_scientific_journal-814	131	63	following	following	ADJ
american_scientific_journal-814	131	64	semisymbolic	semisymbolic	ADJ
american_scientific_journal-814	131	65	expression	expression	NOUN
american_scientific_journal-814	131	66	for	for	ADP
american_scientific_journal-814	131	67	the	the	DET
american_scientific_journal-814	131	68	step	step	NOUN
american_scientific_journal-814	131	69	response	response	NOUN
american_scientific_journal-814	131	70	figure	figure	NOUN
american_scientific_journal-814	131	71	8	8	NUM
american_scientific_journal-814	131	72	and	and	CCONJ
american_scientific_journal-814	131	73	figure	figure	NOUN
american_scientific_journal-814	131	74	9	9	NUM
american_scientific_journal-814	131	75	are	be	AUX
american_scientific_journal-814	131	76	simulation	simulation	NOUN
american_scientific_journal-814	131	77	result	result	NOUN
american_scientific_journal-814	131	78	and	and	CCONJ
american_scientific_journal-814	131	79	dc	dc	PROPN
american_scientific_journal-814	131	80	motor	motor	NOUN
american_scientific_journal-814	131	81	design	design	PROPN
american_scientific_journal-814	131	82	with	with	ADP
american_scientific_journal-814	131	83	pid	pid	NOUN
american_scientific_journal-814	131	84	controller	controller	NOUN
american_scientific_journal-814	131	85	figure	figure	NOUN
american_scientific_journal-814	131	86	8	8	NUM
american_scientific_journal-814	131	87	:	:	PUNCT
american_scientific_journal-814	131	88	simulation	simulation	NOUN
american_scientific_journal-814	131	89	result	result	NOUN
american_scientific_journal-814	131	90	figure	figure	NOUN
american_scientific_journal-814	131	91	9	9	NUM
american_scientific_journal-814	131	92	:	:	PUNCT
american_scientific_journal-814	131	93	dc	dc	PROPN
american_scientific_journal-814	131	94	motor	motor	PROPN
american_scientific_journal-814	131	95	design	design	PROPN
american_scientific_journal-814	131	96	with	with	ADP
american_scientific_journal-814	131	97	pid	pid	NOUN
american_scientific_journal-814	131	98	controller	controller	NOUN
american_scientific_journal-814	131	99	17	17	NUM
american_scientific_journal-814	131	100	.	.	PUNCT
american_scientific_journal-814	132	1	adding	add	VERB
american_scientific_journal-814	132	2	pid	pid	NOUN
american_scientific_journal-814	132	3	controller	controller	NOUN
american_scientific_journal-814	132	4	to	to	ADP
american_scientific_journal-814	132	5	main	main	ADJ
american_scientific_journal-814	132	6	design	design	NOUN
american_scientific_journal-814	132	7	here	here	ADV
american_scientific_journal-814	132	8	the	the	DET
american_scientific_journal-814	132	9	pid	pid	NOUN
american_scientific_journal-814	132	10	control	control	PROPN
american_scientific_journal-814	132	11	loop	loop	PROPN
american_scientific_journal-814	132	12	is	be	AUX
american_scientific_journal-814	132	13	added	add	VERB
american_scientific_journal-814	132	14	to	to	ADP
american_scientific_journal-814	132	15	the	the	DET
american_scientific_journal-814	132	16	main	main	ADJ
american_scientific_journal-814	132	17	system	system	NOUN
american_scientific_journal-814	132	18	design	design	NOUN
american_scientific_journal-814	132	19	,	,	PUNCT
american_scientific_journal-814	132	20	having	having	AUX
american_scientific_journal-814	132	21	tunned	tun	VERB
american_scientific_journal-814	132	22	to	to	ADP
american_scientific_journal-814	132	23	the	the	DET
american_scientific_journal-814	132	24	desired	desire	VERB
american_scientific_journal-814	132	25	parameters	parameter	NOUN
american_scientific_journal-814	132	26	to	to	PART
american_scientific_journal-814	132	27	effect	effect	VERB
american_scientific_journal-814	132	28	the	the	DET
american_scientific_journal-814	132	29	desired	desire	VERB
american_scientific_journal-814	132	30	response	response	NOUN
american_scientific_journal-814	132	31	in	in	ADP
american_scientific_journal-814	132	32	figure	figure	NOUN
american_scientific_journal-814	132	33	10	10	NUM
american_scientific_journal-814	132	34	and	and	CCONJ
american_scientific_journal-814	132	35	11	11	NUM
american_scientific_journal-814	132	36	73	73	NUM
american_scientific_journal-814	132	37	american	american	ADJ
american_scientific_journal-814	132	38	scientific	scientific	ADJ
american_scientific_journal-814	132	39	research	research	NOUN
american_scientific_journal-814	132	40	journal	journal	NOUN
american_scientific_journal-814	132	41	for	for	ADP
american_scientific_journal-814	132	42	engineering	engineering	NOUN
american_scientific_journal-814	132	43	,	,	PUNCT
american_scientific_journal-814	132	44	technology	technology	NOUN
american_scientific_journal-814	132	45	,	,	PUNCT
american_scientific_journal-814	132	46	and	and	CCONJ
american_scientific_journal-814	132	47	sciences	science	NOUN
american_scientific_journal-814	132	48	(	(	PUNCT
american_scientific_journal-814	132	49	asrjets	asrjet	NOUN
american_scientific_journal-814	132	50	)	)	PUNCT
american_scientific_journal-814	132	51	(	(	PUNCT
american_scientific_journal-814	132	52	2015	2015	NUM
american_scientific_journal-814	132	53	)	)	PUNCT
american_scientific_journal-814	132	54	volume	volume	NOUN
american_scientific_journal-814	132	55	14	14	NUM
american_scientific_journal-814	132	56	,	,	PUNCT
american_scientific_journal-814	132	57	no	no	DET
american_scientific_journal-814	132	58	1	1	NUM
american_scientific_journal-814	132	59	,	,	PUNCT
american_scientific_journal-814	132	60	pp	pp	ADV
american_scientific_journal-814	132	61	64	64	NUM
american_scientific_journal-814	132	62	-	-	SYM
american_scientific_journal-814	132	63	76	76	NUM
american_scientific_journal-814	132	64	figure	figure	NOUN
american_scientific_journal-814	132	65	10	10	NUM
american_scientific_journal-814	132	66	:	:	PUNCT
american_scientific_journal-814	132	67	graph	graph	NOUN
american_scientific_journal-814	132	68	for	for	ADP
american_scientific_journal-814	132	69	dc	dc	PROPN
american_scientific_journal-814	132	70	motor	motor	NOUN
american_scientific_journal-814	132	71	without	without	ADP
american_scientific_journal-814	132	72	pid	pid	NOUN
american_scientific_journal-814	132	73	showing	show	VERB
american_scientific_journal-814	132	74	velocity	velocity	NOUN
american_scientific_journal-814	132	75	vs	vs	ADP
american_scientific_journal-814	132	76	time	time	NOUN
american_scientific_journal-814	132	77	figure	figure	NOUN
american_scientific_journal-814	132	78	11	11	NUM
american_scientific_journal-814	132	79	:	:	PUNCT
american_scientific_journal-814	132	80	graph	graph	NOUN
american_scientific_journal-814	132	81	for	for	ADP
american_scientific_journal-814	132	82	dc	dc	PROPN
american_scientific_journal-814	132	83	motor	motor	NOUN
american_scientific_journal-814	132	84	speed	speed	NOUN
american_scientific_journal-814	132	85	with	with	ADP
american_scientific_journal-814	132	86	pid	pid	NOUN
american_scientific_journal-814	132	87	controller	controller	NOUN
american_scientific_journal-814	132	88	showing	show	VERB
american_scientific_journal-814	132	89	velocity	velocity	NOUN
american_scientific_journal-814	132	90	vs	vs	ADP
american_scientific_journal-814	132	91	time	time	NOUN
american_scientific_journal-814	132	92	18	18	NUM
american_scientific_journal-814	132	93	.	.	PUNCT
american_scientific_journal-814	133	1	simulation	simulation	NOUN
american_scientific_journal-814	133	2	result	result	VERB
american_scientific_journal-814	133	3	having	having	AUX
american_scientific_journal-814	133	4	set	set	VERB
american_scientific_journal-814	133	5	the	the	DET
american_scientific_journal-814	133	6	proportional	proportional	ADJ
american_scientific_journal-814	133	7	,	,	PUNCT
american_scientific_journal-814	133	8	integral	integral	ADJ
american_scientific_journal-814	133	9	and	and	CCONJ
american_scientific_journal-814	133	10	derivatives	derivative	NOUN
american_scientific_journal-814	133	11	parameter	parameter	NOUN
american_scientific_journal-814	133	12	to	to	ADP
american_scientific_journal-814	133	13	the	the	DET
american_scientific_journal-814	133	14	desired	desire	VERB
american_scientific_journal-814	133	15	value	value	NOUN
american_scientific_journal-814	133	16	,	,	PUNCT
american_scientific_journal-814	133	17	which	which	PRON
american_scientific_journal-814	133	18	are	be	AUX
american_scientific_journal-814	133	19	;	;	PUNCT
american_scientific_journal-814	133	20	kp=	kp=	PROPN
american_scientific_journal-814	133	21	100	100	NUM
american_scientific_journal-814	133	22	with	with	ADP
american_scientific_journal-814	133	23	proportional	proportional	ADJ
american_scientific_journal-814	133	24	band	band	NOUN
american_scientific_journal-814	133	25	,	,	PUNCT
american_scientific_journal-814	133	26	the	the	DET
american_scientific_journal-814	133	27	controller	controller	NOUN
american_scientific_journal-814	133	28	output	output	NOUN
american_scientific_journal-814	133	29	is	be	AUX
american_scientific_journal-814	133	30	proportional	proportional	ADJ
american_scientific_journal-814	133	31	to	to	ADP
american_scientific_journal-814	133	32	the	the	DET
american_scientific_journal-814	133	33	error	error	NOUN
american_scientific_journal-814	133	34	or	or	CCONJ
american_scientific_journal-814	133	35	a	a	DET
american_scientific_journal-814	133	36	change	change	NOUN
american_scientific_journal-814	133	37	in	in	ADP
american_scientific_journal-814	133	38	measurement	measurement	NOUN
american_scientific_journal-814	133	39	(	(	PUNCT
american_scientific_journal-814	133	40	depending	depend	VERB
american_scientific_journal-814	133	41	on	on	ADP
american_scientific_journal-814	133	42	the	the	DET
american_scientific_journal-814	133	43	controller	controller	NOUN
american_scientific_journal-814	133	44	)	)	PUNCT
american_scientific_journal-814	133	45	.	.	PUNCT
american_scientific_journal-814	134	1	(	(	PUNCT
american_scientific_journal-814	134	2	controller	controller	NOUN
american_scientific_journal-814	134	3	output	output	NOUN
american_scientific_journal-814	134	4	)	)	PUNCT
american_scientific_journal-814	134	5	=	=	SYM
american_scientific_journal-814	135	1	(	(	PUNCT
american_scientific_journal-814	135	2	error)*100/(proportional	error)*100/(proportional	PROPN
american_scientific_journal-814	135	3	band	band	NOUN
american_scientific_journal-814	135	4	)	)	PUNCT
american_scientific_journal-814	135	5	74	74	NUM
american_scientific_journal-814	135	6	american	american	ADJ
american_scientific_journal-814	135	7	scientific	scientific	ADJ
american_scientific_journal-814	135	8	research	research	NOUN
american_scientific_journal-814	135	9	journal	journal	NOUN
american_scientific_journal-814	135	10	for	for	ADP
american_scientific_journal-814	135	11	engineering	engineering	NOUN
american_scientific_journal-814	135	12	,	,	PUNCT
american_scientific_journal-814	135	13	technology	technology	NOUN
american_scientific_journal-814	135	14	,	,	PUNCT
american_scientific_journal-814	135	15	and	and	CCONJ
american_scientific_journal-814	135	16	sciences	science	NOUN
american_scientific_journal-814	135	17	(	(	PUNCT
american_scientific_journal-814	135	18	asrjets	asrjet	NOUN
american_scientific_journal-814	135	19	)	)	PUNCT
american_scientific_journal-814	135	20	(	(	PUNCT
american_scientific_journal-814	135	21	2015	2015	NUM
american_scientific_journal-814	135	22	)	)	PUNCT
american_scientific_journal-814	135	23	volume	volume	NOUN
american_scientific_journal-814	135	24	14	14	NUM
american_scientific_journal-814	135	25	,	,	PUNCT
american_scientific_journal-814	135	26	no	no	DET
american_scientific_journal-814	135	27	1	1	NUM
american_scientific_journal-814	135	28	,	,	PUNCT
american_scientific_journal-814	135	29	pp	pp	ADV
american_scientific_journal-814	135	30	64	64	NUM
american_scientific_journal-814	135	31	-	-	SYM
american_scientific_journal-814	135	32	76	76	NUM
american_scientific_journal-814	135	33	ki=200	ki=200	PROPN
american_scientific_journal-814	135	34	with	with	ADP
american_scientific_journal-814	135	35	integral	integral	ADJ
american_scientific_journal-814	135	36	action	action	NOUN
american_scientific_journal-814	135	37	,	,	PUNCT
american_scientific_journal-814	135	38	the	the	DET
american_scientific_journal-814	135	39	controller	controller	NOUN
american_scientific_journal-814	135	40	output	output	NOUN
american_scientific_journal-814	135	41	is	be	AUX
american_scientific_journal-814	135	42	proportional	proportional	ADJ
american_scientific_journal-814	135	43	to	to	ADP
american_scientific_journal-814	135	44	the	the	DET
american_scientific_journal-814	135	45	amount	amount	NOUN
american_scientific_journal-814	135	46	of	of	ADP
american_scientific_journal-814	135	47	time	time	NOUN
american_scientific_journal-814	135	48	the	the	DET
american_scientific_journal-814	135	49	error	error	NOUN
american_scientific_journal-814	135	50	is	be	AUX
american_scientific_journal-814	135	51	present	present	ADJ
american_scientific_journal-814	135	52	.	.	PUNCT
american_scientific_journal-814	136	1	integral	integral	ADJ
american_scientific_journal-814	136	2	action	action	NOUN
american_scientific_journal-814	136	3	eliminates	eliminate	NOUN
american_scientific_journal-814	136	4	offset	offset	VERB
american_scientific_journal-814	136	5	.	.	PUNCT
american_scientific_journal-814	137	1	controller	controller	NOUN
american_scientific_journal-814	137	2	output	output	NOUN
american_scientific_journal-814	137	3	=	=	SYM
american_scientific_journal-814	137	4	(	(	PUNCT
american_scientific_journal-814	137	5	1	1	NUM
american_scientific_journal-814	137	6	/	/	SYM
american_scientific_journal-814	137	7	integral	integral	ADJ
american_scientific_journal-814	137	8	)	)	PUNCT
american_scientific_journal-814	137	9	(	(	PUNCT
american_scientific_journal-814	137	10	integral	integral	ADJ
american_scientific_journal-814	137	11	of	of	ADP
american_scientific_journal-814	137	12	)	)	PUNCT
american_scientific_journal-814	137	13	e(t	e(t	NOUN
american_scientific_journal-814	137	14	)	)	PUNCT
american_scientific_journal-814	137	15	d(t	d(t	PROPN
american_scientific_journal-814	137	16	)	)	PUNCT
american_scientific_journal-814	137	17	therefore	therefore	ADV
american_scientific_journal-814	137	18	the	the	DET
american_scientific_journal-814	137	19	integral	integral	ADJ
american_scientific_journal-814	137	20	gain	gain	NOUN
american_scientific_journal-814	137	21	reduces	reduce	VERB
american_scientific_journal-814	137	22	the	the	DET
american_scientific_journal-814	137	23	settling	settling	NOUN
american_scientific_journal-814	137	24	time	time	NOUN
american_scientific_journal-814	137	25	.	.	PUNCT
american_scientific_journal-814	138	1	integral	integral	ADJ
american_scientific_journal-814	138	2	term	term	NOUN
american_scientific_journal-814	138	3	will	will	AUX
american_scientific_journal-814	138	4	eliminate	eliminate	VERB
american_scientific_journal-814	138	5	the	the	DET
american_scientific_journal-814	138	6	steady	steady	ADJ
american_scientific_journal-814	138	7	-	-	PUNCT
american_scientific_journal-814	138	8	state	state	NOUN
american_scientific_journal-814	138	9	error	error	NOUN
american_scientific_journal-814	138	10	kd=10	kd=10	NOUN
american_scientific_journal-814	138	11	with	with	ADP
american_scientific_journal-814	138	12	derivative	derivative	ADJ
american_scientific_journal-814	138	13	action	action	NOUN
american_scientific_journal-814	138	14	,	,	PUNCT
american_scientific_journal-814	138	15	the	the	DET
american_scientific_journal-814	138	16	controller	controller	NOUN
american_scientific_journal-814	138	17	output	output	NOUN
american_scientific_journal-814	138	18	is	be	AUX
american_scientific_journal-814	138	19	proportional	proportional	ADJ
american_scientific_journal-814	138	20	to	to	ADP
american_scientific_journal-814	138	21	the	the	DET
american_scientific_journal-814	138	22	rate	rate	NOUN
american_scientific_journal-814	138	23	of	of	ADP
american_scientific_journal-814	138	24	change	change	NOUN
american_scientific_journal-814	138	25	of	of	ADP
american_scientific_journal-814	138	26	the	the	DET
american_scientific_journal-814	138	27	measurement	measurement	NOUN
american_scientific_journal-814	138	28	or	or	CCONJ
american_scientific_journal-814	138	29	error	error	NOUN
american_scientific_journal-814	138	30	.	.	PUNCT
american_scientific_journal-814	139	1	the	the	DET
american_scientific_journal-814	139	2	controller	controller	NOUN
american_scientific_journal-814	139	3	output	output	NOUN
american_scientific_journal-814	139	4	is	be	AUX
american_scientific_journal-814	139	5	calculated	calculate	VERB
american_scientific_journal-814	139	6	by	by	ADP
american_scientific_journal-814	139	7	the	the	DET
american_scientific_journal-814	139	8	rate	rate	NOUN
american_scientific_journal-814	139	9	of	of	ADP
american_scientific_journal-814	139	10	change	change	NOUN
american_scientific_journal-814	139	11	of	of	ADP
american_scientific_journal-814	139	12	the	the	DET
american_scientific_journal-814	139	13	measurement	measurement	NOUN
american_scientific_journal-814	139	14	with	with	ADP
american_scientific_journal-814	139	15	time	time	NOUN
american_scientific_journal-814	139	16	.	.	PUNCT
american_scientific_journal-814	140	1	where	where	SCONJ
american_scientific_journal-814	140	2	m	m	NOUN
american_scientific_journal-814	140	3	is	be	AUX
american_scientific_journal-814	140	4	the	the	DET
american_scientific_journal-814	140	5	measurement	measurement	NOUN
american_scientific_journal-814	140	6	at	at	ADP
american_scientific_journal-814	140	7	time	time	NOUN
american_scientific_journal-814	140	8	t.	t.	PROPN
american_scientific_journal-814	140	9	derivative	derivative	NOUN
american_scientific_journal-814	140	10	at	at	ADP
american_scientific_journal-814	140	11	this	this	DET
american_scientific_journal-814	140	12	parameter	parameter	NOUN
american_scientific_journal-814	140	13	reduces	reduce	VERB
american_scientific_journal-814	140	14	overshoot	overshoot	NOUN
american_scientific_journal-814	140	15	.	.	PUNCT
american_scientific_journal-814	141	1	19	19	NUM
american_scientific_journal-814	141	2	.	.	X
american_scientific_journal-814	141	3	conclusion	conclusion	NOUN
american_scientific_journal-814	141	4	and	and	CCONJ
american_scientific_journal-814	141	5	recommendation	recommendation	NOUN
american_scientific_journal-814	141	6	i	i	PRON
american_scientific_journal-814	141	7	will	will	AUX
american_scientific_journal-814	141	8	conclude	conclude	VERB
american_scientific_journal-814	141	9	this	this	DET
american_scientific_journal-814	141	10	project	project	NOUN
american_scientific_journal-814	141	11	having	having	AUX
american_scientific_journal-814	141	12	laid	lay	VERB
american_scientific_journal-814	141	13	a	a	DET
american_scientific_journal-814	141	14	detailed	detailed	ADJ
american_scientific_journal-814	141	15	pricedure	pricedure	NOUN
american_scientific_journal-814	141	16	that	that	PRON
american_scientific_journal-814	141	17	shows	show	VERB
american_scientific_journal-814	141	18	the	the	DET
american_scientific_journal-814	141	19	design	design	NOUN
american_scientific_journal-814	141	20	and	and	CCONJ
american_scientific_journal-814	141	21	analysis	analysis	NOUN
american_scientific_journal-814	141	22	of	of	ADP
american_scientific_journal-814	141	23	a	a	DET
american_scientific_journal-814	141	24	dc	dc	PROPN
american_scientific_journal-814	141	25	motor	motor	NOUN
american_scientific_journal-814	141	26	speed	speed	NOUN
american_scientific_journal-814	141	27	control	control	NOUN
american_scientific_journal-814	141	28	using	use	VERB
american_scientific_journal-814	141	29	pid	pid	NOUN
american_scientific_journal-814	141	30	controller	controller	NOUN
american_scientific_journal-814	141	31	to	to	PART
american_scientific_journal-814	141	32	correct	correct	VERB
american_scientific_journal-814	141	33	errors	error	NOUN
american_scientific_journal-814	141	34	.	.	PUNCT
american_scientific_journal-814	142	1	this	this	PRON
american_scientific_journal-814	142	2	simply	simply	ADV
american_scientific_journal-814	142	3	entails	entail	VERB
american_scientific_journal-814	142	4	that	that	SCONJ
american_scientific_journal-814	142	5	pid	pid	NOUN
american_scientific_journal-814	142	6	controller	controller	NOUN
american_scientific_journal-814	142	7	proposes	propose	VERB
american_scientific_journal-814	142	8	that	that	SCONJ
american_scientific_journal-814	142	9	it	it	PRON
american_scientific_journal-814	142	10	gives	give	VERB
american_scientific_journal-814	142	11	the	the	DET
american_scientific_journal-814	142	12	desire	desire	NOUN
american_scientific_journal-814	142	13	response	response	NOUN
american_scientific_journal-814	142	14	when	when	SCONJ
american_scientific_journal-814	142	15	added	add	VERB
american_scientific_journal-814	142	16	to	to	ADP
american_scientific_journal-814	142	17	a	a	DET
american_scientific_journal-814	142	18	dc	dc	PROPN
american_scientific_journal-814	142	19	motor	motor	NOUN
american_scientific_journal-814	142	20	speed	speed	NOUN
american_scientific_journal-814	142	21	control	control	NOUN
american_scientific_journal-814	142	22	.	.	PUNCT
american_scientific_journal-814	143	1	this	this	DET
american_scientific_journal-814	143	2	paper	paper	NOUN
american_scientific_journal-814	143	3	demostrated	demostrate	VERB
american_scientific_journal-814	143	4	why	why	SCONJ
american_scientific_journal-814	143	5	a	a	DET
american_scientific_journal-814	143	6	pid	pid	NOUN
american_scientific_journal-814	143	7	controller	controller	NOUN
american_scientific_journal-814	143	8	should	should	AUX
american_scientific_journal-814	143	9	be	be	AUX
american_scientific_journal-814	143	10	used	use	VERB
american_scientific_journal-814	143	11	to	to	PART
american_scientific_journal-814	143	12	design	design	VERB
american_scientific_journal-814	143	13	a	a	DET
american_scientific_journal-814	143	14	dc	dc	PROPN
american_scientific_journal-814	143	15	motor	motor	NOUN
american_scientific_journal-814	143	16	speed	speed	NOUN
american_scientific_journal-814	143	17	control.having	control.have	VERB
american_scientific_journal-814	143	18	studied	study	VERB
american_scientific_journal-814	143	19	both	both	DET
american_scientific_journal-814	143	20	designs	design	NOUN
american_scientific_journal-814	143	21	of	of	ADP
american_scientific_journal-814	143	22	dc	dc	PROPN
american_scientific_journal-814	143	23	motor	motor	NOUN
american_scientific_journal-814	143	24	speed	speed	NOUN
american_scientific_journal-814	143	25	control	control	NOUN
american_scientific_journal-814	143	26	with	with	ADP
american_scientific_journal-814	143	27	and	and	CCONJ
american_scientific_journal-814	143	28	without	without	ADP
american_scientific_journal-814	143	29	pid	pid	NOUN
american_scientific_journal-814	143	30	,	,	PUNCT
american_scientific_journal-814	143	31	it	it	PRON
american_scientific_journal-814	143	32	could	could	AUX
american_scientific_journal-814	143	33	be	be	AUX
american_scientific_journal-814	143	34	concluded	conclude	VERB
american_scientific_journal-814	143	35	that	that	SCONJ
american_scientific_journal-814	143	36	it	it	PRON
american_scientific_journal-814	143	37	is	be	AUX
american_scientific_journal-814	143	38	the	the	DET
american_scientific_journal-814	143	39	preferred	prefer	VERB
american_scientific_journal-814	143	40	means	mean	NOUN
american_scientific_journal-814	143	41	for	for	ADP
american_scientific_journal-814	143	42	controlling	control	VERB
american_scientific_journal-814	143	43	the	the	DET
american_scientific_journal-814	143	44	speed	speed	NOUN
american_scientific_journal-814	143	45	of	of	ADP
american_scientific_journal-814	143	46	a	a	DET
american_scientific_journal-814	143	47	dc	dc	PROPN
american_scientific_journal-814	143	48	motor	motor	NOUN
american_scientific_journal-814	143	49	control	control	PROPN
american_scientific_journal-814	143	50	.	.	PUNCT
american_scientific_journal-814	144	1	with	with	ADP
american_scientific_journal-814	144	2	the	the	DET
american_scientific_journal-814	144	3	aid	aid	NOUN
american_scientific_journal-814	144	4	of	of	ADP
american_scientific_journal-814	144	5	dynast	dynast	NOUN
american_scientific_journal-814	144	6	shell	shell	NOUN
american_scientific_journal-814	144	7	simulator	simulator	NOUN
american_scientific_journal-814	144	8	,	,	PUNCT
american_scientific_journal-814	144	9	a	a	DET
american_scientific_journal-814	144	10	comprehensive	comprehensive	ADJ
american_scientific_journal-814	144	11	design	design	NOUN
american_scientific_journal-814	144	12	of	of	ADP
american_scientific_journal-814	144	13	the	the	DET
american_scientific_journal-814	144	14	model	model	NOUN
american_scientific_journal-814	144	15	was	be	AUX
american_scientific_journal-814	144	16	carried	carry	VERB
american_scientific_journal-814	144	17	out	out	ADP
american_scientific_journal-814	144	18	with	with	ADP
american_scientific_journal-814	144	19	ease	ease	NOUN
american_scientific_journal-814	144	20	,	,	PUNCT
american_scientific_journal-814	144	21	that	that	PRON
american_scientific_journal-814	144	22	is	be	AUX
american_scientific_journal-814	144	23	eliminating	eliminate	VERB
american_scientific_journal-814	144	24	the	the	DET
american_scientific_journal-814	144	25	need	need	NOUN
american_scientific_journal-814	144	26	for	for	ADP
american_scientific_journal-814	144	27	complex	complex	ADJ
american_scientific_journal-814	144	28	equations	equation	NOUN
american_scientific_journal-814	144	29	and	and	CCONJ
american_scientific_journal-814	144	30	calculations	calculation	NOUN
american_scientific_journal-814	144	31	to	to	PART
american_scientific_journal-814	144	32	achieve	achieve	VERB
american_scientific_journal-814	144	33	the	the	DET
american_scientific_journal-814	144	34	aim	aim	NOUN
american_scientific_journal-814	144	35	.	.	PUNCT
american_scientific_journal-814	145	1	reference	reference	NOUN
american_scientific_journal-814	145	2	[	[	X
american_scientific_journal-814	145	3	1	1	NUM
american_scientific_journal-814	145	4	]	]	PUNCT
american_scientific_journal-814	145	5	boumediène	boumediène	NOUN
american_scientific_journal-814	145	6	allaoua	allaoua	ADJ
american_scientific_journal-814	145	7	*	*	PUNCT
american_scientific_journal-814	145	8	,	,	PUNCT
american_scientific_journal-814	145	9	and	and	CCONJ
american_scientific_journal-814	145	10	brahim	brahim	PROPN
american_scientific_journal-814	145	11	mebarki	mebarki	NOUN
american_scientific_journal-814	145	12	setting	set	VERB
american_scientific_journal-814	145	13	up	up	ADP
american_scientific_journal-814	145	14	pid	pid	NOUN
american_scientific_journal-814	145	15	dc	dc	PROPN
american_scientific_journal-814	145	16	motor	motor	PROPN
american_scientific_journal-814	145	17	speed	speed	PROPN
american_scientific_journal-814	145	18	control	control	NOUN
american_scientific_journal-814	145	19	alteration	alteration	NOUN
american_scientific_journal-814	145	20	parameters	parameter	NOUN
american_scientific_journal-814	145	21	using	use	VERB
american_scientific_journal-814	145	22	particle	particle	NOUN
american_scientific_journal-814	145	23	.	.	PUNCT
american_scientific_journal-814	146	1	swarm	swarm	NOUN
american_scientific_journal-814	146	2	optimization	optimization	NOUN
american_scientific_journal-814	146	3	strategy	strategy	NOUN
american_scientific_journal-814	146	4	brahim	brahim	PROPN
american_scientific_journal-814	146	5	gasbaoui	gasbaoui	PROPN
american_scientific_journal-814	146	6	,	,	PUNCT
american_scientific_journal-814	146	7	2007	2007	NUM
american_scientific_journal-814	146	8	.	.	PUNCT
american_scientific_journal-814	147	1	[	[	X
american_scientific_journal-814	147	2	2	2	X
american_scientific_journal-814	147	3	]	]	X
american_scientific_journal-814	147	4	kamaraj	kamaraj	ADJ
american_scientific_journal-814	147	5	tuning	tune	VERB
american_scientific_journal-814	147	6	algorithms	algorithm	NOUN
american_scientific_journal-814	147	7	for	for	ADP
american_scientific_journal-814	147	8	pid	pid	NOUN
american_scientific_journal-814	147	9	controller	controller	NOUN
american_scientific_journal-814	147	10	using	use	VERB
american_scientific_journal-814	147	11	soft	soft	ADJ
american_scientific_journal-814	147	12	computing	computing	NOUN
american_scientific_journal-814	147	13	techniques	technique	NOUN
american_scientific_journal-814	147	14	by	by	ADP
american_scientific_journal-814	147	15	2001	2001	NUM
american_scientific_journal-814	147	16	.	.	PUNCT
american_scientific_journal-814	148	1	[	[	X
american_scientific_journal-814	148	2	3	3	NUM
american_scientific_journal-814	148	3	]	]	X
american_scientific_journal-814	148	4	lancet	lancet	PROPN
american_scientific_journal-814	148	5	mit	mit	PROPN
american_scientific_journal-814	148	6	intro	intro	NOUN
american_scientific_journal-814	148	7	to	to	ADP
american_scientific_journal-814	148	8	d.c	d.c	PROPN
american_scientific_journal-814	148	9	.	.	PROPN
american_scientific_journal-814	149	1	motors	motors	PROPN
american_scientific_journal-814	149	2	user	user	PROPN
american_scientific_journal-814	149	3	conference	conference	PROPN
american_scientific_journal-814	149	4	,	,	PUNCT
american_scientific_journal-814	149	5	austin	austin	PROPN
american_scientific_journal-814	149	6	texas	texas	PROPN
american_scientific_journal-814	149	7	,	,	PUNCT
american_scientific_journal-814	149	8	vol	vol	NOUN
american_scientific_journal-814	149	9	11	11	NUM
american_scientific_journal-814	149	10	,	,	PUNCT
american_scientific_journal-814	149	11	2004	2004	NUM
american_scientific_journal-814	149	12	.	.	PUNCT
american_scientific_journal-814	150	1	[	[	X
american_scientific_journal-814	150	2	4	4	NUM
american_scientific_journal-814	150	3	]	]	PUNCT
american_scientific_journal-814	150	4	rick	rick	PROPN
american_scientific_journal-814	150	5	bickley	bickley	PROPN
american_scientific_journal-814	150	6	dc	dc	PROPN
american_scientific_journal-814	150	7	motor	motor	PROPN
american_scientific_journal-814	150	8	control	control	PROPN
american_scientific_journal-814	150	9	system	system	NOUN
american_scientific_journal-814	150	10	for	for	ADP
american_scientific_journal-814	150	11	robot	robot	NOUN
american_scientific_journal-814	150	12	applications	application	NOUN
american_scientific_journal-814	150	13	rick	rick	PROPN
american_scientific_journal-814	150	14	bickley	bickley	PROPN
american_scientific_journal-814	150	15	publisher	publisher	NOUN
american_scientific_journal-814	150	16	,	,	PUNCT
american_scientific_journal-814	150	17	2003	2003	NUM
american_scientific_journal-814	150	18	.	.	PUNCT
american_scientific_journal-814	151	1	[	[	X
american_scientific_journal-814	151	2	5	5	X
american_scientific_journal-814	151	3	]	]	PUNCT
american_scientific_journal-814	151	4	k.	k.	PROPN
american_scientific_journal-814	151	5	samsai	samsai	VERB
american_scientific_journal-814	151	6	optimal	optimal	ADJ
american_scientific_journal-814	151	7	pi	pi	NOUN
american_scientific_journal-814	151	8	controller	controller	NOUN
american_scientific_journal-814	151	9	design	design	NOUN
american_scientific_journal-814	151	10	simulation	simulation	NOUN
american_scientific_journal-814	151	11	,	,	PUNCT
american_scientific_journal-814	151	12	robotic	robotic	ADJ
american_scientific_journal-814	151	13	and	and	CCONJ
american_scientific_journal-814	151	14	automation	automation	NOUN
american_scientific_journal-814	151	15	research	research	NOUN
american_scientific_journal-814	151	16	unit	unit	NOUN
american_scientific_journal-814	151	17	school	school	NOUN
american_scientific_journal-814	151	18	of	of	ADP
american_scientific_journal-814	151	19	75	75	NUM
american_scientific_journal-814	151	20	american	american	ADJ
american_scientific_journal-814	151	21	scientific	scientific	ADJ
american_scientific_journal-814	151	22	research	research	NOUN
american_scientific_journal-814	151	23	journal	journal	NOUN
american_scientific_journal-814	151	24	for	for	ADP
american_scientific_journal-814	151	25	engineering	engineering	NOUN
american_scientific_journal-814	151	26	,	,	PUNCT
american_scientific_journal-814	151	27	technology	technology	NOUN
american_scientific_journal-814	151	28	,	,	PUNCT
american_scientific_journal-814	151	29	and	and	CCONJ
american_scientific_journal-814	151	30	sciences	science	NOUN
american_scientific_journal-814	151	31	(	(	PUNCT
american_scientific_journal-814	151	32	asrjets	asrjet	NOUN
american_scientific_journal-814	151	33	)	)	PUNCT
american_scientific_journal-814	151	34	(	(	PUNCT
american_scientific_journal-814	151	35	2015	2015	NUM
american_scientific_journal-814	151	36	)	)	PUNCT
american_scientific_journal-814	151	37	volume	volume	NOUN
american_scientific_journal-814	151	38	14	14	NUM
american_scientific_journal-814	151	39	,	,	PUNCT
american_scientific_journal-814	151	40	no	no	DET
american_scientific_journal-814	151	41	1	1	NUM
american_scientific_journal-814	151	42	,	,	PUNCT
american_scientific_journal-814	151	43	pp	pp	ADV
american_scientific_journal-814	151	44	64	64	NUM
american_scientific_journal-814	151	45	-	-	SYM
american_scientific_journal-814	151	46	76	76	NUM
american_scientific_journal-814	151	47	electrical	electrical	ADJ
american_scientific_journal-814	151	48	engineering	engineering	NOUN
american_scientific_journal-814	151	49	2007	2007	NUM
american_scientific_journal-814	151	50	.	.	PUNCT
american_scientific_journal-814	152	1	[	[	X
american_scientific_journal-814	152	2	6	6	X
american_scientific_journal-814	152	3	]	]	X
american_scientific_journal-814	152	4	y.p	y.p	PROPN
american_scientific_journal-814	152	5	wang	wang	PROPN
american_scientific_journal-814	152	6	,	,	PUNCT
american_scientific_journal-814	152	7	a	a	DET
american_scientific_journal-814	152	8	genetic	genetic	ADJ
american_scientific_journal-814	152	9	algorithm	algorithm	NOUN
american_scientific_journal-814	152	10	to	to	PART
american_scientific_journal-814	152	11	design	design	VERB
american_scientific_journal-814	152	12	pi	pi	NOUN
american_scientific_journal-814	152	13	controller	controller	NOUN
american_scientific_journal-814	152	14	,	,	PUNCT
american_scientific_journal-814	152	15	int	int	NOUN
american_scientific_journal-814	152	16	.	.	PUNCT
american_scientific_journal-814	153	1	conference	conference	NOUN
american_scientific_journal-814	153	2	power	power	NOUN
american_scientific_journal-814	153	3	sytem	sytem	NOUN
american_scientific_journal-814	153	4	technology	technology	NOUN
american_scientific_journal-814	153	5	2007	2007	NUM
american_scientific_journal-814	154	1	[	[	X
american_scientific_journal-814	154	2	7	7	X
american_scientific_journal-814	154	3	]	]	X
american_scientific_journal-814	154	4	matt	matt	PROPN
american_scientific_journal-814	154	5	krass	krass	PROPN
american_scientific_journal-814	154	6	,	,	PUNCT
american_scientific_journal-814	154	7	pid	pid	PROPN
american_scientific_journal-814	154	8	control	control	NOUN
american_scientific_journal-814	154	9	theory	theory	PROPN
american_scientific_journal-814	154	10	,	,	PUNCT
american_scientific_journal-814	154	11	matt	matt	PROPN
american_scientific_journal-814	154	12	krass	krass	PROPN
american_scientific_journal-814	154	13	2nd	2nd	PROPN
american_scientific_journal-814	154	14	edition	edition	PROPN
american_scientific_journal-814	154	15	,	,	PUNCT
american_scientific_journal-814	154	16	2006	2006	NUM
american_scientific_journal-814	154	17	.	.	PUNCT
american_scientific_journal-814	155	1	[	[	X
american_scientific_journal-814	155	2	8	8	NUM
american_scientific_journal-814	155	3	]	]	PUNCT
american_scientific_journal-814	155	4	saffet	saffet	NOUN
american_scientific_journal-814	155	5	ayasun	ayasun	PROPN
american_scientific_journal-814	155	6	dc	dc	PROPN
american_scientific_journal-814	155	7	motor	motor	NOUN
american_scientific_journal-814	155	8	speed	speed	NOUN
american_scientific_journal-814	155	9	control	control	NOUN
american_scientific_journal-814	155	10	methods	method	NOUN
american_scientific_journal-814	155	11	using	use	VERB
american_scientific_journal-814	155	12	matlab	matlab	PROPN
american_scientific_journal-814	155	13	/	/	SYM
american_scientific_journal-814	155	14	simulink	simulink	PROPN
american_scientific_journal-814	155	15	department	department	PROPN
american_scientific_journal-814	155	16	of	of	ADP
american_scientific_journal-814	155	17	electrical	electrical	ADJ
american_scientific_journal-814	155	18	and	and	CCONJ
american_scientific_journal-814	155	19	electronics	electronic	NOUN
american_scientific_journal-814	155	20	engineering	engineering	NOUN
american_scientific_journal-814	155	21	,	,	PUNCT
american_scientific_journal-814	155	22	nigde	nigde	PROPN
american_scientific_journal-814	155	23	university	university	NOUN
american_scientific_journal-814	155	24	,	,	PUNCT
american_scientific_journal-814	155	25	nigde	nigde	PROPN
american_scientific_journal-814	155	26	51100	51100	NUM
american_scientific_journal-814	155	27	,	,	PUNCT
american_scientific_journal-814	155	28	turkey	turkey	NOUN
american_scientific_journal-814	155	29	,	,	PUNCT
american_scientific_journal-814	155	30	2006	2006	NUM
american_scientific_journal-814	155	31	.	.	PUNCT
american_scientific_journal-814	156	1	[	[	X
american_scientific_journal-814	156	2	9	9	NUM
american_scientific_journal-814	156	3	]	]	PUNCT
american_scientific_journal-814	156	4	s.	s.	PROPN
american_scientific_journal-814	156	5	li	li	PROPN
american_scientific_journal-814	156	6	and	and	CCONJ
american_scientific_journal-814	156	7	r.	r.	PROPN
american_scientific_journal-814	156	8	challoo	challoo	PROPN
american_scientific_journal-814	156	9	,	,	PUNCT
american_scientific_journal-814	156	10	restructuring	restructure	VERB
american_scientific_journal-814	156	11	an	an	DET
american_scientific_journal-814	156	12	electric	electric	ADJ
american_scientific_journal-814	156	13	machinery	machinery	NOUN
american_scientific_journal-814	156	14	course	course	NOUN
american_scientific_journal-814	156	15	with	with	ADP
american_scientific_journal-814	156	16	an	an	DET
american_scientific_journal-814	156	17	integrative	integrative	ADJ
american_scientific_journal-814	156	18	approach	approach	NOUN
american_scientific_journal-814	156	19	and	and	CCONJ
american_scientific_journal-814	156	20	computerassisted	computerassiste	VERB
american_scientific_journal-814	156	21	teaching	teaching	NOUN
american_scientific_journal-814	156	22	methodology	methodology	NOUN
american_scientific_journal-814	156	23	,	,	PUNCT
american_scientific_journal-814	156	24	ieee	ieee	PROPN
american_scientific_journal-814	156	25	trans	tran	NOUN
american_scientific_journal-814	156	26	educ	educ	VERB
american_scientific_journal-814	156	27	49	49	NUM
american_scientific_journal-814	156	28	,	,	PUNCT
american_scientific_journal-814	156	29	2006	2006	NUM
american_scientific_journal-814	156	30	.	.	PUNCT
american_scientific_journal-814	157	1	[	[	X
american_scientific_journal-814	157	2	10	10	NUM
american_scientific_journal-814	157	3	]	]	X
american_scientific_journal-814	157	4	m.y	m.y	PROPN
american_scientific_journal-814	157	5	.	.	PROPN
american_scientific_journal-814	157	6	chow	chow	PROPN
american_scientific_journal-814	157	7	and	and	CCONJ
american_scientific_journal-814	157	8	y.	y.	PROPN
american_scientific_journal-814	157	9	tipsuwan	tipsuwan	NOUN
american_scientific_journal-814	157	10	,	,	PUNCT
american_scientific_journal-814	157	11	gain	gain	VERB
american_scientific_journal-814	157	12	adaptation	adaptation	NOUN
american_scientific_journal-814	157	13	of	of	ADP
american_scientific_journal-814	157	14	networked	network	VERB
american_scientific_journal-814	157	15	dc	dc	PROPN
american_scientific_journal-814	157	16	motor	motor	NOUN
american_scientific_journal-814	157	17	controllers	controller	NOUN
american_scientific_journal-814	157	18	based	base	VERB
american_scientific_journal-814	157	19	on	on	ADP
american_scientific_journal-814	157	20	qos	qos	PROPN
american_scientific_journal-814	157	21	variations	variation	NOUN
american_scientific_journal-814	157	22	,	,	PUNCT
american_scientific_journal-814	157	23	ieee	ieee	PROPN
american_scientific_journal-814	157	24	trans	trans	PROPN
american_scientific_journal-814	157	25	ind	ind	PROPN
american_scientific_journal-814	157	26	electron	electron	PROPN
american_scientific_journal-814	157	27	50	50	NUM
american_scientific_journal-814	157	28	,	,	PUNCT
american_scientific_journal-814	157	29	2003	2003	NUM
american_scientific_journal-814	157	30	.	.	PUNCT
american_scientific_journal-814	158	1	[	[	X
american_scientific_journal-814	158	2	11	11	NUM
american_scientific_journal-814	158	3	]	]	PUNCT
american_scientific_journal-814	158	4	s.	s.	PROPN
american_scientific_journal-814	158	5	j.	j.	PROPN
american_scientific_journal-814	158	6	chapman	chapman	PROPN
american_scientific_journal-814	158	7	,	,	PUNCT
american_scientific_journal-814	158	8	electric	electric	ADJ
american_scientific_journal-814	158	9	machinery	machinery	NOUN
american_scientific_journal-814	158	10	fundamentals	fundamental	NOUN
american_scientific_journal-814	158	11	,	,	PUNCT
american_scientific_journal-814	158	12	3rd	3rd	ADJ
american_scientific_journal-814	158	13	edition	edition	NOUN
american_scientific_journal-814	158	14	,	,	PUNCT
american_scientific_journal-814	158	15	wcb	wcb	PROPN
american_scientific_journal-814	158	16	/	/	SYM
american_scientific_journal-814	158	17	mcgraw	mcgraw	PROPN
american_scientific_journal-814	158	18	-	-	PUNCT
american_scientific_journal-814	158	19	hill	hill	PROPN
american_scientific_journal-814	158	20	,	,	PUNCT
american_scientific_journal-814	158	21	new	new	PROPN
american_scientific_journal-814	158	22	york	york	PROPN
american_scientific_journal-814	158	23	,	,	PUNCT
american_scientific_journal-814	158	24	1999	1999	NUM
american_scientific_journal-814	158	25	.	.	PUNCT
american_scientific_journal-814	159	1	76	76	NUM
american_scientific_journal-814	159	2	bscientific	bscientific	NOUN
american_scientific_journal-814	159	3	equipment	equipment	PROPN
american_scientific_journal-814	159	4	development	development	PROPN
american_scientific_journal-814	159	5	institute	institute	PROPN
american_scientific_journal-814	159	6	enugu	enugu	PROPN
american_scientific_journal-814	159	7	6	6	NUM
american_scientific_journal-814	159	8	.	.	PUNCT
american_scientific_journal-814	160	1	state	state	NOUN
american_scientific_journal-814	160	2	-	-	PUNCT
american_scientific_journal-814	160	3	space	space	NOUN
american_scientific_journal-814	160	4	7	7	NUM
american_scientific_journal-814	160	5	.	.	PUNCT
american_scientific_journal-814	160	6	design	design	NOUN
american_scientific_journal-814	160	7	requirements	requirement	NOUN
american_scientific_journal-814	160	8	external	external	ADJ
american_scientific_journal-814	160	9	parameters	parameter	NOUN
american_scientific_journal-814	160	10			VERB
american_scientific_journal-814	160	11	external	external	ADJ
american_scientific_journal-814	160	12	parameters	parameter	NOUN
american_scientific_journal-814	160	13			VERB
american_scientific_journal-814	160	14	interface	interface	NOUN
american_scientific_journal-814	160	15			VERB
american_scientific_journal-814	160	16	external	external	ADJ
american_scientific_journal-814	160	17	parameters	parameter	NOUN