id	sid	tid	token	lemma	pos
cet-15031	1	1	doi	doi	NOUN
cet-15031	1	2	:	:	PUNCT
cet-15031	1	3	10.3303	10.3303	NUM
cet-15031	1	4	/	/	SYM
cet-15031	1	5	cet24114126	cet24114126	PROPN
cet-15031	1	6	paper	paper	NOUN
cet-15031	1	7	received	receive	VERB
cet-15031	1	8	:	:	PUNCT
cet-15031	1	9	5	5	NUM
cet-15031	1	10	may	may	PROPN
cet-15031	1	11	2024	2024	NUM
cet-15031	1	12	;	;	PUNCT
cet-15031	1	13	revised	revise	VERB
cet-15031	1	14	:	:	PUNCT
cet-15031	1	15	16	16	NUM
cet-15031	1	16	october	october	PROPN
cet-15031	1	17	2024	2024	NUM
cet-15031	1	18	;	;	PUNCT
cet-15031	1	19	accepted	accept	VERB
cet-15031	1	20	:	:	PUNCT
cet-15031	1	21	8	8	NUM
cet-15031	1	22	november	november	NOUN
cet-15031	1	23	2024	2024	NUM
cet-15031	1	24	please	please	INTJ
cet-15031	1	25	cite	cite	VERB
cet-15031	1	26	this	this	DET
cet-15031	1	27	article	article	NOUN
cet-15031	1	28	as	as	ADP
cet-15031	1	29	:	:	PUNCT
cet-15031	1	30	kiss	kiss	PROPN
cet-15031	1	31	b.	b.	PROPN
cet-15031	1	32	,	,	PUNCT
cet-15031	1	33	ballagi	ballagi	PROPN
cet-15031	1	34	á	á	PROPN
cet-15031	1	35	.	.	PROPN
cet-15031	1	36	,	,	PUNCT
cet-15031	1	37	kuczmann	kuczmann	PROPN
cet-15031	1	38	m.	m.	NOUN
cet-15031	1	39	,	,	PUNCT
cet-15031	1	40	2024	2024	NUM
cet-15031	1	41	,	,	PUNCT
cet-15031	1	42	investigation	investigation	NOUN
cet-15031	1	43	of	of	ADP
cet-15031	1	44	system	system	NOUN
cet-15031	1	45	stability	stability	NOUN
cet-15031	1	46	and	and	CCONJ
cet-15031	1	47	the	the	DET
cet-15031	1	48	design	design	NOUN
cet-15031	1	49	of	of	ADP
cet-15031	1	50	a	a	DET
cet-15031	1	51	controller	controller	NOUN
cet-15031	1	52	based	base	VERB
cet-15031	1	53	on	on	ADP
cet-15031	1	54	the	the	DET
cet-15031	1	55	transfer	transfer	NOUN
cet-15031	1	56	function	function	NOUN
cet-15031	1	57	of	of	ADP
cet-15031	1	58	a	a	DET
cet-15031	1	59	quadcopter	quadcopter	NOUN
cet-15031	1	60	’s	’s	PART
cet-15031	1	61	bldc	bldc	PROPN
cet-15031	1	62	motor	motor	PROPN
cet-15031	1	63	,	,	PUNCT
cet-15031	1	64	chemical	chemical	NOUN
cet-15031	1	65	engineering	engineering	NOUN
cet-15031	1	66	transactions	transaction	NOUN
cet-15031	1	67	,	,	PUNCT
cet-15031	1	68	114	114	NUM
cet-15031	1	69	,	,	PUNCT
cet-15031	1	70	751	751	NUM
cet-15031	1	71	-	-	SYM
cet-15031	1	72	756	756	NUM
cet-15031	1	73	doi:10.3303	doi:10.3303	NOUN
cet-15031	1	74	/	/	SYM
cet-15031	1	75	cet24114126	cet24114126	NOUN
cet-15031	1	76	chemical	chemical	PROPN
cet-15031	1	77	engineering	engineering	NOUN
cet-15031	1	78	transactions	transaction	NOUN
cet-15031	1	79	vol	vol	NOUN
cet-15031	1	80	.	.	PROPN
cet-15031	1	81	114	114	NUM
cet-15031	1	82	,	,	PUNCT
cet-15031	1	83	2024	2024	NUM
cet-15031	1	84	a	a	DET
cet-15031	1	85	publication	publication	NOUN
cet-15031	1	86	of	of	ADP
cet-15031	1	87	the	the	DET
cet-15031	1	88	italian	italian	ADJ
cet-15031	1	89	association	association	NOUN
cet-15031	1	90	of	of	ADP
cet-15031	1	91	chemical	chemical	PROPN
cet-15031	1	92	engineering	engineering	NOUN
cet-15031	1	93	online	online	ADV
cet-15031	1	94	at	at	ADP
cet-15031	1	95	www.cetjournal.it	www.cetjournal.it	PROPN
cet-15031	1	96	guest	guest	NOUN
cet-15031	1	97	editors	editor	NOUN
cet-15031	1	98	:	:	PUNCT
cet-15031	1	99	petar	petar	PROPN
cet-15031	1	100	s.	s.	PROPN
cet-15031	1	101	varbanov	varbanov	PROPN
cet-15031	1	102	,	,	PUNCT
cet-15031	1	103	min	min	PROPN
cet-15031	1	104	zeng	zeng	PROPN
cet-15031	1	105	,	,	PUNCT
cet-15031	1	106	yee	yee	PROPN
cet-15031	1	107	van	van	PROPN
cet-15031	1	108	fan	fan	PROPN
cet-15031	1	109	,	,	PUNCT
cet-15031	1	110	xuechao	xuechao	PROPN
cet-15031	1	111	wang	wang	PROPN
cet-15031	1	112	copyright	copyright	PROPN
cet-15031	1	113	©	©	PROPN
cet-15031	1	114	2024	2024	NUM
cet-15031	1	115	,	,	PUNCT
cet-15031	1	116	aidic	aidic	ADJ
cet-15031	1	117	servizi	servizi	PROPN
cet-15031	1	118	s.r.l	s.r.l	NOUN
cet-15031	1	119	.	.	PUNCT
cet-15031	2	1	isbn	isbn	PROPN
cet-15031	2	2	979	979	NUM
cet-15031	2	3	-	-	SYM
cet-15031	2	4	12	12	NUM
cet-15031	2	5	-	-	PUNCT
cet-15031	2	6	81206	81206	NUM
cet-15031	2	7	-	-	SYM
cet-15031	2	8	12	12	NUM
cet-15031	2	9	-	-	SYM
cet-15031	2	10	0	0	NUM
cet-15031	2	11	;	;	PUNCT
cet-15031	2	12	issn	issn	PROPN
cet-15031	2	13	2283	2283	NUM
cet-15031	2	14	-	-	SYM
cet-15031	2	15	9216	9216	NUM
cet-15031	2	16	investigation	investigation	NOUN
cet-15031	2	17	of	of	ADP
cet-15031	2	18	system	system	NOUN
cet-15031	2	19	stability	stability	NOUN
cet-15031	2	20	and	and	CCONJ
cet-15031	2	21	the	the	DET
cet-15031	2	22	design	design	NOUN
cet-15031	2	23	of	of	ADP
cet-15031	2	24	a	a	DET
cet-15031	2	25	controller	controller	NOUN
cet-15031	2	26	based	base	VERB
cet-15031	2	27	on	on	ADP
cet-15031	2	28	the	the	DET
cet-15031	2	29	transfer	transfer	NOUN
cet-15031	2	30	function	function	NOUN
cet-15031	2	31	of	of	ADP
cet-15031	2	32	a	a	DET
cet-15031	2	33	quadcopter	quadcopter	NOUN
cet-15031	2	34	’s	’s	PART
cet-15031	2	35	bldc	bldc	PROPN
cet-15031	2	36	motor	motor	PROPN
cet-15031	2	37	barnabás	barnabás	PROPN
cet-15031	2	38	kiss*,a	kiss*,a	PROPN
cet-15031	2	39	,	,	PUNCT
cet-15031	2	40	áron	áron	NOUN
cet-15031	2	41	ballagib	ballagib	NOUN
cet-15031	2	42	,	,	PUNCT
cet-15031	2	43	miklós	miklós	PROPN
cet-15031	2	44	kuczmannc	kuczmannc	PROPN
cet-15031	2	45	aszéchenyi	aszéchenyi	PROPN
cet-15031	2	46	istván	istván	PROPN
cet-15031	2	47	university	university	PROPN
cet-15031	2	48	,	,	PUNCT
cet-15031	2	49	zalaegerszeg	zalaegerszeg	PROPN
cet-15031	2	50	innovation	innovation	NOUN
cet-15031	2	51	park	park	NOUN
cet-15031	2	52	,	,	PUNCT
cet-15031	2	53	3	3	NUM
cet-15031	2	54	dr	dr	PROPN
cet-15031	2	55	.	.	PROPN
cet-15031	2	56	michelberger	michelberger	PROPN
cet-15031	2	57	pál	pál	PROPN
cet-15031	2	58	street	street	PROPN
cet-15031	2	59	,	,	PUNCT
cet-15031	2	60	zalaegerszeg	zalaegerszeg	PROPN
cet-15031	2	61	,	,	PUNCT
cet-15031	2	62	8900	8900	NUM
cet-15031	2	63	,	,	PUNCT
cet-15031	2	64	hungary	hungary	PROPN
cet-15031	2	65	bszéchenyi	bszéchenyi	PROPN
cet-15031	2	66	istván	istván	PROPN
cet-15031	2	67	university	university	PROPN
cet-15031	2	68	,	,	PUNCT
cet-15031	2	69	department	department	NOUN
cet-15031	2	70	of	of	ADP
cet-15031	2	71	automation	automation	NOUN
cet-15031	2	72	and	and	CCONJ
cet-15031	2	73	mechatronics	mechatronic	NOUN
cet-15031	2	74	,	,	PUNCT
cet-15031	2	75	1	1	NUM
cet-15031	2	76	university	university	NOUN
cet-15031	2	77	square	square	NOUN
cet-15031	2	78	,	,	PUNCT
cet-15031	2	79	győr	győr	NOUN
cet-15031	2	80	,	,	PUNCT
cet-15031	2	81	9026	9026	NUM
cet-15031	2	82	,	,	PUNCT
cet-15031	2	83	hungary	hungary	PROPN
cet-15031	2	84	cszéchenyi	cszéchenyi	PROPN
cet-15031	2	85	istván	istván	PROPN
cet-15031	2	86	university	university	PROPN
cet-15031	2	87	,	,	PUNCT
cet-15031	2	88	department	department	NOUN
cet-15031	2	89	of	of	ADP
cet-15031	2	90	power	power	NOUN
cet-15031	2	91	electronics	electronic	NOUN
cet-15031	2	92	and	and	CCONJ
cet-15031	2	93	e	e	NOUN
cet-15031	2	94	-	-	NOUN
cet-15031	2	95	drives	drive	NOUN
cet-15031	2	96	,	,	PUNCT
cet-15031	2	97	1	1	NUM
cet-15031	2	98	university	university	NOUN
cet-15031	2	99	square	square	NOUN
cet-15031	2	100	,	,	PUNCT
cet-15031	2	101	győr	győr	NOUN
cet-15031	2	102	,	,	PUNCT
cet-15031	2	103	9026	9026	NUM
cet-15031	2	104	,	,	PUNCT
cet-15031	2	105	hungary	hungary	PROPN
cet-15031	2	106	kiss.barnabas@ga.sze.hu	kiss.barnabas@ga.sze.hu	VERB
cet-15031	2	107	the	the	DET
cet-15031	2	108	objective	objective	NOUN
cet-15031	2	109	of	of	ADP
cet-15031	2	110	this	this	DET
cet-15031	2	111	study	study	NOUN
cet-15031	2	112	is	be	AUX
cet-15031	2	113	the	the	DET
cet-15031	2	114	control	control	NOUN
cet-15031	2	115	technology	technology	NOUN
cet-15031	2	116	of	of	ADP
cet-15031	2	117	quadcopters	quadcopter	NOUN
cet-15031	2	118	.	.	PUNCT
cet-15031	3	1	the	the	DET
cet-15031	3	2	aim	aim	NOUN
cet-15031	3	3	of	of	ADP
cet-15031	3	4	this	this	DET
cet-15031	3	5	article	article	NOUN
cet-15031	3	6	is	be	AUX
cet-15031	3	7	to	to	PART
cet-15031	3	8	propose	propose	VERB
cet-15031	3	9	further	further	ADJ
cet-15031	3	10	simulation	simulation	NOUN
cet-15031	3	11	assessment	assessment	NOUN
cet-15031	3	12	opportunities	opportunity	NOUN
cet-15031	3	13	and	and	CCONJ
cet-15031	3	14	other	other	ADJ
cet-15031	3	15	control	control	NOUN
cet-15031	3	16	implementations	implementation	NOUN
cet-15031	3	17	for	for	ADP
cet-15031	3	18	investigating	investigate	VERB
cet-15031	3	19	the	the	DET
cet-15031	3	20	transfer	transfer	NOUN
cet-15031	3	21	function	function	NOUN
cet-15031	3	22	of	of	ADP
cet-15031	3	23	a	a	DET
cet-15031	3	24	quadrotor	quadrotor	NOUN
cet-15031	3	25	bldc	bldc	PROPN
cet-15031	3	26	(	(	PUNCT
cet-15031	3	27	brushless	brushless	VERB
cet-15031	3	28	direct	direct	ADJ
cet-15031	3	29	current	current	ADJ
cet-15031	3	30	electric	electric	ADJ
cet-15031	3	31	motor	motor	NOUN
cet-15031	3	32	)	)	PUNCT
cet-15031	3	33	motor	motor	NOUN
cet-15031	3	34	obtained	obtain	VERB
cet-15031	3	35	from	from	ADP
cet-15031	3	36	experimental	experimental	ADJ
cet-15031	3	37	results	result	NOUN
cet-15031	3	38	in	in	ADP
cet-15031	3	39	a	a	DET
cet-15031	3	40	previously	previously	ADV
cet-15031	3	41	published	publish	VERB
cet-15031	3	42	paper	paper	NOUN
cet-15031	3	43	by	by	ADP
cet-15031	3	44	separate	separate	ADJ
cet-15031	3	45	authors	author	NOUN
cet-15031	3	46	.	.	PUNCT
cet-15031	4	1	in	in	ADP
cet-15031	4	2	this	this	DET
cet-15031	4	3	article	article	NOUN
cet-15031	4	4	,	,	PUNCT
cet-15031	4	5	an	an	DET
cet-15031	4	6	lq	lq	X
cet-15031	4	7	(	(	PUNCT
cet-15031	4	8	linear	linear	ADJ
cet-15031	4	9	-	-	PUNCT
cet-15031	4	10	quadratic	quadratic	ADJ
cet-15031	4	11	)	)	PUNCT
cet-15031	4	12	controller	controller	NOUN
cet-15031	4	13	is	be	AUX
cet-15031	4	14	implemented	implement	VERB
cet-15031	4	15	based	base	VERB
cet-15031	4	16	on	on	ADP
cet-15031	4	17	the	the	DET
cet-15031	4	18	transmission	transmission	NOUN
cet-15031	4	19	function	function	NOUN
cet-15031	4	20	,	,	PUNCT
cet-15031	4	21	during	during	ADP
cet-15031	4	22	which	which	PRON
cet-15031	4	23	the	the	DET
cet-15031	4	24	response	response	NOUN
cet-15031	4	25	of	of	ADP
cet-15031	4	26	the	the	DET
cet-15031	4	27	controller	controller	NOUN
cet-15031	4	28	to	to	ADP
cet-15031	4	29	a	a	DET
cet-15031	4	30	unit	unit	NOUN
cet-15031	4	31	step	step	NOUN
cet-15031	4	32	signal	signal	NOUN
cet-15031	4	33	is	be	AUX
cet-15031	4	34	examined	examine	VERB
cet-15031	4	35	.	.	PUNCT
cet-15031	5	1	it	it	PRON
cet-15031	5	2	is	be	AUX
cet-15031	5	3	proved	prove	VERB
cet-15031	5	4	that	that	SCONJ
cet-15031	5	5	lq	lq	ADP
cet-15031	5	6	control	control	NOUN
cet-15031	5	7	can	can	AUX
cet-15031	5	8	significantly	significantly	ADV
cet-15031	5	9	enhance	enhance	VERB
cet-15031	5	10	the	the	DET
cet-15031	5	11	autonomy	autonomy	NOUN
cet-15031	5	12	of	of	ADP
cet-15031	5	13	uavs	uavs	PROPN
cet-15031	5	14	(	(	PUNCT
cet-15031	5	15	unmanned	unmanned	ADJ
cet-15031	5	16	aerial	aerial	ADJ
cet-15031	5	17	vehicles	vehicle	NOUN
cet-15031	5	18	)	)	PUNCT
cet-15031	5	19	compared	compare	VERB
cet-15031	5	20	to	to	ADP
cet-15031	5	21	pid	pid	NOUN
cet-15031	5	22	(	(	PUNCT
cet-15031	5	23	proportional	proportional	ADJ
cet-15031	5	24	-	-	PUNCT
cet-15031	5	25	integral	integral	ADJ
cet-15031	5	26	-	-	PUNCT
cet-15031	5	27	derivative	derivative	ADJ
cet-15031	5	28	controller	controller	NOUN
cet-15031	5	29	)	)	PUNCT
cet-15031	5	30	control	control	NOUN
cet-15031	5	31	,	,	PUNCT
cet-15031	5	32	as	as	SCONJ
cet-15031	5	33	a	a	DET
cet-15031	5	34	faster	fast	ADJ
cet-15031	5	35	and	and	CCONJ
cet-15031	5	36	more	more	ADV
cet-15031	5	37	accurate	accurate	ADJ
cet-15031	5	38	step	step	NOUN
cet-15031	5	39	response	response	NOUN
cet-15031	5	40	is	be	AUX
cet-15031	5	41	achieved	achieve	VERB
cet-15031	5	42	during	during	ADP
cet-15031	5	43	system	system	NOUN
cet-15031	5	44	analysis	analysis	NOUN
cet-15031	5	45	.	.	PUNCT
cet-15031	6	1	additionally	additionally	ADV
cet-15031	6	2	,	,	PUNCT
cet-15031	6	3	how	how	SCONJ
cet-15031	6	4	the	the	DET
cet-15031	6	5	lq	lq	NOUN
cet-15031	6	6	controller	controller	NOUN
cet-15031	6	7	and	and	CCONJ
cet-15031	6	8	the	the	DET
cet-15031	6	9	pid	pid	NOUN
cet-15031	6	10	controller	controller	NOUN
cet-15031	6	11	respond	respond	VERB
cet-15031	6	12	to	to	ADP
cet-15031	6	13	a	a	DET
cet-15031	6	14	randomly	randomly	ADV
cet-15031	6	15	generated	generate	VERB
cet-15031	6	16	white	white	ADJ
cet-15031	6	17	noise	noise	NOUN
cet-15031	6	18	is	be	AUX
cet-15031	6	19	examined	examine	VERB
cet-15031	6	20	.	.	PUNCT
cet-15031	7	1	the	the	DET
cet-15031	7	2	results	result	NOUN
cet-15031	7	3	are	be	AUX
cet-15031	7	4	compared	compare	VERB
cet-15031	7	5	with	with	ADP
cet-15031	7	6	those	those	PRON
cet-15031	7	7	implemented	implement	VERB
cet-15031	7	8	with	with	ADP
cet-15031	7	9	a	a	DET
cet-15031	7	10	pid	pid	NOUN
cet-15031	7	11	controller	controller	NOUN
cet-15031	7	12	presented	present	VERB
cet-15031	7	13	in	in	ADP
cet-15031	7	14	a	a	DET
cet-15031	7	15	separate	separate	ADJ
cet-15031	7	16	article	article	NOUN
cet-15031	7	17	.	.	PUNCT
cet-15031	8	1	1	1	X
cet-15031	8	2	.	.	X
cet-15031	8	3	introduction	introduction	NOUN
cet-15031	8	4	today	today	NOUN
cet-15031	8	5	,	,	PUNCT
cet-15031	8	6	the	the	DET
cet-15031	8	7	application	application	NOUN
cet-15031	8	8	areas	area	NOUN
cet-15031	8	9	for	for	ADP
cet-15031	8	10	uavs	uavs	NOUN
cet-15031	8	11	have	have	AUX
cet-15031	8	12	become	become	VERB
cet-15031	8	13	extremely	extremely	ADV
cet-15031	8	14	diverse	diverse	ADJ
cet-15031	8	15	.	.	PUNCT
cet-15031	9	1	the	the	DET
cet-15031	9	2	applicability	applicability	NOUN
cet-15031	9	3	of	of	ADP
cet-15031	9	4	unmanned	unmanned	ADJ
cet-15031	9	5	aerial	aerial	ADJ
cet-15031	9	6	vehicles	vehicle	NOUN
cet-15031	9	7	in	in	ADP
cet-15031	9	8	areas	area	NOUN
cet-15031	9	9	such	such	ADJ
cet-15031	9	10	as	as	ADP
cet-15031	9	11	infrastructure	infrastructure	NOUN
cet-15031	9	12	inspection	inspection	NOUN
cet-15031	9	13	,	,	PUNCT
cet-15031	9	14	land	land	NOUN
cet-15031	9	15	mapping	mapping	NOUN
cet-15031	9	16	,	,	PUNCT
cet-15031	9	17	and	and	CCONJ
cet-15031	9	18	filmmaking	filmmaking	ADJ
cet-15031	9	19	is	be	AUX
cet-15031	9	20	mentioned	mention	VERB
cet-15031	9	21	by	by	ADP
cet-15031	9	22	islam	islam	PROPN
cet-15031	9	23	et	et	PROPN
cet-15031	9	24	al	al	PROPN
cet-15031	9	25	.	.	PROPN
cet-15031	10	1	(	(	PUNCT
cet-15031	10	2	2019	2019	NUM
cet-15031	10	3	)	)	PUNCT
cet-15031	10	4	.	.	PUNCT
cet-15031	11	1	furthermore	furthermore	ADV
cet-15031	11	2	,	,	PUNCT
cet-15031	11	3	a	a	DET
cet-15031	11	4	separate	separate	ADJ
cet-15031	11	5	study	study	NOUN
cet-15031	11	6	by	by	ADP
cet-15031	11	7	say	say	VERB
cet-15031	11	8	et	et	PROPN
cet-15031	11	9	al	al	PROPN
cet-15031	11	10	.	.	PROPN
cet-15031	11	11	(	(	PUNCT
cet-15031	11	12	2021	2021	NUM
cet-15031	11	13	)	)	PUNCT
cet-15031	11	14	indicates	indicate	VERB
cet-15031	11	15	that	that	SCONJ
cet-15031	11	16	increasing	increase	VERB
cet-15031	11	17	the	the	DET
cet-15031	11	18	autonomy	autonomy	NOUN
cet-15031	11	19	of	of	ADP
cet-15031	11	20	uavs	uavs	NOUN
cet-15031	11	21	is	be	AUX
cet-15031	11	22	essential	essential	ADJ
cet-15031	11	23	for	for	ADP
cet-15031	11	24	the	the	DET
cet-15031	11	25	above	above	ADV
cet-15031	11	26	-	-	PUNCT
cet-15031	11	27	mentioned	mention	VERB
cet-15031	11	28	projects	project	NOUN
cet-15031	11	29	,	,	PUNCT
cet-15031	11	30	which	which	PRON
cet-15031	11	31	raises	raise	VERB
cet-15031	11	32	important	important	ADJ
cet-15031	11	33	control	control	NOUN
cet-15031	11	34	engineering	engineering	NOUN
cet-15031	11	35	questions	question	NOUN
cet-15031	11	36	.	.	PUNCT
cet-15031	12	1	according	accord	VERB
cet-15031	12	2	to	to	ADP
cet-15031	12	3	tahir	tahir	PROPN
cet-15031	12	4	et	et	PROPN
cet-15031	12	5	al	al	PROPN
cet-15031	12	6	.	.	PROPN
cet-15031	13	1	(	(	PUNCT
cet-15031	13	2	2023	2023	NUM
cet-15031	13	3	)	)	PUNCT
cet-15031	13	4	,	,	PUNCT
cet-15031	13	5	many	many	ADJ
cet-15031	13	6	application	application	NOUN
cet-15031	13	7	fields	field	NOUN
cet-15031	13	8	require	require	VERB
cet-15031	13	9	the	the	DET
cet-15031	13	10	autonomous	autonomous	ADJ
cet-15031	13	11	operation	operation	NOUN
cet-15031	13	12	of	of	ADP
cet-15031	13	13	uavs	uavs	PROPN
cet-15031	13	14	in	in	ADP
cet-15031	13	15	unpredictable	unpredictable	ADJ
cet-15031	13	16	,	,	PUNCT
cet-15031	13	17	hard	hard	ADJ
cet-15031	13	18	-	-	PUNCT
cet-15031	13	19	toreach	toreach	NOUN
cet-15031	13	20	areas	area	NOUN
cet-15031	13	21	,	,	PUNCT
cet-15031	13	22	emphasising	emphasise	VERB
cet-15031	13	23	the	the	DET
cet-15031	13	24	importance	importance	NOUN
cet-15031	13	25	of	of	ADP
cet-15031	13	26	control	control	NOUN
cet-15031	13	27	engineering	engineering	NOUN
cet-15031	13	28	.	.	PUNCT
cet-15031	14	1	the	the	DET
cet-15031	14	2	agricultural	agricultural	ADJ
cet-15031	14	3	applications	application	NOUN
cet-15031	14	4	of	of	ADP
cet-15031	14	5	uavs	uavs	NOUN
cet-15031	14	6	are	be	AUX
cet-15031	14	7	discussed	discuss	VERB
cet-15031	14	8	and	and	CCONJ
cet-15031	14	9	examined	examine	VERB
cet-15031	14	10	by	by	ADP
cet-15031	14	11	sadenova	sadenova	PROPN
cet-15031	14	12	et	et	PROPN
cet-15031	14	13	al	al	PROPN
cet-15031	14	14	.	.	PROPN
cet-15031	15	1	(	(	PUNCT
cet-15031	15	2	2023	2023	NUM
cet-15031	15	3	)	)	PUNCT
cet-15031	15	4	,	,	PUNCT
cet-15031	15	5	with	with	ADP
cet-15031	15	6	a	a	DET
cet-15031	15	7	focus	focus	NOUN
cet-15031	15	8	on	on	ADP
cet-15031	15	9	crop	crop	NOUN
cet-15031	15	10	monitoring	monitoring	NOUN
cet-15031	15	11	.	.	PUNCT
cet-15031	16	1	in	in	ADP
cet-15031	16	2	that	that	DET
cet-15031	16	3	study	study	NOUN
cet-15031	16	4	,	,	PUNCT
cet-15031	16	5	the	the	DET
cet-15031	16	6	use	use	NOUN
cet-15031	16	7	and	and	CCONJ
cet-15031	16	8	performance	performance	NOUN
cet-15031	16	9	of	of	ADP
cet-15031	16	10	two	two	NUM
cet-15031	16	11	different	different	ADJ
cet-15031	16	12	drone	drone	NOUN
cet-15031	16	13	types	type	NOUN
cet-15031	16	14	,	,	PUNCT
cet-15031	16	15	the	the	DET
cet-15031	16	16	dji	dji	NOUN
cet-15031	16	17	p4	p4	PROPN
cet-15031	16	18	m	m	PROPN
cet-15031	16	19	and	and	CCONJ
cet-15031	16	20	the	the	DET
cet-15031	16	21	sensefly	sensefly	ADJ
cet-15031	16	22	ebee	ebee	NOUN
cet-15031	16	23	x	x	PUNCT
cet-15031	16	24	was	be	AUX
cet-15031	16	25	compared	compare	VERB
cet-15031	16	26	during	during	ADP
cet-15031	16	27	barley	barley	NOUN
cet-15031	16	28	cultivation	cultivation	NOUN
cet-15031	16	29	.	.	PUNCT
cet-15031	17	1	the	the	DET
cet-15031	17	2	results	result	NOUN
cet-15031	17	3	show	show	VERB
cet-15031	17	4	that	that	SCONJ
cet-15031	17	5	the	the	DET
cet-15031	17	6	sensefly	sensefly	ADJ
cet-15031	17	7	ebee	ebee	NOUN
cet-15031	17	8	x	x	PUNCT
cet-15031	17	9	proved	prove	VERB
cet-15031	17	10	to	to	PART
cet-15031	17	11	be	be	AUX
cet-15031	17	12	the	the	DET
cet-15031	17	13	better	well	ADJ
cet-15031	17	14	choice	choice	NOUN
cet-15031	17	15	in	in	ADP
cet-15031	17	16	most	most	ADJ
cet-15031	17	17	indicators	indicator	NOUN
cet-15031	17	18	,	,	PUNCT
cet-15031	17	19	and	and	CCONJ
cet-15031	17	20	it	it	PRON
cet-15031	17	21	also	also	ADV
cet-15031	17	22	processed	process	VERB
cet-15031	17	23	plant	plant	NOUN
cet-15031	17	24	indices	indice	VERB
cet-15031	17	25	more	more	ADV
cet-15031	17	26	efficiently	efficiently	ADV
cet-15031	17	27	than	than	SCONJ
cet-15031	17	28	the	the	DET
cet-15031	17	29	dji	dji	NOUN
cet-15031	17	30	p4	p4	ADJ
cet-15031	17	31	m.	m.	NOUN
cet-15031	17	32	drone	drone	NOUN
cet-15031	17	33	technology	technology	NOUN
cet-15031	17	34	and	and	CCONJ
cet-15031	17	35	its	its	PRON
cet-15031	17	36	sustainability	sustainability	NOUN
cet-15031	17	37	aspects	aspect	NOUN
cet-15031	17	38	in	in	ADP
cet-15031	17	39	pesticide	pesticide	NOUN
cet-15031	17	40	application	application	NOUN
cet-15031	17	41	in	in	ADP
cet-15031	17	42	oil	oil	NOUN
cet-15031	17	43	palm	palm	NOUN
cet-15031	17	44	cultivation	cultivation	NOUN
cet-15031	17	45	are	be	AUX
cet-15031	17	46	studied	study	VERB
cet-15031	17	47	by	by	ADP
cet-15031	17	48	loh	loh	PROPN
cet-15031	17	49	et	et	PROPN
cet-15031	17	50	al	al	PROPN
cet-15031	17	51	.	.	PROPN
cet-15031	18	1	(	(	PUNCT
cet-15031	18	2	2022	2022	NUM
cet-15031	18	3	)	)	PUNCT
cet-15031	18	4	.	.	PUNCT
cet-15031	19	1	different	different	ADJ
cet-15031	19	2	spraying	spraying	NOUN
cet-15031	19	3	methods	method	NOUN
cet-15031	19	4	were	be	AUX
cet-15031	19	5	compared	compare	VERB
cet-15031	19	6	during	during	ADP
cet-15031	19	7	the	the	DET
cet-15031	19	8	research	research	NOUN
cet-15031	19	9	.	.	PUNCT
cet-15031	20	1	it	it	PRON
cet-15031	20	2	was	be	AUX
cet-15031	20	3	shown	show	VERB
cet-15031	20	4	that	that	SCONJ
cet-15031	20	5	drones	drone	NOUN
cet-15031	20	6	powered	power	VERB
cet-15031	20	7	by	by	ADP
cet-15031	20	8	gasoline	gasoline	NOUN
cet-15031	20	9	generators	generator	NOUN
cet-15031	20	10	represent	represent	VERB
cet-15031	20	11	the	the	DET
cet-15031	20	12	most	most	ADV
cet-15031	20	13	sustainable	sustainable	ADJ
cet-15031	20	14	option	option	NOUN
cet-15031	20	15	,	,	PUNCT
cet-15031	20	16	with	with	ADP
cet-15031	20	17	the	the	DET
cet-15031	20	18	highest	high	ADJ
cet-15031	20	19	sustainability	sustainability	NOUN
cet-15031	20	20	index	index	NOUN
cet-15031	20	21	value	value	NOUN
cet-15031	20	22	of	of	ADP
cet-15031	20	23	0.834	0.834	NUM
cet-15031	20	24	.	.	PUNCT
cet-15031	21	1	drones	drone	NOUN
cet-15031	21	2	in	in	ADP
cet-15031	21	3	agriculture	agriculture	NOUN
cet-15031	21	4	are	be	AUX
cet-15031	21	5	also	also	ADV
cet-15031	21	6	examined	examine	VERB
cet-15031	21	7	in	in	ADP
cet-15031	21	8	another	another	DET
cet-15031	21	9	study	study	NOUN
cet-15031	21	10	by	by	ADP
cet-15031	21	11	sarghini	sarghini	NOUN
cet-15031	21	12	and	and	CCONJ
cet-15031	21	13	de	de	X
cet-15031	21	14	vivo	vivo	NOUN
cet-15031	21	15	(	(	PUNCT
cet-15031	21	16	2017	2017	NUM
cet-15031	21	17	)	)	PUNCT
cet-15031	21	18	,	,	PUNCT
cet-15031	21	19	focusing	focus	VERB
cet-15031	21	20	on	on	ADP
cet-15031	21	21	the	the	DET
cet-15031	21	22	topic	topic	NOUN
cet-15031	21	23	of	of	ADP
cet-15031	21	24	sustainability	sustainability	NOUN
cet-15031	21	25	,	,	PUNCT
cet-15031	21	26	particularly	particularly	ADV
cet-15031	21	27	on	on	ADP
cet-15031	21	28	the	the	DET
cet-15031	21	29	precise	precise	ADJ
cet-15031	21	30	distribution	distribution	NOUN
cet-15031	21	31	of	of	ADP
cet-15031	21	32	pesticides	pesticide	NOUN
cet-15031	21	33	to	to	PART
cet-15031	21	34	reduce	reduce	VERB
cet-15031	21	35	the	the	DET
cet-15031	21	36	use	use	NOUN
cet-15031	21	37	of	of	ADP
cet-15031	21	38	chemicals	chemical	NOUN
cet-15031	21	39	and	and	CCONJ
cet-15031	21	40	groundwater	groundwater	NOUN
cet-15031	21	41	contamination	contamination	NOUN
cet-15031	21	42	.	.	PUNCT
cet-15031	22	1	according	accord	VERB
cet-15031	22	2	to	to	ADP
cet-15031	22	3	the	the	DET
cet-15031	22	4	results	result	NOUN
cet-15031	22	5	,	,	PUNCT
cet-15031	22	6	optimal	optimal	ADJ
cet-15031	22	7	design	design	NOUN
cet-15031	22	8	decisions	decision	NOUN
cet-15031	22	9	can	can	AUX
cet-15031	22	10	significantly	significantly	ADV
cet-15031	22	11	increase	increase	VERB
cet-15031	22	12	spraying	spray	VERB
cet-15031	22	13	efficiency	efficiency	NOUN
cet-15031	22	14	and	and	CCONJ
cet-15031	22	15	reduce	reduce	VERB
cet-15031	22	16	environmental	environmental	ADJ
cet-15031	22	17	damage	damage	NOUN
cet-15031	22	18	.	.	PUNCT
cet-15031	23	1	uavs	uavs	PROPN
cet-15031	23	2	were	be	AUX
cet-15031	23	3	used	use	VERB
cet-15031	23	4	for	for	ADP
cet-15031	23	5	package	package	NOUN
cet-15031	23	6	delivery	delivery	NOUN
cet-15031	23	7	tasks	task	NOUN
cet-15031	23	8	in	in	ADP
cet-15031	23	9	the	the	DET
cet-15031	23	10	research	research	NOUN
cet-15031	23	11	of	of	ADP
cet-15031	23	12	chiang	chiang	PROPN
cet-15031	23	13	et	et	PROPN
cet-15031	23	14	al	al	PROPN
cet-15031	23	15	.	.	PROPN
cet-15031	24	1	(	(	PUNCT
cet-15031	24	2	2019	2019	NUM
cet-15031	24	3	)	)	PUNCT
cet-15031	24	4	.	.	PUNCT
cet-15031	25	1	according	accord	VERB
cet-15031	25	2	to	to	ADP
cet-15031	25	3	the	the	DET
cet-15031	25	4	results	result	NOUN
cet-15031	25	5	,	,	PUNCT
cet-15031	25	6	the	the	DET
cet-15031	25	7	use	use	NOUN
cet-15031	25	8	of	of	ADP
cet-15031	25	9	uavs	uavs	NOUN
cet-15031	25	10	can	can	AUX
cet-15031	25	11	lead	lead	VERB
cet-15031	25	12	to	to	ADP
cet-15031	25	13	significant	significant	ADJ
cet-15031	25	14	energy	energy	NOUN
cet-15031	25	15	savings	saving	NOUN
cet-15031	25	16	and	and	CCONJ
cet-15031	25	17	a	a	DET
cet-15031	25	18	reduction	reduction	NOUN
cet-15031	25	19	in	in	ADP
cet-15031	25	20	carbon	carbon	NOUN
cet-15031	25	21	dioxide	dioxide	NOUN
cet-15031	25	22	emissions	emission	NOUN
cet-15031	25	23	,	,	PUNCT
cet-15031	25	24	which	which	PRON
cet-15031	25	25	is	be	AUX
cet-15031	25	26	not	not	PART
cet-15031	25	27	only	only	ADV
cet-15031	25	28	cost	cost	NOUN
cet-15031	25	29	-	-	PUNCT
cet-15031	25	30	effective	effective	ADJ
cet-15031	25	31	but	but	CCONJ
cet-15031	25	32	also	also	ADV
cet-15031	25	33	environmentally	environmentally	ADV
cet-15031	25	34	friendly	friendly	ADJ
cet-15031	25	35	.	.	PUNCT
cet-15031	26	1	as	as	SCONJ
cet-15031	26	2	can	can	AUX
cet-15031	26	3	be	be	AUX
cet-15031	26	4	seen	see	VERB
cet-15031	26	5	from	from	ADP
cet-15031	26	6	the	the	DET
cet-15031	26	7	above	above	NOUN
cet-15031	26	8	,	,	PUNCT
cet-15031	26	9	the	the	DET
cet-15031	26	10	application	application	NOUN
cet-15031	26	11	areas	area	NOUN
cet-15031	26	12	of	of	ADP
cet-15031	26	13	uavs	uavs	NOUN
cet-15031	26	14	are	be	AUX
cet-15031	26	15	extremely	extremely	ADV
cet-15031	26	16	diverse	diverse	ADJ
cet-15031	26	17	and	and	CCONJ
cet-15031	26	18	multidisciplinary	multidisciplinary	ADJ
cet-15031	26	19	,	,	PUNCT
cet-15031	26	20	and	and	CCONJ
cet-15031	26	21	the	the	DET
cet-15031	26	22	research	research	NOUN
cet-15031	26	23	on	on	ADP
cet-15031	26	24	this	this	DET
cet-15031	26	25	topic	topic	NOUN
cet-15031	26	26	is	be	AUX
cet-15031	26	27	relevant	relevant	ADJ
cet-15031	26	28	in	in	ADP
cet-15031	26	29	terms	term	NOUN
cet-15031	26	30	of	of	ADP
cet-15031	26	31	sustainability	sustainability	NOUN
cet-15031	26	32	.	.	PUNCT
cet-15031	27	1	751	751	NUM
cet-15031	27	2	to	to	PART
cet-15031	27	3	increase	increase	VERB
cet-15031	27	4	the	the	DET
cet-15031	27	5	autonomy	autonomy	NOUN
cet-15031	27	6	of	of	ADP
cet-15031	27	7	uavs	uavs	PROPN
cet-15031	27	8	,	,	PUNCT
cet-15031	27	9	the	the	DET
cet-15031	27	10	control	control	NOUN
cet-15031	27	11	technology	technology	NOUN
cet-15031	27	12	of	of	ADP
cet-15031	27	13	uavs	uavs	NOUN
cet-15031	27	14	is	be	AUX
cet-15031	27	15	discussed	discuss	VERB
cet-15031	27	16	in	in	ADP
cet-15031	27	17	more	more	ADJ
cet-15031	27	18	detail	detail	NOUN
cet-15031	27	19	in	in	ADP
cet-15031	27	20	this	this	DET
cet-15031	27	21	paper	paper	NOUN
cet-15031	27	22	.	.	PUNCT
cet-15031	28	1	the	the	DET
cet-15031	28	2	aim	aim	NOUN
cet-15031	28	3	of	of	ADP
cet-15031	28	4	the	the	DET
cet-15031	28	5	authors	author	NOUN
cet-15031	28	6	is	be	AUX
cet-15031	28	7	to	to	PART
cet-15031	28	8	examine	examine	VERB
cet-15031	28	9	and	and	CCONJ
cet-15031	28	10	demonstrate	demonstrate	VERB
cet-15031	28	11	that	that	SCONJ
cet-15031	28	12	lq	lq	NOUN
cet-15031	28	13	control	control	NOUN
cet-15031	28	14	can	can	AUX
cet-15031	28	15	achieve	achieve	VERB
cet-15031	28	16	a	a	DET
cet-15031	28	17	more	more	ADV
cet-15031	28	18	precise	precise	ADJ
cet-15031	28	19	and	and	CCONJ
cet-15031	28	20	faster	fast	ADJ
cet-15031	28	21	step	step	NOUN
cet-15031	28	22	response	response	NOUN
cet-15031	28	23	in	in	ADP
cet-15031	28	24	controlling	control	VERB
cet-15031	28	25	the	the	DET
cet-15031	28	26	bldc	bldc	PROPN
cet-15031	28	27	motors	motor	NOUN
cet-15031	28	28	of	of	ADP
cet-15031	28	29	quadcopters	quadcopter	NOUN
cet-15031	28	30	compared	compare	VERB
cet-15031	28	31	to	to	ADP
cet-15031	28	32	the	the	DET
cet-15031	28	33	use	use	NOUN
cet-15031	28	34	of	of	ADP
cet-15031	28	35	pid	pid	NOUN
cet-15031	28	36	controllers	controller	NOUN
cet-15031	28	37	.	.	PUNCT
cet-15031	29	1	the	the	DET
cet-15031	29	2	authors	author	NOUN
cet-15031	29	3	'	'	PART
cet-15031	29	4	further	further	ADJ
cet-15031	29	5	goal	goal	NOUN
cet-15031	29	6	is	be	AUX
cet-15031	29	7	to	to	PART
cet-15031	29	8	contribute	contribute	VERB
cet-15031	29	9	to	to	ADP
cet-15031	29	10	increasing	increase	VERB
cet-15031	29	11	the	the	DET
cet-15031	29	12	autonomy	autonomy	NOUN
cet-15031	29	13	of	of	ADP
cet-15031	29	14	uavs	uavs	NOUN
cet-15031	29	15	with	with	ADP
cet-15031	29	16	this	this	DET
cet-15031	29	17	research	research	NOUN
cet-15031	29	18	.	.	PUNCT
cet-15031	30	1	2	2	X
cet-15031	30	2	.	.	X
cet-15031	30	3	review	review	NOUN
cet-15031	30	4	of	of	ADP
cet-15031	30	5	reference	reference	NOUN
cet-15031	30	6	works	work	VERB
cet-15031	30	7	the	the	DET
cet-15031	30	8	transfer	transfer	NOUN
cet-15031	30	9	function	function	NOUN
cet-15031	30	10	of	of	ADP
cet-15031	30	11	a	a	DET
cet-15031	30	12	quadcopter	quadcopter	NOUN
cet-15031	30	13	's	's	PART
cet-15031	30	14	thrust	thrust	NOUN
cet-15031	30	15	-	-	PUNCT
cet-15031	30	16	providing	provide	VERB
cet-15031	30	17	bldc	bldc	PROPN
cet-15031	30	18	motor	motor	NOUN
cet-15031	30	19	based	base	VERB
cet-15031	30	20	on	on	ADP
cet-15031	30	21	experimental	experimental	ADJ
cet-15031	30	22	setup	setup	NOUN
cet-15031	30	23	and	and	CCONJ
cet-15031	30	24	system	system	NOUN
cet-15031	30	25	identification	identification	NOUN
cet-15031	30	26	was	be	AUX
cet-15031	30	27	determined	determine	VERB
cet-15031	30	28	by	by	ADP
cet-15031	30	29	ahmed	ahmed	PROPN
cet-15031	30	30	et	et	PROPN
cet-15031	30	31	al	al	PROPN
cet-15031	30	32	.	.	PROPN
cet-15031	31	1	(	(	PUNCT
cet-15031	31	2	2015	2015	NUM
cet-15031	31	3	)	)	PUNCT
cet-15031	31	4	.	.	PUNCT
cet-15031	32	1	the	the	DET
cet-15031	32	2	transfer	transfer	NOUN
cet-15031	32	3	function	function	NOUN
cet-15031	32	4	is	be	AUX
cet-15031	32	5	illustrated	illustrate	VERB
cet-15031	32	6	by	by	ADP
cet-15031	32	7	eq(1	eq(1	NOUN
cet-15031	32	8	):	):	PUNCT
cet-15031	32	9	𝑊𝑝	𝑊𝑝	PROPN
cet-15031	32	10	=	=	PUNCT
cet-15031	32	11	3.3928𝑠2	3.3928𝑠2	NUM
cet-15031	32	12	−	−	NUM
cet-15031	33	1	340.09𝑠	340.09𝑠	NUM
cet-15031	34	1	+	+	CCONJ
cet-15031	34	2	39,451	39,451	NUM
cet-15031	34	3	𝑠3	𝑠3	NOUN
cet-15031	34	4	+	+	CCONJ
cet-15031	35	1	74.38𝑠2	74.38𝑠2	NUM
cet-15031	35	2	+	+	NUM
cet-15031	35	3	5,589𝑠	5,589𝑠	NUM
cet-15031	35	4	+	+	CCONJ
cet-15031	35	5	42,107	42,107	NUM
cet-15031	35	6	.	.	PUNCT
cet-15031	36	1	(	(	PUNCT
cet-15031	36	2	1	1	X
cet-15031	36	3	)	)	PUNCT
cet-15031	36	4	the	the	DET
cet-15031	36	5	aim	aim	NOUN
cet-15031	36	6	of	of	ADP
cet-15031	36	7	the	the	DET
cet-15031	36	8	research	research	NOUN
cet-15031	36	9	by	by	ADP
cet-15031	36	10	ahmed	ahmed	PROPN
cet-15031	36	11	et	et	PROPN
cet-15031	36	12	al	al	PROPN
cet-15031	36	13	.	.	PROPN
cet-15031	37	1	(	(	PUNCT
cet-15031	37	2	2015	2015	NUM
cet-15031	37	3	)	)	PUNCT
cet-15031	37	4	was	be	AUX
cet-15031	37	5	to	to	PART
cet-15031	37	6	derive	derive	VERB
cet-15031	37	7	the	the	DET
cet-15031	37	8	motor	motor	NOUN
cet-15031	37	9	transfer	transfer	NOUN
cet-15031	37	10	function	function	NOUN
cet-15031	37	11	based	base	VERB
cet-15031	37	12	on	on	ADP
cet-15031	37	13	input	input	NOUN
cet-15031	37	14	and	and	CCONJ
cet-15031	37	15	output	output	NOUN
cet-15031	37	16	data	datum	NOUN
cet-15031	37	17	.	.	PUNCT
cet-15031	38	1	to	to	PART
cet-15031	38	2	achieve	achieve	VERB
cet-15031	38	3	this	this	PRON
cet-15031	38	4	,	,	PUNCT
cet-15031	38	5	varying	vary	VERB
cet-15031	38	6	input	input	NOUN
cet-15031	38	7	signals	signal	NOUN
cet-15031	38	8	were	be	AUX
cet-15031	38	9	applied	apply	VERB
cet-15031	38	10	to	to	ADP
cet-15031	38	11	the	the	DET
cet-15031	38	12	motor	motor	NOUN
cet-15031	38	13	,	,	PUNCT
cet-15031	38	14	and	and	CCONJ
cet-15031	38	15	the	the	DET
cet-15031	38	16	output	output	NOUN
cet-15031	38	17	thrust	thrust	NOUN
cet-15031	38	18	was	be	AUX
cet-15031	38	19	measured	measure	VERB
cet-15031	38	20	using	use	VERB
cet-15031	38	21	a	a	DET
cet-15031	38	22	kg	kg	NOUN
cet-15031	38	23	scalar	scalar	NOUN
cet-15031	38	24	(	(	PUNCT
cet-15031	38	25	thrust	thrust	NOUN
cet-15031	38	26	sensor	sensor	NOUN
cet-15031	38	27	)	)	PUNCT
cet-15031	38	28	.	.	PUNCT
cet-15031	39	1	after	after	ADP
cet-15031	39	2	gradually	gradually	ADV
cet-15031	39	3	activating	activate	VERB
cet-15031	39	4	the	the	DET
cet-15031	39	5	radio	radio	NOUN
cet-15031	39	6	control	control	NOUN
cet-15031	39	7	,	,	PUNCT
cet-15031	39	8	the	the	DET
cet-15031	39	9	thrust	thrust	NOUN
cet-15031	39	10	was	be	AUX
cet-15031	39	11	increased	increase	VERB
cet-15031	39	12	at	at	ADP
cet-15031	39	13	different	different	ADJ
cet-15031	39	14	reference	reference	NOUN
cet-15031	39	15	values	value	NOUN
cet-15031	39	16	,	,	PUNCT
cet-15031	39	17	and	and	CCONJ
cet-15031	39	18	the	the	DET
cet-15031	39	19	data	datum	NOUN
cet-15031	39	20	were	be	AUX
cet-15031	39	21	recorded	record	VERB
cet-15031	39	22	in	in	ADP
cet-15031	39	23	a	a	DET
cet-15031	39	24	table	table	NOUN
cet-15031	39	25	to	to	PART
cet-15031	39	26	determine	determine	VERB
cet-15031	39	27	the	the	DET
cet-15031	39	28	appropriate	appropriate	ADJ
cet-15031	39	29	pwm	pwm	NOUN
cet-15031	39	30	(	(	PUNCT
cet-15031	39	31	pulse	pulse	NOUN
cet-15031	39	32	-	-	PUNCT
cet-15031	39	33	width	width	NOUN
cet-15031	39	34	modulation	modulation	NOUN
cet-15031	39	35	)	)	PUNCT
cet-15031	39	36	value	value	NOUN
cet-15031	39	37	to	to	PART
cet-15031	39	38	ensure	ensure	VERB
cet-15031	39	39	the	the	DET
cet-15031	39	40	desired	desire	VERB
cet-15031	39	41	load	load	NOUN
cet-15031	39	42	and	and	CCONJ
cet-15031	39	43	flight	flight	NOUN
cet-15031	39	44	duration	duration	NOUN
cet-15031	39	45	.	.	PUNCT
cet-15031	40	1	the	the	DET
cet-15031	40	2	data	datum	NOUN
cet-15031	40	3	were	be	AUX
cet-15031	40	4	collected	collect	VERB
cet-15031	40	5	via	via	ADP
cet-15031	40	6	an	an	DET
cet-15031	40	7	atmel	atmel	NOUN
cet-15031	40	8	atmega	atmega	PROPN
cet-15031	40	9	2560	2560	NUM
cet-15031	40	10	microcontroller	microcontroller	NOUN
cet-15031	40	11	,	,	PUNCT
cet-15031	40	12	which	which	PRON
cet-15031	40	13	monitored	monitor	VERB
cet-15031	40	14	the	the	DET
cet-15031	40	15	input	input	NOUN
cet-15031	40	16	and	and	CCONJ
cet-15031	40	17	output	output	NOUN
cet-15031	40	18	characteristics	characteristic	NOUN
cet-15031	40	19	of	of	ADP
cet-15031	40	20	the	the	DET
cet-15031	40	21	motor	motor	NOUN
cet-15031	40	22	.	.	PUNCT
cet-15031	41	1	the	the	DET
cet-15031	41	2	matlab	matlab	PROPN
cet-15031	41	3	system	system	NOUN
cet-15031	41	4	identification	identification	NOUN
cet-15031	41	5	toolbox	toolbox	NOUN
cet-15031	41	6	was	be	AUX
cet-15031	41	7	used	use	VERB
cet-15031	41	8	to	to	PART
cet-15031	41	9	determine	determine	VERB
cet-15031	41	10	the	the	DET
cet-15031	41	11	transfer	transfer	NOUN
cet-15031	41	12	function	function	NOUN
cet-15031	41	13	,	,	PUNCT
cet-15031	41	14	which	which	PRON
cet-15031	41	15	was	be	AUX
cet-15031	41	16	later	later	ADV
cet-15031	41	17	used	use	VERB
cet-15031	41	18	to	to	PART
cet-15031	41	19	build	build	VERB
cet-15031	41	20	the	the	DET
cet-15031	41	21	matlab	matlab	PROPN
cet-15031	41	22	/	/	SYM
cet-15031	41	23	simulink	simulink	PROPN
cet-15031	41	24	model	model	NOUN
cet-15031	41	25	to	to	PART
cet-15031	41	26	provide	provide	VERB
cet-15031	41	27	a	a	DET
cet-15031	41	28	simulation	simulation	NOUN
cet-15031	41	29	and	and	CCONJ
cet-15031	41	30	controller	controller	NOUN
cet-15031	41	31	design	design	NOUN
cet-15031	41	32	close	close	ADV
cet-15031	41	33	to	to	ADP
cet-15031	41	34	the	the	DET
cet-15031	41	35	real	real	ADJ
cet-15031	41	36	behaviour	behaviour	NOUN
cet-15031	41	37	of	of	ADP
cet-15031	41	38	the	the	DET
cet-15031	41	39	quadcopter	quadcopter	NOUN
cet-15031	41	40	.	.	PUNCT
cet-15031	42	1	for	for	ADP
cet-15031	42	2	control	control	NOUN
cet-15031	42	3	implementation	implementation	NOUN
cet-15031	42	4	,	,	PUNCT
cet-15031	42	5	a	a	DET
cet-15031	42	6	pid	pid	NOUN
cet-15031	42	7	controller	controller	NOUN
cet-15031	42	8	was	be	AUX
cet-15031	42	9	recommended	recommend	VERB
cet-15031	42	10	due	due	ADP
cet-15031	42	11	to	to	ADP
cet-15031	42	12	its	its	PRON
cet-15031	42	13	reliability	reliability	NOUN
cet-15031	42	14	,	,	PUNCT
cet-15031	42	15	simplicity	simplicity	NOUN
cet-15031	42	16	,	,	PUNCT
cet-15031	42	17	performance	performance	NOUN
cet-15031	42	18	,	,	PUNCT
cet-15031	42	19	and	and	CCONJ
cet-15031	42	20	favourable	favourable	ADJ
cet-15031	42	21	tunability	tunability	NOUN
cet-15031	42	22	.	.	PUNCT
cet-15031	43	1	during	during	ADP
cet-15031	43	2	implementation	implementation	NOUN
cet-15031	43	3	,	,	PUNCT
cet-15031	43	4	a	a	DET
cet-15031	43	5	special	special	ADJ
cet-15031	43	6	modified	modify	VERB
cet-15031	43	7	pid	pid	NOUN
cet-15031	43	8	control	control	NOUN
cet-15031	43	9	was	be	AUX
cet-15031	43	10	applied	apply	VERB
cet-15031	43	11	,	,	PUNCT
cet-15031	43	12	where	where	SCONJ
cet-15031	43	13	the	the	DET
cet-15031	43	14	differential	differential	ADJ
cet-15031	43	15	component	component	NOUN
cet-15031	43	16	was	be	AUX
cet-15031	43	17	integrated	integrate	VERB
cet-15031	43	18	into	into	ADP
cet-15031	43	19	the	the	DET
cet-15031	43	20	feedback	feedback	NOUN
cet-15031	43	21	loop	loop	NOUN
cet-15031	43	22	of	of	ADP
cet-15031	43	23	the	the	DET
cet-15031	43	24	controlled	control	VERB
cet-15031	43	25	characteristic	characteristic	NOUN
cet-15031	43	26	.	.	PUNCT
cet-15031	44	1	ahmed	ahmed	PROPN
cet-15031	44	2	et	et	PROPN
cet-15031	44	3	al	al	PROPN
cet-15031	44	4	.	.	PROPN
cet-15031	45	1	(	(	PUNCT
cet-15031	45	2	2015	2015	NUM
cet-15031	45	3	)	)	PUNCT
cet-15031	45	4	found	find	VERB
cet-15031	45	5	that	that	SCONJ
cet-15031	45	6	with	with	SCONJ
cet-15031	45	7	the	the	DET
cet-15031	45	8	modified	modify	VERB
cet-15031	45	9	pid	pid	NOUN
cet-15031	45	10	controller	controller	NOUN
cet-15031	45	11	applied	apply	VERB
cet-15031	45	12	,	,	PUNCT
cet-15031	45	13	the	the	DET
cet-15031	45	14	system	system	NOUN
cet-15031	45	15	achieved	achieve	VERB
cet-15031	45	16	4	4	NUM
cet-15031	45	17	seconds	second	NOUN
cet-15031	45	18	of	of	ADP
cet-15031	45	19	positional	positional	ADJ
cet-15031	45	20	stability	stability	NOUN
cet-15031	45	21	,	,	PUNCT
cet-15031	45	22	during	during	ADP
cet-15031	45	23	which	which	PRON
cet-15031	45	24	the	the	DET
cet-15031	45	25	quadcopter	quadcopter	NOUN
cet-15031	45	26	ascended	ascend	VERB
cet-15031	45	27	to	to	ADP
cet-15031	45	28	a	a	DET
cet-15031	45	29	height	height	NOUN
cet-15031	45	30	of	of	ADP
cet-15031	45	31	2.8	2.8	NUM
cet-15031	45	32	m.	m.	NOUN
cet-15031	45	33	in	in	ADP
cet-15031	45	34	another	another	DET
cet-15031	45	35	study	study	NOUN
cet-15031	45	36	,	,	PUNCT
cet-15031	45	37	the	the	DET
cet-15031	45	38	work	work	NOUN
cet-15031	45	39	of	of	ADP
cet-15031	45	40	say	say	VERB
cet-15031	45	41	et	et	PROPN
cet-15031	45	42	al	al	PROPN
cet-15031	45	43	.	.	PROPN
cet-15031	46	1	(	(	PUNCT
cet-15031	46	2	2021	2021	NUM
cet-15031	46	3	)	)	PUNCT
cet-15031	46	4	was	be	AUX
cet-15031	46	5	based	base	VERB
cet-15031	46	6	on	on	ADP
cet-15031	46	7	the	the	DET
cet-15031	46	8	eq(1	eq(1	NOUN
cet-15031	46	9	)	)	PUNCT
cet-15031	46	10	transfer	transfer	NOUN
cet-15031	46	11	function	function	NOUN
cet-15031	46	12	to	to	PART
cet-15031	46	13	examine	examine	VERB
cet-15031	46	14	a	a	DET
cet-15031	46	15	tuning	tuning	NOUN
cet-15031	46	16	technique	technique	NOUN
cet-15031	46	17	implemented	implement	VERB
cet-15031	46	18	with	with	ADP
cet-15031	46	19	a	a	DET
cet-15031	46	20	ga	ga	PROPN
cet-15031	46	21	(	(	PUNCT
cet-15031	46	22	genetic	genetic	ADJ
cet-15031	46	23	algorithm	algorithm	NOUN
cet-15031	46	24	)	)	PUNCT
cet-15031	46	25	for	for	ADP
cet-15031	46	26	the	the	DET
cet-15031	46	27	pid	pid	NOUN
cet-15031	46	28	controller	controller	NOUN
cet-15031	46	29	.	.	PUNCT
cet-15031	47	1	the	the	DET
cet-15031	47	2	essence	essence	NOUN
cet-15031	47	3	of	of	ADP
cet-15031	47	4	the	the	DET
cet-15031	47	5	ga	ga	PROPN
cet-15031	47	6	approach	approach	NOUN
cet-15031	47	7	is	be	AUX
cet-15031	47	8	to	to	PART
cet-15031	47	9	determine	determine	VERB
cet-15031	47	10	optimal	optimal	ADJ
cet-15031	47	11	gain	gain	NOUN
cet-15031	47	12	values	value	NOUN
cet-15031	47	13	without	without	ADP
cet-15031	47	14	the	the	DET
cet-15031	47	15	need	need	NOUN
cet-15031	47	16	for	for	ADP
cet-15031	47	17	empirical	empirical	ADJ
cet-15031	47	18	trial	trial	NOUN
cet-15031	47	19	and	and	CCONJ
cet-15031	47	20	error	error	NOUN
cet-15031	47	21	.	.	PUNCT
cet-15031	48	1	the	the	DET
cet-15031	48	2	effects	effect	NOUN
cet-15031	48	3	of	of	ADP
cet-15031	48	4	different	different	ADJ
cet-15031	48	5	selections	selection	NOUN
cet-15031	48	6	on	on	ADP
cet-15031	48	7	the	the	DET
cet-15031	48	8	determination	determination	NOUN
cet-15031	48	9	of	of	ADP
cet-15031	48	10	pid	pid	NOUN
cet-15031	48	11	parameters	parameter	NOUN
cet-15031	48	12	generated	generate	VERB
cet-15031	48	13	by	by	ADP
cet-15031	48	14	ga	ga	PROPN
cet-15031	48	15	were	be	AUX
cet-15031	48	16	examined	examine	VERB
cet-15031	48	17	by	by	ADP
cet-15031	48	18	say	say	INTJ
cet-15031	48	19	et	et	PROPN
cet-15031	48	20	al	al	PROPN
cet-15031	48	21	.	.	PROPN
cet-15031	49	1	(	(	PUNCT
cet-15031	49	2	2021	2021	NUM
cet-15031	49	3	)	)	PUNCT
cet-15031	49	4	.	.	PUNCT
cet-15031	50	1	the	the	DET
cet-15031	50	2	gain	gain	NOUN
cet-15031	50	3	values	value	NOUN
cet-15031	50	4	are	be	AUX
cet-15031	50	5	illustrated	illustrate	VERB
cet-15031	50	6	in	in	ADP
cet-15031	50	7	table	table	NOUN
cet-15031	50	8	1	1	NUM
cet-15031	50	9	.	.	PUNCT
cet-15031	51	1	the	the	DET
cet-15031	51	2	results	result	NOUN
cet-15031	51	3	obtained	obtain	VERB
cet-15031	51	4	with	with	ADP
cet-15031	51	5	remainder	remainder	NOUN
cet-15031	51	6	selection	selection	NOUN
cet-15031	51	7	in	in	ADP
cet-15031	51	8	pid5	pid5	NOUN
cet-15031	51	9	were	be	AUX
cet-15031	51	10	considered	consider	VERB
cet-15031	51	11	to	to	PART
cet-15031	51	12	be	be	AUX
cet-15031	51	13	the	the	DET
cet-15031	51	14	most	most	ADV
cet-15031	51	15	suitable	suitable	ADJ
cet-15031	51	16	by	by	ADP
cet-15031	51	17	say	say	INTJ
cet-15031	51	18	et	et	PROPN
cet-15031	51	19	al	al	PROPN
cet-15031	51	20	.	.	PROPN
cet-15031	52	1	(	(	PUNCT
cet-15031	52	2	2021	2021	NUM
cet-15031	52	3	)	)	PUNCT
cet-15031	53	1	during	during	ADP
cet-15031	53	2	the	the	DET
cet-15031	53	3	examination	examination	NOUN
cet-15031	53	4	of	of	ADP
cet-15031	53	5	the	the	DET
cet-15031	53	6	response	response	NOUN
cet-15031	53	7	to	to	ADP
cet-15031	53	8	a	a	DET
cet-15031	53	9	unit	unit	NOUN
cet-15031	53	10	step	step	NOUN
cet-15031	53	11	signal	signal	NOUN
cet-15031	53	12	.	.	PUNCT
cet-15031	54	1	the	the	DET
cet-15031	54	2	results	result	NOUN
cet-15031	54	3	on	on	ADP
cet-15031	54	4	the	the	DET
cet-15031	54	5	step	step	NOUN
cet-15031	54	6	response	response	NOUN
cet-15031	54	7	are	be	AUX
cet-15031	54	8	shown	show	VERB
cet-15031	54	9	in	in	ADP
cet-15031	54	10	table	table	NOUN
cet-15031	54	11	2	2	NUM
cet-15031	54	12	,	,	PUNCT
cet-15031	54	13	under	under	ADP
cet-15031	54	14	the	the	DET
cet-15031	54	15	pid	pid	NOUN
cet-15031	54	16	column	column	NOUN
cet-15031	54	17	.	.	PUNCT
cet-15031	55	1	the	the	DET
cet-15031	55	2	study	study	NOUN
cet-15031	55	3	of	of	ADP
cet-15031	55	4	ahmed	ahmed	PROPN
cet-15031	55	5	et	et	PROPN
cet-15031	55	6	al	al	PROPN
cet-15031	55	7	.	.	PROPN
cet-15031	55	8	(	(	PUNCT
cet-15031	55	9	2015	2015	NUM
cet-15031	55	10	)	)	PUNCT
cet-15031	55	11	and	and	CCONJ
cet-15031	55	12	say	say	VERB
cet-15031	55	13	et	et	PROPN
cet-15031	55	14	al	al	PROPN
cet-15031	55	15	.	.	PROPN
cet-15031	55	16	(	(	PUNCT
cet-15031	55	17	2021	2021	NUM
cet-15031	55	18	)	)	PUNCT
cet-15031	55	19	focused	focus	VERB
cet-15031	55	20	on	on	ADP
cet-15031	55	21	the	the	DET
cet-15031	55	22	application	application	NOUN
cet-15031	55	23	of	of	ADP
cet-15031	55	24	pid	pid	NOUN
cet-15031	55	25	controllers	controller	NOUN
cet-15031	55	26	,	,	PUNCT
cet-15031	55	27	and	and	CCONJ
cet-15031	55	28	it	it	PRON
cet-15031	55	29	was	be	AUX
cet-15031	55	30	not	not	PART
cet-15031	55	31	extended	extend	VERB
cet-15031	55	32	to	to	ADP
cet-15031	55	33	the	the	DET
cet-15031	55	34	examination	examination	NOUN
cet-15031	55	35	of	of	ADP
cet-15031	55	36	the	the	DET
cet-15031	55	37	system	system	NOUN
cet-15031	55	38	with	with	ADP
cet-15031	55	39	other	other	ADJ
cet-15031	55	40	types	type	NOUN
cet-15031	55	41	of	of	ADP
cet-15031	55	42	control	control	NOUN
cet-15031	55	43	.	.	PUNCT
cet-15031	56	1	the	the	DET
cet-15031	56	2	eq(1	eq(1	NOUN
cet-15031	56	3	)	)	PUNCT
cet-15031	56	4	transfer	transfer	NOUN
cet-15031	56	5	function	function	NOUN
cet-15031	56	6	used	use	VERB
cet-15031	56	7	by	by	ADP
cet-15031	56	8	ahmed	ahmed	PROPN
cet-15031	56	9	et	et	PROPN
cet-15031	56	10	al	al	PROPN
cet-15031	56	11	.	.	PROPN
cet-15031	56	12	(	(	PUNCT
cet-15031	56	13	2015	2015	NUM
cet-15031	56	14	)	)	PUNCT
cet-15031	56	15	and	and	CCONJ
cet-15031	56	16	say	say	VERB
cet-15031	56	17	et	et	PROPN
cet-15031	56	18	al	al	PROPN
cet-15031	56	19	.	.	PROPN
cet-15031	57	1	(	(	PUNCT
cet-15031	57	2	2021	2021	NUM
cet-15031	57	3	)	)	PUNCT
cet-15031	57	4	is	be	AUX
cet-15031	57	5	utilised	utilise	VERB
cet-15031	57	6	in	in	ADP
cet-15031	57	7	this	this	DET
cet-15031	57	8	present	present	ADJ
cet-15031	57	9	article	article	NOUN
cet-15031	57	10	to	to	PART
cet-15031	57	11	propose	propose	VERB
cet-15031	57	12	and	and	CCONJ
cet-15031	57	13	demonstrate	demonstrate	VERB
cet-15031	57	14	control	control	NOUN
cet-15031	57	15	implementation	implementation	NOUN
cet-15031	57	16	using	use	VERB
cet-15031	57	17	optimal	optimal	ADJ
cet-15031	57	18	lqr	lqr	NOUN
cet-15031	57	19	(	(	PUNCT
cet-15031	57	20	linear	linear	ADJ
cet-15031	57	21	-	-	PUNCT
cet-15031	57	22	quadratic	quadratic	ADJ
cet-15031	57	23	regulator	regulator	NOUN
cet-15031	57	24	)	)	PUNCT
cet-15031	57	25	.	.	PUNCT
cet-15031	58	1	in	in	ADP
cet-15031	58	2	the	the	DET
cet-15031	58	3	authors	author	NOUN
cet-15031	58	4	'	'	PART
cet-15031	58	5	research	research	NOUN
cet-15031	58	6	,	,	PUNCT
cet-15031	58	7	the	the	DET
cet-15031	58	8	response	response	NOUN
cet-15031	58	9	of	of	ADP
cet-15031	58	10	the	the	DET
cet-15031	58	11	system	system	NOUN
cet-15031	58	12	to	to	ADP
cet-15031	58	13	a	a	DET
cet-15031	58	14	unit	unit	NOUN
cet-15031	58	15	step	step	NOUN
cet-15031	58	16	signal	signal	NOUN
cet-15031	58	17	under	under	ADP
cet-15031	58	18	lq	lq	NOUN
cet-15031	58	19	control	control	NOUN
cet-15031	58	20	is	be	AUX
cet-15031	58	21	examined	examine	VERB
cet-15031	58	22	.	.	PUNCT
cet-15031	59	1	the	the	DET
cet-15031	59	2	behaviour	behaviour	NOUN
cet-15031	59	3	of	of	ADP
cet-15031	59	4	the	the	DET
cet-15031	59	5	lq	lq	NOUN
cet-15031	59	6	and	and	CCONJ
cet-15031	59	7	pid	pid	NOUN
cet-15031	59	8	controllers	controller	NOUN
cet-15031	59	9	is	be	AUX
cet-15031	59	10	also	also	ADV
cet-15031	59	11	examined	examine	VERB
cet-15031	59	12	when	when	SCONJ
cet-15031	59	13	white	white	ADJ
cet-15031	59	14	noise	noise	NOUN
cet-15031	59	15	is	be	AUX
cet-15031	59	16	applied	apply	VERB
cet-15031	59	17	to	to	ADP
cet-15031	59	18	the	the	DET
cet-15031	59	19	system	system	NOUN
cet-15031	59	20	input	input	NOUN
cet-15031	59	21	.	.	PUNCT
cet-15031	60	1	table	table	NOUN
cet-15031	60	2	1	1	NUM
cet-15031	60	3	:	:	PUNCT
cet-15031	60	4	summary	summary	NOUN
cet-15031	60	5	of	of	ADP
cet-15031	60	6	pid	pid	NOUN
cet-15031	60	7	gain	gain	VERB
cet-15031	60	8	values	value	NOUN
cet-15031	60	9	by	by	ADP
cet-15031	60	10	say	say	VERB
cet-15031	60	11	et	et	PROPN
cet-15031	60	12	al	al	PROPN
cet-15031	60	13	.	.	PROPN
cet-15031	61	1	(	(	PUNCT
cet-15031	61	2	2021	2021	NUM
cet-15031	61	3	)	)	PUNCT
cet-15031	61	4	pid1	pid1	PROPN
cet-15031	61	5	pid2	pid2	PROPN
cet-15031	61	6	pid3	pid3	PROPN
cet-15031	61	7	pid4	pid4	PROPN
cet-15031	61	8	pid5	pid5	PROPN
cet-15031	61	9	kp	kp	PROPN
cet-15031	62	1	4.1302	4.1302	NUM
cet-15031	62	2	2.9055	2.9055	NUM
cet-15031	62	3	2.5865	2.5865	NUM
cet-15031	62	4	2.2066	2.2066	NUM
cet-15031	62	5	2.9043	2.9043	NUM
cet-15031	62	6	ki	ki	PROPN
cet-15031	62	7	89.8994	89.8994	NUM
cet-15031	62	8	22.8899	22.8899	NUM
cet-15031	62	9	20.9157	20.9157	NUM
cet-15031	62	10	18.4527	18.4527	NUM
cet-15031	62	11	22.8864	22.8864	NUM
cet-15031	63	1	kd	kd	NOUN
cet-15031	63	2	0.0511	0.0511	NUM
cet-15031	63	3	0.0208	0.0208	NUM
cet-15031	63	4	0.0106	0.0106	NUM
cet-15031	63	5	9.5367e-07	9.5367e-07	NUM
cet-15031	63	6	0.0212	0.0212	NUM
cet-15031	63	7	3	3	NUM
cet-15031	63	8	.	.	PUNCT
cet-15031	63	9	system	system	NOUN
cet-15031	63	10	step	step	NOUN
cet-15031	63	11	response	response	NOUN
cet-15031	63	12	with	with	ADP
cet-15031	63	13	continuous	continuous	ADJ
cet-15031	63	14	-	-	PUNCT
cet-15031	63	15	time	time	NOUN
cet-15031	63	16	lq	lq	NOUN
cet-15031	63	17	control	control	NOUN
cet-15031	63	18	in	in	ADP
cet-15031	63	19	this	this	DET
cet-15031	63	20	chapter	chapter	NOUN
cet-15031	63	21	,	,	PUNCT
cet-15031	63	22	an	an	DET
cet-15031	63	23	lq	lq	NOUN
cet-15031	63	24	,	,	PUNCT
cet-15031	63	25	state	state	NOUN
cet-15031	63	26	-	-	PUNCT
cet-15031	63	27	space	space	NOUN
cet-15031	63	28	-	-	PUNCT
cet-15031	63	29	based	base	VERB
cet-15031	63	30	,	,	PUNCT
cet-15031	63	31	optimal	optimal	ADJ
cet-15031	63	32	control	control	NOUN
cet-15031	63	33	was	be	AUX
cet-15031	63	34	implemented	implement	VERB
cet-15031	63	35	on	on	ADP
cet-15031	63	36	the	the	DET
cet-15031	63	37	system	system	NOUN
cet-15031	63	38	with	with	ADP
cet-15031	63	39	the	the	DET
cet-15031	63	40	eq(1	eq(1	NOUN
cet-15031	63	41	)	)	PUNCT
cet-15031	63	42	transfer	transfer	NOUN
cet-15031	63	43	function	function	NOUN
cet-15031	63	44	.	.	PUNCT
cet-15031	64	1	according	accord	VERB
cet-15031	64	2	to	to	ADP
cet-15031	64	3	rasheed	rasheed	NOUN
cet-15031	64	4	(	(	PUNCT
cet-15031	64	5	2020	2020	NUM
cet-15031	64	6	)	)	PUNCT
cet-15031	64	7	,	,	PUNCT
cet-15031	64	8	lqr	lqr	PROPN
cet-15031	64	9	is	be	AUX
cet-15031	64	10	a	a	DET
cet-15031	64	11	state	state	NOUN
cet-15031	64	12	-	-	PUNCT
cet-15031	64	13	space	space	NOUN
cet-15031	64	14	-	-	PUNCT
cet-15031	64	15	based	base	VERB
cet-15031	64	16	control	control	NOUN
cet-15031	64	17	that	that	PRON
cet-15031	64	18	achieves	achieve	VERB
cet-15031	64	19	optimal	optimal	ADJ
cet-15031	64	20	control	control	NOUN
cet-15031	64	21	by	by	ADP
cet-15031	64	22	minimizing	minimize	VERB
cet-15031	64	23	the	the	DET
cet-15031	64	24	eq(2	eq(2	PROPN
cet-15031	64	25	)	)	PUNCT
cet-15031	64	26	cost	cost	NOUN
cet-15031	64	27	function	function	NOUN
cet-15031	64	28	:	:	PUNCT
cet-15031	64	29	𝐽	𝐽	PROPN
cet-15031	64	30	=	=	PUNCT
cet-15031	64	31	∫	∫	PROPN
cet-15031	65	1	[	[	X
cet-15031	65	2	𝑥𝑇𝑄𝑥	𝑥𝑇𝑄𝑥	PROPN
cet-15031	65	3	+	+	CCONJ
cet-15031	65	4	𝑢𝑇𝑅𝑢	𝑢𝑇𝑅𝑢	PROPN
cet-15031	65	5	]	]	X
cet-15031	65	6	∞	∞	PROPN
cet-15031	65	7	0	0	NUM
cet-15031	65	8	𝑑𝑡.	𝑑𝑡.	X
cet-15031	65	9	(	(	PUNCT
cet-15031	65	10	2	2	NUM
cet-15031	65	11	)	)	PUNCT
cet-15031	65	12	eq(2	eq(2	PROPN
cet-15031	65	13	)	)	PUNCT
cet-15031	65	14	is	be	AUX
cet-15031	65	15	the	the	DET
cet-15031	65	16	general	general	ADJ
cet-15031	65	17	cost	cost	NOUN
cet-15031	65	18	function	function	NOUN
cet-15031	65	19	to	to	PART
cet-15031	65	20	be	be	AUX
cet-15031	65	21	minimized	minimize	VERB
cet-15031	65	22	for	for	ADP
cet-15031	65	23	lq	lq	NOUN
cet-15031	65	24	control	control	NOUN
cet-15031	65	25	.	.	PUNCT
cet-15031	66	1	due	due	ADP
cet-15031	66	2	to	to	ADP
cet-15031	66	3	the	the	DET
cet-15031	66	4	single	single	ADJ
cet-15031	66	5	input	input	NOUN
cet-15031	66	6	in	in	ADP
cet-15031	66	7	the	the	DET
cet-15031	66	8	problem	problem	NOUN
cet-15031	66	9	discussed	discuss	VERB
cet-15031	66	10	in	in	ADP
cet-15031	66	11	this	this	DET
cet-15031	66	12	article	article	NOUN
cet-15031	66	13	,	,	PUNCT
cet-15031	66	14	ru2	ru2	PROPN
cet-15031	66	15	should	should	AUX
cet-15031	66	16	be	be	AUX
cet-15031	66	17	used	use	VERB
cet-15031	66	18	for	for	ADP
cet-15031	66	19	the	the	DET
cet-15031	66	20	solution	solution	NOUN
cet-15031	66	21	.	.	PUNCT
cet-15031	67	1	the	the	DET
cet-15031	67	2	design	design	NOUN
cet-15031	67	3	of	of	ADP
cet-15031	67	4	an	an	DET
cet-15031	67	5	lq	lq	NOUN
cet-15031	67	6	controller	controller	NOUN
cet-15031	67	7	requires	require	VERB
cet-15031	67	8	the	the	DET
cet-15031	67	9	system	system	NOUN
cet-15031	67	10	to	to	PART
cet-15031	67	11	be	be	AUX
cet-15031	67	12	controllable	controllable	ADJ
cet-15031	67	13	,	,	PUNCT
cet-15031	67	14	which	which	PRON
cet-15031	67	15	,	,	PUNCT
cet-15031	67	16	for	for	ADP
cet-15031	67	17	an	an	DET
cet-15031	67	18	lti	lti	PROPN
cet-15031	67	19	(	(	PUNCT
cet-15031	67	20	linear	linear	ADJ
cet-15031	67	21	time	time	NOUN
cet-15031	67	22	invariant	invariant	ADJ
cet-15031	67	23	)	)	PUNCT
cet-15031	67	24	system	system	NOUN
cet-15031	67	25	,	,	PUNCT
cet-15031	67	26	can	can	AUX
cet-15031	67	27	be	be	AUX
cet-15031	67	28	verified	verify	VERB
cet-15031	67	29	using	use	VERB
cet-15031	67	30	the	the	DET
cet-15031	67	31	following	follow	VERB
cet-15031	67	32	equation	equation	NOUN
cet-15031	67	33	as	as	SCONJ
cet-15031	67	34	mentioned	mention	VERB
cet-15031	67	35	by	by	ADP
cet-15031	67	36	sawyer	sawyer	PROPN
cet-15031	67	37	(	(	PUNCT
cet-15031	67	38	2015	2015	NUM
cet-15031	67	39	):	):	PUNCT
cet-15031	68	1	752	752	NUM
cet-15031	68	2	𝐶𝑟	𝐶𝑟	NOUN
cet-15031	68	3	=	=	PUNCT
cet-15031	69	1	[	[	X
cet-15031	69	2	𝑏	𝑏	X
cet-15031	69	3	𝐴𝑏	𝐴𝑏	PROPN
cet-15031	69	4	𝐴2𝑏	𝐴2𝑏	PROPN
cet-15031	69	5	…	…	PUNCT
cet-15031	69	6	𝐴𝑛−1	𝐴𝑛−1	PROPN
cet-15031	69	7	𝑏	𝑏	NOUN
cet-15031	69	8	]	]	X
cet-15031	69	9	.	.	PUNCT
cet-15031	70	1	(	(	PUNCT
cet-15031	70	2	3	3	X
cet-15031	70	3	)	)	PUNCT
cet-15031	70	4	in	in	ADP
cet-15031	70	5	the	the	DET
cet-15031	70	6	next	next	ADJ
cet-15031	70	7	step	step	NOUN
cet-15031	70	8	of	of	ADP
cet-15031	70	9	designing	design	VERB
cet-15031	70	10	the	the	DET
cet-15031	70	11	lq	lq	NOUN
cet-15031	70	12	controller	controller	NOUN
cet-15031	70	13	,	,	PUNCT
cet-15031	70	14	the	the	DET
cet-15031	70	15	matrices	matrix	NOUN
cet-15031	70	16	q	q	NOUN
cet-15031	70	17	,	,	PUNCT
cet-15031	70	18	for	for	ADP
cet-15031	70	19	weighting	weight	VERB
cet-15031	70	20	the	the	DET
cet-15031	70	21	states	state	NOUN
cet-15031	70	22	,	,	PUNCT
cet-15031	70	23	and	and	CCONJ
cet-15031	70	24	r	r	NOUN
cet-15031	70	25	for	for	ADP
cet-15031	70	26	weighting	weight	VERB
cet-15031	70	27	the	the	DET
cet-15031	70	28	control	control	NOUN
cet-15031	70	29	signals	signal	NOUN
cet-15031	70	30	were	be	AUX
cet-15031	70	31	defined	define	VERB
cet-15031	70	32	.	.	PUNCT
cet-15031	71	1	the	the	DET
cet-15031	71	2	problem	problem	NOUN
cet-15031	71	3	of	of	ADP
cet-15031	71	4	determining	determine	VERB
cet-15031	71	5	the	the	DET
cet-15031	71	6	q	q	NOUN
cet-15031	71	7	and	and	CCONJ
cet-15031	71	8	r	r	NOUN
cet-15031	71	9	weighting	weighting	NOUN
cet-15031	71	10	matrices	matrix	NOUN
cet-15031	71	11	is	be	AUX
cet-15031	71	12	extensively	extensively	ADV
cet-15031	71	13	discussed	discuss	VERB
cet-15031	71	14	by	by	ADP
cet-15031	71	15	kumar	kumar	PROPN
cet-15031	71	16	and	and	CCONJ
cet-15031	71	17	jerome	jerome	PROPN
cet-15031	71	18	(	(	PUNCT
cet-15031	71	19	2016	2016	NUM
cet-15031	71	20	)	)	PUNCT
cet-15031	71	21	.	.	PUNCT
cet-15031	72	1	according	accord	VERB
cet-15031	72	2	to	to	ADP
cet-15031	72	3	them	they	PRON
cet-15031	72	4	,	,	PUNCT
cet-15031	72	5	tuning	tune	VERB
cet-15031	72	6	the	the	DET
cet-15031	72	7	weighting	weighting	NOUN
cet-15031	72	8	matrices	matrix	NOUN
cet-15031	72	9	is	be	AUX
cet-15031	72	10	a	a	DET
cet-15031	72	11	crucial	crucial	ADJ
cet-15031	72	12	step	step	NOUN
cet-15031	72	13	in	in	ADP
cet-15031	72	14	controller	controller	NOUN
cet-15031	72	15	design	design	NOUN
cet-15031	72	16	,	,	PUNCT
cet-15031	72	17	where	where	SCONJ
cet-15031	72	18	the	the	DET
cet-15031	72	19	weighting	weighting	NOUN
cet-15031	72	20	of	of	ADP
cet-15031	72	21	the	the	DET
cet-15031	72	22	states	state	NOUN
cet-15031	72	23	and	and	CCONJ
cet-15031	72	24	control	control	NOUN
cet-15031	72	25	inputs	input	NOUN
cet-15031	72	26	is	be	AUX
cet-15031	72	27	determined	determine	VERB
cet-15031	72	28	.	.	PUNCT
cet-15031	73	1	properly	properly	ADV
cet-15031	73	2	setting	set	VERB
cet-15031	73	3	the	the	DET
cet-15031	73	4	weighting	weighting	NOUN
cet-15031	73	5	matrices	matrix	NOUN
cet-15031	73	6	can	can	AUX
cet-15031	73	7	pose	pose	VERB
cet-15031	73	8	a	a	DET
cet-15031	73	9	significant	significant	ADJ
cet-15031	73	10	challenge	challenge	NOUN
cet-15031	73	11	as	as	SCONJ
cet-15031	73	12	it	it	PRON
cet-15031	73	13	influences	influence	VERB
cet-15031	73	14	overshoot	overshoot	NOUN
cet-15031	73	15	,	,	PUNCT
cet-15031	73	16	settling	settle	VERB
cet-15031	73	17	time	time	NOUN
cet-15031	73	18	,	,	PUNCT
cet-15031	73	19	and	and	CCONJ
cet-15031	73	20	steady	steady	ADJ
cet-15031	73	21	-	-	PUNCT
cet-15031	73	22	state	state	NOUN
cet-15031	73	23	error	error	NOUN
cet-15031	73	24	.	.	PUNCT
cet-15031	74	1	after	after	ADP
cet-15031	74	2	determining	determine	VERB
cet-15031	74	3	the	the	DET
cet-15031	74	4	initial	initial	ADJ
cet-15031	74	5	values	value	NOUN
cet-15031	74	6	of	of	ADP
cet-15031	74	7	q	q	NOUN
cet-15031	74	8	and	and	CCONJ
cet-15031	74	9	r	r	NOUN
cet-15031	74	10	,	,	PUNCT
cet-15031	74	11	the	the	DET
cet-15031	74	12	riccati	riccati	NOUN
cet-15031	74	13	equation	equation	NOUN
cet-15031	74	14	can	can	AUX
cet-15031	74	15	be	be	AUX
cet-15031	74	16	solved	solve	VERB
cet-15031	74	17	.	.	PUNCT
cet-15031	75	1	according	accord	VERB
cet-15031	75	2	to	to	ADP
cet-15031	75	3	katsuhiko	katsuhiko	NOUN
cet-15031	75	4	(	(	PUNCT
cet-15031	75	5	2009	2009	NUM
cet-15031	75	6	)	)	PUNCT
cet-15031	75	7	,	,	PUNCT
cet-15031	75	8	solving	solve	VERB
cet-15031	75	9	the	the	DET
cet-15031	75	10	riccati	riccati	PROPN
cet-15031	75	11	equation	equation	NOUN
cet-15031	75	12	allows	allow	VERB
cet-15031	75	13	for	for	ADP
cet-15031	75	14	the	the	DET
cet-15031	75	15	calculation	calculation	NOUN
cet-15031	75	16	of	of	ADP
cet-15031	75	17	the	the	DET
cet-15031	75	18	k	k	PROPN
cet-15031	75	19	gain	gain	NOUN
cet-15031	75	20	matrix	matrix	NOUN
cet-15031	75	21	.	.	PUNCT
cet-15031	76	1	subsequently	subsequently	ADV
cet-15031	76	2	,	,	PUNCT
cet-15031	76	3	further	far	ADV
cet-15031	76	4	finetuning	finetuning	NOUN
cet-15031	76	5	of	of	ADP
cet-15031	76	6	the	the	DET
cet-15031	76	7	q	q	NOUN
cet-15031	76	8	and	and	CCONJ
cet-15031	76	9	r	r	NOUN
cet-15031	76	10	matrices	matrix	NOUN
cet-15031	76	11	may	may	AUX
cet-15031	76	12	be	be	AUX
cet-15031	76	13	necessary	necessary	ADJ
cet-15031	76	14	to	to	PART
cet-15031	76	15	achieve	achieve	VERB
cet-15031	76	16	the	the	DET
cet-15031	76	17	control	control	NOUN
cet-15031	76	18	objectives	objective	NOUN
cet-15031	76	19	.	.	PUNCT
cet-15031	77	1	for	for	ADP
cet-15031	77	2	fine	fine	ADV
cet-15031	77	3	-	-	PUNCT
cet-15031	77	4	tuning	tune	VERB
cet-15031	77	5	the	the	DET
cet-15031	77	6	q	q	NOUN
cet-15031	77	7	and	and	CCONJ
cet-15031	77	8	r	r	NOUN
cet-15031	77	9	matrices	matrix	NOUN
cet-15031	77	10	,	,	PUNCT
cet-15031	77	11	bryson	bryson	PROPN
cet-15031	77	12	’s	’s	PART
cet-15031	77	13	rule	rule	NOUN
cet-15031	77	14	was	be	AUX
cet-15031	77	15	applied	apply	VERB
cet-15031	77	16	in	in	ADP
cet-15031	77	17	the	the	DET
cet-15031	77	18	present	present	ADJ
cet-15031	77	19	study	study	NOUN
cet-15031	77	20	.	.	PUNCT
cet-15031	78	1	regarding	regard	VERB
cet-15031	78	2	okyere	okyere	PROPN
cet-15031	78	3	et	et	PROPN
cet-15031	78	4	al	al	PROPN
cet-15031	78	5	.	.	PROPN
cet-15031	79	1	(	(	PUNCT
cet-15031	79	2	2019	2019	NUM
cet-15031	79	3	)	)	PUNCT
cet-15031	79	4	,	,	PUNCT
cet-15031	79	5	bryson	bryson	PROPN
cet-15031	79	6	's	's	PART
cet-15031	79	7	rule	rule	NOUN
cet-15031	79	8	provides	provide	VERB
cet-15031	79	9	guidance	guidance	NOUN
cet-15031	79	10	on	on	ADP
cet-15031	79	11	determining	determine	VERB
cet-15031	79	12	the	the	DET
cet-15031	79	13	order	order	NOUN
cet-15031	79	14	of	of	ADP
cet-15031	79	15	magnitudes	magnitude	NOUN
cet-15031	79	16	for	for	ADP
cet-15031	79	17	the	the	DET
cet-15031	79	18	weightings	weighting	NOUN
cet-15031	79	19	,	,	PUNCT
cet-15031	79	20	offering	offer	VERB
cet-15031	79	21	a	a	DET
cet-15031	79	22	more	more	ADV
cet-15031	79	23	effective	effective	ADJ
cet-15031	79	24	method	method	NOUN
cet-15031	79	25	for	for	ADP
cet-15031	79	26	optimizing	optimize	VERB
cet-15031	79	27	the	the	DET
cet-15031	79	28	weighting	weighting	NOUN
cet-15031	79	29	matrices	matrix	NOUN
cet-15031	79	30	as	as	SCONJ
cet-15031	79	31	opposed	oppose	VERB
cet-15031	79	32	to	to	ADP
cet-15031	79	33	empirical	empirical	ADJ
cet-15031	79	34	approaches	approach	NOUN
cet-15031	79	35	.	.	PUNCT
cet-15031	80	1	it	it	PRON
cet-15031	80	2	is	be	AUX
cet-15031	80	3	mentioned	mention	VERB
cet-15031	80	4	by	by	ADP
cet-15031	80	5	okyere	okyere	INTJ
cet-15031	80	6	et	et	PROPN
cet-15031	80	7	al	al	PROPN
cet-15031	80	8	.	.	PROPN
cet-15031	81	1	(	(	PUNCT
cet-15031	81	2	2019	2019	NUM
cet-15031	81	3	)	)	PUNCT
cet-15031	81	4	,	,	PUNCT
cet-15031	81	5	that	that	SCONJ
cet-15031	81	6	according	accord	VERB
cet-15031	81	7	to	to	ADP
cet-15031	81	8	bryson	bryson	PROPN
cet-15031	81	9	's	's	PART
cet-15031	81	10	rule	rule	NOUN
cet-15031	81	11	,	,	PUNCT
cet-15031	81	12	q	q	PUNCT
cet-15031	81	13	and	and	CCONJ
cet-15031	81	14	r	r	NOUN
cet-15031	81	15	are	be	AUX
cet-15031	81	16	diagonal	diagonal	ADJ
cet-15031	81	17	matrices	matrix	NOUN
cet-15031	81	18	whose	whose	DET
cet-15031	81	19	diagonal	diagonal	ADJ
cet-15031	81	20	elements	element	NOUN
cet-15031	81	21	are	be	AUX
cet-15031	81	22	respectively	respectively	ADV
cet-15031	81	23	expressed	express	VERB
cet-15031	81	24	as	as	ADP
cet-15031	81	25	the	the	DET
cet-15031	81	26	reciprocals	reciprocal	NOUN
cet-15031	81	27	of	of	ADP
cet-15031	81	28	the	the	DET
cet-15031	81	29	squares	square	NOUN
cet-15031	81	30	of	of	ADP
cet-15031	81	31	the	the	DET
cet-15031	81	32	maximum	maximum	ADJ
cet-15031	81	33	acceptable	acceptable	ADJ
cet-15031	81	34	values	value	NOUN
cet-15031	81	35	of	of	ADP
cet-15031	81	36	the	the	DET
cet-15031	81	37	state	state	NOUN
cet-15031	81	38	variables	variable	NOUN
cet-15031	81	39	and	and	CCONJ
cet-15031	81	40	the	the	DET
cet-15031	81	41	input	input	NOUN
cet-15031	81	42	variables	variable	NOUN
cet-15031	81	43	.	.	PUNCT
cet-15031	82	1	accordingly	accordingly	ADV
cet-15031	82	2	,	,	PUNCT
cet-15031	82	3	the	the	DET
cet-15031	82	4	following	follow	VERB
cet-15031	82	5	eq(4	eq(4	PROPN
cet-15031	82	6	)	)	PUNCT
cet-15031	82	7	and	and	CCONJ
cet-15031	82	8	eq(5	eq(5	NOUN
cet-15031	82	9	)	)	PUNCT
cet-15031	82	10	relations	relation	NOUN
cet-15031	82	11	were	be	AUX
cet-15031	82	12	used	use	VERB
cet-15031	82	13	by	by	ADP
cet-15031	82	14	the	the	DET
cet-15031	82	15	authors	author	NOUN
cet-15031	82	16	to	to	PART
cet-15031	82	17	determine	determine	VERB
cet-15031	82	18	the	the	DET
cet-15031	82	19	q	q	NOUN
cet-15031	82	20	and	and	CCONJ
cet-15031	82	21	r	r	NOUN
cet-15031	82	22	matrices	matrix	NOUN
cet-15031	82	23	.	.	PUNCT
cet-15031	83	1	𝑄𝑖𝑖	𝑄𝑖𝑖	PROPN
cet-15031	83	2	=	=	NOUN
cet-15031	83	3	1	1	NUM
cet-15031	83	4	𝑚𝑎𝑥𝑖𝑚𝑢𝑚	𝑚𝑎𝑥𝑖𝑚𝑢𝑚	NOUN
cet-15031	83	5	𝑎𝑐𝑐𝑒𝑝𝑡𝑎𝑏𝑙𝑒	𝑎𝑐𝑐𝑒𝑝𝑡𝑎𝑏𝑙𝑒	NOUN
cet-15031	83	6	𝑣𝑎𝑙𝑢𝑒	𝑣𝑎𝑙𝑢𝑒	NOUN
cet-15031	83	7	𝑜𝑓	𝑜𝑓	ADP
cet-15031	83	8	𝑋𝑖	𝑋𝑖	PROPN
cet-15031	83	9	2	2	NUM
cet-15031	83	10	,	,	PUNCT
cet-15031	83	11	(	(	PUNCT
cet-15031	83	12	4	4	NUM
cet-15031	83	13	)	)	PUNCT
cet-15031	83	14	and	and	CCONJ
cet-15031	83	15	𝑅𝑗𝑗	𝑅𝑗𝑗	PROPN
cet-15031	83	16	=	=	SYM
cet-15031	83	17	1	1	NUM
cet-15031	83	18	𝑚𝑎𝑥𝑖𝑚𝑢𝑚	𝑚𝑎𝑥𝑖𝑚𝑢𝑚	NOUN
cet-15031	83	19	𝑎𝑐𝑐𝑒𝑝𝑡𝑎𝑏𝑙𝑒	𝑎𝑐𝑐𝑒𝑝𝑡𝑎𝑏𝑙𝑒	NOUN
cet-15031	83	20	𝑣𝑎𝑙𝑢𝑒	𝑣𝑎𝑙𝑢𝑒	NOUN
cet-15031	83	21	𝑜𝑓	𝑜𝑓	ADP
cet-15031	83	22	𝑢𝑡	𝑢𝑡	PROPN
cet-15031	83	23	2	2	NUM
cet-15031	83	24	.	.	PUNCT
cet-15031	84	1	(	(	PUNCT
cet-15031	84	2	5	5	X
cet-15031	84	3	)	)	PUNCT
cet-15031	84	4	the	the	DET
cet-15031	84	5	fine	fine	ADV
cet-15031	84	6	-	-	PUNCT
cet-15031	84	7	tuned	tune	VERB
cet-15031	84	8	values	value	NOUN
cet-15031	84	9	of	of	ADP
cet-15031	84	10	the	the	DET
cet-15031	84	11	q	q	NOUN
cet-15031	84	12	matrix	matrix	NOUN
cet-15031	84	13	and	and	CCONJ
cet-15031	84	14	r	r	NOUN
cet-15031	84	15	were	be	AUX
cet-15031	84	16	determined	determine	VERB
cet-15031	84	17	the	the	DET
cet-15031	84	18	following	following	ADJ
cet-15031	84	19	way	way	NOUN
cet-15031	84	20	:	:	PUNCT
cet-15031	84	21	𝑄	𝑄	PROPN
cet-15031	84	22	=	=	PUNCT
cet-15031	85	1	[	[	PUNCT
cet-15031	85	2	111,110	111,110	NUM
cet-15031	85	3	0	0	NUM
cet-15031	85	4	0	0	NUM
cet-15031	85	5	0	0	NUM
cet-15031	85	6	40,000	40,000	NUM
cet-15031	85	7	0	0	NUM
cet-15031	85	8	0	0	NUM
cet-15031	85	9	0	0	NUM
cet-15031	85	10	62,500	62,500	NUM
cet-15031	85	11	]	]	PUNCT
cet-15031	85	12	,	,	PUNCT
cet-15031	85	13	(	(	PUNCT
cet-15031	85	14	6	6	NUM
cet-15031	85	15	)	)	PUNCT
cet-15031	85	16	and	and	CCONJ
cet-15031	86	1	𝑅	𝑅	PROPN
cet-15031	86	2	=	=	NOUN
cet-15031	86	3	1	1	PROPN
cet-15031	86	4	.	.	PUNCT
cet-15031	86	5	(	(	PUNCT
cet-15031	86	6	7	7	X
cet-15031	86	7	)	)	PUNCT
cet-15031	86	8	the	the	DET
cet-15031	86	9	next	next	ADJ
cet-15031	86	10	step	step	NOUN
cet-15031	86	11	in	in	ADP
cet-15031	86	12	the	the	DET
cet-15031	86	13	lq	lq	NOUN
cet-15031	86	14	controller	controller	NOUN
cet-15031	86	15	design	design	NOUN
cet-15031	86	16	to	to	PART
cet-15031	86	17	solve	solve	VERB
cet-15031	86	18	the	the	DET
cet-15031	86	19	care	care	NOUN
cet-15031	86	20	(	(	PUNCT
cet-15031	86	21	control	control	NOUN
cet-15031	86	22	algebraic	algebraic	PROPN
cet-15031	86	23	riccati	riccati	PROPN
cet-15031	86	24	equation	equation	NOUN
cet-15031	86	25	)	)	PUNCT
cet-15031	86	26	,	,	PUNCT
cet-15031	86	27	as	as	SCONJ
cet-15031	86	28	mentioned	mention	VERB
cet-15031	86	29	by	by	ADP
cet-15031	86	30	rasheed	rasheed	NOUN
cet-15031	86	31	(	(	PUNCT
cet-15031	86	32	2020	2020	NUM
cet-15031	86	33	)	)	PUNCT
cet-15031	86	34	in	in	ADP
cet-15031	86	35	eq(8	eq(8	NOUN
cet-15031	86	36	):	):	PUNCT
cet-15031	86	37	𝑃𝐴	𝑃𝐴	PROPN
cet-15031	86	38	+	+	CCONJ
cet-15031	86	39	𝐴𝑇𝑃	𝐴𝑇𝑃	PROPN
cet-15031	86	40	−	−	PROPN
cet-15031	86	41	𝑃𝑏	𝑃𝑏	PROPN
cet-15031	86	42	1	1	NUM
cet-15031	86	43	𝑅	𝑅	PROPN
cet-15031	86	44	𝑏𝑇𝑃	𝑏𝑇𝑃	NOUN
cet-15031	86	45	+	+	CCONJ
cet-15031	86	46	𝑄	𝑄	PROPN
cet-15031	86	47	=	=	SYM
cet-15031	86	48	0	0	X
cet-15031	86	49	.	.	PUNCT
cet-15031	87	1	(	(	PUNCT
cet-15031	87	2	8)	8)	NUM
cet-15031	87	3	in	in	ADP
cet-15031	87	4	eq(8	eq(8	PROPN
cet-15031	87	5	)	)	PUNCT
cet-15031	87	6	,	,	PUNCT
cet-15031	87	7	p	p	PROPN
cet-15031	87	8	is	be	AUX
cet-15031	87	9	the	the	DET
cet-15031	87	10	sought	seek	VERB
cet-15031	87	11	symmetric	symmetric	ADJ
cet-15031	87	12	,	,	PUNCT
cet-15031	87	13	positive	positive	ADJ
cet-15031	87	14	semi	semi	ADJ
cet-15031	87	15	-	-	ADJ
cet-15031	87	16	definite	definite	ADJ
cet-15031	87	17	matrix	matrix	NOUN
cet-15031	87	18	.	.	PUNCT
cet-15031	88	1	according	accord	VERB
cet-15031	88	2	to	to	ADP
cet-15031	88	3	rasheed	rasheed	NOUN
cet-15031	88	4	(	(	PUNCT
cet-15031	88	5	2020	2020	NUM
cet-15031	88	6	)	)	PUNCT
cet-15031	88	7	,	,	PUNCT
cet-15031	88	8	solving	solve	VERB
cet-15031	88	9	eq(8	eq(8	NOUN
cet-15031	88	10	)	)	PUNCT
cet-15031	88	11	provides	provide	VERB
cet-15031	88	12	the	the	DET
cet-15031	88	13	p	p	NOUN
cet-15031	88	14	matrix	matrix	NOUN
cet-15031	88	15	,	,	PUNCT
cet-15031	88	16	which	which	PRON
cet-15031	88	17	enables	enable	VERB
cet-15031	88	18	the	the	DET
cet-15031	88	19	calculation	calculation	NOUN
cet-15031	88	20	of	of	ADP
cet-15031	88	21	the	the	DET
cet-15031	88	22	optimal	optimal	ADJ
cet-15031	88	23	feedback	feedback	NOUN
cet-15031	88	24	gain	gain	NOUN
cet-15031	88	25	k	k	PROPN
cet-15031	88	26	matrix	matrix	NOUN
cet-15031	88	27	based	base	VERB
cet-15031	88	28	on	on	ADP
cet-15031	88	29	eq(9	eq(9	PROPN
cet-15031	88	30	):	):	PUNCT
cet-15031	88	31	𝐾	𝐾	NOUN
cet-15031	88	32	=	=	PUNCT
cet-15031	88	33	𝑅−1𝑏𝑇𝑃.	𝑅−1𝑏𝑇𝑃.	PROPN
cet-15031	88	34	(	(	PUNCT
cet-15031	88	35	9	9	NUM
cet-15031	88	36	)	)	PUNCT
cet-15031	88	37	subsequently	subsequently	ADV
cet-15031	88	38	,	,	PUNCT
cet-15031	88	39	the	the	DET
cet-15031	88	40	k	k	PROPN
cet-15031	88	41	feedback	feedback	NOUN
cet-15031	88	42	gain	gain	NOUN
cet-15031	88	43	matrix	matrix	NOUN
cet-15031	88	44	was	be	AUX
cet-15031	88	45	determined	determine	VERB
cet-15031	88	46	:	:	PUNCT
cet-15031	89	1	𝐾	𝐾	PROPN
cet-15031	89	2	=	=	PUNCT
cet-15031	90	1	[	[	X
cet-15031	90	2	330.9727	330.9727	NUM
cet-15031	90	3	335.6473	335.6473	NUM
cet-15031	90	4	244.9128	244.9128	NUM
cet-15031	90	5	]	]	PUNCT
cet-15031	90	6	.	.	PUNCT
cet-15031	91	1	(	(	PUNCT
cet-15031	91	2	10	10	NUM
cet-15031	91	3	)	)	PUNCT
cet-15031	91	4	in	in	ADP
cet-15031	91	5	the	the	DET
cet-15031	91	6	matlab	matlab	PROPN
cet-15031	91	7	environment	environment	PROPN
cet-15031	91	8	,	,	PUNCT
cet-15031	91	9	the	the	DET
cet-15031	91	10	'	'	PUNCT
cet-15031	91	11	lqr	lqr	NOUN
cet-15031	91	12	'	'	PART
cet-15031	91	13	function	function	NOUN
cet-15031	91	14	was	be	AUX
cet-15031	91	15	used	use	VERB
cet-15031	91	16	to	to	PART
cet-15031	91	17	calculate	calculate	VERB
cet-15031	91	18	the	the	DET
cet-15031	91	19	k	k	PROPN
cet-15031	91	20	gain	gain	NOUN
cet-15031	91	21	matrix	matrix	NOUN
cet-15031	91	22	.	.	PUNCT
cet-15031	92	1	in	in	ADP
cet-15031	92	2	the	the	DET
cet-15031	92	3	practical	practical	ADJ
cet-15031	92	4	application	application	NOUN
cet-15031	92	5	of	of	ADP
cet-15031	92	6	the	the	DET
cet-15031	92	7	lq	lq	NOUN
cet-15031	92	8	controller	controller	NOUN
cet-15031	92	9	,	,	PUNCT
cet-15031	92	10	minimising	minimise	VERB
cet-15031	92	11	the	the	DET
cet-15031	92	12	sensitivity	sensitivity	NOUN
cet-15031	92	13	of	of	ADP
cet-15031	92	14	the	the	DET
cet-15031	92	15	system	system	NOUN
cet-15031	92	16	to	to	PART
cet-15031	92	17	noise	noise	VERB
cet-15031	92	18	and	and	CCONJ
cet-15031	92	19	ensuring	ensure	VERB
cet-15031	92	20	precise	precise	ADJ
cet-15031	92	21	response	response	NOUN
cet-15031	92	22	time	time	NOUN
cet-15031	92	23	are	be	AUX
cet-15031	92	24	particularly	particularly	ADV
cet-15031	92	25	important	important	ADJ
cet-15031	92	26	considerations	consideration	NOUN
cet-15031	92	27	that	that	PRON
cet-15031	92	28	are	be	AUX
cet-15031	92	29	beneficial	beneficial	ADJ
cet-15031	92	30	for	for	ADP
cet-15031	92	31	controlling	control	VERB
cet-15031	92	32	quadcopters	quadcopter	NOUN
cet-15031	92	33	,	,	PUNCT
cet-15031	92	34	where	where	SCONJ
cet-15031	92	35	accurate	accurate	ADJ
cet-15031	92	36	position	position	NOUN
cet-15031	92	37	control	control	NOUN
cet-15031	92	38	and	and	CCONJ
cet-15031	92	39	fast	fast	ADJ
cet-15031	92	40	settling	settling	NOUN
cet-15031	92	41	time	time	NOUN
cet-15031	92	42	are	be	AUX
cet-15031	92	43	required	require	VERB
cet-15031	92	44	for	for	ADP
cet-15031	92	45	various	various	ADJ
cet-15031	92	46	flight	flight	NOUN
cet-15031	92	47	manoeuvres	manoeuvre	NOUN
cet-15031	92	48	.	.	PUNCT
cet-15031	93	1	following	follow	VERB
cet-15031	93	2	this	this	PRON
cet-15031	93	3	,	,	PUNCT
cet-15031	93	4	the	the	DET
cet-15031	93	5	state	state	NOUN
cet-15031	93	6	-	-	PUNCT
cet-15031	93	7	space	space	NOUN
cet-15031	93	8	model	model	NOUN
cet-15031	93	9	of	of	ADP
cet-15031	93	10	the	the	DET
cet-15031	93	11	closed	closed	ADJ
cet-15031	93	12	-	-	PUNCT
cet-15031	93	13	loop	loop	NOUN
cet-15031	93	14	system	system	NOUN
cet-15031	93	15	can	can	AUX
cet-15031	93	16	be	be	AUX
cet-15031	93	17	defined	define	VERB
cet-15031	93	18	to	to	PART
cet-15031	93	19	facilitate	facilitate	VERB
cet-15031	93	20	the	the	DET
cet-15031	93	21	analysis	analysis	NOUN
cet-15031	93	22	of	of	ADP
cet-15031	93	23	the	the	DET
cet-15031	93	24	closed	closed	ADJ
cet-15031	93	25	system	system	NOUN
cet-15031	93	26	.	.	PUNCT
cet-15031	94	1	initially	initially	ADV
cet-15031	94	2	,	,	PUNCT
cet-15031	94	3	the	the	DET
cet-15031	94	4	matrices	matrix	NOUN
cet-15031	94	5	of	of	ADP
cet-15031	94	6	the	the	DET
cet-15031	94	7	closed	closed	ADJ
cet-15031	94	8	-	-	PUNCT
cet-15031	94	9	loop	loop	NOUN
cet-15031	94	10	system	system	NOUN
cet-15031	94	11	were	be	AUX
cet-15031	94	12	determined	determine	VERB
cet-15031	94	13	.	.	PUNCT
cet-15031	95	1	the	the	DET
cet-15031	95	2	a	a	DET
cet-15031	95	3	matrix	matrix	NOUN
cet-15031	95	4	was	be	AUX
cet-15031	95	5	modified	modify	VERB
cet-15031	95	6	to	to	PART
cet-15031	95	7	incorporate	incorporate	VERB
cet-15031	95	8	the	the	DET
cet-15031	95	9	feedback	feedback	NOUN
cet-15031	95	10	gain	gain	NOUN
cet-15031	95	11	,	,	PUNCT
cet-15031	95	12	as	as	SCONJ
cet-15031	95	13	mentioned	mention	VERB
cet-15031	95	14	by	by	ADP
cet-15031	95	15	sawyer	sawyer	PROPN
cet-15031	95	16	(	(	PUNCT
cet-15031	95	17	2015	2015	NUM
cet-15031	95	18	)	)	PUNCT
cet-15031	95	19	in	in	ADP
cet-15031	95	20	eq(11	eq(11	PROPN
cet-15031	95	21	)	)	PUNCT
cet-15031	95	22	.	.	PUNCT
cet-15031	96	1	the	the	DET
cet-15031	96	2	ac	ac	PROPN
cet-15031	96	3	matrix	matrix	NOUN
cet-15031	96	4	describes	describe	VERB
cet-15031	96	5	the	the	DET
cet-15031	96	6	dynamics	dynamic	NOUN
cet-15031	96	7	of	of	ADP
cet-15031	96	8	the	the	DET
cet-15031	96	9	system	system	NOUN
cet-15031	96	10	after	after	SCONJ
cet-15031	96	11	the	the	DET
cet-15031	96	12	lq	lq	NOUN
cet-15031	96	13	controller	controller	NOUN
cet-15031	96	14	intervention	intervention	NOUN
cet-15031	96	15	has	have	AUX
cet-15031	96	16	taken	take	VERB
cet-15031	96	17	effect	effect	NOUN
cet-15031	96	18	.	.	PUNCT
cet-15031	97	1	the	the	DET
cet-15031	97	2	b	b	PROPN
cet-15031	97	3	,	,	PUNCT
cet-15031	97	4	c	c	NOUN
cet-15031	97	5	,	,	PUNCT
cet-15031	97	6	and	and	CCONJ
cet-15031	97	7	d	d	NOUN
cet-15031	97	8	matrices	matrix	NOUN
cet-15031	97	9	remain	remain	VERB
cet-15031	97	10	unchanged	unchanged	ADJ
cet-15031	97	11	:	:	PUNCT
cet-15031	97	12	𝐴𝑐	𝐴𝑐	PROPN
cet-15031	97	13	=	=	SYM
cet-15031	97	14	(	(	PUNCT
cet-15031	97	15	𝐴	𝐴	PROPN
cet-15031	97	16	−	−	PROPN
cet-15031	97	17	𝑏𝐾	𝑏𝐾	PROPN
cet-15031	97	18	)	)	PUNCT
cet-15031	97	19	.	.	PUNCT
cet-15031	98	1	(	(	PUNCT
cet-15031	98	2	11	11	NUM
cet-15031	98	3	)	)	PUNCT
cet-15031	98	4	the	the	DET
cet-15031	98	5	state	state	NOUN
cet-15031	98	6	-	-	PUNCT
cet-15031	98	7	space	space	NOUN
cet-15031	98	8	model	model	NOUN
cet-15031	98	9	of	of	ADP
cet-15031	98	10	the	the	DET
cet-15031	98	11	closed	closed	ADJ
cet-15031	98	12	-	-	PUNCT
cet-15031	98	13	loop	loop	NOUN
cet-15031	98	14	system	system	NOUN
cet-15031	98	15	can	can	AUX
cet-15031	98	16	then	then	ADV
cet-15031	98	17	be	be	AUX
cet-15031	98	18	specified	specify	VERB
cet-15031	98	19	using	use	VERB
cet-15031	98	20	the	the	DET
cet-15031	98	21	a	a	NOUN
cet-15031	98	22	,	,	PUNCT
cet-15031	98	23	b	b	NOUN
cet-15031	98	24	,	,	PUNCT
cet-15031	98	25	c	c	NOUN
cet-15031	98	26	,	,	PUNCT
cet-15031	98	27	and	and	CCONJ
cet-15031	99	1	d	d	ADP
cet-15031	99	2	matrices	matrix	NOUN
cet-15031	99	3	.	.	PUNCT
cet-15031	100	1	based	base	VERB
cet-15031	100	2	on	on	ADP
cet-15031	100	3	åström	åström	NOUN
cet-15031	100	4	(	(	PUNCT
cet-15031	100	5	2002	2002	NUM
cet-15031	100	6	)	)	PUNCT
cet-15031	100	7	,	,	PUNCT
cet-15031	100	8	the	the	DET
cet-15031	100	9	lq	lq	NOUN
cet-15031	100	10	controller	controller	NOUN
cet-15031	100	11	was	be	AUX
cet-15031	100	12	supplemented	supplement	VERB
cet-15031	100	13	with	with	ADP
cet-15031	100	14	feedforward	feedforward	NOUN
cet-15031	100	15	to	to	PART
cet-15031	100	16	achieve	achieve	VERB
cet-15031	100	17	the	the	DET
cet-15031	100	18	desired	desire	VERB
cet-15031	100	19	reference	reference	NOUN
cet-15031	100	20	faster	fast	ADV
cet-15031	100	21	and	and	CCONJ
cet-15031	100	22	reduce	reduce	VERB
cet-15031	100	23	overshoot	overshoot	NOUN
cet-15031	100	24	.	.	PUNCT
cet-15031	101	1	the	the	DET
cet-15031	101	2	calculation	calculation	NOUN
cet-15031	101	3	of	of	ADP
cet-15031	101	4	the	the	DET
cet-15031	101	5	feedforward	feedforward	NOUN
cet-15031	101	6	gain	gain	NOUN
cet-15031	101	7	in	in	ADP
cet-15031	101	8	the	the	DET
cet-15031	101	9	application	application	NOUN
cet-15031	101	10	of	of	ADP
cet-15031	101	11	the	the	DET
cet-15031	101	12	lq	lq	NOUN
cet-15031	101	13	controller	controller	NOUN
cet-15031	101	14	may	may	AUX
cet-15031	101	15	753	753	NUM
cet-15031	101	16	be	be	AUX
cet-15031	101	17	a	a	DET
cet-15031	101	18	solution	solution	NOUN
cet-15031	101	19	for	for	ADP
cet-15031	101	20	fine	fine	ADV
cet-15031	101	21	-	-	PUNCT
cet-15031	101	22	tuning	tune	VERB
cet-15031	101	23	the	the	DET
cet-15031	101	24	control	control	NOUN
cet-15031	101	25	loop	loop	PROPN
cet-15031	101	26	.	.	PUNCT
cet-15031	102	1	the	the	DET
cet-15031	102	2	reciprocal	reciprocal	NOUN
cet-15031	102	3	of	of	ADP
cet-15031	102	4	the	the	DET
cet-15031	102	5	steady	steady	ADJ
cet-15031	102	6	-	-	PUNCT
cet-15031	102	7	state	state	NOUN
cet-15031	102	8	gain	gain	NOUN
cet-15031	102	9	of	of	ADP
cet-15031	102	10	the	the	DET
cet-15031	102	11	closed	closed	ADJ
cet-15031	102	12	-	-	PUNCT
cet-15031	102	13	loop	loop	NOUN
cet-15031	102	14	system	system	NOUN
cet-15031	102	15	is	be	AUX
cet-15031	102	16	used	use	VERB
cet-15031	102	17	in	in	ADP
cet-15031	102	18	the	the	DET
cet-15031	102	19	program	program	NOUN
cet-15031	102	20	code	code	NOUN
cet-15031	102	21	,	,	PUNCT
cet-15031	102	22	ensuring	ensure	VERB
cet-15031	102	23	the	the	DET
cet-15031	102	24	proper	proper	ADJ
cet-15031	102	25	scaling	scaling	NOUN
cet-15031	102	26	of	of	ADP
cet-15031	102	27	the	the	DET
cet-15031	102	28	step	step	NOUN
cet-15031	102	29	response	response	NOUN
cet-15031	102	30	,	,	PUNCT
cet-15031	102	31	enabling	enable	VERB
cet-15031	102	32	the	the	DET
cet-15031	102	33	system	system	NOUN
cet-15031	102	34	output	output	NOUN
cet-15031	102	35	to	to	PART
cet-15031	102	36	quickly	quickly	ADV
cet-15031	102	37	and	and	CCONJ
cet-15031	102	38	accurately	accurately	ADV
cet-15031	102	39	converge	converge	VERB
cet-15031	102	40	to	to	ADP
cet-15031	102	41	a	a	DET
cet-15031	102	42	value	value	NOUN
cet-15031	102	43	of	of	ADP
cet-15031	102	44	1	1	NUM
cet-15031	102	45	on	on	ADP
cet-15031	102	46	a	a	DET
cet-15031	102	47	step	step	NOUN
cet-15031	102	48	input	input	NOUN
cet-15031	102	49	.	.	PUNCT
cet-15031	103	1	according	accord	VERB
cet-15031	103	2	to	to	ADP
cet-15031	103	3	åström	åström	NOUN
cet-15031	103	4	(	(	PUNCT
cet-15031	103	5	2002	2002	NUM
cet-15031	103	6	)	)	PUNCT
cet-15031	103	7	,	,	PUNCT
cet-15031	103	8	feedforward	feedforward	NOUN
cet-15031	103	9	gain	gain	NOUN
cet-15031	103	10	allows	allow	VERB
cet-15031	103	11	for	for	ADP
cet-15031	103	12	the	the	DET
cet-15031	103	13	optimisation	optimisation	NOUN
cet-15031	103	14	of	of	ADP
cet-15031	103	15	the	the	DET
cet-15031	103	16	system	system	NOUN
cet-15031	103	17	's	's	PART
cet-15031	103	18	dynamics	dynamic	NOUN
cet-15031	103	19	and	and	CCONJ
cet-15031	103	20	response	response	NOUN
cet-15031	103	21	without	without	ADP
cet-15031	103	22	altering	alter	VERB
cet-15031	103	23	the	the	DET
cet-15031	103	24	feedback	feedback	NOUN
cet-15031	103	25	loop	loop	NOUN
cet-15031	103	26	,	,	PUNCT
cet-15031	103	27	and	and	CCONJ
cet-15031	103	28	in	in	ADP
cet-15031	103	29	this	this	DET
cet-15031	103	30	way	way	NOUN
cet-15031	103	31	,	,	PUNCT
cet-15031	103	32	system	system	NOUN
cet-15031	103	33	efficiency	efficiency	NOUN
cet-15031	103	34	is	be	AUX
cet-15031	103	35	improved	improve	VERB
cet-15031	103	36	to	to	PART
cet-15031	103	37	achieve	achieve	VERB
cet-15031	103	38	the	the	DET
cet-15031	103	39	desired	desire	VERB
cet-15031	103	40	control	control	NOUN
cet-15031	103	41	objectives	objective	NOUN
cet-15031	103	42	.	.	PUNCT
cet-15031	104	1	the	the	DET
cet-15031	104	2	value	value	NOUN
cet-15031	104	3	of	of	ADP
cet-15031	104	4	the	the	DET
cet-15031	104	5	feedforward	feedforward	NOUN
cet-15031	104	6	gain	gain	NOUN
cet-15031	104	7	was	be	AUX
cet-15031	104	8	determined	determine	VERB
cet-15031	104	9	to	to	PART
cet-15031	104	10	be	be	AUX
cet-15031	104	11	51.9235	51.9235	NUM
cet-15031	104	12	.	.	PUNCT
cet-15031	105	1	using	use	VERB
cet-15031	105	2	the	the	DET
cet-15031	105	3	q	q	NOUN
cet-15031	105	4	and	and	CCONJ
cet-15031	105	5	r	r	NOUN
cet-15031	105	6	weighting	weighting	NOUN
cet-15031	105	7	matrices	matrix	NOUN
cet-15031	105	8	fine	fine	ADV
cet-15031	105	9	-	-	PUNCT
cet-15031	105	10	tuned	tune	VERB
cet-15031	105	11	with	with	ADP
cet-15031	105	12	bryson	bryson	PROPN
cet-15031	105	13	's	's	PART
cet-15031	105	14	rule	rule	NOUN
cet-15031	105	15	,	,	PUNCT
cet-15031	105	16	along	along	ADP
cet-15031	105	17	with	with	ADP
cet-15031	105	18	the	the	DET
cet-15031	105	19	k	k	PROPN
cet-15031	105	20	feedback	feedback	NOUN
cet-15031	105	21	and	and	CCONJ
cet-15031	105	22	feedforward	feedforward	NOUN
cet-15031	105	23	gain	gain	NOUN
cet-15031	105	24	values	value	NOUN
cet-15031	105	25	,	,	PUNCT
cet-15031	105	26	the	the	DET
cet-15031	105	27	step	step	NOUN
cet-15031	105	28	response	response	NOUN
cet-15031	105	29	shown	show	VERB
cet-15031	105	30	in	in	ADP
cet-15031	105	31	the	the	DET
cet-15031	105	32	red	red	ADJ
cet-15031	105	33	graph	graph	NOUN
cet-15031	105	34	in	in	ADP
cet-15031	105	35	figure	figure	NOUN
cet-15031	105	36	1	1	NUM
cet-15031	105	37	was	be	AUX
cet-15031	105	38	obtained	obtain	VERB
cet-15031	105	39	during	during	ADP
cet-15031	105	40	the	the	DET
cet-15031	105	41	simulation	simulation	NOUN
cet-15031	105	42	.	.	PUNCT
cet-15031	106	1	in	in	ADP
cet-15031	106	2	figure	figure	NOUN
cet-15031	106	3	1	1	NUM
cet-15031	106	4	,	,	PUNCT
cet-15031	106	5	the	the	DET
cet-15031	106	6	results	result	NOUN
cet-15031	106	7	of	of	ADP
cet-15031	106	8	the	the	DET
cet-15031	106	9	most	most	ADV
cet-15031	106	10	optimal	optimal	ADJ
cet-15031	106	11	pid	pid	NOUN
cet-15031	106	12	controller	controller	NOUN
cet-15031	106	13	tuned	tune	VERB
cet-15031	106	14	(	(	PUNCT
cet-15031	106	15	table	table	NOUN
cet-15031	106	16	1	1	NUM
cet-15031	106	17	;	;	PUNCT
cet-15031	106	18	column	column	NOUN
cet-15031	106	19	:	:	PUNCT
cet-15031	106	20	pid5	pid5	PROPN
cet-15031	106	21	)	)	PUNCT
cet-15031	106	22	by	by	ADP
cet-15031	106	23	say	say	VERB
cet-15031	106	24	et	et	PROPN
cet-15031	106	25	al	al	PROPN
cet-15031	106	26	.	.	PROPN
cet-15031	107	1	(	(	PUNCT
cet-15031	107	2	2021	2021	NUM
cet-15031	107	3	)	)	PUNCT
cet-15031	107	4	with	with	ADP
cet-15031	107	5	remainder	remainder	NOUN
cet-15031	107	6	selection	selection	NOUN
cet-15031	107	7	are	be	AUX
cet-15031	107	8	also	also	ADV
cet-15031	107	9	shown	show	VERB
cet-15031	107	10	for	for	ADP
cet-15031	107	11	comparison	comparison	NOUN
cet-15031	107	12	,	,	PUNCT
cet-15031	107	13	as	as	SCONJ
cet-15031	107	14	illustrated	illustrate	VERB
cet-15031	107	15	in	in	ADP
cet-15031	107	16	the	the	DET
cet-15031	107	17	blue	blue	ADJ
cet-15031	107	18	graph	graph	NOUN
cet-15031	107	19	.	.	PUNCT
cet-15031	108	1	figure	figure	NOUN
cet-15031	108	2	1	1	NUM
cet-15031	108	3	:	:	PUNCT
cet-15031	108	4	comparison	comparison	NOUN
cet-15031	108	5	of	of	ADP
cet-15031	108	6	step	step	NOUN
cet-15031	108	7	response	response	NOUN
cet-15031	108	8	with	with	ADP
cet-15031	108	9	lq	lq	NOUN
cet-15031	108	10	control	control	NOUN
cet-15031	108	11	and	and	CCONJ
cet-15031	108	12	pid	pid	NOUN
cet-15031	108	13	controller	controller	NOUN
cet-15031	108	14	application	application	NOUN
cet-15031	108	15	real	real	ADJ
cet-15031	108	16	systems	system	NOUN
cet-15031	108	17	often	often	ADV
cet-15031	108	18	contain	contain	VERB
cet-15031	108	19	uncertainties	uncertainty	NOUN
cet-15031	108	20	and	and	CCONJ
cet-15031	108	21	disturbances	disturbance	NOUN
cet-15031	108	22	that	that	PRON
cet-15031	108	23	can	can	AUX
cet-15031	108	24	affect	affect	VERB
cet-15031	108	25	system	system	NOUN
cet-15031	108	26	dynamics	dynamic	NOUN
cet-15031	108	27	and	and	CCONJ
cet-15031	108	28	controller	controller	NOUN
cet-15031	108	29	performance	performance	NOUN
cet-15031	108	30	.	.	PUNCT
cet-15031	109	1	in	in	ADP
cet-15031	109	2	the	the	DET
cet-15031	109	3	matlab	matlab	PROPN
cet-15031	109	4	simulation	simulation	PROPN
cet-15031	109	5	,	,	PUNCT
cet-15031	109	6	white	white	ADJ
cet-15031	109	7	noise	noise	NOUN
cet-15031	109	8	was	be	AUX
cet-15031	109	9	added	add	VERB
cet-15031	109	10	to	to	ADP
cet-15031	109	11	the	the	DET
cet-15031	109	12	input	input	NOUN
cet-15031	109	13	signal	signal	NOUN
cet-15031	109	14	to	to	PART
cet-15031	109	15	model	model	VERB
cet-15031	109	16	external	external	ADJ
cet-15031	109	17	disturbances	disturbance	NOUN
cet-15031	109	18	.	.	PUNCT
cet-15031	110	1	this	this	PRON
cet-15031	110	2	allowed	allow	VERB
cet-15031	110	3	the	the	DET
cet-15031	110	4	examination	examination	NOUN
cet-15031	110	5	of	of	ADP
cet-15031	110	6	how	how	SCONJ
cet-15031	110	7	the	the	DET
cet-15031	110	8	lq	lq	NOUN
cet-15031	110	9	and	and	CCONJ
cet-15031	110	10	pid	pid	NOUN
cet-15031	110	11	controllers	controller	NOUN
cet-15031	110	12	respond	respond	VERB
cet-15031	110	13	in	in	ADP
cet-15031	110	14	uncertain	uncertain	ADJ
cet-15031	110	15	and	and	CCONJ
cet-15031	110	16	disturbed	disturbed	ADJ
cet-15031	110	17	environments	environment	NOUN
cet-15031	110	18	.	.	PUNCT
cet-15031	111	1	by	by	ADP
cet-15031	111	2	addressing	address	VERB
cet-15031	111	3	disturbances	disturbance	NOUN
cet-15031	111	4	and	and	CCONJ
cet-15031	111	5	uncertainties	uncertainty	NOUN
cet-15031	111	6	,	,	PUNCT
cet-15031	111	7	the	the	DET
cet-15031	111	8	model	model	NOUN
cet-15031	111	9	more	more	ADV
cet-15031	111	10	closely	closely	ADV
cet-15031	111	11	represents	represent	VERB
cet-15031	111	12	realworld	realworld	PROPN
cet-15031	111	13	applications	application	NOUN
cet-15031	111	14	,	,	PUNCT
cet-15031	111	15	which	which	PRON
cet-15031	111	16	is	be	AUX
cet-15031	111	17	significant	significant	ADJ
cet-15031	111	18	for	for	ADP
cet-15031	111	19	the	the	DET
cet-15031	111	20	autonomous	autonomous	ADJ
cet-15031	111	21	control	control	NOUN
cet-15031	111	22	of	of	ADP
cet-15031	111	23	quadcopters	quadcopter	NOUN
cet-15031	111	24	.	.	PUNCT
cet-15031	112	1	the	the	DET
cet-15031	112	2	white	white	PROPN
cet-15031	112	3	noise	noise	NOUN
cet-15031	112	4	was	be	AUX
cet-15031	112	5	added	add	VERB
cet-15031	112	6	to	to	ADP
cet-15031	112	7	the	the	DET
cet-15031	112	8	system	system	NOUN
cet-15031	112	9	input	input	NOUN
cet-15031	112	10	using	use	VERB
cet-15031	112	11	matlab	matlab	PROPN
cet-15031	112	12	's	's	PART
cet-15031	112	13	'	'	PUNCT
cet-15031	112	14	randn	randn	ADJ
cet-15031	112	15	'	'	PUNCT
cet-15031	112	16	function	function	NOUN
cet-15031	112	17	.	.	PUNCT
cet-15031	113	1	by	by	ADP
cet-15031	113	2	adding	add	VERB
cet-15031	113	3	white	white	ADJ
cet-15031	113	4	noise	noise	NOUN
cet-15031	113	5	,	,	PUNCT
cet-15031	113	6	nonideal	nonideal	ADJ
cet-15031	113	7	conditions	condition	NOUN
cet-15031	113	8	were	be	AUX
cet-15031	113	9	modelled	model	VERB
cet-15031	113	10	in	in	ADP
cet-15031	113	11	reality	reality	NOUN
cet-15031	113	12	,	,	PUNCT
cet-15031	113	13	such	such	ADJ
cet-15031	113	14	as	as	ADP
cet-15031	113	15	sensor	sensor	NOUN
cet-15031	113	16	errors	error	NOUN
cet-15031	113	17	,	,	PUNCT
cet-15031	113	18	environmental	environmental	ADJ
cet-15031	113	19	disturbances	disturbance	NOUN
cet-15031	113	20	,	,	PUNCT
cet-15031	113	21	or	or	CCONJ
cet-15031	113	22	other	other	ADJ
cet-15031	113	23	factors	factor	NOUN
cet-15031	113	24	that	that	PRON
cet-15031	113	25	could	could	AUX
cet-15031	113	26	affect	affect	VERB
cet-15031	113	27	the	the	DET
cet-15031	113	28	response	response	NOUN
cet-15031	113	29	of	of	ADP
cet-15031	113	30	the	the	DET
cet-15031	113	31	controlled	control	VERB
cet-15031	113	32	system	system	NOUN
cet-15031	113	33	.	.	PUNCT
cet-15031	114	1	this	this	DET
cet-15031	114	2	way	way	NOUN
cet-15031	114	3	,	,	PUNCT
cet-15031	114	4	the	the	DET
cet-15031	114	5	differences	difference	NOUN
cet-15031	114	6	in	in	ADP
cet-15031	114	7	the	the	DET
cet-15031	114	8	performance	performance	NOUN
cet-15031	114	9	of	of	ADP
cet-15031	114	10	the	the	DET
cet-15031	114	11	lq	lq	NOUN
cet-15031	114	12	and	and	CCONJ
cet-15031	114	13	pid	pid	NOUN
cet-15031	114	14	controllers	controller	NOUN
cet-15031	114	15	could	could	AUX
cet-15031	114	16	also	also	ADV
cet-15031	114	17	be	be	AUX
cet-15031	114	18	observed	observe	VERB
cet-15031	114	19	in	in	ADP
cet-15031	114	20	a	a	DET
cet-15031	114	21	more	more	ADV
cet-15031	114	22	realistic	realistic	ADJ
cet-15031	114	23	environment	environment	NOUN
cet-15031	114	24	.	.	PUNCT
cet-15031	115	1	the	the	DET
cet-15031	115	2	result	result	NOUN
cet-15031	115	3	obtained	obtain	VERB
cet-15031	115	4	with	with	ADP
cet-15031	115	5	the	the	DET
cet-15031	115	6	addition	addition	NOUN
cet-15031	115	7	of	of	ADP
cet-15031	115	8	white	white	ADJ
cet-15031	115	9	noise	noise	NOUN
cet-15031	115	10	is	be	AUX
cet-15031	115	11	illustrated	illustrate	VERB
cet-15031	115	12	in	in	ADP
cet-15031	115	13	figure	figure	NOUN
cet-15031	115	14	2	2	NUM
cet-15031	115	15	.	.	PUNCT
cet-15031	116	1	in	in	ADP
cet-15031	116	2	figure	figure	NOUN
cet-15031	116	3	2	2	NUM
cet-15031	116	4	,	,	PUNCT
cet-15031	116	5	it	it	PRON
cet-15031	116	6	can	can	AUX
cet-15031	116	7	be	be	AUX
cet-15031	116	8	observed	observe	VERB
cet-15031	116	9	that	that	SCONJ
cet-15031	116	10	both	both	DET
cet-15031	116	11	controllers	controller	NOUN
cet-15031	116	12	exhibit	exhibit	VERB
cet-15031	116	13	a	a	DET
cet-15031	116	14	similar	similar	ADJ
cet-15031	116	15	response	response	NOUN
cet-15031	116	16	in	in	ADP
cet-15031	116	17	suppressing	suppress	VERB
cet-15031	116	18	the	the	DET
cet-15031	116	19	disturbances	disturbance	NOUN
cet-15031	116	20	caused	cause	VERB
cet-15031	116	21	by	by	ADP
cet-15031	116	22	white	white	ADJ
cet-15031	116	23	noise	noise	NOUN
cet-15031	116	24	.	.	PUNCT
cet-15031	117	1	the	the	DET
cet-15031	117	2	rise	rise	NOUN
cet-15031	117	3	times	time	NOUN
cet-15031	117	4	of	of	ADP
cet-15031	117	5	the	the	DET
cet-15031	117	6	two	two	NUM
cet-15031	117	7	controllers	controller	NOUN
cet-15031	117	8	are	be	AUX
cet-15031	117	9	nearly	nearly	ADV
cet-15031	117	10	identical	identical	ADJ
cet-15031	117	11	,	,	PUNCT
cet-15031	117	12	indicating	indicate	VERB
cet-15031	117	13	comparable	comparable	ADJ
cet-15031	117	14	initial	initial	ADJ
cet-15031	117	15	response	response	NOUN
cet-15031	117	16	speeds	speed	NOUN
cet-15031	117	17	.	.	PUNCT
cet-15031	118	1	however	however	ADV
cet-15031	118	2	,	,	PUNCT
cet-15031	118	3	the	the	DET
cet-15031	118	4	lqr	lqr	PROPN
cet-15031	118	5	controller	controller	NOUN
cet-15031	118	6	shows	show	VERB
cet-15031	118	7	an	an	DET
cet-15031	118	8	overshoot	overshoot	NOUN
cet-15031	118	9	in	in	ADP
cet-15031	118	10	the	the	DET
cet-15031	118	11	initial	initial	ADJ
cet-15031	118	12	phase	phase	NOUN
cet-15031	118	13	of	of	ADP
cet-15031	118	14	the	the	DET
cet-15031	118	15	response	response	NOUN
cet-15031	118	16	while	while	SCONJ
cet-15031	118	17	subsequently	subsequently	ADV
cet-15031	118	18	demonstrating	demonstrate	VERB
cet-15031	118	19	smaller	small	ADJ
cet-15031	118	20	deviations	deviation	NOUN
cet-15031	118	21	from	from	ADP
cet-15031	118	22	the	the	DET
cet-15031	118	23	desired	desire	VERB
cet-15031	118	24	value	value	NOUN
cet-15031	118	25	of	of	ADP
cet-15031	118	26	1	1	NUM
cet-15031	118	27	compared	compare	VERB
cet-15031	118	28	to	to	ADP
cet-15031	118	29	the	the	DET
cet-15031	118	30	pid	pid	NOUN
cet-15031	118	31	controller	controller	NOUN
cet-15031	118	32	.	.	PUNCT
cet-15031	119	1	the	the	DET
cet-15031	119	2	system	system	NOUN
cet-15031	119	3	,	,	PUNCT
cet-15031	119	4	however	however	ADV
cet-15031	119	5	,	,	PUNCT
cet-15031	119	6	continues	continue	VERB
cet-15031	119	7	to	to	PART
cet-15031	119	8	struggle	struggle	VERB
cet-15031	119	9	with	with	ADP
cet-15031	119	10	the	the	DET
cet-15031	119	11	effects	effect	NOUN
cet-15031	119	12	of	of	ADP
cet-15031	119	13	the	the	DET
cet-15031	119	14	noise	noise	NOUN
cet-15031	119	15	,	,	PUNCT
cet-15031	119	16	and	and	CCONJ
cet-15031	119	17	neither	neither	DET
cet-15031	119	18	controller	controller	NOUN
cet-15031	119	19	is	be	AUX
cet-15031	119	20	able	able	ADJ
cet-15031	119	21	to	to	PART
cet-15031	119	22	completely	completely	ADV
cet-15031	119	23	suppress	suppress	VERB
cet-15031	119	24	the	the	DET
cet-15031	119	25	white	white	ADJ
cet-15031	119	26	noise	noise	NOUN
cet-15031	119	27	;	;	PUNCT
cet-15031	119	28	smaller	small	ADJ
cet-15031	119	29	deviations	deviation	NOUN
cet-15031	119	30	are	be	AUX
cet-15031	119	31	observed	observe	VERB
cet-15031	119	32	throughout	throughout	ADP
cet-15031	119	33	the	the	DET
cet-15031	119	34	step	step	NOUN
cet-15031	119	35	response	response	NOUN
cet-15031	119	36	.	.	PUNCT
cet-15031	120	1	754	754	NUM
cet-15031	120	2	figure	figure	NOUN
cet-15031	120	3	2	2	NUM
cet-15031	120	4	:	:	PUNCT
cet-15031	120	5	effect	effect	NOUN
cet-15031	120	6	of	of	ADP
cet-15031	120	7	white	white	ADJ
cet-15031	120	8	noise	noise	NOUN
cet-15031	120	9	on	on	ADP
cet-15031	120	10	the	the	DET
cet-15031	120	11	examined	examine	VERB
cet-15031	120	12	system	system	NOUN
cet-15031	120	13	4	4	NUM
cet-15031	120	14	.	.	NOUN
cet-15031	120	15	results	result	NOUN
cet-15031	120	16	and	and	CCONJ
cet-15031	120	17	discussion	discussion	VERB
cet-15031	120	18	the	the	DET
cet-15031	120	19	results	result	NOUN
cet-15031	120	20	of	of	ADP
cet-15031	120	21	the	the	DET
cet-15031	120	22	authors	author	NOUN
cet-15031	120	23	mentioned	mention	VERB
cet-15031	120	24	in	in	ADP
cet-15031	120	25	section	section	NOUN
cet-15031	120	26	2	2	NUM
cet-15031	120	27	are	be	AUX
cet-15031	120	28	illustrated	illustrate	VERB
cet-15031	120	29	in	in	ADP
cet-15031	120	30	the	the	DET
cet-15031	120	31	pid	pid	NOUN
cet-15031	120	32	column	column	NOUN
cet-15031	120	33	of	of	ADP
cet-15031	120	34	the	the	DET
cet-15031	120	35	following	follow	VERB
cet-15031	120	36	table	table	NOUN
cet-15031	120	37	2	2	NUM
cet-15031	120	38	,	,	PUNCT
cet-15031	120	39	while	while	SCONJ
cet-15031	120	40	the	the	DET
cet-15031	120	41	results	result	NOUN
cet-15031	120	42	of	of	ADP
cet-15031	120	43	this	this	DET
cet-15031	120	44	article	article	NOUN
cet-15031	120	45	are	be	AUX
cet-15031	120	46	presented	present	VERB
cet-15031	120	47	in	in	ADP
cet-15031	120	48	the	the	DET
cet-15031	120	49	lq	lq	ADJ
cet-15031	120	50	column	column	NOUN
cet-15031	120	51	,	,	PUNCT
cet-15031	120	52	based	base	VERB
cet-15031	120	53	on	on	ADP
cet-15031	120	54	the	the	DET
cet-15031	120	55	graph	graph	NOUN
cet-15031	120	56	in	in	ADP
cet-15031	120	57	figure	figure	NOUN
cet-15031	120	58	1	1	NUM
cet-15031	120	59	above	above	ADV
cet-15031	120	60	.	.	PUNCT
cet-15031	121	1	the	the	DET
cet-15031	121	2	results	result	NOUN
cet-15031	121	3	in	in	ADP
cet-15031	121	4	the	the	DET
cet-15031	121	5	pid	pid	NOUN
cet-15031	121	6	column	column	NOUN
cet-15031	121	7	report	report	VERB
cet-15031	121	8	the	the	DET
cet-15031	121	9	simulation	simulation	NOUN
cet-15031	121	10	of	of	ADP
cet-15031	121	11	the	the	DET
cet-15031	121	12	most	most	ADV
cet-15031	121	13	optimal	optimal	ADJ
cet-15031	121	14	pid	pid	NOUN
cet-15031	121	15	tuning	tuning	NOUN
cet-15031	121	16	as	as	ADP
cet-15031	121	17	per	per	ADP
cet-15031	121	18	the	the	DET
cet-15031	121	19	pid5	pid5	NOUN
cet-15031	121	20	column	column	NOUN
cet-15031	121	21	in	in	ADP
cet-15031	121	22	table	table	NOUN
cet-15031	121	23	1	1	NUM
cet-15031	121	24	.	.	PUNCT
cet-15031	122	1	according	accord	VERB
cet-15031	122	2	to	to	ADP
cet-15031	122	3	the	the	DET
cet-15031	122	4	results	result	NOUN
cet-15031	122	5	shown	show	VERB
cet-15031	122	6	in	in	ADP
cet-15031	122	7	the	the	DET
cet-15031	122	8	table	table	NOUN
cet-15031	122	9	,	,	PUNCT
cet-15031	122	10	the	the	DET
cet-15031	122	11	pid	pid	NOUN
cet-15031	122	12	controller	controller	NOUN
cet-15031	122	13	brings	bring	VERB
cet-15031	122	14	the	the	DET
cet-15031	122	15	system	system	NOUN
cet-15031	122	16	to	to	ADP
cet-15031	122	17	90	90	NUM
cet-15031	122	18	%	%	NOUN
cet-15031	122	19	of	of	ADP
cet-15031	122	20	the	the	DET
cet-15031	122	21	desired	desire	VERB
cet-15031	122	22	level	level	NOUN
cet-15031	122	23	faster	fast	ADV
cet-15031	122	24	,	,	PUNCT
cet-15031	122	25	as	as	SCONJ
cet-15031	122	26	indicated	indicate	VERB
cet-15031	122	27	by	by	ADP
cet-15031	122	28	the	the	DET
cet-15031	122	29	rise	rise	NOUN
cet-15031	122	30	time	time	NOUN
cet-15031	122	31	row	row	NOUN
cet-15031	122	32	in	in	ADP
cet-15031	122	33	the	the	DET
cet-15031	122	34	table	table	NOUN
cet-15031	122	35	.	.	PUNCT
cet-15031	123	1	however	however	ADV
cet-15031	123	2	,	,	PUNCT
cet-15031	123	3	it	it	PRON
cet-15031	123	4	is	be	AUX
cet-15031	123	5	also	also	ADV
cet-15031	123	6	concluded	conclude	VERB
cet-15031	123	7	that	that	SCONJ
cet-15031	123	8	the	the	DET
cet-15031	123	9	lqr	lqr	PROPN
cet-15031	123	10	stabilises	stabilise	VERB
cet-15031	123	11	the	the	DET
cet-15031	123	12	system	system	NOUN
cet-15031	123	13	around	around	ADP
cet-15031	123	14	the	the	DET
cet-15031	123	15	steady	steady	ADJ
cet-15031	123	16	-	-	PUNCT
cet-15031	123	17	state	state	NOUN
cet-15031	123	18	value	value	NOUN
cet-15031	123	19	more	more	ADV
cet-15031	123	20	quickly	quickly	ADV
cet-15031	123	21	,	,	PUNCT
cet-15031	123	22	with	with	ADP
cet-15031	123	23	a	a	DET
cet-15031	123	24	settling	settle	VERB
cet-15031	123	25	time	time	NOUN
cet-15031	123	26	of	of	ADP
cet-15031	123	27	0.15	0.15	NUM
cet-15031	123	28	seconds	second	NOUN
cet-15031	123	29	,	,	PUNCT
cet-15031	123	30	and	and	CCONJ
cet-15031	123	31	the	the	DET
cet-15031	123	32	overshoot	overshoot	NOUN
cet-15031	123	33	value	value	NOUN
cet-15031	123	34	with	with	ADP
cet-15031	123	35	the	the	DET
cet-15031	123	36	lqr	lqr	PROPN
cet-15031	123	37	-	-	PUNCT
cet-15031	123	38	controlled	control	VERB
cet-15031	123	39	system	system	NOUN
cet-15031	123	40	is	be	AUX
cet-15031	123	41	0	0	NUM
cet-15031	123	42	,	,	PUNCT
cet-15031	123	43	indicating	indicate	VERB
cet-15031	123	44	that	that	SCONJ
cet-15031	123	45	the	the	DET
cet-15031	123	46	lqr	lqr	PROPN
cet-15031	123	47	reaches	reach	VERB
cet-15031	123	48	and	and	CCONJ
cet-15031	123	49	maintains	maintain	VERB
cet-15031	123	50	the	the	DET
cet-15031	123	51	output	output	NOUN
cet-15031	123	52	value	value	NOUN
cet-15031	123	53	of	of	ADP
cet-15031	123	54	1	1	NUM
cet-15031	123	55	more	more	ADV
cet-15031	123	56	accurately	accurately	ADV
cet-15031	123	57	,	,	PUNCT
cet-15031	123	58	unlike	unlike	ADP
cet-15031	123	59	the	the	DET
cet-15031	123	60	overshoot	overshoot	NOUN
cet-15031	123	61	observed	observe	VERB
cet-15031	123	62	with	with	ADP
cet-15031	123	63	the	the	DET
cet-15031	123	64	pid	pid	NOUN
cet-15031	123	65	.	.	PUNCT
cet-15031	124	1	in	in	ADP
cet-15031	124	2	the	the	DET
cet-15031	124	3	case	case	NOUN
cet-15031	124	4	of	of	ADP
cet-15031	124	5	the	the	DET
cet-15031	124	6	pid	pid	PROPN
cet-15031	124	7	,	,	PUNCT
cet-15031	124	8	the	the	DET
cet-15031	124	9	peak	peak	NOUN
cet-15031	124	10	value	value	NOUN
cet-15031	124	11	is	be	AUX
cet-15031	124	12	slightly	slightly	ADV
cet-15031	124	13	higher	high	ADJ
cet-15031	124	14	than	than	ADP
cet-15031	124	15	1	1	NUM
cet-15031	124	16	,	,	PUNCT
cet-15031	124	17	at	at	ADP
cet-15031	124	18	1.0174	1.0174	NUM
cet-15031	124	19	,	,	PUNCT
cet-15031	124	20	reflecting	reflect	VERB
cet-15031	124	21	the	the	DET
cet-15031	124	22	overshoot	overshoot	NOUN
cet-15031	124	23	.	.	PUNCT
cet-15031	125	1	the	the	DET
cet-15031	125	2	peak	peak	NOUN
cet-15031	125	3	value	value	NOUN
cet-15031	125	4	for	for	ADP
cet-15031	125	5	the	the	DET
cet-15031	125	6	lqr	lqr	PROPN
cet-15031	125	7	is	be	AUX
cet-15031	125	8	exactly	exactly	ADV
cet-15031	125	9	1	1	NUM
cet-15031	125	10	,	,	PUNCT
cet-15031	125	11	indicating	indicate	VERB
cet-15031	125	12	that	that	SCONJ
cet-15031	125	13	the	the	DET
cet-15031	125	14	system	system	NOUN
cet-15031	125	15	stabilises	stabilise	VERB
cet-15031	125	16	precisely	precisely	ADV
cet-15031	125	17	at	at	ADP
cet-15031	125	18	the	the	DET
cet-15031	125	19	value	value	NOUN
cet-15031	125	20	of	of	ADP
cet-15031	125	21	1	1	NUM
cet-15031	125	22	without	without	ADP
cet-15031	125	23	overshooting	overshoot	VERB
cet-15031	125	24	.	.	PUNCT
cet-15031	126	1	it	it	PRON
cet-15031	126	2	has	have	AUX
cet-15031	126	3	been	be	AUX
cet-15031	126	4	determined	determine	VERB
cet-15031	126	5	in	in	ADP
cet-15031	126	6	this	this	DET
cet-15031	126	7	article	article	NOUN
cet-15031	126	8	that	that	SCONJ
cet-15031	126	9	the	the	DET
cet-15031	126	10	lqr	lqr	NOUN
cet-15031	126	11	controller	controller	NOUN
cet-15031	126	12	provides	provide	VERB
cet-15031	126	13	a	a	DET
cet-15031	126	14	more	more	ADV
cet-15031	126	15	stable	stable	ADJ
cet-15031	126	16	response	response	NOUN
cet-15031	126	17	,	,	PUNCT
cet-15031	126	18	with	with	ADP
cet-15031	126	19	the	the	DET
cet-15031	126	20	response	response	NOUN
cet-15031	126	21	remaining	remain	VERB
cet-15031	126	22	precisely	precisely	ADV
cet-15031	126	23	at	at	ADP
cet-15031	126	24	the	the	DET
cet-15031	126	25	value	value	NOUN
cet-15031	126	26	of	of	ADP
cet-15031	126	27	1	1	NUM
cet-15031	126	28	the	the	DET
cet-15031	126	29	entire	entire	ADJ
cet-15031	126	30	time	time	NOUN
cet-15031	126	31	,	,	PUNCT
cet-15031	126	32	while	while	SCONJ
cet-15031	126	33	the	the	DET
cet-15031	126	34	response	response	NOUN
cet-15031	126	35	with	with	ADP
cet-15031	126	36	the	the	DET
cet-15031	126	37	pid	pid	NOUN
cet-15031	126	38	fluctuates	fluctuate	NOUN
cet-15031	126	39	around	around	ADP
cet-15031	126	40	the	the	DET
cet-15031	126	41	desired	desire	VERB
cet-15031	126	42	value	value	NOUN
cet-15031	126	43	.	.	PUNCT
cet-15031	127	1	it	it	PRON
cet-15031	127	2	is	be	AUX
cet-15031	127	3	shown	show	VERB
cet-15031	127	4	in	in	ADP
cet-15031	127	5	this	this	DET
cet-15031	127	6	study	study	NOUN
cet-15031	127	7	that	that	SCONJ
cet-15031	127	8	for	for	ADP
cet-15031	127	9	controlling	control	VERB
cet-15031	127	10	the	the	DET
cet-15031	127	11	quadcopter	quadcopter	NOUN
cet-15031	127	12	's	's	PART
cet-15031	127	13	bldc	bldc	PROPN
cet-15031	127	14	motor	motor	NOUN
cet-15031	127	15	,	,	PUNCT
cet-15031	127	16	lq	lq	PRON
cet-15031	127	17	control	control	NOUN
cet-15031	127	18	is	be	AUX
cet-15031	127	19	overall	overall	ADV
cet-15031	127	20	more	more	ADV
cet-15031	127	21	advantageous	advantageous	ADJ
cet-15031	127	22	,	,	PUNCT
cet-15031	127	23	and	and	CCONJ
cet-15031	127	24	the	the	DET
cet-15031	127	25	lq	lq	NOUN
cet-15031	127	26	control	control	NOUN
cet-15031	127	27	is	be	AUX
cet-15031	127	28	recommended	recommend	VERB
cet-15031	127	29	for	for	ADP
cet-15031	127	30	implementation	implementation	NOUN
cet-15031	127	31	.	.	PUNCT
cet-15031	128	1	table	table	NOUN
cet-15031	128	2	2	2	NUM
cet-15031	128	3	:	:	PUNCT
cet-15031	128	4	comparison	comparison	NOUN
cet-15031	128	5	of	of	ADP
cet-15031	128	6	results	result	NOUN
cet-15031	128	7	for	for	ADP
cet-15031	128	8	pid	pid	NOUN
cet-15031	128	9	and	and	CCONJ
cet-15031	128	10	lqr	lqr	PROPN
cet-15031	128	11	pid	pid	PROPN
cet-15031	128	12	lqr	lqr	NOUN
cet-15031	128	13	rise	rise	VERB
cet-15031	128	14	time	time	NOUN
cet-15031	128	15	0.0415	0.0415	NUM
cet-15031	128	16	0.0900	0.0900	NUM
cet-15031	128	17	settling	settling	NOUN
cet-15031	128	18	time	time	NOUN
cet-15031	128	19	0.1642	0.1642	NUM
cet-15031	128	20	0.1500	0.1500	NUM
cet-15031	128	21	settling	settle	VERB
cet-15031	128	22	min	min	NOUN
cet-15031	128	23	0.9233	0.9233	NUM
cet-15031	128	24	1.0000	1.0000	NUM
cet-15031	128	25	settling	settle	VERB
cet-15031	128	26	max	max	PROPN
cet-15031	128	27	1.0174	1.0174	NUM
cet-15031	128	28	1.0000	1.0000	NUM
cet-15031	128	29	overshoot	overshoot	NOUN
cet-15031	128	30	1.7383	1.7383	NUM
cet-15031	128	31	0.0000	0.0000	NUM
cet-15031	128	32	undershoot	undershoot	NOUN
cet-15031	128	33	0.0000	0.0000	NUM
cet-15031	128	34	0.0000	0.0000	NUM
cet-15031	128	35	peak	peak	VERB
cet-15031	128	36	1.0174	1.0174	NUM
cet-15031	128	37	1.0000	1.0000	NUM
cet-15031	128	38	peak	peak	NOUN
cet-15031	128	39	time	time	NOUN
cet-15031	128	40	0.0900	0.0900	NUM
cet-15031	128	41	0.1500	0.1500	NUM
cet-15031	128	42	5	5	NUM
cet-15031	128	43	.	.	PUNCT
cet-15031	129	1	conclusion	conclusion	NOUN
cet-15031	129	2	the	the	DET
cet-15031	129	3	bldc	bldc	PROPN
cet-15031	129	4	motor	motor	NOUN
cet-15031	129	5	transfer	transfer	NOUN
cet-15031	129	6	function	function	NOUN
cet-15031	129	7	identified	identify	VERB
cet-15031	129	8	with	with	ADP
cet-15031	129	9	the	the	DET
cet-15031	129	10	eq(1	eq(1	NOUN
cet-15031	129	11	)	)	PUNCT
cet-15031	129	12	equation	equation	NOUN
cet-15031	129	13	,	,	PUNCT
cet-15031	129	14	used	use	VERB
cet-15031	129	15	for	for	ADP
cet-15031	129	16	operating	operating	NOUN
cet-15031	129	17	quadcopters	quadcopter	NOUN
cet-15031	129	18	,	,	PUNCT
cet-15031	129	19	was	be	AUX
cet-15031	129	20	utilised	utilise	VERB
cet-15031	129	21	in	in	ADP
cet-15031	129	22	this	this	DET
cet-15031	129	23	article	article	NOUN
cet-15031	129	24	to	to	PART
cet-15031	129	25	examine	examine	VERB
cet-15031	129	26	the	the	DET
cet-15031	129	27	system	system	NOUN
cet-15031	129	28	's	's	PART
cet-15031	129	29	stability	stability	NOUN
cet-15031	129	30	through	through	ADP
cet-15031	129	31	multiple	multiple	ADJ
cet-15031	129	32	approaches	approach	NOUN
cet-15031	129	33	.	.	PUNCT
cet-15031	130	1	subsequently	subsequently	ADV
cet-15031	130	2	,	,	PUNCT
cet-15031	130	3	the	the	DET
cet-15031	130	4	step	step	NOUN
cet-15031	130	5	response	response	NOUN
cet-15031	130	6	of	of	ADP
cet-15031	130	7	the	the	DET
cet-15031	130	8	system	system	NOUN
cet-15031	130	9	was	be	AUX
cet-15031	130	10	analysed	analyse	VERB
cet-15031	130	11	when	when	SCONJ
cet-15031	130	12	continuous	continuous	ADJ
cet-15031	130	13	-	-	PUNCT
cet-15031	130	14	time	time	NOUN
cet-15031	130	15	lqr	lqr	NOUN
cet-15031	130	16	is	be	AUX
cet-15031	130	17	applied	apply	VERB
cet-15031	130	18	.	.	PUNCT
cet-15031	131	1	in	in	ADP
cet-15031	131	2	this	this	DET
cet-15031	131	3	study	study	NOUN
cet-15031	131	4	,	,	PUNCT
cet-15031	131	5	it	it	PRON
cet-15031	131	6	was	be	AUX
cet-15031	131	7	found	find	VERB
cet-15031	131	8	that	that	SCONJ
cet-15031	131	9	the	the	DET
cet-15031	131	10	application	application	NOUN
cet-15031	131	11	of	of	ADP
cet-15031	131	12	the	the	DET
cet-15031	131	13	lqr	lqr	PROPN
cet-15031	131	14	technique	technique	NOUN
cet-15031	131	15	achieves	achieve	VERB
cet-15031	131	16	a	a	DET
cet-15031	131	17	fast	fast	ADV
cet-15031	131	18	-	-	PUNCT
cet-15031	131	19	rising	rise	VERB
cet-15031	131	20	,	,	PUNCT
cet-15031	131	21	overshoot	overshoot	NOUN
cet-15031	131	22	-	-	PUNCT
cet-15031	131	23	free	free	ADJ
cet-15031	131	24	,	,	PUNCT
cet-15031	131	25	and	and	CCONJ
cet-15031	131	26	steady	steady	ADJ
cet-15031	131	27	-	-	PUNCT
cet-15031	131	28	state	state	NOUN
cet-15031	131	29	error	error	NOUN
cet-15031	131	30	-	-	PUNCT
cet-15031	131	31	free	free	ADJ
cet-15031	131	32	step	step	NOUN
cet-15031	131	33	response	response	NOUN
cet-15031	131	34	for	for	ADP
cet-15031	131	35	controlling	control	VERB
cet-15031	131	36	quadcopters	quadcopter	NOUN
cet-15031	131	37	'	'	PART
cet-15031	131	38	bldc	bldc	PROPN
cet-15031	131	39	motors	motor	NOUN
cet-15031	131	40	,	,	PUNCT
cet-15031	131	41	which	which	PRON
cet-15031	131	42	proved	prove	VERB
cet-15031	131	43	to	to	PART
cet-15031	131	44	be	be	AUX
cet-15031	131	45	more	more	ADV
cet-15031	131	46	advantageous	advantageous	ADJ
cet-15031	131	47	than	than	ADP
cet-15031	131	48	the	the	DET
cet-15031	131	49	pid	pid	NOUN
cet-15031	131	50	controller	controller	NOUN
cet-15031	131	51	.	.	PUNCT
cet-15031	132	1	755	755	NUM
cet-15031	132	2	further	further	ADJ
cet-15031	132	3	investigation	investigation	NOUN
cet-15031	132	4	opportunities	opportunity	NOUN
cet-15031	132	5	are	be	AUX
cet-15031	132	6	suggested	suggest	VERB
cet-15031	132	7	for	for	ADP
cet-15031	132	8	other	other	ADJ
cet-15031	132	9	controllers	controller	NOUN
cet-15031	132	10	,	,	PUNCT
cet-15031	132	11	and	and	CCONJ
cet-15031	132	12	the	the	DET
cet-15031	132	13	implementation	implementation	NOUN
cet-15031	132	14	of	of	ADP
cet-15031	132	15	the	the	DET
cet-15031	132	16	examined	examine	VERB
cet-15031	132	17	transfer	transfer	NOUN
cet-15031	132	18	function	function	NOUN
cet-15031	132	19	for	for	ADP
cet-15031	132	20	both	both	DET
cet-15031	132	21	pid	pid	NOUN
cet-15031	132	22	and	and	CCONJ
cet-15031	132	23	lq	lq	ADJ
cet-15031	132	24	controllers	controller	NOUN
cet-15031	132	25	in	in	ADP
cet-15031	132	26	discrete	discrete	ADJ
cet-15031	132	27	time	time	NOUN
cet-15031	132	28	through	through	ADP
cet-15031	132	29	simulation	simulation	NOUN
cet-15031	132	30	is	be	AUX
cet-15031	132	31	planned	plan	VERB
cet-15031	132	32	for	for	ADP
cet-15031	132	33	the	the	DET
cet-15031	132	34	future	future	NOUN
cet-15031	132	35	.	.	PUNCT
cet-15031	133	1	in	in	ADP
cet-15031	133	2	addition	addition	NOUN
cet-15031	133	3	,	,	PUNCT
cet-15031	133	4	as	as	ADP
cet-15031	133	5	a	a	DET
cet-15031	133	6	continuation	continuation	NOUN
cet-15031	133	7	of	of	ADP
cet-15031	133	8	this	this	DET
cet-15031	133	9	present	present	ADJ
cet-15031	133	10	article	article	NOUN
cet-15031	133	11	,	,	PUNCT
cet-15031	133	12	it	it	PRON
cet-15031	133	13	is	be	AUX
cet-15031	133	14	planned	plan	VERB
cet-15031	133	15	by	by	ADP
cet-15031	133	16	the	the	DET
cet-15031	133	17	authors	author	NOUN
cet-15031	133	18	to	to	PART
cet-15031	133	19	compare	compare	VERB
cet-15031	133	20	the	the	DET
cet-15031	133	21	lq	lq	NOUN
cet-15031	133	22	controller	controller	NOUN
cet-15031	133	23	with	with	ADP
cet-15031	133	24	an	an	DET
cet-15031	133	25	mpc	mpc	NOUN
cet-15031	133	26	(	(	PUNCT
cet-15031	133	27	model	model	NOUN
cet-15031	133	28	predictive	predictive	PROPN
cet-15031	133	29	control	control	PROPN
cet-15031	133	30	)	)	PUNCT
cet-15031	133	31	algorithm	algorithm	NOUN
cet-15031	133	32	in	in	ADP
cet-15031	133	33	the	the	DET
cet-15031	133	34	future	future	NOUN
cet-15031	133	35	,	,	PUNCT
cet-15031	133	36	which	which	PRON
cet-15031	133	37	will	will	AUX
cet-15031	133	38	provide	provide	VERB
cet-15031	133	39	an	an	DET
cet-15031	133	40	opportunity	opportunity	NOUN
cet-15031	133	41	to	to	PART
cet-15031	133	42	understand	understand	VERB
cet-15031	133	43	the	the	DET
cet-15031	133	44	advantages	advantage	NOUN
cet-15031	133	45	and	and	CCONJ
cet-15031	133	46	applicability	applicability	NOUN
cet-15031	133	47	of	of	ADP
cet-15031	133	48	each	each	DET
cet-15031	133	49	controller	controller	NOUN
cet-15031	133	50	in	in	ADP
cet-15031	133	51	quadcopter	quadcopter	PROPN
cet-15031	133	52	control	control	PROPN
cet-15031	133	53	.	.	PUNCT
cet-15031	134	1	nomenclature	nomenclature	NOUN
cet-15031	134	2	a	a	DET
cet-15031	134	3	–	–	PUNCT
cet-15031	134	4	system	system	NOUN
cet-15031	134	5	matrix	matrix	NOUN
cet-15031	134	6	describing	describe	VERB
cet-15031	134	7	the	the	DET
cet-15031	134	8	dynamics	dynamic	NOUN
cet-15031	134	9	of	of	ADP
cet-15031	134	10	the	the	DET
cet-15031	134	11	system	system	NOUN
cet-15031	134	12	,	,	PUNCT
cet-15031	134	13	ac	ac	PROPN
cet-15031	134	14	–	–	PUNCT
cet-15031	134	15	a	a	DET
cet-15031	134	16	matrix	matrix	NOUN
cet-15031	134	17	with	with	ADP
cet-15031	134	18	feedback	feedback	NOUN
cet-15031	134	19	gain	gain	NOUN
cet-15031	134	20	,	,	PUNCT
cet-15031	134	21	at	at	ADP
cet-15031	134	22	–	–	PUNCT
cet-15031	134	23	transpose	transpose	NOUN
cet-15031	134	24	of	of	ADP
cet-15031	134	25	the	the	DET
cet-15031	134	26	a	a	DET
cet-15031	134	27	matrix	matrix	NOUN
cet-15031	134	28	,	,	PUNCT
cet-15031	134	29	b	b	X
cet-15031	134	30	–	–	PUNCT
cet-15031	134	31	input	input	NOUN
cet-15031	134	32	vector	vector	NOUN
cet-15031	134	33	of	of	ADP
cet-15031	134	34	the	the	DET
cet-15031	134	35	state	state	NOUN
cet-15031	134	36	equation	equation	NOUN
cet-15031	134	37	,	,	PUNCT
cet-15031	134	38	b	b	X
cet-15031	134	39	–	–	PUNCT
cet-15031	134	40	input	input	NOUN
cet-15031	134	41	matrix	matrix	NOUN
cet-15031	134	42	describing	describe	VERB
cet-15031	134	43	the	the	DET
cet-15031	134	44	effect	effect	NOUN
cet-15031	134	45	of	of	ADP
cet-15031	134	46	the	the	DET
cet-15031	134	47	input	input	NOUN
cet-15031	134	48	signal	signal	NOUN
cet-15031	134	49	,	,	PUNCT
cet-15031	134	50	bt	bt	PROPN
cet-15031	134	51	–	–	PUNCT
cet-15031	134	52	transpose	transpose	NOUN
cet-15031	134	53	of	of	ADP
cet-15031	134	54	the	the	DET
cet-15031	134	55	b	b	PROPN
cet-15031	134	56	matrix	matrix	NOUN
cet-15031	134	57	,	,	PUNCT
cet-15031	134	58	cr	cr	PROPN
cet-15031	134	59	–	–	PUNCT
cet-15031	134	60	controllability	controllability	NOUN
cet-15031	134	61	matrix	matrix	NOUN
cet-15031	134	62	,	,	PUNCT
cet-15031	134	63	j	j	PROPN
cet-15031	134	64	–	–	PUNCT
cet-15031	134	65	lqr	lqr	VERB
cet-15031	134	66	cost	cost	NOUN
cet-15031	134	67	function	function	NOUN
cet-15031	134	68	,	,	PUNCT
cet-15031	134	69	k	k	X
cet-15031	134	70	–	–	PUNCT
cet-15031	134	71	feedback	feedback	NOUN
cet-15031	134	72	gain	gain	NOUN
cet-15031	134	73	value	value	NOUN
cet-15031	134	74	,	,	PUNCT
cet-15031	134	75	kp	kp	PROPN
cet-15031	134	76	–	–	PUNCT
cet-15031	134	77	proportional	proportional	ADJ
cet-15031	134	78	component	component	NOUN
cet-15031	134	79	,	,	PUNCT
cet-15031	134	80	ki	ki	PROPN
cet-15031	134	81	–	–	PUNCT
cet-15031	134	82	integral	integral	ADJ
cet-15031	134	83	component	component	NOUN
cet-15031	134	84	,	,	PUNCT
cet-15031	134	85	kd	kd	PROPN
cet-15031	134	86	–	–	PUNCT
cet-15031	134	87	differential	differential	NOUN
cet-15031	134	88	component	component	NOUN
cet-15031	134	89	,	,	PUNCT
cet-15031	134	90	p	p	NOUN
cet-15031	134	91	–	–	PUNCT
cet-15031	134	92	optimal	optimal	ADJ
cet-15031	134	93	feedback	feedback	NOUN
cet-15031	134	94	matrix	matrix	NOUN
cet-15031	134	95	,	,	PUNCT
cet-15031	134	96	q	q	ADJ
cet-15031	134	97	–	–	PUNCT
cet-15031	134	98	state	state	NOUN
cet-15031	134	99	weighting	weighting	NOUN
cet-15031	134	100	matrix	matrix	NOUN
cet-15031	134	101	,	,	PUNCT
cet-15031	134	102	r	r	NOUN
cet-15031	134	103	–	–	PUNCT
cet-15031	134	104	input	input	NOUN
cet-15031	134	105	weighting	weighting	NOUN
cet-15031	134	106	matrix	matrix	NOUN
cet-15031	134	107	,	,	PUNCT
cet-15031	134	108	r-1	r-1	ADJ
cet-15031	134	109	–	–	PUNCT
cet-15031	134	110	inverse	inverse	NOUN
cet-15031	134	111	of	of	ADP
cet-15031	134	112	the	the	DET
cet-15031	134	113	r	r	NOUN
cet-15031	134	114	matrix	matrix	NOUN
cet-15031	134	115	,	,	PUNCT
cet-15031	134	116	s	s	PART
cet-15031	134	117	–	–	PUNCT
cet-15031	134	118	laplace	laplace	NOUN
cet-15031	134	119	transform	transform	NOUN
cet-15031	134	120	variable	variable	NOUN
cet-15031	134	121	,	,	PUNCT
cet-15031	134	122	u	u	NOUN
cet-15031	134	123	–	–	PUNCT
cet-15031	134	124	input	input	NOUN
cet-15031	134	125	vector	vector	NOUN
cet-15031	134	126	,	,	PUNCT
cet-15031	134	127	ut	ut	PROPN
cet-15031	134	128	–	–	PUNCT
cet-15031	134	129	transpose	transpose	NOUN
cet-15031	134	130	of	of	ADP
cet-15031	134	131	u	u	PROPN
cet-15031	134	132	,	,	PUNCT
cet-15031	134	133	wc	wc	PROPN
cet-15031	134	134	–	–	PUNCT
cet-15031	134	135	controller	controller	NOUN
cet-15031	134	136	transfer	transfer	NOUN
cet-15031	134	137	function	function	NOUN
cet-15031	134	138	,	,	PUNCT
cet-15031	134	139	wo	will	AUX
cet-15031	134	140	–	–	PUNCT
cet-15031	134	141	open	open	ADJ
cet-15031	134	142	-	-	PUNCT
cet-15031	134	143	loop	loop	NOUN
cet-15031	134	144	transfer	transfer	NOUN
cet-15031	134	145	function	function	NOUN
cet-15031	134	146	,	,	PUNCT
cet-15031	134	147	wp	wp	PROPN
cet-15031	134	148	–	–	PUNCT
cet-15031	134	149	plant	plant	NOUN
cet-15031	134	150	transfer	transfer	NOUN
cet-15031	134	151	function	function	NOUN
cet-15031	134	152	,	,	PUNCT
cet-15031	134	153	x	x	X
cet-15031	134	154	–	–	PUNCT
cet-15031	134	155	state	state	NOUN
cet-15031	134	156	vector	vector	NOUN
cet-15031	134	157	,	,	PUNCT
cet-15031	134	158	xt	xt	PROPN
cet-15031	134	159	–	–	PUNCT
cet-15031	134	160	transpose	transpose	NOUN
cet-15031	134	161	of	of	ADP
cet-15031	134	162	x	x	PRON
cet-15031	134	163	,	,	PUNCT
cet-15031	134	164	references	reference	NOUN
cet-15031	134	165	åström	åström	NOUN
cet-15031	134	166	k.j	k.j	PROPN
cet-15031	134	167	.	.	PROPN
cet-15031	134	168	,	,	PUNCT
cet-15031	134	169	2002	2002	NUM
cet-15031	134	170	,	,	PUNCT
cet-15031	134	171	control	control	NOUN
cet-15031	134	172	system	system	NOUN
cet-15031	134	173	design	design	NOUN
cet-15031	134	174	lecture	lecture	NOUN
cet-15031	134	175	notes	note	NOUN
cet-15031	134	176	for	for	ADP
cet-15031	134	177	me	i	PRON
cet-15031	134	178	155a	155a	NUM
cet-15031	134	179	.	.	PUNCT
cet-15031	135	1	department	department	NOUN
cet-15031	135	2	of	of	ADP
cet-15031	135	3	mechanical	mechanical	ADJ
cet-15031	135	4	and	and	CCONJ
cet-15031	135	5	environmental	environmental	ADJ
cet-15031	135	6	engineering	engineering	PROPN
cet-15031	135	7	university	university	PROPN
cet-15031	135	8	of	of	ADP
cet-15031	135	9	california	california	PROPN
cet-15031	135	10	santa	santa	PROPN
cet-15031	135	11	barbara	barbara	PROPN
cet-15031	135	12	,	,	PUNCT
cet-15031	135	13	united	united	PROPN
cet-15031	135	14	states	states	PROPN
cet-15031	135	15	of	of	ADP
cet-15031	135	16	america	america	PROPN
cet-15031	135	17	,	,	PUNCT
cet-15031	135	18	333	333	NUM
cet-15031	135	19	.	.	PUNCT
cet-15031	136	1	ahmed	ahmed	PROPN
cet-15031	136	2	a.h	a.h	PROPN
cet-15031	136	3	.	.	PROPN
cet-15031	136	4	,	,	PUNCT
cet-15031	136	5	ouda	ouda	PROPN
cet-15031	136	6	a.n	a.n	PROPN
cet-15031	136	7	.	.	PROPN
cet-15031	136	8	,	,	PUNCT
cet-15031	136	9	kamel	kamel	PROPN
cet-15031	136	10	a.m.	a.m.	PROPN
cet-15031	136	11	,	,	PUNCT
cet-15031	136	12	elhalwagy	elhalwagy	PROPN
cet-15031	136	13	y.z	y.z	PROPN
cet-15031	136	14	.	.	PROPN
cet-15031	136	15	,	,	PUNCT
cet-15031	136	16	2015	2015	NUM
cet-15031	136	17	,	,	PUNCT
cet-15031	136	18	design	design	NOUN
cet-15031	136	19	and	and	CCONJ
cet-15031	136	20	analysis	analysis	NOUN
cet-15031	136	21	of	of	ADP
cet-15031	136	22	quadcopter	quadcopter	NOUN
cet-15031	136	23	classical	classical	ADJ
cet-15031	136	24	controller	controller	NOUN
cet-15031	136	25	.	.	PUNCT
cet-15031	137	1	international	international	ADJ
cet-15031	137	2	conference	conference	NOUN
cet-15031	137	3	on	on	ADP
cet-15031	137	4	aerospace	aerospace	NOUN
cet-15031	137	5	sciences	science	NOUN
cet-15031	137	6	and	and	CCONJ
cet-15031	137	7	aviation	aviation	NOUN
cet-15031	137	8	technology	technology	NOUN
cet-15031	137	9	,	,	PUNCT
cet-15031	137	10	16	16	NUM
cet-15031	137	11	,	,	PUNCT
cet-15031	137	12	asat-16	asat-16	PROPN
cet-15031	137	13	–	–	PUNCT
cet-15031	137	14	may	may	PROPN
cet-15031	137	15	26	26	NUM
cet-15031	137	16	-	-	SYM
cet-15031	137	17	28	28	NUM
cet-15031	137	18	,	,	PUNCT
cet-15031	137	19	1	1	NUM
cet-15031	137	20	-	-	SYM
cet-15031	137	21	17	17	NUM
cet-15031	137	22	,	,	PUNCT
cet-15031	137	23	the	the	DET
cet-15031	137	24	military	military	PROPN
cet-15031	137	25	technical	technical	PROPN
cet-15031	137	26	college	college	PROPN
cet-15031	137	27	,	,	PUNCT
cet-15031	137	28	doi	doi	NOUN
cet-15031	137	29	:	:	PUNCT
cet-15031	137	30	10.21608	10.21608	NUM
cet-15031	137	31	/	/	SYM
cet-15031	137	32	asat.2015.23032	asat.2015.23032	PROPN
cet-15031	137	33	.	.	PUNCT
cet-15031	138	1	chiang	chiang	PROPN
cet-15031	138	2	w.c	w.c	VERB
cet-15031	138	3	.	.	PROPN
cet-15031	138	4	,	,	PUNCT
cet-15031	138	5	li	li	PROPN
cet-15031	138	6	y.	y.	PROPN
cet-15031	138	7	,	,	PUNCT
cet-15031	138	8	shang	shang	PROPN
cet-15031	138	9	j.	j.	PROPN
cet-15031	138	10	,	,	PUNCT
cet-15031	138	11	urban	urban	PROPN
cet-15031	138	12	t.l	t.l	PROPN
cet-15031	138	13	.	.	PROPN
cet-15031	138	14	,	,	PUNCT
cet-15031	138	15	2019	2019	NUM
cet-15031	138	16	,	,	PUNCT
cet-15031	138	17	impact	impact	NOUN
cet-15031	138	18	of	of	ADP
cet-15031	138	19	drone	drone	NOUN
cet-15031	138	20	delivery	delivery	NOUN
cet-15031	138	21	on	on	ADP
cet-15031	138	22	sustainability	sustainability	NOUN
cet-15031	138	23	and	and	CCONJ
cet-15031	138	24	cost	cost	NOUN
cet-15031	138	25	:	:	PUNCT
cet-15031	138	26	realizing	realize	VERB
cet-15031	138	27	the	the	DET
cet-15031	138	28	uav	uav	PROPN
cet-15031	138	29	potential	potential	NOUN
cet-15031	138	30	through	through	ADP
cet-15031	138	31	vehicle	vehicle	NOUN
cet-15031	138	32	routing	routing	NOUN
cet-15031	138	33	optimisation	optimisation	NOUN
cet-15031	138	34	.	.	PUNCT
cet-15031	139	1	applied	apply	VERB
cet-15031	139	2	energy	energy	NOUN
cet-15031	139	3	,	,	PUNCT
cet-15031	139	4	242	242	NUM
cet-15031	139	5	,	,	PUNCT
cet-15031	139	6	1164	1164	NUM
cet-15031	139	7	-	-	SYM
cet-15031	139	8	1175	1175	NUM
cet-15031	139	9	,	,	PUNCT
cet-15031	139	10	doi	doi	NOUN
cet-15031	139	11	:	:	PUNCT
cet-15031	139	12	10.106	10.106	NUM
cet-15031	139	13	/	/	SYM
cet-15031	139	14	j.apenergy.2019.03.117	j.apenergy.2019.03.117	PROPN
cet-15031	139	15	.	.	PUNCT
cet-15031	140	1	islam	islam	PROPN
cet-15031	140	2	m.	m.	PROPN
cet-15031	140	3	,	,	PUNCT
cet-15031	140	4	okasha	okasha	PROPN
cet-15031	140	5	m.	m.	NOUN
cet-15031	140	6	,	,	PUNCT
cet-15031	140	7	sulaeman	sulaeman	PROPN
cet-15031	140	8	e.	e.	PROPN
cet-15031	140	9	,	,	PUNCT
cet-15031	140	10	2019	2019	NUM
cet-15031	140	11	,	,	PUNCT
cet-15031	140	12	a	a	DET
cet-15031	140	13	model	model	NOUN
cet-15031	140	14	predictive	predictive	ADJ
cet-15031	140	15	control	control	NOUN
cet-15031	140	16	(	(	PUNCT
cet-15031	140	17	mpc	mpc	NOUN
cet-15031	140	18	)	)	PUNCT
cet-15031	140	19	approach	approach	NOUN
cet-15031	140	20	on	on	ADP
cet-15031	140	21	unit	unit	NOUN
cet-15031	140	22	quaternion	quaternion	NOUN
cet-15031	140	23	orientation	orientation	NOUN
cet-15031	140	24	based	base	VERB
cet-15031	140	25	quadrotor	quadrotor	NOUN
cet-15031	140	26	for	for	ADP
cet-15031	140	27	trajectory	trajectory	NOUN
cet-15031	140	28	tracking	tracking	NOUN
cet-15031	140	29	.	.	PUNCT
cet-15031	141	1	international	international	ADJ
cet-15031	141	2	journal	journal	PROPN
cet-15031	141	3	of	of	ADP
cet-15031	141	4	control	control	NOUN
cet-15031	141	5	,	,	PUNCT
cet-15031	141	6	automation	automation	NOUN
cet-15031	141	7	and	and	CCONJ
cet-15031	141	8	systems	system	NOUN
cet-15031	141	9	,	,	PUNCT
cet-15031	141	10	17(11	17(11	NUM
cet-15031	141	11	)	)	PUNCT
cet-15031	141	12	,	,	PUNCT
cet-15031	141	13	2819	2819	NUM
cet-15031	141	14	-	-	SYM
cet-15031	141	15	2832	2832	NUM
cet-15031	141	16	,	,	PUNCT
cet-15031	141	17	doi	doi	NOUN
cet-15031	141	18	:	:	PUNCT
cet-15031	141	19	10.1007	10.1007	NUM
cet-15031	141	20	/	/	SYM
cet-15031	141	21	s12555	s12555	NOUN
cet-15031	141	22	-	-	PUNCT
cet-15031	141	23	018	018	NUM
cet-15031	141	24	-	-	PUNCT
cet-15031	141	25	0860	0860	NUM
cet-15031	141	26	-	-	PUNCT
cet-15031	141	27	9	9	NUM
cet-15031	141	28	.	.	PUNCT
cet-15031	141	29	katsuhiko	katsuhiko	NOUN
cet-15031	141	30	o.	o.	PROPN
cet-15031	141	31	,	,	PUNCT
cet-15031	141	32	2009	2009	NUM
cet-15031	141	33	,	,	PUNCT
cet-15031	141	34	modern	modern	ADJ
cet-15031	141	35	control	control	NOUN
cet-15031	141	36	engineering	engineering	NOUN
cet-15031	141	37	.	.	PUNCT
cet-15031	142	1	5	5	NUM
cet-15031	142	2	-	-	SYM
cet-15031	142	3	th	th	NUM
cet-15031	142	4	ed	ed	NOUN
cet-15031	142	5	,	,	PUNCT
cet-15031	142	6	prentice	prentice	NOUN
cet-15031	142	7	hall	hall	NOUN
cet-15031	142	8	,	,	PUNCT
cet-15031	142	9	upper	upper	ADJ
cet-15031	142	10	saddle	saddle	NOUN
cet-15031	142	11	river	river	NOUN
cet-15031	142	12	,	,	PUNCT
cet-15031	142	13	new	new	PROPN
cet-15031	142	14	jersey	jersey	PROPN
cet-15031	142	15	,	,	PUNCT
cet-15031	142	16	united	united	PROPN
cet-15031	142	17	states	states	PROPN
cet-15031	142	18	,	,	PUNCT
cet-15031	142	19	isbn	isbn	ADJ
cet-15031	142	20	978	978	NUM
cet-15031	142	21	-	-	SYM
cet-15031	142	22	0	0	NUM
cet-15031	142	23	-	-	PUNCT
cet-15031	142	24	13	13	NUM
cet-15031	142	25	-	-	PUNCT
cet-15031	142	26	615673	615673	NUM
cet-15031	142	27	-	-	SYM
cet-15031	142	28	4	4	NUM
cet-15031	142	29	.	.	PUNCT
cet-15031	143	1	kumar	kumar	PROPN
cet-15031	143	2	e.	e.	PROPN
cet-15031	143	3	v.	v.	PROPN
cet-15031	143	4	,	,	PUNCT
cet-15031	143	5	jerome	jerome	PROPN
cet-15031	143	6	j.	j.	PROPN
cet-15031	143	7	,	,	PUNCT
cet-15031	143	8	2016	2016	NUM
cet-15031	143	9	,	,	PUNCT
cet-15031	143	10	algebraic	algebraic	ADJ
cet-15031	143	11	riccati	riccati	PROPN
cet-15031	143	12	equation	equation	NOUN
cet-15031	143	13	based	base	VERB
cet-15031	143	14	q	q	PROPN
cet-15031	143	15	and	and	CCONJ
cet-15031	143	16	r	r	NOUN
cet-15031	143	17	matrices	matrix	NOUN
cet-15031	143	18	selection	selection	NOUN
cet-15031	143	19	algorithm	algorithm	NOUN
cet-15031	143	20	for	for	ADP
cet-15031	143	21	optimal	optimal	ADJ
cet-15031	143	22	lqr	lqr	NOUN
cet-15031	143	23	applied	apply	VERB
cet-15031	143	24	to	to	ADP
cet-15031	143	25	tracking	track	VERB
cet-15031	143	26	control	control	NOUN
cet-15031	143	27	of	of	ADP
cet-15031	143	28	3rd	3rd	ADJ
cet-15031	143	29	order	order	NOUN
cet-15031	143	30	magnetic	magnetic	ADJ
cet-15031	143	31	levitation	levitation	NOUN
cet-15031	143	32	system	system	NOUN
cet-15031	143	33	.	.	PUNCT
cet-15031	144	1	archives	archive	NOUN
cet-15031	144	2	of	of	ADP
cet-15031	144	3	electrical	electrical	ADJ
cet-15031	144	4	engineering	engineering	NOUN
cet-15031	144	5	,	,	PUNCT
cet-15031	144	6	65(1	65(1	NOUN
cet-15031	144	7	)	)	PUNCT
cet-15031	144	8	,	,	PUNCT
cet-15031	144	9	151	151	NUM
cet-15031	144	10	-	-	SYM
cet-15031	144	11	168	168	NUM
cet-15031	144	12	,	,	PUNCT
cet-15031	144	13	doi	doi	NOUN
cet-15031	144	14	:	:	PUNCT
cet-15031	144	15	10.1515	10.1515	NUM
cet-15031	144	16	/	/	SYM
cet-15031	144	17	aee-2016	aee-2016	NOUN
cet-15031	144	18	-	-	PUNCT
cet-15031	144	19	0012	0012	NUM
cet-15031	144	20	.	.	PUNCT
cet-15031	145	1	loh	loh	PROPN
cet-15031	145	2	y.w	y.w	PROPN
cet-15031	145	3	.	.	PROPN
cet-15031	145	4	,	,	PUNCT
cet-15031	145	5	lim	lim	PROPN
cet-15031	145	6	c.h	c.h	PROPN
cet-15031	145	7	.	.	PROPN
cet-15031	145	8	,	,	PUNCT
cet-15031	145	9	foo	foo	PROPN
cet-15031	145	10	d.c	d.c	PROPN
cet-15031	145	11	.	.	PROPN
cet-15031	145	12	,	,	PUNCT
cet-15031	145	13	how	how	SCONJ
cet-15031	145	14	b.s	b.s	PROPN
cet-15031	145	15	.	.	PROPN
cet-15031	145	16	,	,	PUNCT
cet-15031	145	17	ng	ng	PROPN
cet-15031	145	18	w.p.q	w.p.q	PROPN
cet-15031	145	19	.	.	PUNCT
cet-15031	145	20	,	,	PUNCT
cet-15031	145	21	lam	lam	PROPN
cet-15031	145	22	h.l	h.l	PROPN
cet-15031	145	23	.	.	PROPN
cet-15031	145	24	,	,	PUNCT
cet-15031	145	25	2022	2022	NUM
cet-15031	145	26	,	,	PUNCT
cet-15031	145	27	sustainability	sustainability	NOUN
cet-15031	145	28	evaluation	evaluation	NOUN
cet-15031	145	29	for	for	ADP
cet-15031	145	30	pesticide	pesticide	NOUN
cet-15031	145	31	application	application	NOUN
cet-15031	145	32	in	in	ADP
cet-15031	145	33	oil	oil	NOUN
cet-15031	145	34	palm	palm	NOUN
cet-15031	145	35	plantation	plantation	NOUN
cet-15031	145	36	integrated	integrate	VERB
cet-15031	145	37	with	with	ADP
cet-15031	145	38	industry	industry	NOUN
cet-15031	145	39	4.0	4.0	NUM
cet-15031	145	40	technology	technology	NOUN
cet-15031	145	41	.	.	PUNCT
cet-15031	146	1	chemical	chemical	NOUN
cet-15031	146	2	engineering	engineering	NOUN
cet-15031	146	3	transactions	transaction	NOUN
cet-15031	146	4	,	,	PUNCT
cet-15031	146	5	94	94	NUM
cet-15031	146	6	,	,	PUNCT
cet-15031	146	7	751	751	NUM
cet-15031	146	8	-	-	SYM
cet-15031	146	9	756	756	NUM
cet-15031	146	10	,	,	PUNCT
cet-15031	146	11	doi	doi	NOUN
cet-15031	146	12	:	:	PUNCT
cet-15031	146	13	10.3303	10.3303	NUM
cet-15031	146	14	/	/	SYM
cet-15031	146	15	cet2294125	cet2294125	NOUN
cet-15031	146	16	.	.	PUNCT
cet-15031	147	1	okyere	okyere	PROPN
cet-15031	147	2	e.	e.	PROPN
cet-15031	147	3	,	,	PUNCT
cet-15031	147	4	bousbaine	bousbaine	PROPN
cet-15031	147	5	a.	a.	PROPN
cet-15031	147	6	,	,	PUNCT
cet-15031	147	7	poyi	poyi	PROPN
cet-15031	147	8	g.t	g.t	PROPN
cet-15031	147	9	.	.	PROPN
cet-15031	147	10	,	,	PUNCT
cet-15031	147	11	joseph	joseph	PROPN
cet-15031	147	12	a.k	a.k	PROPN
cet-15031	147	13	.	.	PROPN
cet-15031	147	14	,	,	PUNCT
cet-15031	147	15	andrade	andrade	PROPN
cet-15031	147	16	j.m	j.m	PROPN
cet-15031	147	17	.	.	PROPN
cet-15031	147	18	,	,	PUNCT
cet-15031	147	19	2019	2019	NUM
cet-15031	147	20	,	,	PUNCT
cet-15031	147	21	lqr	lqr	VERB
cet-15031	147	22	controller	controller	NOUN
cet-15031	147	23	design	design	NOUN
cet-15031	147	24	for	for	ADP
cet-15031	147	25	quad‐rotor	quad‐rotor	NOUN
cet-15031	147	26	helicopters	helicopter	NOUN
cet-15031	147	27	.	.	PUNCT
cet-15031	148	1	the	the	DET
cet-15031	148	2	journal	journal	NOUN
cet-15031	148	3	of	of	ADP
cet-15031	148	4	engineering	engineering	NOUN
cet-15031	148	5	,	,	PUNCT
cet-15031	148	6	2019(17	2019(17	NUM
cet-15031	148	7	)	)	PUNCT
cet-15031	148	8	,	,	PUNCT
cet-15031	148	9	4003	4003	NUM
cet-15031	148	10	-	-	SYM
cet-15031	148	11	4007	4007	NUM
cet-15031	148	12	,	,	PUNCT
cet-15031	148	13	doi	doi	NOUN
cet-15031	148	14	:	:	PUNCT
cet-15031	148	15	10.1049	10.1049	NUM
cet-15031	148	16	/	/	SYM
cet-15031	148	17	joe.2018.8126	joe.2018.8126	NOUN
cet-15031	148	18	.	.	PUNCT
cet-15031	149	1	rasheed	rasheed	PROPN
cet-15031	149	2	l.t	l.t	PROPN
cet-15031	149	3	.	.	PROPN
cet-15031	149	4	,	,	PUNCT
cet-15031	149	5	2020	2020	NUM
cet-15031	149	6	,	,	PUNCT
cet-15031	149	7	optimal	optimal	ADJ
cet-15031	149	8	tuning	tuning	NOUN
cet-15031	149	9	of	of	ADP
cet-15031	149	10	linear	linear	ADJ
cet-15031	149	11	quadratic	quadratic	ADJ
cet-15031	149	12	regulator	regulator	NOUN
cet-15031	149	13	controller	controller	NOUN
cet-15031	149	14	using	use	VERB
cet-15031	149	15	ant	ant	ADJ
cet-15031	149	16	colony	colony	NOUN
cet-15031	149	17	optimization	optimization	NOUN
cet-15031	149	18	algorithm	algorithm	NOUN
cet-15031	149	19	for	for	ADP
cet-15031	149	20	position	position	NOUN
cet-15031	149	21	control	control	NOUN
cet-15031	149	22	of	of	ADP
cet-15031	149	23	a	a	DET
cet-15031	149	24	permanent	permanent	ADJ
cet-15031	149	25	magnet	magnet	NOUN
cet-15031	149	26	dc	dc	PROPN
cet-15031	149	27	motor	motor	PROPN
cet-15031	149	28	.	.	PUNCT
cet-15031	150	1	iraqi	iraqi	ADJ
cet-15031	150	2	journal	journal	PROPN
cet-15031	150	3	of	of	ADP
cet-15031	150	4	computers	computer	NOUN
cet-15031	150	5	,	,	PUNCT
cet-15031	150	6	communications	communication	NOUN
cet-15031	150	7	,	,	PUNCT
cet-15031	150	8	control	control	NOUN
cet-15031	150	9	and	and	CCONJ
cet-15031	150	10	systems	system	NOUN
cet-15031	150	11	engineering	engineering	NOUN
cet-15031	150	12	,	,	PUNCT
cet-15031	150	13	20(3	20(3	NOUN
cet-15031	150	14	)	)	PUNCT
cet-15031	150	15	,	,	PUNCT
cet-15031	150	16	29	29	NUM
cet-15031	150	17	-	-	SYM
cet-15031	150	18	41	41	NUM
cet-15031	150	19	,	,	PUNCT
cet-15031	150	20	doi	doi	NOUN
cet-15031	150	21	:	:	PUNCT
cet-15031	150	22	10.33103	10.33103	NUM
cet-15031	150	23	/	/	SYM
cet-15031	150	24	uot.ijccce.20.3.3	uot.ijccce.20.3.3	NOUN
cet-15031	150	25	.	.	NOUN
cet-15031	150	26	sadenova	sadenova	PROPN
cet-15031	150	27	m.a	m.a	PROPN
cet-15031	150	28	.	.	PROPN
cet-15031	150	29	,	,	PUNCT
cet-15031	150	30	beisekenov	beisekenov	PROPN
cet-15031	150	31	n.a	n.a	PROPN
cet-15031	150	32	.	.	PROPN
cet-15031	150	33	,	,	PUNCT
cet-15031	150	34	anuarbekov	anuarbekov	PROPN
cet-15031	150	35	t.b	t.b	PROPN
cet-15031	150	36	.	.	PROPN
cet-15031	150	37	,	,	PUNCT
cet-15031	150	38	kapasov	kapasov	PROPN
cet-15031	150	39	a.k	a.k	PROPN
cet-15031	150	40	.	.	PROPN
cet-15031	150	41	,	,	PUNCT
cet-15031	150	42	kulenova	kulenova	PROPN
cet-15031	150	43	n.a	n.a	PROPN
cet-15031	150	44	.	.	PROPN
cet-15031	150	45	,	,	PUNCT
cet-15031	150	46	2023	2023	NUM
cet-15031	150	47	,	,	PUNCT
cet-15031	150	48	study	study	NOUN
cet-15031	150	49	of	of	ADP
cet-15031	150	50	unmanned	unmanned	ADJ
cet-15031	150	51	aerial	aerial	ADJ
cet-15031	150	52	vehicle	vehicle	NOUN
cet-15031	150	53	sensors	sensor	NOUN
cet-15031	150	54	for	for	ADP
cet-15031	150	55	practical	practical	ADJ
cet-15031	150	56	remote	remote	ADJ
cet-15031	150	57	application	application	NOUN
cet-15031	150	58	of	of	ADP
cet-15031	150	59	earth	earth	NOUN
cet-15031	150	60	sensing	sense	VERB
cet-15031	150	61	in	in	ADP
cet-15031	150	62	agriculture	agriculture	NOUN
cet-15031	150	63	.	.	PUNCT
cet-15031	151	1	chemical	chemical	NOUN
cet-15031	151	2	engineering	engineering	NOUN
cet-15031	151	3	transactions	transaction	NOUN
cet-15031	151	4	,	,	PUNCT
cet-15031	151	5	98	98	NUM
cet-15031	151	6	,	,	PUNCT
cet-15031	151	7	243	243	NUM
cet-15031	151	8	-	-	SYM
cet-15031	151	9	248	248	NUM
cet-15031	151	10	,	,	PUNCT
cet-15031	151	11	doi	doi	NOUN
cet-15031	151	12	:	:	PUNCT
cet-15031	151	13	10.3303	10.3303	NUM
cet-15031	151	14	/	/	SYM
cet-15031	151	15	cet2398041	cet2398041	NOUN
cet-15031	151	16	.	.	PUNCT
cet-15031	152	1	sarghini	sarghini	PROPN
cet-15031	152	2	f.	f.	PROPN
cet-15031	152	3	,	,	PUNCT
cet-15031	152	4	de	de	PROPN
cet-15031	152	5	vivo	vivo	PROPN
cet-15031	152	6	a.	a.	NOUN
cet-15031	152	7	,	,	PUNCT
cet-15031	152	8	2017	2017	NUM
cet-15031	152	9	,	,	PUNCT
cet-15031	152	10	interference	interference	VERB
cet-15031	152	11	analysis	analysis	NOUN
cet-15031	152	12	of	of	ADP
cet-15031	152	13	a	a	DET
cet-15031	152	14	heavy	heavy	ADJ
cet-15031	152	15	lift	lift	NOUN
cet-15031	152	16	multirotor	multirotor	NOUN
cet-15031	152	17	drone	drone	NOUN
cet-15031	152	18	flow	flow	NOUN
cet-15031	152	19	field	field	NOUN
cet-15031	152	20	and	and	CCONJ
cet-15031	152	21	transported	transport	VERB
cet-15031	152	22	spraying	spray	VERB
cet-15031	152	23	system	system	NOUN
cet-15031	152	24	.	.	PUNCT
cet-15031	153	1	chemical	chemical	NOUN
cet-15031	153	2	engineering	engineering	NOUN
cet-15031	153	3	transactions	transaction	NOUN
cet-15031	153	4	,	,	PUNCT
cet-15031	153	5	58	58	NUM
cet-15031	153	6	,	,	PUNCT
cet-15031	153	7	631	631	NUM
cet-15031	153	8	-	-	SYM
cet-15031	153	9	636	636	NUM
cet-15031	153	10	,	,	PUNCT
cet-15031	153	11	doi	doi	NOUN
cet-15031	153	12	:	:	PUNCT
cet-15031	153	13	10.3303	10.3303	NUM
cet-15031	153	14	/	/	SYM
cet-15031	153	15	cet1758106	cet1758106	NOUN
cet-15031	153	16	.	.	PUNCT
cet-15031	154	1	sawyer	sawyer	PROPN
cet-15031	154	2	s.	s.	PROPN
cet-15031	154	3	,	,	PUNCT
cet-15031	154	4	2015	2015	NUM
cet-15031	154	5	,	,	PUNCT
cet-15031	154	6	gain	gain	NOUN
cet-15031	154	7	-	-	PUNCT
cet-15031	154	8	scheduled	schedule	VERB
cet-15031	154	9	control	control	NOUN
cet-15031	154	10	of	of	ADP
cet-15031	154	11	a	a	DET
cet-15031	154	12	quadcopter	quadcopter	PROPN
cet-15031	154	13	uav	uav	PROPN
cet-15031	154	14	.	.	PUNCT
cet-15031	155	1	master	master	PROPN
cet-15031	155	2	's	's	PART
cet-15031	155	3	thesis	thesis	NOUN
cet-15031	155	4	,	,	PUNCT
cet-15031	155	5	university	university	NOUN
cet-15031	155	6	of	of	ADP
cet-15031	155	7	waterloo	waterloo	PROPN
cet-15031	155	8	,	,	PUNCT
cet-15031	155	9	ontario	ontario	PROPN
cet-15031	155	10	,	,	PUNCT
cet-15031	155	11	canada	canada	PROPN
cet-15031	155	12	.	.	PUNCT
cet-15031	155	13	say	say	VERB
cet-15031	155	14	m.f.q	m.f.q	NOUN
cet-15031	155	15	.	.	PROPN
cet-15031	155	16	,	,	PUNCT
cet-15031	155	17	sybingco	sybingco	PROPN
cet-15031	155	18	e.	e.	PROPN
cet-15031	155	19	,	,	PUNCT
cet-15031	155	20	bandala	bandala	PROPN
cet-15031	155	21	a.a	a.a	PROPN
cet-15031	155	22	.	.	PROPN
cet-15031	155	23	,	,	PUNCT
cet-15031	155	24	vicerra	vicerra	PROPN
cet-15031	155	25	r.r.p	r.r.p	PROPN
cet-15031	155	26	.	.	PROPN
cet-15031	155	27	,	,	PUNCT
cet-15031	155	28	chua	chua	PROPN
cet-15031	155	29	a.y	a.y	PROPN
cet-15031	155	30	.	.	PROPN
cet-15031	155	31	,	,	PUNCT
cet-15031	155	32	2021	2021	NUM
cet-15031	155	33	,	,	PUNCT
cet-15031	155	34	a	a	DET
cet-15031	155	35	genetic	genetic	ADJ
cet-15031	155	36	algorithm	algorithm	NOUN
cet-15031	155	37	approach	approach	NOUN
cet-15031	155	38	to	to	ADP
cet-15031	155	39	pid	pid	NOUN
cet-15031	155	40	tuning	tuning	NOUN
cet-15031	155	41	of	of	ADP
cet-15031	155	42	a	a	DET
cet-15031	155	43	quadcopter	quadcopter	PROPN
cet-15031	155	44	uav	uav	PROPN
cet-15031	155	45	model	model	PROPN
cet-15031	155	46	.	.	PUNCT
cet-15031	156	1	the	the	DET
cet-15031	156	2	2021	2021	NUM
cet-15031	156	3	ieee	ieee	NOUN
cet-15031	156	4	/	/	SYM
cet-15031	156	5	sice	sice	X
cet-15031	156	6	international	international	ADJ
cet-15031	156	7	symposium	symposium	NOUN
cet-15031	156	8	on	on	ADP
cet-15031	156	9	system	system	NOUN
cet-15031	156	10	integration	integration	NOUN
cet-15031	156	11	,	,	PUNCT
cet-15031	156	12	675	675	NUM
cet-15031	156	13	-	-	SYM
cet-15031	156	14	678	678	NUM
cet-15031	156	15	,	,	PUNCT
cet-15031	156	16	doi	doi	NOUN
cet-15031	156	17	:	:	PUNCT
cet-15031	156	18	10.1109	10.1109	NUM
cet-15031	156	19	/	/	SYM
cet-15031	156	20	ieeeconf49454.2021.9382697	ieeeconf49454.2021.9382697	PROPN
cet-15031	156	21	.	.	PUNCT
cet-15031	157	1	tahir	tahir	PROPN
cet-15031	157	2	m.a	m.a	PROPN
cet-15031	157	3	.	.	PROPN
cet-15031	157	4	,	,	PUNCT
cet-15031	157	5	mir	mir	PROPN
cet-15031	157	6	i.	i.	PROPN
cet-15031	157	7	,	,	PUNCT
cet-15031	157	8	islam	islam	PROPN
cet-15031	157	9	t.u	t.u	PROPN
cet-15031	157	10	.	.	PROPN
cet-15031	157	11	,	,	PUNCT
cet-15031	157	12	2023	2023	NUM
cet-15031	157	13	,	,	PUNCT
cet-15031	157	14	a	a	DET
cet-15031	157	15	review	review	NOUN
cet-15031	157	16	of	of	ADP
cet-15031	157	17	uav	uav	PROPN
cet-15031	157	18	platforms	platform	NOUN
cet-15031	157	19	for	for	ADP
cet-15031	157	20	autonomous	autonomous	ADJ
cet-15031	157	21	applications	application	NOUN
cet-15031	157	22	:	:	PUNCT
cet-15031	157	23	comprehensive	comprehensive	ADJ
cet-15031	157	24	analysis	analysis	NOUN
cet-15031	157	25	and	and	CCONJ
cet-15031	157	26	future	future	ADJ
cet-15031	157	27	directions	direction	NOUN
cet-15031	157	28	.	.	PUNCT
cet-15031	158	1	ieee	ieee	NOUN
cet-15031	158	2	access	access	NOUN
cet-15031	158	3	,	,	PUNCT
cet-15031	158	4	52540	52540	NUM
cet-15031	158	5	-	-	SYM
cet-15031	158	6	52554	52554	NUM
cet-15031	158	7	,	,	PUNCT
cet-15031	158	8	doi	doi	NOUN
cet-15031	158	9	:	:	PUNCT
cet-15031	158	10	10.1109	10.1109	NUM
cet-15031	158	11	/	/	SYM
cet-15031	158	12	access.2023.3273780	access.2023.3273780	NOUN
cet-15031	158	13	.	.	NOUN
cet-15031	158	14	756	756	NUM