id	sid	tid	token	lemma	pos
asir-36637	1	1	applied	apply	VERB
asir-36637	1	2	science	science	NOUN
asir-36637	1	3	and	and	CCONJ
asir-36637	1	4	innovative	innovative	ADJ
asir-36637	1	5	research	research	NOUN
asir-36637	1	6	issn	issn	VERB
asir-36637	1	7	2474	2474	NUM
asir-36637	1	8	-	-	SYM
asir-36637	1	9	4972	4972	NUM
asir-36637	1	10	(	(	PUNCT
asir-36637	1	11	print	print	NOUN
asir-36637	1	12	)	)	PUNCT
asir-36637	1	13	issn	issn	VERB
asir-36637	1	14	2474	2474	NUM
asir-36637	1	15	-	-	SYM
asir-36637	1	16	4980	4980	NUM
asir-36637	1	17	(	(	PUNCT
asir-36637	1	18	online	online	ADJ
asir-36637	1	19	)	)	PUNCT
asir-36637	1	20	vol	vol	NOUN
asir-36637	1	21	.	.	NOUN
asir-36637	1	22	8	8	NUM
asir-36637	1	23	,	,	PUNCT
asir-36637	1	24	no	no	INTJ
asir-36637	1	25	.	.	NOUN
asir-36637	1	26	2	2	NUM
asir-36637	1	27	,	,	PUNCT
asir-36637	1	28	2024	2024	NUM
asir-36637	1	29	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-36637	1	30	33	33	NUM
asir-36637	1	31	original	original	ADJ
asir-36637	1	32	paper	paper	NOUN
asir-36637	1	33	an	an	DET
asir-36637	1	34	adaptive	adaptive	ADJ
asir-36637	1	35	robust	robust	ADJ
asir-36637	1	36	control	control	NOUN
asir-36637	1	37	method	method	NOUN
asir-36637	1	38	for	for	ADP
asir-36637	1	39	chaotic	chaotic	ADJ
asir-36637	1	40	state	state	NOUN
asir-36637	1	41	of	of	ADP
asir-36637	1	42	permanent	permanent	ADJ
asir-36637	1	43	magnet	magnet	NOUN
asir-36637	1	44	synchronous	synchronous	ADJ
asir-36637	1	45	motor	motor	PROPN
asir-36637	1	46	wei	wei	PROPN
asir-36637	1	47	zhang1	zhang1	PROPN
asir-36637	1	48	&	&	CCONJ
asir-36637	1	49	lingyan	lingyan	PROPN
asir-36637	1	50	chang1	chang1	PROPN
asir-36637	1	51	*	*	PROPN
asir-36637	1	52	1	1	NUM
asir-36637	1	53	department	department	NOUN
asir-36637	1	54	of	of	ADP
asir-36637	1	55	automotive	automotive	ADJ
asir-36637	1	56	engineering	engineering	NOUN
asir-36637	1	57	,	,	PUNCT
asir-36637	1	58	yantai	yantai	PROPN
asir-36637	1	59	engineering	engineering	PROPN
asir-36637	1	60	&	&	CCONJ
asir-36637	1	61	technology	technology	PROPN
asir-36637	1	62	college	college	PROPN
asir-36637	1	63	,	,	PUNCT
asir-36637	1	64	yantai	yantai	PROPN
asir-36637	1	65	,	,	PUNCT
asir-36637	1	66	shandong	shandong	PROPN
asir-36637	1	67	264000	264000	NUM
asir-36637	1	68	,	,	PUNCT
asir-36637	1	69	china	china	PROPN
asir-36637	1	70	*	*	PUNCT
asir-36637	1	71	corresponding	correspond	VERB
asir-36637	1	72	author	author	NOUN
asir-36637	1	73	,	,	PUNCT
asir-36637	1	74	lingyan	lingyan	PROPN
asir-36637	1	75	chang	chang	PROPN
asir-36637	1	76	,	,	PUNCT
asir-36637	1	77	department	department	NOUN
asir-36637	1	78	of	of	ADP
asir-36637	1	79	automotive	automotive	ADJ
asir-36637	1	80	engineering	engineering	NOUN
asir-36637	1	81	,	,	PUNCT
asir-36637	1	82	yantai	yantai	PROPN
asir-36637	1	83	engineering	engineering	PROPN
asir-36637	1	84	&	&	CCONJ
asir-36637	1	85	technology	technology	PROPN
asir-36637	1	86	college	college	PROPN
asir-36637	1	87	,	,	PUNCT
asir-36637	1	88	yantai	yantai	PROPN
asir-36637	1	89	,	,	PUNCT
asir-36637	1	90	shandong	shandong	PROPN
asir-36637	1	91	264000	264000	NUM
asir-36637	1	92	,	,	PUNCT
asir-36637	1	93	china	china	PROPN
asir-36637	1	94	received	receive	VERB
asir-36637	1	95	:	:	PUNCT
asir-36637	1	96	march	march	PROPN
asir-36637	1	97	20	20	NUM
asir-36637	1	98	,	,	PUNCT
asir-36637	1	99	2024	2024	NUM
asir-36637	1	100	accepted	accept	VERB
asir-36637	1	101	:	:	PUNCT
asir-36637	1	102	april	april	PROPN
asir-36637	1	103	21	21	NUM
asir-36637	1	104	,	,	PUNCT
asir-36637	1	105	2024	2024	NUM
asir-36637	1	106	online	online	ADV
asir-36637	1	107	published	publish	VERB
asir-36637	1	108	:	:	PUNCT
asir-36637	1	109	april	april	PROPN
asir-36637	1	110	28	28	NUM
asir-36637	1	111	,	,	PUNCT
asir-36637	1	112	2024	2024	NUM
asir-36637	1	113	doi:10.22158	doi:10.22158	NOUN
asir-36637	1	114	/	/	SYM
asir-36637	1	115	asir.v8n2p33	asir.v8n2p33	NOUN
asir-36637	1	116	url	url	PROPN
asir-36637	1	117	:	:	PUNCT
asir-36637	1	118	http://doi.org/10.22158/asir.v8n2p33	http://doi.org/10.22158/asir.v8n2p33	NOUN
asir-36637	2	1	abstract	abstract	ADJ
asir-36637	2	2	in	in	ADP
asir-36637	2	3	this	this	DET
asir-36637	2	4	paper	paper	NOUN
asir-36637	2	5	,	,	PUNCT
asir-36637	2	6	a	a	DET
asir-36637	2	7	chaotic	chaotic	ADJ
asir-36637	2	8	control	control	NOUN
asir-36637	2	9	method	method	NOUN
asir-36637	2	10	based	base	VERB
asir-36637	2	11	on	on	ADP
asir-36637	2	12	adaptive	adaptive	ADJ
asir-36637	2	13	robust	robust	ADJ
asir-36637	2	14	controller	controller	NOUN
asir-36637	2	15	is	be	AUX
asir-36637	2	16	proposed	propose	VERB
asir-36637	2	17	to	to	PART
asir-36637	2	18	solve	solve	VERB
asir-36637	2	19	the	the	DET
asir-36637	2	20	chaos	chaos	NOUN
asir-36637	2	21	phenomenon	phenomenon	NOUN
asir-36637	2	22	of	of	ADP
asir-36637	2	23	the	the	DET
asir-36637	2	24	permanent	permanent	ADJ
asir-36637	2	25	magnet	magnet	NOUN
asir-36637	2	26	synchronous	synchronous	ADJ
asir-36637	2	27	motor	motor	NOUN
asir-36637	2	28	system	system	NOUN
asir-36637	2	29	by	by	ADP
asir-36637	2	30	mathematically	mathematically	ADV
asir-36637	2	31	analyzing	analyze	VERB
asir-36637	2	32	the	the	DET
asir-36637	2	33	dynamic	dynamic	ADJ
asir-36637	2	34	model	model	NOUN
asir-36637	2	35	of	of	ADP
asir-36637	2	36	the	the	DET
asir-36637	2	37	permanent	permanent	ADJ
asir-36637	2	38	magnet	magnet	NOUN
asir-36637	2	39	synchronous	synchronous	ADJ
asir-36637	2	40	motor	motor	NOUN
asir-36637	2	41	system	system	NOUN
asir-36637	2	42	to	to	PART
asir-36637	2	43	eliminate	eliminate	VERB
asir-36637	2	44	or	or	CCONJ
asir-36637	2	45	suppress	suppress	VERB
asir-36637	2	46	chaos	chaos	NOUN
asir-36637	2	47	in	in	ADP
asir-36637	2	48	the	the	DET
asir-36637	2	49	permanent	permanent	ADJ
asir-36637	2	50	magnet	magnet	NOUN
asir-36637	2	51	synchronous	synchronous	ADJ
asir-36637	2	52	motors	motor	NOUN
asir-36637	2	53	.	.	PUNCT
asir-36637	3	1	this	this	DET
asir-36637	3	2	method	method	NOUN
asir-36637	3	3	also	also	ADV
asir-36637	3	4	takes	take	VERB
asir-36637	3	5	into	into	ADP
asir-36637	3	6	account	account	NOUN
asir-36637	3	7	the	the	DET
asir-36637	3	8	parameter	parameter	NOUN
asir-36637	3	9	uncertainties	uncertainty	NOUN
asir-36637	3	10	(	(	PUNCT
asir-36637	3	11	structural	structural	ADJ
asir-36637	3	12	uncertainties	uncertainty	NOUN
asir-36637	3	13	)	)	PUNCT
asir-36637	3	14	of	of	ADP
asir-36637	3	15	the	the	DET
asir-36637	3	16	system	system	NOUN
asir-36637	3	17	and	and	CCONJ
asir-36637	3	18	the	the	DET
asir-36637	3	19	external	external	ADJ
asir-36637	3	20	load	load	NOUN
asir-36637	3	21	torque	torque	NOUN
asir-36637	3	22	interference	interference	NOUN
asir-36637	3	23	(	(	PUNCT
asir-36637	3	24	unstructured	unstructure	VERB
asir-36637	3	25	uncertainty).the	uncertainty).the	DET
asir-36637	3	26	former	former	ADJ
asir-36637	3	27	is	be	AUX
asir-36637	3	28	compensated	compensate	VERB
asir-36637	3	29	by	by	ADP
asir-36637	3	30	adaptive	adaptive	ADJ
asir-36637	3	31	control	control	NOUN
asir-36637	3	32	,	,	PUNCT
asir-36637	3	33	and	and	CCONJ
asir-36637	3	34	the	the	DET
asir-36637	3	35	latter	latter	ADJ
asir-36637	3	36	by	by	ADP
asir-36637	3	37	robust	robust	ADJ
asir-36637	3	38	term	term	NOUN
asir-36637	3	39	.	.	PUNCT
asir-36637	4	1	feedforward	feedforward	ADJ
asir-36637	4	2	elimination	elimination	NOUN
asir-36637	4	3	technology	technology	NOUN
asir-36637	4	4	can	can	AUX
asir-36637	4	5	integrate	integrate	VERB
asir-36637	4	6	them	they	PRON
asir-36637	4	7	together	together	ADV
asir-36637	4	8	,	,	PUNCT
asir-36637	4	9	and	and	CCONJ
asir-36637	4	10	effectively	effectively	ADV
asir-36637	4	11	reduce	reduce	VERB
asir-36637	4	12	the	the	DET
asir-36637	4	13	influence	influence	NOUN
asir-36637	4	14	of	of	ADP
asir-36637	4	15	chaos	chaos	NOUN
asir-36637	4	16	on	on	ADP
asir-36637	4	17	system	system	NOUN
asir-36637	4	18	performance	performance	NOUN
asir-36637	4	19	and	and	CCONJ
asir-36637	4	20	realize	realize	VERB
asir-36637	4	21	the	the	DET
asir-36637	4	22	high	high	ADJ
asir-36637	4	23	precision	precision	NOUN
asir-36637	4	24	position	position	NOUN
asir-36637	4	25	tracking	tracking	NOUN
asir-36637	4	26	of	of	ADP
asir-36637	4	27	the	the	DET
asir-36637	4	28	permanent	permanent	ADJ
asir-36637	4	29	magnet	magnet	NOUN
asir-36637	4	30	synchronous	synchronous	ADJ
asir-36637	4	31	motor	motor	NOUN
asir-36637	4	32	system	system	NOUN
asir-36637	4	33	.	.	PUNCT
asir-36637	5	1	the	the	DET
asir-36637	5	2	lyapunov	lyapunov	ADJ
asir-36637	5	3	method	method	NOUN
asir-36637	5	4	is	be	AUX
asir-36637	5	5	used	use	VERB
asir-36637	5	6	to	to	PART
asir-36637	5	7	prove	prove	VERB
asir-36637	5	8	the	the	DET
asir-36637	5	9	stability	stability	NOUN
asir-36637	5	10	of	of	ADP
asir-36637	5	11	the	the	DET
asir-36637	5	12	controller	controller	NOUN
asir-36637	5	13	.	.	PUNCT
asir-36637	6	1	the	the	DET
asir-36637	6	2	simulation	simulation	NOUN
asir-36637	6	3	results	result	NOUN
asir-36637	6	4	show	show	VERB
asir-36637	6	5	that	that	SCONJ
asir-36637	6	6	the	the	DET
asir-36637	6	7	method	method	NOUN
asir-36637	6	8	is	be	AUX
asir-36637	6	9	better	well	ADJ
asir-36637	6	10	in	in	ADP
asir-36637	6	11	robustness	robustness	NOUN
asir-36637	6	12	and	and	CCONJ
asir-36637	6	13	control	control	NOUN
asir-36637	6	14	precision	precision	NOUN
asir-36637	6	15	.	.	PUNCT
asir-36637	7	1	keywords	keyword	VERB
asir-36637	7	2	permanent	permanent	ADJ
asir-36637	7	3	magnet	magnet	NOUN
asir-36637	7	4	synchronous	synchronous	ADJ
asir-36637	7	5	motor	motor	NOUN
asir-36637	7	6	,	,	PUNCT
asir-36637	7	7	chaos	chaos	NOUN
asir-36637	7	8	,	,	PUNCT
asir-36637	7	9	adaptive	adaptive	ADJ
asir-36637	7	10	robust	robust	ADJ
asir-36637	7	11	control	control	NOUN
asir-36637	7	12	,	,	PUNCT
asir-36637	7	13	parameter	parameter	NOUN
asir-36637	7	14	uncertainty	uncertainty	NOUN
asir-36637	7	15	,	,	PUNCT
asir-36637	7	16	external	external	ADJ
asir-36637	7	17	disturbance	disturbance	NOUN
asir-36637	7	18	1	1	NUM
asir-36637	7	19	.	.	PUNCT
asir-36637	8	1	introduction	introduction	NOUN
asir-36637	8	2	with	with	ADP
asir-36637	8	3	the	the	DET
asir-36637	8	4	development	development	NOUN
asir-36637	8	5	of	of	ADP
asir-36637	8	6	permanent	permanent	ADJ
asir-36637	8	7	magnet	magnet	NOUN
asir-36637	8	8	materials	material	NOUN
asir-36637	8	9	,	,	PUNCT
asir-36637	8	10	permanent	permanent	ADJ
asir-36637	8	11	magnet	magnet	NOUN
asir-36637	8	12	synchronous	synchronous	ADJ
asir-36637	8	13	motor	motor	NOUN
asir-36637	8	14	(	(	PUNCT
asir-36637	8	15	pmsm	pmsm	NOUN
asir-36637	8	16	)	)	PUNCT
asir-36637	8	17	has	have	AUX
asir-36637	8	18	been	be	AUX
asir-36637	8	19	widely	widely	ADV
asir-36637	8	20	applied	apply	VERB
asir-36637	8	21	in	in	ADP
asir-36637	8	22	the	the	DET
asir-36637	8	23	elevator	elevator	NOUN
asir-36637	8	24	,	,	PUNCT
asir-36637	8	25	the	the	DET
asir-36637	8	26	ship	ship	NOUN
asir-36637	8	27	electric	electric	ADJ
asir-36637	8	28	propulsion	propulsion	NOUN
asir-36637	8	29	and	and	CCONJ
asir-36637	8	30	hybrid	hybrid	ADJ
asir-36637	8	31	car	car	NOUN
asir-36637	8	32	and	and	CCONJ
asir-36637	8	33	many	many	ADJ
asir-36637	8	34	other	other	ADJ
asir-36637	8	35	areas	area	NOUN
asir-36637	8	36	(	(	PUNCT
asir-36637	8	37	mark	mark	PROPN
asir-36637	8	38	&	&	CCONJ
asir-36637	8	39	vairamani	vairamani	PROPN
asir-36637	8	40	,	,	PUNCT
asir-36637	8	41	2014	2014	NUM
asir-36637	8	42	;	;	PUNCT
asir-36637	8	43	xu	xu	PROPN
asir-36637	8	44	&	&	CCONJ
asir-36637	8	45	yao	yao	PROPN
asir-36637	8	46	,	,	PUNCT
asir-36637	8	47	2001	2001	NUM
asir-36637	8	48	;	;	PUNCT
asir-36637	8	49	yao	yao	PROPN
asir-36637	8	50	,	,	PUNCT
asir-36637	8	51	hu	hu	PROPN
asir-36637	8	52	,	,	PUNCT
asir-36637	8	53	&	&	CCONJ
asir-36637	8	54	wang	wang	PROPN
asir-36637	8	55	,	,	PUNCT
asir-36637	8	56	2012	2012	NUM
asir-36637	8	57	)	)	PUNCT
asir-36637	8	58	.	.	PUNCT
asir-36637	9	1	in	in	ADP
asir-36637	9	2	recent	recent	ADJ
asir-36637	9	3	years	year	NOUN
asir-36637	9	4	,	,	PUNCT
asir-36637	9	5	however	however	ADV
asir-36637	9	6	,	,	PUNCT
asir-36637	9	7	the	the	DET
asir-36637	9	8	research	research	NOUN
asir-36637	9	9	results	result	NOUN
asir-36637	9	10	show	show	VERB
asir-36637	9	11	that	that	SCONJ
asir-36637	9	12	the	the	DET
asir-36637	9	13	permanent	permanent	ADJ
asir-36637	9	14	magnet	magnet	NOUN
asir-36637	9	15	synchronous	synchronous	ADJ
asir-36637	9	16	motor	motor	NOUN
asir-36637	9	17	within	within	ADP
asir-36637	9	18	a	a	DET
asir-36637	9	19	fixed	fix	VERB
asir-36637	9	20	parameter	parameter	NOUN
asir-36637	9	21	range	range	NOUN
asir-36637	9	22	may	may	AUX
asir-36637	9	23	appear	appear	VERB
asir-36637	9	24	chaotic	chaotic	ADJ
asir-36637	9	25	behavior	behavior	NOUN
asir-36637	9	26	,	,	PUNCT
asir-36637	9	27	which	which	PRON
asir-36637	9	28	lead	lead	VERB
asir-36637	9	29	to	to	ADP
asir-36637	9	30	low	low	ADJ
asir-36637	9	31	frequency	frequency	NOUN
asir-36637	9	32	oscillation	oscillation	NOUN
asir-36637	9	33	,	,	PUNCT
asir-36637	9	34	and	and	CCONJ
asir-36637	9	35	irregular	irregular	ADJ
asir-36637	9	36	electromagnetic	electromagnetic	ADJ
asir-36637	9	37	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-36637	9	38	applied	apply	VERB
asir-36637	9	39	science	science	NOUN
asir-36637	9	40	and	and	CCONJ
asir-36637	9	41	innovative	innovative	ADJ
asir-36637	9	42	research	research	NOUN
asir-36637	9	43	vol	vol	NOUN
asir-36637	9	44	.	.	PROPN
asir-36637	10	1	8	8	NUM
asir-36637	10	2	,	,	PUNCT
asir-36637	10	3	no	no	INTJ
asir-36637	10	4	.	.	NOUN
asir-36637	10	5	2	2	NUM
asir-36637	10	6	,	,	PUNCT
asir-36637	10	7	2024	2024	NUM
asir-36637	10	8	34	34	NUM
asir-36637	10	9	published	publish	VERB
asir-36637	10	10	by	by	ADP
asir-36637	10	11	scholink	scholink	PROPN
asir-36637	10	12	inc	inc	PROPN
asir-36637	10	13	.	.	PROPN
asir-36637	10	14	noise	noise	NOUN
asir-36637	10	15	problems	problem	NOUN
asir-36637	10	16	,	,	PUNCT
asir-36637	10	17	reducing	reduce	VERB
asir-36637	10	18	stability	stability	NOUN
asir-36637	10	19	of	of	ADP
asir-36637	10	20	the	the	DET
asir-36637	10	21	system	system	NOUN
asir-36637	10	22	variation	variation	NOUN
asir-36637	10	23	(	(	PUNCT
asir-36637	10	24	hemail	hemail	NOUN
asir-36637	10	25	,	,	PUNCT
asir-36637	10	26	1994	1994	NUM
asir-36637	10	27	;	;	PUNCT
asir-36637	10	28	li	li	PROPN
asir-36637	10	29	,	,	PUNCT
asir-36637	10	30	park	park	PROPN
asir-36637	10	31	,	,	PUNCT
asir-36637	10	32	joo	joo	PROPN
asir-36637	10	33	,	,	PUNCT
asir-36637	10	34	zhang	zhang	PROPN
asir-36637	10	35	,	,	PUNCT
asir-36637	10	36	&	&	CCONJ
asir-36637	10	37	chen	chen	PROPN
asir-36637	10	38	,	,	PUNCT
asir-36637	10	39	2002	2002	NUM
asir-36637	10	40	;	;	PUNCT
asir-36637	10	41	saberi	saberi	PROPN
asir-36637	10	42	nik	nik	PROPN
asir-36637	10	43	&	&	CCONJ
asir-36637	10	44	gorder	gorder	PROPN
asir-36637	10	45	,	,	PUNCT
asir-36637	10	46	2013	2013	NUM
asir-36637	10	47	;	;	PUNCT
asir-36637	10	48	saberi	saberi	PROPN
asir-36637	10	49	nik	nik	PROPN
asir-36637	10	50	,	,	PUNCT
asir-36637	10	51	gorder	gorder	NOUN
asir-36637	10	52	,	,	PUNCT
asir-36637	10	53	&	&	CCONJ
asir-36637	10	54	gambi	gambi	PROPN
asir-36637	10	55	,	,	PUNCT
asir-36637	10	56	2015	2015	NUM
asir-36637	10	57	;	;	PUNCT
asir-36637	10	58	chua	chua	PROPN
asir-36637	10	59	&	&	CCONJ
asir-36637	10	60	chen	chen	PROPN
asir-36637	10	61	,	,	PUNCT
asir-36637	10	62	2003	2003	NUM
asir-36637	10	63	;	;	PUNCT
asir-36637	10	64	jing	jing	PROPN
asir-36637	10	65	,	,	PUNCT
asir-36637	10	66	yu	yu	PROPN
asir-36637	10	67	,	,	PUNCT
asir-36637	10	68	&	&	CCONJ
asir-36637	10	69	chen	chen	PROPN
asir-36637	10	70	,	,	PUNCT
asir-36637	10	71	2004	2004	NUM
asir-36637	10	72	;	;	PUNCT
asir-36637	10	73	wang	wang	PROPN
asir-36637	10	74	&	&	CCONJ
asir-36637	10	75	chau	chau	PROPN
asir-36637	10	76	,	,	PUNCT
asir-36637	10	77	2009	2009	NUM
asir-36637	10	78	;	;	PUNCT
asir-36637	10	79	krishnendu	krishnendu	PROPN
asir-36637	10	80	&	&	CCONJ
asir-36637	10	81	urmila	urmila	PROPN
asir-36637	10	82	,	,	PUNCT
asir-36637	10	83	2013	2013	NUM
asir-36637	10	84	)	)	PUNCT
asir-36637	10	85	.	.	PUNCT
asir-36637	11	1	therefore	therefore	ADV
asir-36637	11	2	,	,	PUNCT
asir-36637	11	3	it	it	PRON
asir-36637	11	4	is	be	AUX
asir-36637	11	5	very	very	ADV
asir-36637	11	6	necessary	necessary	ADJ
asir-36637	11	7	and	and	CCONJ
asir-36637	11	8	urgent	urgent	ADJ
asir-36637	11	9	to	to	PART
asir-36637	11	10	design	design	VERB
asir-36637	11	11	an	an	DET
asir-36637	11	12	efficient	efficient	ADJ
asir-36637	11	13	controller	controller	NOUN
asir-36637	11	14	to	to	PART
asir-36637	11	15	control	control	VERB
asir-36637	11	16	and	and	CCONJ
asir-36637	11	17	eliminate	eliminate	VERB
asir-36637	11	18	the	the	DET
asir-36637	11	19	chaos	chaos	NOUN
asir-36637	11	20	of	of	ADP
asir-36637	11	21	the	the	DET
asir-36637	11	22	magnet	magnet	NOUN
asir-36637	11	23	synchronous	synchronous	ADJ
asir-36637	11	24	motor	motor	NOUN
asir-36637	11	25	system	system	NOUN
asir-36637	11	26	based	base	VERB
asir-36637	11	27	on	on	ADP
asir-36637	11	28	the	the	DET
asir-36637	11	29	analysis	analysis	NOUN
asir-36637	11	30	and	and	CCONJ
asir-36637	11	31	understanding	understanding	NOUN
asir-36637	11	32	of	of	ADP
asir-36637	11	33	the	the	DET
asir-36637	11	34	chaotic	chaotic	ADJ
asir-36637	11	35	dynamic	dynamic	ADJ
asir-36637	11	36	characteristics	characteristic	NOUN
asir-36637	11	37	of	of	ADP
asir-36637	11	38	this	this	DET
asir-36637	11	39	system	system	NOUN
asir-36637	11	40	.	.	PUNCT
asir-36637	12	1	control	control	NOUN
asir-36637	12	2	system	system	NOUN
asir-36637	12	3	for	for	ADP
asir-36637	12	4	permanent	permanent	ADJ
asir-36637	12	5	magnet	magnet	NOUN
asir-36637	12	6	synchronous	synchronous	ADJ
asir-36637	12	7	motor	motor	NOUN
asir-36637	12	8	chaotic	chaotic	ADJ
asir-36637	12	9	state	state	NOUN
asir-36637	12	10	,	,	PUNCT
asir-36637	12	11	scholars	scholar	NOUN
asir-36637	12	12	carried	carry	VERB
asir-36637	12	13	out	out	ADP
asir-36637	12	14	extensive	extensive	ADJ
asir-36637	12	15	research	research	NOUN
asir-36637	12	16	both	both	CCONJ
asir-36637	12	17	at	at	ADP
asir-36637	12	18	home	home	NOUN
asir-36637	12	19	and	and	CCONJ
asir-36637	12	20	abroad	abroad	ADV
asir-36637	12	21	.	.	PUNCT
asir-36637	13	1	among	among	ADP
asir-36637	13	2	various	various	ADJ
asir-36637	13	3	kinds	kind	NOUN
asir-36637	13	4	of	of	ADP
asir-36637	13	5	chaos	chaos	NOUN
asir-36637	13	6	control	control	NOUN
asir-36637	13	7	method	method	NOUN
asir-36637	13	8	,	,	PUNCT
asir-36637	13	9	earlier	early	ADJ
asir-36637	13	10	ogy	ogy	NOUN
asir-36637	13	11	method	method	NOUN
asir-36637	13	12	(	(	PUNCT
asir-36637	13	13	ott	ott	PROPN
asir-36637	13	14	,	,	PUNCT
asir-36637	13	15	grebogi	grebogi	PROPN
asir-36637	13	16	,	,	PUNCT
asir-36637	13	17	&	&	CCONJ
asir-36637	13	18	yorke	yorke	PROPN
asir-36637	13	19	,	,	PUNCT
asir-36637	13	20	1990	1990	NUM
asir-36637	13	21	)	)	PUNCT
asir-36637	13	22	is	be	AUX
asir-36637	13	23	proposed	propose	VERB
asir-36637	13	24	,	,	PUNCT
asir-36637	13	25	the	the	DET
asir-36637	13	26	method	method	NOUN
asir-36637	13	27	using	use	VERB
asir-36637	13	28	chaos	chaos	NOUN
asir-36637	13	29	occurs	occur	VERB
asir-36637	13	30	attractor	attractor	NOUN
asir-36637	13	31	in	in	ADP
asir-36637	13	32	the	the	DET
asir-36637	13	33	unstable	unstable	ADJ
asir-36637	13	34	periodic	periodic	ADJ
asir-36637	13	35	orbit	orbit	NOUN
asir-36637	13	36	has	have	VERB
asir-36637	13	37	the	the	DET
asir-36637	13	38	sensitivity	sensitivity	NOUN
asir-36637	13	39	to	to	ADP
asir-36637	13	40	small	small	ADJ
asir-36637	13	41	parameter	parameter	NOUN
asir-36637	13	42	perturbation	perturbation	NOUN
asir-36637	13	43	and	and	CCONJ
asir-36637	13	44	ergodicity	ergodicity	NOUN
asir-36637	13	45	of	of	ADP
asir-36637	13	46	chaos	chaos	NOUN
asir-36637	13	47	movement	movement	NOUN
asir-36637	13	48	characteristic	characteristic	NOUN
asir-36637	13	49	,	,	PUNCT
asir-36637	13	50	adding	add	VERB
asir-36637	13	51	the	the	DET
asir-36637	13	52	small	small	ADJ
asir-36637	13	53	parameter	parameter	NOUN
asir-36637	13	54	perturbation	perturbation	NOUN
asir-36637	13	55	control	control	NOUN
asir-36637	13	56	quantity	quantity	NOUN
asir-36637	13	57	to	to	ADP
asir-36637	13	58	chaotic	chaotic	ADJ
asir-36637	13	59	systems	system	NOUN
asir-36637	13	60	to	to	PART
asir-36637	13	61	make	make	VERB
asir-36637	13	62	the	the	DET
asir-36637	13	63	system	system	NOUN
asir-36637	13	64	state	state	NOUN
asir-36637	13	65	control	control	NOUN
asir-36637	13	66	on	on	ADP
asir-36637	13	67	a	a	DET
asir-36637	13	68	fixed	fix	VERB
asir-36637	13	69	point	point	NOUN
asir-36637	13	70	.	.	PUNCT
asir-36637	14	1	however	however	ADV
asir-36637	14	2	,	,	PUNCT
asir-36637	14	3	this	this	DET
asir-36637	14	4	method	method	NOUN
asir-36637	14	5	for	for	ADP
asir-36637	14	6	the	the	DET
asir-36637	14	7	stability	stability	NOUN
asir-36637	14	8	of	of	ADP
asir-36637	14	9	the	the	DET
asir-36637	14	10	time	time	NOUN
asir-36637	14	11	is	be	AUX
asir-36637	14	12	too	too	ADV
asir-36637	14	13	long	long	ADJ
asir-36637	14	14	.	.	PUNCT
asir-36637	15	1	literature	literature	NOUN
asir-36637	15	2	(	(	PUNCT
asir-36637	15	3	zhang	zhang	PROPN
asir-36637	15	4	,	,	PUNCT
asir-36637	15	5	chau	chau	NOUN
asir-36637	15	6	,	,	PUNCT
asir-36637	15	7	&	&	CCONJ
asir-36637	15	8	wang	wang	PROPN
asir-36637	15	9	,	,	PUNCT
asir-36637	15	10	2013	2013	NUM
asir-36637	15	11	)	)	PUNCT
asir-36637	15	12	in	in	ADP
asir-36637	15	13	this	this	DET
asir-36637	15	14	paper	paper	NOUN
asir-36637	15	15	,	,	PUNCT
asir-36637	15	16	a	a	DET
asir-36637	15	17	time	time	NOUN
asir-36637	15	18	delay	delay	NOUN
asir-36637	15	19	feedback	feedback	NOUN
asir-36637	15	20	control	control	NOUN
asir-36637	15	21	(	(	PUNCT
asir-36637	15	22	tdfc	tdfc	NOUN
asir-36637	15	23	)	)	PUNCT
asir-36637	15	24	of	of	ADP
asir-36637	15	25	permanent	permanent	ADJ
asir-36637	15	26	magnet	magnet	NOUN
asir-36637	15	27	synchronous	synchronous	ADJ
asir-36637	15	28	motor	motor	NOUN
asir-36637	15	29	chaotic	chaotic	ADJ
asir-36637	15	30	control	control	NOUN
asir-36637	15	31	method	method	NOUN
asir-36637	15	32	,	,	PUNCT
asir-36637	15	33	the	the	DET
asir-36637	15	34	method	method	NOUN
asir-36637	15	35	avoids	avoid	VERB
asir-36637	15	36	some	some	DET
asir-36637	15	37	limiting	limit	VERB
asir-36637	15	38	factors	factor	NOUN
asir-36637	15	39	of	of	ADP
asir-36637	15	40	the	the	DET
asir-36637	15	41	open	open	ADJ
asir-36637	15	42	loop	loop	NOUN
asir-36637	15	43	and	and	CCONJ
asir-36637	15	44	nonlinear	nonlinear	ADJ
asir-36637	15	45	closed	close	VERB
asir-36637	15	46	-	-	PUNCT
asir-36637	15	47	loop	loop	NOUN
asir-36637	15	48	control	control	NOUN
asir-36637	15	49	,	,	PUNCT
asir-36637	15	50	for	for	ADP
asir-36637	15	51	any	any	DET
asir-36637	15	52	goal	goal	NOUN
asir-36637	15	53	,	,	PUNCT
asir-36637	15	54	the	the	DET
asir-36637	15	55	transfer	transfer	NOUN
asir-36637	15	56	domain	domain	NOUN
asir-36637	15	57	of	of	ADP
asir-36637	15	58	chaotic	chaotic	ADJ
asir-36637	15	59	system	system	NOUN
asir-36637	15	60	of	of	ADP
asir-36637	15	61	the	the	DET
asir-36637	15	62	control	control	NOUN
asir-36637	15	63	is	be	AUX
asir-36637	15	64	global	global	ADJ
asir-36637	15	65	,	,	PUNCT
asir-36637	15	66	avoiding	avoid	VERB
asir-36637	15	67	the	the	DET
asir-36637	15	68	complicated	complicated	ADJ
asir-36637	15	69	calculation	calculation	NOUN
asir-36637	15	70	about	about	ADP
asir-36637	15	71	determining	determine	VERB
asir-36637	15	72	the	the	DET
asir-36637	15	73	scope	scope	NOUN
asir-36637	15	74	of	of	ADP
asir-36637	15	75	the	the	DET
asir-36637	15	76	transfer	transfer	NOUN
asir-36637	15	77	domain	domain	NOUN
asir-36637	15	78	.	.	PUNCT
asir-36637	16	1	the	the	DET
asir-36637	16	2	control	control	NOUN
asir-36637	16	3	target	target	NOUN
asir-36637	16	4	of	of	ADP
asir-36637	16	5	this	this	DET
asir-36637	16	6	method	method	NOUN
asir-36637	16	7	,	,	PUNCT
asir-36637	16	8	however	however	ADV
asir-36637	16	9	,	,	PUNCT
asir-36637	16	10	must	must	AUX
asir-36637	16	11	be	be	AUX
asir-36637	16	12	in	in	ADP
asir-36637	16	13	the	the	DET
asir-36637	16	14	balance	balance	NOUN
asir-36637	16	15	of	of	ADP
asir-36637	16	16	the	the	DET
asir-36637	16	17	system	system	NOUN
asir-36637	16	18	or	or	CCONJ
asir-36637	16	19	unstable	unstable	ADJ
asir-36637	16	20	periodic	periodic	ADJ
asir-36637	16	21	orbit	orbit	NOUN
asir-36637	16	22	,	,	PUNCT
asir-36637	16	23	and	and	CCONJ
asir-36637	16	24	time	time	NOUN
asir-36637	16	25	delay	delay	NOUN
asir-36637	16	26	in	in	ADP
asir-36637	16	27	reality	reality	NOUN
asir-36637	16	28	is	be	AUX
asir-36637	16	29	difficult	difficult	ADJ
asir-36637	16	30	to	to	PART
asir-36637	16	31	determine	determine	VERB
asir-36637	16	32	.	.	PUNCT
asir-36637	17	1	literature	literature	NOUN
asir-36637	17	2	(	(	PUNCT
asir-36637	17	3	ren	ren	PROPN
asir-36637	17	4	&	&	CCONJ
asir-36637	17	5	ding	ding	PROPN
asir-36637	17	6	,	,	PUNCT
asir-36637	17	7	2006	2006	NUM
asir-36637	17	8	;	;	PUNCT
asir-36637	17	9	babaei	babaei	NOUN
asir-36637	17	10	,	,	PUNCT
asir-36637	17	11	nazarzadeh	nazarzadeh	PROPN
asir-36637	17	12	,	,	PUNCT
asir-36637	17	13	&	&	CCONJ
asir-36637	17	14	faiz	faiz	PROPN
asir-36637	17	15	,	,	PUNCT
asir-36637	17	16	2008	2008	NUM
asir-36637	17	17	)	)	PUNCT
asir-36637	17	18	proposed	propose	VERB
asir-36637	17	19	a	a	DET
asir-36637	17	20	nonlinear	nonlinear	ADJ
asir-36637	17	21	feedback	feedback	NOUN
asir-36637	17	22	control	control	NOUN
asir-36637	17	23	method	method	NOUN
asir-36637	17	24	to	to	PART
asir-36637	17	25	control	control	VERB
asir-36637	17	26	limit	limit	NOUN
asir-36637	17	27	cycle	cycle	NOUN
asir-36637	17	28	stability	stability	NOUN
asir-36637	17	29	and	and	CCONJ
asir-36637	17	30	amplitude	amplitude	NOUN
asir-36637	17	31	of	of	ADP
asir-36637	17	32	the	the	DET
asir-36637	17	33	controlled	control	VERB
asir-36637	17	34	system	system	NOUN
asir-36637	17	35	according	accord	VERB
asir-36637	17	36	to	to	ADP
asir-36637	17	37	actual	actual	ADJ
asir-36637	17	38	needs	need	NOUN
asir-36637	17	39	.	.	PUNCT
asir-36637	18	1	this	this	DET
asir-36637	18	2	approach	approach	NOUN
asir-36637	18	3	,	,	PUNCT
asir-36637	18	4	however	however	ADV
asir-36637	18	5	,	,	PUNCT
asir-36637	18	6	is	be	AUX
asir-36637	18	7	only	only	ADV
asir-36637	18	8	under	under	ADP
asir-36637	18	9	the	the	DET
asir-36637	18	10	condition	condition	NOUN
asir-36637	18	11	of	of	ADP
asir-36637	18	12	parameter	parameter	NOUN
asir-36637	18	13	uncertainty	uncertainty	NOUN
asir-36637	18	14	,	,	PUNCT
asir-36637	18	15	when	when	SCONJ
asir-36637	18	16	the	the	DET
asir-36637	18	17	parameters	parameter	NOUN
asir-36637	18	18	change	change	VERB
asir-36637	18	19	greatly	greatly	ADV
asir-36637	18	20	,	,	PUNCT
asir-36637	18	21	it	it	PRON
asir-36637	18	22	significantly	significantly	ADV
asir-36637	18	23	reduce	reduce	VERB
asir-36637	18	24	the	the	DET
asir-36637	18	25	control	control	NOUN
asir-36637	18	26	performance	performance	NOUN
asir-36637	18	27	.	.	PUNCT
asir-36637	19	1	aiming	aim	VERB
asir-36637	19	2	at	at	ADP
asir-36637	19	3	this	this	DET
asir-36637	19	4	problem	problem	NOUN
asir-36637	19	5	,	,	PUNCT
asir-36637	19	6	a	a	DET
asir-36637	19	7	kind	kind	NOUN
asir-36637	19	8	of	of	ADP
asir-36637	19	9	adaptive	adaptive	ADJ
asir-36637	19	10	nonlinear	nonlinear	ADJ
asir-36637	19	11	feedback	feedback	NOUN
asir-36637	19	12	control	control	NOUN
asir-36637	19	13	method	method	NOUN
asir-36637	19	14	is	be	AUX
asir-36637	19	15	proposed	propose	VERB
asir-36637	19	16	by	by	ADP
asir-36637	19	17	literature	literature	PROPN
asir-36637	19	18	(	(	PUNCT
asir-36637	19	19	hu	hu	PROPN
asir-36637	19	20	,	,	PUNCT
asir-36637	19	21	liu	liu	PROPN
asir-36637	19	22	,	,	PUNCT
asir-36637	19	23	ma	ma	PROPN
asir-36637	19	24	,	,	PUNCT
asir-36637	19	25	&	&	CCONJ
asir-36637	19	26	ullah	ullah	PROPN
asir-36637	19	27	,	,	PUNCT
asir-36637	19	28	2015	2015	NUM
asir-36637	19	29	;	;	PUNCT
asir-36637	19	30	yao	yao	PROPN
asir-36637	19	31	,	,	PUNCT
asir-36637	19	32	jiao	jiao	PROPN
asir-36637	19	33	,	,	PUNCT
asir-36637	19	34	ma	ma	PROPN
asir-36637	19	35	,	,	PUNCT
asir-36637	19	36	&	&	CCONJ
asir-36637	19	37	yan	yan	PROPN
asir-36637	19	38	,	,	PUNCT
asir-36637	19	39	2014	2014	NUM
asir-36637	19	40	;	;	PUNCT
asir-36637	19	41	yao	yao	PROPN
asir-36637	19	42	,	,	PUNCT
asir-36637	19	43	bu	bu	ADP
asir-36637	19	44	,	,	PUNCT
asir-36637	19	45	reedy	reedy	ADJ
asir-36637	19	46	,	,	PUNCT
asir-36637	19	47	&	&	CCONJ
asir-36637	19	48	chiu	chiu	PROPN
asir-36637	19	49	,	,	PUNCT
asir-36637	19	50	2000	2000	NUM
asir-36637	19	51	;	;	PUNCT
asir-36637	19	52	yao	yao	PROPN
asir-36637	19	53	,	,	PUNCT
asir-36637	19	54	jiao	jiao	PROPN
asir-36637	19	55	,	,	PUNCT
asir-36637	19	56	&	&	CCONJ
asir-36637	19	57	ma	ma	PROPN
asir-36637	19	58	,	,	PUNCT
asir-36637	19	59	2014	2014	NUM
asir-36637	19	60	;	;	PUNCT
asir-36637	19	61	sun	sun	NOUN
asir-36637	19	62	,	,	PUNCT
asir-36637	19	63	gao	gao	PROPN
asir-36637	19	64	,	,	PUNCT
asir-36637	19	65	&	&	CCONJ
asir-36637	19	66	kaynak	kaynak	PROPN
asir-36637	19	67	,	,	PUNCT
asir-36637	19	68	2013	2013	NUM
asir-36637	19	69	;	;	PUNCT
asir-36637	19	70	underwood	underwood	PROPN
asir-36637	19	71	&	&	CCONJ
asir-36637	19	72	husain	husain	PROPN
asir-36637	19	73	,	,	PUNCT
asir-36637	19	74	2010	2010	NUM
asir-36637	19	75	;	;	PUNCT
asir-36637	19	76	yao	yao	PROPN
asir-36637	19	77	,	,	PUNCT
asir-36637	19	78	jiao	jiao	PROPN
asir-36637	19	79	,	,	PUNCT
asir-36637	19	80	&	&	CCONJ
asir-36637	19	81	ma	ma	PROPN
asir-36637	19	82	,	,	PUNCT
asir-36637	19	83	2015	2015	NUM
asir-36637	19	84	)	)	PUNCT
asir-36637	19	85	,	,	PUNCT
asir-36637	19	86	an	an	DET
asir-36637	19	87	adaptive	adaptive	ADJ
asir-36637	19	88	law	law	NOUN
asir-36637	19	89	of	of	ADP
asir-36637	19	90	the	the	DET
asir-36637	19	91	method	method	NOUN
asir-36637	19	92	is	be	AUX
asir-36637	19	93	designed	design	VERB
asir-36637	19	94	to	to	PART
asir-36637	19	95	estimate	estimate	VERB
asir-36637	19	96	the	the	DET
asir-36637	19	97	unknown	unknown	ADJ
asir-36637	19	98	parameters	parameter	NOUN
asir-36637	19	99	of	of	ADP
asir-36637	19	100	permanent	permanent	ADJ
asir-36637	19	101	magnet	magnet	NOUN
asir-36637	19	102	synchronous	synchronous	ADJ
asir-36637	19	103	motor	motor	NOUN
asir-36637	19	104	,	,	PUNCT
asir-36637	19	105	and	and	CCONJ
asir-36637	19	106	eliminated	eliminate	VERB
asir-36637	19	107	by	by	ADP
asir-36637	19	108	feedforward	feedforward	ADJ
asir-36637	19	109	technology	technology	NOUN
asir-36637	19	110	on	on	ADP
asir-36637	19	111	the	the	DET
asir-36637	19	112	structure	structure	NOUN
asir-36637	19	113	of	of	ADP
asir-36637	19	114	the	the	DET
asir-36637	19	115	unknown	unknown	ADJ
asir-36637	19	116	parameters	parameter	NOUN
asir-36637	19	117	bringing	bring	VERB
asir-36637	19	118	uncertainty	uncertainty	NOUN
asir-36637	19	119	to	to	PART
asir-36637	19	120	compensate	compensate	VERB
asir-36637	19	121	.	.	PUNCT
asir-36637	20	1	however	however	ADV
asir-36637	20	2	,	,	PUNCT
asir-36637	20	3	existing	exist	VERB
asir-36637	20	4	in	in	ADP
asir-36637	20	5	the	the	DET
asir-36637	20	6	system	system	NOUN
asir-36637	20	7	for	for	ADP
asir-36637	20	8	permanent	permanent	ADJ
asir-36637	20	9	magnet	magnet	NOUN
asir-36637	20	10	synchronous	synchronous	ADJ
asir-36637	20	11	motor	motor	NOUN
asir-36637	20	12	,	,	PUNCT
asir-36637	20	13	unstructured	unstructured	ADJ
asir-36637	20	14	uncertainties	uncertainty	NOUN
asir-36637	20	15	,	,	PUNCT
asir-36637	20	16	such	such	ADJ
asir-36637	20	17	as	as	ADP
asir-36637	20	18	load	load	NOUN
asir-36637	20	19	torque	torque	NOUN
asir-36637	20	20	disturbance	disturbance	NOUN
asir-36637	20	21	in	in	ADP
asir-36637	20	22	the	the	DET
asir-36637	20	23	system	system	NOUN
asir-36637	20	24	,	,	PUNCT
asir-36637	20	25	the	the	DET
asir-36637	20	26	adaptive	adaptive	ADJ
asir-36637	20	27	controller	controller	NOUN
asir-36637	20	28	regards	regard	VERB
asir-36637	20	29	it	it	PRON
asir-36637	20	30	as	as	ADP
asir-36637	20	31	the	the	DET
asir-36637	20	32	known	know	VERB
asir-36637	20	33	variables	variable	NOUN
asir-36637	20	34	without	without	ADP
asir-36637	20	35	processing	processing	NOUN
asir-36637	20	36	.	.	PUNCT
asir-36637	21	1	but	but	CCONJ
asir-36637	21	2	in	in	ADP
asir-36637	21	3	fact	fact	NOUN
asir-36637	21	4	the	the	DET
asir-36637	21	5	load	load	NOUN
asir-36637	21	6	torque	torque	NOUN
asir-36637	21	7	is	be	AUX
asir-36637	21	8	usually	usually	ADV
asir-36637	21	9	unknown	unknown	ADJ
asir-36637	21	10	and	and	CCONJ
asir-36637	21	11	changes	change	NOUN
asir-36637	21	12	over	over	ADP
asir-36637	21	13	time	time	NOUN
asir-36637	21	14	.	.	PUNCT
asir-36637	22	1	the	the	DET
asir-36637	22	2	unstructured	unstructured	ADJ
asir-36637	22	3	uncertainties	uncertainty	NOUN
asir-36637	22	4	affects	affect	VERB
asir-36637	22	5	the	the	DET
asir-36637	22	6	precision	precision	NOUN
asir-36637	22	7	of	of	ADP
asir-36637	22	8	the	the	DET
asir-36637	22	9	permanent	permanent	ADJ
asir-36637	22	10	magnet	magnet	NOUN
asir-36637	22	11	synchronous	synchronous	ADJ
asir-36637	22	12	motor	motor	NOUN
asir-36637	22	13	motion	motion	NOUN
asir-36637	22	14	control	control	NOUN
asir-36637	22	15	system	system	NOUN
asir-36637	22	16	and	and	CCONJ
asir-36637	22	17	performance	performance	NOUN
asir-36637	22	18	,	,	PUNCT
asir-36637	22	19	when	when	SCONJ
asir-36637	22	20	the	the	DET
asir-36637	22	21	unstructured	unstructured	ADJ
asir-36637	22	22	uncertainties	uncertainty	NOUN
asir-36637	22	23	become	become	VERB
asir-36637	22	24	larger	large	ADJ
asir-36637	22	25	,	,	PUNCT
asir-36637	22	26	adaptive	adaptive	ADJ
asir-36637	22	27	control	control	NOUN
asir-36637	22	28	can	can	AUX
asir-36637	22	29	even	even	ADV
asir-36637	22	30	lead	lead	VERB
asir-36637	22	31	to	to	ADP
asir-36637	22	32	instability	instability	NOUN
asir-36637	22	33	of	of	ADP
asir-36637	22	34	the	the	DET
asir-36637	22	35	control	control	NOUN
asir-36637	22	36	system	system	NOUN
asir-36637	22	37	.	.	PUNCT
asir-36637	23	1	system	system	NOUN
asir-36637	23	2	for	for	ADP
asir-36637	23	3	permanent	permanent	ADJ
asir-36637	23	4	magnet	magnet	NOUN
asir-36637	23	5	synchronous	synchronous	ADJ
asir-36637	23	6	motor	motor	NOUN
asir-36637	23	7	,	,	PUNCT
asir-36637	23	8	parameter	parameter	NOUN
asir-36637	23	9	uncertainties	uncertainty	NOUN
asir-36637	23	10	and	and	CCONJ
asir-36637	23	11	external	external	ADJ
asir-36637	23	12	disturbance	disturbance	NOUN
asir-36637	23	13	torque	torque	NOUN
asir-36637	23	14	,	,	PUNCT
asir-36637	23	15	this	this	DET
asir-36637	23	16	paper	paper	NOUN
asir-36637	23	17	proposes	propose	VERB
asir-36637	23	18	an	an	DET
asir-36637	23	19	adaptive	adaptive	ADJ
asir-36637	23	20	robust	robust	ADJ
asir-36637	23	21	control	control	NOUN
asir-36637	23	22	method	method	NOUN
asir-36637	23	23	of	of	ADP
asir-36637	23	24	permanent	permanent	ADJ
asir-36637	23	25	magnet	magnet	NOUN
asir-36637	23	26	synchronous	synchronous	ADJ
asir-36637	23	27	motor	motor	NOUN
asir-36637	23	28	chaotic	chaotic	ADJ
asir-36637	23	29	inhibition	inhibition	NOUN
asir-36637	23	30	and	and	CCONJ
asir-36637	23	31	high	high	ADJ
asir-36637	23	32	precision	precision	NOUN
asir-36637	23	33	speed	speed	NOUN
asir-36637	23	34	tracking	tracking	NOUN
asir-36637	23	35	control	control	NOUN
asir-36637	23	36	,	,	PUNCT
asir-36637	23	37	the	the	DET
asir-36637	23	38	method	method	NOUN
asir-36637	23	39	at	at	ADP
asir-36637	23	40	the	the	DET
asir-36637	23	41	same	same	ADJ
asir-36637	23	42	time	time	NOUN
asir-36637	23	43	considering	consider	VERB
asir-36637	23	44	the	the	DET
asir-36637	23	45	parameter	parameter	NOUN
asir-36637	23	46	uncertainty	uncertainty	NOUN
asir-36637	23	47	(	(	PUNCT
asir-36637	23	48	structure	structure	NOUN
asir-36637	23	49	uncertainty	uncertainty	NOUN
asir-36637	23	50	)	)	PUNCT
asir-36637	23	51	and	and	CCONJ
asir-36637	23	52	the	the	DET
asir-36637	23	53	external	external	ADJ
asir-36637	23	54	load	load	NOUN
asir-36637	23	55	torque	torque	NOUN
asir-36637	23	56	disturbance	disturbance	NOUN
asir-36637	23	57	(	(	PUNCT
asir-36637	23	58	unstructured	unstructured	ADJ
asir-36637	23	59	uncertainty	uncertainty	NOUN
asir-36637	23	60	)	)	PUNCT
asir-36637	23	61	.	.	PUNCT
asir-36637	24	1	this	this	DET
asir-36637	24	2	method	method	NOUN
asir-36637	24	3	is	be	AUX
asir-36637	24	4	used	use	VERB
asir-36637	24	5	in	in	ADP
asir-36637	24	6	adaptive	adaptive	ADJ
asir-36637	24	7	control	control	NOUN
asir-36637	24	8	to	to	PART
asir-36637	24	9	compensate	compensate	VERB
asir-36637	24	10	the	the	DET
asir-36637	24	11	former	former	ADJ
asir-36637	24	12	,	,	PUNCT
asir-36637	24	13	the	the	DET
asir-36637	24	14	robust	robust	ADJ
asir-36637	24	15	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-36637	24	16	applied	apply	VERB
asir-36637	24	17	science	science	NOUN
asir-36637	24	18	and	and	CCONJ
asir-36637	24	19	innovative	innovative	ADJ
asir-36637	24	20	research	research	NOUN
asir-36637	24	21	vol	vol	NOUN
asir-36637	24	22	.	.	PROPN
asir-36637	25	1	8	8	NUM
asir-36637	25	2	,	,	PUNCT
asir-36637	25	3	no	no	INTJ
asir-36637	25	4	.	.	NOUN
asir-36637	25	5	2	2	NUM
asir-36637	25	6	,	,	PUNCT
asir-36637	25	7	2024	2024	NUM
asir-36637	25	8	35	35	NUM
asir-36637	25	9	published	publish	VERB
asir-36637	25	10	by	by	ADP
asir-36637	25	11	scholink	scholink	PROPN
asir-36637	25	12	inc	inc	PROPN
asir-36637	25	13	.	.	PROPN
asir-36637	25	14	compensation	compensation	NOUN
asir-36637	25	15	term	term	NOUN
asir-36637	25	16	the	the	DET
asir-36637	25	17	latter	latter	ADJ
asir-36637	25	18	,	,	PUNCT
asir-36637	25	19	and	and	CCONJ
asir-36637	25	20	they	they	PRON
asir-36637	25	21	are	be	AUX
asir-36637	25	22	eliminated	eliminate	VERB
asir-36637	25	23	by	by	ADP
asir-36637	25	24	feedforward	feedforward	NOUN
asir-36637	25	25	technology	technology	NOUN
asir-36637	25	26	integration	integration	NOUN
asir-36637	25	27	together	together	ADV
asir-36637	25	28	.	.	PUNCT
asir-36637	26	1	the	the	DET
asir-36637	26	2	simulation	simulation	NOUN
asir-36637	26	3	results	result	NOUN
asir-36637	26	4	verify	verify	VERB
asir-36637	26	5	the	the	DET
asir-36637	26	6	effectiveness	effectiveness	NOUN
asir-36637	26	7	of	of	ADP
asir-36637	26	8	the	the	DET
asir-36637	26	9	proposed	propose	VERB
asir-36637	26	10	method	method	NOUN
asir-36637	26	11	.	.	PUNCT
asir-36637	27	1	2	2	X
asir-36637	27	2	.	.	X
asir-36637	27	3	the	the	DET
asir-36637	27	4	chaos	chaos	NOUN
asir-36637	27	5	dynamic	dynamic	ADJ
asir-36637	27	6	property	property	NOUN
asir-36637	27	7	analysis	analysis	NOUN
asir-36637	27	8	of	of	ADP
asir-36637	27	9	pmsm	pmsm	NOUN
asir-36637	27	10	permanent	permanent	ADJ
asir-36637	27	11	magnet	magnet	NOUN
asir-36637	27	12	synchronous	synchronous	ADJ
asir-36637	27	13	motor	motor	NOUN
asir-36637	27	14	system	system	NOUN
asir-36637	27	15	transformation	transformation	NOUN
asir-36637	27	16	model	model	NOUN
asir-36637	27	17	(	(	PUNCT
asir-36637	27	18	hu	hu	PROPN
asir-36637	27	19	,	,	PUNCT
asir-36637	27	20	liu	liu	PROPN
asir-36637	27	21	,	,	PUNCT
asir-36637	27	22	ma	ma	PROPN
asir-36637	27	23	,	,	PUNCT
asir-36637	27	24	&	&	CCONJ
asir-36637	27	25	ullah	ullah	PROPN
asir-36637	27	26	,	,	PUNCT
asir-36637	27	27	2015	2015	NUM
asir-36637	27	28	)	)	PUNCT
asir-36637	27	29	describes	describe	VERB
asir-36637	27	30	as	as	SCONJ
asir-36637	27	31	follows	follow	VERB
asir-36637	27	32	:	:	PUNCT
asir-36637	27	33			NUM
asir-36637	27	34			PROPN
asir-36637	27	35			NUM
asir-36637	27	36			NUM
asir-36637	27	37			ADV
asir-36637	28	1			VERB
asir-36637	28	2			NOUN
asir-36637	28	3			PUNCT
asir-36637	29	1	d	d	X
asir-36637	29	2	q	q	PUNCT
asir-36637	29	3	l	l	NOUN
asir-36637	29	4	uxyzz	uxyzz	NOUN
asir-36637	29	5	uyxzy	uyxzy	NOUN
asir-36637	29	6	txyx	txyx	NOUN
asir-36637	29	7	~	~	PUNCT
asir-36637	29	8	~	~	PUNCT
asir-36637	29	9	)	)	PUNCT
asir-36637	29	10	(	(	PUNCT
asir-36637	29	11	~	~	PUNCT
asir-36637	29	12	)	)	PUNCT
asir-36637	29	13	(	(	PUNCT
asir-36637	29	14			NOUN
asir-36637	29	15			NOUN
asir-36637	29	16			NOUN
asir-36637	29	17			NOUN
asir-36637	29	18			X
asir-36637	29	19	(	(	PUNCT
asir-36637	29	20	1	1	NUM
asir-36637	29	21	)	)	PUNCT
asir-36637	29	22	among	among	ADP
asir-36637	29	23	them	they	PRON
asir-36637	29	24	:	:	PUNCT
asir-36637	29	25	z	z	NOUN
asir-36637	29	26	rb	rb	PROPN
asir-36637	29	27	lp	lp	PROPN
asir-36637	29	28	zy	zy	X
asir-36637	29	29	rb	rb	PROPN
asir-36637	29	30	lp	lp	PROPN
asir-36637	29	31	yx	yx	PROPN
asir-36637	29	32	l	l	NOUN
asir-36637	29	33	r	r	NOUN
asir-36637	29	34	x	x	PUNCT
asir-36637	29	35	equ	equ	PROPN
asir-36637	29	36	fdqn	fdqn	PROPN
asir-36637	29	37	equ	equ	PROPN
asir-36637	29	38	fdqn	fdqn	PROPN
asir-36637	29	39	q	q	PROPN
asir-36637	30	1	~~~	~~~	PUNCT
asir-36637	30	2			NOUN
asir-36637	30	3			VERB
asir-36637	30	4	，	，	PROPN
asir-36637	30	5	，	，	PUNCT
asir-36637	30	6	dq	dq	ADP
asir-36637	30	7	iziyx	iziyx	ADJ
asir-36637	30	8			NOUN
asir-36637	30	9	~,~,~	~,~,~	NOUN
asir-36637	31	1			PROPN
asir-36637	31	2	equ	equ	PROPN
asir-36637	31	3	fdn	fdn	PROPN
asir-36637	31	4	equ	equ	PROPN
asir-36637	32	1	qequ	qequ	PROPN
asir-36637	32	2	rb	rb	PROPN
asir-36637	32	3	p	p	PROPN
asir-36637	32	4	rj	rj	PROPN
asir-36637	32	5	lb	lb	PROPN
asir-36637	32	6	2	2	PROPN
asir-36637	32	7			NUM
asir-36637	32	8			NOUN
asir-36637	32	9	，	，	PUNCT
asir-36637	32	10	l	l	PROPN
asir-36637	32	11	equ	equ	PROPN
asir-36637	33	1	q	q	PROPN
asir-36637	33	2	lq	lq	PROPN
asir-36637	33	3	equ	equ	PROPN
asir-36637	33	4	fdqn	fdqn	PROPN
asir-36637	33	5	qd	qd	PROPN
asir-36637	33	6	equ	equ	PROPN
asir-36637	33	7	fdqn	fdqn	PROPN
asir-36637	33	8	d	d	PROPN
asir-36637	33	9	t	t	PROPN
asir-36637	33	10	jr	jr	PROPN
asir-36637	33	11	l	l	NOUN
asir-36637	33	12	tu	tu	INTJ
asir-36637	33	13	br	br	INTJ
asir-36637	33	14	lp	lp	ADV
asir-36637	33	15	uu	uu	INTJ
asir-36637	33	16	br	br	VERB
asir-36637	33	17	lp	lp	NOUN
asir-36637	33	18	u	u	NOUN
asir-36637	33	19	2	2	NUM
asir-36637	33	20	2	2	NUM
asir-36637	33	21	,	,	PUNCT
asir-36637	33	22	22	22	NUM
asir-36637	33	23	~~,~	~~,~	NUM
asir-36637	33	24			NOUN
asir-36637	33	25			NOUN
asir-36637	33	26	among	among	ADP
asir-36637	33	27	them	they	PRON
asir-36637	33	28	,	,	PUNCT
asir-36637	33	29	du	du	PROPN
asir-36637	33	30	and	and	CCONJ
asir-36637	33	31	qu	qu	PROPN
asir-36637	33	32	respectively	respectively	ADV
asir-36637	33	33	represent	represent	VERB
asir-36637	33	34	axis	axis	NOUN
asir-36637	33	35	and	and	CCONJ
asir-36637	33	36	quadrature	quadrature	NOUN
asir-36637	33	37	axis	axis	NOUN
asir-36637	33	38	stator	stator	NOUN
asir-36637	33	39	voltage	voltage	NOUN
asir-36637	33	40	,	,	PUNCT
asir-36637	33	41	di	di	NOUN
asir-36637	33	42	and	and	CCONJ
asir-36637	33	43	qi	qi	PROPN
asir-36637	33	44	respectively	respectively	ADV
asir-36637	33	45	represent	represent	VERB
asir-36637	33	46	axis	axis	NOUN
asir-36637	33	47	and	and	CCONJ
asir-36637	33	48	quadrature	quadrature	NOUN
asir-36637	33	49	axis	axis	NOUN
asir-36637	33	50	of	of	ADP
asir-36637	33	51	the	the	DET
asir-36637	33	52	stator	stator	NOUN
asir-36637	33	53	current	current	NOUN
asir-36637	33	54	,	,	PUNCT
asir-36637	33	55	r	r	NOUN
asir-36637	33	56	is	be	AUX
asir-36637	33	57	for	for	SCONJ
asir-36637	33	58	stator	stator	NOUN
asir-36637	33	59	winding	wind	VERB
asir-36637	33	60	resistance	resistance	NOUN
asir-36637	33	61	,	,	PUNCT
asir-36637	33	62	dl	dl	PROPN
asir-36637	33	63	and	and	CCONJ
asir-36637	33	64	ql	ql	PROPN
asir-36637	33	65	represent	represent	VERB
asir-36637	33	66	axis	axis	NOUN
asir-36637	33	67	and	and	CCONJ
asir-36637	33	68	quadrature	quadrature	NOUN
asir-36637	33	69	axis	axis	NOUN
asir-36637	33	70	stator	stator	NOUN
asir-36637	33	71	inductance	inductance	NOUN
asir-36637	33	72	,	,	PUNCT
asir-36637	34	1	ffd	ffd	PROPN
asir-36637	34	2			PROPN
asir-36637	34	3	5.1	5.1	NUM
asir-36637	34	4	is	be	AUX
asir-36637	34	5	for	for	ADP
asir-36637	34	6	axial	axial	ADJ
asir-36637	34	7	magnetic	magnetic	ADJ
asir-36637	34	8	flux	flux	NOUN
asir-36637	34	9	np	np	INTJ
asir-36637	34	10	,	,	PUNCT
asir-36637	34	11	signify	signify	VERB
asir-36637	34	12	logarithmic	logarithmic	ADJ
asir-36637	34	13	,	,	PUNCT
asir-36637	34	14			PROPN
asir-36637	34	15	indicate	indicate	VERB
asir-36637	34	16	motor	motor	NOUN
asir-36637	34	17	angular	angular	ADJ
asir-36637	34	18	frequency	frequency	NOUN
asir-36637	34	19	,	,	PUNCT
asir-36637	34	20	equj	equj	VERB
asir-36637	34	21	on	on	ADP
asir-36637	34	22	behalf	behalf	NOUN
asir-36637	34	23	of	of	ADP
asir-36637	34	24	the	the	DET
asir-36637	34	25	equivalent	equivalent	ADJ
asir-36637	34	26	moment	moment	NOUN
asir-36637	34	27	of	of	ADP
asir-36637	34	28	inertia	inertia	NOUN
asir-36637	34	29	of	of	ADP
asir-36637	34	30	polar	polar	ADJ
asir-36637	34	31	coordinates	coordinate	NOUN
asir-36637	34	32	,	,	PUNCT
asir-36637	34	33	lt	lt	NOUN
asir-36637	34	34	indicate	indicate	VERB
asir-36637	34	35	external	external	ADJ
asir-36637	34	36	load	load	NOUN
asir-36637	34	37	torque	torque	NOUN
asir-36637	34	38	,	,	PUNCT
asir-36637	34	39	equb	equb	NOUN
asir-36637	34	40	indicate	indicate	VERB
asir-36637	34	41	the	the	DET
asir-36637	34	42	equivalent	equivalent	ADJ
asir-36637	34	43	viscous	viscous	ADJ
asir-36637	34	44	damping	damp	VERB
asir-36637	34	45	coefficient	coefficient	NOUN
asir-36637	34	46	.	.	PUNCT
asir-36637	35	1	through	through	ADP
asir-36637	35	2	the	the	DET
asir-36637	35	3	analysis	analysis	NOUN
asir-36637	35	4	of	of	ADP
asir-36637	35	5	the	the	DET
asir-36637	35	6	type	type	NOUN
asir-36637	35	7	(	(	PUNCT
asir-36637	35	8	1	1	X
asir-36637	35	9	)	)	PUNCT
asir-36637	35	10	we	we	PRON
asir-36637	35	11	can	can	AUX
asir-36637	35	12	know	know	VERB
asir-36637	35	13	,	,	PUNCT
asir-36637	35	14	when	when	SCONJ
asir-36637	35	15	6	6	NUM
asir-36637	35	16	~	~	SYM
asir-36637	35	17	5.10	5.10	NUM
asir-36637	35	18			NUM
asir-36637	35	19	t，	t，	PROPN
asir-36637	35	20	,	,	PUNCT
asir-36637	35	21	the	the	DET
asir-36637	35	22	control	control	NOUN
asir-36637	35	23	parameter	parameter	NOUN
asir-36637	35	24	is	be	AUX
asir-36637	35	25	set	set	VERB
asir-36637	35	26	to	to	ADP
asir-36637	35	27	0~,~	0~,~	NUM
asir-36637	35	28			NOUN
asir-36637	35	29	dq	dq	NOUN
asir-36637	35	30	uxu	uxu	PROPN
asir-36637	35	31	.	.	PUNCT
asir-36637	36	1	the	the	DET
asir-36637	36	2	speed	speed	NOUN
asir-36637	36	3	is	be	AUX
asir-36637	36	4	closed	closed	ADJ
asir-36637	36	5	-	-	PUNCT
asir-36637	36	6	loop	loop	NOUN
asir-36637	36	7	linear	linear	ADJ
asir-36637	36	8	feedback	feedback	NOUN
asir-36637	36	9	control	control	NOUN
asir-36637	36	10	,	,	PUNCT
asir-36637	36	11	and	and	CCONJ
asir-36637	36	12	change	change	VERB
asir-36637	36	13	from	from	ADP
asir-36637	36	14	1	1	NUM
asir-36637	36	15	to	to	ADP
asir-36637	36	16	500	500	NUM
asir-36637	36	17	,	,	PUNCT
asir-36637	36	18	the	the	DET
asir-36637	36	19	system	system	NOUN
asir-36637	36	20	hopf	hopf	NOUN
asir-36637	36	21	bifurcate	bifurcate	NOUN
asir-36637	36	22	as	as	SCONJ
asir-36637	36	23	shown	show	VERB
asir-36637	36	24	in	in	ADP
asir-36637	36	25	figure	figure	NOUN
asir-36637	36	26	1	1	NUM
asir-36637	36	27	.	.	PUNCT
asir-36637	36	28	figure	figure	NOUN
asir-36637	36	29	1	1	NUM
asir-36637	36	30	.	.	PUNCT
asir-36637	37	1	bifurcation	bifurcation	NOUN
asir-36637	37	2	diagram	diagram	NOUN
asir-36637	37	3	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-36637	37	4	applied	apply	VERB
asir-36637	37	5	science	science	NOUN
asir-36637	37	6	and	and	CCONJ
asir-36637	37	7	innovative	innovative	ADJ
asir-36637	37	8	research	research	NOUN
asir-36637	37	9	vol	vol	NOUN
asir-36637	37	10	.	.	PROPN
asir-36637	38	1	8	8	NUM
asir-36637	38	2	,	,	PUNCT
asir-36637	38	3	no	no	INTJ
asir-36637	38	4	.	.	NOUN
asir-36637	38	5	2	2	NUM
asir-36637	38	6	,	,	PUNCT
asir-36637	38	7	2024	2024	NUM
asir-36637	38	8	36	36	NUM
asir-36637	38	9	published	publish	VERB
asir-36637	38	10	by	by	ADP
asir-36637	38	11	scholink	scholink	PROPN
asir-36637	38	12	inc	inc	PROPN
asir-36637	38	13	.	.	PROPN
asir-36637	38	14	when	when	SCONJ
asir-36637	38	15	8.24	8.24	NUM
asir-36637	38	16	,	,	PUNCT
asir-36637	38	17	using	use	VERB
asir-36637	38	18	the	the	DET
asir-36637	38	19	method	method	NOUN
asir-36637	38	20	of	of	ADP
asir-36637	38	21	order	order	NOUN
asir-36637	38	22	4	4	NUM
asir-36637	38	23	kuttarunge	kuttarunge	INTJ
asir-36637	38	24	,	,	PUNCT
asir-36637	38	25	we	we	PRON
asir-36637	38	26	can	can	AUX
asir-36637	38	27	calculate	calculate	VERB
asir-36637	38	28	the	the	DET
asir-36637	38	29	numerical	numerical	ADJ
asir-36637	38	30	solution	solution	NOUN
asir-36637	38	31	of	of	ADP
asir-36637	38	32	chaos	chaos	NOUN
asir-36637	38	33	model	model	NOUN
asir-36637	38	34	to	to	PART
asir-36637	38	35	get	get	VERB
asir-36637	38	36	the	the	DET
asir-36637	38	37	phase	phase	NOUN
asir-36637	38	38	trajectory	trajectory	NOUN
asir-36637	38	39	of	of	ADP
asir-36637	38	40	the	the	DET
asir-36637	38	41	system	system	NOUN
asir-36637	38	42	.	.	PUNCT
asir-36637	39	1	as	as	SCONJ
asir-36637	39	2	you	you	PRON
asir-36637	39	3	can	can	AUX
asir-36637	39	4	see	see	VERB
asir-36637	39	5	phase	phase	NOUN
asir-36637	39	6	trajectory	trajectory	NOUN
asir-36637	39	7	within	within	ADP
asir-36637	39	8	a	a	DET
asir-36637	39	9	bounded	bound	VERB
asir-36637	39	10	become	become	VERB
asir-36637	39	11	disordered	disorder	VERB
asir-36637	39	12	,	,	PUNCT
asir-36637	39	13	which	which	PRON
asir-36637	39	14	means	mean	VERB
asir-36637	39	15	it	it	PRON
asir-36637	39	16	has	have	AUX
asir-36637	39	17	entered	enter	VERB
asir-36637	39	18	into	into	ADP
asir-36637	39	19	a	a	DET
asir-36637	39	20	state	state	NOUN
asir-36637	39	21	of	of	ADP
asir-36637	39	22	chaos	chaos	NOUN
asir-36637	39	23	,	,	PUNCT
asir-36637	39	24	as	as	SCONJ
asir-36637	39	25	shown	show	VERB
asir-36637	39	26	in	in	ADP
asir-36637	39	27	figure	figure	NOUN
asir-36637	39	28	2	2	NUM
asir-36637	39	29	.	.	PUNCT
asir-36637	39	30	a	a	X
asir-36637	39	31	)	)	PUNCT
asir-36637	39	32	azimuth74o	azimuth74o	NOUN
asir-36637	39	33	,	,	PUNCT
asir-36637	39	34	elevation	elevation	NOUN
asir-36637	39	35	angle-42o	angle-42o	PROPN
asir-36637	39	36	b	b	PROPN
asir-36637	39	37	)	)	PUNCT
asir-36637	39	38	azimuth-57o	azimuth-57o	PROPN
asir-36637	39	39	,	,	PUNCT
asir-36637	39	40	elevation	elevation	NOUN
asir-36637	39	41	angle-38o	angle-38o	PROPN
asir-36637	39	42	figure	figure	NOUN
asir-36637	39	43	2	2	NUM
asir-36637	39	44	.	.	PUNCT
asir-36637	39	45	three	three	NUM
asir-36637	39	46	-	-	PUNCT
asir-36637	39	47	dimensional	dimensional	ADJ
asir-36637	39	48	phase	phase	NOUN
asir-36637	39	49	trajectories	trajectory	NOUN
asir-36637	39	50	for	for	ADP
asir-36637	39	51	different	different	ADJ
asir-36637	39	52	viewing	viewing	NOUN
asir-36637	39	53	angles	angle	NOUN
asir-36637	39	54	as	as	ADP
asir-36637	39	55	the	the	DET
asir-36637	39	56	above	above	ADJ
asir-36637	39	57	picture	picture	NOUN
asir-36637	39	58	shows	show	NOUN
asir-36637	39	59	,	,	PUNCT
asir-36637	39	60	the	the	DET
asir-36637	39	61	system	system	NOUN
asir-36637	39	62	will	will	AUX
asir-36637	39	63	fall	fall	VERB
asir-36637	39	64	into	into	ADP
asir-36637	39	65	chaos	chaos	NOUN
asir-36637	39	66	motion	motion	NOUN
asir-36637	39	67	state	state	NOUN
asir-36637	39	68	when	when	SCONJ
asir-36637	39	69	its	its	PRON
asir-36637	39	70	parameters	parameter	NOUN
asir-36637	39	71	and	and	CCONJ
asir-36637	39	72			PROPN
asir-36637	39	73	，	，	PUNCT
asir-36637	39	74	and	and	CCONJ
asir-36637	39	75	external	external	ADJ
asir-36637	39	76	disturbance	disturbance	NOUN
asir-36637	39	77	lt	lt	PRON
asir-36637	39	78	~	~	PUNCT
asir-36637	39	79	(	(	PUNCT
asir-36637	39	80	external	external	ADJ
asir-36637	39	81	disturbance	disturbance	NOUN
asir-36637	39	82	lt	lt	PRON
asir-36637	39	83	~	~	PUNCT
asir-36637	39	84	will	will	AUX
asir-36637	39	85	change	change	VERB
asir-36637	39	86	as	as	SCONJ
asir-36637	39	87	time	time	NOUN
asir-36637	39	88	goes	go	VERB
asir-36637	39	89	on	on	ADV
asir-36637	39	90	,	,	PUNCT
asir-36637	39	91	so	so	SCONJ
asir-36637	39	92	we	we	PRON
asir-36637	39	93	can	can	AUX
asir-36637	39	94	not	not	PART
asir-36637	39	95	accurately	accurately	ADV
asir-36637	39	96	know	know	VERB
asir-36637	39	97	the	the	DET
asir-36637	39	98	specific	specific	ADJ
asir-36637	39	99	number	number	NOUN
asir-36637	39	100	)	)	PUNCT
asir-36637	39	101	meet	meet	VERB
asir-36637	39	102	some	some	DET
asir-36637	39	103	conditions	condition	NOUN
asir-36637	39	104	,	,	PUNCT
asir-36637	39	105	,	,	PUNCT
asir-36637	39	106	whose	whose	DET
asir-36637	39	107	main	main	ADJ
asir-36637	39	108	performance	performance	NOUN
asir-36637	39	109	is	be	AUX
asir-36637	39	110	intense	intense	ADJ
asir-36637	39	111	oscillation	oscillation	NOUN
asir-36637	39	112	,	,	PUNCT
asir-36637	39	113	unstable	unstable	ADJ
asir-36637	39	114	speed	speed	NOUN
asir-36637	39	115	or	or	CCONJ
asir-36637	39	116	torque	torque	NOUN
asir-36637	39	117	control	control	NOUN
asir-36637	39	118	performance	performance	NOUN
asir-36637	39	119	,	,	PUNCT
asir-36637	39	120	and	and	CCONJ
asir-36637	39	121	the	the	DET
asir-36637	39	122	irregular	irregular	ADJ
asir-36637	39	123	electromagnetic	electromagnetic	ADJ
asir-36637	39	124	noise	noise	NOUN
asir-36637	39	125	of	of	ADP
asir-36637	39	126	the	the	DET
asir-36637	39	127	system	system	NOUN
asir-36637	39	128	,	,	PUNCT
asir-36637	39	129	etc	etc	X
asir-36637	39	130	.	.	X
asir-36637	39	131	as	as	SCONJ
asir-36637	39	132	we	we	PRON
asir-36637	39	133	can	can	AUX
asir-36637	39	134	see	see	VERB
asir-36637	39	135	from	from	ADP
asir-36637	39	136	the	the	DET
asir-36637	39	137	system	system	NOUN
asir-36637	39	138	dynamics	dynamic	NOUN
asir-36637	39	139	equations	equation	NOUN
asir-36637	39	140	(	(	PUNCT
asir-36637	39	141	1	1	NUM
asir-36637	39	142	)	)	PUNCT
asir-36637	39	143	,	,	PUNCT
asir-36637	39	144	dq	dq	INTJ
asir-36637	39	145	uu	uu	INTJ
asir-36637	39	146	,	,	PUNCT
asir-36637	39	147	can	can	AUX
asir-36637	39	148	be	be	AUX
asir-36637	39	149	used	use	VERB
asir-36637	39	150	as	as	ADP
asir-36637	39	151	a	a	DET
asir-36637	39	152	control	control	NOUN
asir-36637	39	153	input	input	NOUN
asir-36637	39	154	to	to	PART
asir-36637	39	155	eliminate	eliminate	VERB
asir-36637	39	156	chaos	chaos	NOUN
asir-36637	39	157	state	state	NOUN
asir-36637	39	158	and	and	CCONJ
asir-36637	39	159	can	can	AUX
asir-36637	39	160	make	make	VERB
asir-36637	39	161	the	the	DET
asir-36637	39	162	system	system	NOUN
asir-36637	39	163	speed	speed	NOUN
asir-36637	39	164	track	track	NOUN
asir-36637	39	165	realize	realize	VERB
asir-36637	39	166	the	the	DET
asir-36637	39	167	desired	desire	VERB
asir-36637	39	168	expectations	expectation	NOUN
asir-36637	39	169	.	.	PUNCT
asir-36637	40	1	the	the	DET
asir-36637	40	2	next	next	ADJ
asir-36637	40	3	task	task	NOUN
asir-36637	40	4	is	be	AUX
asir-36637	40	5	to	to	PART
asir-36637	40	6	design	design	VERB
asir-36637	40	7	control	control	NOUN
asir-36637	40	8	law	law	NOUN
asir-36637	40	9	of	of	ADP
asir-36637	40	10	the	the	DET
asir-36637	40	11	two	two	NUM
asir-36637	40	12	variables	variable	NOUN
asir-36637	40	13	.	.	PUNCT
asir-36637	41	1	3	3	X
asir-36637	41	2	.	.	X
asir-36637	41	3	adaptive	adaptive	ADJ
asir-36637	41	4	robust	robust	ADJ
asir-36637	41	5	controller	controller	NOUN
asir-36637	41	6	design	design	NOUN
asir-36637	41	7	according	accord	VERB
asir-36637	41	8	to	to	ADP
asir-36637	41	9	the	the	DET
asir-36637	41	10	dynamic	dynamic	ADJ
asir-36637	41	11	equation	equation	NOUN
asir-36637	41	12	(	(	PUNCT
asir-36637	41	13	1	1	X
asir-36637	41	14	)	)	PUNCT
asir-36637	41	15	there	there	PRON
asir-36637	41	16	exist	exist	VERB
asir-36637	41	17	parameter	parameter	NOUN
asir-36637	41	18	uncertainty	uncertainty	NOUN
asir-36637	41	19	(	(	PUNCT
asir-36637	41	20	structural	structural	ADJ
asir-36637	41	21	uncertainty	uncertainty	NOUN
asir-36637	41	22	)	)	PUNCT
asir-36637	41	23	and	and	CCONJ
asir-36637	41	24	external	external	ADJ
asir-36637	41	25	disturbance	disturbance	NOUN
asir-36637	41	26	(	(	PUNCT
asir-36637	41	27	unstructured	unstructured	ADJ
asir-36637	41	28	uncertainty	uncertainty	NOUN
asir-36637	41	29	)	)	PUNCT
asir-36637	41	30	in	in	ADP
asir-36637	41	31	the	the	DET
asir-36637	41	32	dynamic	dynamic	ADJ
asir-36637	41	33	system	system	NOUN
asir-36637	41	34	,	,	PUNCT
asir-36637	41	35	so	so	CCONJ
asir-36637	41	36	it	it	PRON
asir-36637	41	37	is	be	AUX
asir-36637	41	38	necessary	necessary	ADJ
asir-36637	41	39	to	to	PART
asir-36637	41	40	take	take	VERB
asir-36637	41	41	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-36637	41	42	applied	apply	VERB
asir-36637	41	43	science	science	NOUN
asir-36637	41	44	and	and	CCONJ
asir-36637	41	45	innovative	innovative	ADJ
asir-36637	41	46	research	research	NOUN
asir-36637	41	47	vol	vol	NOUN
asir-36637	41	48	.	.	PROPN
asir-36637	42	1	8	8	NUM
asir-36637	42	2	,	,	PUNCT
asir-36637	42	3	no	no	INTJ
asir-36637	42	4	.	.	NOUN
asir-36637	42	5	2	2	NUM
asir-36637	42	6	,	,	PUNCT
asir-36637	42	7	2024	2024	NUM
asir-36637	42	8	37	37	NUM
asir-36637	42	9	published	publish	VERB
asir-36637	42	10	by	by	ADP
asir-36637	42	11	scholink	scholink	PROPN
asir-36637	42	12	inc	inc	PROPN
asir-36637	42	13	.	.	PROPN
asir-36637	42	14	different	different	ADJ
asir-36637	42	15	methods	method	NOUN
asir-36637	42	16	to	to	PART
asir-36637	42	17	handle	handle	VERB
asir-36637	42	18	them	they	PRON
asir-36637	42	19	.	.	PUNCT
asir-36637	43	1	in	in	ADP
asir-36637	43	2	order	order	NOUN
asir-36637	43	3	to	to	PART
asir-36637	43	4	better	well	ADV
asir-36637	43	5	estimate	estimate	VERB
asir-36637	43	6	the	the	DET
asir-36637	43	7	system	system	NOUN
asir-36637	43	8	parameters	parameter	NOUN
asir-36637	43	9	and	and	CCONJ
asir-36637	43	10	control	control	VERB
asir-36637	43	11	the	the	DET
asir-36637	43	12	chaos	chaos	NOUN
asir-36637	43	13	in	in	ADP
asir-36637	43	14	the	the	DET
asir-36637	43	15	permanent	permanent	ADJ
asir-36637	43	16	magnet	magnet	NOUN
asir-36637	43	17	synchronous	synchronous	ADJ
asir-36637	43	18	motor	motor	NOUN
asir-36637	43	19	,	,	PUNCT
asir-36637	43	20	the	the	DET
asir-36637	43	21	force	force	NOUN
asir-36637	43	22	1u	1u	NUM
asir-36637	43	23	is	be	AUX
asir-36637	43	24	been	be	AUX
asir-36637	43	25	inputted	inputte	VERB
asir-36637	43	26	into	into	ADP
asir-36637	43	27	speed	speed	NOUN
asir-36637	43	28	differential	differential	ADJ
asir-36637	43	29	equations	equation	NOUN
asir-36637	43	30	according	accord	VERB
asir-36637	43	31	to	to	ADP
asir-36637	43	32	the	the	DET
asir-36637	43	33	entrainment	entrainment	NOUN
asir-36637	43	34	and	and	CCONJ
asir-36637	43	35	migration	migration	NOUN
asir-36637	43	36	control	control	NOUN
asir-36637	43	37	thought	think	VERB
asir-36637	43	38	,	,	PUNCT
asir-36637	43	39	the	the	DET
asir-36637	43	40	closed	closed	ADJ
asir-36637	43	41	loop	loop	NOUN
asir-36637	43	42	dynamics	dynamic	NOUN
asir-36637	43	43	equation	equation	NOUN
asir-36637	43	44	of	of	ADP
asir-36637	43	45	permanent	permanent	ADJ
asir-36637	43	46	magnet	magnet	NOUN
asir-36637	43	47	synchronous	synchronous	ADJ
asir-36637	43	48	motor	motor	NOUN
asir-36637	43	49	system	system	NOUN
asir-36637	43	50	are	be	AUX
asir-36637	43	51	given	give	VERB
asir-36637	43	52	as	as	SCONJ
asir-36637	43	53	follows	follow	VERB
asir-36637	43	54	:	:	PUNCT
asir-36637	43	55			NUM
asir-36637	43	56			PROPN
asir-36637	43	57			NUM
asir-36637	43	58			NUM
asir-36637	43	59			ADV
asir-36637	43	60			VERB
asir-36637	43	61			NOUN
asir-36637	43	62			NOUN
asir-36637	43	63	d	d	NOUN
asir-36637	43	64	q	q	NOUN
asir-36637	43	65	l	l	NOUN
asir-36637	43	66	uxyzz	uxyzz	NOUN
asir-36637	44	1	uyxzy	uyxzy	NOUN
asir-36637	44	2	utxyx	utxyx	NOUN
asir-36637	44	3	~	~	PUNCT
asir-36637	44	4	~	~	PUNCT
asir-36637	44	5	)	)	PUNCT
asir-36637	44	6	(	(	PUNCT
asir-36637	44	7	~	~	PUNCT
asir-36637	44	8	)	)	PUNCT
asir-36637	44	9	(	(	PUNCT
asir-36637	44	10	1	1	NUM
asir-36637	44	11			NOUN
asir-36637	44	12			NOUN
asir-36637	44	13			NOUN
asir-36637	44	14			NOUN
asir-36637	44	15			X
asir-36637	44	16	(	(	PUNCT
asir-36637	44	17	2	2	NUM
asir-36637	44	18	)	)	PUNCT
asir-36637	44	19	among	among	ADP
asir-36637	44	20	them	they	PRON
asir-36637	44	21	,	,	PUNCT
asir-36637	44	22	dq	dq	PROPN
asir-36637	44	23	uuu	uuu	X
asir-36637	44	24	~,~,1	~,~,1	PROPN
asir-36637	44	25	as	as	ADP
asir-36637	44	26	control	control	NOUN
asir-36637	44	27	input	input	NOUN
asir-36637	44	28	.	.	PUNCT
asir-36637	45	1	the	the	DET
asir-36637	45	2	system	system	NOUN
asir-36637	45	3	error	error	NOUN
asir-36637	45	4	of	of	ADP
asir-36637	45	5	the	the	DET
asir-36637	45	6	variables	variable	NOUN
asir-36637	45	7	:	:	PUNCT
asir-36637	45	8			NUM
asir-36637	45	9			PROPN
asir-36637	45	10			NUM
asir-36637	45	11			NUM
asir-36637	45	12			NOUN
asir-36637	45	13			PROPN
asir-36637	45	14			PROPN
asir-36637	45	15			PROPN
asir-36637	45	16	d	d	PROPN
asir-36637	45	17	d	d	X
asir-36637	45	18	zzz	zzz	PROPN
asir-36637	45	19	yz	yz	X
asir-36637	45	20	xxz	xxz	NOUN
asir-36637	45	21	3	3	NUM
asir-36637	45	22	12	12	NUM
asir-36637	45	23	1	1	NUM
asir-36637	45	24			NOUN
asir-36637	45	25	(	(	PUNCT
asir-36637	45	26	3	3	NUM
asir-36637	45	27	)	)	PUNCT
asir-36637	45	28	where	where	SCONJ
asir-36637	45	29	1z	1z	NOUN
asir-36637	45	30	represents	represent	VERB
asir-36637	45	31	speed	speed	NOUN
asir-36637	45	32	tracking	tracking	NOUN
asir-36637	45	33	error	error	NOUN
asir-36637	45	34	,	,	PUNCT
asir-36637	45	35	dx	dx	PROPN
asir-36637	45	36	represents	represent	VERB
asir-36637	45	37	the	the	DET
asir-36637	45	38	required	require	VERB
asir-36637	45	39	speed	speed	NOUN
asir-36637	45	40	by	by	ADP
asir-36637	45	41	the	the	DET
asir-36637	45	42	system	system	NOUN
asir-36637	45	43	,	,	PUNCT
asir-36637	45	44	2z	2z	NUM
asir-36637	45	45	represents	represent	VERB
asir-36637	45	46	the	the	DET
asir-36637	45	47	virtual	virtual	ADJ
asir-36637	45	48	control	control	NOUN
asir-36637	45	49	input	input	NOUN
asir-36637	45	50	difference	difference	NOUN
asir-36637	45	51	,	,	PUNCT
asir-36637	45	52	y	y	PROPN
asir-36637	45	53	represents	represent	VERB
asir-36637	45	54	virtual	virtual	ADJ
asir-36637	45	55	control	control	NOUN
asir-36637	45	56	input	input	NOUN
asir-36637	45	57	,	,	PUNCT
asir-36637	45	58	1	1	PROPN
asir-36637	45	59	represent	represent	VERB
asir-36637	45	60	virtual	virtual	ADJ
asir-36637	45	61	control	control	NOUN
asir-36637	45	62	input	input	NOUN
asir-36637	45	63	y	y	PROPN
asir-36637	45	64	control	control	NOUN
asir-36637	45	65	functions	function	NOUN
asir-36637	45	66	,	,	PUNCT
asir-36637	45	67	3z	3z	NUM
asir-36637	45	68	represents	represent	VERB
asir-36637	45	69	d	d	PROPN
asir-36637	45	70	shaft	shaft	NOUN
asir-36637	45	71	current	current	ADJ
asir-36637	45	72	tracking	tracking	NOUN
asir-36637	45	73	error	error	NOUN
asir-36637	45	74	,	,	PUNCT
asir-36637	45	75	dz	dz	PROPN
asir-36637	45	76	for	for	ADP
asir-36637	45	77	the	the	DET
asir-36637	45	78	desired	desire	VERB
asir-36637	45	79	output	output	NOUN
asir-36637	45	80	d	d	PROPN
asir-36637	45	81	shaft	shaft	NOUN
asir-36637	45	82	current	current	NOUN
asir-36637	45	83	.	.	PUNCT
asir-36637	46	1	3.1	3.1	NUM
asir-36637	46	2	design	design	NOUN
asir-36637	46	3	of	of	ADP
asir-36637	46	4	adaptive	adaptive	ADJ
asir-36637	46	5	parameter	parameter	NOUN
asir-36637	46	6	estimator	estimator	NOUN
asir-36637	46	7	an	an	DET
asir-36637	46	8	estimator	estimator	NOUN
asir-36637	46	9	needs	need	VERB
asir-36637	46	10	to	to	PART
asir-36637	46	11	be	be	AUX
asir-36637	46	12	designed	design	VERB
asir-36637	46	13	to	to	PART
asir-36637	46	14	estimate	estimate	VERB
asir-36637	46	15	unknown	unknown	ADJ
asir-36637	46	16	parameters	parameter	NOUN
asir-36637	46	17	.	.	PUNCT
asir-36637	47	1	if	if	SCONJ
asir-36637	47	2	̂	̂	NOUN
asir-36637	47	3	is	be	AUX
asir-36637	47	4	the	the	DET
asir-36637	47	5	estimate	estimate	NOUN
asir-36637	47	6	of	of	ADP
asir-36637	47	7	the	the	DET
asir-36637	47	8			PROPN
asir-36637	47	9	,	,	PUNCT
asir-36637	47	10	̂	̂	NOUN
asir-36637	47	11	is	be	AUX
asir-36637	47	12	the	the	DET
asir-36637	47	13	parameter	parameter	NOUN
asir-36637	47	14	estimation	estimation	NOUN
asir-36637	47	15	errors	error	NOUN
asir-36637	47	16	,	,	PUNCT
asir-36637	47	17	which	which	PRON
asir-36637	47	18	means	mean	VERB
asir-36637	47	19			PROPN
asir-36637	47	20			PROPN
asir-36637	47	21	ˆ~	ˆ~	PROPN
asir-36637	47	22	.	.	PUNCT
asir-36637	48	1	if	if	SCONJ
asir-36637	48	2	̂	̂	NOUN
asir-36637	48	3	is	be	AUX
asir-36637	48	4	estimated	estimate	VERB
asir-36637	48	5	value	value	NOUN
asir-36637	48	6	of	of	ADP
asir-36637	48	7			NOUN
asir-36637	48	8	,	,	PUNCT
asir-36637	48	9	~	~	PROPN
asir-36637	48	10	represent	represent	VERB
asir-36637	48	11	the	the	DET
asir-36637	48	12	parameter	parameter	NOUN
asir-36637	48	13	estimation	estimation	NOUN
asir-36637	48	14	error	error	NOUN
asir-36637	48	15	,	,	PUNCT
asir-36637	48	16	which	which	PRON
asir-36637	48	17	means	mean	VERB
asir-36637	48	18			CCONJ
asir-36637	48	19			PROPN
asir-36637	48	20	ˆ~	ˆ~	PROPN
asir-36637	48	21	.	.	PUNCT
asir-36637	49	1	in	in	ADP
asir-36637	49	2	order	order	NOUN
asir-36637	49	3	to	to	PART
asir-36637	49	4	make	make	VERB
asir-36637	49	5	the	the	DET
asir-36637	49	6	parameter	parameter	NOUN
asir-36637	49	7	estimation	estimation	NOUN
asir-36637	49	8	with	with	ADP
asir-36637	49	9	infinite	infinite	ADJ
asir-36637	49	10	delay	delay	NOUN
asir-36637	49	11	,	,	PUNCT
asir-36637	49	12	the	the	DET
asir-36637	49	13	design	design	NOUN
asir-36637	49	14	of	of	ADP
asir-36637	49	15	adaptive	adaptive	ADJ
asir-36637	49	16	parameter	parameter	NOUN
asir-36637	49	17	estimation	estimation	NOUN
asir-36637	49	18	discontinuous	discontinuous	ADJ
asir-36637	49	19	projection	projection	NOUN
asir-36637	49	20	algorithm	algorithm	NOUN
asir-36637	49	21	is	be	AUX
asir-36637	49	22	as	as	SCONJ
asir-36637	49	23	follows	follow	VERB
asir-36637	49	24	:	:	PUNCT
asir-36637	49	25	)	)	PUNCT
asir-36637	49	26	(	(	PUNCT
asir-36637	49	27	ojprˆ	ojprˆ	NOUN
asir-36637	49	28	21ˆ	21ˆ	NOUN
asir-36637	49	29	zz	zz	NOUN
asir-36637	49	30			NOUN
asir-36637	49	31	(	(	PUNCT
asir-36637	49	32	4	4	NUM
asir-36637	49	33	)	)	PUNCT
asir-36637	49	34	)	)	PUNCT
asir-36637	49	35	(	(	PUNCT
asir-36637	49	36	ojprˆ	ojprˆ	NOUN
asir-36637	49	37	2ˆ	2ˆ	VERB
asir-36637	49	38	xz	xz	PROPN
asir-36637	49	39			NOUN
asir-36637	49	40	(	(	PUNCT
asir-36637	49	41	5	5	NUM
asir-36637	49	42	)	)	PUNCT
asir-36637	50	1	where	where	SCONJ
asir-36637	50	2	:	:	PUNCT
asir-36637	50	3			NUM
asir-36637	50	4			PROPN
asir-36637	50	5			NUM
asir-36637	50	6			NUM
asir-36637	50	7			ADP
asir-36637	50	8			NOUN
asir-36637	51	1			PROPN
asir-36637	51	2			NUM
asir-36637	51	3			NUM
asir-36637	51	4			ADP
asir-36637	51	5			NOUN
asir-36637	51	6			X
asir-36637	51	7			NOUN
asir-36637	51	8	other	other	ADJ
asir-36637	51	9	0	0	NUM
asir-36637	51	10	0	0	NUM
asir-36637	51	11	0	0	NUM
asir-36637	51	12	)	)	PUNCT
asir-36637	51	13	(	(	PUNCT
asir-36637	51	14	pr	pr	NOUN
asir-36637	51	15	min	min	PROPN
asir-36637	51	16	max	max	PROPN
asir-36637	51	17	ˆ	ˆ	ADP
asir-36637	52	1	i	i	PRON
asir-36637	52	2	i	i	PRON
asir-36637	53	1	i	i	PRON
asir-36637	53	2	ioj	ioj	VERB
asir-36637	53	3	且	且	PROPN
asir-36637	53	4	且	且	PROPN
asir-36637	53	5			ADJ
asir-36637	53	6			PROPN
asir-36637	54	1			PROPN
asir-36637	54	2			PUNCT
asir-36637	54	3			NUM
asir-36637	55	1	(	(	PUNCT
asir-36637	55	2	6	6	NUM
asir-36637	55	3	)	)	PUNCT
asir-36637	55	4	and	and	CCONJ
asir-36637	55	5	it	it	PRON
asir-36637	55	6	has	have	VERB
asir-36637	55	7	the	the	DET
asir-36637	55	8	following	follow	VERB
asir-36637	55	9	properties	property	NOUN
asir-36637	55	10	:	:	PUNCT
asir-36637	55	11	0])([pr~,ˆ	0])([pr~,ˆ	NUM
asir-36637	55	12	2121ˆ	2121ˆ	NUM
asir-36637	55	13			NUM
asir-36637	55	14			VERB
asir-36637	55	15	zzzzojl	zzzzojl	PROPN
asir-36637	55	16			PROPN
asir-36637	55	17	(	(	PUNCT
asir-36637	55	18	7	7	NUM
asir-36637	55	19	)	)	PUNCT
asir-36637	55	20	0])([pr~,ˆ	0])([pr~,ˆ	PROPN
asir-36637	55	21	22ˆ	22ˆ	NOUN
asir-36637	55	22			NUM
asir-36637	55	23			VERB
asir-36637	55	24	xzxzojl	xzxzojl	PUNCT
asir-36637	56	1			PUNCT
asir-36637	57	1	(	(	PUNCT
asir-36637	57	2	8)	8)	NUM
asir-36637	57	3	3.2	3.2	NUM
asir-36637	57	4	the	the	DET
asir-36637	57	5	design	design	NOUN
asir-36637	57	6	of	of	ADP
asir-36637	57	7	control	control	NOUN
asir-36637	57	8	law	law	NOUN
asir-36637	57	9	1u	1u	NUM
asir-36637	57	10	speed	speed	NOUN
asir-36637	57	11	tracking	tracking	NOUN
asir-36637	57	12	control	control	NOUN
asir-36637	57	13	law	law	NOUN
asir-36637	57	14	1u	1u	NOUN
asir-36637	57	15	is	be	AUX
asir-36637	57	16	designed	design	VERB
asir-36637	57	17	to	to	PART
asir-36637	57	18	make	make	VERB
asir-36637	57	19	the	the	DET
asir-36637	57	20	pratical	pratical	ADJ
asir-36637	57	21	speed	speed	NOUN
asir-36637	57	22	of	of	ADP
asir-36637	57	23	the	the	DET
asir-36637	57	24	system	system	NOUN
asir-36637	57	25	to	to	PART
asir-36637	57	26	track	track	VERB
asir-36637	57	27	the	the	DET
asir-36637	57	28	speed	speed	NOUN
asir-36637	57	29	required	require	VERB
asir-36637	57	30	.	.	PUNCT
asir-36637	58	1	nonlinear	nonlinear	ADJ
asir-36637	58	2	feedback	feedback	NOUN
asir-36637	58	3	control	control	NOUN
asir-36637	58	4	law	law	NOUN
asir-36637	58	5	is	be	AUX
asir-36637	58	6	designed	design	VERB
asir-36637	58	7	as	as	SCONJ
asir-36637	58	8	follows	follow	VERB
asir-36637	58	9	:	:	PUNCT
asir-36637	58	10	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-36637	58	11	applied	apply	VERB
asir-36637	58	12	science	science	NOUN
asir-36637	58	13	and	and	CCONJ
asir-36637	58	14	innovative	innovative	ADJ
asir-36637	58	15	research	research	NOUN
asir-36637	58	16	vol	vol	NOUN
asir-36637	58	17	.	.	PROPN
asir-36637	59	1	8	8	NUM
asir-36637	59	2	,	,	PUNCT
asir-36637	59	3	no	no	INTJ
asir-36637	59	4	.	.	NOUN
asir-36637	59	5	2	2	NUM
asir-36637	59	6	,	,	PUNCT
asir-36637	59	7	2024	2024	NUM
asir-36637	59	8	38	38	NUM
asir-36637	59	9	published	publish	VERB
asir-36637	59	10	by	by	ADP
asir-36637	59	11	scholink	scholink	PROPN
asir-36637	59	12	inc	inc	PROPN
asir-36637	59	13	.	.	PROPN
asir-36637	59	14	sd	sd	PROPN
asir-36637	59	15	zkxyxu	zkxyxu	PROPN
asir-36637	59	16	1111	1111	PROPN
asir-36637	59	17	)	)	PUNCT
asir-36637	60	1	(	(	PUNCT
asir-36637	60	2	ˆ	ˆ	X
asir-36637	60	3			ADV
asir-36637	60	4			NOUN
asir-36637	60	5			NOUN
asir-36637	60	6	(	(	PUNCT
asir-36637	60	7	9	9	NUM
asir-36637	60	8	)	)	PUNCT
asir-36637	60	9	where	where	SCONJ
asir-36637	60	10	)	)	PUNCT
asir-36637	60	11	(	(	PUNCT
asir-36637	60	12	ˆ	ˆ	NOUN
asir-36637	60	13	xyxd	xyxd	PROPN
asir-36637	60	14			PROPN
asir-36637	60	15	is	be	AUX
asir-36637	60	16	the	the	DET
asir-36637	60	17	feed	feed	NOUN
asir-36637	60	18	-	-	PUNCT
asir-36637	60	19	forward	forward	NOUN
asir-36637	60	20	compensation	compensation	NOUN
asir-36637	60	21	term	term	NOUN
asir-36637	60	22	in	in	ADP
asir-36637	60	23	the	the	DET
asir-36637	60	24	model	model	NOUN
asir-36637	60	25	,	,	PUNCT
asir-36637	60	26	11zk	11zk	NUM
asir-36637	60	27	is	be	AUX
asir-36637	60	28	the	the	DET
asir-36637	60	29	linear	linear	ADJ
asir-36637	60	30	robust	robust	ADJ
asir-36637	60	31	feedback	feedback	NOUN
asir-36637	60	32	used	use	VERB
asir-36637	60	33	to	to	PART
asir-36637	60	34	stabilize	stabilize	VERB
asir-36637	60	35	system	system	NOUN
asir-36637	60	36	nominal	nominal	ADJ
asir-36637	60	37	model	model	NOUN
asir-36637	60	38	.	.	PUNCT
asir-36637	61	1	the	the	DET
asir-36637	61	2	s1	s1	NOUN
asir-36637	61	3	is	be	AUX
asir-36637	61	4	nonlinear	nonlinear	ADJ
asir-36637	61	5	robust	robust	ADJ
asir-36637	61	6	feedback	feedback	NOUN
asir-36637	61	7	used	use	VERB
asir-36637	61	8	to	to	PART
asir-36637	61	9	compensate	compensate	VERB
asir-36637	61	10	the	the	DET
asir-36637	61	11	errors	error	NOUN
asir-36637	61	12	of	of	ADP
asir-36637	61	13	parameter	parameter	NOUN
asir-36637	61	14	estimation	estimation	NOUN
asir-36637	61	15	and	and	CCONJ
asir-36637	61	16	load	load	NOUN
asir-36637	61	17	torque	torque	NOUN
asir-36637	61	18	disturbance	disturbance	NOUN
asir-36637	61	19	.	.	PUNCT
asir-36637	62	1	then	then	ADV
asir-36637	62	2	design	design	VERB
asir-36637	62	3	01	01	NUM
asir-36637	62	4	k	k	PROPN
asir-36637	62	5	,	,	PUNCT
asir-36637	62	6	error	error	NOUN
asir-36637	62	7	dynamic	dynamic	ADJ
asir-36637	62	8	equation	equation	NOUN
asir-36637	62	9	can	can	AUX
asir-36637	62	10	be	be	AUX
asir-36637	62	11	seen	see	VERB
asir-36637	62	12	in	in	ADP
asir-36637	62	13	the	the	DET
asir-36637	62	14	following	following	NOUN
asir-36637	62	15	:	:	PUNCT
asir-36637	62	16	lsd	lsd	NOUN
asir-36637	62	17	tzkxyxxz	tzkxyxxz	NOUN
asir-36637	62	18	~	~	PUNCT
asir-36637	62	19	)	)	PUNCT
asir-36637	62	20	(	(	PUNCT
asir-36637	62	21	~	~	PUNCT
asir-36637	62	22	1111	1111	NUM
asir-36637	62	23			NOUN
asir-36637	62	24			X
asir-36637	62	25	(	(	PUNCT
asir-36637	62	26	10	10	NUM
asir-36637	62	27	)	)	SYM
asir-36637	62	28	3.3	3.3	NUM
asir-36637	62	29	control	control	NOUN
asir-36637	62	30	the	the	DET
asir-36637	62	31	design	design	NOUN
asir-36637	62	32	of	of	ADP
asir-36637	62	33	function	function	NOUN
asir-36637	62	34	1	1	PROPN
asir-36637	62	35	design	design	VERB
asir-36637	62	36	the	the	DET
asir-36637	62	37	control	control	NOUN
asir-36637	62	38	function	function	NOUN
asir-36637	62	39	1	1	PROPN
asir-36637	62	40	of	of	ADP
asir-36637	62	41	the	the	DET
asir-36637	62	42	virtual	virtual	ADJ
asir-36637	62	43	control	control	NOUN
asir-36637	62	44	input	input	NOUN
asir-36637	62	45	y	y	PROPN
asir-36637	62	46	to	to	PART
asir-36637	62	47	ensure	ensure	VERB
asir-36637	62	48	the	the	DET
asir-36637	62	49	output	output	NOUN
asir-36637	62	50	tracking	tracking	NOUN
asir-36637	62	51	performance	performance	NOUN
asir-36637	62	52	.	.	PUNCT
asir-36637	63	1	the	the	DET
asir-36637	63	2	virtual	virtual	ADJ
asir-36637	63	3	control	control	NOUN
asir-36637	63	4	law	law	NOUN
asir-36637	63	5	is	be	AUX
asir-36637	63	6	designed	design	VERB
asir-36637	63	7	as	as	SCONJ
asir-36637	63	8	follows	follow	VERB
asir-36637	63	9	:	:	PUNCT
asir-36637	63	10	x1	x1	NOUN
asir-36637	63	11	(	(	PUNCT
asir-36637	63	12	11	11	NUM
asir-36637	63	13	)	)	PUNCT
asir-36637	63	14	by	by	ADP
asir-36637	63	15	substituting	substitute	VERB
asir-36637	63	16	the	the	DET
asir-36637	63	17	second	second	ADJ
asir-36637	63	18	equation	equation	NOUN
asir-36637	63	19	in	in	ADP
asir-36637	63	20	equation	equation	NOUN
asir-36637	63	21	(	(	PUNCT
asir-36637	63	22	3	3	NUM
asir-36637	63	23	)	)	PUNCT
asir-36637	63	24	and	and	CCONJ
asir-36637	63	25	equation	equation	NOUN
asir-36637	63	26	(	(	PUNCT
asir-36637	63	27	11	11	NUM
asir-36637	63	28	)	)	PUNCT
asir-36637	63	29	into	into	ADP
asir-36637	63	30	equation	equation	NOUN
asir-36637	63	31	(	(	PUNCT
asir-36637	63	32	10	10	NUM
asir-36637	63	33	)	)	PUNCT
asir-36637	63	34	,	,	PUNCT
asir-36637	63	35	the	the	DET
asir-36637	63	36	following	follow	VERB
asir-36637	63	37	error	error	NOUN
asir-36637	63	38	equation	equation	NOUN
asir-36637	63	39	can	can	AUX
asir-36637	63	40	be	be	AUX
asir-36637	63	41	obtained	obtain	VERB
asir-36637	63	42	:	:	PUNCT
asir-36637	63	43	ls	ls	ADJ
asir-36637	63	44	tzzkz	tzzkz	NOUN
asir-36637	63	45	~~	~~	NUM
asir-36637	63	46	21111	21111	NUM
asir-36637	63	47			NOUN
asir-36637	64	1			X
asir-36637	64	2	（	（	PUNCT
asir-36637	64	3	12	12	NUM
asir-36637	64	4	）	）	PUNCT
asir-36637	64	5	because	because	SCONJ
asir-36637	64	6	s1	s1	NOUN
asir-36637	64	7	can	can	AUX
asir-36637	64	8	make	make	VERB
asir-36637	64	9	as	as	ADV
asir-36637	64	10	small	small	ADJ
asir-36637	64	11	as	as	ADP
asir-36637	64	12	possible	possible	ADJ
asir-36637	64	13	,	,	PUNCT
asir-36637	64	14	so	so	SCONJ
asir-36637	64	15	we	we	PRON
asir-36637	64	16	need	need	AUX
asir-36637	64	17	eliminate	eliminate	VERB
asir-36637	64	18	the	the	DET
asir-36637	64	19	influence	influence	NOUN
asir-36637	64	20	of	of	ADP
asir-36637	64	21	s1	s1	NOUN
asir-36637	64	22	for	for	ADP
asir-36637	64	23	ltz	ltz	PROPN
asir-36637	64	24	~~	~~	NUM
asir-36637	64	25	2	2	NUM
asir-36637	64	26			ADP
asir-36637	64	27	as	as	ADV
asir-36637	64	28	much	much	ADJ
asir-36637	64	29	as	as	ADP
asir-36637	64	30	possible	possible	ADJ
asir-36637	64	31	.	.	PUNCT
asir-36637	65	1	in	in	ADP
asir-36637	65	2	addition	addition	NOUN
asir-36637	65	3	,	,	PUNCT
asir-36637	65	4	if	if	SCONJ
asir-36637	65	5	the	the	DET
asir-36637	65	6	0	0	NUM
asir-36637	65	7	~	~	SYM
asir-36637	65	8	lt	lt	NOUN
asir-36637	65	9	,	,	PUNCT
asir-36637	65	10	when	when	SCONJ
asir-36637	65	11	2z	2z	NUM
asir-36637	65	12	reduce	reduce	VERB
asir-36637	65	13	to	to	ADP
asir-36637	65	14	zero	zero	NUM
asir-36637	65	15	,	,	PUNCT
asir-36637	65	16	1z	1z	NOUN
asir-36637	65	17	will	will	AUX
asir-36637	65	18	reduce	reduce	VERB
asir-36637	65	19	to	to	ADP
asir-36637	65	20	zero	zero	NUM
asir-36637	65	21	.	.	PUNCT
asir-36637	66	1	3.4	3.4	NUM
asir-36637	66	2	the	the	DET
asir-36637	66	3	design	design	NOUN
asir-36637	66	4	of	of	ADP
asir-36637	66	5	the	the	DET
asir-36637	66	6	actual	actual	ADJ
asir-36637	66	7	control	control	NOUN
asir-36637	66	8	law	law	NOUN
asir-36637	66	9	qu~	qu~	PROPN
asir-36637	66	10	according	accord	VERB
asir-36637	66	11	to	to	ADP
asir-36637	66	12	the	the	DET
asir-36637	66	13	third	third	ADJ
asir-36637	66	14	equation	equation	NOUN
asir-36637	66	15	in	in	ADP
asir-36637	66	16	equation	equation	NOUN
asir-36637	66	17	(	(	PUNCT
asir-36637	66	18	3	3	NUM
asir-36637	66	19	)	)	PUNCT
asir-36637	66	20	,	,	PUNCT
asir-36637	66	21	we	we	PRON
asir-36637	66	22	can	can	AUX
asir-36637	66	23	see	see	VERB
asir-36637	66	24	that	that	SCONJ
asir-36637	66	25	the	the	DET
asir-36637	66	26	time	time	NOUN
asir-36637	66	27	derivative	derivative	ADJ
asir-36637	66	28	of	of	ADP
asir-36637	66	29	2z	2z	NUM
asir-36637	66	30	is	be	AUX
asir-36637	66	31	12	12	NUM
asir-36637	66	32			PROPN
asir-36637	66	33			PROPN
asir-36637	66	34	yz	yz	PROPN
asir-36637	66	35	.	.	PUNCT
asir-36637	67	1	by	by	ADP
asir-36637	67	2	bringing	bring	VERB
asir-36637	67	3	the	the	DET
asir-36637	67	4	second	second	ADJ
asir-36637	67	5	equation	equation	NOUN
asir-36637	67	6	in	in	ADP
asir-36637	67	7	equation	equation	NOUN
asir-36637	67	8	(	(	PUNCT
asir-36637	67	9	1	1	NUM
asir-36637	67	10	)	)	PUNCT
asir-36637	67	11	into	into	ADP
asir-36637	67	12	the	the	DET
asir-36637	67	13	time	time	NOUN
asir-36637	67	14	derivative	derivative	NOUN
asir-36637	67	15	of	of	ADP
asir-36637	67	16	2z	2z	NUM
asir-36637	67	17	,	,	PUNCT
asir-36637	67	18	we	we	PRON
asir-36637	67	19	can	can	AUX
asir-36637	67	20	get	get	VERB
asir-36637	67	21	:	:	PUNCT
asir-36637	67	22	112	112	NUM
asir-36637	67	23	~	~	NUM
asir-36637	67	24	)	)	PUNCT
asir-36637	67	25	(	(	PUNCT
asir-36637	67	26			X
asir-36637	67	27			ADP
asir-36637	67	28			NOUN
asir-36637	67	29	quyxzyz	quyxzyz	NOUN
asir-36637	67	30	(	(	PUNCT
asir-36637	67	31	13	13	NUM
asir-36637	67	32	)	)	PUNCT
asir-36637	67	33	proposed	propose	VERB
asir-36637	67	34	control	control	NOUN
asir-36637	67	35	law	law	NOUN
asir-36637	67	36	is	be	AUX
asir-36637	67	37	as	as	SCONJ
asir-36637	67	38	follows	follow	VERB
asir-36637	67	39	:	:	PUNCT
asir-36637	67	40	221)ˆ(~	221)ˆ(~	NUM
asir-36637	67	41	zkyxzuq	zkyxzuq	PROPN
asir-36637	67	42			NOUN
asir-36637	67	43			NOUN
asir-36637	67	44			NOUN
asir-36637	67	45	（	（	PUNCT
asir-36637	68	1	14	14	NUM
asir-36637	68	2	）	）	NOUN
asir-36637	68	3	put	put	VERB
asir-36637	68	4	formula	formula	NOUN
asir-36637	68	5	(	(	PUNCT
asir-36637	68	6	14	14	NUM
asir-36637	68	7	)	)	PUNCT
asir-36637	68	8	into	into	ADP
asir-36637	68	9	formula	formula	NOUN
asir-36637	68	10	(	(	PUNCT
asir-36637	68	11	13	13	NUM
asir-36637	68	12	)	)	PUNCT
asir-36637	68	13	we	we	PRON
asir-36637	68	14	obtain	obtain	VERB
asir-36637	68	15	222	222	NUM
asir-36637	68	16	~	~	PUNCT
asir-36637	68	17	zkxz	zkxz	NOUN
asir-36637	68	18			PUNCT
asir-36637	68	19			X
asir-36637	68	20	.	.	PUNCT
asir-36637	69	1	3.5	3.5	NUM
asir-36637	69	2	the	the	DET
asir-36637	69	3	design	design	NOUN
asir-36637	69	4	of	of	ADP
asir-36637	69	5	the	the	DET
asir-36637	69	6	robust	robust	ADJ
asir-36637	69	7	feedback	feedback	NOUN
asir-36637	69	8	item	item	NOUN
asir-36637	69	9	s1	s1	NOUN
asir-36637	69	10	nonlinear	nonlinear	ADJ
asir-36637	69	11	robust	robust	ADJ
asir-36637	69	12	feedback	feedback	NOUN
asir-36637	69	13	item	item	NOUN
asir-36637	69	14	s1	s1	NOUN
asir-36637	69	15	is	be	AUX
asir-36637	69	16	designed	design	VERB
asir-36637	69	17	to	to	PART
asir-36637	69	18	eliminate	eliminate	VERB
asir-36637	69	19	the	the	DET
asir-36637	69	20	influence	influence	NOUN
asir-36637	69	21	of	of	ADP
asir-36637	69	22	ltz	ltz	PROPN
asir-36637	69	23	~~	~~	NUM
asir-36637	69	24	2	2	NUM
asir-36637	69	25			NOUN
asir-36637	69	26	on	on	ADP
asir-36637	69	27	the	the	DET
asir-36637	69	28	system	system	NOUN
asir-36637	69	29	stability	stability	NOUN
asir-36637	69	30	.	.	PUNCT
asir-36637	70	1	while	while	SCONJ
asir-36637	70	2	ltz	ltz	PROPN
asir-36637	70	3	~~	~~	NUM
asir-36637	70	4	2	2	NUM
asir-36637	70	5			PUNCT
asir-36637	70	6	is	be	AUX
asir-36637	70	7	unknown	unknown	ADJ
asir-36637	70	8	,	,	PUNCT
asir-36637	70	9	but	but	CCONJ
asir-36637	70	10	it	it	PRON
asir-36637	70	11	has	have	VERB
asir-36637	70	12	a	a	DET
asir-36637	70	13	definite	definite	ADJ
asir-36637	70	14	boundary	boundary	NOUN
asir-36637	70	15	of	of	ADP
asir-36637	70	16	determination	determination	NOUN
asir-36637	70	17	h	h	NOUN
asir-36637	70	18	,	,	PUNCT
asir-36637	70	19	which	which	PRON
asir-36637	70	20	is	be	AUX
asir-36637	70	21	htz	htz	PROPN
asir-36637	70	22	l	l	NOUN
asir-36637	70	23			PROPN
asir-36637	70	24	~~	~~	X
asir-36637	70	25	2	2	NUM
asir-36637	70	26	,	,	PUNCT
asir-36637	70	27	we	we	PRON
asir-36637	70	28	can	can	AUX
asir-36637	70	29	choose	choose	VERB
asir-36637	70	30	a	a	DET
asir-36637	70	31	robust	robust	ADJ
asir-36637	70	32	feedback	feedback	NOUN
asir-36637	70	33	as	as	SCONJ
asir-36637	70	34	follows	follow	VERB
asir-36637	70	35	to	to	PART
asir-36637	70	36	overcome	overcome	VERB
asir-36637	70	37	the	the	DET
asir-36637	70	38	instability	instability	NOUN
asir-36637	70	39	causes	cause	VERB
asir-36637	70	40	actuator	actuator	NOUN
asir-36637	70	41	jitter	jitter	NOUN
asir-36637	70	42	shortcomings	shortcoming	NOUN
asir-36637	70	43	according	accord	VERB
asir-36637	70	44	to	to	ADP
asir-36637	70	45	the	the	DET
asir-36637	70	46	ideas	idea	NOUN
asir-36637	70	47	of	of	ADP
asir-36637	70	48	the	the	DET
asir-36637	70	49	sliding	slide	VERB
asir-36637	70	50	mode	mode	NOUN
asir-36637	70	51	control	control	NOUN
asir-36637	70	52	:	:	PUNCT
asir-36637	70	53	11	11	NUM
asir-36637	70	54	4	4	NUM
asir-36637	70	55	z	z	NOUN
asir-36637	70	56	h	h	NOUN
asir-36637	70	57	hs	hs	PROPN
asir-36637	70	58			PROPN
asir-36637	70	59			X
asir-36637	70	60			NOUN
asir-36637	70	61	(	(	PUNCT
asir-36637	70	62	15	15	NUM
asir-36637	70	63	)	)	PUNCT
asir-36637	70	64	where	where	SCONJ
asir-36637	70	65			PROPN
asir-36637	70	66	is	be	AUX
asir-36637	70	67	the	the	DET
asir-36637	70	68	bounded	bounded	ADJ
asir-36637	70	69	positive	positive	ADJ
asir-36637	70	70	scalar	scalar	NOUN
asir-36637	70	71	of	of	ADP
asir-36637	70	72	control	control	NOUN
asir-36637	70	73	precision	precision	NOUN
asir-36637	70	74	,	,	PUNCT
asir-36637	70	75	1	1	NUM
asir-36637	70	76	4	4	NUM
asir-36637	70	77	z	z	NOUN
asir-36637	70	78	h	h	NOUN
asir-36637	70	79			PROPN
asir-36637	70	80	is	be	AUX
asir-36637	70	81	the	the	DET
asir-36637	70	82	continuous	continuous	ADJ
asir-36637	70	83	approximation	approximation	NOUN
asir-36637	70	84	function	function	NOUN
asir-36637	70	85	of	of	ADP
asir-36637	70	86	)	)	PUNCT
asir-36637	70	87	sgn	sgn	NOUN
asir-36637	70	88	(	(	PUNCT
asir-36637	70	89	1z	1z	NOUN
asir-36637	70	90	,	,	PUNCT
asir-36637	70	91	through	through	ADP
asir-36637	70	92	which	which	PRON
asir-36637	70	93	we	we	PRON
asir-36637	70	94	can	can	AUX
asir-36637	70	95	effectively	effectively	ADV
asir-36637	70	96	solve	solve	VERB
asir-36637	70	97	the	the	DET
asir-36637	70	98	problem	problem	NOUN
asir-36637	70	99	of	of	ADP
asir-36637	70	100	jitter	jitter	NOUN
asir-36637	70	101	.	.	PUNCT
asir-36637	71	1	3.6	3.6	NUM
asir-36637	71	2	the	the	DET
asir-36637	71	3	design	design	NOUN
asir-36637	71	4	of	of	ADP
asir-36637	71	5	control	control	NOUN
asir-36637	71	6	law	law	NOUN
asir-36637	71	7	du~	du~	PROPN
asir-36637	71	8	nonlinear	nonlinear	ADJ
asir-36637	71	9	feedback	feedback	NOUN
asir-36637	71	10	control	control	NOUN
asir-36637	71	11	law	law	NOUN
asir-36637	71	12	is	be	AUX
asir-36637	71	13	proposed	propose	VERB
asir-36637	71	14	as	as	SCONJ
asir-36637	71	15	follows	follow	VERB
asir-36637	71	16	:	:	PUNCT
asir-36637	71	17	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-36637	71	18	applied	apply	VERB
asir-36637	71	19	science	science	NOUN
asir-36637	71	20	and	and	CCONJ
asir-36637	71	21	innovative	innovative	ADJ
asir-36637	71	22	research	research	NOUN
asir-36637	71	23	vol	vol	NOUN
asir-36637	71	24	.	.	PROPN
asir-36637	72	1	8	8	NUM
asir-36637	72	2	,	,	PUNCT
asir-36637	72	3	no	no	INTJ
asir-36637	72	4	.	.	NOUN
asir-36637	72	5	2	2	NUM
asir-36637	72	6	,	,	PUNCT
asir-36637	72	7	2024	2024	NUM
asir-36637	72	8	39	39	NUM
asir-36637	72	9	published	publish	VERB
asir-36637	72	10	by	by	ADP
asir-36637	72	11	scholink	scholink	PROPN
asir-36637	72	12	inc	inc	PROPN
asir-36637	72	13	.	.	PROPN
asir-36637	72	14	dd	dd	PROPN
asir-36637	72	15	zzkxyzu	zzkxyzu	PROPN
asir-36637	72	16			PROPN
asir-36637	72	17	33	33	NUM
asir-36637	72	18	~	~	PUNCT
asir-36637	72	19	（	（	PUNCT
asir-36637	73	1	16	16	NUM
asir-36637	73	2	）	）	PUNCT
asir-36637	73	3	where	where	SCONJ
asir-36637	73	4	03	03	NUM
asir-36637	73	5	k	k	PROPN
asir-36637	73	6	.	.	PUNCT
asir-36637	74	1	put	put	VERB
asir-36637	74	2	formula	formula	NOUN
asir-36637	74	3	(	(	PUNCT
asir-36637	74	4	16	16	NUM
asir-36637	74	5	)	)	PUNCT
asir-36637	74	6	into	into	ADP
asir-36637	74	7	the	the	DET
asir-36637	74	8	third	third	ADJ
asir-36637	74	9	equation	equation	NOUN
asir-36637	74	10	of	of	ADP
asir-36637	74	11	formula	formula	NOUN
asir-36637	74	12	(	(	PUNCT
asir-36637	74	13	3	3	NUM
asir-36637	74	14	)	)	PUNCT
asir-36637	74	15	,	,	PUNCT
asir-36637	74	16	then	then	ADV
asir-36637	74	17	we	we	PRON
asir-36637	74	18	can	can	AUX
asir-36637	74	19	obtain	obtain	VERB
asir-36637	74	20	：	：	PUNCT
asir-36637	74	21	dzzkz	dzzkz	PROPN
asir-36637	74	22			NOUN
asir-36637	74	23			NUM
asir-36637	74	24	33	33	NUM
asir-36637	74	25	（	（	SYM
asir-36637	74	26	17	17	NUM
asir-36637	74	27	）	）	NOUN
asir-36637	74	28	put	put	VERB
asir-36637	74	29	formula	formula	NOUN
asir-36637	74	30	(	(	PUNCT
asir-36637	74	31	17	17	NUM
asir-36637	74	32	)	)	PUNCT
asir-36637	74	33	into	into	ADP
asir-36637	74	34	the	the	DET
asir-36637	74	35	error	error	NOUN
asir-36637	74	36	dynamic	dynamic	ADJ
asir-36637	74	37	equation	equation	NOUN
asir-36637	74	38	dzzz	dzzz	NOUN
asir-36637	74	39			PROPN
asir-36637	74	40	3	3	NOUN
asir-36637	74	41	,	,	PUNCT
asir-36637	74	42	then	then	ADV
asir-36637	74	43	we	we	PRON
asir-36637	74	44	can	can	AUX
asir-36637	74	45	obtain	obtain	VERB
asir-36637	74	46	dzzkz	dzzkz	NOUN
asir-36637	74	47			NOUN
asir-36637	74	48			NUM
asir-36637	74	49	33	33	NUM
asir-36637	74	50	.	.	PUNCT
asir-36637	75	1	the	the	DET
asir-36637	75	2	error	error	NOUN
asir-36637	75	3	dynamics	dynamic	NOUN
asir-36637	75	4	equation	equation	NOUN
asir-36637	75	5	of	of	ADP
asir-36637	75	6	exponential	exponential	ADJ
asir-36637	75	7	stability	stability	NOUN
asir-36637	75	8	are	be	AUX
asir-36637	75	9	as	as	SCONJ
asir-36637	75	10	follows	follow	VERB
asir-36637	75	11	:	:	PUNCT
asir-36637	75	12	)	)	PUNCT
asir-36637	75	13	exp()0	exp()0	NOUN
asir-36637	75	14	(	(	PUNCT
asir-36637	75	15	)	)	PUNCT
asir-36637	75	16	(	(	PUNCT
asir-36637	75	17	33	33	NUM
asir-36637	75	18	tkztz	tkztz	NOUN
asir-36637	75	19			ADV
asir-36637	75	20	（	（	PUNCT
asir-36637	75	21	18	18	NUM
asir-36637	75	22	）	）	NOUN
asir-36637	75	23	this	this	PRON
asir-36637	75	24	ensures	ensure	VERB
asir-36637	75	25	that	that	SCONJ
asir-36637	75	26	the	the	DET
asir-36637	75	27	tracking	tracking	NOUN
asir-36637	75	28	error	error	NOUN
asir-36637	75	29	3z	3z	NUM
asir-36637	75	30	is	be	AUX
asir-36637	75	31	global	global	ADJ
asir-36637	75	32	uniform	uniform	ADJ
asir-36637	75	33	stability	stability	NOUN
asir-36637	75	34	,	,	PUNCT
asir-36637	75	35	according	accord	VERB
asir-36637	75	36	to	to	ADP
asir-36637	75	37	the	the	DET
asir-36637	75	38	above	above	ADJ
asir-36637	75	39	mentioned	mention	VERB
asir-36637	75	40	we	we	PRON
asir-36637	75	41	know	know	VERB
asir-36637	75	42	that	that	SCONJ
asir-36637	75	43	the	the	DET
asir-36637	75	44	system	system	NOUN
asir-36637	75	45	state	state	NOUN
asir-36637	75	46	z	z	PROPN
asir-36637	75	47	will	will	AUX
asir-36637	75	48	converge	converge	VERB
asir-36637	75	49	to	to	ADP
asir-36637	75	50	the	the	DET
asir-36637	75	51	desired	desire	VERB
asir-36637	75	52	output	output	NOUN
asir-36637	75	53	trajectory	trajectory	NOUN
asir-36637	75	54	dz	dz	PROPN
asir-36637	75	55	.	.	PUNCT
asir-36637	76	1	4	4	X
asir-36637	76	2	.	.	X
asir-36637	76	3	stability	stability	NOUN
asir-36637	76	4	analysis	analysis	NOUN
asir-36637	76	5	using	use	VERB
asir-36637	76	6	adaptive	adaptive	ADJ
asir-36637	76	7	robust	robust	ADJ
asir-36637	76	8	control	control	NOUN
asir-36637	76	9	law	law	NOUN
asir-36637	76	10	(	(	PUNCT
asir-36637	76	11	14	14	NUM
asir-36637	76	12	)	)	PUNCT
asir-36637	76	13	and	and	CCONJ
asir-36637	76	14	the	the	DET
asir-36637	76	15	parameter	parameter	NOUN
asir-36637	76	16	adaptive	adaptive	ADJ
asir-36637	76	17	law	law	NOUN
asir-36637	76	18	(	(	PUNCT
asir-36637	76	19	4	4	NUM
asir-36637	76	20	)	)	PUNCT
asir-36637	76	21	and	and	CCONJ
asir-36637	76	22	(	(	PUNCT
asir-36637	76	23	5	5	NUM
asir-36637	76	24	)	)	PUNCT
asir-36637	76	25	,	,	PUNCT
asir-36637	76	26	to	to	PART
asir-36637	76	27	ensure	ensure	VERB
asir-36637	76	28	the	the	DET
asir-36637	76	29	prescribed	prescribed	ADJ
asir-36637	76	30	transient	transient	NOUN
asir-36637	76	31	and	and	CCONJ
asir-36637	76	32	steady	steady	ADJ
asir-36637	76	33	-	-	PUNCT
asir-36637	76	34	state	state	NOUN
asir-36637	76	35	performance	performance	NOUN
asir-36637	76	36	in	in	ADP
asir-36637	76	37	the	the	DET
asir-36637	76	38	system	system	NOUN
asir-36637	76	39	output	output	NOUN
asir-36637	76	40	tracking	tracking	NOUN
asir-36637	76	41	of	of	ADP
asir-36637	76	42	x	x	X
asir-36637	76	43	,	,	PUNCT
asir-36637	76	44	the	the	DET
asir-36637	76	45	tracking	tracking	NOUN
asir-36637	76	46	error	error	NOUN
asir-36637	76	47	is	be	AUX
asir-36637	76	48	converged	converge	VERB
asir-36637	76	49	by	by	ADP
asir-36637	76	50	a	a	DET
asir-36637	76	51	known	know	VERB
asir-36637	76	52	function	function	NOUN
asir-36637	76	53	to	to	ADP
asir-36637	76	54	no	no	DET
asir-36637	76	55	less	less	ADJ
asir-36637	76	56	than	than	ADP
asir-36637	76	57	the	the	DET
asir-36637	76	58	index	index	NOUN
asir-36637	76	59	of	of	ADP
asir-36637	76	60	convergence	convergence	NOUN
asir-36637	76	61	and	and	CCONJ
asir-36637	76	62	convergence	convergence	NOUN
asir-36637	76	63	speed	speed	NOUN
asir-36637	76	64	of	of	ADP
asir-36637	76	65	1k	1k	ADJ
asir-36637	76	66			NOUN
asir-36637	76	67	and	and	CCONJ
asir-36637	76	68	the	the	DET
asir-36637	76	69	convergence	convergence	NOUN
asir-36637	76	70	rate	rate	NOUN
asir-36637	76	71	is	be	AUX
asir-36637	76	72	not	not	PART
asir-36637	76	73	less	less	ADJ
asir-36637	76	74	than	than	ADP
asir-36637	76	75	1k	1k	NUM
asir-36637	76	76	.	.	PUNCT
asir-36637	77	1	select	select	ADJ
asir-36637	77	2	lyapunov	lyapunov	ADJ
asir-36637	77	3	functions	function	NOUN
asir-36637	77	4	:	:	PUNCT
asir-36637	77	5	2	2	NUM
asir-36637	77	6	1	1	NUM
asir-36637	77	7	2	2	NUM
asir-36637	77	8	1	1	NUM
asir-36637	77	9	zvs	zvs	NOUN
asir-36637	77	10			NOUN
asir-36637	78	1	(	(	PUNCT
asir-36637	78	2	19	19	NUM
asir-36637	78	3	)	)	PUNCT
asir-36637	78	4	derivative	derivative	NOUN
asir-36637	78	5	of	of	ADP
asir-36637	78	6	formula	formula	NOUN
asir-36637	78	7	(	(	PUNCT
asir-36637	78	8	19	19	NUM
asir-36637	78	9	)	)	PUNCT
asir-36637	78	10	available	available	ADJ
asir-36637	78	11	:	:	PUNCT
asir-36637	79	1			NOUN
asir-36637	79	2			NOUN
asir-36637	79	3			PROPN
asir-36637	79	4			NOUN
asir-36637	80	1			NUM
asir-36637	80	2	2	2	NUM
asir-36637	80	3	11211	11211	NUM
asir-36637	80	4	2	2	NUM
asir-36637	80	5	11	11	NUM
asir-36637	80	6	21111	21111	NUM
asir-36637	80	7	11	11	NUM
asir-36637	80	8	)	)	PUNCT
asir-36637	80	9	~~	~~	NOUN
asir-36637	80	10	(	(	PUNCT
asir-36637	80	11	)	)	PUNCT
asir-36637	80	12	~~	~~	NUM
asir-36637	80	13	(	(	PUNCT
asir-36637	80	14	zktzzzk	zktzzzk	NOUN
asir-36637	80	15	tzzkz	tzzkz	NOUN
asir-36637	80	16	zzv	zzv	PROPN
asir-36637	80	17	ls	ls	PROPN
asir-36637	80	18	ls	ls	PROPN
asir-36637	80	19	s	s	PROPN
asir-36637	80	20			NOUN
asir-36637	80	21	(	(	PUNCT
asir-36637	80	22	20	20	NUM
asir-36637	80	23	)	)	PUNCT
asir-36637	80	24	where	where	SCONJ
asir-36637	80	25			AUX
asir-36637	80	26			PROPN
asir-36637	80	27			PROPN
asir-36637	80	28			PROPN
asir-36637	80	29			PROPN
asir-36637	80	30			PROPN
asir-36637	80	31			PROPN
asir-36637	80	32			PROPN
asir-36637	80	33			PROPN
asir-36637	80	34			PROPN
asir-36637	80	35			ADJ
asir-36637	80	36			NOUN
asir-36637	80	37			NUM
asir-36637	80	38			NOUN
asir-36637	80	39			NOUN
asir-36637	80	40			NUM
asir-36637	80	41	2	2	NUM
asir-36637	80	42	1	1	NUM
asir-36637	80	43	1	1	NUM
asir-36637	80	44	2	2	NUM
asir-36637	80	45	1	1	NUM
asir-36637	80	46	21	21	NUM
asir-36637	80	47	2	2	NUM
asir-36637	80	48	1	1	NUM
asir-36637	80	49	21	21	NUM
asir-36637	80	50	2	2	NUM
asir-36637	80	51	1	1	NUM
asir-36637	80	52	211211	211211	NUM
asir-36637	80	53	)	)	PUNCT
asir-36637	80	54	2	2	NUM
asir-36637	80	55	4	4	NUM
asir-36637	80	56	~~	~~	SYM
asir-36637	80	57	4	4	NUM
asir-36637	80	58	)	)	PUNCT
asir-36637	81	1	~~	~~	NOUN
asir-36637	81	2	(	(	PUNCT
asir-36637	81	3	4	4	NUM
asir-36637	81	4	]	]	PUNCT
asir-36637	81	5	~~	~~	NUM
asir-36637	81	6	4	4	NUM
asir-36637	81	7	[	[	NOUN
asir-36637	81	8	)	)	PUNCT
asir-36637	81	9	~~	~~	NOUN
asir-36637	81	10	(	(	PUNCT
asir-36637	81	11	z	z	NOUN
asir-36637	81	12	h	h	NOUN
asir-36637	81	13	hzz	hzz	VERB
asir-36637	81	14	h	h	NOUN
asir-36637	81	15	tzzz	tzzz	NOUN
asir-36637	81	16	h	h	NOUN
asir-36637	81	17	tzzz	tzzz	NOUN
asir-36637	81	18	h	h	NOUN
asir-36637	81	19	tzz	tzz	NOUN
asir-36637	81	20	h	h	NOUN
asir-36637	81	21	hztzz	hztzz	PROPN
asir-36637	81	22	l	l	PROPN
asir-36637	81	23	l	l	NOUN
asir-36637	81	24	lls	lls	X
asir-36637	81	25	（	（	PUNCT
asir-36637	81	26	(	(	PUNCT
asir-36637	81	27	21	21	NUM
asir-36637	81	28	)	)	PUNCT
asir-36637	81	29	then	then	ADV
asir-36637	81	30	)	)	PUNCT
asir-36637	82	1	]	]	X
asir-36637	82	2	2exp(1[)2exp()0	2exp(1[)2exp()0	NUM
asir-36637	82	3	(	(	PUNCT
asir-36637	82	4	1	1	NUM
asir-36637	82	5	1	1	NUM
asir-36637	82	6	1	1	NUM
asir-36637	82	7	2	2	NUM
asir-36637	82	8	1	1	NUM
asir-36637	82	9	2	2	NUM
asir-36637	82	10	1	1	NUM
asir-36637	82	11	tk	tk	NOUN
asir-36637	82	12	k	k	PROPN
asir-36637	82	13	tkzz	tkzz	PROPN
asir-36637	82	14			PROPN
asir-36637	82	15			PROPN
asir-36637	82	16	(	(	PUNCT
asir-36637	82	17	22	22	NUM
asir-36637	82	18	)	)	PUNCT
asir-36637	82	19	from	from	ADP
asir-36637	82	20	formula	formula	NOUN
asir-36637	82	21	(	(	PUNCT
asir-36637	82	22	22	22	NUM
asir-36637	82	23	)	)	PUNCT
asir-36637	82	24	we	we	PRON
asir-36637	82	25	can	can	AUX
asir-36637	82	26	see	see	VERB
asir-36637	82	27	that	that	PRON
asir-36637	82	28	as	as	SCONJ
asir-36637	82	29	the	the	DET
asir-36637	82	30	tracking	tracking	NOUN
asir-36637	82	31	error	error	NOUN
asir-36637	82	32	is	be	AUX
asir-36637	82	33	limited	limit	VERB
asir-36637	82	34	,	,	PUNCT
asir-36637	82	35	the	the	DET
asir-36637	82	36	index	index	NOUN
asir-36637	82	37	converged	converge	VERB
asir-36637	82	38	to	to	ADP
asir-36637	82	39	1k	1k	PROPN
asir-36637	82	40			PROPN
asir-36637	82	41	and	and	CCONJ
asir-36637	82	42	the	the	DET
asir-36637	82	43	convergence	convergence	NOUN
asir-36637	82	44	rate	rate	NOUN
asir-36637	82	45	is	be	AUX
asir-36637	82	46	not	not	PART
asir-36637	82	47	less	less	ADJ
asir-36637	82	48	than	than	ADP
asir-36637	82	49	1k	1k	PRON
asir-36637	82	50	so	so	SCONJ
asir-36637	82	51	as	as	SCONJ
asir-36637	82	52	to	to	PART
asir-36637	82	53	guarantee	guarantee	VERB
asir-36637	82	54	that	that	SCONJ
asir-36637	82	55	the	the	DET
asir-36637	82	56	output	output	NOUN
asir-36637	82	57	tracking	tracking	NOUN
asir-36637	82	58	has	have	AUX
asir-36637	82	59	specified	specify	VERB
asir-36637	82	60	transient	transient	ADJ
asir-36637	82	61	and	and	CCONJ
asir-36637	82	62	steady	steady	ADJ
asir-36637	82	63	state	state	NOUN
asir-36637	82	64	performance	performance	NOUN
asir-36637	82	65	.	.	PUNCT
asir-36637	83	1	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	PROPN
asir-36637	83	2	applied	apply	VERB
asir-36637	83	3	science	science	NOUN
asir-36637	83	4	and	and	CCONJ
asir-36637	83	5	innovative	innovative	ADJ
asir-36637	83	6	research	research	NOUN
asir-36637	83	7	vol	vol	NOUN
asir-36637	83	8	.	.	PROPN
asir-36637	84	1	8	8	NUM
asir-36637	84	2	,	,	PUNCT
asir-36637	84	3	no	no	INTJ
asir-36637	84	4	.	.	NOUN
asir-36637	84	5	2	2	NUM
asir-36637	84	6	,	,	PUNCT
asir-36637	84	7	2024	2024	NUM
asir-36637	84	8	40	40	NUM
asir-36637	84	9	published	publish	VERB
asir-36637	84	10	by	by	ADP
asir-36637	84	11	scholink	scholink	PROPN
asir-36637	84	12	inc	inc	PROPN
asir-36637	84	13	.	.	PROPN
asir-36637	84	14	above	above	ADP
asir-36637	84	15	results	result	NOUN
asir-36637	85	1	show	show	VERB
asir-36637	85	2	that	that	SCONJ
asir-36637	85	3	the	the	DET
asir-36637	85	4	proposed	propose	VERB
asir-36637	85	5	adaptive	adaptive	ADJ
asir-36637	85	6	robust	robust	ADJ
asir-36637	85	7	controller	controller	NOUN
asir-36637	85	8	can	can	AUX
asir-36637	85	9	guarantee	guarantee	VERB
asir-36637	85	10	the	the	DET
asir-36637	85	11	output	output	NOUN
asir-36637	85	12	tracking	track	VERB
asir-36637	85	13	transient	transient	ADJ
asir-36637	85	14	performance	performance	NOUN
asir-36637	85	15	and	and	CCONJ
asir-36637	85	16	tracking	tracking	NOUN
asir-36637	85	17	accuracy	accuracy	NOUN
asir-36637	85	18	in	in	ADP
asir-36637	85	19	the	the	DET
asir-36637	85	20	end	end	NOUN
asir-36637	85	21	.	.	PUNCT
asir-36637	86	1	after	after	ADP
asir-36637	86	2	a	a	DET
asir-36637	86	3	period	period	NOUN
asir-36637	86	4	the	the	DET
asir-36637	86	5	tracking	tracking	NOUN
asir-36637	86	6	error	error	NOUN
asir-36637	86	7	can	can	AUX
asir-36637	86	8	be	be	AUX
asir-36637	86	9	compressed	compress	VERB
asir-36637	86	10	into	into	ADP
asir-36637	86	11	the	the	DET
asir-36637	86	12	scope	scope	NOUN
asir-36637	86	13	of	of	ADP
asir-36637	86	14	the	the	DET
asir-36637	86	15	provisions	provision	NOUN
asir-36637	86	16	by	by	ADP
asir-36637	86	17	reducing	reduce	VERB
asir-36637	86	18	parameter	parameter	NOUN
asir-36637	86	19	can	can	AUX
asir-36637	86	20	be	be	AUX
asir-36637	86	21	any	any	PRON
asir-36637	86	22	smaller	small	ADJ
asir-36637	86	23	.	.	PUNCT
asir-36637	87	1	using	use	VERB
asir-36637	87	2	adaptive	adaptive	ADJ
asir-36637	87	3	robust	robust	ADJ
asir-36637	87	4	control	control	NOUN
asir-36637	87	5	law	law	NOUN
asir-36637	87	6	(	(	PUNCT
asir-36637	87	7	14	14	NUM
asir-36637	87	8	)	)	PUNCT
asir-36637	87	9	and	and	CCONJ
asir-36637	87	10	the	the	DET
asir-36637	87	11	parameter	parameter	NOUN
asir-36637	87	12	adaptive	adaptive	ADJ
asir-36637	87	13	law	law	NOUN
asir-36637	87	14	(	(	PUNCT
asir-36637	87	15	4	4	NUM
asir-36637	87	16	)	)	PUNCT
asir-36637	87	17	and	and	CCONJ
asir-36637	87	18	(	(	PUNCT
asir-36637	87	19	5	5	NUM
asir-36637	87	20	)	)	PUNCT
asir-36637	87	21	to	to	PART
asir-36637	87	22	achieve	achieve	VERB
asir-36637	87	23	asymptotic	asymptotic	ADJ
asir-36637	87	24	output	output	NOUN
asir-36637	87	25	tracking	tracking	NOUN
asir-36637	87	26	of	of	ADP
asir-36637	87	27	x	x	PUNCT
asir-36637	87	28	only	only	ADV
asir-36637	87	29	in	in	ADP
asir-36637	87	30	the	the	DET
asir-36637	87	31	presence	presence	NOUN
asir-36637	87	32	of	of	ADP
asir-36637	87	33	parameter	parameter	NOUN
asir-36637	87	34	uncertainties	uncertainty	NOUN
asir-36637	87	35	.	.	PUNCT
asir-36637	88	1	when	when	SCONJ
asir-36637	88	2	0	0	NUM
asir-36637	88	3	~	~	SYM
asir-36637	88	4	lt	lt	NOUN
asir-36637	88	5	,	,	PUNCT
asir-36637	88	6	construct	construct	VERB
asir-36637	88	7	the	the	DET
asir-36637	88	8	lyapunov	lyapunov	ADJ
asir-36637	88	9	function	function	NOUN
asir-36637	88	10	:	:	PUNCT
asir-36637	88	11	22	22	NUM
asir-36637	88	12	2	2	NUM
asir-36637	88	13	22	22	NUM
asir-36637	88	14	1	1	NUM
asir-36637	88	15	~	~	SYM
asir-36637	88	16	2	2	NUM
asir-36637	88	17	1	1	NUM
asir-36637	88	18	2	2	NUM
asir-36637	88	19	1~	1~	NUM
asir-36637	88	20	2	2	NUM
asir-36637	88	21	1	1	NUM
asir-36637	88	22	2	2	NUM
asir-36637	88	23	1	1	NUM
asir-36637	88	24			NUM
asir-36637	88	25			NOUN
asir-36637	88	26	zzva	zzva	NOUN
asir-36637	88	27	(	(	PUNCT
asir-36637	88	28	23	23	NUM
asir-36637	88	29	)	)	PUNCT
asir-36637	88	30	derivative	derivative	NOUN
asir-36637	88	31	of	of	ADP
asir-36637	88	32	formula	formula	NOUN
asir-36637	88	33	(	(	PUNCT
asir-36637	88	34	23	23	NUM
asir-36637	88	35	)	)	PUNCT
asir-36637	88	36	available	available	ADJ
asir-36637	88	37	:	:	PUNCT
asir-36637	88	38	2	2	NUM
asir-36637	88	39	2	2	NUM
asir-36637	88	40	2	2	NUM
asir-36637	88	41	11	11	NUM
asir-36637	88	42	22~2121~11	22~2121~11	NUM
asir-36637	88	43	2	2	NUM
asir-36637	88	44	2	2	NUM
asir-36637	88	45	2	2	NUM
asir-36637	88	46	11	11	NUM
asir-36637	88	47	2~21~22211121	2~21~22211121	NUM
asir-36637	88	48	2211	2211	NUM
asir-36637	88	49	2	2	NUM
asir-36637	88	50	2	2	NUM
asir-36637	88	51	)	)	PUNCT
asir-36637	88	52	)	)	PUNCT
asir-36637	88	53	(	(	PUNCT
asir-36637	88	54	(	(	PUNCT
asir-36637	88	55	pr~))((pr~	pr~))((pr~	NOUN
asir-36637	88	56	)	)	PUNCT
asir-36637	88	57	(	(	PUNCT
asir-36637	88	58	pr~)(pr~)~()~	pr~)(pr~)~()~	PROPN
asir-36637	88	59	(	(	PUNCT
asir-36637	88	60	~~~~	~~~~	PUNCT
asir-36637	88	61	zkzk	zkzk	PROPN
asir-36637	88	62	xzxzojzzzzojzzkzk	xzxzojzzzzojzzkzk	PROPN
asir-36637	88	63	xzojzzojzkxzzkzz	xzojzzojzkxzzkzz	PROPN
asir-36637	88	64	zzzzv	zzzzv	PROPN
asir-36637	88	65	s	s	PART
asir-36637	88	66	s	s	NOUN
asir-36637	88	67	a	a	DET
asir-36637	88	68			NOUN
asir-36637	88	69			PROPN
asir-36637	88	70			NOUN
asir-36637	88	71			NOUN
asir-36637	88	72			PUNCT
asir-36637	88	73			NOUN
asir-36637	88	74			PRON
asir-36637	88	75			ADJ
asir-36637	88	76			X
asir-36637	89	1			PROPN
asir-36637	89	2	(	(	PUNCT
asir-36637	89	3	24	24	NUM
asir-36637	89	4	)	)	PUNCT
asir-36637	89	5	if	if	SCONJ
asir-36637	89	6	the	the	DET
asir-36637	89	7	unknown	unknown	ADJ
asir-36637	89	8	parameter	parameter	NOUN
asir-36637	89	9	is	be	AUX
asir-36637	89	10	a	a	DET
asir-36637	89	11	constant	constant	ADJ
asir-36637	89	12	,	,	PUNCT
asir-36637	89	13			PROPN
asir-36637	89	14			PROPN
asir-36637	89	15	ˆ~,ˆ~	ˆ~,ˆ~	NOUN
asir-36637	89	16			NUM
asir-36637	89	17	can	can	AUX
asir-36637	89	18	be	be	AUX
asir-36637	89	19	obtained	obtain	VERB
asir-36637	89	20	.	.	PUNCT
asir-36637	90	1	so	so	ADV
asir-36637	90	2	for	for	ADP
asir-36637	90	3	all	all	DET
asir-36637	90	4	time	time	NOUN
asir-36637	90	5	,	,	PUNCT
asir-36637	90	6	there	there	PRON
asir-36637	90	7	is	be	VERB
asir-36637	90	8	)	)	PUNCT
asir-36637	90	9	0	0	NUM
asir-36637	90	10	(	(	PUNCT
asir-36637	90	11	)	)	PUNCT
asir-36637	90	12	(	(	PUNCT
asir-36637	90	13			NUM
asir-36637	90	14	vtv	vtv	PROPN
asir-36637	90	15			NUM
asir-36637	90	16	,	,	PUNCT
asir-36637	90	17	and	and	CCONJ
asir-36637	90	18	we	we	PRON
asir-36637	90	19	can	can	AUX
asir-36637	90	20	obtain	obtain	VERB
asir-36637	90	21	that	that	PRON
asir-36637	90	22			NOUN
asir-36637	90	23			VERB
asir-36637	90	24	llzlz	llzlz	PROPN
asir-36637	90	25	~	~	PROPN
asir-36637	90	26	,	,	PUNCT
asir-36637	90	27	,	,	PUNCT
asir-36637	90	28	21	21	NUM
asir-36637	90	29	.	.	PUNCT
asir-36637	90	30	)	)	PUNCT
asir-36637	90	31	0()]0	0()]0	NOUN
asir-36637	90	32	(	(	PUNCT
asir-36637	90	33	)	)	PUNCT
asir-36637	90	34	(	(	PUNCT
asir-36637	91	1	[	[	NOUN
asir-36637	91	2	)	)	PUNCT
asir-36637	91	3	(	(	PUNCT
asir-36637	91	4	)	)	PUNCT
asir-36637	91	5	(	(	PUNCT
asir-36637	91	6	)	)	PUNCT
asir-36637	91	7	(	(	PUNCT
asir-36637	91	8	0	0	NUM
asir-36637	91	9	2	2	NUM
asir-36637	91	10	22	22	NUM
asir-36637	91	11	2	2	NUM
asir-36637	91	12	1	1	NUM
asir-36637	91	13	0	0	NUM
asir-36637	91	14	1	1	NUM
asir-36637	91	15	aaa	aaa	NOUN
asir-36637	91	16	t	t	PROPN
asir-36637	91	17	a	a	DET
asir-36637	91	18	t	t	NOUN
asir-36637	91	19	vvtvdvvvdvvzkvzk	vvtvdvvvdvvzkvzk	NOUN
asir-36637	91	20			PROPN
asir-36637	91	21			ADJ
asir-36637	91	22			NOUN
asir-36637	91	23	(	(	PUNCT
asir-36637	91	24	25	25	NUM
asir-36637	91	25	)	)	PUNCT
asir-36637	91	26	which	which	PRON
asir-36637	91	27	means	mean	VERB
asir-36637	91	28	that	that	SCONJ
asir-36637	91	29	2221	2221	NUM
asir-36637	91	30	,	,	PUNCT
asir-36637	91	31	lzlz	lzlz	PROPN
asir-36637	91	32			X
asir-36637	91	33	.	.	PUNCT
asir-36637	92	1	from	from	ADP
asir-36637	92	2	formula	formula	NOUN
asir-36637	92	3	(	(	PUNCT
asir-36637	92	4	15	15	NUM
asir-36637	92	5	)	)	PUNCT
asir-36637	92	6	and	and	CCONJ
asir-36637	92	7	formula	formula	NOUN
asir-36637	92	8	(	(	PUNCT
asir-36637	92	9	17	17	NUM
asir-36637	92	10	)	)	PUNCT
asir-36637	92	11	we	we	PRON
asir-36637	92	12	can	can	AUX
asir-36637	92	13	get	get	VERB
asir-36637	92	14			PROPN
asir-36637	92	15			PRON
asir-36637	92	16	lzlz	lzlz	PROPN
asir-36637	92	17	21	21	NUM
asir-36637	92	18	,	,	PUNCT
asir-36637	92	19			NOUN
asir-36637	92	20	and	and	CCONJ
asir-36637	92	21	21	21	NUM
asir-36637	92	22	,	,	PUNCT
asir-36637	92	23	zz	zz	PROPN
asir-36637	92	24	is	be	AUX
asir-36637	92	25	uniform	uniform	ADJ
asir-36637	92	26	continuous	continuous	ADJ
asir-36637	92	27	.	.	PUNCT
asir-36637	93	1	through	through	ADP
asir-36637	93	2	barbalat	barbalat	PROPN
asir-36637	93	3	lemma	lemma	PROPN
asir-36637	93	4	,	,	PUNCT
asir-36637	93	5	asymptotic	asymptotic	ADJ
asir-36637	93	6	output	output	NOUN
asir-36637	93	7	tracking	track	VERB
asir-36637	93	8	only	only	ADV
asir-36637	93	9	acheived	acheive	VERB
asir-36637	93	10	in	in	ADP
asir-36637	93	11	the	the	DET
asir-36637	93	12	presence	presence	NOUN
asir-36637	93	13	of	of	ADP
asir-36637	93	14	parameter	parameter	NOUN
asir-36637	93	15	uncertainties	uncertainty	NOUN
asir-36637	93	16	.	.	PUNCT
asir-36637	94	1	above	above	ADP
asir-36637	94	2	results	result	NOUN
asir-36637	94	3	show	show	VERB
asir-36637	94	4	that	that	SCONJ
asir-36637	94	5	the	the	DET
asir-36637	94	6	proposed	propose	VERB
asir-36637	94	7	adaptive	adaptive	ADJ
asir-36637	94	8	robust	robust	ADJ
asir-36637	94	9	controller	controller	NOUN
asir-36637	94	10	can	can	AUX
asir-36637	94	11	realize	realize	VERB
asir-36637	94	12	asymptotic	asymptotic	ADJ
asir-36637	94	13	output	output	NOUN
asir-36637	94	14	tracking	track	VERB
asir-36637	94	15	only	only	ADV
asir-36637	94	16	in	in	ADP
asir-36637	94	17	the	the	DET
asir-36637	94	18	presence	presence	NOUN
asir-36637	94	19	of	of	ADP
asir-36637	94	20	parameter	parameter	NOUN
asir-36637	94	21	uncertainties	uncertainty	NOUN
asir-36637	94	22	.	.	PUNCT
asir-36637	95	1	5	5	X
asir-36637	95	2	.	.	X
asir-36637	95	3	simulation	simulation	NOUN
asir-36637	95	4	calculation	calculation	NOUN
asir-36637	95	5	results	result	VERB
asir-36637	95	6	parameters	parameter	NOUN
asir-36637	95	7	used	use	VERB
asir-36637	95	8	in	in	ADP
asir-36637	95	9	the	the	DET
asir-36637	95	10	simulation	simulation	NOUN
asir-36637	95	11	test	test	NOUN
asir-36637	95	12	of	of	ADP
asir-36637	95	13	the	the	DET
asir-36637	95	14	permanent	permanent	ADJ
asir-36637	95	15	magnet	magnet	NOUN
asir-36637	95	16	synchronous	synchronous	ADJ
asir-36637	95	17	motor	motor	NOUN
asir-36637	95	18	are	be	AUX
asir-36637	95	19	as	as	SCONJ
asir-36637	95	20	follows	follow	VERB
asir-36637	95	21	:	:	PUNCT
asir-36637	95	22	the	the	DET
asir-36637	95	23	value	value	NOUN
asir-36637	95	24	of	of	ADP
asir-36637	95	25	the	the	DET
asir-36637	95	26	stator	stator	NOUN
asir-36637	95	27	resistance	resistance	NOUN
asir-36637	95	28	is	be	AUX
asir-36637	95	29			ADP
asir-36637	95	30	6.2r	6.2r	NUM
asir-36637	95	31	.	.	PUNCT
asir-36637	96	1	inductance	inductance	NOUN
asir-36637	96	2	values	value	NOUN
asir-36637	96	3	are	be	AUX
asir-36637	96	4	hll	hll	PROPN
asir-36637	96	5	qd	qd	PROPN
asir-36637	96	6	05.0	05.0	NUM
asir-36637	96	7	hla	hla	VERB
asir-36637	96	8	05.0	05.0	NOUN
asir-36637	96	9	.	.	PUNCT
asir-36637	97	1	the	the	DET
asir-36637	97	2	magnetic	magnetic	ADJ
asir-36637	97	3	poles	pole	NOUN
asir-36637	97	4	logarithmic	logarithmic	NOUN
asir-36637	97	5	is	be	AUX
asir-36637	97	6	4np	4np	NOUN
asir-36637	97	7	.	.	PUNCT
asir-36637	98	1	the	the	DET
asir-36637	98	2	rotor	rotor	NOUN
asir-36637	98	3	flux	flux	NOUN
asir-36637	98	4	amplitude	amplitude	NOUN
asir-36637	98	5	is	be	AUX
asir-36637	98	6	wbf	wbf	PROPN
asir-36637	98	7	48.0	48.0	NUM
asir-36637	98	8	.	.	PUNCT
asir-36637	99	1	the	the	DET
asir-36637	99	2	equivalent	equivalent	ADJ
asir-36637	99	3	inertia	inertia	NOUN
asir-36637	99	4	is	be	AUX
asir-36637	99	5	2510627.2	2510627.2	NUM
asir-36637	99	6	mkgjequ	mkgjequ	X
asir-36637	99	7			PUNCT
asir-36637	99	8			VERB
asir-36637	99	9	.	.	PUNCT
asir-36637	100	1	equivalent	equivalent	ADJ
asir-36637	100	2	viscous	viscous	ADJ
asir-36637	100	3	friction	friction	NOUN
asir-36637	100	4	coefficient	coefficient	NOUN
asir-36637	100	5	is	be	AUX
asir-36637	100	6	nsbequ	nsbequ	NOUN
asir-36637	100	7	21043.1	21043.1	NUM
asir-36637	100	8			PROPN
asir-36637	100	9	.	.	PUNCT
asir-36637	101	1	5.10	5.10	NUM
asir-36637	101	2	,	,	PUNCT
asir-36637	101	3	8.24	8.24	PRON
asir-36637	101	4	can	can	AUX
asir-36637	101	5	be	be	AUX
asir-36637	101	6	obtained	obtain	VERB
asir-36637	101	7	by	by	ADP
asir-36637	101	8	simple	simple	ADJ
asir-36637	101	9	calculation	calculation	NOUN
asir-36637	101	10	,	,	PUNCT
asir-36637	101	11	at	at	ADP
asir-36637	101	12	the	the	DET
asir-36637	101	13	same	same	ADJ
asir-36637	101	14	time	time	NOUN
asir-36637	101	15	the	the	DET
asir-36637	101	16	system	system	NOUN
asir-36637	101	17	is	be	AUX
asir-36637	101	18	in	in	ADP
asir-36637	101	19	a	a	DET
asir-36637	101	20	state	state	NOUN
asir-36637	101	21	of	of	ADP
asir-36637	101	22	chaos	chaos	NOUN
asir-36637	101	23	movement	movement	NOUN
asir-36637	101	24	.	.	PUNCT
asir-36637	102	1	5.1	5.1	NUM
asir-36637	102	2	track	track	NOUN
asir-36637	102	3	constant	constant	ADJ
asir-36637	102	4	desired	desire	VERB
asir-36637	102	5	output	output	NOUN
asir-36637	102	6	set	set	VERB
asir-36637	102	7	the	the	DET
asir-36637	102	8	x	x	PUNCT
asir-36637	102	9	control	control	NOUN
asir-36637	102	10	target	target	NOUN
asir-36637	102	11	as	as	ADP
asir-36637	102	12	6dx	6dx	NOUN
asir-36637	102	13	and	and	CCONJ
asir-36637	102	14	the	the	DET
asir-36637	102	15	z	z	NOUN
asir-36637	102	16	as	as	ADP
asir-36637	102	17	0dz	0dz	NOUN
asir-36637	102	18	.	.	PUNCT
asir-36637	103	1	the	the	DET
asir-36637	103	2	simulation	simulation	NOUN
asir-36637	103	3	results	result	NOUN
asir-36637	103	4	is	be	AUX
asir-36637	103	5	mainly	mainly	ADV
asir-36637	103	6	used	use	VERB
asir-36637	103	7	to	to	PART
asir-36637	103	8	track	track	VERB
asir-36637	103	9	the	the	DET
asir-36637	103	10	constant	constant	ADJ
asir-36637	103	11	desired	desire	VERB
asir-36637	103	12	output	output	NOUN
asir-36637	103	13	trajectory	trajectory	NOUN
asir-36637	103	14	.	.	PUNCT
asir-36637	104	1	if	if	SCONJ
asir-36637	104	2	the	the	DET
asir-36637	104	3	external	external	ADJ
asir-36637	104	4	load	load	NOUN
asir-36637	104	5	torque	torque	NOUN
asir-36637	104	6	disturbance	disturbance	NOUN
asir-36637	104	7	is	be	AUX
asir-36637	104	8	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-36637	104	9	applied	apply	VERB
asir-36637	104	10	science	science	NOUN
asir-36637	104	11	and	and	CCONJ
asir-36637	104	12	innovative	innovative	ADJ
asir-36637	104	13	research	research	NOUN
asir-36637	104	14	vol	vol	NOUN
asir-36637	104	15	.	.	PROPN
asir-36637	104	16	8	8	NUM
asir-36637	104	17	,	,	PUNCT
asir-36637	104	18	no	no	INTJ
asir-36637	104	19	.	.	NOUN
asir-36637	104	20	2	2	NUM
asir-36637	104	21	,	,	PUNCT
asir-36637	104	22	2024	2024	NUM
asir-36637	104	23	41	41	NUM
asir-36637	104	24	published	publish	VERB
asir-36637	104	25	by	by	ADP
asir-36637	104	26	scholink	scholink	PROPN
asir-36637	104	27	inc	inc	PROPN
asir-36637	104	28	.	.	PROPN
asir-36637	104	29	)	)	PUNCT
asir-36637	104	30	sin(1.00.6	sin(1.00.6	NOUN
asir-36637	104	31	~	~	PUNCT
asir-36637	104	32	ttl	ttl	PROPN
asir-36637	104	33			ADV
asir-36637	104	34	,	,	PUNCT
asir-36637	104	35	the	the	DET
asir-36637	104	36	boundary	boundary	NOUN
asir-36637	104	37	of	of	ADP
asir-36637	104	38	the	the	DET
asir-36637	104	39	̂	̂	NOUN
asir-36637	104	40	is	be	AUX
asir-36637	104	41	[	[	X
asir-36637	104	42	0	0	NUM
asir-36637	104	43	,	,	PUNCT
asir-36637	104	44	10	10	NUM
asir-36637	104	45	]	]	PUNCT
asir-36637	104	46	,	,	PUNCT
asir-36637	104	47	the	the	DET
asir-36637	104	48	boundary	boundary	NOUN
asir-36637	104	49	of	of	ADP
asir-36637	104	50	the	the	DET
asir-36637	104	51	̂	̂	NOUN
asir-36637	104	52	is	be	AUX
asir-36637	104	53	[	[	X
asir-36637	104	54	0	0	NUM
asir-36637	104	55	,	,	PUNCT
asir-36637	104	56	50	50	NUM
asir-36637	104	57	]	]	PUNCT
asir-36637	104	58	,	,	PUNCT
asir-36637	104	59	0.5	0.5	NUM
asir-36637	104	60	,	,	PUNCT
asir-36637	104	61	,	,	PUNCT
asir-36637	104	62	321	321	NUM
asir-36637	104	63	kkk	kkk	NOUN
asir-36637	104	64	represents	represent	VERB
asir-36637	104	65	the	the	DET
asir-36637	104	66	feedback	feedback	NOUN
asir-36637	104	67	gain	gain	NOUN
asir-36637	104	68	,	,	PUNCT
asir-36637	104	69			PROPN
asir-36637	104	70	represents	represent	VERB
asir-36637	104	71	tracking	tracking	NOUN
asir-36637	104	72	accuracy	accuracy	NOUN
asir-36637	104	73	.	.	PUNCT
asir-36637	105	1	when	when	SCONJ
asir-36637	105	2	it	it	PRON
asir-36637	105	3	is	be	AUX
asir-36637	105	4	reduced	reduce	VERB
asir-36637	105	5	,	,	PUNCT
asir-36637	105	6	tracking	tracking	NOUN
asir-36637	105	7	error	error	NOUN
asir-36637	105	8	will	will	AUX
asir-36637	105	9	be	be	AUX
asir-36637	105	10	smaller	small	ADJ
asir-36637	105	11	accordingly	accordingly	ADV
asir-36637	105	12	.	.	PUNCT
asir-36637	106	1	when	when	SCONJ
asir-36637	106	2			PROPN
asir-36637	106	3	is	be	AUX
asir-36637	106	4	further	far	ADV
asir-36637	106	5	reduced	reduce	VERB
asir-36637	106	6	,	,	PUNCT
asir-36637	106	7	however	however	ADV
asir-36637	106	8	,	,	PUNCT
asir-36637	106	9	the	the	DET
asir-36637	106	10	controller	controller	NOUN
asir-36637	106	11	robust	robust	ADJ
asir-36637	106	12	part	part	NOUN
asir-36637	106	13	of	of	ADP
asir-36637	106	14	the	the	DET
asir-36637	106	15	feedback	feedback	NOUN
asir-36637	106	16	gain	gain	NOUN
asir-36637	106	17	get	get	VERB
asir-36637	106	18	bigger	big	ADJ
asir-36637	106	19	,	,	PUNCT
asir-36637	106	20	leading	lead	VERB
asir-36637	106	21	to	to	ADP
asir-36637	106	22	serious	serious	ADJ
asir-36637	106	23	control	control	NOUN
asir-36637	106	24	input	input	NOUN
asir-36637	106	25	jitter	jitter	NOUN
asir-36637	106	26	,	,	PUNCT
asir-36637	106	27	and	and	CCONJ
asir-36637	106	28	system	system	NOUN
asir-36637	106	29	instability	instability	NOUN
asir-36637	106	30	.	.	PUNCT
asir-36637	107	1	therefore	therefore	ADV
asir-36637	107	2	,	,	PUNCT
asir-36637	107	3			PROPN
asir-36637	107	4	is	be	AUX
asir-36637	107	5	always	always	ADV
asir-36637	107	6	present	present	ADJ
asir-36637	107	7	with	with	ADP
asir-36637	107	8	the	the	DET
asir-36637	107	9	lower	low	ADJ
asir-36637	107	10	limit	limit	NOUN
asir-36637	107	11	,	,	PUNCT
asir-36637	107	12	so	so	SCONJ
asir-36637	107	13	that	that	SCONJ
asir-36637	107	14	we	we	PRON
asir-36637	107	15	can	can	AUX
asir-36637	107	16	restricate	restricate	VERB
asir-36637	107	17	the	the	DET
asir-36637	107	18	tracking	tracking	NOUN
asir-36637	107	19	accuracy	accuracy	NOUN
asir-36637	107	20	.	.	PUNCT
asir-36637	108	1			PROPN
asir-36637	108	2	needed	need	VERB
asir-36637	108	3	to	to	PART
asir-36637	108	4	be	be	AUX
asir-36637	108	5	an	an	DET
asir-36637	108	6	appropriate	appropriate	ADJ
asir-36637	108	7	value	value	NOUN
asir-36637	108	8	,	,	PUNCT
asir-36637	108	9	and	and	CCONJ
asir-36637	108	10	the	the	DET
asir-36637	108	11	value	value	NOUN
asir-36637	108	12	of	of	ADP
asir-36637	108	13			PROPN
asir-36637	108	14	is	be	AUX
asir-36637	108	15	0.1	0.1	NUM
asir-36637	108	16	here	here	ADV
asir-36637	108	17	.	.	PUNCT
asir-36637	109	1	in	in	ADP
asir-36637	109	2	order	order	NOUN
asir-36637	109	3	to	to	PART
asir-36637	109	4	clearly	clearly	ADV
asir-36637	109	5	illustrate	illustrate	VERB
asir-36637	109	6	the	the	DET
asir-36637	109	7	control	control	NOUN
asir-36637	109	8	effect	effect	NOUN
asir-36637	109	9	,	,	PUNCT
asir-36637	109	10	when	when	SCONJ
asir-36637	109	11	the	the	DET
asir-36637	109	12	time	time	NOUN
asir-36637	109	13	is	be	AUX
asir-36637	109	14	50	50	NUM
asir-36637	109	15	seconds	second	NOUN
asir-36637	109	16	,	,	PUNCT
asir-36637	109	17	the	the	DET
asir-36637	109	18	controller	controller	NOUN
asir-36637	109	19	works	work	VERB
asir-36637	109	20	,	,	PUNCT
asir-36637	109	21	and	and	CCONJ
asir-36637	109	22	its	its	PRON
asir-36637	109	23	state	state	NOUN
asir-36637	109	24	variables	variable	NOUN
asir-36637	109	25	is	be	AUX
asir-36637	109	26	shown	show	VERB
asir-36637	109	27	in	in	ADP
asir-36637	109	28	figure	figure	NOUN
asir-36637	109	29	3	3	NUM
asir-36637	109	30	.	.	PUNCT
asir-36637	109	31	figure	figure	NOUN
asir-36637	109	32	3	3	NUM
asir-36637	109	33	.	.	PUNCT
asir-36637	110	1	the	the	DET
asir-36637	110	2	controller	controller	NOUN
asir-36637	110	3	's	's	PART
asir-36637	110	4	system	system	NOUN
asir-36637	110	5	status	status	NOUN
asir-36637	110	6	curve	curve	NOUN
asir-36637	110	7	that	that	PRON
asir-36637	110	8	takes	take	VERB
asir-36637	110	9	effect	effect	NOUN
asir-36637	110	10	at	at	ADP
asir-36637	110	11	50	50	NUM
asir-36637	110	12	seconds	second	NOUN
asir-36637	110	13	figure	figure	NOUN
asir-36637	110	14	4	4	NUM
asir-36637	110	15	.	.	PUNCT
asir-36637	111	1	after	after	ADP
asir-36637	111	2	50	50	NUM
asir-36637	111	3	seconds	second	NOUN
asir-36637	111	4	to	to	PART
asir-36637	111	5	control	control	VERB
asir-36637	111	6	the	the	DET
asir-36637	111	7	input	input	NOUN
asir-36637	111	8	curve	curve	NOUN
asir-36637	111	9	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-36637	111	10	applied	apply	VERB
asir-36637	111	11	science	science	NOUN
asir-36637	111	12	and	and	CCONJ
asir-36637	111	13	innovative	innovative	ADJ
asir-36637	111	14	research	research	NOUN
asir-36637	111	15	vol	vol	NOUN
asir-36637	111	16	.	.	PROPN
asir-36637	111	17	8	8	NUM
asir-36637	111	18	,	,	PUNCT
asir-36637	111	19	no	no	INTJ
asir-36637	111	20	.	.	NOUN
asir-36637	111	21	2	2	NUM
asir-36637	111	22	,	,	PUNCT
asir-36637	111	23	2024	2024	NUM
asir-36637	111	24	42	42	NUM
asir-36637	111	25	published	publish	VERB
asir-36637	111	26	by	by	ADP
asir-36637	111	27	scholink	scholink	PROPN
asir-36637	111	28	inc	inc	PROPN
asir-36637	111	29	.	.	PROPN
asir-36637	111	30	based	base	VERB
asir-36637	111	31	on	on	ADP
asir-36637	111	32	the	the	DET
asir-36637	111	33	above	above	ADJ
asir-36637	111	34	analysis	analysis	NOUN
asir-36637	111	35	we	we	PRON
asir-36637	111	36	can	can	AUX
asir-36637	111	37	know	know	VERB
asir-36637	111	38	,	,	PUNCT
asir-36637	111	39	the	the	DET
asir-36637	111	40	system	system	NOUN
asir-36637	111	41	was	be	AUX
asir-36637	111	42	driven	drive	VERB
asir-36637	111	43	to	to	PART
asir-36637	111	44	be	be	AUX
asir-36637	111	45	a	a	DET
asir-36637	111	46	stable	stable	ADJ
asir-36637	111	47	equilibrium	equilibrium	NOUN
asir-36637	111	48	state	state	NOUN
asir-36637	111	49	,	,	PUNCT
asir-36637	111	50	as	as	SCONJ
asir-36637	111	51	is	be	AUX
asir-36637	111	52	shown	show	VERB
asir-36637	111	53	in	in	ADP
asir-36637	111	54	figure	figure	NOUN
asir-36637	111	55	3	3	NUM
asir-36637	111	56	.	.	PUNCT
asir-36637	111	57	system	system	NOUN
asir-36637	111	58	control	control	NOUN
asir-36637	111	59	input	input	NOUN
asir-36637	111	60	as	as	SCONJ
asir-36637	111	61	shown	show	VERB
asir-36637	111	62	in	in	ADP
asir-36637	111	63	figure	figure	NOUN
asir-36637	111	64	4	4	NUM
asir-36637	111	65	.	.	PUNCT
asir-36637	111	66	system	system	NOUN
asir-36637	111	67	parameter	parameter	NOUN
asir-36637	111	68	estimation	estimation	NOUN
asir-36637	111	69	as	as	SCONJ
asir-36637	111	70	shown	show	VERB
asir-36637	111	71	in	in	ADP
asir-36637	111	72	figure	figure	NOUN
asir-36637	111	73	5	5	NUM
asir-36637	111	74	.	.	PUNCT
asir-36637	112	1	and	and	CCONJ
asir-36637	112	2	from	from	ADP
asir-36637	112	3	this	this	DET
asir-36637	112	4	figure	figure	NOUN
asir-36637	112	5	we	we	PRON
asir-36637	112	6	can	can	AUX
asir-36637	112	7	see	see	VERB
asir-36637	112	8	that	that	SCONJ
asir-36637	112	9	,	,	PUNCT
asir-36637	112	10	the	the	DET
asir-36637	112	11	parameter	parameter	NOUN
asir-36637	112	12	estimate	estimate	NOUN
asir-36637	112	13	just	just	ADV
asir-36637	112	14	converged	converge	VERB
asir-36637	112	15	to	to	ADP
asir-36637	112	16	a	a	DET
asir-36637	112	17	steady	steady	ADJ
asir-36637	112	18	value	value	NOUN
asir-36637	112	19	.	.	PUNCT
asir-36637	113	1	when	when	SCONJ
asir-36637	113	2	lt	lt	NOUN
asir-36637	113	3	~	~	PUNCT
asir-36637	113	4	get	get	VERB
asir-36637	113	5	bigger	big	ADJ
asir-36637	113	6	,	,	PUNCT
asir-36637	113	7	using	use	VERB
asir-36637	113	8	adaptive	adaptive	ADJ
asir-36637	113	9	control	control	NOUN
asir-36637	113	10	law	law	NOUN
asir-36637	113	11	(	(	PUNCT
asir-36637	113	12	hu	hu	PROPN
asir-36637	113	13	,	,	PUNCT
asir-36637	113	14	liu	liu	PROPN
asir-36637	113	15	,	,	PUNCT
asir-36637	113	16	ma	ma	PROPN
asir-36637	113	17	,	,	PUNCT
asir-36637	113	18	&	&	CCONJ
asir-36637	113	19	ullah	ullah	PROPN
asir-36637	113	20	,	,	PUNCT
asir-36637	113	21	2015	2015	NUM
asir-36637	113	22	)	)	PUNCT
asir-36637	113	23	the	the	DET
asir-36637	113	24	parameter	parameter	NOUN
asir-36637	113	25	estimation	estimation	NOUN
asir-36637	113	26	will	will	AUX
asir-36637	113	27	diverge	diverge	VERB
asir-36637	113	28	,	,	PUNCT
asir-36637	113	29	so	so	CCONJ
asir-36637	113	30	the	the	DET
asir-36637	113	31	controller	controller	NOUN
asir-36637	113	32	is	be	AUX
asir-36637	113	33	not	not	PART
asir-36637	113	34	stable	stable	ADJ
asir-36637	113	35	.	.	PUNCT
asir-36637	114	1	controller	controller	NOUN
asir-36637	114	2	proposed	propose	VERB
asir-36637	114	3	in	in	ADP
asir-36637	114	4	this	this	DET
asir-36637	114	5	paper	paper	NOUN
asir-36637	114	6	,	,	PUNCT
asir-36637	114	7	however	however	ADV
asir-36637	114	8	,	,	PUNCT
asir-36637	114	9	is	be	AUX
asir-36637	114	10	only	only	ADV
asir-36637	114	11	adopted	adopt	VERB
asir-36637	114	12	the	the	DET
asir-36637	114	13	discontinuous	discontinuous	ADJ
asir-36637	114	14	projection	projection	NOUN
asir-36637	114	15	method	method	NOUN
asir-36637	114	16	to	to	PART
asir-36637	114	17	improve	improve	VERB
asir-36637	114	18	the	the	DET
asir-36637	114	19	adaptive	adaptive	ADJ
asir-36637	114	20	law	law	NOUN
asir-36637	114	21	,	,	PUNCT
asir-36637	114	22	parameter	parameter	NOUN
asir-36637	114	23	estimation	estimation	NOUN
asir-36637	114	24	can	can	AUX
asir-36637	114	25	be	be	AUX
asir-36637	114	26	kept	keep	VERB
asir-36637	114	27	within	within	ADP
asir-36637	114	28	a	a	DET
asir-36637	114	29	certain	certain	ADJ
asir-36637	114	30	range	range	NOUN
asir-36637	114	31	,	,	PUNCT
asir-36637	114	32	rather	rather	ADV
asir-36637	114	33	than	than	ADP
asir-36637	114	34	diverge	diverge	VERB
asir-36637	114	35	.	.	PUNCT
asir-36637	115	1	therefore	therefore	ADV
asir-36637	115	2	,	,	PUNCT
asir-36637	115	3	it	it	PRON
asir-36637	115	4	ensures	ensure	VERB
asir-36637	115	5	the	the	DET
asir-36637	115	6	finite	finite	ADJ
asir-36637	115	7	model	model	NOUN
asir-36637	115	8	of	of	ADP
asir-36637	115	9	uncertainty	uncertainty	NOUN
asir-36637	115	10	and	and	CCONJ
asir-36637	115	11	the	the	DET
asir-36637	115	12	stability	stability	NOUN
asir-36637	115	13	of	of	ADP
asir-36637	115	14	the	the	DET
asir-36637	115	15	whole	whole	ADJ
asir-36637	115	16	system	system	NOUN
asir-36637	115	17	.	.	PUNCT
asir-36637	116	1	figure	figure	NOUN
asir-36637	116	2	6	6	NUM
asir-36637	116	3	is	be	AUX
asir-36637	116	4	the	the	DET
asir-36637	116	5	adaptive	adaptive	ADJ
asir-36637	116	6	robust	robust	ADJ
asir-36637	116	7	controller	controller	NOUN
asir-36637	116	8	and	and	CCONJ
asir-36637	116	9	the	the	DET
asir-36637	116	10	comparision	comparision	NOUN
asir-36637	116	11	curve	curve	NOUN
asir-36637	116	12	of	of	ADP
asir-36637	116	13	commonly	commonly	ADV
asir-36637	116	14	nonlinear	nonlinear	ADJ
asir-36637	116	15	feedback	feedback	NOUN
asir-36637	116	16	controller	controller	NOUN
asir-36637	116	17	with	with	ADP
asir-36637	116	18	off	off	ADP
asir-36637	116	19	-	-	PUNCT
asir-36637	116	20	line	line	NOUN
asir-36637	116	21	parameter	parameter	NOUN
asir-36637	116	22	estimation	estimation	NOUN
asir-36637	116	23	.	.	PUNCT
asir-36637	117	1	assume	assume	VERB
asir-36637	117	2	the	the	DET
asir-36637	117	3	parameter	parameter	NOUN
asir-36637	117	4	estimation	estimation	NOUN
asir-36637	117	5	0.5	0.5	NUM
asir-36637	117	6	~	~	PUNCT
asir-36637	117	7	,	,	PUNCT
asir-36637	117	8	5.23,5.9	5.23,5.9	NOUN
asir-36637	117	9			VERB
asir-36637	117	10	lt	lt	X
asir-36637	117	11	,	,	PUNCT
asir-36637	117	12	we	we	PRON
asir-36637	117	13	can	can	AUX
asir-36637	117	14	see	see	VERB
asir-36637	117	15	from	from	ADP
asir-36637	117	16	the	the	DET
asir-36637	117	17	figure	figure	NOUN
asir-36637	117	18	6	6	NUM
asir-36637	117	19	that	that	SCONJ
asir-36637	117	20	the	the	DET
asir-36637	117	21	speed	speed	NOUN
asir-36637	117	22	tracking	tracking	NOUN
asir-36637	117	23	error	error	NOUN
asir-36637	117	24	is	be	AUX
asir-36637	117	25	always	always	ADV
asir-36637	117	26	in	in	ADP
asir-36637	117	27	the	the	DET
asir-36637	117	28	steady	steady	ADJ
asir-36637	117	29	state	state	NOUN
asir-36637	117	30	error	error	NOUN
asir-36637	117	31	range	range	NOUN
asir-36637	117	32	(	(	PUNCT
asir-36637	117	33	14.0	14.0	NUM
asir-36637	117	34	1	1	NUM
asir-36637	117	35			SYM
asir-36637	117	36	k	k	ADJ
asir-36637	117	37			PROPN
asir-36637	117	38	,	,	PUNCT
asir-36637	117	39	by	by	ADP
asir-36637	117	40	calculating	calculate	VERB
asir-36637	117	41	)	)	PUNCT
asir-36637	117	42	,	,	PUNCT
asir-36637	117	43	and	and	CCONJ
asir-36637	117	44	when	when	SCONJ
asir-36637	117	45	the	the	DET
asir-36637	117	46	parameter	parameter	NOUN
asir-36637	117	47	estimation	estimation	NOUN
asir-36637	117	48	deviates	deviate	VERB
asir-36637	117	49	from	from	ADP
asir-36637	117	50	the	the	DET
asir-36637	117	51	value	value	NOUN
asir-36637	117	52	of	of	ADP
asir-36637	117	53	the	the	DET
asir-36637	117	54	real	real	ADJ
asir-36637	117	55	,	,	PUNCT
asir-36637	117	56	general	general	ADJ
asir-36637	117	57	nonlinear	nonlinear	ADJ
asir-36637	117	58	feedback	feedback	NOUN
asir-36637	117	59	controller	controller	NOUN
asir-36637	117	60	has	have	VERB
asir-36637	117	61	more	more	ADJ
asir-36637	117	62	tracking	tracking	NOUN
asir-36637	117	63	error	error	NOUN
asir-36637	117	64	.	.	PUNCT
asir-36637	118	1	as	as	ADP
asir-36637	118	2	a	a	DET
asir-36637	118	3	result	result	NOUN
asir-36637	118	4	,	,	PUNCT
asir-36637	118	5	the	the	DET
asir-36637	118	6	adaptive	adaptive	ADJ
asir-36637	118	7	robust	robust	ADJ
asir-36637	118	8	nonlinear	nonlinear	ADJ
asir-36637	118	9	feedback	feedback	NOUN
asir-36637	118	10	controller	controller	NOUN
asir-36637	118	11	to	to	ADP
asir-36637	118	12	external	external	ADJ
asir-36637	118	13	load	load	NOUN
asir-36637	118	14	torque	torque	NOUN
asir-36637	118	15	disturbance	disturbance	NOUN
asir-36637	118	16	has	have	VERB
asir-36637	118	17	better	well	ADJ
asir-36637	118	18	robustness	robustness	NOUN
asir-36637	118	19	,	,	PUNCT
asir-36637	118	20	and	and	CCONJ
asir-36637	118	21	have	have	VERB
asir-36637	118	22	better	well	ADJ
asir-36637	118	23	effect	effect	NOUN
asir-36637	118	24	in	in	ADP
asir-36637	118	25	driving	drive	VERB
asir-36637	118	26	the	the	DET
asir-36637	118	27	speed	speed	NOUN
asir-36637	118	28	to	to	ADP
asir-36637	118	29	expectations	expectation	NOUN
asir-36637	118	30	.	.	PUNCT
asir-36637	119	1	figure	figure	NOUN
asir-36637	119	2	5	5	NUM
asir-36637	119	3	.	.	PUNCT
asir-36637	119	4	system	system	NOUN
asir-36637	119	5	parameter	parameter	PROPN
asir-36637	119	6	estimation	estimation	NOUN
asir-36637	119	7	curve	curve	NOUN
asir-36637	119	8	after	after	ADP
asir-36637	119	9	50	50	NUM
asir-36637	119	10	seconds	second	NOUN
asir-36637	119	11	figure	figure	NOUN
asir-36637	119	12	6	6	NUM
asir-36637	119	13	.	.	PUNCT
asir-36637	119	14	comparison	comparison	NOUN
asir-36637	119	15	curve	curve	NOUN
asir-36637	119	16	of	of	ADP
asir-36637	119	17	two	two	NUM
asir-36637	119	18	controllers	controller	NOUN
asir-36637	119	19	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-36637	119	20	applied	apply	VERB
asir-36637	119	21	science	science	NOUN
asir-36637	119	22	and	and	CCONJ
asir-36637	119	23	innovative	innovative	ADJ
asir-36637	119	24	research	research	NOUN
asir-36637	119	25	vol	vol	NOUN
asir-36637	119	26	.	.	PROPN
asir-36637	120	1	8	8	NUM
asir-36637	120	2	,	,	PUNCT
asir-36637	120	3	no	no	INTJ
asir-36637	120	4	.	.	NOUN
asir-36637	120	5	2	2	NUM
asir-36637	120	6	,	,	PUNCT
asir-36637	120	7	2024	2024	NUM
asir-36637	120	8	43	43	NUM
asir-36637	120	9	published	publish	VERB
asir-36637	120	10	by	by	ADP
asir-36637	120	11	scholink	scholink	PROPN
asir-36637	120	12	inc	inc	PROPN
asir-36637	120	13	.	.	PROPN
asir-36637	120	14	5.2	5.2	NUM
asir-36637	120	15	track	track	NOUN
asir-36637	120	16	sine	sine	NOUN
asir-36637	120	17	curve	curve	NOUN
asir-36637	120	18	desired	desire	VERB
asir-36637	120	19	output	output	NOUN
asir-36637	120	20	set	set	VERB
asir-36637	120	21	the	the	DET
asir-36637	120	22	control	control	NOUN
asir-36637	120	23	target	target	NOUN
asir-36637	120	24	as	as	ADP
asir-36637	120	25	)	)	PUNCT
asir-36637	120	26	57.1sin(15	57.1sin(15	NUM
asir-36637	120	27	txd	txd	NOUN
asir-36637	120	28			NOUN
asir-36637	120	29	of	of	ADP
asir-36637	120	30	x	x	SYM
asir-36637	120	31	,	,	PUNCT
asir-36637	120	32	z	z	NOUN
asir-36637	120	33	control	control	NOUN
asir-36637	120	34	objectives	objective	NOUN
asir-36637	120	35	are	be	AUX
asir-36637	120	36	set	set	VERB
asir-36637	120	37	for	for	ADP
asir-36637	120	38	0dz	0dz	NOUN
asir-36637	120	39	.	.	PUNCT
asir-36637	121	1	other	other	ADJ
asir-36637	121	2	system	system	NOUN
asir-36637	121	3	parameters	parameter	NOUN
asir-36637	121	4	choices	choice	NOUN
asir-36637	121	5	are	be	AUX
asir-36637	121	6	equal	equal	ADJ
asir-36637	121	7	to	to	ADP
asir-36637	121	8	the	the	DET
asir-36637	121	9	desired	desire	VERB
asir-36637	121	10	output	output	NOUN
asir-36637	121	11	of	of	ADP
asir-36637	121	12	the	the	DET
asir-36637	121	13	tracking	tracking	NOUN
asir-36637	121	14	constant	constant	ADJ
asir-36637	121	15	in	in	ADP
asir-36637	121	16	the	the	DET
asir-36637	121	17	last	last	ADJ
asir-36637	121	18	section	section	NOUN
asir-36637	121	19	.	.	PUNCT
asir-36637	122	1	controller	controller	NOUN
asir-36637	122	2	also	also	ADV
asir-36637	122	3	has	have	VERB
asir-36637	122	4	effect	effect	NOUN
asir-36637	122	5	at	at	ADP
asir-36637	122	6	the	the	DET
asir-36637	122	7	time	time	NOUN
asir-36637	122	8	of	of	ADP
asir-36637	122	9	50	50	NUM
asir-36637	122	10	seconds	second	NOUN
asir-36637	122	11	,	,	PUNCT
asir-36637	122	12	state	state	NOUN
asir-36637	122	13	variables	variable	NOUN
asir-36637	122	14	are	be	AUX
asir-36637	122	15	shown	show	VERB
asir-36637	122	16	in	in	ADP
asir-36637	122	17	figure	figure	NOUN
asir-36637	122	18	7	7	NUM
asir-36637	122	19	.	.	PUNCT
asir-36637	122	20	from	from	ADP
asir-36637	122	21	this	this	DET
asir-36637	122	22	figure	figure	NOUN
asir-36637	122	23	we	we	PRON
asir-36637	122	24	can	can	AUX
asir-36637	122	25	see	see	VERB
asir-36637	122	26	that	that	SCONJ
asir-36637	122	27	the	the	DET
asir-36637	122	28	system	system	NOUN
asir-36637	122	29	state	state	NOUN
asir-36637	122	30	converged	converge	VERB
asir-36637	122	31	to	to	ADP
asir-36637	122	32	the	the	DET
asir-36637	122	33	desired	desire	VERB
asir-36637	122	34	trajectory	trajectory	NOUN
asir-36637	122	35	after	after	ADP
asir-36637	122	36	the	the	DET
asir-36637	122	37	transition	transition	NOUN
asir-36637	122	38	period	period	NOUN
asir-36637	122	39	of	of	ADP
asir-36637	122	40	the	the	DET
asir-36637	122	41	oscillation	oscillation	NOUN
asir-36637	122	42	.	.	PUNCT
asir-36637	123	1	figure	figure	VERB
asir-36637	123	2	7	7	NUM
asir-36637	123	3	.	.	PUNCT
asir-36637	124	1	the	the	DET
asir-36637	124	2	controller	controller	NOUN
asir-36637	124	3	's	's	PART
asir-36637	124	4	system	system	NOUN
asir-36637	124	5	status	status	NOUN
asir-36637	124	6	curve	curve	NOUN
asir-36637	124	7	that	that	PRON
asir-36637	124	8	takes	take	VERB
asir-36637	124	9	effect	effect	NOUN
asir-36637	124	10	at	at	ADP
asir-36637	124	11	50	50	NUM
asir-36637	124	12	seconds	second	NOUN
asir-36637	124	13	figure	figure	NOUN
asir-36637	124	14	8	8	NUM
asir-36637	124	15	.	.	PUNCT
asir-36637	125	1	after	after	ADP
asir-36637	125	2	50	50	NUM
asir-36637	125	3	seconds	second	NOUN
asir-36637	125	4	to	to	PART
asir-36637	125	5	control	control	VERB
asir-36637	125	6	the	the	DET
asir-36637	125	7	input	input	NOUN
asir-36637	125	8	curve	curve	NOUN
asir-36637	125	9	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-36637	125	10	applied	apply	VERB
asir-36637	125	11	science	science	NOUN
asir-36637	125	12	and	and	CCONJ
asir-36637	125	13	innovative	innovative	ADJ
asir-36637	125	14	research	research	NOUN
asir-36637	125	15	vol	vol	NOUN
asir-36637	125	16	.	.	PROPN
asir-36637	125	17	8	8	NUM
asir-36637	125	18	,	,	PUNCT
asir-36637	125	19	no	no	INTJ
asir-36637	125	20	.	.	NOUN
asir-36637	125	21	2	2	NUM
asir-36637	125	22	,	,	PUNCT
asir-36637	125	23	2024	2024	NUM
asir-36637	125	24	44	44	NUM
asir-36637	125	25	published	publish	VERB
asir-36637	125	26	by	by	ADP
asir-36637	125	27	scholink	scholink	PROPN
asir-36637	125	28	inc	inc	PROPN
asir-36637	125	29	.	.	PROPN
asir-36637	125	30	figure	figure	NOUN
asir-36637	125	31	9	9	NUM
asir-36637	125	32	.	.	NOUN
asir-36637	125	33	50	50	NUM
asir-36637	125	34	seconds	second	NOUN
asir-36637	125	35	after	after	ADP
asir-36637	125	36	the	the	DET
asir-36637	125	37	system	system	NOUN
asir-36637	125	38	parameter	parameter	NOUN
asir-36637	125	39	estimation	estimation	NOUN
asir-36637	125	40	curve	curve	NOUN
asir-36637	125	41	figure	figure	NOUN
asir-36637	125	42	10	10	NUM
asir-36637	125	43	.	.	PUNCT
asir-36637	126	1	comparison	comparison	NOUN
asir-36637	126	2	curve	curve	NOUN
asir-36637	126	3	of	of	ADP
asir-36637	126	4	two	two	NUM
asir-36637	126	5	controllers	controller	NOUN
asir-36637	126	6	figure	figure	VERB
asir-36637	126	7	8	8	NUM
asir-36637	126	8	shows	show	VERB
asir-36637	126	9	the	the	DET
asir-36637	126	10	control	control	NOUN
asir-36637	126	11	input	input	NOUN
asir-36637	126	12	.	.	PUNCT
asir-36637	127	1	system	system	NOUN
asir-36637	127	2	parameter	parameter	NOUN
asir-36637	127	3	estimation	estimation	NOUN
asir-36637	127	4	is	be	AUX
asir-36637	127	5	in	in	ADP
asir-36637	127	6	figure	figure	NOUN
asir-36637	127	7	9	9	NUM
asir-36637	127	8	from	from	ADP
asir-36637	127	9	which	which	PRON
asir-36637	127	10	we	we	PRON
asir-36637	127	11	can	can	AUX
asir-36637	127	12	see	see	VERB
asir-36637	127	13	there	there	PRON
asir-36637	127	14	exist	exist	VERB
asir-36637	127	15	the	the	DET
asir-36637	127	16	estimated	estimate	VERB
asir-36637	127	17			NOUN
asir-36637	127	18	oscillation	oscillation	NOUN
asir-36637	127	19	and	and	CCONJ
asir-36637	127	20			PROPN
asir-36637	127	21	estimated	estimate	VERB
asir-36637	127	22	asymptotically	asymptotically	ADV
asir-36637	127	23	converge	converge	VERB
asir-36637	127	24	to	to	ADP
asir-36637	127	25	its	its	PRON
asir-36637	127	26	real	real	ADJ
asir-36637	127	27	value	value	NOUN
asir-36637	127	28	,	,	PUNCT
asir-36637	127	29	but	but	CCONJ
asir-36637	127	30	there	there	PRON
asir-36637	127	31	is	be	VERB
asir-36637	127	32	estimation	estimation	NOUN
asir-36637	127	33	error	error	NOUN
asir-36637	127	34	also	also	ADV
asir-36637	127	35	.	.	PUNCT
asir-36637	128	1	both	both	DET
asir-36637	128	2	estimates	estimate	NOUN
asir-36637	128	3	,	,	PUNCT
asir-36637	128	4	however	however	ADV
asir-36637	128	5	,	,	PUNCT
asir-36637	128	6	remain	remain	VERB
asir-36637	128	7	within	within	ADP
asir-36637	128	8	a	a	DET
asir-36637	128	9	certain	certain	ADJ
asir-36637	128	10	range	range	NOUN
asir-36637	128	11	,	,	PUNCT
asir-36637	128	12	without	without	ADP
asir-36637	128	13	divide	divide	NOUN
asir-36637	128	14	,	,	PUNCT
asir-36637	128	15	which	which	PRON
asir-36637	128	16	means	mean	VERB
asir-36637	128	17	the	the	DET
asir-36637	128	18	uncertainty	uncertainty	NOUN
asir-36637	128	19	of	of	ADP
asir-36637	128	20	the	the	DET
asir-36637	128	21	bounded	bounded	ADJ
asir-36637	128	22	model	model	NOUN
asir-36637	128	23	,	,	PUNCT
asir-36637	128	24	thus	thus	ADV
asir-36637	128	25	we	we	PRON
asir-36637	128	26	can	can	AUX
asir-36637	128	27	compensate	compensate	VERB
asir-36637	128	28	that	that	SCONJ
asir-36637	128	29	by	by	ADP
asir-36637	128	30	stability	stability	NOUN
asir-36637	128	31	of	of	ADP
asir-36637	128	32	the	the	DET
asir-36637	128	33	controller	controller	NOUN
asir-36637	128	34	.	.	PUNCT
asir-36637	129	1	figure	figure	NOUN
asir-36637	129	2	10	10	NUM
asir-36637	129	3	is	be	AUX
asir-36637	129	4	the	the	DET
asir-36637	129	5	comparison	comparison	NOUN
asir-36637	129	6	curves	curve	NOUN
asir-36637	129	7	of	of	ADP
asir-36637	129	8	the	the	DET
asir-36637	129	9	two	two	NUM
asir-36637	129	10	controllers	controller	NOUN
asir-36637	129	11	from	from	ADP
asir-36637	129	12	which	which	PRON
asir-36637	129	13	we	we	PRON
asir-36637	129	14	can	can	AUX
asir-36637	129	15	see	see	VERB
asir-36637	129	16	the	the	DET
asir-36637	129	17	velocity	velocity	NOUN
asir-36637	129	18	error	error	NOUN
asir-36637	129	19	of	of	ADP
asir-36637	129	20	general	general	ADJ
asir-36637	129	21	nonlinear	nonlinear	ADJ
asir-36637	129	22	feedback	feedback	NOUN
asir-36637	129	23	controller	controller	NOUN
asir-36637	129	24	is	be	AUX
asir-36637	129	25	far	far	ADV
asir-36637	129	26	bigger	big	ADJ
asir-36637	129	27	than	than	ADP
asir-36637	129	28	that	that	PRON
asir-36637	129	29	of	of	ADP
asir-36637	129	30	the	the	DET
asir-36637	129	31	adaptive	adaptive	ADJ
asir-36637	129	32	robust	robust	ADJ
asir-36637	129	33	controller	controller	NOUN
asir-36637	129	34	,	,	PUNCT
asir-36637	129	35	which	which	PRON
asir-36637	129	36	further	far	ADV
asir-36637	129	37	verify	verify	VERB
asir-36637	129	38	the	the	DET
asir-36637	129	39	strong	strong	ADJ
asir-36637	129	40	robustness	robustness	NOUN
asir-36637	129	41	of	of	ADP
asir-36637	129	42	the	the	DET
asir-36637	129	43	adaptive	adaptive	ADJ
asir-36637	129	44	robust	robust	ADJ
asir-36637	129	45	controller	controller	NOUN
asir-36637	129	46	.	.	PUNCT
asir-36637	130	1	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	PROPN
asir-36637	130	2	applied	apply	VERB
asir-36637	130	3	science	science	NOUN
asir-36637	130	4	and	and	CCONJ
asir-36637	130	5	innovative	innovative	ADJ
asir-36637	130	6	research	research	NOUN
asir-36637	130	7	vol	vol	NOUN
asir-36637	130	8	.	.	PROPN
asir-36637	131	1	8	8	NUM
asir-36637	131	2	,	,	PUNCT
asir-36637	131	3	no	no	INTJ
asir-36637	131	4	.	.	NOUN
asir-36637	131	5	2	2	NUM
asir-36637	131	6	,	,	PUNCT
asir-36637	131	7	2024	2024	NUM
asir-36637	131	8	45	45	NUM
asir-36637	131	9	published	publish	VERB
asir-36637	131	10	by	by	ADP
asir-36637	131	11	scholink	scholink	PROPN
asir-36637	131	12	inc	inc	PROPN
asir-36637	131	13	.	.	PROPN
asir-36637	131	14	6	6	NUM
asir-36637	132	1	.	.	X
asir-36637	132	2	conclusion	conclusion	NOUN
asir-36637	132	3	this	this	DET
asir-36637	132	4	paper	paper	NOUN
asir-36637	132	5	presents	present	VERB
asir-36637	132	6	a	a	DET
asir-36637	132	7	chaotic	chaotic	ADJ
asir-36637	132	8	control	control	NOUN
asir-36637	132	9	method	method	NOUN
asir-36637	132	10	based	base	VERB
asir-36637	132	11	on	on	ADP
asir-36637	132	12	adaptive	adaptive	ADJ
asir-36637	132	13	robust	robust	ADJ
asir-36637	132	14	controller	controller	NOUN
asir-36637	132	15	,	,	PUNCT
asir-36637	132	16	which	which	PRON
asir-36637	132	17	is	be	AUX
asir-36637	132	18	used	use	VERB
asir-36637	132	19	to	to	PART
asir-36637	132	20	eliminate	eliminate	VERB
asir-36637	132	21	or	or	CCONJ
asir-36637	132	22	suppress	suppress	VERB
asir-36637	132	23	parameter	parameter	NOUN
asir-36637	132	24	uncertain	uncertain	ADJ
asir-36637	132	25	chaos	chaos	NOUN
asir-36637	132	26	in	in	ADP
asir-36637	132	27	permanent	permanent	ADJ
asir-36637	132	28	magnet	magnet	NOUN
asir-36637	132	29	synchronous	synchronous	ADJ
asir-36637	132	30	motor	motor	NOUN
asir-36637	132	31	system	system	NOUN
asir-36637	132	32	,	,	PUNCT
asir-36637	132	33	and	and	CCONJ
asir-36637	132	34	at	at	ADP
asir-36637	132	35	the	the	DET
asir-36637	132	36	same	same	ADJ
asir-36637	132	37	time	time	NOUN
asir-36637	132	38	,	,	PUNCT
asir-36637	132	39	considering	consider	VERB
asir-36637	132	40	the	the	DET
asir-36637	132	41	external	external	ADJ
asir-36637	132	42	load	load	NOUN
asir-36637	132	43	torque	torque	NOUN
asir-36637	132	44	disturbance	disturbance	NOUN
asir-36637	132	45	,	,	PUNCT
asir-36637	132	46	the	the	DET
asir-36637	132	47	speed	speed	NOUN
asir-36637	132	48	accurately	accurately	ADV
asir-36637	132	49	is	be	AUX
asir-36637	132	50	drived	drive	VERB
asir-36637	132	51	to	to	ADP
asir-36637	132	52	the	the	DET
asir-36637	132	53	prescribed	prescribe	VERB
asir-36637	132	54	trajectory	trajectory	NOUN
asir-36637	132	55	.	.	PUNCT
asir-36637	133	1	adaptive	adaptive	ADJ
asir-36637	133	2	robust	robust	ADJ
asir-36637	133	3	controller	controller	NOUN
asir-36637	133	4	is	be	AUX
asir-36637	133	5	designed	design	VERB
asir-36637	133	6	which	which	PRON
asir-36637	133	7	proved	prove	VERB
asir-36637	133	8	by	by	ADP
asir-36637	133	9	lyapunov	lyapunov	ADJ
asir-36637	133	10	method	method	NOUN
asir-36637	133	11	that	that	SCONJ
asir-36637	133	12	the	the	DET
asir-36637	133	13	proposed	propose	VERB
asir-36637	133	14	controller	controller	NOUN
asir-36637	133	15	can	can	AUX
asir-36637	133	16	realize	realize	VERB
asir-36637	133	17	the	the	DET
asir-36637	133	18	transient	transient	ADJ
asir-36637	133	19	and	and	CCONJ
asir-36637	133	20	steady	steady	ADJ
asir-36637	133	21	state	state	NOUN
asir-36637	133	22	performance	performance	NOUN
asir-36637	133	23	.	.	PUNCT
asir-36637	134	1	from	from	ADP
asir-36637	134	2	two	two	NUM
asir-36637	134	3	aspects	aspect	NOUN
asir-36637	134	4	that	that	PRON
asir-36637	134	5	track	track	VERB
asir-36637	134	6	constant	constant	ADJ
asir-36637	134	7	desired	desire	VERB
asir-36637	134	8	output	output	NOUN
asir-36637	134	9	and	and	CCONJ
asir-36637	134	10	track	track	VERB
asir-36637	134	11	sine	sine	ADJ
asir-36637	134	12	curve	curve	NOUN
asir-36637	134	13	desired	desire	VERB
asir-36637	134	14	output	output	NOUN
asir-36637	134	15	to	to	PART
asir-36637	134	16	verify	verify	VERB
asir-36637	134	17	the	the	DET
asir-36637	134	18	effectiveness	effectiveness	NOUN
asir-36637	134	19	and	and	CCONJ
asir-36637	134	20	superiority	superiority	NOUN
asir-36637	134	21	of	of	ADP
asir-36637	134	22	the	the	DET
asir-36637	134	23	method	method	NOUN
asir-36637	134	24	,	,	PUNCT
asir-36637	134	25	and	and	CCONJ
asir-36637	134	26	the	the	DET
asir-36637	134	27	simulation	simulation	NOUN
asir-36637	134	28	results	result	NOUN
asir-36637	134	29	show	show	VERB
asir-36637	134	30	that	that	SCONJ
asir-36637	134	31	this	this	DET
asir-36637	134	32	method	method	NOUN
asir-36637	134	33	can	can	AUX
asir-36637	134	34	eliminate	eliminate	VERB
asir-36637	134	35	the	the	DET
asir-36637	134	36	chaos	chaos	NOUN
asir-36637	134	37	and	and	CCONJ
asir-36637	134	38	achieve	achieve	VERB
asir-36637	134	39	good	good	ADJ
asir-36637	134	40	tracking	tracking	NOUN
asir-36637	134	41	accuracy	accuracy	NOUN
asir-36637	134	42	.	.	PUNCT
asir-36637	135	1	references	reference	NOUN
asir-36637	135	2	babaei	babaei	NOUN
asir-36637	135	3	,	,	PUNCT
asir-36637	135	4	m.	m.	NOUN
asir-36637	135	5	,	,	PUNCT
asir-36637	135	6	nazarzadeh	nazarzadeh	PROPN
asir-36637	135	7	,	,	PUNCT
asir-36637	135	8	j.	j.	PROPN
asir-36637	135	9	,	,	PUNCT
asir-36637	135	10	&	&	CCONJ
asir-36637	135	11	faiz	faiz	PROPN
asir-36637	135	12	,	,	PUNCT
asir-36637	135	13	j.	j.	PROPN
asir-36637	135	14	(	(	PUNCT
asir-36637	135	15	2008	2008	NUM
asir-36637	135	16	)	)	PUNCT
asir-36637	135	17	.	.	PUNCT
asir-36637	136	1	nonlinear	nonlinear	ADJ
asir-36637	136	2	feedback	feedback	NOUN
asir-36637	136	3	control	control	NOUN
asir-36637	136	4	of	of	ADP
asir-36637	136	5	chaos	chaos	NOUN
asir-36637	136	6	in	in	ADP
asir-36637	136	7	synchronous	synchronous	ADJ
asir-36637	136	8	reluctance	reluctance	NOUN
asir-36637	136	9	motor	motor	NOUN
asir-36637	136	10	drive	drive	NOUN
asir-36637	136	11	systems	system	NOUN
asir-36637	136	12	.	.	PUNCT
asir-36637	137	1	in	in	ADP
asir-36637	137	2	proceedings	proceeding	NOUN
asir-36637	137	3	of	of	ADP
asir-36637	137	4	ieee	ieee	PROPN
asir-36637	137	5	international	international	ADJ
asir-36637	137	6	conference	conference	NOUN
asir-36637	137	7	on	on	ADP
asir-36637	137	8	industrial	industrial	ADJ
asir-36637	137	9	technology	technology	NOUN
asir-36637	137	10	,	,	PUNCT
asir-36637	137	11	2008	2008	NUM
asir-36637	137	12	,	,	PUNCT
asir-36637	137	13	pp	pp	ADJ
asir-36637	137	14	.	.	PUNCT
asir-36637	138	1	1	1	NUM
asir-36637	138	2	-	-	SYM
asir-36637	138	3	5	5	NUM
asir-36637	138	4	.	.	PUNCT
asir-36637	139	1	https://doi.org/10.1109/icit.2008.4608524	https://doi.org/10.1109/icit.2008.4608524	PROPN
asir-36637	139	2	chua	chua	PROPN
asir-36637	139	3	,	,	PUNCT
asir-36637	139	4	k.	k.	PROPN
asir-36637	139	5	t.	t.	PROPN
asir-36637	139	6	,	,	PUNCT
asir-36637	139	7	&	&	CCONJ
asir-36637	139	8	chen	chen	PROPN
asir-36637	139	9	,	,	PUNCT
asir-36637	139	10	j.	j.	PROPN
asir-36637	139	11	h.	h.	PROPN
asir-36637	139	12	(	(	PUNCT
asir-36637	139	13	2003	2003	NUM
asir-36637	139	14	)	)	PUNCT
asir-36637	139	15	.	.	PUNCT
asir-36637	140	1	modeling	modeling	NOUN
asir-36637	140	2	,	,	PUNCT
asir-36637	140	3	analysis	analysis	NOUN
asir-36637	140	4	and	and	CCONJ
asir-36637	140	5	experimentation	experimentation	NOUN
asir-36637	140	6	of	of	ADP
asir-36637	140	7	chaos	chaos	NOUN
asir-36637	140	8	in	in	ADP
asir-36637	140	9	switched	switch	VERB
asir-36637	140	10	reluctance	reluctance	NOUN
asir-36637	140	11	drive	drive	NOUN
asir-36637	140	12	system	system	NOUN
asir-36637	140	13	.	.	PUNCT
asir-36637	141	1	ieee	ieee	PROPN
asir-36637	141	2	trans	trans	PROPN
asir-36637	141	3	.	.	PUNCT
asir-36637	142	1	circuits	circuit	NOUN
asir-36637	142	2	syst	syst	PROPN
asir-36637	142	3	.	.	PUNCT
asir-36637	143	1	i	i	PRON
asir-36637	143	2	:	:	PUNCT
asir-36637	143	3	fundam	fundam	ADJ
asir-36637	143	4	.	.	PUNCT
asir-36637	143	5	theory	theory	NOUN
asir-36637	143	6	appl	appl	PROPN
asir-36637	143	7	.	.	PUNCT
asir-36637	144	1	50(3	50(3	NUM
asir-36637	144	2	)	)	PUNCT
asir-36637	144	3	,	,	PUNCT
asir-36637	144	4	712	712	NUM
asir-36637	144	5	-	-	SYM
asir-36637	144	6	716	716	NUM
asir-36637	144	7	.	.	PUNCT
asir-36637	145	1	https://doi.org/10.1109/tcsi.2003.811030	https://doi.org/10.1109/tcsi.2003.811030	NOUN
asir-36637	145	2	hemail	hemail	NOUN
asir-36637	145	3	,	,	PUNCT
asir-36637	145	4	n.	n.	NOUN
asir-36637	145	5	(	(	PUNCT
asir-36637	145	6	1994	1994	NUM
asir-36637	145	7	)	)	PUNCT
asir-36637	145	8	.	.	PUNCT
asir-36637	146	1	strange	strange	ADJ
asir-36637	146	2	attractors	attractor	NOUN
asir-36637	146	3	in	in	ADP
asir-36637	146	4	brushless	brushless	PROPN
asir-36637	146	5	dc	dc	PROPN
asir-36637	146	6	motor	motor	NOUN
asir-36637	146	7	.	.	PUNCT
asir-36637	147	1	ieee	ieee	PROPN
asir-36637	147	2	trans	trans	PROPN
asir-36637	147	3	.	.	PUNCT
asir-36637	148	1	circuits	circuit	NOUN
asir-36637	148	2	syst	syst	PROPN
asir-36637	148	3	.	.	PUNCT
asir-36637	149	1	i	i	PRON
asir-36637	149	2	:	:	PUNCT
asir-36637	149	3	fundam	fundam	ADJ
asir-36637	149	4	.	.	PUNCT
asir-36637	149	5	theory	theory	NOUN
asir-36637	149	6	appl	appl	PROPN
asir-36637	149	7	.	.	PROPN
asir-36637	149	8	41(1	41(1	NUM
asir-36637	149	9	)	)	PUNCT
asir-36637	149	10	,	,	PUNCT
asir-36637	149	11	40	40	NUM
asir-36637	149	12	-	-	SYM
asir-36637	149	13	45	45	NUM
asir-36637	149	14	.	.	PUNCT
asir-36637	149	15	https://doi.org/10.1109/81.260218	https://doi.org/10.1109/81.260218	PROPN
asir-36637	149	16	hu	hu	PROPN
asir-36637	149	17	,	,	PUNCT
asir-36637	149	18	j.	j.	PROPN
asir-36637	149	19	,	,	PUNCT
asir-36637	149	20	liu	liu	PROPN
asir-36637	149	21	,	,	PUNCT
asir-36637	149	22	l.	l.	PROPN
asir-36637	149	23	,	,	PUNCT
asir-36637	149	24	ma	ma	PROPN
asir-36637	149	25	,	,	PUNCT
asir-36637	149	26	d.	d.	PROPN
asir-36637	149	27	,	,	PUNCT
asir-36637	149	28	&	&	CCONJ
asir-36637	149	29	ullah	ullah	PROPN
asir-36637	149	30	,	,	PUNCT
asir-36637	149	31	n.	n.	NOUN
asir-36637	149	32	(	(	PUNCT
asir-36637	149	33	2015	2015	NUM
asir-36637	149	34	)	)	PUNCT
asir-36637	149	35	.	.	PUNCT
asir-36637	150	1	adaptive	adaptive	ADJ
asir-36637	150	2	nonlinear	nonlinear	ADJ
asir-36637	150	3	feedback	feedback	NOUN
asir-36637	150	4	control	control	NOUN
asir-36637	150	5	of	of	ADP
asir-36637	150	6	chaos	chaos	NOUN
asir-36637	150	7	in	in	ADP
asir-36637	150	8	permanent	permanent	ADJ
asir-36637	150	9	magnet	magnet	NOUN
asir-36637	150	10	synchronous	synchronous	ADJ
asir-36637	150	11	motor	motor	NOUN
asir-36637	150	12	system	system	NOUN
asir-36637	150	13	with	with	ADP
asir-36637	150	14	parametric	parametric	ADJ
asir-36637	150	15	uncertainty	uncertainty	NOUN
asir-36637	150	16	.	.	PUNCT
asir-36637	151	1	proc	proc	PROPN
asir-36637	151	2	.	.	PUNCT
asir-36637	152	1	inst	inst	PROPN
asir-36637	152	2	.	.	PROPN
asir-36637	152	3	mech	mech	PROPN
asir-36637	152	4	.	.	PUNCT
asir-36637	153	1	eng	eng	PROPN
asir-36637	153	2	.	.	PUNCT
asir-36637	153	3	part	part	NOUN
asir-36637	154	1	c	c	NOUN
asir-36637	154	2	:	:	PUNCT
asir-36637	154	3	j.	j.	PROPN
asir-36637	154	4	mech	mech	PROPN
asir-36637	154	5	.	.	PUNCT
asir-36637	155	1	eng	eng	PROPN
asir-36637	155	2	.	.	PUNCT
asir-36637	156	1	sci	sci	PROPN
asir-36637	156	2	.	.	PUNCT
asir-36637	157	1	229(12	229(12	NUM
asir-36637	157	2	)	)	PUNCT
asir-36637	157	3	,	,	PUNCT
asir-36637	157	4	2314	2314	NUM
asir-36637	157	5	-	-	SYM
asir-36637	157	6	2323	2323	NUM
asir-36637	157	7	.	.	PUNCT
asir-36637	158	1	https://doi.org/10.1177/0954406214557344	https://doi.org/10.1177/0954406214557344	PROPN
asir-36637	158	2	jing	jing	PROPN
asir-36637	158	3	,	,	PUNCT
asir-36637	158	4	z.	z.	PROPN
asir-36637	158	5	,	,	PUNCT
asir-36637	158	6	yu	yu	PROPN
asir-36637	158	7	,	,	PUNCT
asir-36637	158	8	c.	c.	PROPN
asir-36637	158	9	,	,	PUNCT
asir-36637	158	10	&	&	CCONJ
asir-36637	158	11	chen	chen	PROPN
asir-36637	158	12	,	,	PUNCT
asir-36637	158	13	g.	g.	PROPN
asir-36637	158	14	(	(	PUNCT
asir-36637	158	15	2004	2004	NUM
asir-36637	158	16	)	)	PUNCT
asir-36637	158	17	.	.	PUNCT
asir-36637	159	1	complex	complex	ADJ
asir-36637	159	2	dynamics	dynamic	NOUN
asir-36637	159	3	in	in	ADP
asir-36637	159	4	a	a	DET
asir-36637	159	5	permanent	permanent	ADJ
asir-36637	159	6	-	-	PUNCT
asir-36637	159	7	magnet	magnet	NOUN
asir-36637	159	8	synchronous	synchronous	ADJ
asir-36637	159	9	motor	motor	NOUN
asir-36637	159	10	model	model	NOUN
asir-36637	159	11	.	.	PUNCT
asir-36637	160	1	chaos	chaos	NOUN
asir-36637	160	2	solitons	soliton	NOUN
asir-36637	160	3	fractals	fractal	NOUN
asir-36637	160	4	,	,	PUNCT
asir-36637	160	5	22	22	NUM
asir-36637	160	6	,	,	PUNCT
asir-36637	160	7	831	831	NUM
asir-36637	160	8	-	-	SYM
asir-36637	160	9	848	848	NUM
asir-36637	160	10	.	.	PUNCT
asir-36637	161	1	https://doi.org/10.1016/j.chaos.2004.02.054	https://doi.org/10.1016/j.chaos.2004.02.054	NOUN
asir-36637	161	2	krishnendu	krishnendu	PROPN
asir-36637	161	3	chakrabarty	chakrabarty	PROPN
asir-36637	161	4	,	,	PUNCT
asir-36637	161	5	&	&	CCONJ
asir-36637	161	6	urmila	urmila	PROPN
asir-36637	161	7	kar	kar	PROPN
asir-36637	161	8	.	.	PUNCT
asir-36637	162	1	(	(	PUNCT
asir-36637	162	2	2013	2013	NUM
asir-36637	162	3	)	)	PUNCT
asir-36637	162	4	.	.	PUNCT
asir-36637	163	1	bifurcation	bifurcation	NOUN
asir-36637	163	2	phenomena	phenomenon	NOUN
asir-36637	163	3	in	in	ADP
asir-36637	163	4	induction	induction	NOUN
asir-36637	163	5	motor	motor	NOUN
asir-36637	163	6	.	.	PUNCT
asir-36637	164	1	in	in	ADP
asir-36637	164	2	proceedings	proceeding	NOUN
asir-36637	164	3	of	of	ADP
asir-36637	164	4	annual	annual	ADJ
asir-36637	164	5	ieee	ieee	PROPN
asir-36637	164	6	india	india	PROPN
asir-36637	164	7	conference	conference	NOUN
asir-36637	164	8	.	.	PUNCT
asir-36637	165	1	https://doi.org/10.1109/indcon.2013.6725891	https://doi.org/10.1109/indcon.2013.6725891	PROPN
asir-36637	165	2	li	li	PROPN
asir-36637	165	3	,	,	PUNCT
asir-36637	165	4	z.	z.	PROPN
asir-36637	165	5	,	,	PUNCT
asir-36637	165	6	park	park	PROPN
asir-36637	165	7	,	,	PUNCT
asir-36637	165	8	j.	j.	PROPN
asir-36637	165	9	b.	b.	PROPN
asir-36637	165	10	,	,	PUNCT
asir-36637	165	11	joo	joo	PROPN
asir-36637	165	12	,	,	PUNCT
asir-36637	165	13	y.	y.	PROPN
asir-36637	165	14	h.	h.	PROPN
asir-36637	165	15	,	,	PUNCT
asir-36637	165	16	zhang	zhang	PROPN
asir-36637	165	17	,	,	PUNCT
asir-36637	165	18	b.	b.	PROPN
asir-36637	165	19	,	,	PUNCT
asir-36637	165	20	&	&	CCONJ
asir-36637	165	21	chen	chen	PROPN
asir-36637	165	22	,	,	PUNCT
asir-36637	165	23	g.	g.	PROPN
asir-36637	165	24	(	(	PUNCT
asir-36637	165	25	2002	2002	NUM
asir-36637	165	26	)	)	PUNCT
asir-36637	165	27	.	.	PUNCT
asir-36637	166	1	bifurcations	bifurcation	NOUN
asir-36637	166	2	and	and	CCONJ
asir-36637	166	3	chaos	chaos	NOUN
asir-36637	166	4	in	in	ADP
asir-36637	166	5	a	a	DET
asir-36637	166	6	permanent	permanent	ADJ
asir-36637	166	7	magnet	magnet	NOUN
asir-36637	166	8	synchronous	synchronous	ADJ
asir-36637	166	9	motor	motor	NOUN
asir-36637	166	10	.	.	PUNCT
asir-36637	167	1	ieee	ieee	PROPN
asir-36637	167	2	trans	trans	PROPN
asir-36637	167	3	.	.	PUNCT
asir-36637	168	1	circuits	circuit	NOUN
asir-36637	168	2	syst	syst	PROPN
asir-36637	168	3	.	.	PUNCT
asir-36637	169	1	i	i	PRON
asir-36637	169	2	:	:	PUNCT
asir-36637	169	3	fundam	fundam	ADJ
asir-36637	169	4	.	.	PUNCT
asir-36637	169	5	theory	theory	NOUN
asir-36637	169	6	appl	appl	PROPN
asir-36637	169	7	.	.	PUNCT
asir-36637	170	1	49(3	49(3	NUM
asir-36637	170	2	)	)	PUNCT
asir-36637	170	3	,	,	PUNCT
asir-36637	170	4	383	383	NUM
asir-36637	170	5	-	-	SYM
asir-36637	170	6	387	387	NUM
asir-36637	170	7	.	.	PUNCT
asir-36637	171	1	https://doi.org/10.1109/81.989176	https://doi.org/10.1109/81.989176	PROPN
asir-36637	171	2	mark	mark	PROPN
asir-36637	171	3	,	,	PUNCT
asir-36637	171	4	a.	a.	NOUN
asir-36637	171	5	p.	p.	PROPN
asir-36637	171	6	,	,	PUNCT
asir-36637	171	7	vairamani	vairamani	PROPN
asir-36637	171	8	,	,	PUNCT
asir-36637	171	9	r.	r.	PROPN
asir-36637	171	10	,	,	PUNCT
asir-36637	171	11	&	&	CCONJ
asir-36637	171	12	irudayaraj	irudayaraj	PROPN
asir-36637	171	13	,	,	PUNCT
asir-36637	171	14	g.	g.	PROPN
asir-36637	171	15	c.	c.	PROPN
asir-36637	171	16	r.	r.	PROPN
asir-36637	171	17	(	(	PUNCT
asir-36637	171	18	2014	2014	NUM
asir-36637	171	19	)	)	PUNCT
asir-36637	171	20	.	.	PUNCT
asir-36637	172	1	mathematical	mathematical	ADJ
asir-36637	172	2	modeling	modeling	NOUN
asir-36637	172	3	and	and	CCONJ
asir-36637	172	4	analysis	analysis	NOUN
asir-36637	172	5	of	of	ADP
asir-36637	172	6	different	different	ADJ
asir-36637	172	7	vector	vector	NOUN
asir-36637	172	8	controlled	control	VERB
asir-36637	172	9	csi	csi	PROPN
asir-36637	172	10	fed	fed	PROPN
asir-36637	172	11	3	3	NUM
asir-36637	172	12	-	-	PUNCT
asir-36637	172	13	phase	phase	NOUN
asir-36637	172	14	induction	induction	NOUN
asir-36637	172	15	motor	motor	NOUN
asir-36637	172	16	.	.	PUNCT
asir-36637	173	1	j.	j.	PROPN
asir-36637	173	2	appl.math	appl.math	PROPN
asir-36637	173	3	.	.	PROPN
asir-36637	173	4	2014	2014	NUM
asir-36637	173	5	,	,	PUNCT
asir-36637	173	6	623982	623982	NUM
asir-36637	173	7	-	-	SYM
asir-36637	173	8	1	1	NUM
asir-36637	173	9	-	-	PUNCT
asir-36637	173	10	623982	623982	NUM
asir-36637	173	11	-	-	SYM
asir-36637	173	12	13	13	NUM
asir-36637	173	13	.	.	PUNCT
asir-36637	174	1	https://doi.org/10.1155/2014/623982	https://doi.org/10.1155/2014/623982	PROPN
asir-36637	174	2	ott	ott	PROPN
asir-36637	174	3	,	,	PUNCT
asir-36637	174	4	e.	e.	PROPN
asir-36637	174	5	,	,	PUNCT
asir-36637	174	6	grebogi	grebogi	PROPN
asir-36637	174	7	,	,	PUNCT
asir-36637	174	8	c.	c.	PROPN
asir-36637	174	9	,	,	PUNCT
asir-36637	174	10	yorke	yorke	PROPN
asir-36637	174	11	,	,	PUNCT
asir-36637	174	12	j.	j.	PROPN
asir-36637	174	13	a.	a.	PROPN
asir-36637	174	14	(	(	PUNCT
asir-36637	174	15	1990	1990	NUM
asir-36637	174	16	)	)	PUNCT
asir-36637	174	17	.	.	PUNCT
asir-36637	175	1	controlling	control	VERB
asir-36637	175	2	chaos	chaos	NOUN
asir-36637	175	3	.	.	PUNCT
asir-36637	176	1	phys	phy	NOUN
asir-36637	176	2	.	.	PUNCT
asir-36637	177	1	rev	rev	PROPN
asir-36637	177	2	.	.	PROPN
asir-36637	177	3	lett	lett	PROPN
asir-36637	177	4	.	.	PUNCT
asir-36637	178	1	64(11	64(11	NUM
asir-36637	178	2	)	)	PUNCT
asir-36637	178	3	,	,	PUNCT
asir-36637	178	4	1196	1196	NUM
asir-36637	178	5	-	-	SYM
asir-36637	178	6	1199	1199	NUM
asir-36637	178	7	.	.	PUNCT
asir-36637	179	1	https://doi.org/10.1103/physrevlett.64.1196	https://doi.org/10.1103/physrevlett.64.1196	PROPN
asir-36637	179	2	ren	ren	PROPN
asir-36637	179	3	,	,	PUNCT
asir-36637	179	4	h.	h.	PROPN
asir-36637	179	5	p.	p.	PROPN
asir-36637	179	6	,	,	PUNCT
asir-36637	179	7	&	&	CCONJ
asir-36637	179	8	ding	ding	PROPN
asir-36637	179	9	,	,	PUNCT
asir-36637	179	10	l.	l.	PROPN
asir-36637	179	11	(	(	PUNCT
asir-36637	179	12	2006	2006	NUM
asir-36637	179	13	)	)	PUNCT
asir-36637	179	14	.	.	PUNCT
asir-36637	180	1	nonlinear	nonlinear	ADJ
asir-36637	180	2	feedback	feedback	NOUN
asir-36637	180	3	control	control	NOUN
asir-36637	180	4	of	of	ADP
asir-36637	180	5	chaos	chaos	NOUN
asir-36637	180	6	in	in	ADP
asir-36637	180	7	permanent	permanent	ADJ
asir-36637	180	8	magnet	magnet	NOUN
asir-36637	180	9	synchronous	synchronous	ADJ
asir-36637	180	10	motor	motor	NOUN
asir-36637	180	11	.	.	PUNCT
asir-36637	181	1	ieee	ieee	PROPN
asir-36637	181	2	trans	trans	PROPN
asir-36637	181	3	.	.	PUNCT
asir-36637	182	1	circuits	circuits	PROPN
asir-36637	182	2	syst	syst	PROPN
asir-36637	182	3	.	.	PUNCT
asir-36637	183	1	ii	ii	PROPN
asir-36637	183	2	:	:	PUNCT
asir-36637	183	3	express	express	VERB
asir-36637	183	4	briefs	brief	NOUN
asir-36637	183	5	,	,	PUNCT
asir-36637	183	6	53(1	53(1	NOUN
asir-36637	183	7	)	)	PUNCT
asir-36637	183	8	,	,	PUNCT
asir-36637	183	9	45	45	NUM
asir-36637	183	10	-	-	SYM
asir-36637	183	11	50	50	NUM
asir-36637	183	12	.	.	PUNCT
asir-36637	184	1	https://doi.org/10.1109/tcsii.2005.854592	https://doi.org/10.1109/tcsii.2005.854592	PROPN
asir-36637	184	2	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-36637	184	3	applied	apply	VERB
asir-36637	184	4	science	science	NOUN
asir-36637	184	5	and	and	CCONJ
asir-36637	184	6	innovative	innovative	ADJ
asir-36637	184	7	research	research	NOUN
asir-36637	184	8	vol	vol	NOUN
asir-36637	184	9	.	.	PROPN
asir-36637	184	10	8	8	NUM
asir-36637	184	11	,	,	PUNCT
asir-36637	184	12	no	no	INTJ
asir-36637	184	13	.	.	NOUN
asir-36637	184	14	2	2	NUM
asir-36637	184	15	,	,	PUNCT
asir-36637	184	16	2024	2024	NUM
asir-36637	184	17	46	46	NUM
asir-36637	184	18	published	publish	VERB
asir-36637	184	19	by	by	ADP
asir-36637	184	20	scholink	scholink	PROPN
asir-36637	184	21	inc	inc	PROPN
asir-36637	184	22	.	.	PROPN
asir-36637	184	23	saberi	saberi	PROPN
asir-36637	184	24	nik	nik	PROPN
asir-36637	184	25	,	,	PUNCT
asir-36637	184	26	h.	h.	PROPN
asir-36637	184	27	,	,	PUNCT
asir-36637	184	28	&	&	CCONJ
asir-36637	184	29	gorder	gorder	PROPN
asir-36637	184	30	,	,	PUNCT
asir-36637	184	31	r.	r.	PROPN
asir-36637	184	32	a.	a.	PROPN
asir-36637	184	33	(	(	PUNCT
asir-36637	184	34	2013	2013	NUM
asir-36637	184	35	)	)	PUNCT
asir-36637	184	36	.	.	PUNCT
asir-36637	185	1	competitive	competitive	ADJ
asir-36637	185	2	modes	mode	NOUN
asir-36637	185	3	for	for	ADP
asir-36637	185	4	the	the	DET
asir-36637	185	5	baier	baier	NOUN
asir-36637	185	6	-	-	PUNCT
asir-36637	185	7	sahle	sahle	NOUN
asir-36637	185	8	hyperchaotic	hyperchaotic	ADJ
asir-36637	185	9	flow	flow	NOUN
asir-36637	185	10	in	in	ADP
asir-36637	185	11	arbitrary	arbitrary	ADJ
asir-36637	185	12	dimensions	dimension	NOUN
asir-36637	185	13	.	.	PUNCT
asir-36637	186	1	nonlinear	nonlinear	ADJ
asir-36637	186	2	dyn	dyn	PROPN
asir-36637	186	3	.	.	PUNCT
asir-36637	187	1	74	74	NUM
asir-36637	187	2	,	,	PUNCT
asir-36637	187	3	581	581	NUM
asir-36637	187	4	-	-	SYM
asir-36637	187	5	590	590	NUM
asir-36637	187	6	.	.	PUNCT
asir-36637	188	1	https://doi.org/10.1007/s11071-013-0990-9	https://doi.org/10.1007/s11071-013-0990-9	NUM
asir-36637	188	2	saberi	saberi	PROPN
asir-36637	188	3	nik	nik	PROPN
asir-36637	188	4	,	,	PUNCT
asir-36637	188	5	h.	h.	PROPN
asir-36637	188	6	,	,	PUNCT
asir-36637	188	7	gorder	gorder	NOUN
asir-36637	188	8	,	,	PUNCT
asir-36637	188	9	r.	r.	PROPN
asir-36637	188	10	a.	a.	PROPN
asir-36637	188	11	,	,	PUNCT
asir-36637	188	12	&	&	CCONJ
asir-36637	188	13	gambi	gambi	PROPN
asir-36637	188	14	,	,	PUNCT
asir-36637	188	15	g.	g.	PROPN
asir-36637	188	16	(	(	PUNCT
asir-36637	188	17	2015	2015	NUM
asir-36637	188	18	)	)	PUNCT
asir-36637	188	19	.	.	PUNCT
asir-36637	189	1	the	the	DET
asir-36637	189	2	chaotic	chaotic	ADJ
asir-36637	189	3	dadras	dadra	NOUN
asir-36637	189	4	-	-	ADJ
asir-36637	189	5	momeni	momeni	ADJ
asir-36637	189	6	system	system	NOUN
asir-36637	189	7	:	:	PUNCT
asir-36637	189	8	control	control	NOUN
asir-36637	189	9	and	and	CCONJ
asir-36637	189	10	hyperchaotification	hyperchaotification	NOUN
asir-36637	189	11	.	.	PUNCT
asir-36637	190	1	i	i	PRON
asir-36637	190	2	m	m	VERB
asir-36637	190	3	a	a	PROPN
asir-36637	190	4	j.	j.	PROPN
asir-36637	190	5	math	math	PROPN
asir-36637	190	6	.	.	PUNCT
asir-36637	191	1	control	control	PROPN
asir-36637	191	2	inf	inf	PROPN
asir-36637	191	3	.	.	PUNCT
asir-36637	192	1	(	(	PUNCT
asir-36637	192	2	2015	2015	NUM
asir-36637	192	3	)	)	PUNCT
asir-36637	192	4	.	.	PUNCT
asir-36637	193	1	https://doi.org/10.1093/imamci/dnu050	https://doi.org/10.1093/imamci/dnu050	PROPN
asir-36637	193	2	sun	sun	PROPN
asir-36637	193	3	,	,	PUNCT
asir-36637	193	4	w.	w.	PROPN
asir-36637	193	5	,	,	PUNCT
asir-36637	193	6	gao	gao	PROPN
asir-36637	193	7	,	,	PUNCT
asir-36637	193	8	h.	h.	PROPN
asir-36637	193	9	,	,	PUNCT
asir-36637	193	10	&	&	CCONJ
asir-36637	193	11	kaynak	kaynak	PROPN
asir-36637	193	12	,	,	PUNCT
asir-36637	193	13	o.	o.	PROPN
asir-36637	193	14	(	(	PUNCT
asir-36637	193	15	2013	2013	NUM
asir-36637	193	16	)	)	PUNCT
asir-36637	193	17	.	.	PUNCT
asir-36637	194	1	adaptive	adaptive	ADJ
asir-36637	194	2	backstepping	backstepping	NOUN
asir-36637	194	3	control	control	NOUN
asir-36637	194	4	for	for	ADP
asir-36637	194	5	active	active	ADJ
asir-36637	194	6	suspension	suspension	NOUN
asir-36637	194	7	systems	system	NOUN
asir-36637	194	8	with	with	ADP
asir-36637	194	9	hard	hard	ADJ
asir-36637	194	10	constraints	constraint	NOUN
asir-36637	194	11	.	.	PUNCT
asir-36637	195	1	ieee	ieee	PROPN
asir-36637	195	2	/	/	SYM
asir-36637	195	3	asme	asme	PROPN
asir-36637	195	4	trans	trans	PROPN
asir-36637	195	5	.	.	PUNCT
asir-36637	196	1	mechatron	mechatron	PROPN
asir-36637	196	2	.	.	PUNCT
asir-36637	197	1	18(3	18(3	NUM
asir-36637	197	2	)	)	PUNCT
asir-36637	197	3	,	,	PUNCT
asir-36637	197	4	1072	1072	NUM
asir-36637	197	5	-	-	SYM
asir-36637	197	6	1079	1079	NUM
asir-36637	197	7	.	.	PUNCT
asir-36637	198	1	https://doi.org/10.1109/tmech.2012.2204765	https://doi.org/10.1109/tmech.2012.2204765	PROPN
asir-36637	198	2	underwood	underwood	PROPN
asir-36637	198	3	,	,	PUNCT
asir-36637	198	4	s.	s.	PROPN
asir-36637	198	5	j.	j.	PROPN
asir-36637	198	6	,	,	PUNCT
asir-36637	198	7	&	&	CCONJ
asir-36637	198	8	husain	husain	PROPN
asir-36637	198	9	,	,	PUNCT
asir-36637	198	10	i.	i.	PROPN
asir-36637	198	11	(	(	PUNCT
asir-36637	198	12	2010	2010	NUM
asir-36637	198	13	)	)	PUNCT
asir-36637	198	14	.	.	PUNCT
asir-36637	199	1	online	online	PROPN
asir-36637	199	2	parameter	parameter	PROPN
asir-36637	199	3	estimation	estimation	NOUN
asir-36637	199	4	and	and	CCONJ
asir-36637	199	5	adaptive	adaptive	ADJ
asir-36637	199	6	control	control	NOUN
asir-36637	199	7	of	of	ADP
asir-36637	199	8	permanent	permanent	ADJ
asir-36637	199	9	magnet	magnet	NOUN
asir-36637	199	10	synchronous	synchronous	ADJ
asir-36637	199	11	machines	machine	NOUN
asir-36637	199	12	.	.	PUNCT
asir-36637	200	1	ieee	ieee	PROPN
asir-36637	200	2	trans	trans	PROPN
asir-36637	200	3	.	.	PUNCT
asir-36637	201	1	ind	ind	PROPN
asir-36637	201	2	.	.	PUNCT
asir-36637	201	3	electron	electron	PROPN
asir-36637	201	4	.	.	PUNCT
asir-36637	202	1	57(7	57(7	NUM
asir-36637	202	2	)	)	PUNCT
asir-36637	202	3	,	,	PUNCT
asir-36637	202	4	2435	2435	NUM
asir-36637	202	5	-	-	SYM
asir-36637	202	6	2443	2443	NUM
asir-36637	202	7	.	.	PUNCT
asir-36637	203	1	https://doi.org/10.1109/tie.2009.2036029	https://doi.org/10.1109/tie.2009.2036029	PROPN
asir-36637	203	2	wang	wang	PROPN
asir-36637	203	3	,	,	PUNCT
asir-36637	203	4	z.	z.	PROPN
asir-36637	203	5	,	,	PUNCT
asir-36637	203	6	&	&	CCONJ
asir-36637	203	7	chau	chau	PROPN
asir-36637	203	8	,	,	PUNCT
asir-36637	203	9	k.	k.	PROPN
asir-36637	203	10	t.	t.	PROPN
asir-36637	203	11	(	(	PUNCT
asir-36637	203	12	2009	2009	NUM
asir-36637	203	13	)	)	PUNCT
asir-36637	203	14	.	.	PUNCT
asir-36637	204	1	design	design	NOUN
asir-36637	204	2	,	,	PUNCT
asir-36637	204	3	analysis	analysis	NOUN
asir-36637	204	4	,	,	PUNCT
asir-36637	204	5	and	and	CCONJ
asir-36637	204	6	experimentation	experimentation	NOUN
asir-36637	204	7	of	of	ADP
asir-36637	204	8	chaotic	chaotic	ADJ
asir-36637	204	9	permanent	permanent	ADJ
asir-36637	204	10	magnet	magnet	NOUN
asir-36637	204	11	dc	dc	PROPN
asir-36637	204	12	motor	motor	NOUN
asir-36637	204	13	drives	drive	NOUN
asir-36637	204	14	for	for	ADP
asir-36637	204	15	electric	electric	ADJ
asir-36637	204	16	compaction	compaction	NOUN
asir-36637	204	17	.	.	PUNCT
asir-36637	205	1	ieee	ieee	PROPN
asir-36637	205	2	trans	trans	PROPN
asir-36637	205	3	.	.	PUNCT
asir-36637	206	1	circuits	circuits	PROPN
asir-36637	206	2	syst	syst	PROPN
asir-36637	206	3	.	.	PUNCT
asir-36637	207	1	ii	ii	PROPN
asir-36637	207	2	:	:	PUNCT
asir-36637	207	3	express	express	VERB
asir-36637	207	4	briefs	brief	NOUN
asir-36637	207	5	,	,	PUNCT
asir-36637	207	6	56(3	56(3	NOUN
asir-36637	207	7	)	)	PUNCT
asir-36637	207	8	,	,	PUNCT
asir-36637	207	9	245	245	NUM
asir-36637	207	10	-	-	SYM
asir-36637	207	11	249	249	NUM
asir-36637	207	12	.	.	PUNCT
asir-36637	208	1	https://doi.org/10.1109/tcsii.2009.2015371	https://doi.org/10.1109/tcsii.2009.2015371	PROPN
asir-36637	208	2	xu	xu	PROPN
asir-36637	208	3	,	,	PUNCT
asir-36637	208	4	l.	l.	PROPN
asir-36637	208	5	,	,	PUNCT
asir-36637	208	6	&	&	CCONJ
asir-36637	208	7	yao	yao	PROPN
asir-36637	208	8	,	,	PUNCT
asir-36637	208	9	b.	b.	PROPN
asir-36637	208	10	(	(	PUNCT
asir-36637	208	11	2001	2001	NUM
asir-36637	208	12	)	)	PUNCT
asir-36637	208	13	.	.	PUNCT
asir-36637	209	1	adaptive	adaptive	ADJ
asir-36637	209	2	robust	robust	ADJ
asir-36637	209	3	precision	precision	NOUN
asir-36637	209	4	motion	motion	NOUN
asir-36637	209	5	control	control	NOUN
asir-36637	209	6	of	of	ADP
asir-36637	209	7	linear	linear	PROPN
asir-36637	209	8	motors	motor	NOUN
asir-36637	209	9	with	with	ADP
asir-36637	209	10	negligible	negligible	ADJ
asir-36637	209	11	electrical	electrical	ADJ
asir-36637	209	12	dynamics	dynamic	NOUN
asir-36637	209	13	:	:	PUNCT
asir-36637	209	14	theory	theory	NOUN
asir-36637	209	15	and	and	CCONJ
asir-36637	209	16	experiments	experiment	NOUN
asir-36637	209	17	.	.	PUNCT
asir-36637	210	1	ieee	ieee	PROPN
asir-36637	210	2	/	/	SYM
asir-36637	210	3	asme	asme	PROPN
asir-36637	210	4	trans	trans	PROPN
asir-36637	210	5	.	.	PUNCT
asir-36637	211	1	mechatron	mechatron	PROPN
asir-36637	211	2	.	.	PUNCT
asir-36637	211	3	6(4	6(4	NOUN
asir-36637	211	4	)	)	PUNCT
asir-36637	211	5	,	,	PUNCT
asir-36637	211	6	444	444	NUM
asir-36637	211	7	-	-	SYM
asir-36637	211	8	452	452	NUM
asir-36637	211	9	.	.	PUNCT
asir-36637	211	10	https://doi.org/10.1109/3516.974858	https://doi.org/10.1109/3516.974858	PROPN
asir-36637	211	11	yao	yao	PROPN
asir-36637	211	12	,	,	PUNCT
asir-36637	211	13	b.	b.	PROPN
asir-36637	211	14	,	,	PUNCT
asir-36637	211	15	bu	bu	PROPN
asir-36637	211	16	,	,	PUNCT
asir-36637	211	17	f.	f.	PROPN
asir-36637	211	18	,	,	PUNCT
asir-36637	211	19	reedy	reedy	VERB
asir-36637	211	20	,	,	PUNCT
asir-36637	211	21	j.	j.	PROPN
asir-36637	211	22	,	,	PUNCT
asir-36637	211	23	&	&	CCONJ
asir-36637	211	24	chiu	chiu	PROPN
asir-36637	211	25	,	,	PUNCT
asir-36637	211	26	g.	g.	PROPN
asir-36637	211	27	t.	t.	PROPN
asir-36637	211	28	c.	c.	PROPN
asir-36637	211	29	(	(	PUNCT
asir-36637	211	30	2000	2000	NUM
asir-36637	211	31	)	)	PUNCT
asir-36637	211	32	.	.	PUNCT
asir-36637	212	1	adaptive	adaptive	ADJ
asir-36637	212	2	robust	robust	ADJ
asir-36637	212	3	motion	motion	NOUN
asir-36637	212	4	control	control	NOUN
asir-36637	212	5	of	of	ADP
asir-36637	212	6	single	single	ADJ
asir-36637	212	7	-	-	PUNCT
asir-36637	212	8	rod	rod	NOUN
asir-36637	212	9	hydraulic	hydraulic	ADJ
asir-36637	212	10	actuators	actuator	NOUN
asir-36637	212	11	:	:	PUNCT
asir-36637	212	12	theory	theory	NOUN
asir-36637	212	13	and	and	CCONJ
asir-36637	212	14	experiments	experiment	NOUN
asir-36637	212	15	.	.	PUNCT
asir-36637	213	1	ieee	ieee	PROPN
asir-36637	213	2	/	/	SYM
asir-36637	213	3	asme	asme	PROPN
asir-36637	213	4	trans	trans	PROPN
asir-36637	213	5	.	.	PUNCT
asir-36637	214	1	mechatron	mechatron	PROPN
asir-36637	214	2	.	.	PUNCT
asir-36637	215	1	5(1	5(1	NUM
asir-36637	215	2	)	)	PUNCT
asir-36637	215	3	,	,	PUNCT
asir-36637	215	4	79	79	NUM
asir-36637	215	5	-	-	SYM
asir-36637	215	6	91	91	NUM
asir-36637	215	7	.	.	PUNCT
asir-36637	216	1	https://doi.org/10.1109/3516.828592	https://doi.org/10.1109/3516.828592	DET
asir-36637	216	2	yao	yao	PROPN
asir-36637	216	3	,	,	PUNCT
asir-36637	216	4	b.	b.	PROPN
asir-36637	216	5	,	,	PUNCT
asir-36637	216	6	hu	hu	PROPN
asir-36637	216	7	,	,	PUNCT
asir-36637	216	8	c.	c.	PROPN
asir-36637	216	9	,	,	PUNCT
asir-36637	216	10	&	&	CCONJ
asir-36637	216	11	wang	wang	PROPN
asir-36637	216	12	,	,	PUNCT
asir-36637	216	13	q.	q.	PROPN
asir-36637	216	14	(	(	PUNCT
asir-36637	216	15	2012	2012	NUM
asir-36637	216	16	)	)	PUNCT
asir-36637	216	17	.	.	PUNCT
asir-36637	217	1	an	an	DET
asir-36637	217	2	orthogonal	orthogonal	ADJ
asir-36637	217	3	global	global	ADJ
asir-36637	217	4	task	task	NOUN
asir-36637	217	5	coordinate	coordinate	NOUN
asir-36637	217	6	frame	frame	NOUN
asir-36637	217	7	for	for	ADP
asir-36637	217	8	contouring	contouring	NOUN
asir-36637	217	9	control	control	NOUN
asir-36637	217	10	of	of	ADP
asir-36637	217	11	biaxial	biaxial	NOUN
asir-36637	217	12	systems	system	NOUN
asir-36637	217	13	.	.	PUNCT
asir-36637	218	1	ieee	ieee	PROPN
asir-36637	218	2	/	/	SYM
asir-36637	218	3	asme	asme	PROPN
asir-36637	218	4	trans	trans	PROPN
asir-36637	218	5	.	.	PUNCT
asir-36637	219	1	mechatron	mechatron	PROPN
asir-36637	219	2	.	.	PUNCT
asir-36637	220	1	17(4	17(4	NUM
asir-36637	220	2	)	)	PUNCT
asir-36637	220	3	,	,	PUNCT
asir-36637	220	4	622	622	NUM
asir-36637	220	5	-	-	SYM
asir-36637	220	6	634	634	NUM
asir-36637	220	7	.	.	PUNCT
asir-36637	221	1	https://doi.org/10.1109/tmech.2011.2111377	https://doi.org/10.1109/tmech.2011.2111377	NOUN
asir-36637	221	2	yao	yao	PROPN
asir-36637	221	3	,	,	PUNCT
asir-36637	221	4	j.	j.	PROPN
asir-36637	221	5	,	,	PUNCT
asir-36637	221	6	jiao	jiao	PROPN
asir-36637	221	7	,	,	PUNCT
asir-36637	221	8	z.	z.	PROPN
asir-36637	221	9	,	,	PUNCT
asir-36637	221	10	&	&	CCONJ
asir-36637	221	11	ma	ma	PROPN
asir-36637	221	12	,	,	PUNCT
asir-36637	221	13	d.	d.	PROPN
asir-36637	221	14	(	(	PUNCT
asir-36637	221	15	2014	2014	NUM
asir-36637	221	16	)	)	PUNCT
asir-36637	221	17	.	.	PUNCT
asir-36637	222	1	extended	extend	VERB
asir-36637	222	2	-	-	PUNCT
asir-36637	222	3	state	state	NOUN
asir-36637	222	4	-	-	PUNCT
asir-36637	222	5	observer	observer	NOUN
asir-36637	222	6	-	-	PUNCT
asir-36637	222	7	based	base	VERB
asir-36637	222	8	output	output	NOUN
asir-36637	222	9	feedback	feedback	NOUN
asir-36637	222	10	nonlinear	nonlinear	ADJ
asir-36637	222	11	robust	robust	ADJ
asir-36637	222	12	control	control	NOUN
asir-36637	222	13	of	of	ADP
asir-36637	222	14	hydraulic	hydraulic	ADJ
asir-36637	222	15	systems	system	NOUN
asir-36637	222	16	with	with	ADP
asir-36637	222	17	backstepping	backstepping	NOUN
asir-36637	222	18	.	.	PUNCT
asir-36637	223	1	ieee	ieee	NOUN
asir-36637	223	2	transactions	transaction	NOUN
asir-36637	223	3	on	on	ADP
asir-36637	223	4	industrial	industrial	ADJ
asir-36637	223	5	electronics	electronic	NOUN
asir-36637	223	6	,	,	PUNCT
asir-36637	223	7	61(11	61(11	NOUN
asir-36637	223	8	)	)	PUNCT
asir-36637	223	9	,	,	PUNCT
asir-36637	223	10	6285	6285	NUM
asir-36637	223	11	-	-	SYM
asir-36637	223	12	6293	6293	NUM
asir-36637	223	13	.	.	PUNCT
asir-36637	224	1	https://doi.org/10.1109/tie.2014.2304912	https://doi.org/10.1109/tie.2014.2304912	PROPN
asir-36637	224	2	yao	yao	PROPN
asir-36637	224	3	,	,	PUNCT
asir-36637	224	4	j.	j.	PROPN
asir-36637	224	5	,	,	PUNCT
asir-36637	224	6	jiao	jiao	PROPN
asir-36637	224	7	,	,	PUNCT
asir-36637	224	8	z.	z.	PROPN
asir-36637	224	9	,	,	PUNCT
asir-36637	224	10	&	&	CCONJ
asir-36637	224	11	ma	ma	PROPN
asir-36637	224	12	,	,	PUNCT
asir-36637	224	13	d.	d.	PROPN
asir-36637	224	14	(	(	PUNCT
asir-36637	224	15	2015	2015	NUM
asir-36637	224	16	)	)	PUNCT
asir-36637	224	17	.	.	PUNCT
asir-36637	225	1	a	a	DET
asir-36637	225	2	practical	practical	ADJ
asir-36637	225	3	nonlinear	nonlinear	ADJ
asir-36637	225	4	adaptive	adaptive	ADJ
asir-36637	225	5	control	control	NOUN
asir-36637	225	6	of	of	ADP
asir-36637	225	7	hydraulic	hydraulic	ADJ
asir-36637	225	8	servomechanisms	servomechanism	NOUN
asir-36637	225	9	with	with	ADP
asir-36637	225	10	periodic	periodic	ADJ
asir-36637	225	11	-	-	PUNCT
asir-36637	225	12	like	like	ADJ
asir-36637	225	13	disturbances	disturbance	NOUN
asir-36637	225	14	.	.	PUNCT
asir-36637	226	1	ieee	ieee	PROPN
asir-36637	226	2	/	/	SYM
asir-36637	226	3	asme	asme	PROPN
asir-36637	226	4	transactions	transaction	NOUN
asir-36637	226	5	on	on	ADP
asir-36637	226	6	mechatronics	mechatronic	NOUN
asir-36637	226	7	,	,	PUNCT
asir-36637	226	8	20(6	20(6	NOUN
asir-36637	226	9	)	)	PUNCT
asir-36637	226	10	,	,	PUNCT
asir-36637	226	11	2752	2752	NUM
asir-36637	226	12	-	-	SYM
asir-36637	226	13	2760	2760	NUM
asir-36637	226	14	.	.	PUNCT
asir-36637	227	1	https://doi.org/10.1109/tmech.2015.2409893	https://doi.org/10.1109/tmech.2015.2409893	PROPN
asir-36637	227	2	yao	yao	PROPN
asir-36637	227	3	,	,	PUNCT
asir-36637	227	4	j.	j.	PROPN
asir-36637	227	5	,	,	PUNCT
asir-36637	227	6	jiao	jiao	PROPN
asir-36637	227	7	,	,	PUNCT
asir-36637	227	8	z.	z.	PROPN
asir-36637	227	9	,	,	PUNCT
asir-36637	227	10	ma	ma	PROPN
asir-36637	227	11	,	,	PUNCT
asir-36637	227	12	d.	d.	PROPN
asir-36637	227	13	,	,	PUNCT
asir-36637	227	14	&	&	CCONJ
asir-36637	227	15	yan	yan	PROPN
asir-36637	227	16	,	,	PUNCT
asir-36637	227	17	l.	l.	PROPN
asir-36637	227	18	(	(	PUNCT
asir-36637	227	19	2014	2014	NUM
asir-36637	227	20	)	)	PUNCT
asir-36637	227	21	.	.	PUNCT
asir-36637	228	1	high	high	ADJ
asir-36637	228	2	-	-	PUNCT
asir-36637	228	3	accuracy	accuracy	NOUN
asir-36637	228	4	tracking	tracking	NOUN
asir-36637	228	5	control	control	NOUN
asir-36637	228	6	of	of	ADP
asir-36637	228	7	hydraulic	hydraulic	ADJ
asir-36637	228	8	rotary	rotary	NOUN
asir-36637	228	9	actuators	actuator	NOUN
asir-36637	228	10	with	with	ADP
asir-36637	228	11	modeling	model	VERB
asir-36637	228	12	uncertainties	uncertainty	NOUN
asir-36637	228	13	.	.	PUNCT
asir-36637	229	1	ieee	ieee	PROPN
asir-36637	229	2	/	/	SYM
asir-36637	229	3	asme	asme	PROPN
asir-36637	229	4	trans	trans	PROPN
asir-36637	229	5	.	.	PUNCT
asir-36637	230	1	mechatron	mechatron	PROPN
asir-36637	230	2	.	.	PUNCT
asir-36637	231	1	19(2	19(2	NUM
asir-36637	231	2	)	)	PUNCT
asir-36637	231	3	,	,	PUNCT
asir-36637	231	4	633	633	NUM
asir-36637	231	5	-	-	SYM
asir-36637	231	6	641	641	NUM
asir-36637	231	7	.	.	PUNCT
asir-36637	232	1	https://doi.org/10.1109/tmech.2013.2252360	https://doi.org/10.1109/tmech.2013.2252360	PROPN
asir-36637	232	2	zhang	zhang	PROPN
asir-36637	232	3	,	,	PUNCT
asir-36637	232	4	z.	z.	PROPN
asir-36637	232	5	,	,	PUNCT
asir-36637	232	6	chau	chau	PROPN
asir-36637	232	7	,	,	PUNCT
asir-36637	232	8	k.	k.	PROPN
asir-36637	232	9	t.	t.	PROPN
asir-36637	232	10	,	,	PUNCT
asir-36637	232	11	&	&	CCONJ
asir-36637	232	12	wang	wang	PROPN
asir-36637	232	13	,	,	PUNCT
asir-36637	232	14	z.	z.	PROPN
asir-36637	232	15	(	(	PUNCT
asir-36637	232	16	2013	2013	NUM
asir-36637	232	17	)	)	PUNCT
asir-36637	232	18	.	.	PUNCT
asir-36637	233	1	analysis	analysis	NOUN
asir-36637	233	2	and	and	CCONJ
asir-36637	233	3	stabilization	stabilization	NOUN
asir-36637	233	4	of	of	ADP
asir-36637	233	5	chaos	chaos	NOUN
asir-36637	233	6	in	in	ADP
asir-36637	233	7	the	the	DET
asir-36637	233	8	electric	electric	ADJ
asir-36637	233	9	-	-	PUNCT
asir-36637	233	10	vehicle	vehicle	NOUN
asir-36637	233	11	steering	steering	NOUN
asir-36637	233	12	system	system	NOUN
asir-36637	233	13	.	.	PUNCT
asir-36637	234	1	ieee	ieee	PROPN
asir-36637	234	2	trans	trans	PROPN
asir-36637	234	3	.	.	PUNCT
asir-36637	235	1	veh	veh	PROPN
asir-36637	235	2	.	.	PROPN
asir-36637	235	3	technol	technol	PROPN
asir-36637	235	4	.	.	PUNCT
asir-36637	236	1	62(1	62(1	NUM
asir-36637	236	2	)	)	PUNCT
asir-36637	236	3	,	,	PUNCT
asir-36637	236	4	118	118	NUM
asir-36637	236	5	-	-	SYM
asir-36637	236	6	126	126	NUM
asir-36637	236	7	.	.	PUNCT
asir-36637	237	1	https://doi.org/10.1109/tvt.2012.2217767	https://doi.org/10.1109/tvt.2012.2217767	NOUN