id	sid	tid	token	lemma	pos
cet-2327	1	1	chemical	chemical	ADJ
cet-2327	1	2	engineeringtransactions	engineeringtransaction	NOUN
cet-2327	1	3	vol	vol	NOUN
cet-2327	1	4	.	.	PROPN
cet-2327	1	5	57	57	NUM
cet-2327	1	6	,	,	PUNCT
cet-2327	1	7	2017	2017	NUM
cet-2327	1	8	a	a	DET
cet-2327	1	9	publication	publication	NOUN
cet-2327	1	10	of	of	ADP
cet-2327	1	11	the	the	DET
cet-2327	1	12	italian	italian	ADJ
cet-2327	1	13	association	association	NOUN
cet-2327	1	14	of	of	ADP
cet-2327	1	15	chemical	chemical	PROPN
cet-2327	1	16	engineering	engineering	NOUN
cet-2327	1	17	online	online	ADV
cet-2327	1	18	at	at	ADP
cet-2327	1	19	www.aidic.it/cet	www.aidic.it/cet	PROPN
cet-2327	1	20	guest	guest	NOUN
cet-2327	1	21	editors	editor	NOUN
cet-2327	1	22	:	:	PUNCT
cet-2327	1	23	sauro	sauro	PROPN
cet-2327	1	24	pierucci	pierucci	PROPN
cet-2327	1	25	,	,	PUNCT
cet-2327	1	26	jiří	jiří	NOUN
cet-2327	1	27	jaromír	jaromír	PROPN
cet-2327	1	28	klemeš	klemeš	PROPN
cet-2327	1	29	,	,	PUNCT
cet-2327	1	30	laura	laura	PROPN
cet-2327	1	31	piazza	piazza	PROPN
cet-2327	1	32	,	,	PUNCT
cet-2327	1	33	serafim	serafim	NOUN
cet-2327	1	34	bakalis	bakali	VERB
cet-2327	1	35	copyright	copyright	NOUN
cet-2327	1	36	©	©	PROPN
cet-2327	1	37	2017	2017	NUM
cet-2327	1	38	,	,	PUNCT
cet-2327	1	39	aidic	aidic	ADJ
cet-2327	1	40	servizi	servizi	PROPN
cet-2327	1	41	s.r.l	s.r.l	NOUN
cet-2327	1	42	.	.	PUNCT
cet-2327	2	1	isbn978	isbn978	PROPN
cet-2327	2	2	-	-	PUNCT
cet-2327	2	3	88	88	NUM
cet-2327	2	4	-	-	PUNCT
cet-2327	2	5	9560848	9560848	NUM
cet-2327	2	6	-	-	SYM
cet-2327	2	7	8	8	NUM
cet-2327	2	8	;	;	PUNCT
cet-2327	2	9	issn	issn	PROPN
cet-2327	2	10	2283	2283	NUM
cet-2327	2	11	-	-	SYM
cet-2327	2	12	9216	9216	NUM
cet-2327	2	13	teaching	teaching	NOUN
cet-2327	2	14	multivariable	multivariable	ADJ
cet-2327	2	15	model	model	NOUN
cet-2327	2	16	predictive	predictive	PROPN
cet-2327	2	17	control	control	NOUN
cet-2327	2	18	in	in	ADP
cet-2327	2	19	a	a	DET
cet-2327	2	20	laboratory	laboratory	NOUN
cet-2327	2	21	scale	scale	NOUN
cet-2327	2	22	three	three	NUM
cet-2327	2	23	-	-	PUNCT
cet-2327	2	24	tank	tank	NOUN
cet-2327	2	25	process	process	NOUN
cet-2327	2	26	victor	victor	PROPN
cet-2327	2	27	s.	s.	PROPN
cet-2327	2	28	ramos	ramos	PROPN
cet-2327	2	29	*	*	PROPN
cet-2327	2	30	,	,	PUNCT
cet-2327	2	31	homero	homero	PROPN
cet-2327	2	32	j.	j.	PROPN
cet-2327	2	33	sena	sena	PROPN
cet-2327	2	34	,	,	PUNCT
cet-2327	2	35	ana	ana	PROPN
cet-2327	2	36	m.f	m.f	PROPN
cet-2327	2	37	.	.	PUNCT
cet-2327	3	1	fileti	fileti	PROPN
cet-2327	3	2	,	,	PUNCT
cet-2327	3	3	flavio	flavio	PROPN
cet-2327	3	4	v.	v.	PROPN
cet-2327	3	5	silva	silva	PROPN
cet-2327	3	6	university	university	PROPN
cet-2327	3	7	of	of	ADP
cet-2327	3	8	campinas	campinas	PROPN
cet-2327	3	9	(	(	PUNCT
cet-2327	3	10	unicamp	unicamp	PROPN
cet-2327	3	11	)	)	PUNCT
cet-2327	3	12	,	,	PUNCT
cet-2327	3	13	campinas	campinas	PROPN
cet-2327	3	14	,	,	PUNCT
cet-2327	3	15	sp	sp	PROPN
cet-2327	3	16	,	,	PUNCT
cet-2327	3	17	brazil	brazil	PROPN
cet-2327	3	18	.	.	PUNCT
cet-2327	4	1	vtrsantana@gmail.com	vtrsantana@gmail.com	X
cet-2327	5	1	this	this	DET
cet-2327	5	2	paper	paper	NOUN
cet-2327	5	3	proposes	propose	VERB
cet-2327	5	4	to	to	PART
cet-2327	5	5	study	study	VERB
cet-2327	5	6	the	the	DET
cet-2327	5	7	potential	potential	NOUN
cet-2327	5	8	of	of	ADP
cet-2327	5	9	use	use	NOUN
cet-2327	5	10	a	a	DET
cet-2327	5	11	three	three	NUM
cet-2327	5	12	-	-	PUNCT
cet-2327	5	13	tank	tank	NOUN
cet-2327	5	14	system	system	NOUN
cet-2327	5	15	in	in	ADP
cet-2327	5	16	laboratory	laboratory	NOUN
cet-2327	5	17	scale	scale	NOUN
cet-2327	5	18	to	to	PART
cet-2327	5	19	teach	teach	VERB
cet-2327	5	20	how	how	SCONJ
cet-2327	5	21	to	to	PART
cet-2327	5	22	design	design	VERB
cet-2327	5	23	a	a	DET
cet-2327	5	24	predictive	predictive	ADJ
cet-2327	5	25	controller	controller	NOUN
cet-2327	5	26	(	(	PUNCT
cet-2327	5	27	mpc	mpc	NOUN
cet-2327	5	28	)	)	PUNCT
cet-2327	5	29	applied	apply	VERB
cet-2327	5	30	to	to	ADP
cet-2327	5	31	a	a	DET
cet-2327	5	32	system	system	NOUN
cet-2327	5	33	with	with	ADP
cet-2327	5	34	multiple	multiple	ADJ
cet-2327	5	35	inputs	input	NOUN
cet-2327	5	36	/	/	SYM
cet-2327	5	37	multiple	multiple	ADJ
cet-2327	5	38	outputs	output	NOUN
cet-2327	5	39	(	(	PUNCT
cet-2327	5	40	mimo	mimo	PROPN
cet-2327	5	41	)	)	PUNCT
cet-2327	5	42	.	.	PUNCT
cet-2327	6	1	an	an	DET
cet-2327	6	2	algorithm	algorithm	NOUN
cet-2327	6	3	that	that	PRON
cet-2327	6	4	predicts	predict	VERB
cet-2327	6	5	the	the	DET
cet-2327	6	6	future	future	ADJ
cet-2327	6	7	behavior	behavior	NOUN
cet-2327	6	8	of	of	ADP
cet-2327	6	9	the	the	DET
cet-2327	6	10	plant	plant	NOUN
cet-2327	6	11	characterizes	characterize	VERB
cet-2327	6	12	the	the	DET
cet-2327	6	13	controllers	controller	NOUN
cet-2327	6	14	(	(	PUNCT
cet-2327	6	15	mpc	mpc	NOUN
cet-2327	6	16	)	)	PUNCT
cet-2327	6	17	.	.	PUNCT
cet-2327	7	1	with	with	ADP
cet-2327	7	2	a	a	DET
cet-2327	7	3	representative	representative	ADJ
cet-2327	7	4	model	model	NOUN
cet-2327	7	5	of	of	ADP
cet-2327	7	6	the	the	DET
cet-2327	7	7	process	process	NOUN
cet-2327	7	8	,	,	PUNCT
cet-2327	7	9	the	the	DET
cet-2327	7	10	algorithm	algorithm	NOUN
cet-2327	7	11	calculates	calculate	VERB
cet-2327	7	12	the	the	DET
cet-2327	7	13	future	future	ADJ
cet-2327	7	14	optimal	optimal	ADJ
cet-2327	7	15	control	control	NOUN
cet-2327	7	16	actions	action	NOUN
cet-2327	7	17	that	that	PRON
cet-2327	7	18	will	will	AUX
cet-2327	7	19	minimize	minimize	VERB
cet-2327	7	20	the	the	DET
cet-2327	7	21	error	error	NOUN
cet-2327	7	22	between	between	ADP
cet-2327	7	23	the	the	DET
cet-2327	7	24	controlled	control	VERB
cet-2327	7	25	variables	variable	NOUN
cet-2327	7	26	and	and	CCONJ
cet-2327	7	27	their	their	PRON
cet-2327	7	28	respective	respective	ADJ
cet-2327	7	29	reference	reference	NOUN
cet-2327	7	30	values	value	NOUN
cet-2327	7	31	,	,	PUNCT
cet-2327	7	32	then	then	ADV
cet-2327	7	33	,	,	PUNCT
cet-2327	7	34	only	only	ADV
cet-2327	7	35	the	the	DET
cet-2327	7	36	first	first	ADJ
cet-2327	7	37	values	value	NOUN
cet-2327	7	38	calculated	calculate	VERB
cet-2327	7	39	for	for	ADP
cet-2327	7	40	the	the	DET
cet-2327	7	41	plant	plant	NOUN
cet-2327	7	42	inputs	input	NOUN
cet-2327	7	43	is	be	AUX
cet-2327	7	44	sent	send	VERB
cet-2327	7	45	.	.	PUNCT
cet-2327	8	1	these	these	DET
cet-2327	8	2	controllers	controller	NOUN
cet-2327	8	3	have	have	VERB
cet-2327	8	4	a	a	DET
cet-2327	8	5	high	high	ADJ
cet-2327	8	6	popularity	popularity	NOUN
cet-2327	8	7	in	in	ADP
cet-2327	8	8	the	the	DET
cet-2327	8	9	academy	academy	NOUN
cet-2327	8	10	and	and	CCONJ
cet-2327	8	11	in	in	ADP
cet-2327	8	12	the	the	DET
cet-2327	8	13	industry	industry	NOUN
cet-2327	8	14	because	because	SCONJ
cet-2327	8	15	they	they	PRON
cet-2327	8	16	provide	provide	VERB
cet-2327	8	17	high	high	ADJ
cet-2327	8	18	performance	performance	NOUN
cet-2327	8	19	control	control	NOUN
cet-2327	8	20	systems	system	NOUN
cet-2327	8	21	without	without	ADP
cet-2327	8	22	requiring	require	VERB
cet-2327	8	23	interventions	intervention	NOUN
cet-2327	8	24	of	of	ADP
cet-2327	8	25	operators	operator	NOUN
cet-2327	8	26	for	for	ADP
cet-2327	8	27	many	many	ADJ
cet-2327	8	28	hours	hour	NOUN
cet-2327	8	29	.	.	PUNCT
cet-2327	9	1	these	these	DET
cet-2327	9	2	important	important	ADJ
cet-2327	9	3	controllers	controller	NOUN
cet-2327	9	4	were	be	AUX
cet-2327	9	5	emerged	emerge	VERB
cet-2327	9	6	initially	initially	ADV
cet-2327	9	7	in	in	ADP
cet-2327	9	8	the	the	DET
cet-2327	9	9	70	70	NUM
cet-2327	9	10	’s	’s	PART
cet-2327	9	11	,	,	PUNCT
cet-2327	9	12	in	in	ADP
cet-2327	9	13	order	order	NOUN
cet-2327	9	14	to	to	PART
cet-2327	9	15	overcome	overcome	VERB
cet-2327	9	16	occurring	occur	VERB
cet-2327	9	17	difficulties	difficulty	NOUN
cet-2327	9	18	in	in	ADP
cet-2327	9	19	oil	oil	NOUN
cet-2327	9	20	refineries	refinery	NOUN
cet-2327	9	21	and	and	CCONJ
cet-2327	9	22	in	in	ADP
cet-2327	9	23	power	power	NOUN
cet-2327	9	24	plants	plant	NOUN
cet-2327	9	25	.	.	PUNCT
cet-2327	10	1	today	today	NOUN
cet-2327	10	2	,	,	PUNCT
cet-2327	10	3	mpcs	mpcs	PROPN
cet-2327	10	4	are	be	AUX
cet-2327	10	5	also	also	ADV
cet-2327	10	6	in	in	ADP
cet-2327	10	7	food	food	NOUN
cet-2327	10	8	processing	processing	NOUN
cet-2327	10	9	,	,	PUNCT
cet-2327	10	10	aerospace	aerospace	NOUN
cet-2327	10	11	industry	industry	NOUN
cet-2327	10	12	,	,	PUNCT
cet-2327	10	13	and	and	CCONJ
cet-2327	10	14	automotive	automotive	ADJ
cet-2327	10	15	industry	industry	NOUN
cet-2327	10	16	among	among	ADP
cet-2327	10	17	others	other	NOUN
cet-2327	10	18	.	.	PUNCT
cet-2327	11	1	the	the	DET
cet-2327	11	2	system	system	NOUN
cet-2327	11	3	used	use	VERB
cet-2327	11	4	in	in	ADP
cet-2327	11	5	this	this	DET
cet-2327	11	6	study	study	NOUN
cet-2327	11	7	can	can	AUX
cet-2327	11	8	provide	provide	VERB
cet-2327	11	9	students	student	NOUN
cet-2327	11	10	with	with	ADP
cet-2327	11	11	practical	practical	ADJ
cet-2327	11	12	knowledge	knowledge	NOUN
cet-2327	11	13	of	of	ADP
cet-2327	11	14	automation	automation	NOUN
cet-2327	11	15	and	and	CCONJ
cet-2327	11	16	process	process	NOUN
cet-2327	11	17	control	control	NOUN
cet-2327	11	18	that	that	SCONJ
cet-2327	11	19	it	it	PRON
cet-2327	11	20	is	be	AUX
cet-2327	11	21	not	not	PART
cet-2327	11	22	possible	possible	ADJ
cet-2327	11	23	to	to	PART
cet-2327	11	24	be	be	AUX
cet-2327	11	25	acquired	acquire	VERB
cet-2327	11	26	using	use	VERB
cet-2327	11	27	only	only	ADV
cet-2327	11	28	the	the	DET
cet-2327	11	29	process	process	NOUN
cet-2327	11	30	simulators	simulator	NOUN
cet-2327	11	31	or	or	CCONJ
cet-2327	11	32	theory	theory	NOUN
cet-2327	11	33	.	.	PUNCT
cet-2327	12	1	for	for	ADP
cet-2327	12	2	this	this	DET
cet-2327	12	3	purpose	purpose	NOUN
cet-2327	12	4	,	,	PUNCT
cet-2327	12	5	a	a	DET
cet-2327	12	6	predictive	predictive	ADJ
cet-2327	12	7	controller	controller	NOUN
cet-2327	12	8	based	base	VERB
cet-2327	12	9	on	on	ADP
cet-2327	12	10	a	a	DET
cet-2327	12	11	linear	linear	ADJ
cet-2327	12	12	state	state	NOUN
cet-2327	12	13	-	-	PUNCT
cet-2327	12	14	space	space	NOUN
cet-2327	12	15	model	model	NOUN
cet-2327	12	16	was	be	AUX
cet-2327	12	17	developed	develop	VERB
cet-2327	12	18	and	and	CCONJ
cet-2327	12	19	evaluated	evaluate	VERB
cet-2327	12	20	to	to	PART
cet-2327	12	21	check	check	VERB
cet-2327	12	22	the	the	DET
cet-2327	12	23	influence	influence	NOUN
cet-2327	12	24	of	of	ADP
cet-2327	12	25	tuning	tune	VERB
cet-2327	12	26	parameters	parameter	NOUN
cet-2327	12	27	in	in	ADP
cet-2327	12	28	the	the	DET
cet-2327	12	29	response	response	NOUN
cet-2327	12	30	of	of	ADP
cet-2327	12	31	variables	variable	NOUN
cet-2327	12	32	controlled	control	VERB
cet-2327	12	33	and	and	CCONJ
cet-2327	12	34	the	the	DET
cet-2327	12	35	control	control	NOUN
cet-2327	12	36	actions	action	NOUN
cet-2327	12	37	.	.	PUNCT
cet-2327	13	1	the	the	DET
cet-2327	13	2	mainly	mainly	ADV
cet-2327	13	3	parameters	parameter	NOUN
cet-2327	13	4	studied	study	VERB
cet-2327	13	5	were	be	AUX
cet-2327	13	6	the	the	DET
cet-2327	13	7	prediction	prediction	NOUN
cet-2327	13	8	horizon	horizon	NOUN
cet-2327	13	9	,	,	PUNCT
cet-2327	13	10	control	control	NOUN
cet-2327	13	11	horizon	horizon	NOUN
cet-2327	13	12	and	and	CCONJ
cet-2327	13	13	weight	weight	NOUN
cet-2327	13	14	of	of	ADP
cet-2327	13	15	future	future	ADJ
cet-2327	13	16	increases	increase	NOUN
cet-2327	13	17	in	in	ADP
cet-2327	13	18	the	the	DET
cet-2327	13	19	system	system	NOUN
cet-2327	13	20	actuators	actuator	NOUN
cet-2327	13	21	.	.	PUNCT
cet-2327	14	1	1	1	X
cet-2327	14	2	.	.	X
cet-2327	14	3	introduction	introduction	NOUN
cet-2327	14	4	in	in	ADP
cet-2327	14	5	this	this	DET
cet-2327	14	6	work	work	NOUN
cet-2327	14	7	,	,	PUNCT
cet-2327	14	8	has	have	AUX
cet-2327	14	9	been	be	AUX
cet-2327	14	10	used	use	VERB
cet-2327	14	11	a	a	DET
cet-2327	14	12	system	system	NOUN
cet-2327	14	13	of	of	ADP
cet-2327	14	14	three	three	NUM
cet-2327	14	15	tanks	tank	NOUN
cet-2327	14	16	with	with	ADP
cet-2327	14	17	a	a	DET
cet-2327	14	18	didactic	didactic	ADJ
cet-2327	14	19	objective	objective	NOUN
cet-2327	14	20	to	to	PART
cet-2327	14	21	demonstrate	demonstrate	VERB
cet-2327	14	22	how	how	SCONJ
cet-2327	14	23	to	to	PART
cet-2327	14	24	obtain	obtain	VERB
cet-2327	14	25	mathematical	mathematical	ADJ
cet-2327	14	26	model	model	NOUN
cet-2327	14	27	and	and	CCONJ
cet-2327	14	28	to	to	PART
cet-2327	14	29	design	design	VERB
cet-2327	14	30	controllers	controller	NOUN
cet-2327	14	31	for	for	ADP
cet-2327	14	32	a	a	DET
cet-2327	14	33	system	system	NOUN
cet-2327	14	34	with	with	ADP
cet-2327	14	35	multiple	multiple	ADJ
cet-2327	14	36	inputs	input	NOUN
cet-2327	14	37	and	and	CCONJ
cet-2327	14	38	multiple	multiple	ADJ
cet-2327	14	39	outputs	output	NOUN
cet-2327	14	40	(	(	PUNCT
cet-2327	14	41	mimo	mimo	PROPN
cet-2327	14	42	)	)	PUNCT
cet-2327	14	43	.	.	PUNCT
cet-2327	15	1	this	this	DET
cet-2327	15	2	system	system	NOUN
cet-2327	15	3	has	have	VERB
cet-2327	15	4	non	non	ADJ
cet-2327	15	5	-	-	ADJ
cet-2327	15	6	linear	linear	ADJ
cet-2327	15	7	behavior	behavior	NOUN
cet-2327	15	8	as	as	ADP
cet-2327	15	9	a	a	DET
cet-2327	15	10	characteristic	characteristic	NOUN
cet-2327	15	11	.	.	PUNCT
cet-2327	16	1	however	however	ADV
cet-2327	16	2	,	,	PUNCT
cet-2327	16	3	through	through	ADP
cet-2327	16	4	linearization	linearization	NOUN
cet-2327	16	5	process	process	NOUN
cet-2327	16	6	around	around	ADP
cet-2327	16	7	an	an	DET
cet-2327	16	8	operating	operating	NOUN
cet-2327	16	9	point	point	NOUN
cet-2327	16	10	,	,	PUNCT
cet-2327	16	11	it	it	PRON
cet-2327	16	12	is	be	AUX
cet-2327	16	13	possible	possible	ADJ
cet-2327	16	14	to	to	PART
cet-2327	16	15	obtain	obtain	VERB
cet-2327	16	16	a	a	DET
cet-2327	16	17	linear	linear	ADJ
cet-2327	16	18	model	model	NOUN
cet-2327	16	19	of	of	ADP
cet-2327	16	20	the	the	DET
cet-2327	16	21	process	process	NOUN
cet-2327	16	22	.	.	PUNCT
cet-2327	17	1	chemical	chemical	NOUN
cet-2327	17	2	processes	process	NOUN
cet-2327	17	3	usually	usually	ADV
cet-2327	17	4	have	have	VERB
cet-2327	17	5	many	many	ADJ
cet-2327	17	6	interactions	interaction	NOUN
cet-2327	17	7	among	among	ADP
cet-2327	17	8	their	their	PRON
cet-2327	17	9	variables	variable	NOUN
cet-2327	17	10	(	(	PUNCT
cet-2327	17	11	a	a	DET
cet-2327	17	12	mimo	mimo	PROPN
cet-2327	17	13	system	system	NOUN
cet-2327	17	14	)	)	PUNCT
cet-2327	17	15	.	.	PUNCT
cet-2327	18	1	however	however	ADV
cet-2327	18	2	,	,	PUNCT
cet-2327	18	3	the	the	DET
cet-2327	18	4	most	most	ADJ
cet-2327	18	5	of	of	ADP
cet-2327	18	6	industrial	industrial	ADJ
cet-2327	18	7	applications	application	NOUN
cet-2327	18	8	in	in	ADP
cet-2327	18	9	chemical	chemical	NOUN
cet-2327	18	10	processes	process	NOUN
cet-2327	18	11	use	use	VERB
cet-2327	18	12	ordinary	ordinary	ADJ
cet-2327	18	13	feedback	feedback	NOUN
cet-2327	18	14	control	control	NOUN
cet-2327	18	15	systems	system	NOUN
cet-2327	18	16	(	(	PUNCT
cet-2327	18	17	pid	pid	NOUN
cet-2327	18	18	controller	controller	NOUN
cet-2327	18	19	)	)	PUNCT
cet-2327	18	20	,	,	PUNCT
cet-2327	18	21	which	which	PRON
cet-2327	18	22	are	be	AUX
cet-2327	18	23	single	single	ADJ
cet-2327	18	24	input	input	NOUN
cet-2327	18	25	single	single	ADJ
cet-2327	18	26	output	output	NOUN
cet-2327	18	27	systems	system	NOUN
cet-2327	18	28	(	(	PUNCT
cet-2327	18	29	siso	siso	NOUN
cet-2327	18	30	)	)	PUNCT
cet-2327	18	31	and	and	CCONJ
cet-2327	18	32	exhibit	exhibit	VERB
cet-2327	18	33	linear	linear	PROPN
cet-2327	18	34	actuation	actuation	NOUN
cet-2327	18	35	.	.	PUNCT
cet-2327	19	1	in	in	ADP
cet-2327	19	2	order	order	NOUN
cet-2327	19	3	to	to	PART
cet-2327	19	4	overcome	overcome	VERB
cet-2327	19	5	this	this	DET
cet-2327	19	6	restriction	restriction	NOUN
cet-2327	19	7	,	,	PUNCT
cet-2327	19	8	it	it	PRON
cet-2327	19	9	is	be	AUX
cet-2327	19	10	possible	possible	ADJ
cet-2327	19	11	to	to	PART
cet-2327	19	12	use	use	VERB
cet-2327	19	13	model	model	NOUN
cet-2327	19	14	based	base	VERB
cet-2327	19	15	predictive	predictive	ADJ
cet-2327	19	16	controls	control	NOUN
cet-2327	19	17	(	(	PUNCT
cet-2327	19	18	mpcs	mpcs	PROPN
cet-2327	19	19	)	)	PUNCT
cet-2327	19	20	.	.	PUNCT
cet-2327	20	1	they	they	PRON
cet-2327	20	2	emerged	emerge	VERB
cet-2327	20	3	during	during	ADP
cet-2327	20	4	the	the	DET
cet-2327	20	5	70	70	NUM
cet-2327	20	6	’s	’s	NOUN
cet-2327	20	7	from	from	ADP
cet-2327	20	8	the	the	DET
cet-2327	20	9	need	need	NOUN
cet-2327	20	10	imposed	impose	VERB
cet-2327	20	11	by	by	ADP
cet-2327	20	12	the	the	DET
cet-2327	20	13	oil	oil	NOUN
cet-2327	20	14	crisis	crisis	NOUN
cet-2327	20	15	to	to	PART
cet-2327	20	16	reduce	reduce	VERB
cet-2327	20	17	energy	energy	NOUN
cet-2327	20	18	consumption	consumption	NOUN
cet-2327	20	19	,	,	PUNCT
cet-2327	20	20	that	that	ADV
cet-2327	20	21	is	is	ADV
cet-2327	20	22	,	,	PUNCT
cet-2327	20	23	the	the	DET
cet-2327	20	24	need	need	NOUN
cet-2327	20	25	to	to	PART
cet-2327	20	26	operate	operate	VERB
cet-2327	20	27	the	the	DET
cet-2327	20	28	processes	process	NOUN
cet-2327	20	29	with	with	ADP
cet-2327	20	30	greater	great	ADJ
cet-2327	20	31	efficiency	efficiency	NOUN
cet-2327	20	32	.	.	PUNCT
cet-2327	21	1	this	this	DET
cet-2327	21	2	type	type	NOUN
cet-2327	21	3	of	of	ADP
cet-2327	21	4	controller	controller	NOUN
cet-2327	21	5	have	have	VERB
cet-2327	21	6	as	as	ADP
cet-2327	21	7	advantages	advantage	NOUN
cet-2327	21	8	,	,	PUNCT
cet-2327	21	9	besides	besides	ADV
cet-2327	21	10	of	of	ADP
cet-2327	21	11	its	its	PRON
cet-2327	21	12	multivariable	multivariable	ADJ
cet-2327	21	13	characteristic	characteristic	NOUN
cet-2327	21	14	,	,	PUNCT
cet-2327	21	15	the	the	DET
cet-2327	21	16	imposition	imposition	NOUN
cet-2327	21	17	of	of	ADP
cet-2327	21	18	constraints	constraint	NOUN
cet-2327	21	19	in	in	ADP
cet-2327	21	20	the	the	DET
cet-2327	21	21	variables	variable	NOUN
cet-2327	21	22	,	,	PUNCT
cet-2327	21	23	analysis	analysis	NOUN
cet-2327	21	24	of	of	ADP
cet-2327	21	25	stability	stability	NOUN
cet-2327	21	26	of	of	ADP
cet-2327	21	27	the	the	DET
cet-2327	21	28	system	system	NOUN
cet-2327	21	29	in	in	ADP
cet-2327	21	30	closed	closed	ADJ
cet-2327	21	31	system	system	NOUN
cet-2327	21	32	,	,	PUNCT
cet-2327	21	33	performed	perform	VERB
cet-2327	21	34	in	in	ADP
cet-2327	21	35	a	a	DET
cet-2327	21	36	relatively	relatively	ADV
cet-2327	21	37	simple	simple	ADJ
cet-2327	21	38	way	way	NOUN
cet-2327	21	39	,	,	PUNCT
cet-2327	21	40	and	and	CCONJ
cet-2327	21	41	also	also	ADV
cet-2327	21	42	,	,	PUNCT
cet-2327	21	43	capacity	capacity	NOUN
cet-2327	21	44	of	of	ADP
cet-2327	21	45	realization	realization	NOUN
cet-2327	21	46	of	of	ADP
cet-2327	21	47	on	on	ADP
cet-2327	21	48	-	-	PUNCT
cet-2327	21	49	line	line	NOUN
cet-2327	21	50	optimization	optimization	NOUN
cet-2327	21	51	.	.	PUNCT
cet-2327	22	1	the	the	DET
cet-2327	22	2	mpcs	mpcs	PROPN
cet-2327	22	3	controllers	controller	NOUN
cet-2327	22	4	have	have	VERB
cet-2327	22	5	an	an	DET
cet-2327	22	6	algorithm	algorithm	NOUN
cet-2327	22	7	based	base	VERB
cet-2327	22	8	on	on	ADP
cet-2327	22	9	calculating	calculate	VERB
cet-2327	22	10	the	the	DET
cet-2327	22	11	future	future	ADJ
cet-2327	22	12	values	value	NOUN
cet-2327	22	13	sent	send	VERB
cet-2327	22	14	to	to	ADP
cet-2327	22	15	the	the	DET
cet-2327	22	16	plant	plant	NOUN
cet-2327	22	17	inputs	input	NOUN
cet-2327	22	18	,	,	PUNCT
cet-2327	22	19	using	use	VERB
cet-2327	22	20	a	a	DET
cet-2327	22	21	representative	representative	ADJ
cet-2327	22	22	model	model	NOUN
cet-2327	22	23	of	of	ADP
cet-2327	22	24	the	the	DET
cet-2327	22	25	process	process	NOUN
cet-2327	22	26	,	,	PUNCT
cet-2327	22	27	which	which	PRON
cet-2327	22	28	can	can	AUX
cet-2327	22	29	be	be	AUX
cet-2327	22	30	linear	linear	ADJ
cet-2327	22	31	or	or	CCONJ
cet-2327	22	32	non	non	ADJ
cet-2327	22	33	-	-	ADJ
cet-2327	22	34	linear	linear	ADJ
cet-2327	22	35	,	,	PUNCT
cet-2327	22	36	in	in	ADP
cet-2327	22	37	order	order	NOUN
cet-2327	22	38	to	to	PART
cet-2327	22	39	obtain	obtain	VERB
cet-2327	22	40	the	the	DET
cet-2327	22	41	optimized	optimize	VERB
cet-2327	22	42	values	value	NOUN
cet-2327	22	43	of	of	ADP
cet-2327	22	44	the	the	DET
cet-2327	22	45	plant	plant	NOUN
cet-2327	22	46	output	output	NOUN
cet-2327	22	47	variables	variable	NOUN
cet-2327	22	48	to	to	PART
cet-2327	22	49	reach	reach	VERB
cet-2327	22	50	their	their	PRON
cet-2327	22	51	respective	respective	ADJ
cet-2327	22	52	set	set	NOUN
cet-2327	22	53	point	point	NOUN
cet-2327	22	54	values	value	NOUN
cet-2327	22	55	.	.	PUNCT
cet-2327	23	1	the	the	DET
cet-2327	23	2	system	system	NOUN
cet-2327	23	3	used	use	VERB
cet-2327	23	4	in	in	ADP
cet-2327	23	5	this	this	DET
cet-2327	23	6	work	work	NOUN
cet-2327	23	7	is	be	AUX
cet-2327	23	8	low	low	ADJ
cet-2327	23	9	-	-	PUNCT
cet-2327	23	10	cost	cost	NOUN
cet-2327	23	11	equipment	equipment	NOUN
cet-2327	23	12	,	,	PUNCT
cet-2327	23	13	and	and	CCONJ
cet-2327	23	14	presents	present	VERB
cet-2327	23	15	no	no	DET
cet-2327	23	16	major	major	ADJ
cet-2327	23	17	difficulties	difficulty	NOUN
cet-2327	23	18	in	in	ADP
cet-2327	23	19	its	its	PRON
cet-2327	23	20	construction	construction	NOUN
cet-2327	23	21	phase	phase	NOUN
cet-2327	23	22	,	,	PUNCT
cet-2327	23	23	which	which	PRON
cet-2327	23	24	makes	make	VERB
cet-2327	23	25	it	it	PRON
cet-2327	23	26	an	an	DET
cet-2327	23	27	easy	easy	ADJ
cet-2327	23	28	tool	tool	NOUN
cet-2327	23	29	for	for	ADP
cet-2327	23	30	teaching	teaching	NOUN
cet-2327	23	31	process	process	NOUN
cet-2327	23	32	control	control	NOUN
cet-2327	23	33	theory	theory	NOUN
cet-2327	23	34	.	.	PUNCT
cet-2327	24	1	the	the	DET
cet-2327	24	2	opening	opening	NOUN
cet-2327	24	3	or	or	CCONJ
cet-2327	24	4	closing	closing	NOUN
cet-2327	24	5	of	of	ADP
cet-2327	24	6	the	the	DET
cet-2327	24	7	locking	lock	VERB
cet-2327	24	8	valves	valve	NOUN
cet-2327	24	9	between	between	ADP
cet-2327	24	10	the	the	DET
cet-2327	24	11	tanks	tank	NOUN
cet-2327	24	12	can	can	AUX
cet-2327	24	13	offer	offer	VERB
cet-2327	24	14	two	two	NUM
cet-2327	24	15	configurations	configuration	NOUN
cet-2327	24	16	of	of	ADP
cet-2327	24	17	the	the	DET
cet-2327	24	18	tanks	tank	NOUN
cet-2327	24	19	used	use	VERB
cet-2327	24	20	,	,	PUNCT
cet-2327	24	21	can	can	AUX
cet-2327	24	22	be	be	AUX
cet-2327	24	23	analyzed	analyze	VERB
cet-2327	24	24	two	two	NUM
cet-2327	24	25	independent	independent	ADJ
cet-2327	24	26	siso	siso	NOUN
cet-2327	24	27	systems	system	NOUN
cet-2327	24	28	,	,	PUNCT
cet-2327	24	29	or	or	CCONJ
cet-2327	24	30	a	a	DET
cet-2327	24	31	mimo	mimo	PROPN
cet-2327	24	32	system	system	NOUN
cet-2327	24	33	.	.	PUNCT
cet-2327	25	1	the	the	DET
cet-2327	25	2	opening	opening	NOUN
cet-2327	25	3	of	of	ADP
cet-2327	25	4	the	the	DET
cet-2327	25	5	tank	tank	NOUN
cet-2327	25	6	outlet	outlet	NOUN
cet-2327	25	7	valves	valve	NOUN
cet-2327	25	8	also	also	ADV
cet-2327	25	9	allows	allow	VERB
cet-2327	25	10	modifying	modify	VERB
cet-2327	25	11	the	the	DET
cet-2327	25	12	dynamics	dynamic	NOUN
cet-2327	25	13	of	of	ADP
cet-2327	25	14	the	the	DET
cet-2327	25	15	system	system	NOUN
cet-2327	25	16	,	,	PUNCT
cet-2327	25	17	making	make	VERB
cet-2327	25	18	it	it	PRON
cet-2327	25	19	faster	fast	ADV
cet-2327	25	20	or	or	CCONJ
cet-2327	25	21	slower	slow	ADJ
cet-2327	25	22	,	,	PUNCT
cet-2327	25	23	depending	depend	VERB
cet-2327	25	24	on	on	ADP
cet-2327	25	25	the	the	DET
cet-2327	25	26	opening	opening	NOUN
cet-2327	25	27	or	or	CCONJ
cet-2327	25	28	closing	closing	NOUN
cet-2327	25	29	of	of	ADP
cet-2327	25	30	the	the	DET
cet-2327	25	31	valves	valve	NOUN
cet-2327	25	32	respectively	respectively	ADV
cet-2327	25	33	.	.	PUNCT
cet-2327	26	1	doi	doi	NOUN
cet-2327	26	2	:	:	PUNCT
cet-2327	26	3	10.3303	10.3303	NUM
cet-2327	26	4	/	/	SYM
cet-2327	26	5	cet1757264	cet1757264	NOUN
cet-2327	26	6	please	please	INTJ
cet-2327	26	7	cite	cite	VERB
cet-2327	26	8	this	this	DET
cet-2327	26	9	article	article	NOUN
cet-2327	26	10	as	as	ADP
cet-2327	26	11	:	:	PUNCT
cet-2327	26	12	ramos	ramos	PROPN
cet-2327	26	13	v.s.	v.s.	PROPN
cet-2327	26	14	,	,	PUNCT
cet-2327	26	15	sena	sena	PROPN
cet-2327	26	16	h.	h.	PROPN
cet-2327	26	17	j.	j.	PROPN
cet-2327	26	18	,	,	PUNCT
cet-2327	26	19	fileti	fileti	ADJ
cet-2327	26	20	a.m.f	a.m.f	PROPN
cet-2327	26	21	.	.	PUNCT
cet-2327	26	22	,	,	PUNCT
cet-2327	26	23	silva	silva	PROPN
cet-2327	26	24	f.v	f.v	PROPN
cet-2327	26	25	.	.	PROPN
cet-2327	26	26	,	,	PUNCT
cet-2327	26	27	2017	2017	NUM
cet-2327	26	28	,	,	PUNCT
cet-2327	26	29	teaching	teach	VERB
cet-2327	26	30	multivariable	multivariable	ADJ
cet-2327	26	31	model	model	NOUN
cet-2327	26	32	predictive	predictive	PROPN
cet-2327	26	33	control	control	NOUN
cet-2327	26	34	in	in	ADP
cet-2327	26	35	a	a	DET
cet-2327	26	36	laboratory	laboratory	NOUN
cet-2327	26	37	scale	scale	NOUN
cet-2327	26	38	three	three	NUM
cet-2327	26	39	-	-	PUNCT
cet-2327	26	40	tank	tank	NOUN
cet-2327	26	41	process	process	NOUN
cet-2327	26	42	,	,	PUNCT
cet-2327	26	43	chemical	chemical	NOUN
cet-2327	26	44	engineering	engineering	NOUN
cet-2327	26	45	transactions	transaction	NOUN
cet-2327	26	46	,	,	PUNCT
cet-2327	26	47	57	57	NUM
cet-2327	26	48	,	,	PUNCT
cet-2327	26	49	1579	1579	NUM
cet-2327	26	50	-	-	SYM
cet-2327	26	51	1584	1584	NUM
cet-2327	26	52	doi	doi	NOUN
cet-2327	26	53	:	:	PUNCT
cet-2327	26	54	10.3303	10.3303	NUM
cet-2327	26	55	/	/	SYM
cet-2327	26	56	cet1757264	cet1757264	ADJ
cet-2327	26	57	1579	1579	NUM
cet-2327	26	58	2	2	NUM
cet-2327	26	59	.	.	PUNCT
cet-2327	26	60	experimental	experimental	ADJ
cet-2327	26	61	setup	setup	NOUN
cet-2327	26	62	and	and	CCONJ
cet-2327	26	63	procedure	procedure	NOUN
cet-2327	26	64	2.1	2.1	NUM
cet-2327	26	65	description	description	NOUN
cet-2327	26	66	of	of	ADP
cet-2327	26	67	the	the	DET
cet-2327	26	68	apparatus	apparatus	NOUN
cet-2327	26	69	a	a	DET
cet-2327	26	70	schematic	schematic	ADJ
cet-2327	26	71	diagram	diagram	NOUN
cet-2327	26	72	of	of	ADP
cet-2327	26	73	the	the	DET
cet-2327	26	74	experimental	experimental	ADJ
cet-2327	26	75	apparatus	apparatus	NOUN
cet-2327	26	76	is	be	AUX
cet-2327	26	77	shown	show	VERB
cet-2327	26	78	in	in	ADP
cet-2327	26	79	figure	figure	NOUN
cet-2327	26	80	1b	1b	NUM
cet-2327	26	81	.	.	PUNCT
cet-2327	27	1	the	the	DET
cet-2327	27	2	system	system	NOUN
cet-2327	27	3	was	be	AUX
cet-2327	27	4	completely	completely	ADV
cet-2327	27	5	instrumented	instrumented	ADJ
cet-2327	27	6	for	for	ADP
cet-2327	27	7	continuous	continuous	ADJ
cet-2327	27	8	operation	operation	NOUN
cet-2327	27	9	with	with	ADP
cet-2327	27	10	using	use	VERB
cet-2327	27	11	a	a	DET
cet-2327	27	12	supervisory	supervisory	ADJ
cet-2327	27	13	system	system	NOUN
cet-2327	27	14	.	.	PUNCT
cet-2327	28	1	the	the	DET
cet-2327	28	2	design	design	NOUN
cet-2327	28	3	of	of	ADP
cet-2327	28	4	this	this	DET
cet-2327	28	5	three	three	NUM
cet-2327	28	6	-	-	PUNCT
cet-2327	28	7	tank	tank	NOUN
cet-2327	28	8	experiment	experiment	NOUN
cet-2327	28	9	comprises	comprise	VERB
cet-2327	28	10	seven	seven	NUM
cet-2327	28	11	key	key	ADJ
cet-2327	28	12	components	component	NOUN
cet-2327	28	13	as	as	SCONJ
cet-2327	28	14	follows	follow	VERB
cet-2327	28	15	:	:	PUNCT
cet-2327	28	16	(	(	PUNCT
cet-2327	28	17	a	a	X
cet-2327	28	18	)	)	PUNCT
cet-2327	28	19	two	two	NUM
cet-2327	28	20	transparent	transparent	ADJ
cet-2327	28	21	interactive	interactive	ADJ
cet-2327	28	22	tanks	tank	NOUN
cet-2327	28	23	which	which	PRON
cet-2327	28	24	has	have	VERB
cet-2327	28	25	an	an	DET
cet-2327	28	26	approximate	approximate	ADJ
cet-2327	28	27	liquid	liquid	ADJ
cet-2327	28	28	volume	volume	NOUN
cet-2327	28	29	of	of	ADP
cet-2327	28	30	1.6	1.6	NUM
cet-2327	28	31	l	l	NOUN
cet-2327	28	32	each	each	DET
cet-2327	28	33	one	one	NUM
cet-2327	28	34	and	and	CCONJ
cet-2327	28	35	one	one	NUM
cet-2327	28	36	transparent	transparent	ADJ
cet-2327	28	37	reservoir	reservoir	NOUN
cet-2327	28	38	which	which	PRON
cet-2327	28	39	has	have	VERB
cet-2327	28	40	an	an	DET
cet-2327	28	41	approximate	approximate	ADJ
cet-2327	28	42	liquid	liquid	ADJ
cet-2327	28	43	volume	volume	NOUN
cet-2327	28	44	of	of	ADP
cet-2327	28	45	3.3	3.3	NUM
cet-2327	28	46	l.	l.	NOUN
cet-2327	28	47	the	the	DET
cet-2327	28	48	vessels	vessel	NOUN
cet-2327	28	49	are	be	AUX
cet-2327	28	50	made	make	VERB
cet-2327	28	51	of	of	ADP
cet-2327	28	52	acrylic	acrylic	NOUN
cet-2327	28	53	;	;	PUNCT
cet-2327	28	54	(	(	PUNCT
cet-2327	28	55	b	b	X
cet-2327	28	56	)	)	PUNCT
cet-2327	28	57	three	three	NUM
cet-2327	28	58	lock	lock	NOUN
cet-2327	28	59	ball	ball	NOUN
cet-2327	28	60	valves	valve	NOUN
cet-2327	28	61	,	,	PUNCT
cet-2327	28	62	which	which	PRON
cet-2327	28	63	regulate	regulate	VERB
cet-2327	28	64	the	the	DET
cet-2327	28	65	volumetric	volumetric	NOUN
cet-2327	28	66	flow	flow	NOUN
cet-2327	28	67	among	among	ADP
cet-2327	28	68	the	the	DET
cet-2327	28	69	tanks	tank	NOUN
cet-2327	28	70	;	;	PUNCT
cet-2327	28	71	(	(	PUNCT
cet-2327	28	72	c	c	X
cet-2327	28	73	)	)	PUNCT
cet-2327	28	74	two	two	NUM
cet-2327	28	75	pumps	pump	NOUN
cet-2327	28	76	with	with	ADP
cet-2327	28	77	variable	variable	ADJ
cet-2327	28	78	rotation	rotation	NOUN
cet-2327	28	79	;	;	PUNCT
cet-2327	28	80	(	(	PUNCT
cet-2327	28	81	d	d	X
cet-2327	28	82	)	)	PUNCT
cet-2327	28	83	three	three	NUM
cet-2327	28	84	differential	differential	ADJ
cet-2327	28	85	pressure	pressure	NOUN
cet-2327	28	86	sensors	sensor	NOUN
cet-2327	28	87	of	of	ADP
cet-2327	28	88	the	the	DET
cet-2327	28	89	siemens	siemens	PROPN
cet-2327	28	90	®	®	PROPN
cet-2327	28	91	mpx5010	mpx5010	NOUN
cet-2327	28	92	series	series	PROPN
cet-2327	28	93	which	which	PRON
cet-2327	28	94	measure	measure	VERB
cet-2327	28	95	the	the	DET
cet-2327	28	96	tanks	tank	NOUN
cet-2327	28	97	level	level	NOUN
cet-2327	28	98	;	;	PUNCT
cet-2327	28	99	(	(	PUNCT
cet-2327	28	100	e	e	X
cet-2327	28	101	)	)	PUNCT
cet-2327	28	102	a	a	DET
cet-2327	28	103	programmable	programmable	ADJ
cet-2327	28	104	logic	logic	NOUN
cet-2327	28	105	controller	controller	NOUN
cet-2327	28	106	(	(	PUNCT
cet-2327	28	107	plc	plc	PROPN
cet-2327	28	108	)	)	PUNCT
cet-2327	28	109	of	of	ADP
cet-2327	28	110	the	the	DET
cet-2327	28	111	manufacturer	manufacturer	NOUN
cet-2327	28	112	delta	delta	PROPN
cet-2327	28	113	®	®	PROPN
cet-2327	28	114	,	,	PUNCT
cet-2327	28	115	model	model	NOUN
cet-2327	28	116	dvp20ex2	dvp20ex2	NOUN
cet-2327	28	117	which	which	PRON
cet-2327	28	118	realize	realize	VERB
cet-2327	28	119	the	the	DET
cet-2327	28	120	interface	interface	NOUN
cet-2327	28	121	between	between	ADP
cet-2327	28	122	the	the	DET
cet-2327	28	123	used	use	VERB
cet-2327	28	124	system	system	NOUN
cet-2327	28	125	and	and	CCONJ
cet-2327	28	126	a	a	DET
cet-2327	28	127	microcomputer	microcomputer	NOUN
cet-2327	28	128	;	;	PUNCT
cet-2327	28	129	(	(	PUNCT
cet-2327	28	130	f	f	X
cet-2327	28	131	)	)	PUNCT
cet-2327	28	132	a	a	DET
cet-2327	28	133	pc	pc	NOUN
cet-2327	28	134	equipped	equip	VERB
cet-2327	28	135	with	with	ADP
cet-2327	28	136	indusoft	indusoft	ADJ
cet-2327	28	137	web	web	NOUN
cet-2327	28	138	studio	studio	NOUN
cet-2327	28	139	educational	educational	ADJ
cet-2327	28	140	7.1	7.1	NUM
cet-2327	28	141	software	software	NOUN
cet-2327	28	142	for	for	ADP
cet-2327	28	143	the	the	DET
cet-2327	28	144	collection	collection	NOUN
cet-2327	28	145	and	and	CCONJ
cet-2327	28	146	storage	storage	NOUN
cet-2327	28	147	of	of	ADP
cet-2327	28	148	the	the	DET
cet-2327	28	149	experimental	experimental	ADJ
cet-2327	28	150	data	datum	NOUN
cet-2327	28	151	.	.	PUNCT
cet-2327	29	1	(	(	PUNCT
cet-2327	29	2	a	a	X
cet-2327	29	3	)	)	PUNCT
cet-2327	29	4	(	(	PUNCT
cet-2327	29	5	b	b	X
cet-2327	29	6	)	)	PUNCT
cet-2327	29	7	figure	figure	NOUN
cet-2327	29	8	1	1	NUM
cet-2327	29	9	:	:	PUNCT
cet-2327	29	10	photograph	photograph	NOUN
cet-2327	29	11	of	of	ADP
cet-2327	29	12	the	the	DET
cet-2327	29	13	experimental	experimental	ADJ
cet-2327	29	14	setup	setup	NOUN
cet-2327	29	15	(	(	PUNCT
cet-2327	29	16	a	a	NOUN
cet-2327	29	17	)	)	PUNCT
cet-2327	29	18	and	and	CCONJ
cet-2327	29	19	schematic	schematic	ADJ
cet-2327	29	20	diagram	diagram	NOUN
cet-2327	29	21	-	-	PUNCT
cet-2327	29	22	p&id	p&id	NOUN
cet-2327	29	23	of	of	ADP
cet-2327	29	24	three	three	NUM
cet-2327	29	25	-	-	PUNCT
cet-2327	29	26	tank	tank	NOUN
cet-2327	29	27	process	process	NOUN
cet-2327	29	28	(	(	PUNCT
cet-2327	29	29	b	b	NOUN
cet-2327	29	30	)	)	PUNCT
cet-2327	29	31	.	.	PUNCT
cet-2327	30	1	various	various	ADJ
cet-2327	30	2	preliminary	preliminary	ADJ
cet-2327	30	3	tests	test	NOUN
cet-2327	30	4	were	be	AUX
cet-2327	30	5	made	make	VERB
cet-2327	30	6	in	in	ADP
cet-2327	30	7	order	order	NOUN
cet-2327	30	8	to	to	PART
cet-2327	30	9	define	define	VERB
cet-2327	30	10	an	an	DET
cet-2327	30	11	appropriate	appropriate	ADJ
cet-2327	30	12	dynamics	dynamic	NOUN
cet-2327	30	13	which	which	PRON
cet-2327	30	14	allowed	allow	VERB
cet-2327	30	15	to	to	PART
cet-2327	30	16	explore	explore	VERB
cet-2327	30	17	the	the	DET
cet-2327	30	18	range	range	NOUN
cet-2327	30	19	of	of	ADP
cet-2327	30	20	the	the	DET
cet-2327	30	21	pumps	pump	NOUN
cet-2327	30	22	(	(	PUNCT
cet-2327	30	23	manipulated	manipulate	VERB
cet-2327	30	24	variables	variable	NOUN
cet-2327	30	25	)	)	PUNCT
cet-2327	30	26	and	and	CCONJ
cet-2327	30	27	to	to	PART
cet-2327	30	28	define	define	VERB
cet-2327	30	29	a	a	DET
cet-2327	30	30	point	point	NOUN
cet-2327	30	31	of	of	ADP
cet-2327	30	32	operation	operation	NOUN
cet-2327	30	33	of	of	ADP
cet-2327	30	34	the	the	DET
cet-2327	30	35	levels	level	NOUN
cet-2327	30	36	(	(	PUNCT
cet-2327	30	37	controlled	control	VERB
cet-2327	30	38	variables	variable	NOUN
cet-2327	30	39	)	)	PUNCT
cet-2327	30	40	,	,	PUNCT
cet-2327	30	41	where	where	SCONJ
cet-2327	30	42	were	be	AUX
cet-2327	30	43	made	make	VERB
cet-2327	30	44	changes	change	NOUN
cet-2327	30	45	of	of	ADP
cet-2327	30	46	set	set	ADJ
cet-2327	30	47	point	point	NOUN
cet-2327	30	48	,	,	PUNCT
cet-2327	30	49	in	in	ADP
cet-2327	30	50	order	order	NOUN
cet-2327	30	51	to	to	PART
cet-2327	30	52	analyze	analyze	VERB
cet-2327	30	53	the	the	DET
cet-2327	30	54	performance	performance	NOUN
cet-2327	30	55	of	of	ADP
cet-2327	30	56	the	the	DET
cet-2327	30	57	controller	controller	NOUN
cet-2327	30	58	.	.	PUNCT
cet-2327	31	1	2.2	2.2	NUM
cet-2327	31	2	supervisory	supervisory	ADJ
cet-2327	31	3	system	system	NOUN
cet-2327	31	4	and	and	CCONJ
cet-2327	31	5	communication	communication	NOUN
cet-2327	31	6	in	in	ADP
cet-2327	31	7	this	this	DET
cet-2327	31	8	system	system	NOUN
cet-2327	31	9	was	be	AUX
cet-2327	31	10	used	use	VERB
cet-2327	31	11	the	the	DET
cet-2327	31	12	indusoft	indusoft	PROPN
cet-2327	31	13	web	web	NOUN
cet-2327	31	14	studio	studio	PROPN
cet-2327	31	15	educational8.1	educational8.1	PROPN
cet-2327	31	16	®	®	NOUN
cet-2327	31	17	as	as	ADP
cet-2327	31	18	supervisory	supervisory	ADJ
cet-2327	31	19	system	system	NOUN
cet-2327	31	20	.	.	PUNCT
cet-2327	32	1	the	the	DET
cet-2327	32	2	experimental	experimental	ADJ
cet-2327	32	3	data	datum	NOUN
cet-2327	32	4	from	from	ADP
cet-2327	32	5	level	level	NOUN
cet-2327	32	6	sensors	sensor	NOUN
cet-2327	32	7	and	and	CCONJ
cet-2327	32	8	actuation	actuation	NOUN
cet-2327	32	9	signal	signal	NOUN
cet-2327	32	10	to	to	ADP
cet-2327	32	11	pumps	pump	NOUN
cet-2327	32	12	were	be	AUX
cet-2327	32	13	obtained	obtain	VERB
cet-2327	32	14	by	by	ADP
cet-2327	32	15	modbus	modbus	PROPN
cet-2327	32	16	ascii	ascii	NOUN
cet-2327	32	17	protocol	protocol	NOUN
cet-2327	32	18	(	(	PUNCT
cet-2327	32	19	american	american	PROPN
cet-2327	32	20	standard	standard	PROPN
cet-2327	32	21	code	code	PROPN
cet-2327	32	22	ii	ii	PROPN
cet-2327	32	23	)	)	PUNCT
cet-2327	32	24	of	of	ADP
cet-2327	32	25	communication	communication	NOUN
cet-2327	32	26	.	.	PUNCT
cet-2327	33	1	the	the	DET
cet-2327	33	2	controller	controller	NOUN
cet-2327	33	3	used	use	VERB
cet-2327	33	4	in	in	ADP
cet-2327	33	5	this	this	DET
cet-2327	33	6	work	work	NOUN
cet-2327	33	7	was	be	AUX
cet-2327	33	8	designed	design	VERB
cet-2327	33	9	in	in	ADP
cet-2327	33	10	the	the	DET
cet-2327	33	11	matlab	matlab	PROPN
cet-2327	33	12	®	®	NOUN
cet-2327	33	13	software	software	NOUN
cet-2327	33	14	which	which	PRON
cet-2327	33	15	used	use	VERB
cet-2327	33	16	opc	opc	PROPN
cet-2327	33	17	protocol	protocol	PROPN
cet-2327	33	18	(	(	PUNCT
cet-2327	33	19	ole	ole	NOUN
cet-2327	33	20	for	for	ADP
cet-2327	33	21	process	process	NOUN
cet-2327	33	22	control	control	NOUN
cet-2327	33	23	)	)	PUNCT
cet-2327	33	24	in	in	ADP
cet-2327	33	25	order	order	NOUN
cet-2327	33	26	to	to	PART
cet-2327	33	27	exchange	exchange	VERB
cet-2327	33	28	data	datum	NOUN
cet-2327	33	29	with	with	ADP
cet-2327	33	30	the	the	DET
cet-2327	33	31	apparatus	apparatus	NOUN
cet-2327	33	32	.	.	PUNCT
cet-2327	34	1	2.3	2.3	NUM
cet-2327	34	2	mathematical	mathematical	ADJ
cet-2327	34	3	modeling	modeling	NOUN
cet-2327	34	4	the	the	DET
cet-2327	34	5	first	first	ADJ
cet-2327	34	6	order	order	NOUN
cet-2327	34	7	plus	plus	CCONJ
cet-2327	34	8	dead	dead	ADJ
cet-2327	34	9	time	time	NOUN
cet-2327	34	10	method	method	PROPN
cet-2327	34	11	fopdt	fopdt	NOUN
cet-2327	34	12	(	(	PUNCT
cet-2327	34	13	process	process	NOUN
cet-2327	34	14	reaction	reaction	NOUN
cet-2327	34	15	curve	curve	NOUN
cet-2327	34	16	)	)	PUNCT
cet-2327	34	17	was	be	AUX
cet-2327	34	18	chose	choose	VERB
cet-2327	34	19	to	to	PART
cet-2327	34	20	obtain	obtain	VERB
cet-2327	34	21	the	the	DET
cet-2327	34	22	mathematical	mathematical	ADJ
cet-2327	34	23	models	model	NOUN
cet-2327	34	24	of	of	ADP
cet-2327	34	25	the	the	DET
cet-2327	34	26	level	level	NOUN
cet-2327	34	27	system	system	NOUN
cet-2327	34	28	,	,	PUNCT
cet-2327	34	29	as	as	SCONJ
cet-2327	34	30	found	find	VERB
cet-2327	34	31	in	in	ADP
cet-2327	34	32	zhu	zhu	PROPN
cet-2327	34	33	,	,	PUNCT
cet-2327	34	34	2002	2002	NUM
cet-2327	34	35	.	.	PUNCT
cet-2327	35	1	the	the	DET
cet-2327	35	2	perturbations	perturbation	NOUN
cet-2327	35	3	carried	carry	VERB
cet-2327	35	4	out	out	ADP
cet-2327	35	5	in	in	ADP
cet-2327	35	6	the	the	DET
cet-2327	35	7	pumps	pump	NOUN
cet-2327	35	8	can	can	AUX
cet-2327	35	9	be	be	AUX
cet-2327	35	10	seen	see	VERB
cet-2327	35	11	in	in	ADP
cet-2327	35	12	table	table	NOUN
cet-2327	35	13	1	1	NUM
cet-2327	35	14	,	,	PUNCT
cet-2327	35	15	considering	consider	VERB
cet-2327	35	16	levels	level	NOUN
cet-2327	35	17	in	in	ADP
cet-2327	35	18	50	50	NUM
cet-2327	35	19	%	%	NOUN
cet-2327	35	20	as	as	ADP
cet-2327	35	21	operational	operational	ADJ
cet-2327	35	22	points	point	NOUN
cet-2327	35	23	.	.	PUNCT
cet-2327	36	1	table	table	NOUN
cet-2327	36	2	1	1	NUM
cet-2327	36	3	:	:	PUNCT
cet-2327	36	4	step	step	NOUN
cet-2327	36	5	disturbances	disturbance	NOUN
cet-2327	36	6	in	in	ADP
cet-2327	36	7	pumps	pump	NOUN
cet-2327	36	8	.	.	PUNCT
cet-2327	37	1	situation	situation	NOUN
cet-2327	37	2	pump1	pump1	NOUN
cet-2327	37	3	(	(	PUNCT
cet-2327	37	4	%	%	INTJ
cet-2327	37	5	)	)	PUNCT
cet-2327	37	6	pump	pump	NOUN
cet-2327	37	7	2	2	NUM
cet-2327	37	8	(	(	PUNCT
cet-2327	37	9	%	%	NOUN
cet-2327	37	10	)	)	PUNCT
cet-2327	37	11	)	)	PUNCT
cet-2327	38	1	operation	operation	NOUN
cet-2327	38	2	point	point	NOUN
cet-2327	38	3	40	40	NUM
cet-2327	38	4	30	30	NUM
cet-2327	38	5	experiment	experiment	NOUN
cet-2327	38	6	1	1	NUM
cet-2327	38	7	experiment	experiment	NOUN
cet-2327	38	8	2	2	NUM
cet-2327	38	9	45	45	NUM
cet-2327	38	10	40	40	NUM
cet-2327	38	11	30	30	NUM
cet-2327	38	12	35	35	NUM
cet-2327	38	13	through	through	ADP
cet-2327	38	14	linear	linear	ADJ
cet-2327	38	15	regression	regression	NOUN
cet-2327	38	16	,	,	PUNCT
cet-2327	38	17	it	it	PRON
cet-2327	38	18	was	be	AUX
cet-2327	38	19	possible	possible	ADJ
cet-2327	38	20	to	to	PART
cet-2327	38	21	obtain	obtain	VERB
cet-2327	38	22	the	the	DET
cet-2327	38	23	representative	representative	ADJ
cet-2327	38	24	parameters	parameter	NOUN
cet-2327	38	25	of	of	ADP
cet-2327	38	26	the	the	DET
cet-2327	38	27	studied	studied	ADJ
cet-2327	38	28	system	system	NOUN
cet-2327	38	29	.	.	PUNCT
cet-2327	39	1	in	in	ADP
cet-2327	39	2	this	this	DET
cet-2327	39	3	step	step	NOUN
cet-2327	39	4	was	be	AUX
cet-2327	39	5	used	use	VERB
cet-2327	39	6	the	the	DET
cet-2327	39	7	solver	solver	ADJ
cet-2327	39	8	tool	tool	NOUN
cet-2327	39	9	of	of	ADP
cet-2327	39	10	the	the	DET
cet-2327	39	11	microsoft	microsoft	PROPN
cet-2327	39	12	excel	excel	PROPN
cet-2327	39	13	®	®	PROPN
cet-2327	39	14	software	software	NOUN
cet-2327	39	15	.	.	PUNCT
cet-2327	40	1	the	the	DET
cet-2327	40	2	reaction	reaction	NOUN
cet-2327	40	3	curves	curve	NOUN
cet-2327	40	4	were	be	AUX
cet-2327	40	5	fitted	fit	VERB
cet-2327	40	6	an	an	DET
cet-2327	40	7	ordinary	ordinary	ADJ
cet-2327	40	8	functions	function	NOUN
cet-2327	40	9	of	of	ADP
cet-2327	40	10	first	first	ADJ
cet-2327	40	11	order	order	NOUN
cet-2327	40	12	plus	plus	CCONJ
cet-2327	40	13	dead	dead	ADJ
cet-2327	40	14	time	time	NOUN
cet-2327	40	15	or	or	CCONJ
cet-2327	40	16	overdamped	overdampe	VERB
cet-2327	40	17	second	second	ADJ
cet-2327	40	18	order	order	NOUN
cet-2327	40	19	according	accord	VERB
cet-2327	40	20	,	,	PUNCT
cet-2327	40	21	in	in	ADP
cet-2327	40	22	time	time	NOUN
cet-2327	40	23	domain	domain	NOUN
cet-2327	40	24	.	.	PUNCT
cet-2327	41	1	since	since	SCONJ
cet-2327	41	2	it	it	PRON
cet-2327	41	3	is	be	AUX
cet-2327	41	4	a	a	DET
cet-2327	41	5	mimo	mimo	PROPN
cet-2327	41	6	system	system	NOUN
cet-2327	41	7	,	,	PUNCT
cet-2327	41	8	it	it	PRON
cet-2327	41	9	was	be	AUX
cet-2327	41	10	inserted	insert	VERB
cet-2327	41	11	the	the	DET
cet-2327	41	12	parameters	parameter	NOUN
cet-2327	41	13	of	of	ADP
cet-2327	41	14	each	each	DET
cet-2327	41	15	tank	tank	NOUN
cet-2327	41	16	obtained	obtain	VERB
cet-2327	41	17	in	in	ADP
cet-2327	41	18	each	each	DET
cet-2327	41	19	experiment	experiment	NOUN
cet-2327	41	20	into	into	ADP
cet-2327	41	21	a	a	DET
cet-2327	41	22	transfer	transfer	NOUN
cet-2327	41	23	1580	1580	NUM
cet-2327	41	24	matrix	matrix	NOUN
cet-2327	41	25	using	use	VERB
cet-2327	41	26	the	the	DET
cet-2327	41	27	tf	tf	PROPN
cet-2327	41	28	command	command	NOUN
cet-2327	41	29	in	in	ADP
cet-2327	41	30	matlab	matlab	PROPN
cet-2327	41	31	®	®	NOUN
cet-2327	41	32	software	software	NOUN
cet-2327	41	33	.	.	PUNCT
cet-2327	42	1	finally	finally	ADV
cet-2327	42	2	,	,	PUNCT
cet-2327	42	3	it	it	PRON
cet-2327	42	4	was	be	AUX
cet-2327	42	5	transformed	transform	VERB
cet-2327	42	6	the	the	DET
cet-2327	42	7	continuous	continuous	ADJ
cet-2327	42	8	transfer	transfer	NOUN
cet-2327	42	9	matrix	matrix	NOUN
cet-2327	42	10	into	into	ADP
cet-2327	42	11	a	a	DET
cet-2327	42	12	discrete	discrete	ADJ
cet-2327	42	13	state	state	NOUN
cet-2327	42	14	-	-	PUNCT
cet-2327	42	15	space	space	NOUN
cet-2327	42	16	model	model	NOUN
cet-2327	42	17	using	use	VERB
cet-2327	42	18	the	the	DET
cet-2327	42	19	ss	ss	NOUN
cet-2327	42	20	and	and	CCONJ
cet-2327	42	21	c2d	c2d	PROPN
cet-2327	42	22	commands	command	NOUN
cet-2327	42	23	,	,	PUNCT
cet-2327	42	24	with	with	ADP
cet-2327	42	25	sampling	sample	VERB
cet-2327	42	26	(	(	PUNCT
cet-2327	42	27	δt	δt	NOUN
cet-2327	42	28	)	)	PUNCT
cet-2327	42	29	of	of	ADP
cet-2327	42	30	1s	1s	NUM
cet-2327	42	31	.	.	PUNCT
cet-2327	43	1	thus	thus	ADV
cet-2327	43	2	,	,	PUNCT
cet-2327	43	3	the	the	DET
cet-2327	43	4	eq(1	eq(1	NOUN
cet-2327	43	5	)	)	PUNCT
cet-2327	43	6	and	and	CCONJ
cet-2327	43	7	eq(2	eq(2	X
cet-2327	43	8	)	)	PUNCT
cet-2327	43	9	were	be	AUX
cet-2327	43	10	reached	reach	VERB
cet-2327	43	11	considering	consider	VERB
cet-2327	43	12	that	that	SCONJ
cet-2327	43	13	the	the	DET
cet-2327	43	14	output	output	NOUN
cet-2327	43	15	can	can	AUX
cet-2327	43	16	not	not	PART
cet-2327	43	17	be	be	AUX
cet-2327	43	18	affected	affect	VERB
cet-2327	43	19	by	by	ADP
cet-2327	43	20	the	the	DET
cet-2327	43	21	input	input	NOUN
cet-2327	43	22	at	at	ADP
cet-2327	43	23	the	the	DET
cet-2327	43	24	same	same	ADJ
cet-2327	43	25	instant	instant	NOUN
cet-2327	43	26	of	of	ADP
cet-2327	43	27	time	time	NOUN
cet-2327	43	28	:	:	PUNCT
cet-2327	43	29	𝑥(𝑘	𝑥(𝑘	X
cet-2327	43	30	+	+	CCONJ
cet-2327	43	31	1	1	X
cet-2327	43	32	)	)	PUNCT
cet-2327	43	33	=	=	SYM
cet-2327	43	34	𝐴	𝐴	PROPN
cet-2327	43	35	𝑥(𝑘	𝑥(𝑘	PROPN
cet-2327	43	36	)	)	PUNCT
cet-2327	43	37	+	+	CCONJ
cet-2327	43	38	𝐵	𝐵	PROPN
cet-2327	43	39	𝑢(𝑘	𝑢(𝑘	PROPN
cet-2327	43	40	)	)	PUNCT
cet-2327	43	41	(	(	PUNCT
cet-2327	43	42	1	1	X
cet-2327	43	43	)	)	PUNCT
cet-2327	43	44	𝑦(𝑘	𝑦(𝑘	PROPN
cet-2327	43	45	)	)	PUNCT
cet-2327	43	46	=	=	SYM
cet-2327	43	47	𝐶	𝐶	PROPN
cet-2327	43	48	𝑥(𝑘	𝑥(𝑘	PROPN
cet-2327	43	49	)	)	PUNCT
cet-2327	43	50	(	(	PUNCT
cet-2327	43	51	2	2	X
cet-2327	43	52	)	)	PUNCT
cet-2327	43	53	2.4	2.4	NUM
cet-2327	43	54	model	model	NOUN
cet-2327	43	55	augmented	augment	VERB
cet-2327	43	56	it	it	PRON
cet-2327	43	57	is	be	AUX
cet-2327	43	58	important	important	ADJ
cet-2327	43	59	to	to	PART
cet-2327	43	60	note	note	VERB
cet-2327	43	61	that	that	SCONJ
cet-2327	43	62	the	the	DET
cet-2327	43	63	input	input	NOUN
cet-2327	43	64	of	of	ADP
cet-2327	43	65	the	the	DET
cet-2327	43	66	state	state	NOUN
cet-2327	43	67	space	space	NOUN
cet-2327	43	68	model	model	NOUN
cet-2327	43	69	,	,	PUNCT
cet-2327	43	70	in	in	ADP
cet-2327	43	71	eq(1	eq(1	NOUN
cet-2327	43	72	)	)	PUNCT
cet-2327	43	73	,	,	PUNCT
cet-2327	43	74	corresponds	correspond	VERB
cet-2327	43	75	to	to	ADP
cet-2327	43	76	u	u	PROPN
cet-2327	43	77	(	(	PUNCT
cet-2327	43	78	t	t	PROPN
cet-2327	43	79	)	)	PUNCT
cet-2327	43	80	,	,	PUNCT
cet-2327	43	81	however	however	ADV
cet-2327	43	82	,	,	PUNCT
cet-2327	43	83	it	it	PRON
cet-2327	43	84	is	be	AUX
cet-2327	43	85	desired	desire	VERB
cet-2327	43	86	that	that	SCONJ
cet-2327	43	87	the	the	DET
cet-2327	43	88	input	input	NOUN
cet-2327	43	89	correspond	correspond	VERB
cet-2327	43	90	to	to	ADP
cet-2327	43	91	the	the	DET
cet-2327	43	92	increment	increment	NOUN
cet-2327	43	93	to	to	PART
cet-2327	43	94	be	be	AUX
cet-2327	43	95	added	add	VERB
cet-2327	43	96	to	to	ADP
cet-2327	43	97	the	the	DET
cet-2327	43	98	control	control	NOUN
cet-2327	43	99	signal	signal	NOUN
cet-2327	43	100	,	,	PUNCT
cet-2327	43	101	that	that	ADV
cet-2327	43	102	is	is	ADV
cet-2327	43	103	,	,	PUNCT
cet-2327	43	104	δu	δu	X
cet-2327	43	105	(	(	PUNCT
cet-2327	43	106	t	t	PROPN
cet-2327	43	107	)	)	PUNCT
cet-2327	43	108	.	.	PUNCT
cet-2327	44	1	thus	thus	ADV
cet-2327	44	2	it	it	PRON
cet-2327	44	3	is	be	AUX
cet-2327	44	4	necessary	necessary	ADJ
cet-2327	44	5	to	to	PART
cet-2327	44	6	augment	augment	VERB
cet-2327	44	7	the	the	DET
cet-2327	44	8	state	state	NOUN
cet-2327	44	9	-	-	PUNCT
cet-2327	44	10	space	space	NOUN
cet-2327	44	11	model	model	NOUN
cet-2327	44	12	in	in	ADP
cet-2327	44	13	a	a	DET
cet-2327	44	14	velocity	velocity	NOUN
cet-2327	44	15	form	form	NOUN
cet-2327	44	16	,	,	PUNCT
cet-2327	44	17	and	and	CCONJ
cet-2327	44	18	embedded	embed	VERB
cet-2327	44	19	with	with	ADP
cet-2327	44	20	this	this	DET
cet-2327	44	21	integral	integral	ADJ
cet-2327	44	22	action	action	NOUN
cet-2327	44	23	naturally	naturally	ADV
cet-2327	44	24	in	in	ADP
cet-2327	44	25	the	the	DET
cet-2327	44	26	algorithm	algorithm	NOUN
cet-2327	44	27	(	(	PUNCT
cet-2327	44	28	wang	wang	PROPN
cet-2327	44	29	,	,	PUNCT
cet-2327	44	30	2009	2009	NUM
cet-2327	44	31	)	)	PUNCT
cet-2327	44	32	.	.	PUNCT
cet-2327	45	1	therefore	therefore	ADV
cet-2327	45	2	,	,	PUNCT
cet-2327	45	3	a	a	DET
cet-2327	45	4	new	new	ADJ
cet-2327	45	5	state	state	NOUN
cet-2327	45	6	space	space	NOUN
cet-2327	45	7	model	model	NOUN
cet-2327	45	8	can	can	AUX
cet-2327	45	9	be	be	AUX
cet-2327	45	10	written	write	VERB
cet-2327	45	11	in	in	ADP
cet-2327	45	12	a	a	DET
cet-2327	45	13	similar	similar	ADJ
cet-2327	45	14	form	form	NOUN
cet-2327	45	15	to	to	ADP
cet-2327	45	16	eq(1	eq(1	NOUN
cet-2327	45	17	)	)	PUNCT
cet-2327	45	18	and	and	CCONJ
cet-2327	45	19	eq(2	eq(2	PROPN
cet-2327	45	20	)	)	PUNCT
cet-2327	45	21	,	,	PUNCT
cet-2327	45	22	where	where	SCONJ
cet-2327	45	23	matrices	matrice	VERB
cet-2327	45	24	a	a	PRON
cet-2327	45	25	,	,	PUNCT
cet-2327	45	26	b	b	NOUN
cet-2327	45	27	and	and	CCONJ
cet-2327	45	28	c	c	PROPN
cet-2327	45	29	correspond	correspond	VERB
cet-2327	45	30	to	to	ADP
cet-2327	45	31	the	the	DET
cet-2327	45	32	augmented	augment	VERB
cet-2327	45	33	model	model	NOUN
cet-2327	45	34	.	.	PUNCT
cet-2327	46	1	2.5	2.5	NUM
cet-2327	46	2	model	model	NOUN
cet-2327	46	3	predictive	predictive	ADJ
cet-2327	46	4	control	control	PROPN
cet-2327	46	5	the	the	DET
cet-2327	46	6	predictive	predictive	ADJ
cet-2327	46	7	controller	controller	NOUN
cet-2327	46	8	was	be	AUX
cet-2327	46	9	designed	design	VERB
cet-2327	46	10	after	after	ADP
cet-2327	46	11	obtaining	obtain	VERB
cet-2327	46	12	of	of	ADP
cet-2327	46	13	the	the	DET
cet-2327	46	14	augmented	augment	VERB
cet-2327	46	15	model	model	NOUN
cet-2327	46	16	.	.	PUNCT
cet-2327	47	1	using	use	VERB
cet-2327	47	2	the	the	DET
cet-2327	47	3	current	current	ADJ
cet-2327	47	4	values	value	NOUN
cet-2327	47	5	of	of	ADP
cet-2327	47	6	the	the	DET
cet-2327	47	7	states	state	NOUN
cet-2327	47	8	it	it	PRON
cet-2327	47	9	is	be	AUX
cet-2327	47	10	possible	possible	ADJ
cet-2327	47	11	calculate	calculate	VERB
cet-2327	47	12	their	their	PRON
cet-2327	47	13	respective	respective	ADJ
cet-2327	47	14	future	future	ADJ
cet-2327	47	15	values	value	NOUN
cet-2327	47	16	,	,	PUNCT
cet-2327	47	17	until	until	SCONJ
cet-2327	47	18	a	a	DET
cet-2327	47	19	certain	certain	ADJ
cet-2327	47	20	instant	instant	NOUN
cet-2327	47	21	of	of	ADP
cet-2327	47	22	time	time	NOUN
cet-2327	47	23	,	,	PUNCT
cet-2327	47	24	np	np	INTJ
cet-2327	47	25	,	,	PUNCT
cet-2327	47	26	called	call	VERB
cet-2327	47	27	the	the	DET
cet-2327	47	28	prediction	prediction	NOUN
cet-2327	47	29	horizon	horizon	NOUN
cet-2327	47	30	,	,	PUNCT
cet-2327	47	31	and	and	CCONJ
cet-2327	47	32	the	the	DET
cet-2327	47	33	added	add	VERB
cet-2327	47	34	future	future	ADJ
cet-2327	47	35	increments	increment	NOUN
cet-2327	47	36	to	to	PART
cet-2327	47	37	be	be	AUX
cet-2327	47	38	to	to	ADP
cet-2327	47	39	the	the	DET
cet-2327	47	40	actuator	actuator	NOUN
cet-2327	47	41	signals	signal	NOUN
cet-2327	47	42	,	,	PUNCT
cet-2327	47	43	nc	nc	PROPN
cet-2327	47	44	,	,	PUNCT
cet-2327	47	45	called	call	VERB
cet-2327	47	46	the	the	DET
cet-2327	47	47	control	control	NOUN
cet-2327	47	48	horizon	horizon	NOUN
cet-2327	47	49	.	.	PUNCT
cet-2327	48	1	the	the	DET
cet-2327	48	2	procedure	procedure	NOUN
cet-2327	48	3	can	can	AUX
cet-2327	48	4	be	be	AUX
cet-2327	48	5	found	find	VERB
cet-2327	48	6	in	in	ADP
cet-2327	48	7	wang	wang	PROPN
cet-2327	48	8	,	,	PUNCT
cet-2327	48	9	2009	2009	NUM
cet-2327	48	10	.	.	PUNCT
cet-2327	49	1	defining	define	VERB
cet-2327	49	2	the	the	DET
cet-2327	49	3	vectors	vector	NOUN
cet-2327	49	4	,	,	PUNCT
cet-2327	49	5	where	where	SCONJ
cet-2327	49	6	t	t	PROPN
cet-2327	49	7	means	mean	VERB
cet-2327	49	8	transposed	transposed	ADJ
cet-2327	49	9	matrix	matrix	NOUN
cet-2327	49	10	:	:	PUNCT
cet-2327	49	11	𝑌	𝑌	PROPN
cet-2327	49	12	=	=	PUNCT
cet-2327	50	1	[	[	X
cet-2327	50	2	𝑦(𝑘	𝑦(𝑘	PRON
cet-2327	50	3	+	+	NOUN
cet-2327	50	4	1	1	NUM
cet-2327	50	5	)	)	PUNCT
cet-2327	50	6	𝑦(𝑘	𝑦(𝑘	PRON
cet-2327	50	7	+	+	NOUN
cet-2327	50	8	2	2	NUM
cet-2327	50	9	)	)	PUNCT
cet-2327	50	10	𝑦(𝑘	𝑦(𝑘	PRON
cet-2327	50	11	+	+	NOUN
cet-2327	50	12	3	3	NUM
cet-2327	50	13	)	)	PUNCT
cet-2327	50	14	…	…	PUNCT
cet-2327	51	1	𝑦(𝑘	𝑦(𝑘	VERB
cet-2327	51	2	+	+	NOUN
cet-2327	51	3	𝑁𝑃]𝑇	𝑁𝑃]𝑇	NOUN
cet-2327	51	4	(	(	PUNCT
cet-2327	51	5	3	3	X
cet-2327	51	6	)	)	PUNCT
cet-2327	51	7	∆𝑢	∆𝑢	NOUN
cet-2327	51	8	=	=	PUNCT
cet-2327	52	1	[	[	X
cet-2327	52	2	∆𝑢(𝑘	∆𝑢(𝑘	PROPN
cet-2327	52	3	+	+	NOUN
cet-2327	52	4	1	1	X
cet-2327	52	5	)	)	PUNCT
cet-2327	52	6	∆𝑢(𝑘	∆𝑢(𝑘	NOUN
cet-2327	52	7	+	+	CCONJ
cet-2327	52	8	2	2	X
cet-2327	52	9	)	)	PUNCT
cet-2327	52	10	∆𝑢(𝑘	∆𝑢(𝑘	PROPN
cet-2327	53	1	+	+	CCONJ
cet-2327	53	2	3	3	X
cet-2327	53	3	)	)	PUNCT
cet-2327	53	4	…	…	PUNCT
cet-2327	54	1	∆𝑢(𝑘	∆𝑢(𝑘	PROPN
cet-2327	54	2	+	+	PUNCT
cet-2327	54	3	𝑁𝑃]𝑇	𝑁𝑃]𝑇	PRON
cet-2327	54	4	(	(	PUNCT
cet-2327	54	5	4	4	X
cet-2327	54	6	)	)	PUNCT
cet-2327	54	7	it	it	PRON
cet-2327	54	8	can	can	AUX
cet-2327	54	9	be	be	AUX
cet-2327	54	10	written	write	VERB
cet-2327	54	11	that	that	SCONJ
cet-2327	54	12	:	:	PUNCT
cet-2327	54	13	𝑌	𝑌	PROPN
cet-2327	54	14	=	=	SYM
cet-2327	54	15	𝐹	𝐹	PROPN
cet-2327	54	16	𝑥(𝑘	𝑥(𝑘	PROPN
cet-2327	54	17	)	)	PUNCT
cet-2327	54	18	+	+	CCONJ
cet-2327	54	19	𝜙	𝜙	DET
cet-2327	54	20	∆𝑢(𝑘	∆𝑢(𝑘	PROPN
cet-2327	54	21	)	)	PUNCT
cet-2327	54	22	(	(	PUNCT
cet-2327	54	23	5	5	X
cet-2327	54	24	)	)	PUNCT
cet-2327	54	25	being	be	AUX
cet-2327	54	26	:	:	PUNCT
cet-2327	54	27	𝐹	𝐹	PROPN
cet-2327	55	1	=	=	PUNCT
cet-2327	56	1	[	[	X
cet-2327	56	2	𝐶𝐴	𝐶𝐴	PROPN
cet-2327	56	3	𝐶𝐴2	𝐶𝐴2	PROPN
cet-2327	56	4	𝐶𝐴3	𝐶𝐴3	PROPN
cet-2327	56	5	…	…	PUNCT
cet-2327	56	6	𝐶𝐴𝑁𝑃]𝑇	𝐶𝐴𝑁𝑃]𝑇	X
cet-2327	56	7	(	(	PUNCT
cet-2327	56	8	6	6	NUM
cet-2327	56	9	)	)	PUNCT
cet-2327	56	10	𝜙	𝜙	NOUN
cet-2327	56	11	=	=	SYM
cet-2327	56	12	[	[	PUNCT
cet-2327	56	13	𝐶𝐵	𝐶𝐵	PROPN
cet-2327	56	14	𝐶𝐴𝐵	𝐶𝐴𝐵	PROPN
cet-2327	56	15	⋮	⋮	NOUN
cet-2327	56	16	𝐶𝐴𝑁𝑃−1𝐵	𝐶𝐴𝑁𝑃−1𝐵	NOUN
cet-2327	56	17	0	0	NUM
cet-2327	56	18	𝐶𝐵	𝐶𝐵	PROPN
cet-2327	56	19	𝐶𝐴𝑁𝑃−2𝐵	𝐶𝐴𝑁𝑃−2𝐵	ADP
cet-2327	56	20	0	0	NUM
cet-2327	56	21	…	…	PUNCT
cet-2327	56	22	0	0	NUM
cet-2327	56	23	0	0	NUM
cet-2327	56	24	…	…	SYM
cet-2327	56	25	0	0	NUM
cet-2327	56	26	𝐶	𝐶	PROPN
cet-2327	56	27	𝐴𝑁𝑃−3𝐵	𝐴𝑁𝑃−3𝐵	NOUN
cet-2327	56	28	…	…	PUNCT
cet-2327	56	29	𝐶𝐴𝑁𝑃−𝑁𝐶𝐵	𝐶𝐴𝑁𝑃−𝑁𝐶𝐵	NOUN
cet-2327	56	30	]	]	PUNCT
cet-2327	56	31	(	(	PUNCT
cet-2327	56	32	7	7	NUM
cet-2327	56	33	)	)	PUNCT
cet-2327	56	34	thus	thus	ADV
cet-2327	56	35	,	,	PUNCT
cet-2327	56	36	future	future	ADJ
cet-2327	56	37	values	value	NOUN
cet-2327	56	38	are	be	AUX
cet-2327	56	39	sent	send	VERB
cet-2327	56	40	to	to	ADP
cet-2327	56	41	the	the	DET
cet-2327	56	42	plant	plant	NOUN
cet-2327	56	43	actuators	actuator	NOUN
cet-2327	56	44	,	,	PUNCT
cet-2327	56	45	through	through	ADP
cet-2327	56	46	eq(5	eq(5	NOUN
cet-2327	56	47	)	)	PUNCT
cet-2327	56	48	,	,	PUNCT
cet-2327	56	49	it	it	PRON
cet-2327	56	50	can	can	AUX
cet-2327	56	51	be	be	AUX
cet-2327	56	52	obtained	obtain	VERB
cet-2327	56	53	via	via	ADP
cet-2327	56	54	the	the	DET
cet-2327	56	55	minimization	minimization	NOUN
cet-2327	56	56	of	of	ADP
cet-2327	56	57	an	an	DET
cet-2327	56	58	objective	objective	ADJ
cet-2327	56	59	function	function	NOUN
cet-2327	56	60	in	in	ADP
cet-2327	56	61	the	the	DET
cet-2327	56	62	following	follow	VERB
cet-2327	56	63	format	format	NOUN
cet-2327	56	64	:	:	PUNCT
cet-2327	56	65	𝐽	𝐽	PROPN
cet-2327	56	66	=	=	SYM
cet-2327	56	67	(	(	PUNCT
cet-2327	56	68	𝑅𝑆	𝑅𝑆	PROPN
cet-2327	56	69	−	−	PROPN
cet-2327	56	70	𝑌)𝑇(𝑅𝑆	𝑌)𝑇(𝑅𝑆	PROPN
cet-2327	56	71	−	−	PROPN
cet-2327	56	72	𝑌	𝑌	PROPN
cet-2327	56	73	)	)	PUNCT
cet-2327	56	74	+	+	CCONJ
cet-2327	56	75	∆𝑢𝑇𝑅	∆𝑢𝑇𝑅	PROPN
cet-2327	56	76	∆𝑢	∆𝑢	PROPN
cet-2327	56	77	(	(	PUNCT
cet-2327	56	78	8)	8)	NUM
cet-2327	56	79	where	where	SCONJ
cet-2327	56	80	:	:	PUNCT
cet-2327	56	81	𝑅𝑆	𝑅𝑆	PROPN
cet-2327	56	82	𝑇	𝑇	PROPN
cet-2327	56	83	=	=	PUNCT
cet-2327	57	1	[	[	PUNCT
cet-2327	57	2	1	1	NUM
cet-2327	57	3	1	1	NUM
cet-2327	57	4	1	1	NUM
cet-2327	57	5	1	1	NUM
cet-2327	57	6	…	…	SYM
cet-2327	57	7	1	1	NUM
cet-2327	57	8	]	]	PUNCT
cet-2327	57	9	𝑟(𝑘𝑖	𝑟(𝑘𝑖	NUM
cet-2327	57	10	)	)	PUNCT
cet-2327	57	11	(	(	PUNCT
cet-2327	57	12	9	9	X
cet-2327	57	13	)	)	PUNCT
cet-2327	57	14	the	the	DET
cet-2327	57	15	eq(9	eq(9	PROPN
cet-2327	57	16	)	)	PUNCT
cet-2327	57	17	contains	contain	VERB
cet-2327	57	18	the	the	DET
cet-2327	57	19	desired	desire	VERB
cet-2327	57	20	set	set	NOUN
cet-2327	57	21	point	point	NOUN
cet-2327	57	22	information	information	NOUN
cet-2327	57	23	r	r	NOUN
cet-2327	57	24	(	(	PUNCT
cet-2327	57	25	ki).the	ki).the	DET
cet-2327	57	26	unit	unit	NOUN
cet-2327	57	27	vector	vector	NOUN
cet-2327	57	28	size	size	NOUN
cet-2327	57	29	corresponds	correspond	VERB
cet-2327	57	30	to	to	ADP
cet-2327	57	31	the	the	DET
cet-2327	57	32	np	np	PROPN
cet-2327	57	33	value	value	NOUN
cet-2327	57	34	,	,	PUNCT
cet-2327	57	35	the	the	DET
cet-2327	57	36	parameter	parameter	NOUN
cet-2327	57	37	r	r	NOUN
cet-2327	57	38	corresponds	correspond	VERB
cet-2327	57	39	to	to	ADP
cet-2327	57	40	the	the	DET
cet-2327	57	41	weight	weight	NOUN
cet-2327	57	42	in	in	ADP
cet-2327	57	43	the	the	DET
cet-2327	57	44	controller	controller	NOUN
cet-2327	57	45	increment	increment	NOUN
cet-2327	57	46	.	.	PUNCT
cet-2327	58	1	in	in	ADP
cet-2327	58	2	order	order	NOUN
cet-2327	58	3	to	to	PART
cet-2327	58	4	find	find	VERB
cet-2327	58	5	the	the	DET
cet-2327	58	6	value	value	NOUN
cet-2327	58	7	of	of	ADP
cet-2327	58	8	δu	δu	ADP
cet-2327	58	9	which	which	PRON
cet-2327	58	10	minimizes	minimize	VERB
cet-2327	58	11	eq(8	eq(8	PROPN
cet-2327	58	12	)	)	PUNCT
cet-2327	58	13	,	,	PUNCT
cet-2327	58	14	it	it	PRON
cet-2327	58	15	must	must	AUX
cet-2327	58	16	be	be	AUX
cet-2327	58	17	rewrite	rewrite	VERB
cet-2327	58	18	this	this	DET
cet-2327	58	19	equation	equation	NOUN
cet-2327	58	20	using	use	VERB
cet-2327	58	21	eq(5	eq(5	NOUN
cet-2327	58	22	):	):	PUNCT
cet-2327	58	23	𝐽	𝐽	PROPN
cet-2327	58	24	=	=	SYM
cet-2327	58	25	(	(	PUNCT
cet-2327	58	26	𝑅𝑆	𝑅𝑆	PROPN
cet-2327	58	27	−	−	PROPN
cet-2327	58	28	𝐹	𝐹	PROPN
cet-2327	58	29	𝑥(𝑘𝑖	𝑥(𝑘𝑖	NUM
cet-2327	58	30	)	)	PUNCT
cet-2327	58	31	)	)	PUNCT
cet-2327	58	32	𝑇	𝑇	PROPN
cet-2327	58	33	(	(	PUNCT
cet-2327	58	34	𝑅𝑆	𝑅𝑆	PROPN
cet-2327	58	35	−	−	PROPN
cet-2327	58	36	𝐹	𝐹	PROPN
cet-2327	58	37	𝑥(𝑘𝑖	𝑥(𝑘𝑖	NUM
cet-2327	58	38	)	)	PUNCT
cet-2327	58	39	)	)	PUNCT
cet-2327	59	1	−	−	PROPN
cet-2327	60	1	2∆𝑢𝑇𝜙𝑇(𝑅𝑆	2∆𝑢𝑇𝜙𝑇(𝑅𝑆	NUM
cet-2327	60	2	−	−	PROPN
cet-2327	60	3	𝐹	𝐹	PROPN
cet-2327	60	4	𝑥(𝑘𝑖	𝑥(𝑘𝑖	NUM
cet-2327	60	5	)	)	PUNCT
cet-2327	60	6	)	)	PUNCT
cet-2327	61	1	+	+	NOUN
cet-2327	61	2	∆𝑢𝑇(𝜙𝑇𝜙	∆𝑢𝑇(𝜙𝑇𝜙	NUM
cet-2327	61	3	+	+	CCONJ
cet-2327	61	4	𝑅)∆𝑢	𝑅)∆𝑢	X
cet-2327	61	5	(	(	PUNCT
cet-2327	61	6	10	10	NUM
cet-2327	61	7	)	)	PUNCT
cet-2327	61	8	the	the	DET
cet-2327	61	9	condition	condition	NOUN
cet-2327	61	10	of	of	ADP
cet-2327	61	11	minimum	minimum	ADJ
cet-2327	61	12	value	value	NOUN
cet-2327	61	13	of	of	ADP
cet-2327	61	14	eq(10	eq(10	PROPN
cet-2327	61	15	)	)	PUNCT
cet-2327	61	16	is	be	AUX
cet-2327	61	17	obtained	obtain	VERB
cet-2327	61	18	as	as	ADP
cet-2327	61	19	:	:	PUNCT
cet-2327	61	20	𝜕𝐽	𝜕𝐽	PROPN
cet-2327	61	21	𝜕∆𝑢	𝜕∆𝑢	X
cet-2327	61	22	=	=	SYM
cet-2327	61	23	0	0	SYM
cet-2327	61	24	(	(	PUNCT
cet-2327	61	25	11	11	NUM
cet-2327	61	26	)	)	PUNCT
cet-2327	61	27	thus	thus	ADV
cet-2327	61	28	,	,	PUNCT
cet-2327	61	29	given	give	VERB
cet-2327	61	30	the	the	DET
cet-2327	61	31	optimal	optimal	ADJ
cet-2327	61	32	solution	solution	NOUN
cet-2327	61	33	for	for	ADP
cet-2327	61	34	the	the	DET
cet-2327	61	35	control	control	NOUN
cet-2327	61	36	signal	signal	NOUN
cet-2327	61	37	as	as	ADP
cet-2327	61	38	:	:	PUNCT
cet-2327	61	39	∆𝑢	∆𝑢	PROPN
cet-2327	61	40	=	=	PUNCT
cet-2327	61	41	(	(	PUNCT
cet-2327	61	42	𝜙𝑇𝜙	𝜙𝑇𝜙	X
cet-2327	61	43	+	+	NOUN
cet-2327	61	44	𝑅)−1𝜙𝑇(𝑅𝑆	𝑅)−1𝜙𝑇(𝑅𝑆	PROPN
cet-2327	61	45	−	−	PUNCT
cet-2327	61	46	𝐹	𝐹	PROPN
cet-2327	61	47	𝑥(𝑘𝑖	𝑥(𝑘𝑖	NUM
cet-2327	61	48	)	)	PUNCT
cet-2327	61	49	)	)	PUNCT
cet-2327	62	1	(	(	PUNCT
cet-2327	62	2	12	12	NUM
cet-2327	62	3	)	)	PUNCT
cet-2327	62	4	1581	1581	NUM
cet-2327	62	5	from	from	ADP
cet-2327	62	6	the	the	DET
cet-2327	62	7	result	result	NOUN
cet-2327	62	8	found	find	VERB
cet-2327	62	9	,	,	PUNCT
cet-2327	62	10	it	it	PRON
cet-2327	62	11	is	be	AUX
cet-2327	62	12	added	add	VERB
cet-2327	62	13	only	only	ADV
cet-2327	62	14	the	the	DET
cet-2327	62	15	first	first	ADJ
cet-2327	62	16	increment	increment	NOUN
cet-2327	62	17	to	to	ADP
cet-2327	62	18	the	the	DET
cet-2327	62	19	plant	plant	NOUN
cet-2327	62	20	inputs	input	NOUN
cet-2327	62	21	,	,	PUNCT
cet-2327	62	22	another	another	DET
cet-2327	62	23	points	point	NOUN
cet-2327	62	24	are	be	AUX
cet-2327	62	25	discarded	discard	VERB
cet-2327	62	26	,	,	PUNCT
cet-2327	62	27	and	and	CCONJ
cet-2327	62	28	the	the	DET
cet-2327	62	29	calculations	calculation	NOUN
cet-2327	62	30	are	be	AUX
cet-2327	62	31	restarted	restart	VERB
cet-2327	62	32	again	again	ADV
cet-2327	62	33	,	,	PUNCT
cet-2327	62	34	characterizing	characterize	VERB
cet-2327	62	35	a	a	DET
cet-2327	62	36	moving	move	VERB
cet-2327	62	37	horizon	horizon	NOUN
cet-2327	62	38	prediction	prediction	NOUN
cet-2327	62	39	.	.	PUNCT
cet-2327	63	1	it	it	PRON
cet-2327	63	2	was	be	AUX
cet-2327	63	3	also	also	ADV
cet-2327	63	4	implemented	implement	VERB
cet-2327	63	5	the	the	DET
cet-2327	63	6	imposition	imposition	NOUN
cet-2327	63	7	of	of	ADP
cet-2327	63	8	constraints	constraint	NOUN
cet-2327	63	9	on	on	ADP
cet-2327	63	10	the	the	DET
cet-2327	63	11	value	value	NOUN
cet-2327	63	12	of	of	ADP
cet-2327	63	13	the	the	DET
cet-2327	63	14	controller	controller	NOUN
cet-2327	63	15	output	output	NOUN
cet-2327	63	16	(	(	PUNCT
cet-2327	63	17	u	u	NOUN
cet-2327	63	18	)	)	PUNCT
cet-2327	63	19	,	,	PUNCT
cet-2327	63	20	and	and	CCONJ
cet-2327	63	21	on	on	ADP
cet-2327	63	22	the	the	DET
cet-2327	63	23	value	value	NOUN
cet-2327	63	24	of	of	ADP
cet-2327	63	25	its	its	PRON
cet-2327	63	26	increment	increment	NOUN
cet-2327	63	27	(	(	PUNCT
cet-2327	63	28	δu	δu	NOUN
cet-2327	63	29	)	)	PUNCT
cet-2327	63	30	,	,	PUNCT
cet-2327	63	31	using	use	VERB
cet-2327	63	32	quadratic	quadratic	ADJ
cet-2327	63	33	programming	programming	NOUN
cet-2327	63	34	.	.	PUNCT
cet-2327	64	1	the	the	DET
cet-2327	64	2	codes	code	NOUN
cet-2327	64	3	used	use	VERB
cet-2327	64	4	here	here	ADV
cet-2327	64	5	for	for	ADP
cet-2327	64	6	controller	controller	NOUN
cet-2327	64	7	development	development	NOUN
cet-2327	64	8	were	be	AUX
cet-2327	64	9	found	find	VERB
cet-2327	64	10	in	in	ADP
cet-2327	64	11	wang	wang	PROPN
cet-2327	64	12	,	,	PUNCT
cet-2327	64	13	2009	2009	NUM
cet-2327	64	14	.	.	PUNCT
cet-2327	65	1	3	3	X
cet-2327	65	2	.	.	NOUN
cet-2327	65	3	results	result	VERB
cet-2327	65	4	3.1	3.1	NUM
cet-2327	65	5	model	model	NOUN
cet-2327	65	6	after	after	ADP
cet-2327	65	7	applying	apply	VERB
cet-2327	65	8	perturbations	perturbation	NOUN
cet-2327	65	9	in	in	ADP
cet-2327	65	10	the	the	DET
cet-2327	65	11	system	system	NOUN
cet-2327	65	12	,	,	PUNCT
cet-2327	65	13	according	accord	VERB
cet-2327	65	14	to	to	ADP
cet-2327	65	15	table	table	NOUN
cet-2327	65	16	1	1	NUM
cet-2327	65	17	,	,	PUNCT
cet-2327	65	18	the	the	DET
cet-2327	65	19	level	level	NOUN
cet-2327	65	20	behavior	behavior	NOUN
cet-2327	65	21	can	can	AUX
cet-2327	65	22	be	be	AUX
cet-2327	65	23	seen	see	VERB
cet-2327	65	24	in	in	ADP
cet-2327	65	25	figure	figure	NOUN
cet-2327	65	26	2	2	NUM
cet-2327	65	27	and	and	CCONJ
cet-2327	65	28	figure	figure	VERB
cet-2327	65	29	3	3	NUM
cet-2327	65	30	:	:	PUNCT
cet-2327	65	31	figure	figure	NOUN
cet-2327	65	32	2	2	NUM
cet-2327	65	33	:	:	PUNCT
cet-2327	65	34	level	level	NOUN
cet-2327	65	35	responses	response	NOUN
cet-2327	65	36	,	,	PUNCT
cet-2327	65	37	in	in	ADP
cet-2327	65	38	variable	variable	ADJ
cet-2327	65	39	deviation	deviation	NOUN
cet-2327	65	40	,	,	PUNCT
cet-2327	65	41	obtained	obtain	VERB
cet-2327	65	42	from	from	ADP
cet-2327	65	43	the	the	DET
cet-2327	65	44	perturbations	perturbation	NOUN
cet-2327	65	45	applied	apply	VERB
cet-2327	65	46	in	in	ADP
cet-2327	65	47	pump	pump	NOUN
cet-2327	65	48	1	1	NUM
cet-2327	65	49	.	.	PUNCT
cet-2327	65	50	figure	figure	VERB
cet-2327	65	51	3	3	NUM
cet-2327	65	52	:	:	PUNCT
cet-2327	65	53	level	level	NOUN
cet-2327	65	54	responses	response	NOUN
cet-2327	65	55	,	,	PUNCT
cet-2327	65	56	in	in	ADP
cet-2327	65	57	variable	variable	ADJ
cet-2327	65	58	deviation	deviation	NOUN
cet-2327	65	59	,	,	PUNCT
cet-2327	65	60	obtained	obtain	VERB
cet-2327	65	61	from	from	ADP
cet-2327	65	62	the	the	DET
cet-2327	65	63	perturbations	perturbation	NOUN
cet-2327	65	64	applied	apply	VERB
cet-2327	65	65	in	in	ADP
cet-2327	65	66	pump	pump	NOUN
cet-2327	65	67	2	2	NUM
cet-2327	65	68	.	.	PUNCT
cet-2327	65	69	small	small	ADJ
cet-2327	65	70	oscillations	oscillation	NOUN
cet-2327	65	71	in	in	ADP
cet-2327	65	72	the	the	DET
cet-2327	65	73	level	level	NOUN
cet-2327	65	74	responses	response	NOUN
cet-2327	65	75	were	be	AUX
cet-2327	65	76	observed	observe	VERB
cet-2327	65	77	,	,	PUNCT
cet-2327	65	78	when	when	SCONJ
cet-2327	65	79	reaching	reach	VERB
cet-2327	65	80	the	the	DET
cet-2327	65	81	steady	steady	ADJ
cet-2327	65	82	state	state	NOUN
cet-2327	65	83	.	.	PUNCT
cet-2327	66	1	these	these	PRON
cet-2327	66	2	are	be	AUX
cet-2327	66	3	due	due	ADJ
cet-2327	66	4	to	to	ADP
cet-2327	66	5	electric	electric	ADJ
cet-2327	66	6	oscillations	oscillation	NOUN
cet-2327	66	7	of	of	ADP
cet-2327	66	8	the	the	DET
cet-2327	66	9	pumps	pump	NOUN
cet-2327	66	10	.	.	PUNCT
cet-2327	67	1	there	there	PRON
cet-2327	67	2	is	be	VERB
cet-2327	67	3	also	also	ADV
cet-2327	67	4	a	a	DET
cet-2327	67	5	high	high	ADJ
cet-2327	67	6	noise	noise	NOUN
cet-2327	67	7	in	in	ADP
cet-2327	67	8	the	the	DET
cet-2327	67	9	signal	signal	NOUN
cet-2327	67	10	from	from	ADP
cet-2327	67	11	the	the	DET
cet-2327	67	12	pressure	pressure	NOUN
cet-2327	67	13	sensors	sensor	NOUN
cet-2327	67	14	,	,	PUNCT
cet-2327	67	15	which	which	PRON
cet-2327	67	16	measured	measure	VERB
cet-2327	67	17	the	the	DET
cet-2327	67	18	level	level	NOUN
cet-2327	67	19	indirectly	indirectly	ADV
cet-2327	67	20	.	.	PUNCT
cet-2327	68	1	such	such	ADJ
cet-2327	68	2	noise	noise	NOUN
cet-2327	68	3	was	be	AUX
cet-2327	68	4	caused	cause	VERB
cet-2327	68	5	by	by	ADP
cet-2327	68	6	the	the	DET
cet-2327	68	7	proximity	proximity	NOUN
cet-2327	68	8	of	of	ADP
cet-2327	68	9	the	the	DET
cet-2327	68	10	level	level	NOUN
cet-2327	68	11	sensors	sensor	NOUN
cet-2327	68	12	with	with	ADP
cet-2327	68	13	the	the	DET
cet-2327	68	14	feed	feed	NOUN
cet-2327	68	15	pumps	pump	NOUN
cet-2327	68	16	.	.	PUNCT
cet-2327	69	1	it	it	PRON
cet-2327	69	2	was	be	AUX
cet-2327	69	3	obtained	obtain	VERB
cet-2327	69	4	the	the	DET
cet-2327	69	5	transfer	transfer	NOUN
cet-2327	69	6	matrix	matrix	NOUN
cet-2327	69	7	,	,	PUNCT
cet-2327	69	8	g	g	PROPN
cet-2327	69	9	(	(	PUNCT
cet-2327	69	10	s	s	PROPN
cet-2327	69	11	)	)	PUNCT
cet-2327	69	12	,	,	PUNCT
cet-2327	69	13	after	after	ADP
cet-2327	69	14	linear	linear	PROPN
cet-2327	69	15	regression	regression	NOUN
cet-2327	69	16	,	,	PUNCT
cet-2327	69	17	according	accord	VERB
cet-2327	69	18	to	to	ADP
cet-2327	69	19	eq(13	eq(13	PROPN
cet-2327	69	20	):	):	PUNCT
cet-2327	69	21	𝐺(𝑠	𝐺(𝑠	NUM
cet-2327	69	22	)	)	PUNCT
cet-2327	69	23	=	=	NOUN
cet-2327	70	1	[	[	PUNCT
cet-2327	70	2	𝑦1	𝑦1	NOUN
cet-2327	70	3	𝑦2	𝑦2	PROPN
cet-2327	70	4	]	]	PUNCT
cet-2327	71	1	=	=	PUNCT
cet-2327	72	1	[	[	PUNCT
cet-2327	72	2	1,88	1,88	PROPN
cet-2327	72	3	56,43	56,43	VERB
cet-2327	72	4	𝑠	𝑠	PROPN
cet-2327	73	1	+	+	CCONJ
cet-2327	73	2	1	1	NUM
cet-2327	73	3	1,9	1,9	NUM
cet-2327	73	4	78,21	78,21	NUM
cet-2327	73	5	𝑠	𝑠	PROPN
cet-2327	74	1	+	+	NOUN
cet-2327	74	2	1	1	NUM
cet-2327	74	3	1,32	1,32	NUM
cet-2327	74	4	560,57	560,57	NOUN
cet-2327	74	5	𝑠2	𝑠2	NOUN
cet-2327	74	6	+	+	CCONJ
cet-2327	74	7	70,74	70,74	NOUN
cet-2327	74	8	𝑠	𝑠	NOUN
cet-2327	74	9	+	+	CCONJ
cet-2327	74	10	1	1	NUM
cet-2327	74	11	1,99	1,99	NUM
cet-2327	74	12	71,95	71,95	NUM
cet-2327	74	13	𝑠	𝑠	PROPN
cet-2327	75	1	+	+	CCONJ
cet-2327	75	2	1	1	NUM
cet-2327	75	3	]	]	PUNCT
cet-2327	75	4	[	[	PUNCT
cet-2327	75	5	𝑢1	𝑢1	PROPN
cet-2327	75	6	𝑢2	𝑢2	PROPN
cet-2327	75	7	]	]	PUNCT
cet-2327	75	8	(	(	PUNCT
cet-2327	75	9	13	13	NUM
cet-2327	75	10	)	)	PUNCT
cet-2327	75	11	3.2	3.2	NUM
cet-2327	75	12	multivariable	multivariable	ADJ
cet-2327	75	13	controller	controller	NOUN
cet-2327	75	14	the	the	DET
cet-2327	75	15	tuning	tuning	NOUN
cet-2327	75	16	parameters	parameter	NOUN
cet-2327	75	17	of	of	ADP
cet-2327	75	18	the	the	DET
cet-2327	75	19	controller	controller	NOUN
cet-2327	75	20	used	use	VERB
cet-2327	75	21	initially	initially	ADV
cet-2327	75	22	were	be	AUX
cet-2327	75	23	based	base	VERB
cet-2327	75	24	on	on	ADP
cet-2327	75	25	the	the	DET
cet-2327	75	26	settling	settling	NOUN
cet-2327	75	27	time	time	NOUN
cet-2327	75	28	of	of	ADP
cet-2327	75	29	the	the	DET
cet-2327	75	30	process	process	NOUN
cet-2327	75	31	,	,	PUNCT
cet-2327	75	32	as	as	SCONJ
cet-2327	75	33	indicated	indicate	VERB
cet-2327	75	34	in	in	ADP
cet-2327	75	35	moudgalya	moudgalya	PROPN
cet-2327	75	36	,	,	PUNCT
cet-2327	75	37	2007	2007	NUM
cet-2327	75	38	.	.	PUNCT
cet-2327	76	1	however	however	ADV
cet-2327	76	2	,	,	PUNCT
cet-2327	76	3	the	the	DET
cet-2327	76	4	performance	performance	NOUN
cet-2327	76	5	of	of	ADP
cet-2327	76	6	tests	test	NOUN
cet-2327	76	7	in	in	ADP
cet-2327	76	8	the	the	DET
cet-2327	76	9	system	system	NOUN
cet-2327	76	10	led	lead	VERB
cet-2327	76	11	to	to	ADP
cet-2327	76	12	the	the	DET
cet-2327	76	13	use	use	NOUN
cet-2327	76	14	of	of	ADP
cet-2327	76	15	the	the	DET
cet-2327	76	16	parameters	parameter	NOUN
cet-2327	76	17	showed	show	VERB
cet-2327	76	18	in	in	ADP
cet-2327	76	19	table	table	NOUN
cet-2327	76	20	2	2	NUM
cet-2327	76	21	:	:	PUNCT
cet-2327	76	22	table	table	NOUN
cet-2327	76	23	2	2	NUM
cet-2327	76	24	:	:	PUNCT
cet-2327	76	25	controller	controller	NOUN
cet-2327	76	26	tuning	tune	VERB
cet-2327	76	27	parameters	parameter	NOUN
cet-2327	76	28	.	.	PUNCT
cet-2327	77	1	parameters	parameter	NOUN
cet-2327	77	2	value	value	NOUN
cet-2327	77	3	prediction	prediction	NOUN
cet-2327	77	4	horizon	horizon	NOUN
cet-2327	77	5	(	(	PUNCT
cet-2327	77	6	np	np	NOUN
cet-2327	77	7	)	)	PUNCT
cet-2327	77	8	40	40	NUM
cet-2327	77	9	control	control	NOUN
cet-2327	77	10	horizon	horizon	NOUN
cet-2327	77	11	(	(	PUNCT
cet-2327	77	12	nc	nc	PROPN
cet-2327	77	13	)	)	PUNCT
cet-2327	77	14	weight	weight	NOUN
cet-2327	77	15	(	(	PUNCT
cet-2327	77	16	r	r	NOUN
cet-2327	77	17	)	)	PUNCT
cet-2327	77	18	4	4	NUM
cet-2327	77	19	10	10	NUM
cet-2327	77	20	the	the	DET
cet-2327	77	21	sampling	sample	VERB
cet-2327	77	22	rate	rate	NOUN
cet-2327	77	23	(	(	PUNCT
cet-2327	77	24	δt	δt	NOUN
cet-2327	77	25	)	)	PUNCT
cet-2327	77	26	was	be	AUX
cet-2327	77	27	also	also	ADV
cet-2327	77	28	calculated	calculate	VERB
cet-2327	77	29	based	base	VERB
cet-2327	77	30	on	on	ADP
cet-2327	77	31	the	the	DET
cet-2327	77	32	settling	settling	NOUN
cet-2327	77	33	time	time	NOUN
cet-2327	77	34	of	of	ADP
cet-2327	77	35	the	the	DET
cet-2327	77	36	process	process	NOUN
cet-2327	77	37	,	,	PUNCT
cet-2327	77	38	according	accord	VERB
cet-2327	77	39	to	to	ADP
cet-2327	77	40	the	the	DET
cet-2327	77	41	procedure	procedure	NOUN
cet-2327	77	42	found	find	VERB
cet-2327	77	43	in	in	ADP
cet-2327	77	44	zhu	zhu	PROPN
cet-2327	77	45	,	,	PUNCT
cet-2327	77	46	2002	2002	NUM
cet-2327	77	47	.	.	PUNCT
cet-2327	78	1	however	however	ADV
cet-2327	78	2	,	,	PUNCT
cet-2327	78	3	preliminary	preliminary	ADJ
cet-2327	78	4	tests	test	NOUN
cet-2327	78	5	also	also	ADV
cet-2327	78	6	provided	provide	VERB
cet-2327	78	7	better	well	ADJ
cet-2327	78	8	controller	controller	NOUN
cet-2327	78	9	performance	performance	NOUN
cet-2327	78	10	with	with	ADP
cet-2327	78	11	the	the	DET
cet-2327	78	12	use	use	NOUN
cet-2327	78	13	of	of	ADP
cet-2327	78	14	1s	1	NOUN
cet-2327	78	15	for	for	ADP
cet-2327	78	16	sampling	sample	VERB
cet-2327	78	17	.	.	PUNCT
cet-2327	79	1	the	the	DET
cet-2327	79	2	behavior	behavior	NOUN
cet-2327	79	3	of	of	ADP
cet-2327	79	4	the	the	DET
cet-2327	79	5	system	system	NOUN
cet-2327	79	6	can	can	AUX
cet-2327	79	7	be	be	AUX
cet-2327	79	8	observed	observe	VERB
cet-2327	79	9	,	,	PUNCT
cet-2327	79	10	in	in	ADP
cet-2327	79	11	figure	figure	NOUN
cet-2327	79	12	4	4	NUM
cet-2327	79	13	and	and	CCONJ
cet-2327	79	14	figure	figure	VERB
cet-2327	79	15	5	5	NUM
cet-2327	79	16	,	,	PUNCT
cet-2327	79	17	in	in	ADP
cet-2327	79	18	set	set	ADJ
cet-2327	79	19	point	point	NOUN
cet-2327	79	20	changes	change	NOUN
cet-2327	79	21	.	.	PUNCT
cet-2327	80	1	it	it	PRON
cet-2327	80	2	was	be	AUX
cet-2327	80	3	observed	observe	VERB
cet-2327	80	4	on	on	ADP
cet-2327	80	5	figure	figure	NOUN
cet-2327	80	6	5	5	NUM
cet-2327	80	7	that	that	SCONJ
cet-2327	80	8	the	the	DET
cet-2327	80	9	controller	controller	NOUN
cet-2327	80	10	is	be	AUX
cet-2327	80	11	able	able	ADJ
cet-2327	80	12	to	to	PART
cet-2327	80	13	maintain	maintain	VERB
cet-2327	80	14	the	the	DET
cet-2327	80	15	level	level	NOUN
cet-2327	80	16	of	of	ADP
cet-2327	80	17	both	both	DET
cet-2327	80	18	tanks	tank	NOUN
cet-2327	80	19	independently	independently	ADV
cet-2327	80	20	,	,	PUNCT
cet-2327	80	21	in	in	ADP
cet-2327	80	22	positive	positive	ADJ
cet-2327	80	23	and	and	CCONJ
cet-2327	80	24	negative	negative	ADJ
cet-2327	80	25	changes	change	NOUN
cet-2327	80	26	in	in	ADP
cet-2327	80	27	the	the	DET
cet-2327	80	28	set	set	NOUN
cet-2327	80	29	point	point	NOUN
cet-2327	80	30	.	.	PUNCT
cet-2327	81	1	the	the	DET
cet-2327	81	2	responses	response	NOUN
cet-2327	81	3	did	do	AUX
cet-2327	81	4	not	not	PART
cet-2327	81	5	show	show	VERB
cet-2327	81	6	oscillatory	oscillatory	ADJ
cet-2327	81	7	behavior	behavior	NOUN
cet-2327	81	8	,	,	PUNCT
cet-2327	81	9	and	and	CCONJ
cet-2327	81	10	exhibit	exhibit	VERB
cet-2327	81	11	relevant	relevant	ADJ
cet-2327	81	12	overshoot	overshoot	NOUN
cet-2327	81	13	only	only	ADV
cet-2327	81	14	in	in	ADP
cet-2327	81	15	the	the	DET
cet-2327	81	16	first	first	ADJ
cet-2327	81	17	change	change	NOUN
cet-2327	81	18	of	of	ADP
cet-2327	81	19	the	the	DET
cet-2327	81	20	set	set	NOUN
cet-2327	81	21	point	point	NOUN
cet-2327	81	22	.	.	PUNCT
cet-2327	82	1	this	this	DET
cet-2327	82	2	behavior	behavior	NOUN
cet-2327	82	3	maybe	maybe	ADV
cet-2327	82	4	has	have	AUX
cet-2327	82	5	been	be	AUX
cet-2327	82	6	caused	cause	VERB
cet-2327	82	7	by	by	ADP
cet-2327	82	8	an	an	DET
cet-2327	82	9	inadequate	inadequate	ADJ
cet-2327	82	10	value	value	NOUN
cet-2327	82	11	of	of	ADP
cet-2327	82	12	the	the	DET
cet-2327	82	13	increment	increment	NOUN
cet-2327	82	14	weight	weight	NOUN
cet-2327	82	15	,	,	PUNCT
cet-2327	82	16	or	or	CCONJ
cet-2327	82	17	by	by	ADP
cet-2327	82	18	an	an	DET
cet-2327	82	19	inadequate	inadequate	ADJ
cet-2327	82	20	model	model	NOUN
cet-2327	82	21	of	of	ADP
cet-2327	82	22	the	the	DET
cet-2327	82	23	process	process	NOUN
cet-2327	82	24	.	.	PUNCT
cet-2327	83	1	the	the	DET
cet-2327	83	2	efficiency	efficiency	NOUN
cet-2327	83	3	of	of	ADP
cet-2327	83	4	the	the	DET
cet-2327	83	5	controller	controller	NOUN
cet-2327	83	6	can	can	AUX
cet-2327	83	7	still	still	ADV
cet-2327	83	8	be	be	AUX
cet-2327	83	9	verified	verify	VERB
cet-2327	83	10	in	in	ADP
cet-2327	83	11	figure	figure	NOUN
cet-2327	83	12	6	6	NUM
cet-2327	83	13	,	,	PUNCT
cet-2327	83	14	it	it	PRON
cet-2327	83	15	can	can	AUX
cet-2327	83	16	be	be	AUX
cet-2327	83	17	observed	observe	VERB
cet-2327	83	18	that	that	SCONJ
cet-2327	83	19	the	the	DET
cet-2327	83	20	control	control	NOUN
cet-2327	83	21	signal	signal	NOUN
cet-2327	83	22	of	of	ADP
cet-2327	83	23	both	both	DET
cet-2327	83	24	1582	1582	NUM
cet-2327	83	25	pumps	pump	NOUN
cet-2327	83	26	do	do	AUX
cet-2327	83	27	not	not	PART
cet-2327	83	28	have	have	VERB
cet-2327	83	29	large	large	ADJ
cet-2327	83	30	oscillations	oscillation	NOUN
cet-2327	83	31	in	in	ADP
cet-2327	83	32	their	their	PRON
cet-2327	83	33	operating	operating	NOUN
cet-2327	83	34	range	range	NOUN
cet-2327	83	35	,	,	PUNCT
cet-2327	83	36	and	and	CCONJ
cet-2327	83	37	the	the	DET
cet-2327	83	38	changes	change	NOUN
cet-2327	83	39	made	make	VERB
cet-2327	83	40	to	to	PART
cet-2327	83	41	bring	bring	VERB
cet-2327	83	42	the	the	DET
cet-2327	83	43	levels	level	NOUN
cet-2327	83	44	to	to	ADP
cet-2327	83	45	the	the	DET
cet-2327	83	46	new	new	ADJ
cet-2327	83	47	ones	one	NOUN
cet-2327	83	48	references	reference	NOUN
cet-2327	83	49	occurs	occur	VERB
cet-2327	83	50	smoothly	smoothly	ADV
cet-2327	83	51	,	,	PUNCT
cet-2327	83	52	which	which	PRON
cet-2327	83	53	increases	increase	VERB
cet-2327	83	54	the	the	DET
cet-2327	83	55	lifetime	lifetime	NOUN
cet-2327	83	56	of	of	ADP
cet-2327	83	57	the	the	DET
cet-2327	83	58	actuators	actuator	NOUN
cet-2327	83	59	.	.	PUNCT
cet-2327	84	1	figure	figure	VERB
cet-2327	84	2	4	4	NUM
cet-2327	84	3	:	:	PUNCT
cet-2327	84	4	responses	response	NOUN
cet-2327	84	5	obtained	obtain	VERB
cet-2327	84	6	from	from	ADP
cet-2327	84	7	the	the	DET
cet-2327	84	8	set	set	NOUN
cet-2327	84	9	point	point	NOUN
cet-2327	84	10	disturbances	disturbance	NOUN
cet-2327	84	11	applied	apply	VERB
cet-2327	84	12	.	.	PUNCT
cet-2327	85	1	figure	figure	NOUN
cet-2327	85	2	5	5	NUM
cet-2327	85	3	:	:	PUNCT
cet-2327	85	4	control	control	NOUN
cet-2327	85	5	actions	action	NOUN
cet-2327	85	6	obtained	obtain	VERB
cet-2327	85	7	after	after	ADP
cet-2327	85	8	the	the	DET
cet-2327	85	9	set	set	NOUN
cet-2327	85	10	point	point	NOUN
cet-2327	85	11	disturbances	disturbance	NOUN
cet-2327	85	12	.	.	PUNCT
cet-2327	86	1	in	in	ADP
cet-2327	86	2	figure	figure	NOUN
cet-2327	86	3	6	6	NUM
cet-2327	86	4	and	and	CCONJ
cet-2327	86	5	figure	figure	VERB
cet-2327	86	6	7	7	NUM
cet-2327	86	7	,	,	PUNCT
cet-2327	86	8	it	it	PRON
cet-2327	86	9	can	can	AUX
cet-2327	86	10	note	note	VERB
cet-2327	86	11	the	the	DET
cet-2327	86	12	influence	influence	NOUN
cet-2327	86	13	on	on	ADP
cet-2327	86	14	the	the	DET
cet-2327	86	15	weight	weight	NOUN
cet-2327	86	16	controller	controller	NOUN
cet-2327	86	17	,	,	PUNCT
cet-2327	86	18	to	to	ADP
cet-2327	86	19	this	this	DET
cet-2327	86	20	reduction	reduction	NOUN
cet-2327	86	21	of	of	ADP
cet-2327	86	22	the	the	DET
cet-2327	86	23	value	value	NOUN
cet-2327	86	24	of	of	ADP
cet-2327	86	25	the	the	DET
cet-2327	86	26	parameter	parameter	NOUN
cet-2327	86	27	to	to	ADP
cet-2327	86	28	0.1	0.1	NUM
cet-2327	86	29	,	,	PUNCT
cet-2327	86	30	which	which	PRON
cet-2327	86	31	allowed	allow	VERB
cet-2327	86	32	sending	send	VERB
cet-2327	86	33	the	the	DET
cet-2327	86	34	plant	plant	NOUN
cet-2327	86	35	increments	increment	NOUN
cet-2327	86	36	with	with	ADP
cet-2327	86	37	higher	high	ADJ
cet-2327	86	38	values	value	NOUN
cet-2327	86	39	than	than	ADP
cet-2327	86	40	the	the	DET
cet-2327	86	41	previous	previous	ADJ
cet-2327	86	42	case	case	NOUN
cet-2327	86	43	.	.	PUNCT
cet-2327	87	1	thus	thus	ADV
cet-2327	87	2	,	,	PUNCT
cet-2327	87	3	it	it	PRON
cet-2327	87	4	was	be	AUX
cet-2327	87	5	verified	verify	VERB
cet-2327	87	6	that	that	SCONJ
cet-2327	87	7	a	a	DET
cet-2327	87	8	response	response	NOUN
cet-2327	87	9	of	of	ADP
cet-2327	87	10	the	the	DET
cet-2327	87	11	values	value	NOUN
cet-2327	87	12	in	in	ADP
cet-2327	87	13	relation	relation	NOUN
cet-2327	87	14	to	to	ADP
cet-2327	87	15	changes	change	NOUN
cet-2327	87	16	in	in	ADP
cet-2327	87	17	the	the	DET
cet-2327	87	18	set	set	NOUN
cet-2327	87	19	point	point	NOUN
cet-2327	87	20	has	have	AUX
cet-2327	87	21	become	become	VERB
cet-2327	87	22	faster	fast	ADJ
cet-2327	87	23	and	and	CCONJ
cet-2327	87	24	oscillatory	oscillatory	ADJ
cet-2327	87	25	,	,	PUNCT
cet-2327	87	26	and	and	CCONJ
cet-2327	87	27	consequently	consequently	ADV
cet-2327	87	28	,	,	PUNCT
cet-2327	87	29	it	it	PRON
cet-2327	87	30	was	be	AUX
cet-2327	87	31	observed	observe	VERB
cet-2327	87	32	also	also	ADV
cet-2327	87	33	that	that	SCONJ
cet-2327	87	34	the	the	DET
cet-2327	87	35	control	control	NOUN
cet-2327	87	36	signal	signal	NOUN
cet-2327	87	37	has	have	AUX
cet-2327	87	38	become	become	VERB
cet-2327	87	39	more	more	ADV
cet-2327	87	40	oscillatory	oscillatory	ADJ
cet-2327	87	41	,	,	PUNCT
cet-2327	87	42	which	which	PRON
cet-2327	87	43	increases	increase	VERB
cet-2327	87	44	wear	wear	NOUN
cet-2327	87	45	of	of	ADP
cet-2327	87	46	actuators	actuator	NOUN
cet-2327	87	47	.	.	PUNCT
cet-2327	88	1	figure	figure	VERB
cet-2327	88	2	6	6	NUM
cet-2327	88	3	:	:	PUNCT
cet-2327	88	4	responses	response	NOUN
cet-2327	88	5	after	after	ADP
cet-2327	88	6	control	control	NOUN
cet-2327	88	7	weight	weight	NOUN
cet-2327	88	8	change	change	NOUN
cet-2327	88	9	to	to	ADP
cet-2327	88	10	0.1	0.1	NUM
cet-2327	88	11	,	,	PUNCT
cet-2327	88	12	obtained	obtain	VERB
cet-2327	88	13	from	from	ADP
cet-2327	88	14	the	the	DET
cet-2327	88	15	set	set	NOUN
cet-2327	88	16	point	point	NOUN
cet-2327	88	17	disturbances	disturbance	NOUN
cet-2327	88	18	applied	apply	VERB
cet-2327	88	19	.	.	PUNCT
cet-2327	89	1	figure	figure	VERB
cet-2327	89	2	7	7	NUM
cet-2327	89	3	:	:	PUNCT
cet-2327	89	4	control	control	NOUN
cet-2327	89	5	actions	action	NOUN
cet-2327	89	6	obtained	obtain	VERB
cet-2327	89	7	after	after	ADP
cet-2327	89	8	the	the	DET
cet-2327	89	9	set	set	NOUN
cet-2327	89	10	point	point	NOUN
cet-2327	89	11	disturbances	disturbance	NOUN
cet-2327	89	12	,	,	PUNCT
cet-2327	89	13	with	with	ADP
cet-2327	89	14	control	control	NOUN
cet-2327	89	15	weight	weight	NOUN
cet-2327	89	16	change	change	NOUN
cet-2327	89	17	to	to	ADP
cet-2327	89	18	0.1	0.1	NUM
cet-2327	89	19	.	.	PUNCT
cet-2327	90	1	in	in	ADP
cet-2327	90	2	figure	figure	NOUN
cet-2327	90	3	8	8	NUM
cet-2327	90	4	and	and	CCONJ
cet-2327	90	5	figure	figure	VERB
cet-2327	90	6	9	9	NUM
cet-2327	90	7	,	,	PUNCT
cet-2327	90	8	verified	verify	VERB
cet-2327	90	9	the	the	DET
cet-2327	90	10	influence	influence	NOUN
cet-2327	90	11	of	of	ADP
cet-2327	90	12	the	the	DET
cet-2327	90	13	prediction	prediction	NOUN
cet-2327	90	14	horizon	horizon	NOUN
cet-2327	90	15	,	,	PUNCT
cet-2327	90	16	which	which	PRON
cet-2327	90	17	decreased	decrease	VERB
cet-2327	90	18	to	to	ADP
cet-2327	90	19	the	the	DET
cet-2327	90	20	value	value	NOUN
cet-2327	90	21	of	of	ADP
cet-2327	90	22	12	12	NUM
cet-2327	90	23	.	.	PUNCT
cet-2327	91	1	the	the	DET
cet-2327	91	2	response	response	NOUN
cet-2327	91	3	has	have	VERB
cet-2327	91	4	some	some	DET
cet-2327	91	5	overshoots	overshoot	NOUN
cet-2327	91	6	and	and	CCONJ
cet-2327	91	7	undershoots	undershoot	NOUN
cet-2327	91	8	,	,	PUNCT
cet-2327	91	9	after	after	ADP
cet-2327	91	10	the	the	DET
cet-2327	91	11	changes	change	NOUN
cet-2327	91	12	in	in	ADP
cet-2327	91	13	the	the	DET
cet-2327	91	14	set	set	NOUN
cet-2327	91	15	point	point	NOUN
cet-2327	91	16	,	,	PUNCT
cet-2327	91	17	that	that	ADV
cet-2327	91	18	is	is	ADV
cet-2327	91	19	,	,	PUNCT
cet-2327	91	20	increased	increased	ADJ
cet-2327	91	21	instability	instability	NOUN
cet-2327	91	22	.	.	PUNCT
cet-2327	92	1	the	the	DET
cet-2327	92	2	control	control	PROPN
cet-2327	92	3	signal	signal	NOUN
cet-2327	92	4	showed	show	VERB
cet-2327	92	5	some	some	DET
cet-2327	92	6	peaks	peak	NOUN
cet-2327	92	7	in	in	ADP
cet-2327	92	8	front	front	NOUN
cet-2327	92	9	of	of	ADP
cet-2327	92	10	changes	change	NOUN
cet-2327	92	11	in	in	ADP
cet-2327	92	12	the	the	DET
cet-2327	92	13	set	set	NOUN
cet-2327	92	14	point	point	NOUN
cet-2327	92	15	,	,	PUNCT
cet-2327	92	16	which	which	PRON
cet-2327	92	17	indicates	indicate	VERB
cet-2327	92	18	a	a	DET
cet-2327	92	19	more	more	ADV
cet-2327	92	20	aggressive	aggressive	ADJ
cet-2327	92	21	control	control	NOUN
cet-2327	92	22	action	action	NOUN
cet-2327	92	23	.	.	PUNCT
cet-2327	93	1	such	such	ADJ
cet-2327	93	2	behavior	behavior	NOUN
cet-2327	93	3	is	be	AUX
cet-2327	93	4	in	in	ADP
cet-2327	93	5	agreement	agreement	NOUN
cet-2327	93	6	with	with	ADP
cet-2327	93	7	the	the	DET
cet-2327	93	8	literature	literature	NOUN
cet-2327	93	9	.	.	PUNCT
cet-2327	94	1	if	if	SCONJ
cet-2327	94	2	prediction	prediction	NOUN
cet-2327	94	3	horizon	horizon	NOUN
cet-2327	94	4	is	be	AUX
cet-2327	94	5	large	large	ADJ
cet-2327	94	6	,	,	PUNCT
cet-2327	94	7	case	case	NOUN
cet-2327	94	8	not	not	PART
cet-2327	94	9	analyzed	analyze	VERB
cet-2327	94	10	here	here	ADV
cet-2327	94	11	,	,	PUNCT
cet-2327	94	12	it	it	PRON
cet-2327	94	13	can	can	AUX
cet-2327	94	14	have	have	VERB
cet-2327	94	15	problems	problem	NOUN
cet-2327	94	16	of	of	ADP
cet-2327	94	17	ill	ill	ADJ
cet-2327	94	18	conditioning	conditioning	NOUN
cet-2327	94	19	of	of	ADP
cet-2327	94	20	the	the	DET
cet-2327	94	21	matrices	matrix	NOUN
cet-2327	94	22	,	,	PUNCT
cet-2327	94	23	according	accord	VERB
cet-2327	94	24	to	to	ADP
cet-2327	94	25	the	the	DET
cet-2327	94	26	literature	literature	NOUN
cet-2327	94	27	(	(	PUNCT
cet-2327	94	28	wang	wang	PROPN
cet-2327	94	29	,	,	PUNCT
cet-2327	94	30	2009	2009	NUM
cet-2327	94	31	)	)	PUNCT
cet-2327	94	32	.	.	PUNCT
cet-2327	95	1	figure	figure	VERB
cet-2327	95	2	8	8	NUM
cet-2327	95	3	:	:	PUNCT
cet-2327	95	4	responses	response	NOUN
cet-2327	95	5	after	after	ADP
cet-2327	95	6	prediction	prediction	NOUN
cet-2327	95	7	horizon	horizon	NOUN
cet-2327	95	8	change	change	NOUN
cet-2327	95	9	to	to	ADP
cet-2327	95	10	12	12	NUM
cet-2327	95	11	,	,	PUNCT
cet-2327	95	12	obtained	obtain	VERB
cet-2327	95	13	from	from	ADP
cet-2327	95	14	the	the	DET
cet-2327	95	15	set	set	NOUN
cet-2327	95	16	point	point	NOUN
cet-2327	95	17	disturbances	disturbance	NOUN
cet-2327	95	18	applied	apply	VERB
cet-2327	95	19	.	.	PUNCT
cet-2327	96	1	1583	1583	NUM
cet-2327	96	2	figure	figure	NOUN
cet-2327	96	3	9	9	NUM
cet-2327	96	4	:	:	PUNCT
cet-2327	96	5	control	control	NOUN
cet-2327	96	6	actions	action	NOUN
cet-2327	96	7	obtained	obtain	VERB
cet-2327	96	8	after	after	ADP
cet-2327	96	9	the	the	DET
cet-2327	96	10	set	set	NOUN
cet-2327	96	11	point	point	NOUN
cet-2327	96	12	disturbances	disturbance	NOUN
cet-2327	96	13	,	,	PUNCT
cet-2327	96	14	with	with	ADP
cet-2327	96	15	prediction	prediction	NOUN
cet-2327	96	16	horizon	horizon	NOUN
cet-2327	96	17	change	change	NOUN
cet-2327	96	18	to	to	ADP
cet-2327	96	19	12	12	NUM
cet-2327	96	20	.	.	PUNCT
cet-2327	97	1	in	in	ADP
cet-2327	97	2	figure	figure	NOUN
cet-2327	97	3	10	10	NUM
cet-2327	97	4	and	and	CCONJ
cet-2327	97	5	figure	figure	VERB
cet-2327	97	6	11	11	NUM
cet-2327	97	7	,	,	PUNCT
cet-2327	97	8	observed	observe	VERB
cet-2327	97	9	the	the	DET
cet-2327	97	10	influence	influence	NOUN
cet-2327	97	11	of	of	ADP
cet-2327	97	12	the	the	DET
cet-2327	97	13	control	control	NOUN
cet-2327	97	14	horizon	horizon	PROPN
cet-2327	97	15	,	,	PUNCT
cet-2327	97	16	which	which	PRON
cet-2327	97	17	increased	increase	VERB
cet-2327	97	18	to	to	ADP
cet-2327	97	19	the	the	DET
cet-2327	97	20	value	value	NOUN
cet-2327	97	21	of	of	ADP
cet-2327	97	22	20	20	NUM
cet-2327	97	23	.	.	PUNCT
cet-2327	98	1	the	the	DET
cet-2327	98	2	response	response	NOUN
cet-2327	98	3	of	of	ADP
cet-2327	98	4	the	the	DET
cet-2327	98	5	levels	level	NOUN
cet-2327	98	6	,	,	PUNCT
cet-2327	98	7	in	in	ADP
cet-2327	98	8	front	front	NOUN
cet-2327	98	9	of	of	ADP
cet-2327	98	10	changes	change	NOUN
cet-2327	98	11	in	in	ADP
cet-2327	98	12	set	set	ADJ
cet-2327	98	13	point	point	NOUN
cet-2327	98	14	values	value	NOUN
cet-2327	98	15	,	,	PUNCT
cet-2327	98	16	became	become	VERB
cet-2327	98	17	similar	similar	ADJ
cet-2327	98	18	to	to	ADP
cet-2327	98	19	those	those	PRON
cet-2327	98	20	found	find	VERB
cet-2327	98	21	with	with	ADP
cet-2327	98	22	decrease	decrease	NOUN
cet-2327	98	23	the	the	DET
cet-2327	98	24	weight	weight	NOUN
cet-2327	98	25	of	of	ADP
cet-2327	98	26	the	the	DET
cet-2327	98	27	prediction	prediction	NOUN
cet-2327	98	28	horizon	horizon	NOUN
cet-2327	98	29	and	and	CCONJ
cet-2327	98	30	the	the	DET
cet-2327	98	31	control	control	NOUN
cet-2327	98	32	signal	signal	NOUN
cet-2327	98	33	,	,	PUNCT
cet-2327	98	34	that	that	ADV
cet-2327	98	35	is	is	ADV
cet-2327	98	36	,	,	PUNCT
cet-2327	98	37	more	more	ADV
cet-2327	98	38	instable	instable	ADJ
cet-2327	98	39	.	.	PUNCT
cet-2327	99	1	this	this	DET
cet-2327	99	2	effect	effect	NOUN
cet-2327	99	3	occurs	occur	VERB
cet-2327	99	4	because	because	SCONJ
cet-2327	99	5	the	the	DET
cet-2327	99	6	aggressive	aggressive	ADJ
cet-2327	99	7	control	control	NOUN
cet-2327	99	8	action	action	NOUN
cet-2327	99	9	in	in	ADP
cet-2327	99	10	a	a	DET
cet-2327	99	11	move	move	NOUN
cet-2327	99	12	is	be	AUX
cet-2327	99	13	compensated	compensate	VERB
cet-2327	99	14	by	by	ADP
cet-2327	99	15	subsequent	subsequent	ADJ
cet-2327	99	16	moves	move	NOUN
cet-2327	99	17	.	.	PUNCT
cet-2327	100	1	a	a	DET
cet-2327	100	2	small	small	ADJ
cet-2327	100	3	nc	nc	PROPN
cet-2327	100	4	value	value	NOUN
cet-2327	100	5	is	be	AUX
cet-2327	100	6	recommended	recommend	VERB
cet-2327	100	7	to	to	PART
cet-2327	100	8	have	have	VERB
cet-2327	100	9	a	a	DET
cet-2327	100	10	smoother	smooth	ADJ
cet-2327	100	11	control	control	NOUN
cet-2327	100	12	action	action	NOUN
cet-2327	100	13	,	,	PUNCT
cet-2327	100	14	as	as	SCONJ
cet-2327	100	15	found	find	VERB
cet-2327	100	16	in	in	ADP
cet-2327	100	17	moudgalya	moudgalya	PROPN
cet-2327	100	18	,	,	PUNCT
cet-2327	100	19	2007	2007	NUM
cet-2327	100	20	.	.	PUNCT
cet-2327	101	1	figure	figure	NOUN
cet-2327	101	2	10	10	NUM
cet-2327	101	3	:	:	PUNCT
cet-2327	101	4	responses	response	NOUN
cet-2327	101	5	after	after	ADP
cet-2327	101	6	control	control	NOUN
cet-2327	101	7	horizon	horizon	PROPN
cet-2327	101	8	change	change	VERB
cet-2327	101	9	to	to	ADP
cet-2327	101	10	20	20	NUM
cet-2327	101	11	,	,	PUNCT
cet-2327	101	12	obtained	obtain	VERB
cet-2327	101	13	from	from	ADP
cet-2327	101	14	the	the	DET
cet-2327	101	15	set	set	NOUN
cet-2327	101	16	point	point	NOUN
cet-2327	101	17	disturbances	disturbance	NOUN
cet-2327	101	18	applied	apply	VERB
cet-2327	101	19	.	.	PUNCT
cet-2327	102	1	figure	figure	NOUN
cet-2327	102	2	11	11	NUM
cet-2327	102	3	:	:	PUNCT
cet-2327	103	1	control	control	NOUN
cet-2327	103	2	actions	action	NOUN
cet-2327	103	3	obtained	obtain	VERB
cet-2327	103	4	after	after	ADP
cet-2327	103	5	the	the	DET
cet-2327	103	6	set	set	NOUN
cet-2327	103	7	point	point	NOUN
cet-2327	103	8	disturbances	disturbance	NOUN
cet-2327	103	9	,	,	PUNCT
cet-2327	103	10	with	with	ADP
cet-2327	103	11	prediction	prediction	NOUN
cet-2327	103	12	control	control	NOUN
cet-2327	103	13	change	change	NOUN
cet-2327	103	14	to	to	ADP
cet-2327	103	15	20	20	NUM
cet-2327	103	16	.	.	PUNCT
cet-2327	104	1	4	4	NUM
cet-2327	104	2	.	.	X
cet-2327	104	3	conclusions	conclusion	NOUN
cet-2327	104	4	a	a	DET
cet-2327	104	5	three	three	NUM
cet-2327	104	6	-	-	PUNCT
cet-2327	104	7	tank	tank	NOUN
cet-2327	104	8	system	system	NOUN
cet-2327	104	9	in	in	ADP
cet-2327	104	10	laboratory	laboratory	NOUN
cet-2327	104	11	scale	scale	NOUN
cet-2327	104	12	has	have	VERB
cet-2327	104	13	a	a	DET
cet-2327	104	14	great	great	ADJ
cet-2327	104	15	potential	potential	NOUN
cet-2327	104	16	to	to	PART
cet-2327	104	17	support	support	VERB
cet-2327	104	18	students	student	NOUN
cet-2327	104	19	about	about	ADP
cet-2327	104	20	design	design	NOUN
cet-2327	104	21	of	of	ADP
cet-2327	104	22	mpc	mpc	NOUN
cet-2327	104	23	controllers	controller	NOUN
cet-2327	104	24	.	.	PUNCT
cet-2327	105	1	the	the	DET
cet-2327	105	2	experiential	experiential	ADJ
cet-2327	105	3	learning	learning	NOUN
cet-2327	105	4	that	that	PRON
cet-2327	105	5	can	can	AUX
cet-2327	105	6	be	be	AUX
cet-2327	105	7	acquired	acquire	VERB
cet-2327	105	8	by	by	ADP
cet-2327	105	9	the	the	DET
cet-2327	105	10	students	student	NOUN
cet-2327	105	11	through	through	ADP
cet-2327	105	12	this	this	DET
cet-2327	105	13	experiment	experiment	NOUN
cet-2327	105	14	complements	complement	VERB
cet-2327	105	15	their	their	PRON
cet-2327	105	16	classroom	classroom	NOUN
cet-2327	105	17	education	education	NOUN
cet-2327	105	18	in	in	ADP
cet-2327	105	19	process	process	NOUN
cet-2327	105	20	control	control	NOUN
cet-2327	105	21	.	.	PUNCT
cet-2327	106	1	the	the	DET
cet-2327	106	2	experiment	experiment	NOUN
cet-2327	106	3	also	also	ADV
cet-2327	106	4	enables	enable	VERB
cet-2327	106	5	the	the	DET
cet-2327	106	6	students	student	NOUN
cet-2327	106	7	to	to	PART
cet-2327	106	8	gain	gain	VERB
cet-2327	106	9	experience	experience	NOUN
cet-2327	106	10	in	in	ADP
cet-2327	106	11	operating	operate	VERB
cet-2327	106	12	and	and	CCONJ
cet-2327	106	13	controlling	control	VERB
cet-2327	106	14	a	a	DET
cet-2327	106	15	real	real	ADJ
cet-2327	106	16	system	system	NOUN
cet-2327	106	17	.	.	PUNCT
cet-2327	107	1	furthermore	furthermore	ADV
cet-2327	107	2	,	,	PUNCT
cet-2327	107	3	this	this	DET
cet-2327	107	4	apparatus	apparatus	NOUN
cet-2327	107	5	is	be	AUX
cet-2327	107	6	well	well	ADV
cet-2327	107	7	adapted	adapt	VERB
cet-2327	107	8	to	to	ADP
cet-2327	107	9	studying	study	VERB
cet-2327	107	10	other	other	ADJ
cet-2327	107	11	types	type	NOUN
cet-2327	107	12	of	of	ADP
cet-2327	107	13	controller	controller	NOUN
cet-2327	107	14	and	and	CCONJ
cet-2327	107	15	its	its	PRON
cet-2327	107	16	characteristics	characteristic	NOUN
cet-2327	107	17	.	.	PUNCT
cet-2327	108	1	this	this	DET
cet-2327	108	2	work	work	NOUN
cet-2327	108	3	proposed	propose	VERB
cet-2327	108	4	a	a	DET
cet-2327	108	5	predictive	predictive	ADJ
cet-2327	108	6	controller	controller	NOUN
cet-2327	108	7	based	base	VERB
cet-2327	108	8	on	on	ADP
cet-2327	108	9	linear	linear	PROPN
cet-2327	108	10	models	model	NOUN
cet-2327	108	11	to	to	PART
cet-2327	108	12	exemplify	exemplify	VERB
cet-2327	108	13	an	an	DET
cet-2327	108	14	application	application	NOUN
cet-2327	108	15	of	of	ADP
cet-2327	108	16	the	the	DET
cet-2327	108	17	system	system	NOUN
cet-2327	108	18	,	,	PUNCT
cet-2327	108	19	the	the	DET
cet-2327	108	20	facility	facility	NOUN
cet-2327	108	21	to	to	PART
cet-2327	108	22	obtain	obtain	VERB
cet-2327	108	23	such	such	ADJ
cet-2327	108	24	models	model	NOUN
cet-2327	108	25	,	,	PUNCT
cet-2327	108	26	through	through	ADP
cet-2327	108	27	a	a	DET
cet-2327	108	28	reaction	reaction	NOUN
cet-2327	108	29	curve	curve	NOUN
cet-2327	108	30	method	method	NOUN
cet-2327	108	31	justifies	justify	VERB
cet-2327	108	32	its	its	PRON
cet-2327	108	33	use	use	NOUN
cet-2327	108	34	.	.	PUNCT
cet-2327	109	1	it	it	PRON
cet-2327	109	2	was	be	AUX
cet-2327	109	3	concluded	conclude	VERB
cet-2327	109	4	that	that	SCONJ
cet-2327	109	5	a	a	DET
cet-2327	109	6	response	response	NOUN
cet-2327	109	7	of	of	ADP
cet-2327	109	8	the	the	DET
cet-2327	109	9	controller	controller	NOUN
cet-2327	109	10	becomes	become	VERB
cet-2327	109	11	more	more	ADV
cet-2327	109	12	aggressive	aggressive	ADJ
cet-2327	109	13	with	with	ADP
cet-2327	109	14	the	the	DET
cet-2327	109	15	increase	increase	NOUN
cet-2327	109	16	of	of	ADP
cet-2327	109	17	the	the	DET
cet-2327	109	18	control	control	NOUN
cet-2327	109	19	horizon	horizon	NOUN
cet-2327	109	20	and	and	CCONJ
cet-2327	109	21	with	with	ADP
cet-2327	109	22	a	a	DET
cet-2327	109	23	decrease	decrease	NOUN
cet-2327	109	24	of	of	ADP
cet-2327	109	25	the	the	DET
cet-2327	109	26	prediction	prediction	NOUN
cet-2327	109	27	horizon	horizon	NOUN
cet-2327	109	28	.	.	PUNCT
cet-2327	110	1	the	the	DET
cet-2327	110	2	reduction	reduction	NOUN
cet-2327	110	3	of	of	ADP
cet-2327	110	4	the	the	DET
cet-2327	110	5	weight	weight	NOUN
cet-2327	110	6	of	of	ADP
cet-2327	110	7	the	the	DET
cet-2327	110	8	controller	controller	NOUN
cet-2327	110	9	causes	cause	VERB
cet-2327	110	10	that	that	SCONJ
cet-2327	110	11	the	the	DET
cet-2327	110	12	response	response	NOUN
cet-2327	110	13	is	be	AUX
cet-2327	110	14	faster	fast	ADJ
cet-2327	110	15	but	but	CCONJ
cet-2327	110	16	more	more	ADV
cet-2327	110	17	oscillatory	oscillatory	ADJ
cet-2327	110	18	.	.	PUNCT
cet-2327	111	1	in	in	ADP
cet-2327	111	2	addition	addition	NOUN
cet-2327	111	3	,	,	PUNCT
cet-2327	111	4	can	can	AUX
cet-2327	111	5	be	be	AUX
cet-2327	111	6	used	use	VERB
cet-2327	111	7	the	the	DET
cet-2327	111	8	system	system	NOUN
cet-2327	111	9	to	to	PART
cet-2327	111	10	obtain	obtain	VERB
cet-2327	111	11	non	non	ADJ
cet-2327	111	12	-	-	ADJ
cet-2327	111	13	linear	linear	ADJ
cet-2327	111	14	models	model	NOUN
cet-2327	111	15	,	,	PUNCT
cet-2327	111	16	based	base	VERB
cet-2327	111	17	on	on	ADP
cet-2327	111	18	neural	neural	ADJ
cet-2327	111	19	networks	network	NOUN
cet-2327	111	20	and	and	CCONJ
cet-2327	111	21	fuzzy	fuzzy	ADJ
cet-2327	111	22	logic	logic	NOUN
cet-2327	111	23	,	,	PUNCT
cet-2327	111	24	and	and	CCONJ
cet-2327	111	25	for	for	ADP
cet-2327	111	26	the	the	DET
cet-2327	111	27	use	use	NOUN
cet-2327	111	28	of	of	ADP
cet-2327	111	29	controllers	controller	NOUN
cet-2327	111	30	that	that	PRON
cet-2327	111	31	use	use	VERB
cet-2327	111	32	such	such	ADJ
cet-2327	111	33	models	model	NOUN
cet-2327	111	34	,	,	PUNCT
cet-2327	111	35	future	future	ADJ
cet-2327	111	36	tests	test	NOUN
cet-2327	111	37	will	will	AUX
cet-2327	111	38	be	be	AUX
cet-2327	111	39	performed	perform	VERB
cet-2327	111	40	for	for	ADP
cet-2327	111	41	this	this	DET
cet-2327	111	42	purpose	purpose	NOUN
cet-2327	111	43	.	.	PUNCT
cet-2327	112	1	references	reference	NOUN
cet-2327	112	2	askari	askari	PROPN
cet-2327	112	3	m.	m.	PROPN
cet-2327	112	4	,	,	PUNCT
cet-2327	112	5	moghavvemi	moghavvemi	PROPN
cet-2327	112	6	m.	m.	PROPN
cet-2327	112	7	,	,	PUNCT
cet-2327	112	8	almurib	almurib	PROPN
cet-2327	112	9	h.a.f	h.a.f	PROPN
cet-2327	112	10	.	.	PROPN
cet-2327	112	11	,	,	PUNCT
cet-2327	112	12	muttaqi	muttaqi	PROPN
cet-2327	112	13	,	,	PUNCT
cet-2327	112	14	k.m	k.m	PROPN
cet-2327	112	15	.	.	PROPN
cet-2327	112	16	,	,	PUNCT
cet-2327	112	17	2016	2016	NUM
cet-2327	112	18	,	,	PUNCT
cet-2327	112	19	multivariable	multivariable	ADJ
cet-2327	112	20	offset	offset	NOUN
cet-2327	112	21	-	-	PUNCT
cet-2327	112	22	free	free	ADJ
cet-2327	112	23	model	model	NOUN
cet-2327	112	24	predictive	predictive	ADJ
cet-2327	112	25	control	control	NOUN
cet-2327	112	26	for	for	ADP
cet-2327	112	27	quadruple	quadruple	NOUN
cet-2327	112	28	tanks	tank	NOUN
cet-2327	112	29	system	system	NOUN
cet-2327	112	30	.	.	PUNCT
cet-2327	113	1	ieee	ieee	NOUN
cet-2327	113	2	transactions	transaction	NOUN
cet-2327	113	3	on	on	ADP
cet-2327	113	4	industry	industry	NOUN
cet-2327	113	5	applications	application	NOUN
cet-2327	113	6	,	,	PUNCT
cet-2327	113	7	52	52	NUM
cet-2327	113	8	,	,	PUNCT
cet-2327	113	9	1882	1882	NUM
cet-2327	113	10	-	-	SYM
cet-2327	113	11	1890	1890	NUM
cet-2327	113	12	.	.	PUNCT
cet-2327	114	1	camacho	camacho	PROPN
cet-2327	114	2	e.f	e.f	PROPN
cet-2327	114	3	.	.	PROPN
cet-2327	114	4	,	,	PUNCT
cet-2327	114	5	bordons	bordons	PROPN
cet-2327	114	6	c.	c.	PROPN
cet-2327	114	7	,	,	PUNCT
cet-2327	114	8	2007	2007	NUM
cet-2327	114	9	,	,	PUNCT
cet-2327	114	10	model	model	NOUN
cet-2327	114	11	predictive	predictive	ADJ
cet-2327	114	12	control	control	PROPN
cet-2327	114	13	.	.	PUNCT
cet-2327	115	1	springer	springer	PROPN
cet-2327	115	2	,	,	PUNCT
cet-2327	115	3	london	london	PROPN
cet-2327	115	4	,	,	PUNCT
cet-2327	115	5	england	england	PROPN
cet-2327	115	6	.	.	PUNCT
cet-2327	116	1	moudgalya	moudgalya	PROPN
cet-2327	116	2	k.m	k.m	PROPN
cet-2327	116	3	.	.	PROPN
cet-2327	116	4	,	,	PUNCT
cet-2327	116	5	2007	2007	NUM
cet-2327	116	6	,	,	PUNCT
cet-2327	116	7	digital	digital	ADJ
cet-2327	116	8	control	control	NOUN
cet-2327	116	9	.	.	PUNCT
cet-2327	117	1	john	john	PROPN
cet-2327	117	2	wiley	wiley	PROPN
cet-2327	117	3	&	&	CCONJ
cet-2327	117	4	sons	sons	PROPN
cet-2327	117	5	,	,	PUNCT
cet-2327	117	6	chichester	chichester	PROPN
cet-2327	117	7	,	,	PUNCT
cet-2327	117	8	england	england	PROPN
cet-2327	117	9	.	.	PUNCT
cet-2327	118	1	qin	qin	PROPN
cet-2327	118	2	s.j	s.j	PROPN
cet-2327	118	3	.	.	PROPN
cet-2327	118	4	,	,	PUNCT
cet-2327	118	5	badgwell	badgwell	PROPN
cet-2327	118	6	t.a	t.a	PROPN
cet-2327	118	7	.	.	PROPN
cet-2327	118	8	,	,	PUNCT
cet-2327	118	9	2003	2003	NUM
cet-2327	118	10	,	,	PUNCT
cet-2327	118	11	a	a	DET
cet-2327	118	12	survey	survey	NOUN
cet-2327	118	13	of	of	ADP
cet-2327	118	14	industrial	industrial	ADJ
cet-2327	118	15	model	model	NOUN
cet-2327	118	16	predictive	predictive	PROPN
cet-2327	118	17	control	control	PROPN
cet-2327	118	18	technology	technology	PROPN
cet-2327	118	19	.	.	PUNCT
cet-2327	119	1	chemical	chemical	NOUN
cet-2327	119	2	engineering	engineering	NOUN
cet-2327	119	3	practice	practice	NOUN
cet-2327	119	4	,	,	PUNCT
cet-2327	119	5	11	11	NUM
cet-2327	119	6	,	,	PUNCT
cet-2327	119	7	733	733	NUM
cet-2327	119	8	-	-	SYM
cet-2327	119	9	764	764	NUM
cet-2327	119	10	.	.	PUNCT
cet-2327	120	1	wang	wang	PROPN
cet-2327	120	2	l.	l.	PROPN
cet-2327	120	3	,	,	PUNCT
cet-2327	120	4	2004	2004	NUM
cet-2327	120	5	,	,	PUNCT
cet-2327	120	6	a	a	DET
cet-2327	120	7	tutorial	tutorial	NOUN
cet-2327	120	8	on	on	ADP
cet-2327	120	9	model	model	NOUN
cet-2327	120	10	predictive	predictive	ADJ
cet-2327	120	11	control	control	PROPN
cet-2327	120	12	:	:	PUNCT
cet-2327	120	13	using	use	VERB
cet-2327	120	14	a	a	DET
cet-2327	120	15	linear	linear	ADJ
cet-2327	120	16	velocity	velocity	NOUN
cet-2327	120	17	-	-	PUNCT
cet-2327	120	18	form	form	NOUN
cet-2327	120	19	model	model	NOUN
cet-2327	120	20	.	.	PUNCT
cet-2327	121	1	dev	dev	PROPN
cet-2327	121	2	.	.	PUNCT
cet-2327	121	3	chem	chem	PROPN
cet-2327	121	4	.	.	PUNCT
cet-2327	122	1	eng	eng	PROPN
cet-2327	122	2	.	.	PROPN
cet-2327	122	3	mineral	mineral	NOUN
cet-2327	122	4	process	process	NOUN
cet-2327	122	5	,	,	PUNCT
cet-2327	122	6	12	12	NUM
cet-2327	122	7	,	,	PUNCT
cet-2327	122	8	573	573	NUM
cet-2327	122	9	-	-	SYM
cet-2327	122	10	614	614	NUM
cet-2327	122	11	.	.	PUNCT
cet-2327	123	1	wang	wang	PROPN
cet-2327	123	2	l.	l.	PROPN
cet-2327	123	3	,	,	PUNCT
cet-2327	123	4	2009	2009	NUM
cet-2327	123	5	,	,	PUNCT
cet-2327	123	6	model	model	NOUN
cet-2327	123	7	predictive	predictive	ADJ
cet-2327	123	8	control	control	NOUN
cet-2327	123	9	system	system	NOUN
cet-2327	123	10	design	design	NOUN
cet-2327	123	11	and	and	CCONJ
cet-2327	123	12	implementation	implementation	NOUN
cet-2327	123	13	using	use	VERB
cet-2327	123	14	matlab	matlab	PROPN
cet-2327	123	15	®	®	PROPN
cet-2327	123	16	.	.	PUNCT
cet-2327	124	1	springer	springer	PROPN
cet-2327	124	2	,	,	PUNCT
cet-2327	124	3	london	london	PROPN
cet-2327	124	4	,	,	PUNCT
cet-2327	124	5	england	england	PROPN
cet-2327	124	6	.	.	PUNCT
cet-2327	125	1	zhu	zhu	PROPN
cet-2327	125	2	y.	y.	PROPN
cet-2327	125	3	,	,	PUNCT
cet-2327	125	4	2001	2001	NUM
cet-2327	125	5	,	,	PUNCT
cet-2327	125	6	multivariable	multivariable	ADJ
cet-2327	125	7	system	system	NOUN
cet-2327	125	8	identification	identification	NOUN
cet-2327	125	9	for	for	ADP
cet-2327	125	10	process	process	NOUN
cet-2327	125	11	control	control	NOUN
cet-2327	125	12	.	.	PUNCT
cet-2327	126	1	pergamon	pergamon	PROPN
cet-2327	126	2	,	,	PUNCT
cet-2327	126	3	amsterdam	amsterdam	PROPN
cet-2327	126	4	,	,	PUNCT
cet-2327	126	5	netherlands	netherlands	PROPN
cet-2327	126	6	.	.	PUNCT
cet-2327	126	7	1584	1584	NUM