id	sid	tid	token	lemma	pos
ejpam-6234	1	1	european	european	PROPN
ejpam-6234	1	2	journal	journal	PROPN
ejpam-6234	1	3	of	of	ADP
ejpam-6234	1	4	pure	pure	ADJ
ejpam-6234	1	5	and	and	CCONJ
ejpam-6234	1	6	applied	applied	ADJ
ejpam-6234	1	7	mathematics	mathematic	NOUN
ejpam-6234	1	8	2025	2025	NUM
ejpam-6234	1	9	,	,	PUNCT
ejpam-6234	1	10	vol	vol	NOUN
ejpam-6234	1	11	.	.	PROPN
ejpam-6234	1	12	18	18	NUM
ejpam-6234	1	13	,	,	PUNCT
ejpam-6234	1	14	issue	issue	NOUN
ejpam-6234	1	15	3	3	NUM
ejpam-6234	1	16	,	,	PUNCT
ejpam-6234	1	17	article	article	NOUN
ejpam-6234	1	18	number	number	NOUN
ejpam-6234	1	19	6234	6234	NUM
ejpam-6234	1	20	issn	issn	PROPN
ejpam-6234	1	21	1307	1307	NUM
ejpam-6234	1	22	-	-	SYM
ejpam-6234	1	23	5543	5543	NUM
ejpam-6234	1	24	–	–	PUNCT
ejpam-6234	1	25	ejpam.com	ejpam.com	X
ejpam-6234	1	26	published	publish	VERB
ejpam-6234	1	27	by	by	ADP
ejpam-6234	1	28	new	new	PROPN
ejpam-6234	1	29	york	york	PROPN
ejpam-6234	1	30	business	business	PROPN
ejpam-6234	1	31	global	global	ADJ
ejpam-6234	1	32	optimal	optimal	ADJ
ejpam-6234	1	33	trajectories	trajectory	NOUN
ejpam-6234	1	34	for	for	ADP
ejpam-6234	1	35	drones	drone	NOUN
ejpam-6234	1	36	with	with	ADP
ejpam-6234	1	37	limited	limited	ADJ
ejpam-6234	1	38	observability	observability	NOUN
ejpam-6234	1	39	constraints	constraint	NOUN
ejpam-6234	1	40	alain	alain	PROPN
ejpam-6234	1	41	ajami1,∗	ajami1,∗	NOUN
ejpam-6234	1	42	,	,	PUNCT
ejpam-6234	1	43	jean	jean	PROPN
ejpam-6234	1	44	sawma1	sawma1	PROPN
ejpam-6234	1	45	,	,	PUNCT
ejpam-6234	1	46	jean	jean	PROPN
ejpam-6234	1	47	paul	paul	PROPN
ejpam-6234	1	48	gauthier2	gauthier2	PROPN
ejpam-6234	1	49	,	,	PUNCT
ejpam-6234	1	50	joseph	joseph	PROPN
ejpam-6234	1	51	el	el	PROPN
ejpam-6234	1	52	maalouf3	maalouf3	PROPN
ejpam-6234	1	53	1faculty	1faculty	NUM
ejpam-6234	1	54	of	of	ADP
ejpam-6234	1	55	engineering	engineering	NOUN
ejpam-6234	1	56	,	,	PUNCT
ejpam-6234	1	57	saint	saint	PROPN
ejpam-6234	1	58	joseph	joseph	PROPN
ejpam-6234	1	59	university	university	PROPN
ejpam-6234	1	60	of	of	ADP
ejpam-6234	1	61	beirut	beirut	PROPN
ejpam-6234	1	62	,	,	PUNCT
ejpam-6234	1	63	beirut	beirut	PROPN
ejpam-6234	1	64	,	,	PUNCT
ejpam-6234	1	65	lebanon	lebanon	PROPN
ejpam-6234	1	66	2université	2université	NUM
ejpam-6234	1	67	de	de	X
ejpam-6234	1	68	toulon	toulon	PROPN
ejpam-6234	1	69	,	,	PUNCT
ejpam-6234	1	70	lis	li	NOUN
ejpam-6234	1	71	,	,	PUNCT
ejpam-6234	1	72	umr	umr	ADP
ejpam-6234	1	73	cnrs	cnrs	NOUN
ejpam-6234	1	74	7020	7020	NUM
ejpam-6234	1	75	,	,	PUNCT
ejpam-6234	1	76	campus	campus	NOUN
ejpam-6234	1	77	de	de	X
ejpam-6234	1	78	la	la	X
ejpam-6234	1	79	garde	garde	X
ejpam-6234	1	80	,	,	PUNCT
ejpam-6234	1	81	83041	83041	NUM
ejpam-6234	1	82	toulon	toulon	PROPN
ejpam-6234	1	83	,	,	PUNCT
ejpam-6234	1	84	france	france	PROPN
ejpam-6234	1	85	3school	3school	NUM
ejpam-6234	1	86	of	of	ADP
ejpam-6234	1	87	science	science	PROPN
ejpam-6234	1	88	dubai	dubai	PROPN
ejpam-6234	1	89	branch	branch	PROPN
ejpam-6234	1	90	,	,	PUNCT
ejpam-6234	1	91	saint	saint	PROPN
ejpam-6234	1	92	joseph	joseph	PROPN
ejpam-6234	1	93	university	university	PROPN
ejpam-6234	1	94	dubai	dubai	PROPN
ejpam-6234	1	95	,	,	PUNCT
ejpam-6234	1	96	dubai	dubai	PROPN
ejpam-6234	1	97	,	,	PUNCT
ejpam-6234	1	98	united	united	PROPN
ejpam-6234	1	99	arab	arab	PROPN
ejpam-6234	1	100	emirates	emirates	PROPN
ejpam-6234	1	101	abstract	abstract	PROPN
ejpam-6234	1	102	.	.	PUNCT
ejpam-6234	2	1	the	the	DET
ejpam-6234	2	2	dynamic	dynamic	ADJ
ejpam-6234	2	3	output	output	NOUN
ejpam-6234	2	4	stabilization	stabilization	NOUN
ejpam-6234	2	5	problem	problem	NOUN
ejpam-6234	2	6	is	be	AUX
ejpam-6234	2	7	a	a	DET
ejpam-6234	2	8	central	central	ADJ
ejpam-6234	2	9	and	and	CCONJ
ejpam-6234	2	10	important	important	ADJ
ejpam-6234	2	11	topic	topic	NOUN
ejpam-6234	2	12	in	in	ADP
ejpam-6234	2	13	control	control	NOUN
ejpam-6234	2	14	theory	theory	NOUN
ejpam-6234	2	15	.	.	PUNCT
ejpam-6234	3	1	a	a	DET
ejpam-6234	3	2	compelling	compelling	ADJ
ejpam-6234	3	3	example	example	NOUN
ejpam-6234	3	4	is	be	AUX
ejpam-6234	3	5	the	the	DET
ejpam-6234	3	6	control	control	NOUN
ejpam-6234	3	7	of	of	ADP
ejpam-6234	3	8	a	a	DET
ejpam-6234	3	9	drone	drone	NOUN
ejpam-6234	3	10	where	where	SCONJ
ejpam-6234	3	11	the	the	DET
ejpam-6234	3	12	only	only	ADJ
ejpam-6234	3	13	measurable	measurable	ADJ
ejpam-6234	3	14	output	output	NOUN
ejpam-6234	3	15	is	be	AUX
ejpam-6234	3	16	its	its	PRON
ejpam-6234	3	17	distance	distance	NOUN
ejpam-6234	3	18	to	to	ADP
ejpam-6234	3	19	a	a	DET
ejpam-6234	3	20	target	target	NOUN
ejpam-6234	3	21	.	.	PUNCT
ejpam-6234	4	1	this	this	DET
ejpam-6234	4	2	scenario	scenario	NOUN
ejpam-6234	4	3	presents	present	VERB
ejpam-6234	4	4	unique	unique	ADJ
ejpam-6234	4	5	challenges	challenge	NOUN
ejpam-6234	4	6	,	,	PUNCT
ejpam-6234	4	7	as	as	SCONJ
ejpam-6234	4	8	the	the	DET
ejpam-6234	4	9	drone	drone	NOUN
ejpam-6234	4	10	’s	’s	PART
ejpam-6234	4	11	coordinates	coordinate	NOUN
ejpam-6234	4	12	are	be	AUX
ejpam-6234	4	13	not	not	PART
ejpam-6234	4	14	always	always	ADV
ejpam-6234	4	15	observable	observable	ADJ
ejpam-6234	4	16	,	,	PUNCT
ejpam-6234	4	17	even	even	ADV
ejpam-6234	4	18	after	after	ADP
ejpam-6234	4	19	symmetry	symmetry	NOUN
ejpam-6234	4	20	reductions	reduction	NOUN
ejpam-6234	4	21	.	.	PUNCT
ejpam-6234	5	1	from	from	ADP
ejpam-6234	5	2	a	a	DET
ejpam-6234	5	3	practical	practical	ADJ
ejpam-6234	5	4	point	point	NOUN
ejpam-6234	5	5	of	of	ADP
ejpam-6234	5	6	view	view	NOUN
ejpam-6234	5	7	,	,	PUNCT
ejpam-6234	5	8	minimizing	minimize	VERB
ejpam-6234	5	9	the	the	DET
ejpam-6234	5	10	time	time	NOUN
ejpam-6234	5	11	required	require	VERB
ejpam-6234	5	12	to	to	PART
ejpam-6234	5	13	reach	reach	VERB
ejpam-6234	5	14	the	the	DET
ejpam-6234	5	15	target	target	NOUN
ejpam-6234	5	16	—	—	PUNCT
ejpam-6234	5	17	closely	closely	ADV
ejpam-6234	5	18	tied	tie	VERB
ejpam-6234	5	19	to	to	ADP
ejpam-6234	5	20	fuel	fuel	NOUN
ejpam-6234	5	21	efficiency	efficiency	NOUN
ejpam-6234	5	22	—	—	PUNCT
ejpam-6234	5	23	is	be	AUX
ejpam-6234	5	24	critical	critical	ADJ
ejpam-6234	5	25	,	,	PUNCT
ejpam-6234	5	26	particularly	particularly	ADV
ejpam-6234	5	27	in	in	ADP
ejpam-6234	5	28	military	military	ADJ
ejpam-6234	5	29	applications	application	NOUN
ejpam-6234	5	30	.	.	PUNCT
ejpam-6234	6	1	interestingly	interestingly	ADV
ejpam-6234	6	2	,	,	PUNCT
ejpam-6234	6	3	the	the	DET
ejpam-6234	6	4	optimal	optimal	ADJ
ejpam-6234	6	5	trajectories	trajectory	NOUN
ejpam-6234	6	6	that	that	PRON
ejpam-6234	6	7	achieve	achieve	VERB
ejpam-6234	6	8	minimum	minimum	ADJ
ejpam-6234	6	9	time	time	NOUN
ejpam-6234	6	10	,	,	PUNCT
ejpam-6234	6	11	typically	typically	ADV
ejpam-6234	6	12	straightline	straightline	NOUN
ejpam-6234	6	13	paths	path	NOUN
ejpam-6234	6	14	,	,	PUNCT
ejpam-6234	6	15	coincide	coincide	VERB
ejpam-6234	6	16	with	with	ADP
ejpam-6234	6	17	trajectories	trajectory	NOUN
ejpam-6234	6	18	where	where	SCONJ
ejpam-6234	6	19	the	the	DET
ejpam-6234	6	20	system	system	NOUN
ejpam-6234	6	21	is	be	AUX
ejpam-6234	6	22	unobservable	unobservable	ADJ
ejpam-6234	6	23	.	.	PUNCT
ejpam-6234	7	1	this	this	DET
ejpam-6234	7	2	paper	paper	NOUN
ejpam-6234	7	3	introduces	introduce	VERB
ejpam-6234	7	4	a	a	DET
ejpam-6234	7	5	novel	novel	ADJ
ejpam-6234	7	6	methodology	methodology	NOUN
ejpam-6234	7	7	to	to	PART
ejpam-6234	7	8	reconcile	reconcile	VERB
ejpam-6234	7	9	these	these	DET
ejpam-6234	7	10	seemingly	seemingly	ADV
ejpam-6234	7	11	conflicting	conflicting	ADJ
ejpam-6234	7	12	objectives	objective	NOUN
ejpam-6234	7	13	:	:	PUNCT
ejpam-6234	7	14	ensuring	ensure	VERB
ejpam-6234	7	15	observability	observability	NOUN
ejpam-6234	7	16	while	while	SCONJ
ejpam-6234	7	17	minimizing	minimize	VERB
ejpam-6234	7	18	travel	travel	NOUN
ejpam-6234	7	19	time	time	NOUN
ejpam-6234	7	20	.	.	PUNCT
ejpam-6234	8	1	2020	2020	NUM
ejpam-6234	8	2	mathematics	mathematic	NOUN
ejpam-6234	8	3	subject	subject	NOUN
ejpam-6234	8	4	classifications	classification	NOUN
ejpam-6234	8	5	:	:	PUNCT
ejpam-6234	8	6	49j15	49j15	NUM
ejpam-6234	8	7	,	,	PUNCT
ejpam-6234	8	8	93c95	93c95	NUM
ejpam-6234	8	9	,	,	PUNCT
ejpam-6234	8	10	93b07	93b07	NUM
ejpam-6234	8	11	key	key	ADJ
ejpam-6234	8	12	words	word	NOUN
ejpam-6234	8	13	and	and	CCONJ
ejpam-6234	8	14	phrases	phrase	NOUN
ejpam-6234	8	15	:	:	PUNCT
ejpam-6234	8	16	control	control	NOUN
ejpam-6234	8	17	system	system	NOUN
ejpam-6234	8	18	,	,	PUNCT
ejpam-6234	8	19	dynamic	dynamic	ADJ
ejpam-6234	8	20	output	output	NOUN
ejpam-6234	8	21	stabilization	stabilization	NOUN
ejpam-6234	8	22	,	,	PUNCT
ejpam-6234	8	23	asymptotic	asymptotic	ADJ
ejpam-6234	8	24	stability	stability	NOUN
ejpam-6234	8	25	1	1	NUM
ejpam-6234	8	26	.	.	PUNCT
ejpam-6234	9	1	introduction	introduction	NOUN
ejpam-6234	9	2	dynamic	dynamic	ADJ
ejpam-6234	9	3	output	output	NOUN
ejpam-6234	9	4	stabilization	stabilization	NOUN
ejpam-6234	9	5	is	be	AUX
ejpam-6234	9	6	a	a	DET
ejpam-6234	9	7	classical	classical	ADJ
ejpam-6234	9	8	problem	problem	NOUN
ejpam-6234	9	9	in	in	ADP
ejpam-6234	9	10	control	control	NOUN
ejpam-6234	9	11	theory	theory	NOUN
ejpam-6234	9	12	.	.	PUNCT
ejpam-6234	10	1	when	when	SCONJ
ejpam-6234	10	2	the	the	DET
ejpam-6234	10	3	system	system	NOUN
ejpam-6234	10	4	is	be	AUX
ejpam-6234	10	5	uniformly	uniformly	ADV
ejpam-6234	10	6	observable	observable	ADJ
ejpam-6234	10	7	,	,	PUNCT
ejpam-6234	10	8	the	the	DET
ejpam-6234	10	9	stabilization	stabilization	NOUN
ejpam-6234	10	10	problem	problem	NOUN
ejpam-6234	10	11	turns	turn	VERB
ejpam-6234	10	12	out	out	ADP
ejpam-6234	10	13	to	to	PART
ejpam-6234	10	14	be	be	AUX
ejpam-6234	10	15	effective	effective	ADJ
ejpam-6234	10	16	.	.	PUNCT
ejpam-6234	11	1	however	however	ADV
ejpam-6234	11	2	,	,	PUNCT
ejpam-6234	11	3	nonlinear	nonlinear	ADJ
ejpam-6234	11	4	systems	system	NOUN
ejpam-6234	11	5	observability	observability	NOUN
ejpam-6234	11	6	,	,	PUNCT
ejpam-6234	11	7	is	be	AUX
ejpam-6234	11	8	a	a	DET
ejpam-6234	11	9	property	property	NOUN
ejpam-6234	11	10	depending	depend	VERB
ejpam-6234	11	11	upon	upon	SCONJ
ejpam-6234	11	12	the	the	DET
ejpam-6234	11	13	control	control	NOUN
ejpam-6234	11	14	as	as	ADP
ejpam-6234	11	15	a	a	DET
ejpam-6234	11	16	function	function	NOUN
ejpam-6234	11	17	of	of	ADP
ejpam-6234	11	18	time	time	NOUN
ejpam-6234	11	19	.	.	PUNCT
ejpam-6234	12	1	in	in	ADP
ejpam-6234	12	2	the	the	DET
ejpam-6234	12	3	unobservable	unobservable	ADJ
ejpam-6234	12	4	situation	situation	NOUN
ejpam-6234	12	5	,	,	PUNCT
ejpam-6234	12	6	the	the	DET
ejpam-6234	12	7	dynamic	dynamic	ADJ
ejpam-6234	12	8	output	output	NOUN
ejpam-6234	12	9	feedback	feedback	NOUN
ejpam-6234	12	10	stabilization	stabilization	NOUN
ejpam-6234	12	11	becomes	become	VERB
ejpam-6234	12	12	a	a	DET
ejpam-6234	12	13	complicated	complicated	ADJ
ejpam-6234	12	14	problem	problem	NOUN
ejpam-6234	12	15	.	.	PUNCT
ejpam-6234	13	1	the	the	DET
ejpam-6234	13	2	work	work	NOUN
ejpam-6234	13	3	presented	present	VERB
ejpam-6234	13	4	throughout	throughout	ADP
ejpam-6234	13	5	this	this	DET
ejpam-6234	13	6	paper	paper	NOUN
ejpam-6234	13	7	is	be	AUX
ejpam-6234	13	8	a	a	DET
ejpam-6234	13	9	continuation	continuation	NOUN
ejpam-6234	13	10	of	of	ADP
ejpam-6234	13	11	earlier	early	ADJ
ejpam-6234	13	12	work	work	NOUN
ejpam-6234	13	13	[	[	X
ejpam-6234	13	14	1	1	NUM
ejpam-6234	13	15	]	]	PUNCT
ejpam-6234	13	16	,	,	PUNCT
ejpam-6234	13	17	in	in	ADP
ejpam-6234	13	18	the	the	DET
ejpam-6234	13	19	spirit	spirit	NOUN
ejpam-6234	13	20	of	of	ADP
ejpam-6234	13	21	the	the	DET
ejpam-6234	13	22	series	series	NOUN
ejpam-6234	13	23	of	of	ADP
ejpam-6234	13	24	articles	article	NOUN
ejpam-6234	13	25	[	[	X
ejpam-6234	13	26	2	2	NUM
ejpam-6234	13	27	]	]	PUNCT
ejpam-6234	13	28	,	,	PUNCT
ejpam-6234	13	29	[	[	X
ejpam-6234	13	30	3	3	NUM
ejpam-6234	13	31	]	]	PUNCT
ejpam-6234	13	32	and	and	CCONJ
ejpam-6234	13	33	the	the	DET
ejpam-6234	13	34	review	review	NOUN
ejpam-6234	13	35	paper	paper	NOUN
ejpam-6234	13	36	[	[	X
ejpam-6234	13	37	4	4	NUM
ejpam-6234	13	38	]	]	PUNCT
ejpam-6234	13	39	.	.	PUNCT
ejpam-6234	14	1	the	the	DET
ejpam-6234	14	2	subject	subject	NOUN
ejpam-6234	14	3	of	of	ADP
ejpam-6234	14	4	this	this	DET
ejpam-6234	14	5	long	long	ADJ
ejpam-6234	14	6	-	-	PUNCT
ejpam-6234	14	7	term	term	NOUN
ejpam-6234	14	8	study	study	NOUN
ejpam-6234	14	9	is	be	AUX
ejpam-6234	14	10	dynamic	dynamic	ADJ
ejpam-6234	14	11	output	output	NOUN
ejpam-6234	14	12	stabilization	stabilization	NOUN
ejpam-6234	14	13	by	by	ADP
ejpam-6234	14	14	coupling	couple	VERB
ejpam-6234	14	15	state	state	NOUN
ejpam-6234	14	16	estimators	estimator	NOUN
ejpam-6234	14	17	and	and	CCONJ
ejpam-6234	14	18	static	static	ADJ
ejpam-6234	14	19	feedback	feedback	NOUN
ejpam-6234	14	20	.	.	PUNCT
ejpam-6234	15	1	our	our	PRON
ejpam-6234	15	2	ideas	idea	NOUN
ejpam-6234	15	3	rely	rely	VERB
ejpam-6234	15	4	on	on	ADP
ejpam-6234	15	5	the	the	DET
ejpam-6234	15	6	seminal	seminal	ADJ
ejpam-6234	15	7	work	work	NOUN
ejpam-6234	15	8	[	[	X
ejpam-6234	15	9	5	5	NUM
ejpam-6234	15	10	]	]	PUNCT
ejpam-6234	15	11	.	.	PUNCT
ejpam-6234	16	1	∗corresponding	∗corresponde	VERB
ejpam-6234	16	2	author	author	NOUN
ejpam-6234	16	3	.	.	PUNCT
ejpam-6234	17	1	doi	doi	NOUN
ejpam-6234	17	2	:	:	PUNCT
ejpam-6234	17	3	https://doi.org/10.29020/nybg.ejpam.v18i3.6234	https://doi.org/10.29020/nybg.ejpam.v18i3.6234	NOUN
ejpam-6234	17	4	email	email	NOUN
ejpam-6234	17	5	addresses	address	NOUN
ejpam-6234	17	6	:	:	PUNCT
ejpam-6234	18	1	alain.ajami@usj.edu.lb	alain.ajami@usj.edu.lb	NUM
ejpam-6234	18	2	(	(	PUNCT
ejpam-6234	18	3	a.	a.	NOUN
ejpam-6234	18	4	ajami	ajami	PROPN
ejpam-6234	18	5	)	)	PUNCT
ejpam-6234	18	6	,	,	PUNCT
ejpam-6234	18	7	jean.sawma@usj.edu.lb	jean.sawma@usj.edu.lb	PROPN
ejpam-6234	18	8	(	(	PUNCT
ejpam-6234	18	9	j.	j.	PROPN
ejpam-6234	18	10	sawma	sawma	PROPN
ejpam-6234	18	11	)	)	PUNCT
ejpam-6234	18	12	,	,	PUNCT
ejpam-6234	18	13	jean-paul.gauthier@univ-tln.fr	jean-paul.gauthier@univ-tln.fr	PROPN
ejpam-6234	18	14	(	(	PUNCT
ejpam-6234	18	15	j	j	PROPN
ejpam-6234	18	16	-	-	PROPN
ejpam-6234	18	17	p.	p.	NOUN
ejpam-6234	18	18	gauthier	gauthier	NOUN
ejpam-6234	18	19	)	)	PUNCT
ejpam-6234	18	20	,	,	PUNCT
ejpam-6234	18	21	maalouf.joseph1@hotmail.com	maalouf.joseph1@hotmail.com	PROPN
ejpam-6234	19	1	(	(	PUNCT
ejpam-6234	19	2	j.	j.	PROPN
ejpam-6234	19	3	el	el	PROPN
ejpam-6234	19	4	maalouf	maalouf	PROPN
ejpam-6234	19	5	)	)	PUNCT
ejpam-6234	19	6	https://www.ejpam.com	https://www.ejpam.com	X
ejpam-6234	20	1	1	1	NUM
ejpam-6234	20	2	copyright	copyright	NOUN
ejpam-6234	20	3	:	:	PUNCT
ejpam-6234	20	4	©	©	PROPN
ejpam-6234	20	5	2025	2025	NUM
ejpam-6234	20	6	the	the	DET
ejpam-6234	20	7	author(s	author(s	NOUN
ejpam-6234	20	8	)	)	PUNCT
ejpam-6234	20	9	.	.	PUNCT
ejpam-6234	21	1	(	(	PUNCT
ejpam-6234	21	2	cc	cc	NOUN
ejpam-6234	21	3	by	by	ADP
ejpam-6234	21	4	-	-	PUNCT
ejpam-6234	21	5	nc	nc	PROPN
ejpam-6234	21	6	4.0	4.0	NUM
ejpam-6234	21	7	)	)	PUNCT
ejpam-6234	21	8	a.	a.	NOUN
ejpam-6234	21	9	ajami	ajami	PROPN
ejpam-6234	21	10	et	et	PROPN
ejpam-6234	21	11	al	al	PROPN
ejpam-6234	21	12	.	.	PUNCT
ejpam-6234	21	13	/	/	SYM
ejpam-6234	21	14	eur	eur	PROPN
ejpam-6234	21	15	.	.	PUNCT
ejpam-6234	22	1	j.	j.	PROPN
ejpam-6234	22	2	pure	pure	PROPN
ejpam-6234	22	3	appl	appl	PROPN
ejpam-6234	22	4	.	.	PROPN
ejpam-6234	22	5	math	math	PROPN
ejpam-6234	22	6	,	,	PUNCT
ejpam-6234	22	7	18	18	NUM
ejpam-6234	22	8	(	(	PUNCT
ejpam-6234	22	9	3	3	NUM
ejpam-6234	22	10	)	)	PUNCT
ejpam-6234	22	11	(	(	PUNCT
ejpam-6234	22	12	2025	2025	NUM
ejpam-6234	22	13	)	)	PUNCT
ejpam-6234	22	14	,	,	PUNCT
ejpam-6234	22	15	6234	6234	NUM
ejpam-6234	22	16	2	2	NUM
ejpam-6234	22	17	of	of	ADP
ejpam-6234	22	18	14	14	NUM
ejpam-6234	22	19	most	most	ADJ
ejpam-6234	22	20	of	of	ADP
ejpam-6234	22	21	the	the	DET
ejpam-6234	22	22	other	other	ADJ
ejpam-6234	22	23	studies	study	NOUN
ejpam-6234	22	24	assume	assume	VERB
ejpam-6234	22	25	a	a	DET
ejpam-6234	22	26	kind	kind	NOUN
ejpam-6234	22	27	of	of	ADP
ejpam-6234	22	28	strong	strong	ADJ
ejpam-6234	22	29	observability	observability	NOUN
ejpam-6234	22	30	,	,	PUNCT
ejpam-6234	22	31	see	see	VERB
ejpam-6234	22	32	[	[	X
ejpam-6234	22	33	6	6	NUM
ejpam-6234	22	34	]	]	PUNCT
ejpam-6234	22	35	,	,	PUNCT
ejpam-6234	23	1	[	[	X
ejpam-6234	23	2	7	7	NUM
ejpam-6234	23	3	]	]	PUNCT
ejpam-6234	23	4	,	,	PUNCT
ejpam-6234	23	5	[	[	X
ejpam-6234	23	6	8	8	NUM
ejpam-6234	23	7	]	]	PUNCT
ejpam-6234	23	8	,	,	PUNCT
ejpam-6234	24	1	[	[	X
ejpam-6234	24	2	9],[10	9],[10	X
ejpam-6234	24	3	]	]	PUNCT
ejpam-6234	24	4	and	and	CCONJ
ejpam-6234	24	5	[	[	X
ejpam-6234	24	6	11	11	NUM
ejpam-6234	24	7	]	]	PUNCT
ejpam-6234	24	8	.	.	PUNCT
ejpam-6234	25	1	here	here	ADV
ejpam-6234	25	2	,	,	PUNCT
ejpam-6234	25	3	and	and	CCONJ
ejpam-6234	25	4	in	in	ADP
ejpam-6234	25	5	the	the	DET
ejpam-6234	25	6	aforementioned	aforementioned	ADJ
ejpam-6234	25	7	series	series	NOUN
ejpam-6234	25	8	of	of	ADP
ejpam-6234	25	9	papers	paper	NOUN
ejpam-6234	25	10	,	,	PUNCT
ejpam-6234	25	11	the	the	DET
ejpam-6234	25	12	situation	situation	NOUN
ejpam-6234	25	13	where	where	SCONJ
ejpam-6234	25	14	the	the	DET
ejpam-6234	25	15	system	system	NOUN
ejpam-6234	25	16	is	be	AUX
ejpam-6234	25	17	not	not	PART
ejpam-6234	25	18	strongly	strongly	ADV
ejpam-6234	25	19	observable	observable	ADJ
ejpam-6234	25	20	is	be	AUX
ejpam-6234	25	21	considered	consider	VERB
ejpam-6234	25	22	.	.	PUNCT
ejpam-6234	26	1	it	it	PRON
ejpam-6234	26	2	turns	turn	VERB
ejpam-6234	26	3	out	out	ADP
ejpam-6234	26	4	that	that	SCONJ
ejpam-6234	26	5	the	the	DET
ejpam-6234	26	6	academic	academic	ADJ
ejpam-6234	26	7	drone	drone	NOUN
ejpam-6234	26	8	model	model	NOUN
ejpam-6234	26	9	used	use	VERB
ejpam-6234	26	10	in	in	ADP
ejpam-6234	26	11	the	the	DET
ejpam-6234	26	12	following	follow	VERB
ejpam-6234	26	13	(	(	PUNCT
ejpam-6234	26	14	the	the	DET
ejpam-6234	26	15	classical	classical	ADJ
ejpam-6234	26	16	dubbins	dubbin	NOUN
ejpam-6234	26	17	model	model	NOUN
ejpam-6234	26	18	,	,	PUNCT
ejpam-6234	26	19	see	see	VERB
ejpam-6234	26	20	[	[	X
ejpam-6234	26	21	12	12	NUM
ejpam-6234	26	22	]	]	PUNCT
ejpam-6234	26	23	,	,	PUNCT
ejpam-6234	26	24	[	[	X
ejpam-6234	26	25	13	13	NUM
ejpam-6234	26	26	]	]	NUM
ejpam-6234	26	27	)	)	PUNCT
ejpam-6234	26	28	,	,	PUNCT
ejpam-6234	26	29	even	even	ADV
ejpam-6234	26	30	after	after	ADP
ejpam-6234	26	31	some	some	DET
ejpam-6234	26	32	reduction	reduction	NOUN
ejpam-6234	26	33	eliminating	eliminate	VERB
ejpam-6234	26	34	the	the	DET
ejpam-6234	26	35	symmetries	symmetry	NOUN
ejpam-6234	26	36	,	,	PUNCT
ejpam-6234	26	37	still	still	ADV
ejpam-6234	26	38	remains	remain	VERB
ejpam-6234	26	39	non	non	ADJ
ejpam-6234	26	40	-	-	ADJ
ejpam-6234	26	41	observable	observable	ADJ
ejpam-6234	26	42	.	.	PUNCT
ejpam-6234	27	1	in	in	ADP
ejpam-6234	27	2	view	view	NOUN
ejpam-6234	27	3	of	of	ADP
ejpam-6234	27	4	military	military	ADJ
ejpam-6234	27	5	applications	application	NOUN
ejpam-6234	27	6	and	and	CCONJ
ejpam-6234	27	7	other	other	ADJ
ejpam-6234	27	8	real	real	ADJ
ejpam-6234	27	9	situations	situation	NOUN
ejpam-6234	27	10	,	,	PUNCT
ejpam-6234	27	11	one	one	NUM
ejpam-6234	27	12	of	of	ADP
ejpam-6234	27	13	the	the	DET
ejpam-6234	27	14	most	most	ADV
ejpam-6234	27	15	important	important	ADJ
ejpam-6234	27	16	criteria	criterion	NOUN
ejpam-6234	27	17	to	to	PART
ejpam-6234	27	18	be	be	AUX
ejpam-6234	27	19	minimized	minimize	VERB
ejpam-6234	27	20	is	be	AUX
ejpam-6234	27	21	fuel	fuel	NOUN
ejpam-6234	27	22	consumption	consumption	NOUN
ejpam-6234	27	23	,	,	PUNCT
ejpam-6234	27	24	which	which	PRON
ejpam-6234	27	25	is	be	AUX
ejpam-6234	27	26	as	as	ADP
ejpam-6234	27	27	a	a	DET
ejpam-6234	27	28	first	first	ADJ
ejpam-6234	27	29	approximation	approximation	NOUN
ejpam-6234	27	30	,	,	PUNCT
ejpam-6234	27	31	equivalent	equivalent	ADJ
ejpam-6234	27	32	to	to	ADP
ejpam-6234	27	33	the	the	DET
ejpam-6234	27	34	minimum	minimum	ADJ
ejpam-6234	27	35	time	time	NOUN
ejpam-6234	27	36	problem	problem	NOUN
ejpam-6234	27	37	.	.	PUNCT
ejpam-6234	28	1	after	after	ADP
ejpam-6234	28	2	eliminating	eliminate	VERB
ejpam-6234	28	3	symmetries	symmetry	NOUN
ejpam-6234	28	4	,	,	PUNCT
ejpam-6234	28	5	the	the	DET
ejpam-6234	28	6	minimum	minimum	ADJ
ejpam-6234	28	7	time	time	NOUN
ejpam-6234	28	8	problem	problem	NOUN
ejpam-6234	28	9	for	for	ADP
ejpam-6234	28	10	the	the	DET
ejpam-6234	28	11	drone	drone	NOUN
ejpam-6234	28	12	model	model	NOUN
ejpam-6234	28	13	can	can	AUX
ejpam-6234	28	14	be	be	AUX
ejpam-6234	28	15	exactly	exactly	ADV
ejpam-6234	28	16	solved	solve	VERB
ejpam-6234	28	17	,	,	PUNCT
ejpam-6234	28	18	as	as	SCONJ
ejpam-6234	28	19	it	it	PRON
ejpam-6234	28	20	is	be	AUX
ejpam-6234	28	21	done	do	VERB
ejpam-6234	28	22	in	in	ADP
ejpam-6234	28	23	[	[	X
ejpam-6234	28	24	14	14	NUM
ejpam-6234	28	25	]	]	PUNCT
ejpam-6234	28	26	,	,	PUNCT
ejpam-6234	29	1	[	[	X
ejpam-6234	29	2	15	15	NUM
ejpam-6234	29	3	]	]	PUNCT
ejpam-6234	29	4	,	,	PUNCT
ejpam-6234	29	5	using	use	VERB
ejpam-6234	29	6	the	the	DET
ejpam-6234	29	7	general	general	ADJ
ejpam-6234	29	8	theory	theory	NOUN
ejpam-6234	29	9	of	of	ADP
ejpam-6234	29	10	[	[	X
ejpam-6234	29	11	16	16	NUM
ejpam-6234	29	12	]	]	PUNCT
ejpam-6234	29	13	.	.	PUNCT
ejpam-6234	30	1	the	the	DET
ejpam-6234	30	2	interesting	interesting	ADJ
ejpam-6234	30	3	point	point	NOUN
ejpam-6234	30	4	is	be	AUX
ejpam-6234	30	5	that	that	SCONJ
ejpam-6234	30	6	most	most	ADJ
ejpam-6234	30	7	of	of	ADP
ejpam-6234	30	8	the	the	DET
ejpam-6234	30	9	time	time	NOUN
ejpam-6234	30	10	(	(	PUNCT
ejpam-6234	30	11	which	which	PRON
ejpam-6234	30	12	means	mean	VERB
ejpam-6234	30	13	out	out	ADP
ejpam-6234	30	14	of	of	ADP
ejpam-6234	30	15	two	two	NUM
ejpam-6234	30	16	small	small	ADJ
ejpam-6234	30	17	sequences	sequence	NOUN
ejpam-6234	30	18	of	of	ADP
ejpam-6234	30	19	nonzero	nonzero	PROPN
ejpam-6234	30	20	controls	control	VERB
ejpam-6234	30	21	close	close	ADV
ejpam-6234	30	22	to	to	ADP
ejpam-6234	30	23	the	the	DET
ejpam-6234	30	24	origin	origin	NOUN
ejpam-6234	30	25	and	and	CCONJ
ejpam-6234	30	26	close	close	ADJ
ejpam-6234	30	27	to	to	ADP
ejpam-6234	30	28	the	the	DET
ejpam-6234	30	29	target	target	NOUN
ejpam-6234	30	30	)	)	PUNCT
ejpam-6234	30	31	,	,	PUNCT
ejpam-6234	30	32	the	the	DET
ejpam-6234	30	33	minimum	minimum	ADJ
ejpam-6234	30	34	time	time	NOUN
ejpam-6234	30	35	strategy	strategy	NOUN
ejpam-6234	30	36	is	be	AUX
ejpam-6234	30	37	the	the	DET
ejpam-6234	30	38	zero	zero	NUM
ejpam-6234	30	39	control	control	NOUN
ejpam-6234	30	40	as	as	SCONJ
ejpam-6234	30	41	expected	expect	VERB
ejpam-6234	30	42	,	,	PUNCT
ejpam-6234	30	43	i.e.	i.e.	X
ejpam-6234	30	44	,	,	PUNCT
ejpam-6234	30	45	straight	straight	ADJ
ejpam-6234	30	46	-	-	PUNCT
ejpam-6234	30	47	line	line	NOUN
ejpam-6234	30	48	trajectories	trajectory	NOUN
ejpam-6234	30	49	.	.	PUNCT
ejpam-6234	31	1	however	however	ADV
ejpam-6234	31	2	,	,	PUNCT
ejpam-6234	31	3	precisely	precisely	ADV
ejpam-6234	31	4	,	,	PUNCT
ejpam-6234	31	5	these	these	DET
ejpam-6234	31	6	zero	zero	NUM
ejpam-6234	31	7	controls	control	NOUN
ejpam-6234	31	8	correspond	correspond	ADV
ejpam-6234	31	9	to	to	ADP
ejpam-6234	31	10	the	the	DET
ejpam-6234	31	11	trajectories	trajectory	NOUN
ejpam-6234	31	12	along	along	ADP
ejpam-6234	31	13	which	which	PRON
ejpam-6234	31	14	an	an	DET
ejpam-6234	31	15	observability	observability	NOUN
ejpam-6234	31	16	defect	defect	NOUN
ejpam-6234	31	17	appears	appear	VERB
ejpam-6234	31	18	.	.	PUNCT
ejpam-6234	32	1	this	this	DET
ejpam-6234	32	2	paper	paper	NOUN
ejpam-6234	32	3	aims	aim	VERB
ejpam-6234	32	4	to	to	PART
ejpam-6234	32	5	overcome	overcome	VERB
ejpam-6234	32	6	this	this	DET
ejpam-6234	32	7	difficulty	difficulty	NOUN
ejpam-6234	32	8	(	(	PUNCT
ejpam-6234	32	9	the	the	DET
ejpam-6234	32	10	observability	observability	NOUN
ejpam-6234	32	11	vs	vs	ADP
ejpam-6234	32	12	minimum	minimum	NOUN
ejpam-6234	32	13	time	time	NOUN
ejpam-6234	32	14	strategy	strategy	NOUN
ejpam-6234	32	15	problem	problem	NOUN
ejpam-6234	32	16	)	)	PUNCT
ejpam-6234	32	17	and	and	CCONJ
ejpam-6234	32	18	to	to	PART
ejpam-6234	32	19	show	show	VERB
ejpam-6234	32	20	what	what	PRON
ejpam-6234	32	21	kind	kind	NOUN
ejpam-6234	32	22	of	of	ADP
ejpam-6234	32	23	a	a	DET
ejpam-6234	32	24	surprising	surprising	ADJ
ejpam-6234	32	25	phenomenon	phenomenon	NOUN
ejpam-6234	32	26	may	may	AUX
ejpam-6234	32	27	appear	appear	VERB
ejpam-6234	32	28	.	.	PUNCT
ejpam-6234	33	1	in	in	ADP
ejpam-6234	33	2	fact	fact	NOUN
ejpam-6234	33	3	,	,	PUNCT
ejpam-6234	33	4	the	the	DET
ejpam-6234	33	5	idea	idea	NOUN
ejpam-6234	33	6	is	be	AUX
ejpam-6234	33	7	to	to	PART
ejpam-6234	33	8	introduce	introduce	VERB
ejpam-6234	33	9	an	an	DET
ejpam-6234	33	10	additional	additional	ADJ
ejpam-6234	33	11	perturbation	perturbation	NOUN
ejpam-6234	33	12	input	input	NOUN
ejpam-6234	33	13	to	to	ADP
ejpam-6234	33	14	the	the	DET
ejpam-6234	33	15	controlled	control	VERB
ejpam-6234	33	16	system	system	NOUN
ejpam-6234	33	17	in	in	ADP
ejpam-6234	33	18	regions	region	NOUN
ejpam-6234	33	19	where	where	SCONJ
ejpam-6234	33	20	the	the	DET
ejpam-6234	33	21	system	system	NOUN
ejpam-6234	33	22	is	be	AUX
ejpam-6234	33	23	unobservable	unobservable	ADJ
ejpam-6234	33	24	to	to	PART
ejpam-6234	33	25	reduce	reduce	VERB
ejpam-6234	33	26	convergence	convergence	NOUN
ejpam-6234	33	27	time	time	NOUN
ejpam-6234	33	28	.	.	PUNCT
ejpam-6234	34	1	it	it	PRON
ejpam-6234	34	2	is	be	AUX
ejpam-6234	34	3	well	well	ADV
ejpam-6234	34	4	known	know	VERB
ejpam-6234	34	5	that	that	SCONJ
ejpam-6234	34	6	bilinear	bilinear	PROPN
ejpam-6234	34	7	systems	system	NOUN
ejpam-6234	34	8	are	be	AUX
ejpam-6234	34	9	more	more	ADV
ejpam-6234	34	10	easily	easily	ADV
ejpam-6234	34	11	tractable	tractable	ADJ
ejpam-6234	34	12	from	from	ADP
ejpam-6234	34	13	the	the	DET
ejpam-6234	34	14	observability	observability	NOUN
ejpam-6234	34	15	point	point	NOUN
ejpam-6234	34	16	of	of	ADP
ejpam-6234	34	17	view	view	NOUN
ejpam-6234	34	18	,	,	PUNCT
ejpam-6234	34	19	and	and	CCONJ
ejpam-6234	34	20	general	general	ADJ
ejpam-6234	34	21	systems	system	NOUN
ejpam-6234	34	22	can	can	AUX
ejpam-6234	34	23	be	be	AUX
ejpam-6234	34	24	at	at	ADV
ejpam-6234	34	25	least	least	ADJ
ejpam-6234	34	26	approximated	approximate	VERB
ejpam-6234	34	27	by	by	ADP
ejpam-6234	34	28	bilinear	bilinear	ADJ
ejpam-6234	34	29	ones	one	NOUN
ejpam-6234	34	30	.	.	PUNCT
ejpam-6234	35	1	here	here	ADV
ejpam-6234	35	2	,	,	PUNCT
ejpam-6234	35	3	the	the	DET
ejpam-6234	35	4	presented	present	VERB
ejpam-6234	35	5	case	case	NOUN
ejpam-6234	35	6	is	be	AUX
ejpam-6234	35	7	a	a	DET
ejpam-6234	35	8	very	very	ADV
ejpam-6234	35	9	pleasant	pleasant	ADJ
ejpam-6234	35	10	case	case	NOUN
ejpam-6234	35	11	where	where	SCONJ
ejpam-6234	35	12	the	the	DET
ejpam-6234	35	13	system	system	NOUN
ejpam-6234	35	14	can	can	AUX
ejpam-6234	35	15	be	be	AUX
ejpam-6234	35	16	exactly	exactly	ADV
ejpam-6234	35	17	embedded	embed	VERB
ejpam-6234	35	18	into	into	ADP
ejpam-6234	35	19	a	a	DET
ejpam-6234	35	20	bilinear	bilinear	NOUN
ejpam-6234	35	21	one	one	NOUN
ejpam-6234	35	22	(	(	PUNCT
ejpam-6234	35	23	see	see	VERB
ejpam-6234	35	24	[	[	X
ejpam-6234	35	25	17	17	NUM
ejpam-6234	35	26	]	]	NUM
ejpam-6234	35	27	)	)	PUNCT
ejpam-6234	35	28	.	.	PUNCT
ejpam-6234	36	1	this	this	PRON
ejpam-6234	36	2	is	be	AUX
ejpam-6234	36	3	crucial	crucial	ADJ
ejpam-6234	36	4	for	for	ADP
ejpam-6234	36	5	the	the	DET
ejpam-6234	36	6	proposed	propose	VERB
ejpam-6234	36	7	strategy	strategy	NOUN
ejpam-6234	36	8	.	.	PUNCT
ejpam-6234	37	1	this	this	DET
ejpam-6234	37	2	paper	paper	NOUN
ejpam-6234	37	3	is	be	AUX
ejpam-6234	37	4	organized	organize	VERB
ejpam-6234	37	5	as	as	SCONJ
ejpam-6234	37	6	follows	follow	VERB
ejpam-6234	37	7	:	:	PUNCT
ejpam-6234	37	8	the	the	DET
ejpam-6234	37	9	next	next	ADJ
ejpam-6234	37	10	section	section	NOUN
ejpam-6234	37	11	presents	present	VERB
ejpam-6234	37	12	the	the	DET
ejpam-6234	37	13	system	system	NOUN
ejpam-6234	37	14	model	model	NOUN
ejpam-6234	37	15	,	,	PUNCT
ejpam-6234	37	16	its	its	PRON
ejpam-6234	37	17	properties	property	NOUN
ejpam-6234	37	18	,	,	PUNCT
ejpam-6234	37	19	and	and	CCONJ
ejpam-6234	37	20	the	the	DET
ejpam-6234	37	21	successive	successive	ADJ
ejpam-6234	37	22	reduction	reduction	NOUN
ejpam-6234	37	23	and	and	CCONJ
ejpam-6234	37	24	extension	extension	NOUN
ejpam-6234	37	25	that	that	PRON
ejpam-6234	37	26	are	be	AUX
ejpam-6234	37	27	used	use	VERB
ejpam-6234	37	28	.	.	PUNCT
ejpam-6234	38	1	then	then	ADV
ejpam-6234	38	2	,	,	PUNCT
ejpam-6234	38	3	section	section	NOUN
ejpam-6234	38	4	3	3	NUM
ejpam-6234	38	5	recalls	recall	VERB
ejpam-6234	38	6	the	the	DET
ejpam-6234	38	7	previous	previous	ADJ
ejpam-6234	38	8	results	result	NOUN
ejpam-6234	38	9	about	about	ADP
ejpam-6234	38	10	the	the	DET
ejpam-6234	38	11	minimum	minimum	ADJ
ejpam-6234	38	12	time	time	NOUN
ejpam-6234	38	13	strategy	strategy	NOUN
ejpam-6234	38	14	,	,	PUNCT
ejpam-6234	38	15	the	the	DET
ejpam-6234	38	16	observer	observer	NOUN
ejpam-6234	38	17	,	,	PUNCT
ejpam-6234	38	18	and	and	CCONJ
ejpam-6234	38	19	the	the	DET
ejpam-6234	38	20	result	result	NOUN
ejpam-6234	38	21	regarding	regard	VERB
ejpam-6234	38	22	dynamic	dynamic	ADJ
ejpam-6234	38	23	output	output	NOUN
ejpam-6234	38	24	stabilization	stabilization	NOUN
ejpam-6234	38	25	.	.	PUNCT
ejpam-6234	39	1	the	the	DET
ejpam-6234	39	2	last	last	ADJ
ejpam-6234	39	3	section	section	NOUN
ejpam-6234	39	4	,	,	PUNCT
ejpam-6234	39	5	section	section	NOUN
ejpam-6234	39	6	4	4	NUM
ejpam-6234	39	7	,	,	PUNCT
ejpam-6234	39	8	presents	present	VERB
ejpam-6234	39	9	the	the	DET
ejpam-6234	39	10	proposed	propose	VERB
ejpam-6234	39	11	strategy	strategy	NOUN
ejpam-6234	39	12	to	to	PART
ejpam-6234	39	13	overcome	overcome	VERB
ejpam-6234	39	14	the	the	DET
ejpam-6234	39	15	conflict	conflict	NOUN
ejpam-6234	39	16	between	between	ADP
ejpam-6234	39	17	the	the	DET
ejpam-6234	39	18	lack	lack	NOUN
ejpam-6234	39	19	of	of	ADP
ejpam-6234	39	20	observability	observability	NOUN
ejpam-6234	39	21	and	and	CCONJ
ejpam-6234	39	22	a	a	DET
ejpam-6234	39	23	minimum	minimum	ADJ
ejpam-6234	39	24	time	time	NOUN
ejpam-6234	39	25	strategy	strategy	NOUN
ejpam-6234	39	26	.	.	PUNCT
ejpam-6234	40	1	2	2	X
ejpam-6234	40	2	.	.	X
ejpam-6234	40	3	the	the	DET
ejpam-6234	40	4	model	model	NOUN
ejpam-6234	40	5	,	,	PUNCT
ejpam-6234	40	6	reduction	reduction	NOUN
ejpam-6234	40	7	,	,	PUNCT
ejpam-6234	40	8	and	and	CCONJ
ejpam-6234	40	9	extension	extension	NOUN
ejpam-6234	40	10	this	this	DET
ejpam-6234	40	11	section	section	NOUN
ejpam-6234	40	12	presents	present	VERB
ejpam-6234	40	13	the	the	DET
ejpam-6234	40	14	system	system	NOUN
ejpam-6234	40	15	model	model	NOUN
ejpam-6234	40	16	,	,	PUNCT
ejpam-6234	40	17	its	its	PRON
ejpam-6234	40	18	properties	property	NOUN
ejpam-6234	40	19	,	,	PUNCT
ejpam-6234	40	20	and	and	CCONJ
ejpam-6234	40	21	the	the	DET
ejpam-6234	40	22	successive	successive	ADJ
ejpam-6234	40	23	reduction	reduction	NOUN
ejpam-6234	40	24	and	and	CCONJ
ejpam-6234	40	25	extension	extension	NOUN
ejpam-6234	40	26	that	that	PRON
ejpam-6234	40	27	are	be	AUX
ejpam-6234	40	28	used	use	VERB
ejpam-6234	40	29	.	.	PUNCT
ejpam-6234	41	1	the	the	DET
ejpam-6234	41	2	drone	drone	NOUN
ejpam-6234	41	3	kinematic	kinematic	ADJ
ejpam-6234	41	4	equations	equation	NOUN
ejpam-6234	41	5	are	be	AUX
ejpam-6234	41	6	presented	present	VERB
ejpam-6234	41	7	in	in	ADP
ejpam-6234	41	8	the	the	DET
ejpam-6234	41	9	following	following	NOUN
ejpam-6234	41	10	:	:	PUNCT
ejpam-6234	42	1	ẋ	ẋ	PROPN
ejpam-6234	42	2	=	=	SYM
ejpam-6234	42	3	cos(θ	cos(θ	PROPN
ejpam-6234	42	4	)	)	PUNCT
ejpam-6234	42	5	,	,	PUNCT
ejpam-6234	42	6	ẏ	ẏ	PROPN
ejpam-6234	42	7	=	=	SYM
ejpam-6234	42	8	sin(θ	sin(θ	PROPN
ejpam-6234	42	9	)	)	PUNCT
ejpam-6234	42	10	,	,	PUNCT
ejpam-6234	42	11	θ̇	θ̇	NOUN
ejpam-6234	42	12	=	=	SYM
ejpam-6234	42	13	u	u	NOUN
ejpam-6234	42	14	,	,	PUNCT
ejpam-6234	42	15	−	−	PROPN
ejpam-6234	42	16	umax	umax	ADJ
ejpam-6234	42	17	≤	≤	ADJ
ejpam-6234	42	18	u	u	NOUN
ejpam-6234	42	19	≤	≤	NOUN
ejpam-6234	42	20	umax	umax	NOUN
ejpam-6234	42	21	,	,	PUNCT
ejpam-6234	42	22	(	(	PUNCT
ejpam-6234	42	23	1	1	X
ejpam-6234	42	24	)	)	PUNCT
ejpam-6234	42	25	which	which	PRON
ejpam-6234	42	26	describes	describe	VERB
ejpam-6234	42	27	the	the	DET
ejpam-6234	42	28	movement	movement	NOUN
ejpam-6234	42	29	of	of	ADP
ejpam-6234	42	30	the	the	DET
ejpam-6234	42	31	drone	drone	NOUN
ejpam-6234	42	32	on	on	ADP
ejpam-6234	42	33	the	the	DET
ejpam-6234	42	34	(	(	PUNCT
ejpam-6234	42	35	x	x	NOUN
ejpam-6234	42	36	,	,	PUNCT
ejpam-6234	42	37	y	y	NOUN
ejpam-6234	42	38	)	)	PUNCT
ejpam-6234	42	39	plane	plane	NOUN
ejpam-6234	42	40	,	,	PUNCT
ejpam-6234	42	41	with	with	ADP
ejpam-6234	42	42	a	a	DET
ejpam-6234	42	43	constant	constant	ADJ
ejpam-6234	42	44	velocity	velocity	NOUN
ejpam-6234	42	45	equal	equal	ADJ
ejpam-6234	42	46	to	to	ADP
ejpam-6234	42	47	1	1	NUM
ejpam-6234	42	48	and	and	CCONJ
ejpam-6234	42	49	with	with	ADP
ejpam-6234	42	50	minimum	minimum	ADJ
ejpam-6234	42	51	possible	possible	ADJ
ejpam-6234	42	52	curvature	curvature	NOUN
ejpam-6234	42	53	radius	radius	NOUN
ejpam-6234	42	54	r	r	NOUN
ejpam-6234	42	55	of	of	ADP
ejpam-6234	42	56	trajectories	trajectory	NOUN
ejpam-6234	42	57	being	be	AUX
ejpam-6234	42	58	r	r	NOUN
ejpam-6234	42	59	=	=	SYM
ejpam-6234	42	60	1	1	NUM
ejpam-6234	42	61	umax	umax	ADJ
ejpam-6234	42	62	.	.	PUNCT
ejpam-6234	43	1	this	this	DET
ejpam-6234	43	2	model	model	NOUN
ejpam-6234	43	3	is	be	AUX
ejpam-6234	43	4	inspired	inspire	VERB
ejpam-6234	43	5	by	by	ADP
ejpam-6234	43	6	the	the	DET
ejpam-6234	43	7	dubbins	dubbin	NOUN
ejpam-6234	43	8	model	model	NOUN
ejpam-6234	43	9	[	[	X
ejpam-6234	43	10	12	12	NUM
ejpam-6234	43	11	]	]	PUNCT
ejpam-6234	43	12	,	,	PUNCT
ejpam-6234	43	13	and	and	CCONJ
ejpam-6234	43	14	it	it	PRON
ejpam-6234	43	15	has	have	AUX
ejpam-6234	43	16	been	be	AUX
ejpam-6234	43	17	discussed	discuss	VERB
ejpam-6234	43	18	in	in	ADP
ejpam-6234	43	19	many	many	ADJ
ejpam-6234	43	20	papers	paper	NOUN
ejpam-6234	43	21	,	,	PUNCT
ejpam-6234	43	22	see	see	VERB
ejpam-6234	43	23	for	for	ADP
ejpam-6234	43	24	instance	instance	NOUN
ejpam-6234	43	25	[	[	X
ejpam-6234	43	26	12	12	NUM
ejpam-6234	43	27	]	]	PUNCT
ejpam-6234	43	28	,	,	PUNCT
ejpam-6234	43	29	[	[	X
ejpam-6234	43	30	13	13	NUM
ejpam-6234	43	31	]	]	PUNCT
ejpam-6234	43	32	.	.	PUNCT
ejpam-6234	44	1	we	we	PRON
ejpam-6234	44	2	consider	consider	VERB
ejpam-6234	44	3	here	here	ADV
ejpam-6234	44	4	the	the	DET
ejpam-6234	44	5	situation	situation	NOUN
ejpam-6234	44	6	in	in	ADP
ejpam-6234	44	7	which	which	PRON
ejpam-6234	44	8	we	we	PRON
ejpam-6234	44	9	have	have	VERB
ejpam-6234	44	10	minimum	minimum	ADJ
ejpam-6234	44	11	information	information	NOUN
ejpam-6234	44	12	,	,	PUNCT
ejpam-6234	44	13	i.e.	i.e.	X
ejpam-6234	44	14	,	,	PUNCT
ejpam-6234	44	15	the	the	DET
ejpam-6234	44	16	only	only	ADJ
ejpam-6234	44	17	available	available	ADJ
ejpam-6234	44	18	continuous	continuous	ADJ
ejpam-6234	44	19	observation	observation	NOUN
ejpam-6234	44	20	(	(	PUNCT
ejpam-6234	44	21	measurement	measurement	NOUN
ejpam-6234	44	22	)	)	PUNCT
ejpam-6234	44	23	is	be	AUX
ejpam-6234	44	24	the	the	DET
ejpam-6234	44	25	distance	distance	NOUN
ejpam-6234	44	26	to	to	ADP
ejpam-6234	44	27	the	the	DET
ejpam-6234	44	28	target	target	NOUN
ejpam-6234	44	29	.	.	PUNCT
ejpam-6234	45	1	it	it	PRON
ejpam-6234	45	2	is	be	AUX
ejpam-6234	45	3	an	an	DET
ejpam-6234	45	4	a.	a.	NOUN
ejpam-6234	45	5	ajami	ajami	NOUN
ejpam-6234	45	6	et	et	PROPN
ejpam-6234	46	1	al	al	PROPN
ejpam-6234	46	2	.	.	PUNCT
ejpam-6234	46	3	/	/	SYM
ejpam-6234	46	4	eur	eur	PROPN
ejpam-6234	46	5	.	.	PUNCT
ejpam-6234	47	1	j.	j.	PROPN
ejpam-6234	47	2	pure	pure	PROPN
ejpam-6234	47	3	appl	appl	PROPN
ejpam-6234	47	4	.	.	PROPN
ejpam-6234	47	5	math	math	PROPN
ejpam-6234	47	6	,	,	PUNCT
ejpam-6234	47	7	18	18	NUM
ejpam-6234	47	8	(	(	PUNCT
ejpam-6234	47	9	3	3	NUM
ejpam-6234	47	10	)	)	PUNCT
ejpam-6234	47	11	(	(	PUNCT
ejpam-6234	47	12	2025	2025	NUM
ejpam-6234	47	13	)	)	PUNCT
ejpam-6234	47	14	,	,	PUNCT
ejpam-6234	47	15	6234	6234	NUM
ejpam-6234	47	16	3	3	NUM
ejpam-6234	47	17	of	of	ADP
ejpam-6234	47	18	14	14	NUM
ejpam-6234	47	19	interesting	interesting	ADJ
ejpam-6234	47	20	case	case	NOUN
ejpam-6234	47	21	from	from	ADP
ejpam-6234	47	22	the	the	DET
ejpam-6234	47	23	theoretical	theoretical	ADJ
ejpam-6234	47	24	point	point	NOUN
ejpam-6234	47	25	of	of	ADP
ejpam-6234	47	26	view	view	NOUN
ejpam-6234	47	27	since	since	SCONJ
ejpam-6234	47	28	it	it	PRON
ejpam-6234	47	29	makes	make	VERB
ejpam-6234	47	30	the	the	DET
ejpam-6234	47	31	system	system	NOUN
ejpam-6234	47	32	non	non	ADJ
ejpam-6234	47	33	-	-	ADJ
ejpam-6234	47	34	observable	observable	ADJ
ejpam-6234	47	35	.	.	PUNCT
ejpam-6234	48	1	let	let	VERB
ejpam-6234	48	2	us	we	PRON
ejpam-6234	48	3	mention	mention	VERB
ejpam-6234	48	4	that	that	SCONJ
ejpam-6234	48	5	this	this	DET
ejpam-6234	48	6	case	case	NOUN
ejpam-6234	48	7	also	also	ADV
ejpam-6234	48	8	corresponds	correspond	VERB
ejpam-6234	48	9	to	to	ADP
ejpam-6234	48	10	a	a	DET
ejpam-6234	48	11	certain	certain	ADJ
ejpam-6234	48	12	practical	practical	ADJ
ejpam-6234	48	13	situation	situation	NOUN
ejpam-6234	48	14	in	in	ADP
ejpam-6234	48	15	the	the	DET
ejpam-6234	48	16	military	military	ADJ
ejpam-6234	48	17	context	context	NOUN
ejpam-6234	48	18	.	.	PUNCT
ejpam-6234	49	1	moreover	moreover	ADV
ejpam-6234	49	2	,	,	PUNCT
ejpam-6234	49	3	in	in	ADP
ejpam-6234	49	4	this	this	DET
ejpam-6234	49	5	mission	mission	NOUN
ejpam-6234	49	6	,	,	PUNCT
ejpam-6234	49	7	the	the	DET
ejpam-6234	49	8	target	target	NOUN
ejpam-6234	49	9	is	be	AUX
ejpam-6234	49	10	not	not	PART
ejpam-6234	49	11	a	a	DET
ejpam-6234	49	12	point	point	NOUN
ejpam-6234	49	13	,	,	PUNCT
ejpam-6234	49	14	but	but	CCONJ
ejpam-6234	49	15	a	a	DET
ejpam-6234	49	16	circle	circle	NOUN
ejpam-6234	49	17	of	of	ADP
ejpam-6234	49	18	minimum	minimum	ADJ
ejpam-6234	49	19	curvature	curvature	NOUN
ejpam-6234	49	20	radius	radius	NOUN
ejpam-6234	49	21	r	r	NOUN
ejpam-6234	49	22	(	(	PUNCT
ejpam-6234	49	23	staying	stay	VERB
ejpam-6234	49	24	above	above	ADP
ejpam-6234	49	25	the	the	DET
ejpam-6234	49	26	real	real	ADJ
ejpam-6234	49	27	target	target	NOUN
ejpam-6234	49	28	)	)	PUNCT
ejpam-6234	49	29	,	,	PUNCT
ejpam-6234	49	30	since	since	SCONJ
ejpam-6234	49	31	the	the	DET
ejpam-6234	49	32	drone	drone	NOUN
ejpam-6234	49	33	has	have	VERB
ejpam-6234	49	34	constant	constant	ADJ
ejpam-6234	49	35	velocity	velocity	NOUN
ejpam-6234	49	36	(	(	PUNCT
ejpam-6234	49	37	or	or	CCONJ
ejpam-6234	49	38	at	at	ADP
ejpam-6234	49	39	least	least	ADJ
ejpam-6234	49	40	minimum	minimum	ADJ
ejpam-6234	49	41	velocity	velocity	NOUN
ejpam-6234	49	42	)	)	PUNCT
ejpam-6234	49	43	.	.	PUNCT
ejpam-6234	50	1	at	at	ADP
ejpam-6234	50	2	the	the	DET
ejpam-6234	50	3	end	end	NOUN
ejpam-6234	50	4	of	of	ADP
ejpam-6234	50	5	the	the	DET
ejpam-6234	50	6	mission	mission	NOUN
ejpam-6234	50	7	,	,	PUNCT
ejpam-6234	50	8	while	while	SCONJ
ejpam-6234	50	9	the	the	DET
ejpam-6234	50	10	drone	drone	NOUN
ejpam-6234	50	11	is	be	AUX
ejpam-6234	50	12	hovering	hover	VERB
ejpam-6234	50	13	the	the	DET
ejpam-6234	50	14	target	target	NOUN
ejpam-6234	50	15	,	,	PUNCT
ejpam-6234	50	16	after	after	ADP
ejpam-6234	50	17	some	some	DET
ejpam-6234	50	18	signal	signal	NOUN
ejpam-6234	50	19	,	,	PUNCT
ejpam-6234	50	20	the	the	DET
ejpam-6234	50	21	charge	charge	NOUN
ejpam-6234	50	22	is	be	AUX
ejpam-6234	50	23	dropped	drop	VERB
ejpam-6234	50	24	over	over	ADP
ejpam-6234	50	25	the	the	DET
ejpam-6234	50	26	target	target	NOUN
ejpam-6234	50	27	.	.	PUNCT
ejpam-6234	51	1	to	to	PART
ejpam-6234	51	2	express	express	VERB
ejpam-6234	51	3	this	this	DET
ejpam-6234	51	4	requirement	requirement	NOUN
ejpam-6234	51	5	,	,	PUNCT
ejpam-6234	51	6	we	we	PRON
ejpam-6234	51	7	define	define	VERB
ejpam-6234	51	8	the	the	DET
ejpam-6234	51	9	target	target	NOUN
ejpam-6234	51	10	(	(	PUNCT
ejpam-6234	51	11	traveled	travel	VERB
ejpam-6234	51	12	counter	counter	NOUN
ejpam-6234	51	13	-	-	NOUN
ejpam-6234	51	14	clockwise	clockwise	NOUN
ejpam-6234	51	15	)	)	PUNCT
ejpam-6234	51	16	t	t	NOUN
ejpam-6234	51	17	by	by	ADP
ejpam-6234	51	18	:	:	PUNCT
ejpam-6234	51	19	t	t	NOUN
ejpam-6234	51	20	=	=	SYM
ejpam-6234	51	21	{	{	PUNCT
ejpam-6234	51	22	(	(	PUNCT
ejpam-6234	51	23	x	x	NOUN
ejpam-6234	51	24	,	,	PUNCT
ejpam-6234	51	25	y)|x	y)|x	NOUN
ejpam-6234	51	26	=	=	NOUN
ejpam-6234	51	27	r	r	NOUN
ejpam-6234	51	28	sin(ω	sin(ω	PROPN
ejpam-6234	51	29	)	)	PUNCT
ejpam-6234	51	30	,	,	PUNCT
ejpam-6234	51	31	y	y	PROPN
ejpam-6234	51	32	=	=	PROPN
ejpam-6234	51	33	−r	−r	PROPN
ejpam-6234	51	34	cos(ω	cos(ω	PROPN
ejpam-6234	51	35	)	)	PUNCT
ejpam-6234	51	36	,	,	PUNCT
ejpam-6234	51	37	ω	ω	PROPN
ejpam-6234	51	38	∈	∈	PROPN
ejpam-6234	52	1	[	[	X
ejpam-6234	52	2	0	0	NUM
ejpam-6234	52	3	,	,	PUNCT
ejpam-6234	52	4	2π	2π	NOUN
ejpam-6234	52	5	]	]	PUNCT
ejpam-6234	52	6	}	}	PUNCT
ejpam-6234	52	7	the	the	DET
ejpam-6234	52	8	first	first	ADJ
ejpam-6234	52	9	step	step	NOUN
ejpam-6234	52	10	is	be	AUX
ejpam-6234	52	11	eliminating	eliminate	VERB
ejpam-6234	52	12	the	the	DET
ejpam-6234	52	13	rotational	rotational	ADJ
ejpam-6234	52	14	symmetry	symmetry	NOUN
ejpam-6234	52	15	,	,	PUNCT
ejpam-6234	52	16	which	which	PRON
ejpam-6234	52	17	is	be	AUX
ejpam-6234	52	18	done	do	VERB
ejpam-6234	52	19	via	via	ADP
ejpam-6234	52	20	a	a	DET
ejpam-6234	52	21	”	"	PUNCT
ejpam-6234	52	22	moving	move	VERB
ejpam-6234	52	23	frame	frame	NOUN
ejpam-6234	52	24	”	"	PUNCT
ejpam-6234	52	25	strategy	strategy	NOUN
ejpam-6234	52	26	,	,	PUNCT
ejpam-6234	52	27	i.e.	i.e.	X
ejpam-6234	52	28	,	,	PUNCT
ejpam-6234	52	29	set	set	VERB
ejpam-6234	52	30	:	:	PUNCT
ejpam-6234	52	31	(	(	PUNCT
ejpam-6234	52	32	x̃	x̃	PROPN
ejpam-6234	52	33	ỹ	ỹ	PROPN
ejpam-6234	52	34	)	)	PUNCT
ejpam-6234	53	1	=	=	PUNCT
ejpam-6234	53	2	(	(	PUNCT
ejpam-6234	53	3	cos	cos	ADP
ejpam-6234	53	4	θ	θ	PROPN
ejpam-6234	53	5	sin	sin	VERB
ejpam-6234	53	6	θ	θ	PROPN
ejpam-6234	53	7	−	−	PROPN
ejpam-6234	53	8	sin	sin	NOUN
ejpam-6234	53	9	θ	θ	PROPN
ejpam-6234	53	10	cos	cos	PROPN
ejpam-6234	53	11	θ	θ	PROPN
ejpam-6234	53	12	)	)	PUNCT
ejpam-6234	53	13	(	(	PUNCT
ejpam-6234	53	14	x	x	SYM
ejpam-6234	53	15	y	y	PROPN
ejpam-6234	53	16	)	)	PUNCT
ejpam-6234	53	17	.	.	PUNCT
ejpam-6234	54	1	in	in	ADP
ejpam-6234	54	2	these	these	DET
ejpam-6234	54	3	new	new	ADJ
ejpam-6234	54	4	coordinates	coordinate	NOUN
ejpam-6234	54	5	,	,	PUNCT
ejpam-6234	54	6	the	the	DET
ejpam-6234	54	7	system	system	NOUN
ejpam-6234	54	8	1	1	NUM
ejpam-6234	54	9	can	can	AUX
ejpam-6234	54	10	be	be	AUX
ejpam-6234	54	11	rewritten	rewrite	VERB
ejpam-6234	54	12	as	as	ADP
ejpam-6234	54	13	:	:	PUNCT
ejpam-6234	54	14	d	d	X
ejpam-6234	54	15	dt	dt	X
ejpam-6234	54	16	(	(	PUNCT
ejpam-6234	54	17	x̃	x̃	PROPN
ejpam-6234	54	18	ỹ	ỹ	PROPN
ejpam-6234	54	19	)	)	PUNCT
ejpam-6234	55	1	=	=	PUNCT
ejpam-6234	55	2	(	(	PUNCT
ejpam-6234	55	3	u	u	NOUN
ejpam-6234	55	4	ỹ	ỹ	PROPN
ejpam-6234	55	5	+	+	CCONJ
ejpam-6234	55	6	1	1	NUM
ejpam-6234	55	7	−u	−u	PROPN
ejpam-6234	55	8	x̃	x̃	PROPN
ejpam-6234	55	9	)	)	PUNCT
ejpam-6234	55	10	.	.	PUNCT
ejpam-6234	56	1	(	(	PUNCT
ejpam-6234	56	2	2	2	X
ejpam-6234	56	3	)	)	PUNCT
ejpam-6234	56	4	this	this	DET
ejpam-6234	56	5	system	system	NOUN
ejpam-6234	56	6	2	2	NUM
ejpam-6234	56	7	possesses	possess	VERB
ejpam-6234	56	8	two	two	NUM
ejpam-6234	56	9	equilibria	equilibrium	NOUN
ejpam-6234	56	10	for	for	ADP
ejpam-6234	56	11	u	u	NOUN
ejpam-6234	56	12	=	=	SYM
ejpam-6234	56	13	±umax	±umax	X
ejpam-6234	56	14	,	,	PUNCT
ejpam-6234	56	15	namely	namely	ADV
ejpam-6234	56	16	e1	e1	NOUN
ejpam-6234	56	17	=	=	SYM
ejpam-6234	56	18	(	(	PUNCT
ejpam-6234	56	19	0	0	NUM
ejpam-6234	56	20	,	,	PUNCT
ejpam-6234	56	21	r	r	NOUN
ejpam-6234	56	22	)	)	PUNCT
ejpam-6234	56	23	,	,	PUNCT
ejpam-6234	56	24	e2	e2	PROPN
ejpam-6234	56	25	=	=	SYM
ejpam-6234	56	26	(	(	PUNCT
ejpam-6234	56	27	0,−r	0,−r	PROPN
ejpam-6234	56	28	)	)	PUNCT
ejpam-6234	56	29	.	.	PUNCT
ejpam-6234	57	1	they	they	PRON
ejpam-6234	57	2	correspond	correspond	VERB
ejpam-6234	57	3	to	to	ADP
ejpam-6234	57	4	the	the	DET
ejpam-6234	57	5	target	target	NOUN
ejpam-6234	57	6	t	t	NOUN
ejpam-6234	57	7	being	be	AUX
ejpam-6234	57	8	browsed	browse	VERB
ejpam-6234	57	9	counter	counter	NOUN
ejpam-6234	57	10	-	-	NOUN
ejpam-6234	57	11	clockwise	clockwise	NOUN
ejpam-6234	57	12	and	and	CCONJ
ejpam-6234	57	13	clockwise	clockwise	NOUN
ejpam-6234	57	14	,	,	PUNCT
ejpam-6234	57	15	respectively	respectively	ADV
ejpam-6234	57	16	.	.	PUNCT
ejpam-6234	58	1	if	if	SCONJ
ejpam-6234	58	2	u	u	NOUN
ejpam-6234	58	3	is	be	AUX
ejpam-6234	58	4	changed	change	VERB
ejpam-6234	58	5	for	for	ADP
ejpam-6234	58	6	−u	−u	PROPN
ejpam-6234	58	7	,	,	PUNCT
ejpam-6234	58	8	the	the	DET
ejpam-6234	58	9	two	two	NUM
ejpam-6234	58	10	equilibria	equilibrium	NOUN
ejpam-6234	58	11	are	be	AUX
ejpam-6234	58	12	exchanged	exchange	VERB
ejpam-6234	58	13	so	so	SCONJ
ejpam-6234	58	14	that	that	SCONJ
ejpam-6234	58	15	the	the	DET
ejpam-6234	58	16	set	set	NOUN
ejpam-6234	58	17	of	of	ADP
ejpam-6234	58	18	equilibria	equilibrium	NOUN
ejpam-6234	58	19	is	be	AUX
ejpam-6234	58	20	unchanged	unchanged	ADJ
ejpam-6234	58	21	.	.	PUNCT
ejpam-6234	59	1	it	it	PRON
ejpam-6234	59	2	means	mean	VERB
ejpam-6234	59	3	that	that	SCONJ
ejpam-6234	59	4	we	we	PRON
ejpam-6234	59	5	can	can	AUX
ejpam-6234	59	6	indifferently	indifferently	ADV
ejpam-6234	59	7	consider	consider	VERB
ejpam-6234	59	8	one	one	NOUN
ejpam-6234	59	9	among	among	ADP
ejpam-6234	59	10	the	the	DET
ejpam-6234	59	11	two	two	NUM
ejpam-6234	59	12	equilibria	equilibrium	NOUN
ejpam-6234	59	13	positions	position	NOUN
ejpam-6234	59	14	.	.	PUNCT
ejpam-6234	60	1	changing	change	VERB
ejpam-6234	60	2	the	the	DET
ejpam-6234	60	3	(	(	PUNCT
ejpam-6234	60	4	x̃	x̃	PROPN
ejpam-6234	60	5	,	,	PUNCT
ejpam-6234	60	6	ỹ	ỹ	PROPN
ejpam-6234	60	7	)	)	PUNCT
ejpam-6234	60	8	coordinates	coordinate	NOUN
ejpam-6234	60	9	for	for	ADP
ejpam-6234	60	10	(	(	PUNCT
ejpam-6234	60	11	x̄	x̄	PROPN
ejpam-6234	60	12	,	,	PUNCT
ejpam-6234	60	13	ȳ	ȳ	PROPN
ejpam-6234	60	14	)	)	PUNCT
ejpam-6234	60	15	=	=	NOUN
ejpam-6234	61	1	(	(	PUNCT
ejpam-6234	61	2	x̃	x̃	PROPN
ejpam-6234	61	3	,	,	PUNCT
ejpam-6234	61	4	ỹ	ỹ	PROPN
ejpam-6234	61	5	+	+	CCONJ
ejpam-6234	61	6	r	r	NOUN
ejpam-6234	61	7	)	)	PUNCT
ejpam-6234	61	8	,	,	PUNCT
ejpam-6234	61	9	the	the	DET
ejpam-6234	61	10	stabilization	stabilization	NOUN
ejpam-6234	61	11	problem	problem	NOUN
ejpam-6234	61	12	to	to	ADP
ejpam-6234	61	13	t	t	PROPN
ejpam-6234	61	14	is	be	AUX
ejpam-6234	61	15	reformulated	reformulate	VERB
ejpam-6234	61	16	in	in	ADP
ejpam-6234	61	17	these	these	DET
ejpam-6234	61	18	variables	variable	NOUN
ejpam-6234	61	19	as	as	ADP
ejpam-6234	61	20	the	the	DET
ejpam-6234	61	21	stabilization	stabilization	NOUN
ejpam-6234	61	22	problem	problem	NOUN
ejpam-6234	61	23	to	to	ADP
ejpam-6234	61	24	the	the	DET
ejpam-6234	61	25	submanifold	submanifold	NOUN
ejpam-6234	61	26	{	{	PUNCT
ejpam-6234	61	27	(	(	PUNCT
ejpam-6234	61	28	x̄	x̄	PROPN
ejpam-6234	61	29	,	,	PUNCT
ejpam-6234	61	30	ȳ	ȳ	PROPN
ejpam-6234	61	31	,	,	PUNCT
ejpam-6234	61	32	θ)|x̄	θ)|x̄	NOUN
ejpam-6234	61	33	=	=	SYM
ejpam-6234	61	34	ȳ	ȳ	NOUN
ejpam-6234	61	35	=	=	NOUN
ejpam-6234	61	36	0	0	NUM
ejpam-6234	61	37	}	}	PUNCT
ejpam-6234	61	38	.	.	PUNCT
ejpam-6234	62	1	equivalently	equivalently	ADV
ejpam-6234	62	2	,	,	PUNCT
ejpam-6234	62	3	we	we	PRON
ejpam-6234	62	4	will	will	AUX
ejpam-6234	62	5	refer	refer	VERB
ejpam-6234	62	6	to	to	ADP
ejpam-6234	62	7	the	the	DET
ejpam-6234	62	8	convergence	convergence	NOUN
ejpam-6234	62	9	of	of	ADP
ejpam-6234	62	10	(	(	PUNCT
ejpam-6234	62	11	x̄	x̄	PROPN
ejpam-6234	62	12	,	,	PUNCT
ejpam-6234	62	13	ȳ	ȳ	PROPN
ejpam-6234	62	14	)	)	PUNCT
ejpam-6234	62	15	to	to	ADP
ejpam-6234	62	16	the	the	DET
ejpam-6234	62	17	point	point	NOUN
ejpam-6234	62	18	(	(	PUNCT
ejpam-6234	62	19	0	0	NUM
ejpam-6234	62	20	,	,	PUNCT
ejpam-6234	62	21	0	0	NUM
ejpam-6234	62	22	)	)	PUNCT
ejpam-6234	62	23	of	of	ADP
ejpam-6234	62	24	the	the	DET
ejpam-6234	62	25	reduced	reduced	ADJ
ejpam-6234	62	26	state	state	NOUN
ejpam-6234	62	27	space	space	NOUN
ejpam-6234	62	28	.	.	PUNCT
ejpam-6234	63	1	the	the	DET
ejpam-6234	63	2	reader	reader	NOUN
ejpam-6234	63	3	can	can	AUX
ejpam-6234	63	4	easily	easily	ADV
ejpam-6234	63	5	check	check	VERB
ejpam-6234	63	6	that	that	SCONJ
ejpam-6234	63	7	the	the	DET
ejpam-6234	63	8	(	(	PUNCT
ejpam-6234	63	9	x̄	x̄	PROPN
ejpam-6234	63	10	,	,	PUNCT
ejpam-6234	63	11	ȳ	ȳ	PROPN
ejpam-6234	63	12	)	)	PUNCT
ejpam-6234	63	13	obey	obey	VERB
ejpam-6234	63	14	the	the	DET
ejpam-6234	63	15	following	follow	VERB
ejpam-6234	63	16	equations	equation	NOUN
ejpam-6234	63	17	:	:	PUNCT
ejpam-6234	63	18	{	{	PUNCT
ejpam-6234	64	1	dx̄	dx̄	ADJ
ejpam-6234	64	2	dt	dt	NOUN
ejpam-6234	65	1	=	=	SYM
ejpam-6234	65	2	u	u	PROPN
ejpam-6234	65	3	ȳ	ȳ	PROPN
ejpam-6234	65	4	+	+	CCONJ
ejpam-6234	65	5	1−	1−	NUM
ejpam-6234	65	6	r	r	NOUN
ejpam-6234	65	7	u	u	NOUN
ejpam-6234	65	8	dȳ	dȳ	NOUN
ejpam-6234	65	9	dt	dt	NOUN
ejpam-6234	66	1	=	=	SYM
ejpam-6234	66	2	−u	−u	PROPN
ejpam-6234	66	3	x̄	x̄	PRON
ejpam-6234	66	4	now	now	ADV
ejpam-6234	66	5	,	,	PUNCT
ejpam-6234	66	6	the	the	DET
ejpam-6234	66	7	”	"	PUNCT
ejpam-6234	66	8	minimum	minimum	ADJ
ejpam-6234	66	9	information	information	NOUN
ejpam-6234	66	10	output	output	NOUN
ejpam-6234	66	11	”	"	PUNCT
ejpam-6234	66	12	,	,	PUNCT
ejpam-6234	66	13	i.e.	i.e.	X
ejpam-6234	66	14	the	the	DET
ejpam-6234	66	15	square	square	ADJ
ejpam-6234	66	16	distance	distance	NOUN
ejpam-6234	66	17	to	to	ADP
ejpam-6234	66	18	the	the	DET
ejpam-6234	66	19	target	target	NOUN
ejpam-6234	66	20	becomes	become	VERB
ejpam-6234	66	21	:	:	PUNCT
ejpam-6234	66	22	ρ2	ρ2	NOUN
ejpam-6234	66	23	=	=	SYM
ejpam-6234	66	24	x2	x2	PROPN
ejpam-6234	67	1	+	+	CCONJ
ejpam-6234	67	2	y2	y2	NOUN
ejpam-6234	67	3	=	=	SYM
ejpam-6234	67	4	x̃2	x̃2	PROPN
ejpam-6234	68	1	+	+	NUM
ejpam-6234	68	2	ỹ2	ỹ2	X
ejpam-6234	68	3	=	=	SYM
ejpam-6234	68	4	x̄2	x̄2	X
ejpam-6234	69	1	+	+	CCONJ
ejpam-6234	69	2	(	(	PUNCT
ejpam-6234	69	3	ȳ	ȳ	ADJ
ejpam-6234	69	4	−	−	PROPN
ejpam-6234	69	5	r)2	r)2	NOUN
ejpam-6234	69	6	.	.	PUNCT
ejpam-6234	70	1	let	let	VERB
ejpam-6234	70	2	us	we	PRON
ejpam-6234	70	3	now	now	ADV
ejpam-6234	70	4	make	make	VERB
ejpam-6234	70	5	some	some	DET
ejpam-6234	70	6	observability	observability	NOUN
ejpam-6234	70	7	analysis	analysis	NOUN
ejpam-6234	70	8	:	:	PUNCT
ejpam-6234	70	9	the	the	DET
ejpam-6234	70	10	system	system	NOUN
ejpam-6234	70	11	1	1	NUM
ejpam-6234	70	12	is	be	AUX
ejpam-6234	70	13	not	not	PART
ejpam-6234	70	14	even	even	ADV
ejpam-6234	70	15	weakly	weakly	ADV
ejpam-6234	70	16	observable	observable	ADJ
ejpam-6234	70	17	in	in	ADP
ejpam-6234	70	18	the	the	DET
ejpam-6234	70	19	sense	sense	NOUN
ejpam-6234	70	20	of	of	ADP
ejpam-6234	70	21	[	[	X
ejpam-6234	70	22	18	18	NUM
ejpam-6234	70	23	]	]	X
ejpam-6234	70	24	:	:	PUNCT
ejpam-6234	70	25	changing	change	VERB
ejpam-6234	70	26	θ	θ	PROPN
ejpam-6234	70	27	for	for	ADP
ejpam-6234	70	28	θ+	θ+	NOUN
ejpam-6234	70	29	θ0	θ0	PROPN
ejpam-6234	70	30	leaves	leave	VERB
ejpam-6234	70	31	both	both	CCONJ
ejpam-6234	70	32	the	the	DET
ejpam-6234	70	33	system	system	NOUN
ejpam-6234	70	34	and	and	CCONJ
ejpam-6234	70	35	the	the	DET
ejpam-6234	70	36	observation	observation	NOUN
ejpam-6234	70	37	invariant	invariant	ADJ
ejpam-6234	70	38	.	.	PUNCT
ejpam-6234	71	1	on	on	ADP
ejpam-6234	71	2	its	its	PRON
ejpam-6234	71	3	side	side	NOUN
ejpam-6234	71	4	,	,	PUNCT
ejpam-6234	71	5	the	the	DET
ejpam-6234	71	6	system	system	NOUN
ejpam-6234	71	7	2	2	NUM
ejpam-6234	71	8	is	be	AUX
ejpam-6234	71	9	weakly	weakly	ADV
ejpam-6234	71	10	observable	observable	ADJ
ejpam-6234	71	11	(	(	PUNCT
ejpam-6234	71	12	it	it	PRON
ejpam-6234	71	13	is	be	AUX
ejpam-6234	71	14	just	just	ADV
ejpam-6234	71	15	the	the	DET
ejpam-6234	71	16	quotient	quotient	NOUN
ejpam-6234	71	17	system	system	NOUN
ejpam-6234	71	18	1	1	NUM
ejpam-6234	71	19	by	by	ADP
ejpam-6234	71	20	the	the	DET
ejpam-6234	71	21	”	"	PUNCT
ejpam-6234	71	22	weak	weak	ADJ
ejpam-6234	71	23	indistinguishability	indistinguishability	NOUN
ejpam-6234	71	24	”	"	PUNCT
ejpam-6234	71	25	relation	relation	NOUN
ejpam-6234	71	26	from	from	ADP
ejpam-6234	71	27	[	[	X
ejpam-6234	71	28	18	18	NUM
ejpam-6234	71	29	]	]	NUM
ejpam-6234	71	30	)	)	PUNCT
ejpam-6234	71	31	,	,	PUNCT
ejpam-6234	71	32	but	but	CCONJ
ejpam-6234	71	33	it	it	PRON
ejpam-6234	71	34	is	be	AUX
ejpam-6234	71	35	not	not	PART
ejpam-6234	71	36	strongly	strongly	ADV
ejpam-6234	71	37	observable	observable	ADJ
ejpam-6234	71	38	in	in	ADP
ejpam-6234	71	39	the	the	DET
ejpam-6234	71	40	sense	sense	NOUN
ejpam-6234	71	41	of	of	ADP
ejpam-6234	71	42	[	[	X
ejpam-6234	71	43	8	8	NUM
ejpam-6234	71	44	]	]	PUNCT
ejpam-6234	71	45	.	.	PUNCT
ejpam-6234	72	1	that	that	PRON
ejpam-6234	72	2	is	be	AUX
ejpam-6234	72	3	,	,	PUNCT
ejpam-6234	72	4	for	for	ADP
ejpam-6234	72	5	the	the	DET
ejpam-6234	72	6	constant	constant	ADJ
ejpam-6234	72	7	control	control	NOUN
ejpam-6234	72	8	u	u	PROPN
ejpam-6234	72	9	≡	≡	PROPN
ejpam-6234	72	10	0	0	NUM
ejpam-6234	72	11	,	,	PUNCT
ejpam-6234	72	12	the	the	DET
ejpam-6234	72	13	variable	variable	ADJ
ejpam-6234	72	14	x̃	x̃	PROPN
ejpam-6234	72	15	(	(	PUNCT
ejpam-6234	72	16	resp	resp	NOUN
ejpam-6234	72	17	.	.	PUNCT
ejpam-6234	73	1	x̄	x̄	X
ejpam-6234	73	2	)	)	PUNCT
ejpam-6234	73	3	only	only	ADV
ejpam-6234	73	4	can	can	AUX
ejpam-6234	73	5	be	be	AUX
ejpam-6234	73	6	reconstructed	reconstruct	VERB
ejpam-6234	73	7	from	from	ADP
ejpam-6234	73	8	the	the	DET
ejpam-6234	73	9	observation	observation	NOUN
ejpam-6234	73	10	ρ2	ρ2	NOUN
ejpam-6234	73	11	.	.	PUNCT
ejpam-6234	74	1	that	that	PRON
ejpam-6234	74	2	is	be	AUX
ejpam-6234	74	3	ỹ	ỹ	PROPN
ejpam-6234	74	4	can	can	AUX
ejpam-6234	74	5	be	be	AUX
ejpam-6234	74	6	reconstructed	reconstruct	VERB
ejpam-6234	74	7	up	up	ADP
ejpam-6234	74	8	to	to	PART
ejpam-6234	74	9	sign	sign	VERB
ejpam-6234	74	10	only	only	ADV
ejpam-6234	74	11	.	.	PUNCT
ejpam-6234	75	1	a.	a.	PROPN
ejpam-6234	75	2	ajami	ajami	PROPN
ejpam-6234	75	3	et	et	PROPN
ejpam-6234	75	4	al	al	PROPN
ejpam-6234	75	5	.	.	PUNCT
ejpam-6234	75	6	/	/	SYM
ejpam-6234	75	7	eur	eur	PROPN
ejpam-6234	75	8	.	.	PUNCT
ejpam-6234	76	1	j.	j.	PROPN
ejpam-6234	76	2	pure	pure	PROPN
ejpam-6234	76	3	appl	appl	PROPN
ejpam-6234	76	4	.	.	PROPN
ejpam-6234	76	5	math	math	PROPN
ejpam-6234	76	6	,	,	PUNCT
ejpam-6234	76	7	18	18	NUM
ejpam-6234	76	8	(	(	PUNCT
ejpam-6234	76	9	3	3	NUM
ejpam-6234	76	10	)	)	PUNCT
ejpam-6234	76	11	(	(	PUNCT
ejpam-6234	76	12	2025	2025	NUM
ejpam-6234	76	13	)	)	PUNCT
ejpam-6234	76	14	,	,	PUNCT
ejpam-6234	76	15	6234	6234	NUM
ejpam-6234	76	16	4	4	NUM
ejpam-6234	76	17	of	of	ADP
ejpam-6234	76	18	14	14	NUM
ejpam-6234	76	19	therefore	therefore	ADV
ejpam-6234	76	20	,	,	PUNCT
ejpam-6234	76	21	even	even	ADV
ejpam-6234	76	22	after	after	ADP
ejpam-6234	76	23	this	this	DET
ejpam-6234	76	24	first	first	ADJ
ejpam-6234	76	25	reduction	reduction	NOUN
ejpam-6234	76	26	,	,	PUNCT
ejpam-6234	76	27	in	in	ADP
ejpam-6234	76	28	which	which	PRON
ejpam-6234	76	29	the	the	DET
ejpam-6234	76	30	stabilization	stabilization	NOUN
ejpam-6234	76	31	concept	concept	NOUN
ejpam-6234	76	32	(	(	PUNCT
ejpam-6234	76	33	at	at	ADP
ejpam-6234	76	34	a	a	DET
ejpam-6234	76	35	point	point	NOUN
ejpam-6234	76	36	)	)	PUNCT
ejpam-6234	76	37	makes	make	VERB
ejpam-6234	76	38	sense	sense	NOUN
ejpam-6234	76	39	,	,	PUNCT
ejpam-6234	76	40	and	and	CCONJ
ejpam-6234	76	41	the	the	DET
ejpam-6234	76	42	system	system	NOUN
ejpam-6234	76	43	becomes	become	VERB
ejpam-6234	76	44	weakly	weakly	ADV
ejpam-6234	76	45	observable	observable	ADJ
ejpam-6234	76	46	,	,	PUNCT
ejpam-6234	76	47	observability	observability	NOUN
ejpam-6234	76	48	problems	problem	NOUN
ejpam-6234	76	49	are	be	AUX
ejpam-6234	76	50	remaining	remain	VERB
ejpam-6234	76	51	,	,	PUNCT
ejpam-6234	76	52	and	and	CCONJ
ejpam-6234	76	53	the	the	DET
ejpam-6234	76	54	general	general	ADJ
ejpam-6234	76	55	theory	theory	NOUN
ejpam-6234	76	56	of	of	ADP
ejpam-6234	76	57	dynamic	dynamic	ADJ
ejpam-6234	76	58	output	output	NOUN
ejpam-6234	76	59	stabilization	stabilization	NOUN
ejpam-6234	76	60	does	do	AUX
ejpam-6234	76	61	not	not	PART
ejpam-6234	76	62	apply	apply	VERB
ejpam-6234	76	63	.	.	PUNCT
ejpam-6234	77	1	besides	besides	SCONJ
ejpam-6234	77	2	[	[	X
ejpam-6234	77	3	18	18	NUM
ejpam-6234	77	4	]	]	PUNCT
ejpam-6234	77	5	,	,	PUNCT
ejpam-6234	77	6	one	one	PRON
ejpam-6234	77	7	can	can	AUX
ejpam-6234	77	8	also	also	ADV
ejpam-6234	77	9	consult	consult	VERB
ejpam-6234	77	10	[	[	X
ejpam-6234	77	11	19	19	NUM
ejpam-6234	77	12	]	]	PUNCT
ejpam-6234	77	13	,	,	PUNCT
ejpam-6234	77	14	[	[	X
ejpam-6234	77	15	20	20	NUM
ejpam-6234	77	16	]	]	PUNCT
ejpam-6234	77	17	,	,	PUNCT
ejpam-6234	77	18	[	[	X
ejpam-6234	77	19	21	21	NUM
ejpam-6234	77	20	]	]	PUNCT
ejpam-6234	77	21	for	for	ADP
ejpam-6234	77	22	the	the	DET
ejpam-6234	77	23	general	general	ADJ
ejpam-6234	77	24	theory	theory	NOUN
ejpam-6234	77	25	of	of	ADP
ejpam-6234	77	26	quotienting	quotiente	VERB
ejpam-6234	77	27	(	(	PUNCT
ejpam-6234	77	28	modding	modde	VERB
ejpam-6234	77	29	out	out	ADP
ejpam-6234	77	30	)	)	PUNCT
ejpam-6234	77	31	through	through	ADP
ejpam-6234	77	32	unobservability	unobservability	NOUN
ejpam-6234	77	33	.	.	PUNCT
ejpam-6234	78	1	at	at	ADP
ejpam-6234	78	2	this	this	DET
ejpam-6234	78	3	point	point	NOUN
ejpam-6234	78	4	,	,	PUNCT
ejpam-6234	78	5	another	another	DET
ejpam-6234	78	6	important	important	ADJ
ejpam-6234	78	7	fact	fact	NOUN
ejpam-6234	78	8	appears	appear	VERB
ejpam-6234	78	9	:	:	PUNCT
ejpam-6234	78	10	this	this	DET
ejpam-6234	78	11	system	system	NOUN
ejpam-6234	78	12	2	2	NUM
ejpam-6234	78	13	can	can	AUX
ejpam-6234	78	14	be	be	AUX
ejpam-6234	78	15	embedded	embed	VERB
ejpam-6234	78	16	into	into	ADP
ejpam-6234	78	17	a	a	DET
ejpam-6234	78	18	state	state	NOUN
ejpam-6234	78	19	-	-	PUNCT
ejpam-6234	78	20	affine	affine	NOUN
ejpam-6234	78	21	one	one	NOUN
ejpam-6234	78	22	:	:	PUNCT
ejpam-6234	78	23	following	follow	VERB
ejpam-6234	78	24	[	[	X
ejpam-6234	78	25	17	17	NUM
ejpam-6234	78	26	]	]	PUNCT
ejpam-6234	78	27	,	,	PUNCT
ejpam-6234	78	28	its	its	PRON
ejpam-6234	78	29	”	"	PUNCT
ejpam-6234	78	30	observation	observation	NOUN
ejpam-6234	78	31	space	space	NOUN
ejpam-6234	78	32	”	"	PUNCT
ejpam-6234	78	33	is	be	AUX
ejpam-6234	78	34	finite	finite	ADJ
ejpam-6234	78	35	-	-	ADJ
ejpam-6234	78	36	dimensional	dimensional	ADJ
ejpam-6234	78	37	.	.	PUNCT
ejpam-6234	79	1	actually	actually	ADV
ejpam-6234	79	2	,	,	PUNCT
ejpam-6234	79	3	setting	set	VERB
ejpam-6234	79	4	z	z	X
ejpam-6234	79	5	=	=	SYM
ejpam-6234	79	6	(	(	PUNCT
ejpam-6234	79	7	z1	z1	PROPN
ejpam-6234	79	8	,	,	PUNCT
ejpam-6234	79	9	z2	z2	PROPN
ejpam-6234	79	10	,	,	PUNCT
ejpam-6234	79	11	z3	z3	PROPN
ejpam-6234	79	12	)	)	PUNCT
ejpam-6234	79	13	,	,	PUNCT
ejpam-6234	80	1	z1	z1	NOUN
ejpam-6234	80	2	=	=	SYM
ejpam-6234	80	3	x2	x2	PROPN
ejpam-6234	80	4	+	+	CCONJ
ejpam-6234	80	5	y2	y2	NOUN
ejpam-6234	80	6	=	=	SYM
ejpam-6234	81	1	x̃2	x̃2	PROPN
ejpam-6234	81	2	+	+	NUM
ejpam-6234	81	3	ỹ2	ỹ2	PROPN
ejpam-6234	81	4	,	,	PUNCT
ejpam-6234	81	5	z2	z2	PROPN
ejpam-6234	81	6	=	=	SYM
ejpam-6234	81	7	x̃	x̃	PROPN
ejpam-6234	81	8	,	,	PUNCT
ejpam-6234	81	9	z3	z3	PROPN
ejpam-6234	81	10	=	=	SYM
ejpam-6234	81	11	ỹ	ỹ	PROPN
ejpam-6234	81	12	,	,	PUNCT
ejpam-6234	81	13	and	and	CCONJ
ejpam-6234	81	14	denoting	denote	VERB
ejpam-6234	81	15	the	the	DET
ejpam-6234	81	16	output	output	NOUN
ejpam-6234	81	17	by	by	ADP
ejpam-6234	81	18	s	s	PROPN
ejpam-6234	81	19	,	,	PUNCT
ejpam-6234	81	20	we	we	PRON
ejpam-6234	81	21	get	get	VERB
ejpam-6234	81	22	the	the	DET
ejpam-6234	81	23	following	follow	VERB
ejpam-6234	81	24	(	(	PUNCT
ejpam-6234	81	25	state	state	NOUN
ejpam-6234	81	26	affine	affine	NOUN
ejpam-6234	81	27	in	in	ADP
ejpam-6234	81	28	the	the	DET
ejpam-6234	81	29	sense	sense	NOUN
ejpam-6234	81	30	of	of	ADP
ejpam-6234	81	31	[	[	X
ejpam-6234	81	32	17	17	NUM
ejpam-6234	81	33	]	]	SYM
ejpam-6234	81	34	)	)	PUNCT
ejpam-6234	81	35	system	system	NOUN
ejpam-6234	81	36	:	:	PUNCT
ejpam-6234	81	37	ż	ż	NOUN
ejpam-6234	81	38	=	=	PUNCT
ejpam-6234	81	39	az	az	PROPN
ejpam-6234	81	40	+	+	CCONJ
ejpam-6234	81	41	ubz	ubz	PROPN
ejpam-6234	81	42	+	+	NUM
ejpam-6234	81	43	b	b	NOUN
ejpam-6234	81	44	,	,	PUNCT
ejpam-6234	81	45	(	(	PUNCT
ejpam-6234	81	46	3	3	X
ejpam-6234	81	47	)	)	PUNCT
ejpam-6234	81	48	s	s	PART
ejpam-6234	81	49	=	=	NOUN
ejpam-6234	81	50	cz	cz	NOUN
ejpam-6234	81	51	,	,	PUNCT
ejpam-6234	81	52	u	u	NOUN
ejpam-6234	81	53	∈	∈	PROPN
ejpam-6234	82	1	[	[	X
ejpam-6234	82	2	−umax	−umax	ADV
ejpam-6234	82	3	,	,	PUNCT
ejpam-6234	82	4	umax	umax	VERB
ejpam-6234	82	5	]	]	X
ejpam-6234	82	6	with	with	ADP
ejpam-6234	82	7	a	a	DET
ejpam-6234	82	8	=	=	SYM
ejpam-6234	82	9			PROPN
ejpam-6234	82	10	0	0	NUM
ejpam-6234	82	11	2	2	NUM
ejpam-6234	82	12	0	0	NUM
ejpam-6234	82	13	0	0	NUM
ejpam-6234	82	14	0	0	NUM
ejpam-6234	82	15	0	0	NUM
ejpam-6234	82	16	0	0	NUM
ejpam-6234	82	17	0	0	NUM
ejpam-6234	82	18	0	0	NUM
ejpam-6234	82	19			PROPN
ejpam-6234	82	20	,	,	PUNCT
ejpam-6234	82	21	b	b	X
ejpam-6234	82	22	=	=	SYM
ejpam-6234	82	23			PROPN
ejpam-6234	82	24	0	0	NUM
ejpam-6234	82	25	0	0	NUM
ejpam-6234	82	26	0	0	NUM
ejpam-6234	82	27	0	0	NUM
ejpam-6234	82	28	0	0	NUM
ejpam-6234	82	29	1	1	NUM
ejpam-6234	82	30	0	0	NUM
ejpam-6234	82	31	−1	−1	NOUN
ejpam-6234	82	32	0	0	NUM
ejpam-6234	83	1			PROPN
ejpam-6234	83	2	,	,	PUNCT
ejpam-6234	83	3	b	b	X
ejpam-6234	83	4	=	=	SYM
ejpam-6234	83	5			PROPN
ejpam-6234	83	6	0	0	NUM
ejpam-6234	83	7	1	1	NUM
ejpam-6234	83	8	0	0	NUM
ejpam-6234	83	9			PROPN
ejpam-6234	83	10	,	,	PUNCT
ejpam-6234	83	11	c	c	NOUN
ejpam-6234	83	12	=	=	PUNCT
ejpam-6234	83	13	(	(	PUNCT
ejpam-6234	83	14	1	1	NUM
ejpam-6234	83	15	0	0	NUM
ejpam-6234	83	16	0	0	NUM
ejpam-6234	83	17	)	)	PUNCT
ejpam-6234	83	18	.	.	PUNCT
ejpam-6234	84	1	3	3	X
ejpam-6234	84	2	.	.	X
ejpam-6234	84	3	previous	previous	ADJ
ejpam-6234	84	4	results	result	NOUN
ejpam-6234	84	5	and	and	CCONJ
ejpam-6234	84	6	minimum	minimum	ADJ
ejpam-6234	84	7	time	time	NOUN
ejpam-6234	84	8	although	although	SCONJ
ejpam-6234	84	9	since	since	SCONJ
ejpam-6234	84	10	the	the	DET
ejpam-6234	84	11	system	system	NOUN
ejpam-6234	84	12	described	describe	VERB
ejpam-6234	84	13	by	by	ADP
ejpam-6234	84	14	equation	equation	NOUN
ejpam-6234	84	15	2	2	NUM
ejpam-6234	84	16	is	be	AUX
ejpam-6234	84	17	not	not	PART
ejpam-6234	84	18	strongly	strongly	ADV
ejpam-6234	84	19	observable	observable	ADJ
ejpam-6234	84	20	,	,	PUNCT
ejpam-6234	84	21	it	it	PRON
ejpam-6234	84	22	follows	follow	VERB
ejpam-6234	84	23	that	that	SCONJ
ejpam-6234	84	24	the	the	DET
ejpam-6234	84	25	system	system	NOUN
ejpam-6234	84	26	described	describe	VERB
ejpam-6234	84	27	in	in	ADP
ejpam-6234	84	28	3	3	NUM
ejpam-6234	84	29	,	,	PUNCT
ejpam-6234	84	30	which	which	PRON
ejpam-6234	84	31	has	have	VERB
ejpam-6234	84	32	a	a	DET
ejpam-6234	84	33	higher	high	ADJ
ejpam-6234	84	34	dimensional	dimensional	ADJ
ejpam-6234	84	35	state	state	NOUN
ejpam-6234	84	36	space	space	NOUN
ejpam-6234	84	37	and	and	CCONJ
ejpam-6234	84	38	includes	include	VERB
ejpam-6234	84	39	the	the	DET
ejpam-6234	84	40	states	state	NOUN
ejpam-6234	84	41	of	of	ADP
ejpam-6234	84	42	the	the	DET
ejpam-6234	84	43	original	original	ADJ
ejpam-6234	84	44	system	system	NOUN
ejpam-6234	84	45	,	,	PUNCT
ejpam-6234	84	46	is	be	AUX
ejpam-6234	84	47	also	also	ADV
ejpam-6234	84	48	not	not	PART
ejpam-6234	84	49	observable	observable	ADJ
ejpam-6234	84	50	.	.	PUNCT
ejpam-6234	85	1	however	however	ADV
ejpam-6234	85	2	,	,	PUNCT
ejpam-6234	85	3	in	in	ADP
ejpam-6234	85	4	our	our	PRON
ejpam-6234	85	5	paper	paper	NOUN
ejpam-6234	85	6	[	[	X
ejpam-6234	85	7	1	1	NUM
ejpam-6234	85	8	]	]	PUNCT
ejpam-6234	85	9	and	and	CCONJ
ejpam-6234	85	10	[	[	X
ejpam-6234	85	11	22	22	NUM
ejpam-6234	85	12	]	]	PUNCT
ejpam-6234	85	13	,	,	PUNCT
ejpam-6234	85	14	we	we	PRON
ejpam-6234	85	15	were	be	AUX
ejpam-6234	85	16	able	able	ADJ
ejpam-6234	85	17	to	to	PART
ejpam-6234	85	18	prove	prove	VERB
ejpam-6234	85	19	a	a	DET
ejpam-6234	85	20	dynamic	dynamic	ADJ
ejpam-6234	85	21	output	output	NOUN
ejpam-6234	85	22	stabilization	stabilization	NOUN
ejpam-6234	85	23	result	result	NOUN
ejpam-6234	85	24	by	by	ADP
ejpam-6234	85	25	coupling	couple	VERB
ejpam-6234	85	26	an	an	DET
ejpam-6234	85	27	observer	observer	NOUN
ejpam-6234	85	28	with	with	ADP
ejpam-6234	85	29	static	static	ADJ
ejpam-6234	85	30	stabilizing	stabilizing	NOUN
ejpam-6234	85	31	feedback	feedback	NOUN
ejpam-6234	85	32	.	.	PUNCT
ejpam-6234	86	1	the	the	DET
ejpam-6234	86	2	observer	observer	NOUN
ejpam-6234	86	3	is	be	AUX
ejpam-6234	86	4	as	as	SCONJ
ejpam-6234	86	5	follows	follow	VERB
ejpam-6234	86	6	:	:	PUNCT
ejpam-6234	86	7	it	it	PRON
ejpam-6234	86	8	is	be	AUX
ejpam-6234	86	9	the	the	DET
ejpam-6234	86	10	following	follow	VERB
ejpam-6234	86	11	standard	standard	ADJ
ejpam-6234	86	12	luenberger	luenberger	NOUN
ejpam-6234	86	13	-	-	PUNCT
ejpam-6234	86	14	type	type	NOUN
ejpam-6234	86	15	observer	observer	NOUN
ejpam-6234	86	16	for	for	ADP
ejpam-6234	86	17	system	system	NOUN
ejpam-6234	86	18	3	3	NUM
ejpam-6234	86	19	:	:	PUNCT
ejpam-6234	86	20	dx̂	dx̂	NOUN
ejpam-6234	86	21	dt	dt	X
ejpam-6234	86	22	=	=	PUNCT
ejpam-6234	86	23	ax̂+	ax̂+	VERB
ejpam-6234	86	24	u	u	NOUN
ejpam-6234	86	25	bx̂+	bx̂+	ADP
ejpam-6234	86	26	b−k(cx̂−	b−k(cx̂−	PROPN
ejpam-6234	86	27	s	s	PART
ejpam-6234	86	28	)	)	PUNCT
ejpam-6234	86	29	(	(	PUNCT
ejpam-6234	86	30	4	4	NUM
ejpam-6234	86	31	)	)	PUNCT
ejpam-6234	86	32	with	with	ADP
ejpam-6234	86	33	k	k	PROPN
ejpam-6234	87	1	′	′	NUM
ejpam-6234	87	2	=	=	SYM
ejpam-6234	87	3	(	(	PUNCT
ejpam-6234	87	4	α	α	NOUN
ejpam-6234	87	5	,	,	PUNCT
ejpam-6234	87	6	2	2	NUM
ejpam-6234	87	7	,	,	PUNCT
ejpam-6234	87	8	0	0	NUM
ejpam-6234	87	9	)	)	PUNCT
ejpam-6234	87	10	for	for	ADP
ejpam-6234	87	11	some	some	DET
ejpam-6234	87	12	arbitrary	arbitrary	ADJ
ejpam-6234	87	13	α	α	NOUN
ejpam-6234	87	14	>	>	X
ejpam-6234	87	15	0	0	X
ejpam-6234	87	16	.	.	PUNCT
ejpam-6234	88	1	here	here	ADV
ejpam-6234	88	2	x̂	x̂	PUNCT
ejpam-6234	88	3	stands	stand	VERB
ejpam-6234	88	4	for	for	ADP
ejpam-6234	88	5	the	the	DET
ejpam-6234	88	6	estimate	estimate	NOUN
ejpam-6234	88	7	of	of	ADP
ejpam-6234	88	8	z	z	NOUN
ejpam-6234	88	9	in	in	ADP
ejpam-6234	88	10	3	3	NUM
ejpam-6234	88	11	.	.	PUNCT
ejpam-6234	89	1	therefore	therefore	ADV
ejpam-6234	89	2	,	,	PUNCT
ejpam-6234	89	3	the	the	DET
ejpam-6234	89	4	coupled	couple	VERB
ejpam-6234	89	5	system	system	NOUN
ejpam-6234	89	6	feedback	feedback	NOUN
ejpam-6234	89	7	-	-	PUNCT
ejpam-6234	89	8	observer	observer	NOUN
ejpam-6234	89	9	is	be	AUX
ejpam-6234	89	10	(	(	PUNCT
ejpam-6234	89	11	for	for	ADP
ejpam-6234	89	12	system	system	NOUN
ejpam-6234	89	13	3	3	NUM
ejpam-6234	89	14	):	):	PUNCT
ejpam-6234	89	15	dx̂	dx̂	NOUN
ejpam-6234	89	16	dt	dt	X
ejpam-6234	89	17	=	=	PUNCT
ejpam-6234	89	18	ax̂+	ax̂+	PROPN
ejpam-6234	89	19	u(x̂	u(x̂	PROPN
ejpam-6234	89	20	)	)	PUNCT
ejpam-6234	89	21	bx̂+	bx̂+	ADP
ejpam-6234	89	22	b−k(cx̂−	b−k(cx̂−	PROPN
ejpam-6234	89	23	z22	z22	NOUN
ejpam-6234	89	24	−	−	PROPN
ejpam-6234	89	25	z23	z23	PROPN
ejpam-6234	89	26	)	)	PUNCT
ejpam-6234	89	27	,	,	PUNCT
ejpam-6234	89	28	(	(	PUNCT
ejpam-6234	89	29	5	5	X
ejpam-6234	89	30	)	)	PUNCT
ejpam-6234	89	31	dz2	dz2	NOUN
ejpam-6234	89	32	dt	dt	NOUN
ejpam-6234	89	33	=	=	SYM
ejpam-6234	89	34	z3u(x̂	z3u(x̂	PROPN
ejpam-6234	89	35	)	)	PUNCT
ejpam-6234	89	36	+	+	NUM
ejpam-6234	89	37	1	1	NUM
ejpam-6234	89	38	,	,	PUNCT
ejpam-6234	89	39	dz3	dz3	NOUN
ejpam-6234	89	40	dt	dt	NOUN
ejpam-6234	89	41	=	=	SYM
ejpam-6234	89	42	−z2u(x̂	−z2u(x̂	NOUN
ejpam-6234	89	43	)	)	PUNCT
ejpam-6234	89	44	.	.	PUNCT
ejpam-6234	90	1	we	we	PRON
ejpam-6234	90	2	were	be	AUX
ejpam-6234	90	3	able	able	ADJ
ejpam-6234	90	4	(	(	PUNCT
ejpam-6234	90	5	in	in	ADP
ejpam-6234	90	6	[	[	X
ejpam-6234	90	7	1	1	NUM
ejpam-6234	90	8	]	]	PUNCT
ejpam-6234	90	9	)	)	PUNCT
ejpam-6234	90	10	to	to	PART
ejpam-6234	90	11	prove	prove	VERB
ejpam-6234	90	12	the	the	DET
ejpam-6234	90	13	following	follow	VERB
ejpam-6234	90	14	theorem	theorem	NOUN
ejpam-6234	90	15	:	:	PUNCT
ejpam-6234	90	16	a.	a.	PROPN
ejpam-6234	90	17	ajami	ajami	PROPN
ejpam-6234	90	18	et	et	PROPN
ejpam-6234	90	19	al	al	PROPN
ejpam-6234	90	20	.	.	PUNCT
ejpam-6234	90	21	/	/	SYM
ejpam-6234	90	22	eur	eur	PROPN
ejpam-6234	90	23	.	.	PUNCT
ejpam-6234	91	1	j.	j.	PROPN
ejpam-6234	91	2	pure	pure	PROPN
ejpam-6234	91	3	appl	appl	PROPN
ejpam-6234	91	4	.	.	PROPN
ejpam-6234	91	5	math	math	PROPN
ejpam-6234	91	6	,	,	PUNCT
ejpam-6234	91	7	18	18	NUM
ejpam-6234	91	8	(	(	PUNCT
ejpam-6234	91	9	3	3	NUM
ejpam-6234	91	10	)	)	PUNCT
ejpam-6234	91	11	(	(	PUNCT
ejpam-6234	91	12	2025	2025	NUM
ejpam-6234	91	13	)	)	PUNCT
ejpam-6234	91	14	,	,	PUNCT
ejpam-6234	91	15	6234	6234	NUM
ejpam-6234	91	16	5	5	NUM
ejpam-6234	91	17	of	of	ADP
ejpam-6234	91	18	14	14	NUM
ejpam-6234	91	19	theorem	theorem	NOUN
ejpam-6234	91	20	1	1	NUM
ejpam-6234	91	21	.	.	X
ejpam-6234	92	1	for	for	ADP
ejpam-6234	92	2	any	any	DET
ejpam-6234	92	3	smooth	smooth	ADJ
ejpam-6234	92	4	stabilizing	stabilizing	NOUN
ejpam-6234	92	5	feedback	feedback	NOUN
ejpam-6234	92	6	at	at	ADP
ejpam-6234	92	7	the	the	DET
ejpam-6234	92	8	target	target	NOUN
ejpam-6234	92	9	,	,	PUNCT
ejpam-6234	92	10	for	for	ADP
ejpam-6234	92	11	systems	system	NOUN
ejpam-6234	92	12	1	1	NUM
ejpam-6234	92	13	,	,	PUNCT
ejpam-6234	92	14	5	5	NUM
ejpam-6234	92	15	,	,	PUNCT
ejpam-6234	92	16	our	our	PRON
ejpam-6234	92	17	luenberger	luenberger	NOUN
ejpam-6234	92	18	-	-	PUNCT
ejpam-6234	92	19	type	type	NOUN
ejpam-6234	92	20	observer	observer	NOUN
ejpam-6234	92	21	is	be	AUX
ejpam-6234	92	22	such	such	ADJ
ejpam-6234	92	23	that	that	SCONJ
ejpam-6234	92	24	the	the	DET
ejpam-6234	92	25	coupled	couple	VERB
ejpam-6234	92	26	closed	close	VERB
ejpam-6234	92	27	-	-	PUNCT
ejpam-6234	92	28	loop	loop	NOUN
ejpam-6234	92	29	system	system	NOUN
ejpam-6234	92	30	is	be	AUX
ejpam-6234	92	31	asymptotically	asymptotically	ADV
ejpam-6234	92	32	stable	stable	ADJ
ejpam-6234	92	33	at	at	ADP
ejpam-6234	92	34	the	the	DET
ejpam-6234	92	35	target	target	NOUN
ejpam-6234	92	36	,	,	PUNCT
ejpam-6234	92	37	with	with	ADP
ejpam-6234	92	38	an	an	DET
ejpam-6234	92	39	arbitrarily	arbitrarily	ADV
ejpam-6234	92	40	large	large	ADJ
ejpam-6234	92	41	basin	basin	NOUN
ejpam-6234	92	42	of	of	ADP
ejpam-6234	92	43	attraction	attraction	NOUN
ejpam-6234	92	44	(	(	PUNCT
ejpam-6234	92	45	depending	depend	VERB
ejpam-6234	92	46	on	on	ADP
ejpam-6234	92	47	the	the	DET
ejpam-6234	92	48	parameter	parameter	NOUN
ejpam-6234	92	49	α	α	NOUN
ejpam-6234	92	50	)	)	PUNCT
ejpam-6234	92	51	.	.	PUNCT
ejpam-6234	93	1	remark	remark	PROPN
ejpam-6234	93	2	1	1	NUM
ejpam-6234	93	3	.	.	PUNCT
ejpam-6234	94	1	(	(	PUNCT
ejpam-6234	94	2	i	i	NOUN
ejpam-6234	94	3	)	)	PUNCT
ejpam-6234	94	4	in	in	ADP
ejpam-6234	94	5	the	the	DET
ejpam-6234	94	6	paper	paper	NOUN
ejpam-6234	94	7	[	[	X
ejpam-6234	94	8	14	14	NUM
ejpam-6234	94	9	]	]	PUNCT
ejpam-6234	94	10	,	,	PUNCT
ejpam-6234	94	11	we	we	PRON
ejpam-6234	94	12	have	have	AUX
ejpam-6234	94	13	exhausted	exhaust	VERB
ejpam-6234	94	14	a	a	DET
ejpam-6234	94	15	smooth	smooth	ADJ
ejpam-6234	94	16	stabilizing	stabilizing	NOUN
ejpam-6234	94	17	feedback	feedback	NOUN
ejpam-6234	94	18	control	control	NOUN
ejpam-6234	94	19	law	law	NOUN
ejpam-6234	94	20	for	for	ADP
ejpam-6234	94	21	the	the	DET
ejpam-6234	94	22	system	system	NOUN
ejpam-6234	94	23	1	1	NUM
ejpam-6234	94	24	that	that	PRON
ejpam-6234	94	25	may	may	AUX
ejpam-6234	94	26	be	be	AUX
ejpam-6234	94	27	used	use	VERB
ejpam-6234	94	28	in	in	ADP
ejpam-6234	94	29	the	the	DET
ejpam-6234	94	30	applications	application	NOUN
ejpam-6234	94	31	of	of	ADP
ejpam-6234	94	32	the	the	DET
ejpam-6234	94	33	theorem	theorem	PROPN
ejpam-6234	94	34	.	.	PUNCT
ejpam-6234	95	1	(	(	PUNCT
ejpam-6234	95	2	ii	ii	NOUN
ejpam-6234	95	3	)	)	PUNCT
ejpam-6234	95	4	note	note	VERB
ejpam-6234	95	5	that	that	SCONJ
ejpam-6234	95	6	there	there	PRON
ejpam-6234	95	7	is	be	VERB
ejpam-6234	95	8	no	no	DET
ejpam-6234	95	9	local	local	ADJ
ejpam-6234	95	10	stabilization	stabilization	NOUN
ejpam-6234	95	11	of	of	ADP
ejpam-6234	95	12	the	the	DET
ejpam-6234	95	13	linearized	linearize	VERB
ejpam-6234	95	14	system	system	NOUN
ejpam-6234	95	15	(	(	PUNCT
ejpam-6234	95	16	due	due	ADP
ejpam-6234	95	17	to	to	ADP
ejpam-6234	95	18	effective	effective	ADJ
ejpam-6234	95	19	constraints	constraint	NOUN
ejpam-6234	95	20	on	on	ADP
ejpam-6234	95	21	the	the	DET
ejpam-6234	95	22	inputs	input	NOUN
ejpam-6234	95	23	at	at	ADP
ejpam-6234	95	24	the	the	DET
ejpam-6234	95	25	equilibrium	equilibrium	NOUN
ejpam-6234	95	26	)	)	PUNCT
ejpam-6234	95	27	.	.	PUNCT
ejpam-6234	96	1	center	center	NOUN
ejpam-6234	96	2	manifold	manifold	ADJ
ejpam-6234	96	3	theory	theory	NOUN
ejpam-6234	96	4	can	can	AUX
ejpam-6234	96	5	not	not	PART
ejpam-6234	96	6	be	be	AUX
ejpam-6234	96	7	avoided	avoid	VERB
ejpam-6234	96	8	in	in	ADP
ejpam-6234	96	9	the	the	DET
ejpam-6234	96	10	proof	proof	NOUN
ejpam-6234	96	11	[	[	X
ejpam-6234	96	12	23	23	NUM
ejpam-6234	96	13	]	]	PUNCT
ejpam-6234	96	14	.	.	PUNCT
ejpam-6234	97	1	(	(	PUNCT
ejpam-6234	97	2	iii	iii	X
ejpam-6234	97	3	)	)	PUNCT
ejpam-6234	97	4	see	see	VERB
ejpam-6234	97	5	[	[	X
ejpam-6234	97	6	24	24	NUM
ejpam-6234	97	7	]	]	PUNCT
ejpam-6234	97	8	for	for	ADP
ejpam-6234	97	9	a	a	DET
ejpam-6234	97	10	similar	similar	ADJ
ejpam-6234	97	11	example	example	NOUN
ejpam-6234	97	12	of	of	ADP
ejpam-6234	97	13	a	a	DET
ejpam-6234	97	14	dynamic	dynamic	ADJ
ejpam-6234	97	15	-	-	PUNCT
ejpam-6234	97	16	output	output	NOUN
ejpam-6234	97	17	stabilization	stabilization	NOUN
ejpam-6234	97	18	problem	problem	NOUN
ejpam-6234	97	19	,	,	PUNCT
ejpam-6234	97	20	where	where	SCONJ
ejpam-6234	97	21	additionally	additionally	ADV
ejpam-6234	97	22	,	,	PUNCT
ejpam-6234	97	23	the	the	DET
ejpam-6234	97	24	target	target	NOUN
ejpam-6234	97	25	point	point	NOUN
ejpam-6234	97	26	is	be	AUX
ejpam-6234	97	27	not	not	PART
ejpam-6234	97	28	observable	observable	ADJ
ejpam-6234	97	29	.	.	PUNCT
ejpam-6234	98	1	(	(	PUNCT
ejpam-6234	98	2	iv	iv	X
ejpam-6234	98	3	)	)	PUNCT
ejpam-6234	98	4	it	it	PRON
ejpam-6234	98	5	is	be	AUX
ejpam-6234	98	6	well	well	ADV
ejpam-6234	98	7	known	know	VERB
ejpam-6234	98	8	(	(	PUNCT
ejpam-6234	98	9	see	see	VERB
ejpam-6234	98	10	,	,	PUNCT
ejpam-6234	98	11	for	for	ADP
ejpam-6234	98	12	instance	instance	NOUN
ejpam-6234	98	13	,	,	PUNCT
ejpam-6234	98	14	[	[	X
ejpam-6234	98	15	9	9	NUM
ejpam-6234	98	16	]	]	PUNCT
ejpam-6234	98	17	)	)	PUNCT
ejpam-6234	98	18	that	that	SCONJ
ejpam-6234	98	19	global	global	ADJ
ejpam-6234	98	20	feedback	feedback	NOUN
ejpam-6234	98	21	stabilization	stabilization	NOUN
ejpam-6234	98	22	plus	plus	CCONJ
ejpam-6234	98	23	strong	strong	ADJ
ejpam-6234	98	24	observability	observability	NOUN
ejpam-6234	98	25	does	do	AUX
ejpam-6234	98	26	not	not	PART
ejpam-6234	98	27	in	in	ADP
ejpam-6234	98	28	general	general	ADJ
ejpam-6234	98	29	imply	imply	VERB
ejpam-6234	98	30	the	the	DET
ejpam-6234	98	31	possibility	possibility	NOUN
ejpam-6234	98	32	of	of	ADP
ejpam-6234	98	33	global	global	ADJ
ejpam-6234	98	34	dynamic	dynamic	ADJ
ejpam-6234	98	35	output	output	NOUN
ejpam-6234	98	36	stabilization	stabilization	NOUN
ejpam-6234	98	37	.	.	PUNCT
ejpam-6234	99	1	here	here	ADV
ejpam-6234	99	2	,	,	PUNCT
ejpam-6234	99	3	the	the	DET
ejpam-6234	99	4	situation	situation	NOUN
ejpam-6234	99	5	is	be	AUX
ejpam-6234	99	6	even	even	ADV
ejpam-6234	99	7	worse	bad	ADJ
ejpam-6234	99	8	:	:	PUNCT
ejpam-6234	99	9	the	the	DET
ejpam-6234	99	10	system	system	NOUN
ejpam-6234	99	11	2	2	NUM
ejpam-6234	99	12	is	be	AUX
ejpam-6234	99	13	not	not	PART
ejpam-6234	99	14	even	even	ADV
ejpam-6234	99	15	strongly	strongly	ADV
ejpam-6234	99	16	observable	observable	ADJ
ejpam-6234	99	17	.	.	PUNCT
ejpam-6234	100	1	however	however	ADV
ejpam-6234	100	2	,	,	PUNCT
ejpam-6234	100	3	we	we	PRON
ejpam-6234	100	4	obtain	obtain	VERB
ejpam-6234	100	5	semi	semi	ADJ
ejpam-6234	100	6	-	-	ADJ
ejpam-6234	100	7	global	global	ADJ
ejpam-6234	100	8	output	output	NOUN
ejpam-6234	100	9	stabilization	stabilization	NOUN
ejpam-6234	100	10	.	.	PUNCT
ejpam-6234	101	1	computing	compute	VERB
ejpam-6234	101	2	the	the	DET
ejpam-6234	101	3	minimum	minimum	ADJ
ejpam-6234	101	4	time	time	NOUN
ejpam-6234	101	5	strategy	strategy	NOUN
ejpam-6234	101	6	for	for	ADP
ejpam-6234	101	7	the	the	DET
ejpam-6234	101	8	reduced	reduce	VERB
ejpam-6234	101	9	system	system	NOUN
ejpam-6234	101	10	2	2	NUM
ejpam-6234	101	11	is	be	AUX
ejpam-6234	101	12	not	not	PART
ejpam-6234	101	13	that	that	ADV
ejpam-6234	101	14	easy	easy	ADJ
ejpam-6234	101	15	(	(	PUNCT
ejpam-6234	101	16	[	[	X
ejpam-6234	101	17	14	14	NUM
ejpam-6234	101	18	]	]	PUNCT
ejpam-6234	101	19	in	in	ADP
ejpam-6234	101	20	the	the	DET
ejpam-6234	101	21	case	case	NOUN
ejpam-6234	101	22	of	of	ADP
ejpam-6234	101	23	constant	constant	ADJ
ejpam-6234	101	24	velocity	velocity	NOUN
ejpam-6234	101	25	and	and	CCONJ
ejpam-6234	101	26	[	[	X
ejpam-6234	101	27	15	15	NUM
ejpam-6234	101	28	]	]	PUNCT
ejpam-6234	101	29	in	in	ADP
ejpam-6234	101	30	the	the	DET
ejpam-6234	101	31	varying	vary	VERB
ejpam-6234	101	32	velocity	velocity	NOUN
ejpam-6234	101	33	case	case	NOUN
ejpam-6234	101	34	)	)	PUNCT
ejpam-6234	101	35	.	.	PUNCT
ejpam-6234	102	1	however	however	ADV
ejpam-6234	102	2	,	,	PUNCT
ejpam-6234	102	3	it	it	PRON
ejpam-6234	102	4	is	be	AUX
ejpam-6234	102	5	less	less	ADV
ejpam-6234	102	6	difficult	difficult	ADJ
ejpam-6234	102	7	than	than	ADP
ejpam-6234	102	8	computing	compute	VERB
ejpam-6234	102	9	the	the	DET
ejpam-6234	102	10	point	point	NOUN
ejpam-6234	102	11	-	-	PUNCT
ejpam-6234	102	12	to	to	ADP
ejpam-6234	102	13	-	-	PUNCT
ejpam-6234	102	14	point	point	VERB
ejpam-6234	102	15	minimum	minimum	ADJ
ejpam-6234	102	16	-	-	PUNCT
ejpam-6234	102	17	time	time	NOUN
ejpam-6234	102	18	strategy	strategy	NOUN
ejpam-6234	102	19	for	for	ADP
ejpam-6234	102	20	system	system	NOUN
ejpam-6234	102	21	1	1	NUM
ejpam-6234	102	22	,	,	PUNCT
ejpam-6234	102	23	a	a	DET
ejpam-6234	102	24	beautiful	beautiful	ADJ
ejpam-6234	102	25	classical	classical	ADJ
ejpam-6234	102	26	result	result	NOUN
ejpam-6234	102	27	,	,	PUNCT
ejpam-6234	102	28	see	see	VERB
ejpam-6234	102	29	[	[	X
ejpam-6234	102	30	12	12	NUM
ejpam-6234	102	31	]	]	PUNCT
ejpam-6234	102	32	and	and	CCONJ
ejpam-6234	102	33	[	[	X
ejpam-6234	102	34	13	13	NUM
ejpam-6234	102	35	]	]	PUNCT
ejpam-6234	102	36	for	for	ADP
ejpam-6234	102	37	instance	instance	NOUN
ejpam-6234	102	38	.	.	PUNCT
ejpam-6234	103	1	in	in	ADP
ejpam-6234	103	2	fact	fact	NOUN
ejpam-6234	103	3	,	,	PUNCT
ejpam-6234	103	4	the	the	DET
ejpam-6234	103	5	problem	problem	NOUN
ejpam-6234	103	6	of	of	ADP
ejpam-6234	103	7	constructing	construct	VERB
ejpam-6234	103	8	the	the	DET
ejpam-6234	103	9	time	time	NOUN
ejpam-6234	103	10	-	-	PUNCT
ejpam-6234	103	11	optimal	optimal	ADJ
ejpam-6234	103	12	synthesis	synthesis	NOUN
ejpam-6234	103	13	for	for	ADP
ejpam-6234	103	14	2	2	NUM
ejpam-6234	103	15	-	-	PUNCT
ejpam-6234	103	16	dimensional	dimensional	ADJ
ejpam-6234	103	17	systems	system	NOUN
ejpam-6234	103	18	is	be	AUX
ejpam-6234	103	19	completely	completely	ADV
ejpam-6234	103	20	solved	solve	VERB
ejpam-6234	103	21	(	(	PUNCT
ejpam-6234	103	22	at	at	ADP
ejpam-6234	103	23	least	least	ADJ
ejpam-6234	103	24	via	via	ADP
ejpam-6234	103	25	some	some	DET
ejpam-6234	103	26	formal	formal	ADJ
ejpam-6234	103	27	iterative	iterative	NOUN
ejpam-6234	103	28	algorithm	algorithm	NOUN
ejpam-6234	103	29	)	)	PUNCT
ejpam-6234	103	30	in	in	ADP
ejpam-6234	103	31	[	[	X
ejpam-6234	103	32	16	16	NUM
ejpam-6234	103	33	]	]	PUNCT
ejpam-6234	103	34	.	.	PUNCT
ejpam-6234	104	1	we	we	PRON
ejpam-6234	104	2	used	use	VERB
ejpam-6234	104	3	this	this	DET
ejpam-6234	104	4	method	method	NOUN
ejpam-6234	104	5	to	to	PART
ejpam-6234	104	6	get	get	VERB
ejpam-6234	104	7	our	our	PRON
ejpam-6234	104	8	result	result	NOUN
ejpam-6234	104	9	.	.	PUNCT
ejpam-6234	105	1	it	it	PRON
ejpam-6234	105	2	is	be	AUX
ejpam-6234	105	3	a	a	DET
ejpam-6234	105	4	fascinating	fascinating	ADJ
ejpam-6234	105	5	exercise	exercise	NOUN
ejpam-6234	105	6	since	since	SCONJ
ejpam-6234	105	7	more	more	ADJ
ejpam-6234	105	8	or	or	CCONJ
ejpam-6234	105	9	less	less	ADJ
ejpam-6234	105	10	all	all	PRON
ejpam-6234	105	11	possible	possible	ADJ
ejpam-6234	105	12	generic	generic	ADJ
ejpam-6234	105	13	singularities	singularity	NOUN
ejpam-6234	105	14	occur	occur	VERB
ejpam-6234	105	15	in	in	ADP
ejpam-6234	105	16	the	the	DET
ejpam-6234	105	17	computations	computation	NOUN
ejpam-6234	105	18	.	.	PUNCT
ejpam-6234	106	1	we	we	PRON
ejpam-6234	106	2	present	present	VERB
ejpam-6234	106	3	the	the	DET
ejpam-6234	106	4	phase	phase	NOUN
ejpam-6234	106	5	portrait	portrait	NOUN
ejpam-6234	106	6	of	of	ADP
ejpam-6234	106	7	the	the	DET
ejpam-6234	106	8	optimal	optimal	ADJ
ejpam-6234	106	9	synthesis	synthesis	NOUN
ejpam-6234	106	10	in	in	ADP
ejpam-6234	106	11	figure	figure	NOUN
ejpam-6234	106	12	1	1	NUM
ejpam-6234	106	13	.	.	PUNCT
ejpam-6234	107	1	see	see	VERB
ejpam-6234	107	2	[	[	X
ejpam-6234	107	3	14	14	NUM
ejpam-6234	107	4	]	]	PUNCT
ejpam-6234	107	5	for	for	ADP
ejpam-6234	107	6	details	detail	NOUN
ejpam-6234	107	7	.	.	PUNCT
ejpam-6234	108	1	this	this	DET
ejpam-6234	108	2	optimal	optimal	ADJ
ejpam-6234	108	3	strategy	strategy	NOUN
ejpam-6234	108	4	being	be	AUX
ejpam-6234	108	5	nonsmooth	nonsmooth	NOUN
ejpam-6234	108	6	(	(	PUNCT
ejpam-6234	108	7	even	even	ADV
ejpam-6234	108	8	not	not	PART
ejpam-6234	108	9	continuous	continuous	ADJ
ejpam-6234	108	10	,	,	PUNCT
ejpam-6234	108	11	as	as	SCONJ
ejpam-6234	108	12	we	we	PRON
ejpam-6234	108	13	said	say	VERB
ejpam-6234	108	14	)	)	PUNCT
ejpam-6234	108	15	makes	make	VERB
ejpam-6234	108	16	theorem	theorem	ADJ
ejpam-6234	108	17	1	1	NUM
ejpam-6234	108	18	unapplicable	unapplicable	ADJ
ejpam-6234	108	19	.	.	PUNCT
ejpam-6234	109	1	the	the	DET
ejpam-6234	109	2	first	first	ADJ
ejpam-6234	109	3	step	step	NOUN
ejpam-6234	109	4	is	be	AUX
ejpam-6234	109	5	to	to	PART
ejpam-6234	109	6	approximate	approximate	VERB
ejpam-6234	109	7	the	the	DET
ejpam-6234	109	8	time	time	NOUN
ejpam-6234	109	9	-	-	PUNCT
ejpam-6234	109	10	optimal	optimal	ADJ
ejpam-6234	109	11	strategy	strategy	NOUN
ejpam-6234	109	12	with	with	ADP
ejpam-6234	109	13	a	a	DET
ejpam-6234	109	14	smooth	smooth	ADJ
ejpam-6234	109	15	one	one	NUM
ejpam-6234	109	16	.	.	PUNCT
ejpam-6234	110	1	it	it	PRON
ejpam-6234	110	2	is	be	AUX
ejpam-6234	110	3	not	not	PART
ejpam-6234	110	4	hard	hard	ADJ
ejpam-6234	110	5	to	to	PART
ejpam-6234	110	6	understand	understand	VERB
ejpam-6234	110	7	that	that	SCONJ
ejpam-6234	110	8	there	there	PRON
ejpam-6234	110	9	is	be	VERB
ejpam-6234	110	10	a	a	DET
ejpam-6234	110	11	real	real	ADJ
ejpam-6234	110	12	problem	problem	NOUN
ejpam-6234	110	13	when	when	SCONJ
ejpam-6234	110	14	,	,	PUNCT
ejpam-6234	110	15	close	close	ADJ
ejpam-6234	110	16	to	to	ADP
ejpam-6234	110	17	the	the	DET
ejpam-6234	110	18	target	target	NOUN
ejpam-6234	110	19	,	,	PUNCT
ejpam-6234	110	20	one	one	PRON
ejpam-6234	110	21	has	have	VERB
ejpam-6234	110	22	to	to	PART
ejpam-6234	110	23	choose	choose	VERB
ejpam-6234	110	24	between	between	ADP
ejpam-6234	110	25	turning	turn	VERB
ejpam-6234	110	26	clockwise	clockwise	NOUN
ejpam-6234	110	27	(	(	PUNCT
ejpam-6234	110	28	resp	resp	NOUN
ejpam-6234	110	29	.	.	PUNCT
ejpam-6234	111	1	counter	counter	NOUN
ejpam-6234	111	2	-	-	NOUN
ejpam-6234	111	3	clockwise	clockwise	NOUN
ejpam-6234	111	4	)	)	PUNCT
ejpam-6234	111	5	around	around	ADP
ejpam-6234	111	6	the	the	DET
ejpam-6234	111	7	target	target	NOUN
ejpam-6234	111	8	t	t	NOUN
ejpam-6234	111	9	.	.	PUNCT
ejpam-6234	112	1	equivalently	equivalently	ADV
ejpam-6234	112	2	,	,	PUNCT
ejpam-6234	112	3	for	for	ADP
ejpam-6234	112	4	the	the	DET
ejpam-6234	112	5	reduced	reduce	VERB
ejpam-6234	112	6	system	system	NOUN
ejpam-6234	112	7	2	2	NUM
ejpam-6234	112	8	,	,	PUNCT
ejpam-6234	112	9	we	we	PRON
ejpam-6234	112	10	have	have	VERB
ejpam-6234	112	11	to	to	PART
ejpam-6234	112	12	choose	choose	VERB
ejpam-6234	112	13	between	between	ADP
ejpam-6234	112	14	one	one	NUM
ejpam-6234	112	15	of	of	ADP
ejpam-6234	112	16	the	the	DET
ejpam-6234	112	17	equilibria	equilibrium	NOUN
ejpam-6234	112	18	e1	e1	PROPN
ejpam-6234	112	19	,	,	PUNCT
ejpam-6234	112	20	e2	e2	PROPN
ejpam-6234	112	21	.	.	PUNCT
ejpam-6234	113	1	once	once	SCONJ
ejpam-6234	113	2	this	this	DET
ejpam-6234	113	3	choice	choice	NOUN
ejpam-6234	113	4	is	be	AUX
ejpam-6234	113	5	made	make	VERB
ejpam-6234	113	6	,	,	PUNCT
ejpam-6234	113	7	it	it	PRON
ejpam-6234	113	8	is	be	AUX
ejpam-6234	113	9	not	not	PART
ejpam-6234	113	10	difficult	difficult	ADJ
ejpam-6234	113	11	to	to	PART
ejpam-6234	113	12	approximate	approximate	VERB
ejpam-6234	113	13	the	the	DET
ejpam-6234	113	14	optimal	optimal	ADJ
ejpam-6234	113	15	method	method	NOUN
ejpam-6234	113	16	by	by	ADP
ejpam-6234	113	17	a	a	DET
ejpam-6234	113	18	smooth	smooth	ADJ
ejpam-6234	113	19	one	one	NUM
ejpam-6234	113	20	.	.	PUNCT
ejpam-6234	114	1	the	the	DET
ejpam-6234	114	2	following	follow	VERB
ejpam-6234	114	3	control	control	NOUN
ejpam-6234	114	4	algorithm	algorithm	PROPN
ejpam-6234	114	5	was	be	AUX
ejpam-6234	114	6	presented	present	VERB
ejpam-6234	114	7	in	in	ADP
ejpam-6234	114	8	[	[	X
ejpam-6234	114	9	25	25	NUM
ejpam-6234	114	10	]	]	PUNCT
ejpam-6234	114	11	and	and	CCONJ
ejpam-6234	115	1	[	[	X
ejpam-6234	115	2	26	26	NUM
ejpam-6234	115	3	]	]	PUNCT
ejpam-6234	115	4	,	,	PUNCT
ejpam-6234	115	5	this	this	DET
ejpam-6234	115	6	method	method	NOUN
ejpam-6234	115	7	approximates	approximate	VERB
ejpam-6234	115	8	the	the	DET
ejpam-6234	115	9	minimum	minimum	ADJ
ejpam-6234	115	10	time	time	NOUN
ejpam-6234	115	11	controller	controller	NOUN
ejpam-6234	115	12	in	in	ADP
ejpam-6234	115	13	a	a	DET
ejpam-6234	115	14	smooth	smooth	ADJ
ejpam-6234	115	15	and	and	CCONJ
ejpam-6234	115	16	computationally	computationally	ADV
ejpam-6234	115	17	efficient	efficient	ADJ
ejpam-6234	115	18	manner	manner	NOUN
ejpam-6234	115	19	.	.	PUNCT
ejpam-6234	116	1	it	it	PRON
ejpam-6234	116	2	is	be	AUX
ejpam-6234	116	3	proven	prove	VERB
ejpam-6234	116	4	in	in	ADP
ejpam-6234	116	5	[	[	X
ejpam-6234	116	6	25	25	NUM
ejpam-6234	116	7	]	]	PUNCT
ejpam-6234	116	8	that	that	SCONJ
ejpam-6234	116	9	the	the	DET
ejpam-6234	116	10	following	follow	VERB
ejpam-6234	116	11	control	control	NOUN
ejpam-6234	116	12	law	law	NOUN
ejpam-6234	116	13	stabilizes	stabilize	VERB
ejpam-6234	116	14	the	the	DET
ejpam-6234	116	15	system	system	NOUN
ejpam-6234	116	16	(	(	PUNCT
ejpam-6234	116	17	this	this	DET
ejpam-6234	116	18	control	control	NOUN
ejpam-6234	116	19	algorithm	algorithm	NOUN
ejpam-6234	116	20	forces	force	VERB
ejpam-6234	116	21	the	the	DET
ejpam-6234	116	22	system	system	NOUN
ejpam-6234	116	23	to	to	PART
ejpam-6234	116	24	satisfy	satisfy	VERB
ejpam-6234	116	25	a	a	DET
ejpam-6234	116	26	lyapunov	lyapunov	ADJ
ejpam-6234	116	27	function	function	NOUN
ejpam-6234	116	28	):	):	PUNCT
ejpam-6234	116	29	u	u	NOUN
ejpam-6234	116	30	=	=	PROPN
ejpam-6234	116	31			PROPN
ejpam-6234	116	32	a(x̄	a(x̄	PROPN
ejpam-6234	116	33	,	,	PUNCT
ejpam-6234	116	34	ȳ	ȳ	PROPN
ejpam-6234	116	35	)	)	PUNCT
ejpam-6234	116	36	if	if	SCONJ
ejpam-6234	116	37	x̄	x̄	ADP
ejpam-6234	116	38	≤	≤	VERB
ejpam-6234	116	39	−ε	−ε	PROPN
ejpam-6234	116	40	umax−a(x̄,ȳ	umax−a(x̄,ȳ	PROPN
ejpam-6234	116	41	)	)	PUNCT
ejpam-6234	117	1	1+e1/(x̄+ε)+1	1+e1/(x̄+ε)+1	NUM
ejpam-6234	117	2	/	/	SYM
ejpam-6234	117	3	x̄	x̄	NOUN
ejpam-6234	118	1	+	+	CCONJ
ejpam-6234	118	2	a(x̄	a(x̄	PROPN
ejpam-6234	118	3	,	,	PUNCT
ejpam-6234	118	4	ȳ	ȳ	PROPN
ejpam-6234	118	5	)	)	PUNCT
ejpam-6234	118	6	if	if	SCONJ
ejpam-6234	118	7	x̄	x̄	PRON
ejpam-6234	118	8	∈	∈	PROPN
ejpam-6234	118	9	(	(	PUNCT
ejpam-6234	118	10	−ε	−ε	NOUN
ejpam-6234	118	11	,	,	PUNCT
ejpam-6234	118	12	0	0	NUM
ejpam-6234	118	13	)	)	PUNCT
ejpam-6234	118	14	umax	umax	VERB
ejpam-6234	118	15	if	if	SCONJ
ejpam-6234	118	16	x̄	x̄	PRON
ejpam-6234	118	17	≥	≥	VERB
ejpam-6234	118	18	0	0	NUM
ejpam-6234	118	19	,	,	PUNCT
ejpam-6234	118	20	(	(	PUNCT
ejpam-6234	118	21	6	6	NUM
ejpam-6234	118	22	)	)	PUNCT
ejpam-6234	118	23	a.	a.	NOUN
ejpam-6234	118	24	ajami	ajami	PROPN
ejpam-6234	118	25	et	et	PROPN
ejpam-6234	119	1	al	al	PROPN
ejpam-6234	119	2	.	.	PUNCT
ejpam-6234	119	3	/	/	SYM
ejpam-6234	119	4	eur	eur	PROPN
ejpam-6234	119	5	.	.	PUNCT
ejpam-6234	120	1	j.	j.	PROPN
ejpam-6234	120	2	pure	pure	PROPN
ejpam-6234	120	3	appl	appl	PROPN
ejpam-6234	120	4	.	.	PROPN
ejpam-6234	120	5	math	math	PROPN
ejpam-6234	120	6	,	,	PUNCT
ejpam-6234	120	7	18	18	NUM
ejpam-6234	120	8	(	(	PUNCT
ejpam-6234	120	9	3	3	NUM
ejpam-6234	120	10	)	)	PUNCT
ejpam-6234	120	11	(	(	PUNCT
ejpam-6234	120	12	2025	2025	NUM
ejpam-6234	120	13	)	)	PUNCT
ejpam-6234	120	14	,	,	PUNCT
ejpam-6234	120	15	6234	6234	NUM
ejpam-6234	120	16	6	6	NUM
ejpam-6234	120	17	of	of	ADP
ejpam-6234	120	18	14	14	NUM
ejpam-6234	120	19	figure	figure	NOUN
ejpam-6234	120	20	1	1	NUM
ejpam-6234	120	21	:	:	PUNCT
ejpam-6234	120	22	the	the	DET
ejpam-6234	120	23	optimal	optimal	ADJ
ejpam-6234	120	24	synthesis	synthesis	NOUN
ejpam-6234	120	25	.	.	PUNCT
ejpam-6234	121	1	all	all	DET
ejpam-6234	121	2	optimal	optimal	ADJ
ejpam-6234	121	3	trajectories	trajectory	NOUN
ejpam-6234	121	4	start	start	VERB
ejpam-6234	121	5	at	at	ADP
ejpam-6234	121	6	q0	q0	PROPN
ejpam-6234	121	7	.	.	PUNCT
ejpam-6234	122	1	the	the	DET
ejpam-6234	122	2	dashed	dash	VERB
ejpam-6234	122	3	black	black	ADJ
ejpam-6234	122	4	curve	curve	NOUN
ejpam-6234	122	5	is	be	AUX
ejpam-6234	122	6	the	the	DET
ejpam-6234	122	7	switching	switch	VERB
ejpam-6234	122	8	curve	curve	NOUN
ejpam-6234	122	9	,	,	PUNCT
ejpam-6234	122	10	the	the	DET
ejpam-6234	122	11	purple	purple	ADJ
ejpam-6234	122	12	curve	curve	NOUN
ejpam-6234	122	13	is	be	AUX
ejpam-6234	122	14	the	the	DET
ejpam-6234	122	15	singular	singular	ADJ
ejpam-6234	122	16	trajectory	trajectory	NOUN
ejpam-6234	122	17	and	and	CCONJ
ejpam-6234	122	18	the	the	DET
ejpam-6234	122	19	green	green	ADJ
ejpam-6234	122	20	curves	curve	NOUN
ejpam-6234	122	21	are	be	AUX
ejpam-6234	122	22	cut	cut	VERB
ejpam-6234	122	23	loci	locus	NOUN
ejpam-6234	122	24	.	.	PUNCT
ejpam-6234	123	1	notice	notice	VERB
ejpam-6234	123	2	that	that	SCONJ
ejpam-6234	123	3	the	the	DET
ejpam-6234	123	4	minimumtime	minimumtime	NOUN
ejpam-6234	123	5	function	function	NOUN
ejpam-6234	123	6	is	be	AUX
ejpam-6234	123	7	not	not	PART
ejpam-6234	123	8	continuous	continuous	ADJ
ejpam-6234	123	9	along	along	ADP
ejpam-6234	123	10	the	the	DET
ejpam-6234	123	11	blue	blue	ADJ
ejpam-6234	123	12	dashed	dash	VERB
ejpam-6234	123	13	curve	curve	NOUN
ejpam-6234	123	14	.	.	PUNCT
ejpam-6234	124	1	where	where	SCONJ
ejpam-6234	124	2	ϵ	ϵ	PROPN
ejpam-6234	124	3	is	be	AUX
ejpam-6234	124	4	a	a	DET
ejpam-6234	124	5	constant	constant	ADJ
ejpam-6234	124	6	.	.	PUNCT
ejpam-6234	125	1	considering	consider	VERB
ejpam-6234	125	2	x̄	x̄	NOUN
ejpam-6234	125	3	<	<	X
ejpam-6234	125	4	0	0	PROPN
ejpam-6234	125	5	,	,	PUNCT
ejpam-6234	125	6	let	let	VERB
ejpam-6234	125	7	ϕ	ϕ	NOUN
ejpam-6234	125	8	=	=	SYM
ejpam-6234	125	9	arctan(ȳ/x̄	arctan(ȳ/x̄	PROPN
ejpam-6234	125	10	)	)	PUNCT
ejpam-6234	125	11	be	be	VERB
ejpam-6234	125	12	the	the	DET
ejpam-6234	125	13	angular	angular	ADJ
ejpam-6234	125	14	coordinate	coordinate	NOUN
ejpam-6234	125	15	of	of	ADP
ejpam-6234	125	16	the	the	DET
ejpam-6234	125	17	drone	drone	NOUN
ejpam-6234	125	18	in	in	ADP
ejpam-6234	125	19	the	the	DET
ejpam-6234	125	20	(	(	PUNCT
ejpam-6234	125	21	x̄	x̄	PROPN
ejpam-6234	125	22	,	,	PUNCT
ejpam-6234	125	23	ȳ)-plane	ȳ)-plane	PROPN
ejpam-6234	125	24	.	.	PUNCT
ejpam-6234	126	1	let	let	VERB
ejpam-6234	126	2	a(x̄	a(x̄	PRON
ejpam-6234	126	3	,	,	PUNCT
ejpam-6234	126	4	ȳ	ȳ	NUM
ejpam-6234	126	5	)	)	PUNCT
ejpam-6234	126	6	=	=	SYM
ejpam-6234	126	7	β	β	X
ejpam-6234	126	8	sin(ϕ	sin(ϕ	NOUN
ejpam-6234	126	9	)	)	PUNCT
ejpam-6234	126	10	with	with	ADP
ejpam-6234	126	11	β	β	PRON
ejpam-6234	126	12	such	such	ADJ
ejpam-6234	126	13	that	that	SCONJ
ejpam-6234	126	14	0	0	NUM
ejpam-6234	126	15	≤	≤	NUM
ejpam-6234	127	1	β	β	X
ejpam-6234	127	2	<	<	X
ejpam-6234	127	3	umax	umax	PROPN
ejpam-6234	127	4	.	.	PUNCT
ejpam-6234	128	1	parameter	parameter	PROPN
ejpam-6234	128	2	β	β	PROPN
ejpam-6234	128	3	controls	control	VERB
ejpam-6234	128	4	the	the	DET
ejpam-6234	128	5	convergence	convergence	NOUN
ejpam-6234	128	6	rate	rate	NOUN
ejpam-6234	128	7	of	of	ADP
ejpam-6234	128	8	the	the	DET
ejpam-6234	128	9	drone	drone	NOUN
ejpam-6234	128	10	towards	towards	ADP
ejpam-6234	128	11	the	the	DET
ejpam-6234	128	12	target	target	NOUN
ejpam-6234	128	13	.	.	PUNCT
ejpam-6234	129	1	by	by	ADP
ejpam-6234	129	2	choosing	choose	VERB
ejpam-6234	129	3	a	a	DET
ejpam-6234	129	4	high	high	ADJ
ejpam-6234	129	5	value	value	NOUN
ejpam-6234	129	6	of	of	ADP
ejpam-6234	129	7	β	β	X
ejpam-6234	129	8	(	(	PUNCT
ejpam-6234	129	9	close	close	ADJ
ejpam-6234	129	10	to	to	PART
ejpam-6234	129	11	umax	umax	VERB
ejpam-6234	129	12	)	)	PUNCT
ejpam-6234	130	1	the	the	DET
ejpam-6234	130	2	drone	drone	NOUN
ejpam-6234	130	3	will	will	AUX
ejpam-6234	130	4	converge	converge	VERB
ejpam-6234	130	5	to	to	ADP
ejpam-6234	130	6	its	its	PRON
ejpam-6234	130	7	circular	circular	ADJ
ejpam-6234	130	8	hovering	hovering	NOUN
ejpam-6234	130	9	pattern	pattern	NOUN
ejpam-6234	130	10	using	use	VERB
ejpam-6234	130	11	the	the	DET
ejpam-6234	130	12	tangent	tangent	NOUN
ejpam-6234	130	13	to	to	ADP
ejpam-6234	130	14	this	this	DET
ejpam-6234	130	15	circle	circle	NOUN
ejpam-6234	130	16	which	which	PRON
ejpam-6234	130	17	is	be	AUX
ejpam-6234	130	18	a	a	DET
ejpam-6234	130	19	near	near	ADJ
ejpam-6234	130	20	optimal	optimal	ADJ
ejpam-6234	130	21	convergence	convergence	NOUN
ejpam-6234	130	22	rate	rate	NOUN
ejpam-6234	130	23	.	.	PUNCT
ejpam-6234	131	1	by	by	ADP
ejpam-6234	131	2	decreasing	decrease	VERB
ejpam-6234	131	3	the	the	DET
ejpam-6234	131	4	value	value	NOUN
ejpam-6234	131	5	of	of	ADP
ejpam-6234	131	6	β	β	NOUN
ejpam-6234	131	7	the	the	DET
ejpam-6234	131	8	convergence	convergence	NOUN
ejpam-6234	131	9	rate	rate	NOUN
ejpam-6234	131	10	is	be	AUX
ejpam-6234	131	11	decreased	decrease	VERB
ejpam-6234	131	12	,	,	PUNCT
ejpam-6234	131	13	however	however	ADV
ejpam-6234	131	14	,	,	PUNCT
ejpam-6234	131	15	the	the	DET
ejpam-6234	131	16	trajectory	trajectory	NOUN
ejpam-6234	131	17	used	use	VERB
ejpam-6234	131	18	by	by	ADP
ejpam-6234	131	19	the	the	DET
ejpam-6234	131	20	drone	drone	NOUN
ejpam-6234	131	21	is	be	AUX
ejpam-6234	131	22	smoother	smooth	ADJ
ejpam-6234	131	23	but	but	CCONJ
ejpam-6234	131	24	longer	long	ADV
ejpam-6234	131	25	.	.	PUNCT
ejpam-6234	132	1	as	as	SCONJ
ejpam-6234	132	2	verified	verify	VERB
ejpam-6234	132	3	in	in	ADP
ejpam-6234	132	4	[	[	PUNCT
ejpam-6234	132	5	25],the	25],the	DET
ejpam-6234	132	6	control	control	NOUN
ejpam-6234	132	7	law	law	NOUN
ejpam-6234	132	8	is	be	AUX
ejpam-6234	132	9	smooth	smooth	ADJ
ejpam-6234	132	10	.	.	PUNCT
ejpam-6234	133	1	as	as	SCONJ
ejpam-6234	133	2	mentioned	mention	VERB
ejpam-6234	133	3	previously	previously	ADV
ejpam-6234	133	4	,	,	PUNCT
ejpam-6234	133	5	this	this	DET
ejpam-6234	133	6	method	method	NOUN
ejpam-6234	133	7	allows	allow	VERB
ejpam-6234	133	8	nearly	nearly	ADV
ejpam-6234	133	9	time	time	NOUN
ejpam-6234	133	10	minimum	minimum	ADJ
ejpam-6234	133	11	performances	performance	NOUN
ejpam-6234	133	12	.	.	PUNCT
ejpam-6234	134	1	more	more	ADV
ejpam-6234	134	2	specifically	specifically	ADV
ejpam-6234	134	3	,	,	PUNCT
ejpam-6234	134	4	this	this	DET
ejpam-6234	134	5	algorithm	algorithm	NOUN
ejpam-6234	134	6	allows	allow	VERB
ejpam-6234	134	7	the	the	DET
ejpam-6234	134	8	drone	drone	NOUN
ejpam-6234	134	9	to	to	PART
ejpam-6234	134	10	slide	slide	VERB
ejpam-6234	134	11	onto	onto	ADP
ejpam-6234	134	12	the	the	DET
ejpam-6234	134	13	circular	circular	ADJ
ejpam-6234	134	14	hovering	hovering	NOUN
ejpam-6234	134	15	pattern	pattern	NOUN
ejpam-6234	134	16	using	use	VERB
ejpam-6234	134	17	the	the	DET
ejpam-6234	134	18	tangent	tangent	NOUN
ejpam-6234	134	19	to	to	ADP
ejpam-6234	134	20	the	the	DET
ejpam-6234	134	21	circle	circle	NOUN
ejpam-6234	134	22	.	.	PUNCT
ejpam-6234	135	1	the	the	DET
ejpam-6234	135	2	parameter	parameter	NOUN
ejpam-6234	135	3	β	β	AUX
ejpam-6234	135	4	control	control	VERB
ejpam-6234	135	5	the	the	DET
ejpam-6234	135	6	speed	speed	NOUN
ejpam-6234	135	7	in	in	ADP
ejpam-6234	135	8	which	which	PRON
ejpam-6234	135	9	the	the	DET
ejpam-6234	135	10	drone	drone	NOUN
ejpam-6234	135	11	converges	converge	VERB
ejpam-6234	135	12	toward	toward	ADP
ejpam-6234	135	13	the	the	DET
ejpam-6234	135	14	tangent	tangent	NOUN
ejpam-6234	135	15	.	.	PUNCT
ejpam-6234	136	1	in	in	ADP
ejpam-6234	136	2	fact	fact	NOUN
ejpam-6234	136	3	,	,	PUNCT
ejpam-6234	136	4	by	by	ADP
ejpam-6234	136	5	increasing	increase	VERB
ejpam-6234	136	6	β	β	ADP
ejpam-6234	136	7	the	the	DET
ejpam-6234	136	8	rate	rate	NOUN
ejpam-6234	136	9	of	of	ADP
ejpam-6234	136	10	convergence	convergence	NOUN
ejpam-6234	136	11	will	will	AUX
ejpam-6234	136	12	increase	increase	VERB
ejpam-6234	136	13	as	as	ADV
ejpam-6234	136	14	well	well	ADV
ejpam-6234	136	15	and	and	CCONJ
ejpam-6234	136	16	vice	vice	ADV
ejpam-6234	136	17	versa	versa	ADV
ejpam-6234	136	18	.	.	PUNCT
ejpam-6234	137	1	as	as	SCONJ
ejpam-6234	137	2	it	it	PRON
ejpam-6234	137	3	is	be	AUX
ejpam-6234	137	4	possible	possible	ADJ
ejpam-6234	137	5	to	to	PART
ejpam-6234	137	6	see	see	VERB
ejpam-6234	137	7	,	,	PUNCT
ejpam-6234	137	8	the	the	DET
ejpam-6234	137	9	proposed	propose	VERB
ejpam-6234	137	10	controller	controller	NOUN
ejpam-6234	137	11	presented	present	VERB
ejpam-6234	137	12	in	in	ADP
ejpam-6234	137	13	6	6	NUM
ejpam-6234	137	14	requires	require	VERB
ejpam-6234	137	15	the	the	DET
ejpam-6234	137	16	knowledge	knowledge	NOUN
ejpam-6234	137	17	of	of	ADP
ejpam-6234	137	18	the	the	DET
ejpam-6234	137	19	system	system	NOUN
ejpam-6234	137	20	states	state	VERB
ejpam-6234	137	21	namely	namely	ADV
ejpam-6234	137	22	the	the	DET
ejpam-6234	137	23	coordinates	coordinate	NOUN
ejpam-6234	137	24	x	x	SYM
ejpam-6234	137	25	,	,	PUNCT
ejpam-6234	137	26	y	y	PROPN
ejpam-6234	137	27	and	and	CCONJ
ejpam-6234	137	28	θ	θ	PROPN
ejpam-6234	137	29	,	,	PUNCT
ejpam-6234	137	30	however	however	ADV
ejpam-6234	137	31	in	in	ADP
ejpam-6234	137	32	the	the	DET
ejpam-6234	137	33	proposed	propose	VERB
ejpam-6234	137	34	scenario	scenario	NOUN
ejpam-6234	137	35	the	the	DET
ejpam-6234	137	36	drone	drone	NOUN
ejpam-6234	137	37	in	in	ADP
ejpam-6234	137	38	capable	capable	ADJ
ejpam-6234	137	39	of	of	ADP
ejpam-6234	137	40	observing	observe	VERB
ejpam-6234	137	41	only	only	ADV
ejpam-6234	137	42	the	the	DET
ejpam-6234	137	43	distance	distance	NOUN
ejpam-6234	137	44	between	between	ADP
ejpam-6234	137	45	itself	itself	PRON
ejpam-6234	137	46	and	and	CCONJ
ejpam-6234	137	47	the	the	DET
ejpam-6234	137	48	target	target	NOUN
ejpam-6234	137	49	.	.	PUNCT
ejpam-6234	138	1	thus	thus	ADV
ejpam-6234	138	2	,	,	PUNCT
ejpam-6234	138	3	the	the	DET
ejpam-6234	138	4	state	state	NOUN
ejpam-6234	138	5	observer	observer	NOUN
ejpam-6234	138	6	presented	present	VERB
ejpam-6234	138	7	in	in	ADP
ejpam-6234	138	8	5	5	NUM
ejpam-6234	138	9	should	should	AUX
ejpam-6234	138	10	be	be	AUX
ejpam-6234	138	11	used	use	VERB
ejpam-6234	138	12	along	along	ADP
ejpam-6234	138	13	with	with	ADP
ejpam-6234	138	14	the	the	DET
ejpam-6234	138	15	controller	controller	NOUN
ejpam-6234	138	16	in	in	ADP
ejpam-6234	138	17	6	6	NUM
ejpam-6234	138	18	to	to	PART
ejpam-6234	138	19	stabilize	stabilize	VERB
ejpam-6234	138	20	the	the	DET
ejpam-6234	138	21	system	system	NOUN
ejpam-6234	138	22	and	and	CCONJ
ejpam-6234	138	23	thus	thus	ADV
ejpam-6234	138	24	track	track	VERB
ejpam-6234	138	25	the	the	DET
ejpam-6234	138	26	target	target	NOUN
ejpam-6234	138	27	.	.	PUNCT
ejpam-6234	139	1	in	in	ADP
ejpam-6234	139	2	the	the	DET
ejpam-6234	139	3	following	following	NOUN
ejpam-6234	139	4	,	,	PUNCT
ejpam-6234	139	5	the	the	DET
ejpam-6234	139	6	performances	performance	NOUN
ejpam-6234	139	7	of	of	ADP
ejpam-6234	139	8	the	the	DET
ejpam-6234	139	9	nearly	nearly	ADV
ejpam-6234	139	10	time	time	NOUN
ejpam-6234	139	11	minimum	minimum	ADJ
ejpam-6234	139	12	controller	controller	NOUN
ejpam-6234	139	13	along	along	ADP
ejpam-6234	139	14	with	with	ADP
ejpam-6234	139	15	the	the	DET
ejpam-6234	139	16	state	state	NOUN
ejpam-6234	139	17	observer	observer	NOUN
ejpam-6234	139	18	are	be	AUX
ejpam-6234	139	19	evaluated	evaluate	VERB
ejpam-6234	139	20	.	.	PUNCT
ejpam-6234	140	1	then	then	ADV
ejpam-6234	140	2	a	a	DET
ejpam-6234	140	3	strategy	strategy	NOUN
ejpam-6234	140	4	to	to	PART
ejpam-6234	140	5	enhance	enhance	VERB
ejpam-6234	140	6	the	the	DET
ejpam-6234	140	7	performances	performance	NOUN
ejpam-6234	140	8	of	of	ADP
ejpam-6234	140	9	the	the	DET
ejpam-6234	140	10	overall	overall	ADJ
ejpam-6234	140	11	system	system	NOUN
ejpam-6234	140	12	is	be	AUX
ejpam-6234	140	13	presented	present	VERB
ejpam-6234	140	14	and	and	CCONJ
ejpam-6234	140	15	verified	verify	VERB
ejpam-6234	140	16	using	use	VERB
ejpam-6234	140	17	software	software	NOUN
ejpam-6234	140	18	simulations	simulation	NOUN
ejpam-6234	140	19	.	.	PUNCT
ejpam-6234	141	1	a.	a.	PROPN
ejpam-6234	141	2	ajami	ajami	PROPN
ejpam-6234	141	3	et	et	PROPN
ejpam-6234	141	4	al	al	PROPN
ejpam-6234	141	5	.	.	PUNCT
ejpam-6234	141	6	/	/	SYM
ejpam-6234	141	7	eur	eur	PROPN
ejpam-6234	141	8	.	.	PUNCT
ejpam-6234	142	1	j.	j.	PROPN
ejpam-6234	142	2	pure	pure	PROPN
ejpam-6234	142	3	appl	appl	PROPN
ejpam-6234	142	4	.	.	PROPN
ejpam-6234	142	5	math	math	PROPN
ejpam-6234	142	6	,	,	PUNCT
ejpam-6234	142	7	18	18	NUM
ejpam-6234	142	8	(	(	PUNCT
ejpam-6234	142	9	3	3	NUM
ejpam-6234	142	10	)	)	PUNCT
ejpam-6234	142	11	(	(	PUNCT
ejpam-6234	142	12	2025	2025	NUM
ejpam-6234	142	13	)	)	PUNCT
ejpam-6234	142	14	,	,	PUNCT
ejpam-6234	142	15	6234	6234	NUM
ejpam-6234	142	16	7	7	NUM
ejpam-6234	142	17	of	of	ADP
ejpam-6234	142	18	14	14	NUM
ejpam-6234	142	19	4	4	NUM
ejpam-6234	142	20	.	.	PUNCT
ejpam-6234	143	1	the	the	DET
ejpam-6234	143	2	strategy	strategy	NOUN
ejpam-6234	143	3	to	to	PART
ejpam-6234	143	4	overcome	overcome	VERB
ejpam-6234	143	5	the	the	DET
ejpam-6234	143	6	conflict	conflict	NOUN
ejpam-6234	143	7	given	give	VERB
ejpam-6234	143	8	the	the	DET
ejpam-6234	143	9	smooth	smooth	ADJ
ejpam-6234	143	10	feedback	feedback	NOUN
ejpam-6234	143	11	law	law	NOUN
ejpam-6234	143	12	that	that	PRON
ejpam-6234	143	13	approximates	approximate	VERB
ejpam-6234	143	14	the	the	DET
ejpam-6234	143	15	minimum	minimum	ADJ
ejpam-6234	143	16	time	time	NOUN
ejpam-6234	143	17	strategy	strategy	NOUN
ejpam-6234	143	18	,	,	PUNCT
ejpam-6234	143	19	obtained	obtain	VERB
ejpam-6234	143	20	from	from	ADP
ejpam-6234	143	21	the	the	DET
ejpam-6234	143	22	previous	previous	ADJ
ejpam-6234	143	23	section	section	NOUN
ejpam-6234	143	24	,	,	PUNCT
ejpam-6234	143	25	theorem	theorem	VERB
ejpam-6234	143	26	1	1	NUM
ejpam-6234	143	27	can	can	AUX
ejpam-6234	143	28	be	be	AUX
ejpam-6234	143	29	used	use	VERB
ejpam-6234	143	30	.	.	PUNCT
ejpam-6234	144	1	this	this	DET
ejpam-6234	144	2	theorem	theorem	NOUN
ejpam-6234	144	3	tells	tell	VERB
ejpam-6234	144	4	that	that	SCONJ
ejpam-6234	144	5	the	the	DET
ejpam-6234	144	6	full	full	ADJ
ejpam-6234	144	7	closed	closed	ADJ
ejpam-6234	144	8	-	-	PUNCT
ejpam-6234	144	9	loop	loop	NOUN
ejpam-6234	144	10	system	system	NOUN
ejpam-6234	144	11	5	5	NUM
ejpam-6234	144	12	must	must	AUX
ejpam-6234	144	13	be	be	AUX
ejpam-6234	144	14	asymptotically	asymptotically	ADV
ejpam-6234	144	15	stable	stable	ADJ
ejpam-6234	144	16	,	,	PUNCT
ejpam-6234	144	17	with	with	ADP
ejpam-6234	144	18	an	an	DET
ejpam-6234	144	19	arbitrarily	arbitrarily	ADV
ejpam-6234	144	20	large	large	ADJ
ejpam-6234	144	21	basin	basin	NOUN
ejpam-6234	144	22	of	of	ADP
ejpam-6234	144	23	attraction	attraction	NOUN
ejpam-6234	144	24	,	,	PUNCT
ejpam-6234	144	25	depending	depend	VERB
ejpam-6234	144	26	on	on	ADP
ejpam-6234	144	27	the	the	DET
ejpam-6234	144	28	parameter	parameter	NOUN
ejpam-6234	144	29	α	α	PROPN
ejpam-6234	144	30	in	in	ADP
ejpam-6234	144	31	(	(	PUNCT
ejpam-6234	144	32	4	4	NUM
ejpam-6234	144	33	)	)	PUNCT
ejpam-6234	144	34	above	above	ADV
ejpam-6234	144	35	.	.	PUNCT
ejpam-6234	145	1	figure	figure	NOUN
ejpam-6234	145	2	2	2	NUM
ejpam-6234	145	3	displays	display	VERB
ejpam-6234	145	4	a	a	DET
ejpam-6234	145	5	typical	typical	ADJ
ejpam-6234	145	6	result	result	NOUN
ejpam-6234	145	7	,	,	PUNCT
ejpam-6234	145	8	which	which	PRON
ejpam-6234	145	9	is	be	AUX
ejpam-6234	145	10	quite	quite	ADV
ejpam-6234	145	11	intriguing	intriguing	ADJ
ejpam-6234	145	12	.	.	PUNCT
ejpam-6234	146	1	in	in	ADP
ejpam-6234	146	2	this	this	DET
ejpam-6234	146	3	first	first	ADJ
ejpam-6234	146	4	simulation	simulation	NOUN
ejpam-6234	146	5	the	the	DET
ejpam-6234	146	6	drone	drone	NOUN
ejpam-6234	146	7	is	be	AUX
ejpam-6234	146	8	starting	start	VERB
ejpam-6234	146	9	from	from	ADP
ejpam-6234	146	10	an	an	DET
ejpam-6234	146	11	initial	initial	ADJ
ejpam-6234	146	12	position	position	NOUN
ejpam-6234	146	13	x=-50	x=-50	PROPN
ejpam-6234	146	14	,	,	PUNCT
ejpam-6234	146	15	y=40	y=40	PROPN
ejpam-6234	146	16	and	and	CCONJ
ejpam-6234	146	17	an	an	DET
ejpam-6234	146	18	initial	initial	ADJ
ejpam-6234	146	19	angle	angle	NOUN
ejpam-6234	146	20	θ=0	θ=0	PROPN
ejpam-6234	146	21	.	.	PUNCT
ejpam-6234	147	1	the	the	DET
ejpam-6234	147	2	target	target	NOUN
ejpam-6234	147	3	is	be	AUX
ejpam-6234	147	4	considered	consider	VERB
ejpam-6234	147	5	to	to	PART
ejpam-6234	147	6	be	be	AUX
ejpam-6234	147	7	fixed	fix	VERB
ejpam-6234	147	8	located	locate	VERB
ejpam-6234	147	9	at	at	ADP
ejpam-6234	147	10	x=0	x=0	PROPN
ejpam-6234	147	11	and	and	CCONJ
ejpam-6234	147	12	y=0	y=0	NOUN
ejpam-6234	147	13	.	.	PUNCT
ejpam-6234	148	1	the	the	DET
ejpam-6234	148	2	speed	speed	NOUN
ejpam-6234	148	3	of	of	ADP
ejpam-6234	148	4	the	the	DET
ejpam-6234	148	5	drone	drone	NOUN
ejpam-6234	148	6	is	be	AUX
ejpam-6234	148	7	constant	constant	ADJ
ejpam-6234	148	8	equal	equal	ADJ
ejpam-6234	148	9	to	to	ADP
ejpam-6234	148	10	1	1	NUM
ejpam-6234	148	11	m/s	m/s	PROPN
ejpam-6234	148	12	,	,	PUNCT
ejpam-6234	148	13	parameter	parameter	NOUN
ejpam-6234	148	14	ϵ	ϵ	PROPN
ejpam-6234	148	15	is	be	AUX
ejpam-6234	148	16	equal	equal	ADJ
ejpam-6234	148	17	to	to	ADP
ejpam-6234	148	18	0.5	0.5	NUM
ejpam-6234	148	19	,	,	PUNCT
ejpam-6234	148	20	β	β	X
ejpam-6234	148	21	=	=	PUNCT
ejpam-6234	148	22	0.2	0.2	NUM
ejpam-6234	148	23	and	and	CCONJ
ejpam-6234	148	24	α	α	NOUN
ejpam-6234	148	25	=	=	SYM
ejpam-6234	148	26	5	5	NUM
ejpam-6234	148	27	.	.	PUNCT
ejpam-6234	149	1	the	the	DET
ejpam-6234	149	2	radius	radius	NOUN
ejpam-6234	149	3	of	of	ADP
ejpam-6234	149	4	the	the	DET
ejpam-6234	149	5	circular	circular	ADJ
ejpam-6234	149	6	hovering	hovering	NOUN
ejpam-6234	149	7	pattern	pattern	NOUN
ejpam-6234	149	8	is	be	AUX
ejpam-6234	149	9	chosen	choose	VERB
ejpam-6234	149	10	to	to	PART
ejpam-6234	149	11	be	be	AUX
ejpam-6234	149	12	r	r	NOUN
ejpam-6234	149	13	=	=	SYM
ejpam-6234	149	14	1	1	NUM
ejpam-6234	149	15	m.	m.	NOUN
ejpam-6234	149	16	figures	figure	NOUN
ejpam-6234	149	17	2	2	NUM
ejpam-6234	149	18	shows	show	VERB
ejpam-6234	149	19	that	that	SCONJ
ejpam-6234	149	20	the	the	DET
ejpam-6234	149	21	drone	drone	NOUN
ejpam-6234	149	22	is	be	AUX
ejpam-6234	149	23	able	able	ADJ
ejpam-6234	149	24	to	to	PART
ejpam-6234	149	25	converge	converge	VERB
ejpam-6234	149	26	toward	toward	ADP
ejpam-6234	149	27	the	the	DET
ejpam-6234	149	28	target	target	NOUN
ejpam-6234	149	29	at	at	ADP
ejpam-6234	149	30	the	the	DET
ejpam-6234	149	31	end	end	NOUN
ejpam-6234	149	32	,	,	PUNCT
ejpam-6234	149	33	however	however	ADV
ejpam-6234	149	34	,	,	PUNCT
ejpam-6234	149	35	the	the	DET
ejpam-6234	149	36	path	path	NOUN
ejpam-6234	149	37	that	that	PRON
ejpam-6234	149	38	is	be	AUX
ejpam-6234	149	39	being	be	AUX
ejpam-6234	149	40	used	use	VERB
ejpam-6234	149	41	is	be	AUX
ejpam-6234	149	42	weird	weird	ADJ
ejpam-6234	149	43	.	.	PUNCT
ejpam-6234	150	1	it	it	PRON
ejpam-6234	150	2	is	be	AUX
ejpam-6234	150	3	possible	possible	ADJ
ejpam-6234	150	4	to	to	PART
ejpam-6234	150	5	explain	explain	VERB
ejpam-6234	150	6	what	what	PRON
ejpam-6234	150	7	is	be	AUX
ejpam-6234	150	8	happening	happen	VERB
ejpam-6234	150	9	.	.	PUNCT
ejpam-6234	151	1	in	in	ADP
ejpam-6234	151	2	fact	fact	NOUN
ejpam-6234	151	3	,	,	PUNCT
ejpam-6234	151	4	at	at	ADP
ejpam-6234	151	5	the	the	DET
ejpam-6234	151	6	beginning	beginning	NOUN
ejpam-6234	151	7	of	of	ADP
ejpam-6234	151	8	the	the	DET
ejpam-6234	151	9	simulation	simulation	NOUN
ejpam-6234	151	10	the	the	DET
ejpam-6234	151	11	drone	drone	NOUN
ejpam-6234	151	12	starts	start	VERB
ejpam-6234	151	13	turning	turn	VERB
ejpam-6234	151	14	in	in	ADP
ejpam-6234	151	15	order	order	NOUN
ejpam-6234	151	16	to	to	PART
ejpam-6234	151	17	face	face	VERB
ejpam-6234	151	18	the	the	DET
ejpam-6234	151	19	target	target	NOUN
ejpam-6234	151	20	(	(	PUNCT
ejpam-6234	151	21	or	or	CCONJ
ejpam-6234	151	22	in	in	ADP
ejpam-6234	151	23	other	other	ADJ
ejpam-6234	151	24	words	word	NOUN
ejpam-6234	151	25	the	the	DET
ejpam-6234	151	26	drone	drone	NOUN
ejpam-6234	151	27	will	will	AUX
ejpam-6234	151	28	turn	turn	VERB
ejpam-6234	151	29	in	in	ADP
ejpam-6234	151	30	order	order	NOUN
ejpam-6234	151	31	to	to	PART
ejpam-6234	151	32	intercept	intercept	VERB
ejpam-6234	151	33	the	the	DET
ejpam-6234	151	34	tangent	tangent	NOUN
ejpam-6234	151	35	to	to	ADP
ejpam-6234	151	36	the	the	DET
ejpam-6234	151	37	hovering	hover	VERB
ejpam-6234	151	38	pattern	pattern	NOUN
ejpam-6234	151	39	)	)	PUNCT
ejpam-6234	151	40	.	.	PUNCT
ejpam-6234	152	1	during	during	ADP
ejpam-6234	152	2	that	that	DET
ejpam-6234	152	3	phase	phase	NOUN
ejpam-6234	152	4	and	and	CCONJ
ejpam-6234	152	5	since	since	SCONJ
ejpam-6234	152	6	the	the	DET
ejpam-6234	152	7	control	control	NOUN
ejpam-6234	152	8	input	input	NOUN
ejpam-6234	152	9	u	u	NOUN
ejpam-6234	152	10	is	be	AUX
ejpam-6234	152	11	not	not	PART
ejpam-6234	152	12	zero	zero	NUM
ejpam-6234	152	13	the	the	DET
ejpam-6234	152	14	system	system	NOUN
ejpam-6234	152	15	coordinates	coordinate	NOUN
ejpam-6234	152	16	(	(	PUNCT
ejpam-6234	152	17	states	state	NOUN
ejpam-6234	152	18	)	)	PUNCT
ejpam-6234	152	19	are	be	AUX
ejpam-6234	152	20	observable	observable	ADJ
ejpam-6234	152	21	for	for	ADP
ejpam-6234	152	22	a	a	DET
ejpam-6234	152	23	short	short	ADJ
ejpam-6234	152	24	period	period	NOUN
ejpam-6234	152	25	of	of	ADP
ejpam-6234	152	26	time	time	NOUN
ejpam-6234	152	27	.	.	PUNCT
ejpam-6234	153	1	thus	thus	ADV
ejpam-6234	153	2	,	,	PUNCT
ejpam-6234	153	3	the	the	DET
ejpam-6234	153	4	observer	observer	NOUN
ejpam-6234	153	5	makes	make	VERB
ejpam-6234	153	6	a	a	DET
ejpam-6234	153	7	(	(	PUNCT
ejpam-6234	153	8	poor	poor	ADJ
ejpam-6234	153	9	)	)	PUNCT
ejpam-6234	153	10	initial	initial	ADJ
ejpam-6234	153	11	assessment	assessment	NOUN
ejpam-6234	153	12	of	of	ADP
ejpam-6234	153	13	which	which	DET
ejpam-6234	153	14	direction	direction	NOUN
ejpam-6234	153	15	to	to	PART
ejpam-6234	153	16	move	move	VERB
ejpam-6234	153	17	in	in	ADV
ejpam-6234	153	18	,	,	PUNCT
ejpam-6234	153	19	consequently	consequently	ADV
ejpam-6234	153	20	an	an	DET
ejpam-6234	153	21	error	error	NOUN
ejpam-6234	153	22	still	still	ADV
ejpam-6234	153	23	exists	exist	VERB
ejpam-6234	153	24	between	between	ADP
ejpam-6234	153	25	the	the	DET
ejpam-6234	153	26	estimated	estimate	VERB
ejpam-6234	153	27	and	and	CCONJ
ejpam-6234	153	28	the	the	DET
ejpam-6234	153	29	real	real	ADJ
ejpam-6234	153	30	drone	drone	NOUN
ejpam-6234	153	31	coordinates	coordinate	NOUN
ejpam-6234	153	32	.	.	PUNCT
ejpam-6234	154	1	in	in	ADP
ejpam-6234	154	2	the	the	DET
ejpam-6234	154	3	second	second	ADJ
ejpam-6234	154	4	phase	phase	NOUN
ejpam-6234	154	5	the	the	DET
ejpam-6234	154	6	controller	controller	NOUN
ejpam-6234	154	7	thinks	think	VERB
ejpam-6234	154	8	that	that	SCONJ
ejpam-6234	154	9	it	it	PRON
ejpam-6234	154	10	is	be	AUX
ejpam-6234	154	11	intercepting	intercept	VERB
ejpam-6234	154	12	the	the	DET
ejpam-6234	154	13	tangent	tangent	NOUN
ejpam-6234	154	14	to	to	ADP
ejpam-6234	154	15	the	the	DET
ejpam-6234	154	16	hovering	hover	VERB
ejpam-6234	154	17	pattern	pattern	NOUN
ejpam-6234	154	18	thus	thus	ADV
ejpam-6234	154	19	it	it	PRON
ejpam-6234	154	20	is	be	AUX
ejpam-6234	154	21	moving	move	VERB
ejpam-6234	154	22	in	in	ADP
ejpam-6234	154	23	a	a	DET
ejpam-6234	154	24	straight	straight	ADJ
ejpam-6234	154	25	line	line	NOUN
ejpam-6234	154	26	toward	toward	ADP
ejpam-6234	154	27	the	the	DET
ejpam-6234	154	28	target	target	NOUN
ejpam-6234	154	29	.	.	PUNCT
ejpam-6234	155	1	in	in	ADP
ejpam-6234	155	2	that	that	DET
ejpam-6234	155	3	phase	phase	NOUN
ejpam-6234	155	4	the	the	DET
ejpam-6234	155	5	system	system	NOUN
ejpam-6234	155	6	is	be	AUX
ejpam-6234	155	7	not	not	PART
ejpam-6234	155	8	observable	observable	ADJ
ejpam-6234	155	9	thus	thus	ADV
ejpam-6234	155	10	the	the	DET
ejpam-6234	155	11	proposed	propose	VERB
ejpam-6234	155	12	state	state	NOUN
ejpam-6234	155	13	observer	observer	NOUN
ejpam-6234	155	14	is	be	AUX
ejpam-6234	155	15	not	not	PART
ejpam-6234	155	16	reducing	reduce	VERB
ejpam-6234	155	17	the	the	DET
ejpam-6234	155	18	estimation	estimation	NOUN
ejpam-6234	155	19	error	error	NOUN
ejpam-6234	155	20	.	.	PUNCT
ejpam-6234	156	1	this	this	DET
ejpam-6234	156	2	scenario	scenario	NOUN
ejpam-6234	156	3	continues	continue	VERB
ejpam-6234	156	4	until	until	SCONJ
ejpam-6234	156	5	the	the	DET
ejpam-6234	156	6	observer	observer	NOUN
ejpam-6234	156	7	/	/	SYM
ejpam-6234	156	8	controller	controller	NOUN
ejpam-6234	156	9	realizes	realize	VERB
ejpam-6234	156	10	that	that	SCONJ
ejpam-6234	156	11	it	it	PRON
ejpam-6234	156	12	is	be	AUX
ejpam-6234	156	13	diverging	diverge	VERB
ejpam-6234	156	14	from	from	ADP
ejpam-6234	156	15	the	the	DET
ejpam-6234	156	16	target	target	NOUN
ejpam-6234	156	17	consequently	consequently	ADV
ejpam-6234	156	18	the	the	DET
ejpam-6234	156	19	controller	controller	NOUN
ejpam-6234	156	20	makes	make	VERB
ejpam-6234	156	21	adjustment	adjustment	NOUN
ejpam-6234	156	22	to	to	ADP
ejpam-6234	156	23	the	the	DET
ejpam-6234	156	24	control	control	NOUN
ejpam-6234	156	25	input	input	NOUN
ejpam-6234	156	26	during	during	ADP
ejpam-6234	156	27	which	which	PRON
ejpam-6234	156	28	the	the	DET
ejpam-6234	156	29	system	system	NOUN
ejpam-6234	156	30	is	be	AUX
ejpam-6234	156	31	observable	observable	ADJ
ejpam-6234	156	32	(	(	PUNCT
ejpam-6234	156	33	the	the	DET
ejpam-6234	156	34	control	control	NOUN
ejpam-6234	156	35	input	input	NOUN
ejpam-6234	156	36	different	different	ADV
ejpam-6234	156	37	from	from	ADP
ejpam-6234	156	38	zero	zero	NUM
ejpam-6234	156	39	)	)	PUNCT
ejpam-6234	156	40	thus	thus	ADV
ejpam-6234	156	41	the	the	DET
ejpam-6234	156	42	estimation	estimation	NOUN
ejpam-6234	156	43	error	error	NOUN
ejpam-6234	156	44	is	be	AUX
ejpam-6234	156	45	reduced	reduce	VERB
ejpam-6234	156	46	.	.	PUNCT
ejpam-6234	157	1	then	then	ADV
ejpam-6234	157	2	the	the	DET
ejpam-6234	157	3	system	system	NOUN
ejpam-6234	157	4	goes	go	VERB
ejpam-6234	157	5	through	through	ADP
ejpam-6234	157	6	a	a	DET
ejpam-6234	157	7	cycle	cycle	NOUN
ejpam-6234	157	8	of	of	ADP
ejpam-6234	157	9	observable	observable	ADJ
ejpam-6234	157	10	and	and	CCONJ
ejpam-6234	157	11	non	non	ADJ
ejpam-6234	157	12	-	-	ADJ
ejpam-6234	157	13	observable	observable	ADJ
ejpam-6234	157	14	phases	phase	NOUN
ejpam-6234	157	15	repeatedly	repeatedly	ADV
ejpam-6234	157	16	until	until	SCONJ
ejpam-6234	157	17	it	it	PRON
ejpam-6234	157	18	reaches	reach	VERB
ejpam-6234	157	19	its	its	PRON
ejpam-6234	157	20	hovering	hovering	NOUN
ejpam-6234	157	21	pattern	pattern	NOUN
ejpam-6234	157	22	.	.	PUNCT
ejpam-6234	158	1	during	during	ADP
ejpam-6234	158	2	the	the	DET
ejpam-6234	158	3	hovering	hover	VERB
ejpam-6234	158	4	phase	phase	NOUN
ejpam-6234	158	5	the	the	DET
ejpam-6234	158	6	system	system	NOUN
ejpam-6234	158	7	is	be	AUX
ejpam-6234	158	8	observable	observable	ADJ
ejpam-6234	158	9	(	(	PUNCT
ejpam-6234	158	10	the	the	DET
ejpam-6234	158	11	control	control	NOUN
ejpam-6234	158	12	input	input	NOUN
ejpam-6234	158	13	is	be	AUX
ejpam-6234	158	14	not	not	PART
ejpam-6234	158	15	zero	zero	NUM
ejpam-6234	158	16	)	)	PUNCT
ejpam-6234	158	17	thus	thus	ADV
ejpam-6234	158	18	the	the	DET
ejpam-6234	158	19	system	system	NOUN
ejpam-6234	158	20	estimation	estimation	NOUN
ejpam-6234	158	21	error	error	NOUN
ejpam-6234	158	22	goes	go	VERB
ejpam-6234	158	23	to	to	ADP
ejpam-6234	158	24	zero	zero	NUM
ejpam-6234	158	25	.	.	PUNCT
ejpam-6234	158	26	similar	similar	ADJ
ejpam-6234	158	27	to	to	PART
ejpam-6234	158	28	figure	figure	VERB
ejpam-6234	158	29	2	2	NUM
ejpam-6234	158	30	,	,	PUNCT
ejpam-6234	158	31	figure	figure	VERB
ejpam-6234	158	32	3	3	NUM
ejpam-6234	158	33	presents	present	VERB
ejpam-6234	158	34	the	the	DET
ejpam-6234	158	35	simulation	simulation	NOUN
ejpam-6234	158	36	results	result	NOUN
ejpam-6234	158	37	of	of	ADP
ejpam-6234	158	38	a	a	DET
ejpam-6234	158	39	drone	drone	NOUN
ejpam-6234	158	40	starting	start	VERB
ejpam-6234	158	41	from	from	ADP
ejpam-6234	158	42	an	an	DET
ejpam-6234	158	43	initial	initial	ADJ
ejpam-6234	158	44	position	position	NOUN
ejpam-6234	158	45	(	(	PUNCT
ejpam-6234	158	46	x0	x0	PROPN
ejpam-6234	158	47	,	,	PUNCT
ejpam-6234	158	48	y0	y0	PROPN
ejpam-6234	158	49	,	,	PUNCT
ejpam-6234	158	50	θ0	θ0	PROPN
ejpam-6234	158	51	)	)	PUNCT
ejpam-6234	158	52	and	and	CCONJ
ejpam-6234	158	53	converging	converge	VERB
ejpam-6234	158	54	toward	toward	ADP
ejpam-6234	158	55	a	a	DET
ejpam-6234	158	56	target	target	NOUN
ejpam-6234	158	57	located	locate	VERB
ejpam-6234	158	58	at	at	ADP
ejpam-6234	158	59	the	the	DET
ejpam-6234	158	60	origin	origin	NOUN
ejpam-6234	158	61	(	(	PUNCT
ejpam-6234	158	62	in	in	ADP
ejpam-6234	158	63	both	both	DET
ejpam-6234	158	64	simulation	simulation	NOUN
ejpam-6234	158	65	the	the	DET
ejpam-6234	158	66	system	system	NOUN
ejpam-6234	158	67	and	and	CCONJ
ejpam-6234	158	68	simulation	simulation	NOUN
ejpam-6234	158	69	parameters	parameter	NOUN
ejpam-6234	158	70	are	be	AUX
ejpam-6234	158	71	the	the	DET
ejpam-6234	158	72	same	same	ADJ
ejpam-6234	158	73	)	)	PUNCT
ejpam-6234	158	74	.	.	PUNCT
ejpam-6234	159	1	the	the	DET
ejpam-6234	159	2	control	control	NOUN
ejpam-6234	159	3	algorithm	algorithm	NOUN
ejpam-6234	159	4	is	be	AUX
ejpam-6234	159	5	the	the	DET
ejpam-6234	159	6	one	one	NOUN
ejpam-6234	159	7	previously	previously	ADV
ejpam-6234	159	8	described	describe	VERB
ejpam-6234	159	9	in	in	ADP
ejpam-6234	159	10	6	6	NUM
ejpam-6234	159	11	coupled	couple	VERB
ejpam-6234	159	12	to	to	ADP
ejpam-6234	159	13	the	the	DET
ejpam-6234	159	14	observer	observer	NOUN
ejpam-6234	159	15	of	of	ADP
ejpam-6234	159	16	5	5	NUM
ejpam-6234	159	17	.	.	PUNCT
ejpam-6234	160	1	these	these	DET
ejpam-6234	160	2	figures	figure	NOUN
ejpam-6234	160	3	presents	present	VERB
ejpam-6234	160	4	the	the	DET
ejpam-6234	160	5	drone	drone	NOUN
ejpam-6234	160	6	real	real	ADJ
ejpam-6234	160	7	and	and	CCONJ
ejpam-6234	160	8	estimated	estimate	VERB
ejpam-6234	160	9	path	path	NOUN
ejpam-6234	160	10	on	on	ADP
ejpam-6234	160	11	the	the	DET
ejpam-6234	160	12	same	same	ADJ
ejpam-6234	160	13	figure	figure	NOUN
ejpam-6234	160	14	.	.	PUNCT
ejpam-6234	161	1	in	in	ADP
ejpam-6234	161	2	conclusion	conclusion	NOUN
ejpam-6234	161	3	,	,	PUNCT
ejpam-6234	161	4	although	although	SCONJ
ejpam-6234	161	5	the	the	DET
ejpam-6234	161	6	proposed	propose	VERB
ejpam-6234	161	7	method	method	NOUN
ejpam-6234	161	8	converges	converge	NOUN
ejpam-6234	161	9	towards	towards	ADP
ejpam-6234	161	10	the	the	DET
ejpam-6234	161	11	target	target	NOUN
ejpam-6234	161	12	(	(	PUNCT
ejpam-6234	161	13	hovering	hover	VERB
ejpam-6234	161	14	pattern	pattern	NOUN
ejpam-6234	161	15	)	)	PUNCT
ejpam-6234	161	16	,	,	PUNCT
ejpam-6234	161	17	the	the	DET
ejpam-6234	161	18	convergence	convergence	NOUN
ejpam-6234	161	19	time	time	NOUN
ejpam-6234	161	20	is	be	AUX
ejpam-6234	161	21	prolonged	prolong	VERB
ejpam-6234	161	22	because	because	SCONJ
ejpam-6234	161	23	the	the	DET
ejpam-6234	161	24	drone	drone	NOUN
ejpam-6234	161	25	frequently	frequently	ADV
ejpam-6234	161	26	misses	miss	VERB
ejpam-6234	161	27	the	the	DET
ejpam-6234	161	28	target	target	NOUN
ejpam-6234	161	29	on	on	ADP
ejpam-6234	161	30	multiple	multiple	ADJ
ejpam-6234	161	31	occasions	occasion	NOUN
ejpam-6234	161	32	due	due	ADP
ejpam-6234	161	33	to	to	ADP
ejpam-6234	161	34	a	a	DET
ejpam-6234	161	35	lack	lack	NOUN
ejpam-6234	161	36	of	of	ADP
ejpam-6234	161	37	observability	observability	NOUN
ejpam-6234	161	38	whenever	whenever	SCONJ
ejpam-6234	161	39	the	the	DET
ejpam-6234	161	40	chosen	choose	VERB
ejpam-6234	161	41	path	path	NOUN
ejpam-6234	161	42	is	be	AUX
ejpam-6234	161	43	a	a	DET
ejpam-6234	161	44	straight	straight	ADJ
ejpam-6234	161	45	line	line	NOUN
ejpam-6234	161	46	(	(	PUNCT
ejpam-6234	161	47	resulting	result	VERB
ejpam-6234	161	48	in	in	ADP
ejpam-6234	161	49	a	a	DET
ejpam-6234	161	50	control	control	NOUN
ejpam-6234	161	51	input	input	NOUN
ejpam-6234	161	52	of	of	ADP
ejpam-6234	161	53	zero	zero	NUM
ejpam-6234	161	54	)	)	PUNCT
ejpam-6234	161	55	.	.	PUNCT
ejpam-6234	162	1	indeed	indeed	ADV
ejpam-6234	162	2	,	,	PUNCT
ejpam-6234	162	3	in	in	ADP
ejpam-6234	162	4	that	that	DET
ejpam-6234	162	5	special	special	ADJ
ejpam-6234	162	6	case	case	NOUN
ejpam-6234	162	7	a	a	DET
ejpam-6234	162	8	nearly	nearly	ADV
ejpam-6234	162	9	minimum	minimum	ADJ
ejpam-6234	162	10	time	time	NOUN
ejpam-6234	162	11	strategy	strategy	NOUN
ejpam-6234	162	12	is	be	AUX
ejpam-6234	162	13	playing	play	VERB
ejpam-6234	162	14	a	a	DET
ejpam-6234	162	15	negative	negative	ADJ
ejpam-6234	162	16	role	role	NOUN
ejpam-6234	162	17	in	in	ADP
ejpam-6234	162	18	optimizing	optimize	VERB
ejpam-6234	162	19	the	the	DET
ejpam-6234	162	20	system	system	NOUN
ejpam-6234	162	21	performances	performance	NOUN
ejpam-6234	162	22	.	.	PUNCT
ejpam-6234	163	1	the	the	DET
ejpam-6234	163	2	question	question	NOUN
ejpam-6234	163	3	now	now	ADV
ejpam-6234	163	4	is	be	AUX
ejpam-6234	163	5	how	how	SCONJ
ejpam-6234	163	6	to	to	PART
ejpam-6234	163	7	improve	improve	VERB
ejpam-6234	163	8	on	on	ADP
ejpam-6234	163	9	this	this	DET
ejpam-6234	163	10	bad	bad	ADJ
ejpam-6234	163	11	behavior	behavior	NOUN
ejpam-6234	163	12	.	.	PUNCT
ejpam-6234	164	1	the	the	DET
ejpam-6234	164	2	strategy	strategy	NOUN
ejpam-6234	164	3	is	be	AUX
ejpam-6234	164	4	to	to	PART
ejpam-6234	164	5	choose	choose	VERB
ejpam-6234	164	6	a	a	DET
ejpam-6234	164	7	periodic	periodic	ADJ
ejpam-6234	164	8	perturbation	perturbation	NOUN
ejpam-6234	164	9	of	of	ADP
ejpam-6234	164	10	the	the	DET
ejpam-6234	164	11	control	control	NOUN
ejpam-6234	164	12	input	input	NOUN
ejpam-6234	164	13	to	to	PART
ejpam-6234	164	14	improve	improve	VERB
ejpam-6234	164	15	the	the	DET
ejpam-6234	164	16	observability	observability	NOUN
ejpam-6234	164	17	.	.	PUNCT
ejpam-6234	165	1	this	this	DET
ejpam-6234	165	2	strategy	strategy	NOUN
ejpam-6234	165	3	is	be	AUX
ejpam-6234	165	4	in	in	ADP
ejpam-6234	165	5	accordance	accordance	NOUN
ejpam-6234	165	6	with	with	ADP
ejpam-6234	165	7	the	the	DET
ejpam-6234	165	8	general	general	ADJ
ejpam-6234	165	9	theory	theory	NOUN
ejpam-6234	165	10	of	of	ADP
ejpam-6234	165	11	[	[	X
ejpam-6234	165	12	5	5	NUM
ejpam-6234	165	13	]	]	PUNCT
ejpam-6234	165	14	.	.	PUNCT
ejpam-6234	166	1	the	the	DET
ejpam-6234	166	2	perturbation	perturbation	NOUN
ejpam-6234	166	3	is	be	AUX
ejpam-6234	166	4	added	add	VERB
ejpam-6234	166	5	to	to	ADP
ejpam-6234	166	6	the	the	DET
ejpam-6234	166	7	input	input	NOUN
ejpam-6234	166	8	whenever	whenever	SCONJ
ejpam-6234	166	9	the	the	DET
ejpam-6234	166	10	system	system	NOUN
ejpam-6234	166	11	is	be	AUX
ejpam-6234	166	12	lacking	lack	VERB
ejpam-6234	166	13	observability	observability	NOUN
ejpam-6234	166	14	or	or	CCONJ
ejpam-6234	166	15	in	in	ADP
ejpam-6234	166	16	other	other	ADJ
ejpam-6234	166	17	words	word	NOUN
ejpam-6234	166	18	whenever	whenever	SCONJ
ejpam-6234	166	19	the	the	DET
ejpam-6234	166	20	system	system	NOUN
ejpam-6234	166	21	is	be	AUX
ejpam-6234	166	22	sliding	slide	VERB
ejpam-6234	166	23	toward	toward	ADP
ejpam-6234	166	24	the	the	DET
ejpam-6234	166	25	tangent	tangent	NOUN
ejpam-6234	166	26	to	to	ADP
ejpam-6234	166	27	the	the	DET
ejpam-6234	166	28	circle	circle	NOUN
ejpam-6234	166	29	(	(	PUNCT
ejpam-6234	166	30	control	control	NOUN
ejpam-6234	166	31	input	input	NOUN
ejpam-6234	166	32	is	be	AUX
ejpam-6234	166	33	close	close	ADJ
ejpam-6234	166	34	to	to	ADP
ejpam-6234	166	35	zero	zero	NUM
ejpam-6234	166	36	)	)	PUNCT
ejpam-6234	166	37	.	.	PUNCT
ejpam-6234	167	1	the	the	DET
ejpam-6234	167	2	selected	select	VERB
ejpam-6234	167	3	perturbation	perturbation	NOUN
ejpam-6234	167	4	is	be	AUX
ejpam-6234	167	5	a	a	DET
ejpam-6234	167	6	sine	sine	ADJ
ejpam-6234	167	7	-	-	PUNCT
ejpam-6234	167	8	wave	wave	NOUN
ejpam-6234	167	9	function	function	NOUN
ejpam-6234	167	10	having	have	VERB
ejpam-6234	167	11	an	an	DET
ejpam-6234	167	12	magnitude	magnitude	NOUN
ejpam-6234	167	13	of	of	ADP
ejpam-6234	167	14	γumax	γumax	NOUN
ejpam-6234	167	15	where	where	SCONJ
ejpam-6234	167	16	γ	γ	NOUN
ejpam-6234	167	17	is	be	AUX
ejpam-6234	167	18	a	a	DET
ejpam-6234	167	19	constant	constant	ADJ
ejpam-6234	167	20	∈	∈	NOUN
ejpam-6234	168	1	[	[	X
ejpam-6234	168	2	0	0	NUM
ejpam-6234	168	3	;	;	PUNCT
ejpam-6234	168	4	1	1	NUM
ejpam-6234	168	5	[	[	PUNCT
ejpam-6234	168	6	and	and	CCONJ
ejpam-6234	168	7	a	a	DET
ejpam-6234	168	8	a.	a.	NOUN
ejpam-6234	168	9	ajami	ajami	PROPN
ejpam-6234	168	10	et	et	PROPN
ejpam-6234	169	1	al	al	PROPN
ejpam-6234	169	2	.	.	PUNCT
ejpam-6234	169	3	/	/	SYM
ejpam-6234	169	4	eur	eur	PROPN
ejpam-6234	169	5	.	.	PUNCT
ejpam-6234	170	1	j.	j.	PROPN
ejpam-6234	170	2	pure	pure	PROPN
ejpam-6234	170	3	appl	appl	PROPN
ejpam-6234	170	4	.	.	PROPN
ejpam-6234	170	5	math	math	PROPN
ejpam-6234	170	6	,	,	PUNCT
ejpam-6234	170	7	18	18	NUM
ejpam-6234	170	8	(	(	PUNCT
ejpam-6234	170	9	3	3	NUM
ejpam-6234	170	10	)	)	PUNCT
ejpam-6234	170	11	(	(	PUNCT
ejpam-6234	170	12	2025	2025	NUM
ejpam-6234	170	13	)	)	PUNCT
ejpam-6234	170	14	,	,	PUNCT
ejpam-6234	170	15	6234	6234	NUM
ejpam-6234	170	16	8	8	NUM
ejpam-6234	170	17	of	of	ADP
ejpam-6234	170	18	14	14	NUM
ejpam-6234	170	19	-50	-50	PUNCT
ejpam-6234	170	20	-40	-40	PROPN
ejpam-6234	170	21	-30	-30	NUM
ejpam-6234	170	22	-20	-20	NUM
ejpam-6234	170	23	-10	-10	PUNCT
ejpam-6234	170	24	0	0	NUM
ejpam-6234	170	25	10	10	NUM
ejpam-6234	170	26	x(m	x(m	PROPN
ejpam-6234	170	27	)	)	PUNCT
ejpam-6234	170	28	0	0	NUM
ejpam-6234	171	1	10	10	NUM
ejpam-6234	171	2	20	20	NUM
ejpam-6234	171	3	30	30	NUM
ejpam-6234	171	4	40	40	NUM
ejpam-6234	171	5	50	50	NUM
ejpam-6234	171	6	y	y	PROPN
ejpam-6234	171	7	(	(	PUNCT
ejpam-6234	171	8	m	m	NOUN
ejpam-6234	171	9	)	)	PUNCT
ejpam-6234	171	10	real	real	ADJ
ejpam-6234	171	11	trajectory	trajectory	NOUN
ejpam-6234	171	12	estimated	estimate	VERB
ejpam-6234	171	13	trajectory	trajectory	NOUN
ejpam-6234	171	14	figure	figure	NOUN
ejpam-6234	171	15	2	2	NUM
ejpam-6234	171	16	:	:	PUNCT
ejpam-6234	171	17	coupling	couple	VERB
ejpam-6234	171	18	the	the	DET
ejpam-6234	171	19	proposed	propose	VERB
ejpam-6234	171	20	observer	observer	NOUN
ejpam-6234	171	21	with	with	ADP
ejpam-6234	171	22	the	the	DET
ejpam-6234	171	23	nearly	nearly	ADV
ejpam-6234	171	24	minimum	minimum	ADJ
ejpam-6234	171	25	time	time	NOUN
ejpam-6234	171	26	control	control	NOUN
ejpam-6234	171	27	strategy	strategy	NOUN
ejpam-6234	171	28	,	,	PUNCT
ejpam-6234	171	29	the	the	DET
ejpam-6234	171	30	drone	drone	NOUN
ejpam-6234	171	31	is	be	AUX
ejpam-6234	171	32	starting	start	VERB
ejpam-6234	171	33	from	from	ADP
ejpam-6234	171	34	(	(	PUNCT
ejpam-6234	171	35	x0	x0	PROPN
ejpam-6234	171	36	,	,	PUNCT
ejpam-6234	171	37	y0	y0	PROPN
ejpam-6234	171	38	,	,	PUNCT
ejpam-6234	171	39	θ0	θ0	PROPN
ejpam-6234	171	40	)	)	PUNCT
ejpam-6234	171	41	equal	equal	ADJ
ejpam-6234	171	42	to	to	ADP
ejpam-6234	171	43	(	(	PUNCT
ejpam-6234	171	44	−50	−50	PROPN
ejpam-6234	171	45	m	m	PROPN
ejpam-6234	171	46	,	,	PUNCT
ejpam-6234	171	47	40	40	NUM
ejpam-6234	171	48	m	m	NOUN
ejpam-6234	171	49	,	,	PUNCT
ejpam-6234	171	50	0	0	NUM
ejpam-6234	171	51	rad	rad	PROPN
ejpam-6234	171	52	/	/	SYM
ejpam-6234	171	53	s	s	NOUN
ejpam-6234	171	54	)	)	PUNCT
ejpam-6234	171	55	frequency	frequency	NOUN
ejpam-6234	171	56	f	f	NOUN
ejpam-6234	171	57	=	=	SYM
ejpam-6234	171	58	0.1hz	0.1hz	PROPN
ejpam-6234	171	59	.	.	PUNCT
ejpam-6234	172	1	the	the	DET
ejpam-6234	172	2	expression	expression	NOUN
ejpam-6234	172	3	of	of	ADP
ejpam-6234	172	4	this	this	DET
ejpam-6234	172	5	input	input	NOUN
ejpam-6234	172	6	perturbation	perturbation	NOUN
ejpam-6234	172	7	up	up	ADP
ejpam-6234	172	8	is	be	AUX
ejpam-6234	172	9	given	give	VERB
ejpam-6234	172	10	by	by	ADP
ejpam-6234	172	11	:	:	PUNCT
ejpam-6234	172	12	up	up	ADP
ejpam-6234	172	13	=	=	VERB
ejpam-6234	172	14	γumax	γumax	NOUN
ejpam-6234	172	15	sin(2πft	sin(2πft	X
ejpam-6234	172	16	)	)	PUNCT
ejpam-6234	172	17	(	(	PUNCT
ejpam-6234	172	18	7	7	X
ejpam-6234	172	19	)	)	PUNCT
ejpam-6234	172	20	where	where	SCONJ
ejpam-6234	172	21	t	t	PROPN
ejpam-6234	172	22	is	be	AUX
ejpam-6234	172	23	the	the	DET
ejpam-6234	172	24	time	time	NOUN
ejpam-6234	172	25	variable	variable	NOUN
ejpam-6234	172	26	.	.	PUNCT
ejpam-6234	173	1	the	the	DET
ejpam-6234	173	2	perturbation	perturbation	NOUN
ejpam-6234	173	3	will	will	AUX
ejpam-6234	173	4	be	be	AUX
ejpam-6234	173	5	introduced	introduce	VERB
ejpam-6234	173	6	into	into	ADP
ejpam-6234	173	7	the	the	DET
ejpam-6234	173	8	control	control	NOUN
ejpam-6234	173	9	input	input	NOUN
ejpam-6234	173	10	in	in	ADP
ejpam-6234	173	11	situations	situation	NOUN
ejpam-6234	173	12	where	where	SCONJ
ejpam-6234	173	13	the	the	DET
ejpam-6234	173	14	system	system	NOUN
ejpam-6234	173	15	lacks	lack	VERB
ejpam-6234	173	16	observability	observability	NOUN
ejpam-6234	173	17	,	,	PUNCT
ejpam-6234	173	18	specifically	specifically	ADV
ejpam-6234	173	19	when	when	SCONJ
ejpam-6234	173	20	the	the	DET
ejpam-6234	173	21	absolute	absolute	ADJ
ejpam-6234	173	22	value	value	NOUN
ejpam-6234	173	23	of	of	ADP
ejpam-6234	173	24	the	the	DET
ejpam-6234	173	25	control	control	NOUN
ejpam-6234	173	26	input	input	NOUN
ejpam-6234	173	27	is	be	AUX
ejpam-6234	173	28	less	less	ADJ
ejpam-6234	173	29	than	than	ADP
ejpam-6234	173	30	0.1	0.1	NUM
ejpam-6234	173	31	.	.	PUNCT
ejpam-6234	174	1	as	as	SCONJ
ejpam-6234	174	2	mentioned	mention	VERB
ejpam-6234	174	3	previously	previously	ADV
ejpam-6234	174	4	γ	γ	PROPN
ejpam-6234	174	5	is	be	AUX
ejpam-6234	174	6	a	a	DET
ejpam-6234	174	7	parameter	parameter	NOUN
ejpam-6234	174	8	within	within	ADP
ejpam-6234	174	9	the	the	DET
ejpam-6234	174	10	interval	interval	NOUN
ejpam-6234	174	11	[	[	X
ejpam-6234	174	12	0	0	NUM
ejpam-6234	174	13	;	;	PUNCT
ejpam-6234	174	14	1	1	NUM
ejpam-6234	174	15	[	[	NOUN
ejpam-6234	174	16	.	.	PUNCT
ejpam-6234	175	1	γ	γ	PROPN
ejpam-6234	175	2	could	could	AUX
ejpam-6234	175	3	not	not	PART
ejpam-6234	175	4	exceed	exceed	VERB
ejpam-6234	175	5	1	1	NUM
ejpam-6234	175	6	since	since	SCONJ
ejpam-6234	175	7	the	the	DET
ejpam-6234	175	8	input	input	NOUN
ejpam-6234	175	9	of	of	ADP
ejpam-6234	175	10	the	the	DET
ejpam-6234	175	11	system	system	NOUN
ejpam-6234	175	12	should	should	AUX
ejpam-6234	175	13	be	be	AUX
ejpam-6234	175	14	always	always	ADV
ejpam-6234	175	15	within	within	ADP
ejpam-6234	175	16	the	the	DET
ejpam-6234	175	17	interval	interval	NOUN
ejpam-6234	175	18	[	[	X
ejpam-6234	175	19	umin	umin	X
ejpam-6234	175	20	,	,	PUNCT
ejpam-6234	175	21	umax	umax	ADJ
ejpam-6234	175	22	]	]	PUNCT
ejpam-6234	175	23	.	.	PUNCT
ejpam-6234	176	1	it	it	PRON
ejpam-6234	176	2	should	should	AUX
ejpam-6234	176	3	be	be	AUX
ejpam-6234	176	4	mentioned	mention	VERB
ejpam-6234	176	5	that	that	SCONJ
ejpam-6234	176	6	up	up	ADV
ejpam-6234	176	7	is	be	AUX
ejpam-6234	176	8	applied	apply	VERB
ejpam-6234	176	9	when	when	SCONJ
ejpam-6234	176	10	the	the	DET
ejpam-6234	176	11	system	system	NOUN
ejpam-6234	176	12	is	be	AUX
ejpam-6234	176	13	not	not	PART
ejpam-6234	176	14	observable	observable	ADJ
ejpam-6234	176	15	meaning	meaning	NOUN
ejpam-6234	176	16	that	that	SCONJ
ejpam-6234	176	17	up	up	ADV
ejpam-6234	176	18	is	be	AUX
ejpam-6234	176	19	applied	apply	VERB
ejpam-6234	176	20	when	when	SCONJ
ejpam-6234	176	21	the	the	DET
ejpam-6234	176	22	input	input	NOUN
ejpam-6234	176	23	is	be	AUX
ejpam-6234	176	24	close	close	ADJ
ejpam-6234	176	25	to	to	ADP
ejpam-6234	176	26	zero	zero	NUM
ejpam-6234	176	27	(	(	PUNCT
ejpam-6234	176	28	0.1	0.1	NUM
ejpam-6234	176	29	in	in	ADP
ejpam-6234	176	30	this	this	DET
ejpam-6234	176	31	case	case	NOUN
ejpam-6234	176	32	)	)	PUNCT
ejpam-6234	176	33	.	.	PUNCT
ejpam-6234	177	1	choosing	choose	VERB
ejpam-6234	177	2	a	a	DET
ejpam-6234	177	3	high	high	ADJ
ejpam-6234	177	4	value	value	NOUN
ejpam-6234	177	5	of	of	ADP
ejpam-6234	177	6	γ	γ	NOUN
ejpam-6234	177	7	increase	increase	VERB
ejpam-6234	177	8	the	the	DET
ejpam-6234	177	9	magnitude	magnitude	NOUN
ejpam-6234	177	10	of	of	ADP
ejpam-6234	177	11	the	the	DET
ejpam-6234	177	12	perturbation	perturbation	NOUN
ejpam-6234	177	13	and	and	CCONJ
ejpam-6234	177	14	thus	thus	ADV
ejpam-6234	177	15	accelerating	accelerate	VERB
ejpam-6234	177	16	the	the	DET
ejpam-6234	177	17	convergence	convergence	NOUN
ejpam-6234	177	18	rate	rate	NOUN
ejpam-6234	177	19	of	of	ADP
ejpam-6234	177	20	the	the	DET
ejpam-6234	177	21	observer	observer	NOUN
ejpam-6234	177	22	,	,	PUNCT
ejpam-6234	177	23	conversely	conversely	ADV
ejpam-6234	177	24	,	,	PUNCT
ejpam-6234	177	25	decreasing	decrease	VERB
ejpam-6234	177	26	the	the	DET
ejpam-6234	177	27	value	value	NOUN
ejpam-6234	177	28	of	of	ADP
ejpam-6234	177	29	γ	γ	PROPN
ejpam-6234	177	30	decreases	decrease	VERB
ejpam-6234	177	31	the	the	DET
ejpam-6234	177	32	convergence	convergence	NOUN
ejpam-6234	177	33	rate	rate	NOUN
ejpam-6234	177	34	.	.	PUNCT
ejpam-6234	178	1	the	the	DET
ejpam-6234	178	2	parameter	parameter	NOUN
ejpam-6234	178	3	f	f	PROPN
ejpam-6234	178	4	represents	represent	VERB
ejpam-6234	178	5	the	the	DET
ejpam-6234	178	6	frequency	frequency	NOUN
ejpam-6234	178	7	of	of	ADP
ejpam-6234	178	8	the	the	DET
ejpam-6234	178	9	perturbation	perturbation	NOUN
ejpam-6234	178	10	.	.	PUNCT
ejpam-6234	179	1	a	a	DET
ejpam-6234	179	2	high	high	ADJ
ejpam-6234	179	3	value	value	NOUN
ejpam-6234	179	4	of	of	ADP
ejpam-6234	179	5	f	f	PROPN
ejpam-6234	179	6	(	(	PUNCT
ejpam-6234	179	7	highfrequency	highfrequency	NOUN
ejpam-6234	179	8	perturbation	perturbation	NOUN
ejpam-6234	179	9	)	)	PUNCT
ejpam-6234	179	10	has	have	VERB
ejpam-6234	179	11	a	a	DET
ejpam-6234	179	12	limited	limited	ADJ
ejpam-6234	179	13	effect	effect	NOUN
ejpam-6234	179	14	on	on	ADP
ejpam-6234	179	15	the	the	DET
ejpam-6234	179	16	drone	drone	NOUN
ejpam-6234	179	17	’s	’s	PART
ejpam-6234	179	18	position	position	NOUN
ejpam-6234	179	19	(	(	PUNCT
ejpam-6234	179	20	the	the	DET
ejpam-6234	179	21	angular	angular	ADJ
ejpam-6234	179	22	position	position	NOUN
ejpam-6234	179	23	in	in	ADP
ejpam-6234	179	24	the	the	DET
ejpam-6234	179	25	integral	integral	NOUN
ejpam-6234	179	26	of	of	ADP
ejpam-6234	179	27	the	the	DET
ejpam-6234	179	28	angular	angular	ADJ
ejpam-6234	179	29	speed	speed	NOUN
ejpam-6234	179	30	;	;	PUNCT
ejpam-6234	179	31	thus	thus	ADV
ejpam-6234	179	32	,	,	PUNCT
ejpam-6234	179	33	a	a	DET
ejpam-6234	179	34	high	high	ADJ
ejpam-6234	179	35	-	-	PUNCT
ejpam-6234	179	36	frequency	frequency	NOUN
ejpam-6234	179	37	speed	speed	NOUN
ejpam-6234	179	38	has	have	VERB
ejpam-6234	179	39	minimal	minimal	ADJ
ejpam-6234	179	40	influence	influence	NOUN
ejpam-6234	179	41	on	on	ADP
ejpam-6234	179	42	the	the	DET
ejpam-6234	179	43	position	position	NOUN
ejpam-6234	179	44	)	)	PUNCT
ejpam-6234	179	45	.	.	PUNCT
ejpam-6234	180	1	consequently	consequently	ADV
ejpam-6234	180	2	,	,	PUNCT
ejpam-6234	180	3	a	a	DET
ejpam-6234	180	4	high	high	ADJ
ejpam-6234	180	5	value	value	NOUN
ejpam-6234	180	6	of	of	ADP
ejpam-6234	180	7	f	f	PROPN
ejpam-6234	180	8	does	do	AUX
ejpam-6234	180	9	not	not	PART
ejpam-6234	180	10	considerably	considerably	ADV
ejpam-6234	180	11	improve	improve	VERB
ejpam-6234	180	12	observability	observability	NOUN
ejpam-6234	180	13	.	.	PUNCT
ejpam-6234	181	1	conversely	conversely	ADV
ejpam-6234	181	2	,	,	PUNCT
ejpam-6234	181	3	low	low	ADJ
ejpam-6234	181	4	-	-	PUNCT
ejpam-6234	181	5	frequency	frequency	NOUN
ejpam-6234	181	6	input	input	NOUN
ejpam-6234	181	7	perturbations	perturbation	NOUN
ejpam-6234	181	8	improve	improve	VERB
ejpam-6234	181	9	observability	observability	NOUN
ejpam-6234	181	10	;	;	PUNCT
ejpam-6234	181	11	however	however	ADV
ejpam-6234	181	12	,	,	PUNCT
ejpam-6234	181	13	they	they	PRON
ejpam-6234	181	14	also	also	ADV
ejpam-6234	181	15	increase	increase	VERB
ejpam-6234	181	16	the	the	DET
ejpam-6234	181	17	drone	drone	NOUN
ejpam-6234	181	18	’s	’s	PART
ejpam-6234	181	19	convergence	convergence	NOUN
ejpam-6234	181	20	time	time	NOUN
ejpam-6234	181	21	to	to	ADP
ejpam-6234	181	22	the	the	DET
ejpam-6234	181	23	target	target	NOUN
ejpam-6234	181	24	(	(	PUNCT
ejpam-6234	181	25	resulting	result	VERB
ejpam-6234	181	26	in	in	ADP
ejpam-6234	181	27	a	a	DET
ejpam-6234	181	28	longer	long	ADJ
ejpam-6234	181	29	path	path	NOUN
ejpam-6234	181	30	to	to	ADP
ejpam-6234	181	31	the	the	DET
ejpam-6234	181	32	target	target	NOUN
ejpam-6234	181	33	)	)	PUNCT
ejpam-6234	181	34	.	.	PUNCT
ejpam-6234	182	1	a.	a.	PROPN
ejpam-6234	182	2	ajami	ajami	PROPN
ejpam-6234	182	3	et	et	PROPN
ejpam-6234	182	4	al	al	PROPN
ejpam-6234	182	5	.	.	PUNCT
ejpam-6234	182	6	/	/	SYM
ejpam-6234	182	7	eur	eur	PROPN
ejpam-6234	182	8	.	.	PUNCT
ejpam-6234	183	1	j.	j.	PROPN
ejpam-6234	183	2	pure	pure	PROPN
ejpam-6234	183	3	appl	appl	PROPN
ejpam-6234	183	4	.	.	PROPN
ejpam-6234	183	5	math	math	PROPN
ejpam-6234	183	6	,	,	PUNCT
ejpam-6234	183	7	18	18	NUM
ejpam-6234	183	8	(	(	PUNCT
ejpam-6234	183	9	3	3	NUM
ejpam-6234	183	10	)	)	PUNCT
ejpam-6234	183	11	(	(	PUNCT
ejpam-6234	183	12	2025	2025	NUM
ejpam-6234	183	13	)	)	PUNCT
ejpam-6234	183	14	,	,	PUNCT
ejpam-6234	183	15	6234	6234	NUM
ejpam-6234	183	16	9	9	NUM
ejpam-6234	183	17	of	of	ADP
ejpam-6234	183	18	14	14	NUM
ejpam-6234	183	19	-60	-60	SYM
ejpam-6234	183	20	-40	-40	PROPN
ejpam-6234	183	21	-20	-20	NUM
ejpam-6234	183	22	0	0	NUM
ejpam-6234	183	23	20	20	NUM
ejpam-6234	183	24	40	40	NUM
ejpam-6234	183	25	60	60	NUM
ejpam-6234	183	26	80	80	NUM
ejpam-6234	183	27	x(m	x(m	PROPN
ejpam-6234	183	28	)	)	PUNCT
ejpam-6234	183	29	-20	-20	PUNCT
ejpam-6234	183	30	0	0	NUM
ejpam-6234	184	1	20	20	NUM
ejpam-6234	184	2	40	40	NUM
ejpam-6234	184	3	60	60	NUM
ejpam-6234	184	4	80	80	NUM
ejpam-6234	184	5	100	100	NUM
ejpam-6234	184	6	120	120	NUM
ejpam-6234	184	7	y	y	PROPN
ejpam-6234	184	8	(	(	PUNCT
ejpam-6234	184	9	m	m	NOUN
ejpam-6234	184	10	)	)	PUNCT
ejpam-6234	184	11	real	real	ADJ
ejpam-6234	184	12	trajectory	trajectory	NOUN
ejpam-6234	184	13	estimated	estimate	VERB
ejpam-6234	184	14	trajectory	trajectory	NOUN
ejpam-6234	184	15	-8	-8	NOUN
ejpam-6234	185	1	-6	-6	INTJ
ejpam-6234	185	2	-4	-4	INTJ
ejpam-6234	186	1	-2	-2	NOUN
ejpam-6234	186	2	0	0	NUM
ejpam-6234	187	1	2	2	NUM
ejpam-6234	187	2	4	4	NUM
ejpam-6234	187	3	-5	-5	NOUN
ejpam-6234	187	4	0	0	NUM
ejpam-6234	187	5	5	5	NUM
ejpam-6234	187	6	figure	figure	NOUN
ejpam-6234	187	7	3	3	NUM
ejpam-6234	187	8	:	:	PUNCT
ejpam-6234	187	9	coupling	couple	VERB
ejpam-6234	187	10	the	the	DET
ejpam-6234	187	11	proposed	propose	VERB
ejpam-6234	187	12	observer	observer	NOUN
ejpam-6234	187	13	with	with	ADP
ejpam-6234	187	14	the	the	DET
ejpam-6234	187	15	nearly	nearly	ADV
ejpam-6234	187	16	minimum	minimum	ADJ
ejpam-6234	187	17	time	time	NOUN
ejpam-6234	187	18	control	control	NOUN
ejpam-6234	187	19	strategy	strategy	NOUN
ejpam-6234	187	20	,	,	PUNCT
ejpam-6234	187	21	the	the	DET
ejpam-6234	187	22	drone	drone	NOUN
ejpam-6234	187	23	is	be	AUX
ejpam-6234	187	24	starting	start	VERB
ejpam-6234	187	25	from	from	ADP
ejpam-6234	187	26	(	(	PUNCT
ejpam-6234	187	27	x0	x0	PROPN
ejpam-6234	187	28	,	,	PUNCT
ejpam-6234	187	29	y0	y0	PROPN
ejpam-6234	187	30	,	,	PUNCT
ejpam-6234	187	31	θ0	θ0	PROPN
ejpam-6234	187	32	)	)	PUNCT
ejpam-6234	187	33	equal	equal	ADJ
ejpam-6234	187	34	to	to	ADP
ejpam-6234	187	35	(	(	PUNCT
ejpam-6234	187	36	−50	−50	PROPN
ejpam-6234	187	37	m	m	NOUN
ejpam-6234	187	38	,	,	PUNCT
ejpam-6234	187	39	100	100	NUM
ejpam-6234	187	40	m	m	PROPN
ejpam-6234	187	41	,	,	PUNCT
ejpam-6234	187	42	0	0	NUM
ejpam-6234	187	43	rad	rad	PROPN
ejpam-6234	187	44	/	/	SYM
ejpam-6234	187	45	s	s	PART
ejpam-6234	187	46	)	)	PUNCT
ejpam-6234	187	47	the	the	DET
ejpam-6234	187	48	full	full	ADJ
ejpam-6234	187	49	control	control	NOUN
ejpam-6234	187	50	algorithm	algorithm	NOUN
ejpam-6234	187	51	is	be	AUX
ejpam-6234	187	52	summarized	summarize	VERB
ejpam-6234	187	53	in	in	ADP
ejpam-6234	187	54	figure	figure	NOUN
ejpam-6234	187	55	4	4	NUM
ejpam-6234	187	56	.	.	PUNCT
ejpam-6234	188	1	the	the	DET
ejpam-6234	188	2	proposed	propose	VERB
ejpam-6234	188	3	controller	controller	NOUN
ejpam-6234	188	4	starts	start	VERB
ejpam-6234	188	5	by	by	ADP
ejpam-6234	188	6	measuring	measure	VERB
ejpam-6234	188	7	the	the	DET
ejpam-6234	188	8	distance	distance	NOUN
ejpam-6234	188	9	between	between	ADP
ejpam-6234	188	10	the	the	DET
ejpam-6234	188	11	drone	drone	NOUN
ejpam-6234	188	12	and	and	CCONJ
ejpam-6234	188	13	the	the	DET
ejpam-6234	188	14	target	target	NOUN
ejpam-6234	188	15	.	.	PUNCT
ejpam-6234	189	1	then	then	ADV
ejpam-6234	189	2	,	,	PUNCT
ejpam-6234	189	3	the	the	DET
ejpam-6234	189	4	observer	observer	NOUN
ejpam-6234	189	5	presented	present	VERB
ejpam-6234	189	6	in	in	ADP
ejpam-6234	189	7	eq	eq	ADP
ejpam-6234	189	8	.	.	PUNCT
ejpam-6234	190	1	(	(	PUNCT
ejpam-6234	190	2	5	5	X
ejpam-6234	190	3	)	)	PUNCT
ejpam-6234	190	4	is	be	AUX
ejpam-6234	190	5	computed	compute	VERB
ejpam-6234	190	6	.	.	PUNCT
ejpam-6234	191	1	the	the	DET
ejpam-6234	191	2	output	output	NOUN
ejpam-6234	191	3	of	of	ADP
ejpam-6234	191	4	the	the	DET
ejpam-6234	191	5	observer	observer	NOUN
ejpam-6234	191	6	represents	represent	VERB
ejpam-6234	191	7	the	the	DET
ejpam-6234	191	8	system	system	NOUN
ejpam-6234	191	9	state	state	NOUN
ejpam-6234	191	10	in	in	ADP
ejpam-6234	191	11	the	the	DET
ejpam-6234	191	12	stationary	stationary	ADJ
ejpam-6234	191	13	reference	reference	NOUN
ejpam-6234	191	14	frame	frame	NOUN
ejpam-6234	191	15	.	.	PUNCT
ejpam-6234	192	1	with	with	ADP
ejpam-6234	192	2	this	this	DET
ejpam-6234	192	3	information	information	NOUN
ejpam-6234	192	4	,	,	PUNCT
ejpam-6234	192	5	the	the	DET
ejpam-6234	192	6	drone	drone	NOUN
ejpam-6234	192	7	’s	’s	PART
ejpam-6234	192	8	coordinates	coordinate	NOUN
ejpam-6234	192	9	in	in	ADP
ejpam-6234	192	10	the	the	DET
ejpam-6234	192	11	new	new	ADJ
ejpam-6234	192	12	rotating	rotate	VERB
ejpam-6234	192	13	reference	reference	NOUN
ejpam-6234	192	14	frame	frame	NOUN
ejpam-6234	192	15	(	(	PUNCT
ejpam-6234	192	16	x̄	x̄	PROPN
ejpam-6234	192	17	,	,	PUNCT
ejpam-6234	192	18	ȳ	ȳ	PROPN
ejpam-6234	192	19	)	)	PUNCT
ejpam-6234	192	20	are	be	AUX
ejpam-6234	192	21	determined	determine	VERB
ejpam-6234	192	22	.	.	PUNCT
ejpam-6234	193	1	this	this	PRON
ejpam-6234	193	2	is	be	AUX
ejpam-6234	193	3	followed	follow	VERB
ejpam-6234	193	4	by	by	ADP
ejpam-6234	193	5	computing	compute	VERB
ejpam-6234	193	6	the	the	DET
ejpam-6234	193	7	control	control	NOUN
ejpam-6234	193	8	law	law	NOUN
ejpam-6234	193	9	presented	present	VERB
ejpam-6234	193	10	in	in	ADP
ejpam-6234	193	11	eq	eq	ADP
ejpam-6234	193	12	.	.	PROPN
ejpam-6234	193	13	6	6	NUM
ejpam-6234	193	14	.	.	PUNCT
ejpam-6234	194	1	finally	finally	ADV
ejpam-6234	194	2	,	,	PUNCT
ejpam-6234	194	3	the	the	DET
ejpam-6234	194	4	periodic	periodic	ADJ
ejpam-6234	194	5	perturbation	perturbation	NOUN
ejpam-6234	194	6	is	be	AUX
ejpam-6234	194	7	added	add	VERB
ejpam-6234	194	8	to	to	ADP
ejpam-6234	194	9	the	the	DET
ejpam-6234	194	10	output	output	NOUN
ejpam-6234	194	11	of	of	ADP
ejpam-6234	194	12	the	the	DET
ejpam-6234	194	13	control	control	NOUN
ejpam-6234	194	14	law	law	NOUN
ejpam-6234	194	15	and	and	CCONJ
ejpam-6234	194	16	applied	apply	VERB
ejpam-6234	194	17	to	to	ADP
ejpam-6234	194	18	the	the	DET
ejpam-6234	194	19	system	system	NOUN
ejpam-6234	194	20	.	.	PUNCT
ejpam-6234	195	1	figures	figure	NOUN
ejpam-6234	195	2	5	5	NUM
ejpam-6234	195	3	and	and	CCONJ
ejpam-6234	195	4	6	6	NUM
ejpam-6234	195	5	present	present	ADJ
ejpam-6234	195	6	the	the	DET
ejpam-6234	195	7	real	real	ADJ
ejpam-6234	195	8	and	and	CCONJ
ejpam-6234	195	9	estimated	estimated	ADJ
ejpam-6234	195	10	path	path	NOUN
ejpam-6234	195	11	of	of	ADP
ejpam-6234	195	12	the	the	DET
ejpam-6234	195	13	drone	drone	NOUN
ejpam-6234	195	14	.	.	PUNCT
ejpam-6234	196	1	in	in	ADP
ejpam-6234	196	2	figure	figure	NOUN
ejpam-6234	196	3	5	5	NUM
ejpam-6234	196	4	,	,	PUNCT
ejpam-6234	196	5	the	the	DET
ejpam-6234	196	6	drone	drone	NOUN
ejpam-6234	196	7	is	be	AUX
ejpam-6234	196	8	starting	start	VERB
ejpam-6234	196	9	from	from	ADP
ejpam-6234	196	10	the	the	DET
ejpam-6234	196	11	same	same	ADJ
ejpam-6234	196	12	initial	initial	ADJ
ejpam-6234	196	13	position	position	NOUN
ejpam-6234	196	14	as	as	ADP
ejpam-6234	196	15	in	in	ADP
ejpam-6234	196	16	figure	figure	NOUN
ejpam-6234	196	17	2	2	NUM
ejpam-6234	196	18	.	.	PUNCT
ejpam-6234	197	1	the	the	DET
ejpam-6234	197	2	initial	initial	ADJ
ejpam-6234	197	3	conditions	condition	NOUN
ejpam-6234	197	4	in	in	ADP
ejpam-6234	197	5	figure	figure	NOUN
ejpam-6234	197	6	6	6	NUM
ejpam-6234	197	7	are	be	AUX
ejpam-6234	197	8	also	also	ADV
ejpam-6234	197	9	the	the	DET
ejpam-6234	197	10	same	same	ADJ
ejpam-6234	197	11	as	as	ADP
ejpam-6234	197	12	in	in	ADP
ejpam-6234	197	13	figure	figure	NOUN
ejpam-6234	197	14	3	3	NUM
ejpam-6234	197	15	,	,	PUNCT
ejpam-6234	197	16	and	and	CCONJ
ejpam-6234	197	17	the	the	DET
ejpam-6234	197	18	simulation	simulation	NOUN
ejpam-6234	197	19	and	and	CCONJ
ejpam-6234	197	20	system	system	NOUN
ejpam-6234	197	21	parameters	parameter	NOUN
ejpam-6234	197	22	are	be	AUX
ejpam-6234	197	23	the	the	DET
ejpam-6234	197	24	same	same	ADJ
ejpam-6234	197	25	in	in	ADP
ejpam-6234	197	26	all	all	DET
ejpam-6234	197	27	simulations	simulation	NOUN
ejpam-6234	197	28	.	.	PUNCT
ejpam-6234	198	1	the	the	DET
ejpam-6234	198	2	introduction	introduction	NOUN
ejpam-6234	198	3	of	of	ADP
ejpam-6234	198	4	perturbation	perturbation	NOUN
ejpam-6234	198	5	in	in	ADP
ejpam-6234	198	6	both	both	PRON
ejpam-6234	198	7	of	of	ADP
ejpam-6234	198	8	these	these	DET
ejpam-6234	198	9	tests	test	NOUN
ejpam-6234	198	10	exhibits	exhibit	VERB
ejpam-6234	198	11	a	a	DET
ejpam-6234	198	12	pronounced	pronounced	ADJ
ejpam-6234	198	13	effect	effect	NOUN
ejpam-6234	198	14	.	.	PUNCT
ejpam-6234	199	1	in	in	ADP
ejpam-6234	199	2	fact	fact	NOUN
ejpam-6234	199	3	,	,	PUNCT
ejpam-6234	199	4	it	it	PRON
ejpam-6234	199	5	is	be	AUX
ejpam-6234	199	6	clear	clear	ADJ
ejpam-6234	199	7	that	that	SCONJ
ejpam-6234	199	8	the	the	DET
ejpam-6234	199	9	drone	drone	NOUN
ejpam-6234	199	10	is	be	AUX
ejpam-6234	199	11	no	no	PRON
ejpam-6234	199	12	more	more	ADV
ejpam-6234	199	13	traveling	travel	VERB
ejpam-6234	199	14	in	in	ADP
ejpam-6234	199	15	straight	straight	ADJ
ejpam-6234	199	16	lines	line	NOUN
ejpam-6234	199	17	thus	thus	ADV
ejpam-6234	199	18	the	the	DET
ejpam-6234	199	19	system	system	NOUN
ejpam-6234	199	20	is	be	AUX
ejpam-6234	199	21	nearly	nearly	ADV
ejpam-6234	199	22	always	always	ADV
ejpam-6234	199	23	observable	observable	ADJ
ejpam-6234	199	24	.	.	PUNCT
ejpam-6234	200	1	consequently	consequently	ADV
ejpam-6234	200	2	,	,	PUNCT
ejpam-6234	200	3	the	the	DET
ejpam-6234	200	4	estimated	estimate	VERB
ejpam-6234	200	5	and	and	CCONJ
ejpam-6234	200	6	real	real	ADJ
ejpam-6234	200	7	coordinates	coordinate	NOUN
ejpam-6234	200	8	(	(	PUNCT
ejpam-6234	200	9	states	state	NOUN
ejpam-6234	200	10	)	)	PUNCT
ejpam-6234	200	11	of	of	ADP
ejpam-6234	200	12	the	the	DET
ejpam-6234	200	13	drone	drone	NOUN
ejpam-6234	200	14	converge	converge	VERB
ejpam-6234	200	15	rapidly	rapidly	ADV
ejpam-6234	200	16	and	and	CCONJ
ejpam-6234	200	17	the	the	DET
ejpam-6234	200	18	performances	performance	NOUN
ejpam-6234	200	19	of	of	ADP
ejpam-6234	200	20	the	the	DET
ejpam-6234	200	21	controller	controller	NOUN
ejpam-6234	200	22	/	/	SYM
ejpam-6234	200	23	observer	observer	NOUN
ejpam-6234	200	24	in	in	ADP
ejpam-6234	200	25	this	this	DET
ejpam-6234	200	26	scenario	scenario	NOUN
ejpam-6234	200	27	are	be	AUX
ejpam-6234	200	28	superior	superior	ADJ
ejpam-6234	200	29	.	.	PUNCT
ejpam-6234	201	1	it	it	PRON
ejpam-6234	201	2	should	should	AUX
ejpam-6234	201	3	be	be	AUX
ejpam-6234	201	4	noted	note	VERB
ejpam-6234	201	5	that	that	SCONJ
ejpam-6234	201	6	the	the	DET
ejpam-6234	201	7	control	control	NOUN
ejpam-6234	201	8	expression	expression	NOUN
ejpam-6234	201	9	in	in	ADP
ejpam-6234	201	10	eq	eq	ADP
ejpam-6234	201	11	.	.	PROPN
ejpam-6234	201	12	6	6	NUM
ejpam-6234	201	13	contains	contain	VERB
ejpam-6234	201	14	parameter	parameter	NOUN
ejpam-6234	201	15	β	β	NOUN
ejpam-6234	201	16	,	,	PUNCT
ejpam-6234	201	17	which	which	PRON
ejpam-6234	201	18	affects	affect	VERB
ejpam-6234	201	19	the	the	DET
ejpam-6234	201	20	convergence	convergence	NOUN
ejpam-6234	201	21	time	time	NOUN
ejpam-6234	201	22	of	of	ADP
ejpam-6234	201	23	the	the	DET
ejpam-6234	201	24	controller	controller	NOUN
ejpam-6234	201	25	.	.	PUNCT
ejpam-6234	202	1	increasing	increase	VERB
ejpam-6234	202	2	this	this	DET
ejpam-6234	202	3	parameter	parameter	NOUN
ejpam-6234	202	4	causes	cause	VERB
ejpam-6234	202	5	the	the	DET
ejpam-6234	202	6	drone	drone	NOUN
ejpam-6234	202	7	to	to	PART
ejpam-6234	202	8	converge	converge	VERB
ejpam-6234	202	9	more	more	ADV
ejpam-6234	202	10	quickly	quickly	ADV
ejpam-6234	202	11	towards	towards	ADP
ejpam-6234	202	12	the	the	DET
ejpam-6234	202	13	tangent	tangent	NOUN
ejpam-6234	202	14	to	to	ADP
ejpam-6234	202	15	the	the	DET
ejpam-6234	202	16	hovering	hovering	NOUN
ejpam-6234	202	17	pattern	pattern	NOUN
ejpam-6234	202	18	,	,	PUNCT
ejpam-6234	202	19	while	while	SCONJ
ejpam-6234	202	20	decreasing	decrease	VERB
ejpam-6234	202	21	it	it	PRON
ejpam-6234	202	22	has	have	VERB
ejpam-6234	202	23	the	the	DET
ejpam-6234	202	24	opposite	opposite	ADJ
ejpam-6234	202	25	effect	effect	NOUN
ejpam-6234	202	26	.	.	PUNCT
ejpam-6234	203	1	this	this	DET
ejpam-6234	203	2	parameter	parameter	NOUN
ejpam-6234	203	3	appears	appear	VERB
ejpam-6234	203	4	to	to	PART
ejpam-6234	203	5	affect	affect	VERB
ejpam-6234	203	6	the	the	DET
ejpam-6234	203	7	observer	observer	NOUN
ejpam-6234	203	8	convergence	convergence	NOUN
ejpam-6234	203	9	time	time	NOUN
ejpam-6234	203	10	a.	a.	PROPN
ejpam-6234	203	11	ajami	ajami	PROPN
ejpam-6234	203	12	et	et	PROPN
ejpam-6234	203	13	al	al	PROPN
ejpam-6234	203	14	.	.	PUNCT
ejpam-6234	203	15	/	/	SYM
ejpam-6234	203	16	eur	eur	PROPN
ejpam-6234	203	17	.	.	PUNCT
ejpam-6234	204	1	j.	j.	PROPN
ejpam-6234	204	2	pure	pure	PROPN
ejpam-6234	204	3	appl	appl	PROPN
ejpam-6234	204	4	.	.	PROPN
ejpam-6234	204	5	math	math	PROPN
ejpam-6234	204	6	,	,	PUNCT
ejpam-6234	204	7	18	18	NUM
ejpam-6234	204	8	(	(	PUNCT
ejpam-6234	204	9	3	3	NUM
ejpam-6234	204	10	)	)	PUNCT
ejpam-6234	204	11	(	(	PUNCT
ejpam-6234	204	12	2025	2025	NUM
ejpam-6234	204	13	)	)	PUNCT
ejpam-6234	204	14	,	,	PUNCT
ejpam-6234	204	15	6234	6234	NUM
ejpam-6234	204	16	10	10	NUM
ejpam-6234	204	17	of	of	ADP
ejpam-6234	204	18	14	14	NUM
ejpam-6234	204	19	figure	figure	NOUN
ejpam-6234	204	20	4	4	NUM
ejpam-6234	204	21	:	:	PUNCT
ejpam-6234	204	22	drone	drone	NOUN
ejpam-6234	204	23	full	full	ADJ
ejpam-6234	204	24	control	control	NOUN
ejpam-6234	204	25	algorithm	algorithm	NOUN
ejpam-6234	204	26	flowchart	flowchart	NOUN
ejpam-6234	204	27	but	but	CCONJ
ejpam-6234	204	28	this	this	DET
ejpam-6234	204	29	time	time	NOUN
ejpam-6234	204	30	in	in	ADP
ejpam-6234	204	31	a	a	DET
ejpam-6234	204	32	negative	negative	ADJ
ejpam-6234	204	33	way	way	NOUN
ejpam-6234	204	34	.	.	PUNCT
ejpam-6234	205	1	in	in	ADP
ejpam-6234	205	2	fact	fact	NOUN
ejpam-6234	205	3	,	,	PUNCT
ejpam-6234	205	4	in	in	ADP
ejpam-6234	205	5	the	the	DET
ejpam-6234	205	6	case	case	NOUN
ejpam-6234	205	7	where	where	SCONJ
ejpam-6234	205	8	parameter	parameter	PROPN
ejpam-6234	205	9	β	β	PROPN
ejpam-6234	205	10	has	have	VERB
ejpam-6234	205	11	a	a	DET
ejpam-6234	205	12	high	high	ADJ
ejpam-6234	205	13	value	value	NOUN
ejpam-6234	205	14	(	(	PUNCT
ejpam-6234	205	15	the	the	DET
ejpam-6234	205	16	controller	controller	NOUN
ejpam-6234	205	17	is	be	AUX
ejpam-6234	205	18	quick	quick	ADJ
ejpam-6234	205	19	)	)	PUNCT
ejpam-6234	205	20	,	,	PUNCT
ejpam-6234	205	21	the	the	DET
ejpam-6234	205	22	perturbation	perturbation	NOUN
ejpam-6234	205	23	that	that	PRON
ejpam-6234	205	24	are	be	AUX
ejpam-6234	205	25	added	add	VERB
ejpam-6234	205	26	to	to	ADP
ejpam-6234	205	27	the	the	DET
ejpam-6234	205	28	control	control	NOUN
ejpam-6234	205	29	input	input	NOUN
ejpam-6234	205	30	are	be	AUX
ejpam-6234	205	31	quickly	quickly	ADV
ejpam-6234	205	32	rectified	rectify	VERB
ejpam-6234	205	33	by	by	ADP
ejpam-6234	205	34	the	the	DET
ejpam-6234	205	35	controller	controller	NOUN
ejpam-6234	205	36	causing	cause	VERB
ejpam-6234	205	37	the	the	DET
ejpam-6234	205	38	observer	observer	NOUN
ejpam-6234	205	39	convergence	convergence	NOUN
ejpam-6234	205	40	time	time	NOUN
ejpam-6234	205	41	to	to	PART
ejpam-6234	205	42	increase	increase	VERB
ejpam-6234	205	43	.	.	PUNCT
ejpam-6234	206	1	conversely	conversely	ADV
ejpam-6234	206	2	,	,	PUNCT
ejpam-6234	206	3	decreasing	decrease	VERB
ejpam-6234	206	4	β	β	NOUN
ejpam-6234	206	5	slows	slow	VERB
ejpam-6234	206	6	down	down	ADP
ejpam-6234	206	7	the	the	DET
ejpam-6234	206	8	controller	controller	NOUN
ejpam-6234	206	9	’s	’s	PART
ejpam-6234	206	10	response	response	NOUN
ejpam-6234	206	11	,	,	PUNCT
ejpam-6234	206	12	making	make	VERB
ejpam-6234	206	13	the	the	DET
ejpam-6234	206	14	effect	effect	NOUN
ejpam-6234	206	15	of	of	ADP
ejpam-6234	206	16	perturbations	perturbation	NOUN
ejpam-6234	206	17	more	more	ADV
ejpam-6234	206	18	pronounced	pronounced	ADJ
ejpam-6234	206	19	and	and	CCONJ
ejpam-6234	206	20	reducing	reduce	VERB
ejpam-6234	206	21	the	the	DET
ejpam-6234	206	22	observer	observer	NOUN
ejpam-6234	206	23	convergence	convergence	NOUN
ejpam-6234	206	24	time	time	NOUN
ejpam-6234	206	25	.	.	PUNCT
ejpam-6234	207	1	on	on	ADP
ejpam-6234	207	2	one	one	NUM
ejpam-6234	207	3	hand	hand	NOUN
ejpam-6234	207	4	,	,	PUNCT
ejpam-6234	207	5	it	it	PRON
ejpam-6234	207	6	is	be	AUX
ejpam-6234	207	7	not	not	PART
ejpam-6234	207	8	possible	possible	ADJ
ejpam-6234	207	9	to	to	PART
ejpam-6234	207	10	decrease	decrease	VERB
ejpam-6234	207	11	β	β	X
ejpam-6234	207	12	to	to	ADP
ejpam-6234	207	13	very	very	ADV
ejpam-6234	207	14	small	small	ADJ
ejpam-6234	207	15	values	value	NOUN
ejpam-6234	207	16	since	since	SCONJ
ejpam-6234	207	17	the	the	DET
ejpam-6234	207	18	proposed	propose	VERB
ejpam-6234	207	19	controller	controller	NOUN
ejpam-6234	207	20	should	should	AUX
ejpam-6234	207	21	behave	behave	VERB
ejpam-6234	207	22	like	like	ADP
ejpam-6234	207	23	the	the	DET
ejpam-6234	207	24	minimum	minimum	ADJ
ejpam-6234	207	25	time	time	NOUN
ejpam-6234	207	26	controller	controller	NOUN
ejpam-6234	207	27	(	(	PUNCT
ejpam-6234	207	28	or	or	CCONJ
ejpam-6234	207	29	in	in	ADP
ejpam-6234	207	30	other	other	ADJ
ejpam-6234	207	31	words	word	NOUN
ejpam-6234	207	32	it	it	PRON
ejpam-6234	207	33	should	should	AUX
ejpam-6234	207	34	nearly	nearly	ADV
ejpam-6234	207	35	resemble	resemble	VERB
ejpam-6234	207	36	to	to	ADP
ejpam-6234	207	37	the	the	DET
ejpam-6234	207	38	minimum	minimum	ADJ
ejpam-6234	207	39	time	time	NOUN
ejpam-6234	207	40	controller	controller	NOUN
ejpam-6234	207	41	)	)	PUNCT
ejpam-6234	207	42	.	.	PUNCT
ejpam-6234	208	1	on	on	ADP
ejpam-6234	208	2	the	the	DET
ejpam-6234	208	3	other	other	ADJ
ejpam-6234	208	4	hand	hand	NOUN
ejpam-6234	208	5	,	,	PUNCT
ejpam-6234	208	6	the	the	DET
ejpam-6234	208	7	observer	observer	NOUN
ejpam-6234	208	8	should	should	AUX
ejpam-6234	208	9	converge	converge	VERB
ejpam-6234	208	10	in	in	ADP
ejpam-6234	208	11	a	a	DET
ejpam-6234	208	12	reasonable	reasonable	ADJ
ejpam-6234	208	13	amount	amount	NOUN
ejpam-6234	208	14	of	of	ADP
ejpam-6234	208	15	time	time	NOUN
ejpam-6234	208	16	(	(	PUNCT
ejpam-6234	208	17	quickly	quickly	ADV
ejpam-6234	208	18	)	)	PUNCT
ejpam-6234	208	19	.	.	PUNCT
ejpam-6234	209	1	consequently	consequently	ADV
ejpam-6234	209	2	,	,	PUNCT
ejpam-6234	209	3	parameter	parameter	PROPN
ejpam-6234	209	4	β	β	PROPN
ejpam-6234	209	5	should	should	AUX
ejpam-6234	209	6	be	be	AUX
ejpam-6234	209	7	carefully	carefully	ADV
ejpam-6234	209	8	chosen	choose	VERB
ejpam-6234	209	9	to	to	PART
ejpam-6234	209	10	compromise	compromise	VERB
ejpam-6234	209	11	between	between	ADP
ejpam-6234	209	12	the	the	DET
ejpam-6234	209	13	observer	observer	NOUN
ejpam-6234	209	14	and	and	CCONJ
ejpam-6234	209	15	the	the	DET
ejpam-6234	209	16	controller	controller	NOUN
ejpam-6234	209	17	convergence	convergence	NOUN
ejpam-6234	209	18	time	time	NOUN
ejpam-6234	209	19	.	.	PUNCT
ejpam-6234	210	1	to	to	PART
ejpam-6234	210	2	prove	prove	VERB
ejpam-6234	210	3	the	the	DET
ejpam-6234	210	4	benefits	benefit	NOUN
ejpam-6234	210	5	of	of	ADP
ejpam-6234	210	6	adding	add	VERB
ejpam-6234	210	7	the	the	DET
ejpam-6234	210	8	perturbation	perturbation	NOUN
ejpam-6234	210	9	to	to	ADP
ejpam-6234	210	10	the	the	DET
ejpam-6234	210	11	controller	controller	NOUN
ejpam-6234	210	12	/	/	SYM
ejpam-6234	210	13	observer	observer	NOUN
ejpam-6234	210	14	,	,	PUNCT
ejpam-6234	210	15	the	the	DET
ejpam-6234	210	16	time	time	NOUN
ejpam-6234	210	17	needed	need	VERB
ejpam-6234	210	18	for	for	SCONJ
ejpam-6234	210	19	the	the	DET
ejpam-6234	210	20	drone	drone	NOUN
ejpam-6234	210	21	to	to	PART
ejpam-6234	210	22	travel	travel	VERB
ejpam-6234	210	23	from	from	ADP
ejpam-6234	210	24	its	its	PRON
ejpam-6234	210	25	initial	initial	ADJ
ejpam-6234	210	26	position	position	NOUN
ejpam-6234	210	27	to	to	PART
ejpam-6234	210	28	intercept	intercept	VERB
ejpam-6234	210	29	the	the	DET
ejpam-6234	210	30	hovering	hovering	NOUN
ejpam-6234	210	31	pattern	pattern	NOUN
ejpam-6234	210	32	is	be	AUX
ejpam-6234	210	33	calculated	calculate	VERB
ejpam-6234	210	34	for	for	ADP
ejpam-6234	210	35	both	both	PRON
ejpam-6234	210	36	of	of	ADP
ejpam-6234	210	37	the	the	DET
ejpam-6234	210	38	previously	previously	ADV
ejpam-6234	210	39	presented	present	VERB
ejpam-6234	210	40	scenarios	scenario	NOUN
ejpam-6234	210	41	.	.	PUNCT
ejpam-6234	211	1	in	in	ADP
ejpam-6234	211	2	the	the	DET
ejpam-6234	211	3	first	first	ADJ
ejpam-6234	211	4	scenario	scenario	NOUN
ejpam-6234	211	5	(	(	PUNCT
ejpam-6234	211	6	figures	figure	NOUN
ejpam-6234	211	7	2	2	NUM
ejpam-6234	211	8	and	and	CCONJ
ejpam-6234	211	9	5	5	NUM
ejpam-6234	211	10	)	)	PUNCT
ejpam-6234	211	11	,	,	PUNCT
ejpam-6234	211	12	the	the	DET
ejpam-6234	211	13	time	time	NOUN
ejpam-6234	211	14	needed	need	VERB
ejpam-6234	211	15	to	to	PART
ejpam-6234	211	16	intercept	intercept	VERB
ejpam-6234	211	17	the	the	DET
ejpam-6234	211	18	circle	circle	NOUN
ejpam-6234	211	19	is	be	AUX
ejpam-6234	211	20	77.3	77.3	NUM
ejpam-6234	211	21	seconds	second	NOUN
ejpam-6234	211	22	with	with	ADP
ejpam-6234	211	23	perturbation	perturbation	NOUN
ejpam-6234	211	24	and	and	CCONJ
ejpam-6234	211	25	92.9	92.9	NUM
ejpam-6234	211	26	seconds	second	NOUN
ejpam-6234	211	27	without	without	ADP
ejpam-6234	211	28	.	.	PUNCT
ejpam-6234	212	1	in	in	ADP
ejpam-6234	212	2	the	the	DET
ejpam-6234	212	3	second	second	ADJ
ejpam-6234	212	4	scenario	scenario	NOUN
ejpam-6234	212	5	(	(	PUNCT
ejpam-6234	212	6	figures	figure	NOUN
ejpam-6234	212	7	3	3	NUM
ejpam-6234	212	8	and	and	CCONJ
ejpam-6234	212	9	6	6	NUM
ejpam-6234	212	10	)	)	PUNCT
ejpam-6234	212	11	,	,	PUNCT
ejpam-6234	212	12	the	the	DET
ejpam-6234	212	13	time	time	NOUN
ejpam-6234	212	14	needed	need	VERB
ejpam-6234	212	15	to	to	PART
ejpam-6234	212	16	intercept	intercept	VERB
ejpam-6234	212	17	the	the	DET
ejpam-6234	212	18	circle	circle	NOUN
ejpam-6234	212	19	is	be	AUX
ejpam-6234	212	20	124.5	124.5	NUM
ejpam-6234	212	21	seconds	second	NOUN
ejpam-6234	212	22	with	with	ADP
ejpam-6234	212	23	perturbation	perturbation	NOUN
ejpam-6234	212	24	and	and	CCONJ
ejpam-6234	212	25	196.9	196.9	NUM
ejpam-6234	212	26	seconds	second	NOUN
ejpam-6234	212	27	without	without	ADP
ejpam-6234	212	28	.	.	PUNCT
ejpam-6234	213	1	thus	thus	ADV
ejpam-6234	213	2	by	by	ADP
ejpam-6234	213	3	adding	add	VERB
ejpam-6234	213	4	the	the	DET
ejpam-6234	213	5	proposed	propose	VERB
ejpam-6234	213	6	perturbation	perturbation	NOUN
ejpam-6234	213	7	the	the	DET
ejpam-6234	213	8	convergence	convergence	NOUN
ejpam-6234	213	9	time	time	NOUN
ejpam-6234	213	10	toward	toward	ADP
ejpam-6234	213	11	the	the	DET
ejpam-6234	213	12	target	target	NOUN
ejpam-6234	213	13	was	be	AUX
ejpam-6234	213	14	reduced	reduce	VERB
ejpam-6234	213	15	by	by	ADP
ejpam-6234	213	16	25	25	NUM
ejpam-6234	213	17	%	%	NOUN
ejpam-6234	213	18	in	in	ADP
ejpam-6234	213	19	the	the	DET
ejpam-6234	213	20	first	first	ADJ
ejpam-6234	213	21	scenario	scenario	NOUN
ejpam-6234	213	22	and	and	CCONJ
ejpam-6234	213	23	58	58	NUM
ejpam-6234	213	24	%	%	NOUN
ejpam-6234	213	25	in	in	ADP
ejpam-6234	213	26	the	the	DET
ejpam-6234	213	27	second	second	ADJ
ejpam-6234	213	28	one	one	NUM
ejpam-6234	213	29	.	.	PUNCT
ejpam-6234	214	1	this	this	PRON
ejpam-6234	214	2	is	be	AUX
ejpam-6234	214	3	considered	consider	VERB
ejpam-6234	214	4	a	a	DET
ejpam-6234	214	5	good	good	ADJ
ejpam-6234	214	6	improvement	improvement	NOUN
ejpam-6234	214	7	in	in	ADP
ejpam-6234	214	8	the	the	DET
ejpam-6234	214	9	convergence	convergence	NOUN
ejpam-6234	214	10	time	time	NOUN
ejpam-6234	214	11	and	and	CCONJ
ejpam-6234	214	12	the	the	DET
ejpam-6234	214	13	trajectories	trajectory	NOUN
ejpam-6234	214	14	look	look	VERB
ejpam-6234	214	15	much	much	ADV
ejpam-6234	214	16	more	more	ADV
ejpam-6234	214	17	reasonable	reasonable	ADJ
ejpam-6234	214	18	.	.	PUNCT
ejpam-6234	215	1	these	these	DET
ejpam-6234	215	2	results	result	NOUN
ejpam-6234	215	3	prove	prove	VERB
ejpam-6234	215	4	the	the	DET
ejpam-6234	215	5	superiority	superiority	NOUN
ejpam-6234	215	6	of	of	ADP
ejpam-6234	215	7	adding	add	VERB
ejpam-6234	215	8	a	a	DET
ejpam-6234	215	9	perturbation	perturbation	NOUN
ejpam-6234	215	10	to	to	ADP
ejpam-6234	215	11	the	the	DET
ejpam-6234	215	12	control	control	NOUN
ejpam-6234	215	13	input	input	NOUN
ejpam-6234	215	14	.	.	PUNCT
ejpam-6234	216	1	a.	a.	PROPN
ejpam-6234	216	2	ajami	ajami	PROPN
ejpam-6234	216	3	et	et	PROPN
ejpam-6234	216	4	al	al	PROPN
ejpam-6234	216	5	.	.	PUNCT
ejpam-6234	216	6	/	/	SYM
ejpam-6234	216	7	eur	eur	PROPN
ejpam-6234	216	8	.	.	PUNCT
ejpam-6234	217	1	j.	j.	PROPN
ejpam-6234	217	2	pure	pure	PROPN
ejpam-6234	217	3	appl	appl	PROPN
ejpam-6234	217	4	.	.	PROPN
ejpam-6234	217	5	math	math	PROPN
ejpam-6234	217	6	,	,	PUNCT
ejpam-6234	217	7	18	18	NUM
ejpam-6234	217	8	(	(	PUNCT
ejpam-6234	217	9	3	3	NUM
ejpam-6234	217	10	)	)	PUNCT
ejpam-6234	217	11	(	(	PUNCT
ejpam-6234	217	12	2025	2025	NUM
ejpam-6234	217	13	)	)	PUNCT
ejpam-6234	217	14	,	,	PUNCT
ejpam-6234	217	15	6234	6234	NUM
ejpam-6234	217	16	11	11	NUM
ejpam-6234	217	17	of	of	ADP
ejpam-6234	217	18	14	14	NUM
ejpam-6234	217	19	-50	-50	PUNCT
ejpam-6234	217	20	-40	-40	PROPN
ejpam-6234	217	21	-30	-30	NUM
ejpam-6234	217	22	-20	-20	NUM
ejpam-6234	217	23	-10	-10	SYM
ejpam-6234	217	24	0	0	NUM
ejpam-6234	217	25	x(m	x(m	PROPN
ejpam-6234	217	26	)	)	PUNCT
ejpam-6234	217	27	0	0	NUM
ejpam-6234	218	1	10	10	NUM
ejpam-6234	218	2	20	20	NUM
ejpam-6234	218	3	30	30	NUM
ejpam-6234	218	4	40	40	NUM
ejpam-6234	218	5	50	50	NUM
ejpam-6234	218	6	y	y	PROPN
ejpam-6234	218	7	(	(	PUNCT
ejpam-6234	218	8	m	m	NOUN
ejpam-6234	218	9	)	)	PUNCT
ejpam-6234	218	10	real	real	ADJ
ejpam-6234	218	11	trajectory	trajectory	NOUN
ejpam-6234	218	12	estimated	estimate	VERB
ejpam-6234	218	13	trajectory	trajectory	NOUN
ejpam-6234	218	14	figure	figure	NOUN
ejpam-6234	218	15	5	5	NUM
ejpam-6234	218	16	:	:	PUNCT
ejpam-6234	218	17	coupling	couple	VERB
ejpam-6234	218	18	the	the	DET
ejpam-6234	218	19	proposed	propose	VERB
ejpam-6234	218	20	observer	observer	NOUN
ejpam-6234	218	21	plus	plus	CCONJ
ejpam-6234	218	22	perturbation	perturbation	NOUN
ejpam-6234	218	23	with	with	ADP
ejpam-6234	218	24	the	the	DET
ejpam-6234	218	25	nearly	nearly	ADV
ejpam-6234	218	26	minimum	minimum	ADJ
ejpam-6234	218	27	time	time	NOUN
ejpam-6234	218	28	control	control	NOUN
ejpam-6234	218	29	strategy	strategy	NOUN
ejpam-6234	218	30	,	,	PUNCT
ejpam-6234	218	31	the	the	DET
ejpam-6234	218	32	drone	drone	NOUN
ejpam-6234	218	33	is	be	AUX
ejpam-6234	218	34	starting	start	VERB
ejpam-6234	218	35	from	from	ADP
ejpam-6234	218	36	(	(	PUNCT
ejpam-6234	218	37	x0	x0	PROPN
ejpam-6234	218	38	,	,	PUNCT
ejpam-6234	218	39	y0	y0	PROPN
ejpam-6234	218	40	,	,	PUNCT
ejpam-6234	218	41	θ0	θ0	PROPN
ejpam-6234	218	42	)	)	PUNCT
ejpam-6234	218	43	equal	equal	ADJ
ejpam-6234	218	44	to	to	ADP
ejpam-6234	218	45	(	(	PUNCT
ejpam-6234	218	46	−50	−50	PROPN
ejpam-6234	218	47	m	m	PROPN
ejpam-6234	218	48	,	,	PUNCT
ejpam-6234	218	49	40	40	NUM
ejpam-6234	218	50	m	m	NOUN
ejpam-6234	218	51	,	,	PUNCT
ejpam-6234	218	52	0	0	NUM
ejpam-6234	218	53	rad	rad	PROPN
ejpam-6234	218	54	/	/	SYM
ejpam-6234	218	55	s	s	NOUN
ejpam-6234	218	56	)	)	PUNCT
ejpam-6234	218	57	5	5	NUM
ejpam-6234	218	58	.	.	PUNCT
ejpam-6234	218	59	conclusion	conclusion	NOUN
ejpam-6234	218	60	in	in	ADP
ejpam-6234	218	61	this	this	DET
ejpam-6234	218	62	paper	paper	NOUN
ejpam-6234	218	63	,	,	PUNCT
ejpam-6234	218	64	a	a	DET
ejpam-6234	218	65	tracking	tracking	NOUN
ejpam-6234	218	66	control	control	NOUN
ejpam-6234	218	67	algorithm	algorithm	NOUN
ejpam-6234	218	68	for	for	ADP
ejpam-6234	218	69	fixed	fix	VERB
ejpam-6234	218	70	-	-	PUNCT
ejpam-6234	218	71	wing	wing	NOUN
ejpam-6234	218	72	drones	drone	NOUN
ejpam-6234	218	73	is	be	AUX
ejpam-6234	218	74	presented	present	VERB
ejpam-6234	218	75	.	.	PUNCT
ejpam-6234	219	1	this	this	DET
ejpam-6234	219	2	algorithm	algorithm	NOUN
ejpam-6234	219	3	enables	enable	VERB
ejpam-6234	219	4	the	the	DET
ejpam-6234	219	5	drone	drone	NOUN
ejpam-6234	219	6	to	to	PART
ejpam-6234	219	7	intercept	intercept	VERB
ejpam-6234	219	8	and	and	CCONJ
ejpam-6234	219	9	hover	hover	VERB
ejpam-6234	219	10	around	around	ADP
ejpam-6234	219	11	a	a	DET
ejpam-6234	219	12	target	target	NOUN
ejpam-6234	219	13	in	in	ADP
ejpam-6234	219	14	a	a	DET
ejpam-6234	219	15	circular	circular	ADJ
ejpam-6234	219	16	motion	motion	NOUN
ejpam-6234	219	17	,	,	PUNCT
ejpam-6234	219	18	knowing	know	VERB
ejpam-6234	219	19	only	only	ADV
ejpam-6234	219	20	the	the	DET
ejpam-6234	219	21	distance	distance	NOUN
ejpam-6234	219	22	separating	separate	VERB
ejpam-6234	219	23	the	the	DET
ejpam-6234	219	24	drone	drone	NOUN
ejpam-6234	219	25	from	from	ADP
ejpam-6234	219	26	the	the	DET
ejpam-6234	219	27	fixed	fix	VERB
ejpam-6234	219	28	target	target	NOUN
ejpam-6234	219	29	.	.	PUNCT
ejpam-6234	220	1	the	the	DET
ejpam-6234	220	2	proposed	propose	VERB
ejpam-6234	220	3	approach	approach	NOUN
ejpam-6234	220	4	combines	combine	VERB
ejpam-6234	220	5	a	a	DET
ejpam-6234	220	6	nearly	nearly	ADV
ejpam-6234	220	7	optimal	optimal	ADJ
ejpam-6234	220	8	minimum	minimum	ADJ
ejpam-6234	220	9	-	-	PUNCT
ejpam-6234	220	10	time	time	NOUN
ejpam-6234	220	11	control	control	NOUN
ejpam-6234	220	12	with	with	ADP
ejpam-6234	220	13	a	a	DET
ejpam-6234	220	14	state	state	NOUN
ejpam-6234	220	15	observer	observer	NOUN
ejpam-6234	220	16	.	.	PUNCT
ejpam-6234	221	1	the	the	DET
ejpam-6234	221	2	results	result	NOUN
ejpam-6234	221	3	show	show	VERB
ejpam-6234	221	4	that	that	SCONJ
ejpam-6234	221	5	this	this	DET
ejpam-6234	221	6	controller	controller	NOUN
ejpam-6234	221	7	is	be	AUX
ejpam-6234	221	8	convergent	convergent	NOUN
ejpam-6234	221	9	,	,	PUNCT
ejpam-6234	221	10	ensuring	ensure	VERB
ejpam-6234	221	11	that	that	SCONJ
ejpam-6234	221	12	the	the	DET
ejpam-6234	221	13	drone	drone	NOUN
ejpam-6234	221	14	intercepts	intercept	VERB
ejpam-6234	221	15	the	the	DET
ejpam-6234	221	16	target	target	NOUN
ejpam-6234	221	17	.	.	PUNCT
ejpam-6234	222	1	however	however	ADV
ejpam-6234	222	2	,	,	PUNCT
ejpam-6234	222	3	a	a	DET
ejpam-6234	222	4	major	major	ADJ
ejpam-6234	222	5	limitation	limitation	NOUN
ejpam-6234	222	6	was	be	AUX
ejpam-6234	222	7	observed	observe	VERB
ejpam-6234	222	8	:	:	PUNCT
ejpam-6234	222	9	whenever	whenever	SCONJ
ejpam-6234	222	10	the	the	DET
ejpam-6234	222	11	drone	drone	NOUN
ejpam-6234	222	12	moves	move	VERB
ejpam-6234	222	13	in	in	ADP
ejpam-6234	222	14	a	a	DET
ejpam-6234	222	15	straight	straight	ADJ
ejpam-6234	222	16	line	line	NOUN
ejpam-6234	222	17	,	,	PUNCT
ejpam-6234	222	18	the	the	DET
ejpam-6234	222	19	system	system	NOUN
ejpam-6234	222	20	loses	lose	VERB
ejpam-6234	222	21	observability	observability	NOUN
ejpam-6234	222	22	,	,	PUNCT
ejpam-6234	222	23	which	which	PRON
ejpam-6234	222	24	affects	affect	VERB
ejpam-6234	222	25	its	its	PRON
ejpam-6234	222	26	performance	performance	NOUN
ejpam-6234	222	27	and	and	CCONJ
ejpam-6234	222	28	convergence	convergence	NOUN
ejpam-6234	222	29	time	time	NOUN
ejpam-6234	222	30	.	.	PUNCT
ejpam-6234	223	1	to	to	PART
ejpam-6234	223	2	overcome	overcome	VERB
ejpam-6234	223	3	this	this	DET
ejpam-6234	223	4	issue	issue	NOUN
ejpam-6234	223	5	,	,	PUNCT
ejpam-6234	223	6	a	a	DET
ejpam-6234	223	7	sinusoidal	sinusoidal	ADJ
ejpam-6234	223	8	perturbation	perturbation	NOUN
ejpam-6234	223	9	was	be	AUX
ejpam-6234	223	10	added	add	VERB
ejpam-6234	223	11	to	to	ADP
ejpam-6234	223	12	the	the	DET
ejpam-6234	223	13	control	control	NOUN
ejpam-6234	223	14	input	input	NOUN
ejpam-6234	223	15	,	,	PUNCT
ejpam-6234	223	16	significantly	significantly	ADV
ejpam-6234	223	17	improving	improve	VERB
ejpam-6234	223	18	observability	observability	NOUN
ejpam-6234	223	19	.	.	PUNCT
ejpam-6234	224	1	as	as	ADP
ejpam-6234	224	2	a	a	DET
ejpam-6234	224	3	result	result	NOUN
ejpam-6234	224	4	,	,	PUNCT
ejpam-6234	224	5	the	the	DET
ejpam-6234	224	6	system	system	NOUN
ejpam-6234	224	7	’s	’s	PART
ejpam-6234	224	8	convergence	convergence	NOUN
ejpam-6234	224	9	time	time	NOUN
ejpam-6234	224	10	was	be	AUX
ejpam-6234	224	11	reduced	reduce	VERB
ejpam-6234	224	12	,	,	PUNCT
ejpam-6234	224	13	and	and	CCONJ
ejpam-6234	224	14	the	the	DET
ejpam-6234	224	15	trajectory	trajectory	NOUN
ejpam-6234	224	16	became	become	VERB
ejpam-6234	224	17	smoother	smooth	ADJ
ejpam-6234	224	18	and	and	CCONJ
ejpam-6234	224	19	shorter	short	ADJ
ejpam-6234	224	20	.	.	PUNCT
ejpam-6234	225	1	these	these	DET
ejpam-6234	225	2	findings	finding	NOUN
ejpam-6234	225	3	open	open	VERB
ejpam-6234	225	4	the	the	DET
ejpam-6234	225	5	door	door	NOUN
ejpam-6234	225	6	to	to	ADP
ejpam-6234	225	7	further	further	ADJ
ejpam-6234	225	8	improvements	improvement	NOUN
ejpam-6234	225	9	.	.	PUNCT
ejpam-6234	226	1	future	future	ADJ
ejpam-6234	226	2	work	work	NOUN
ejpam-6234	226	3	could	could	AUX
ejpam-6234	226	4	focus	focus	VERB
ejpam-6234	226	5	on	on	ADP
ejpam-6234	226	6	applying	apply	VERB
ejpam-6234	226	7	the	the	DET
ejpam-6234	226	8	same	same	ADJ
ejpam-6234	226	9	technique	technique	NOUN
ejpam-6234	226	10	to	to	ADP
ejpam-6234	226	11	moving	move	VERB
ejpam-6234	226	12	target	target	NOUN
ejpam-6234	226	13	applications	application	NOUN
ejpam-6234	226	14	.	.	PUNCT
ejpam-6234	227	1	in	in	ADP
ejpam-6234	227	2	summary	summary	NOUN
ejpam-6234	227	3	,	,	PUNCT
ejpam-6234	227	4	the	the	DET
ejpam-6234	227	5	proposed	propose	VERB
ejpam-6234	227	6	method	method	NOUN
ejpam-6234	227	7	offers	offer	VERB
ejpam-6234	227	8	a	a	DET
ejpam-6234	227	9	promising	promising	ADJ
ejpam-6234	227	10	step	step	NOUN
ejpam-6234	227	11	forward	forward	ADV
ejpam-6234	227	12	in	in	ADP
ejpam-6234	227	13	drone	drone	NOUN
ejpam-6234	227	14	control	control	NOUN
ejpam-6234	227	15	with	with	ADP
ejpam-6234	227	16	limited	limited	ADJ
ejpam-6234	227	17	observability	observability	NOUN
ejpam-6234	227	18	enabling	enable	VERB
ejpam-6234	227	19	a	a	DET
ejpam-6234	227	20	shorter	short	ADJ
ejpam-6234	227	21	path	path	NOUN
ejpam-6234	227	22	decreasing	decrease	VERB
ejpam-6234	227	23	fuel	fuel	NOUN
ejpam-6234	227	24	consumption	consumption	NOUN
ejpam-6234	227	25	.	.	PUNCT
ejpam-6234	228	1	a.	a.	PROPN
ejpam-6234	228	2	ajami	ajami	PROPN
ejpam-6234	228	3	et	et	PROPN
ejpam-6234	228	4	al	al	PROPN
ejpam-6234	228	5	.	.	PUNCT
ejpam-6234	228	6	/	/	SYM
ejpam-6234	228	7	eur	eur	PROPN
ejpam-6234	228	8	.	.	PUNCT
ejpam-6234	229	1	j.	j.	PROPN
ejpam-6234	229	2	pure	pure	PROPN
ejpam-6234	229	3	appl	appl	PROPN
ejpam-6234	229	4	.	.	PROPN
ejpam-6234	229	5	math	math	PROPN
ejpam-6234	229	6	,	,	PUNCT
ejpam-6234	229	7	18	18	NUM
ejpam-6234	229	8	(	(	PUNCT
ejpam-6234	229	9	3	3	NUM
ejpam-6234	229	10	)	)	PUNCT
ejpam-6234	229	11	(	(	PUNCT
ejpam-6234	229	12	2025	2025	NUM
ejpam-6234	229	13	)	)	PUNCT
ejpam-6234	229	14	,	,	PUNCT
ejpam-6234	229	15	6234	6234	NUM
ejpam-6234	229	16	12	12	NUM
ejpam-6234	229	17	of	of	ADP
ejpam-6234	229	18	14	14	NUM
ejpam-6234	229	19	-60	-60	SYM
ejpam-6234	229	20	-40	-40	PROPN
ejpam-6234	229	21	-20	-20	NUM
ejpam-6234	229	22	0	0	NUM
ejpam-6234	229	23	20	20	NUM
ejpam-6234	229	24	40	40	NUM
ejpam-6234	229	25	60	60	NUM
ejpam-6234	229	26	x(m	x(m	PROPN
ejpam-6234	229	27	)	)	PUNCT
ejpam-6234	229	28	0	0	NUM
ejpam-6234	230	1	20	20	NUM
ejpam-6234	230	2	40	40	NUM
ejpam-6234	230	3	60	60	NUM
ejpam-6234	230	4	80	80	NUM
ejpam-6234	230	5	100	100	NUM
ejpam-6234	230	6	120	120	NUM
ejpam-6234	230	7	y	y	PROPN
ejpam-6234	230	8	(	(	PUNCT
ejpam-6234	230	9	m	m	NOUN
ejpam-6234	230	10	)	)	PUNCT
ejpam-6234	230	11	real	real	ADJ
ejpam-6234	230	12	trajectory	trajectory	NOUN
ejpam-6234	230	13	estimated	estimate	VERB
ejpam-6234	230	14	trajectory	trajectory	NOUN
ejpam-6234	230	15	-2	-2	NOUN
ejpam-6234	230	16	0	0	NUM
ejpam-6234	230	17	2	2	NUM
ejpam-6234	230	18	-2	-2	NOUN
ejpam-6234	230	19	0	0	NUM
ejpam-6234	230	20	2	2	NUM
ejpam-6234	230	21	figure	figure	NOUN
ejpam-6234	230	22	6	6	NUM
ejpam-6234	230	23	:	:	PUNCT
ejpam-6234	230	24	coupling	couple	VERB
ejpam-6234	230	25	the	the	DET
ejpam-6234	230	26	proposed	propose	VERB
ejpam-6234	230	27	observer	observer	NOUN
ejpam-6234	230	28	plus	plus	CCONJ
ejpam-6234	230	29	perturbation	perturbation	NOUN
ejpam-6234	230	30	with	with	ADP
ejpam-6234	230	31	the	the	DET
ejpam-6234	230	32	nearly	nearly	ADV
ejpam-6234	230	33	minimum	minimum	ADJ
ejpam-6234	230	34	time	time	NOUN
ejpam-6234	230	35	control	control	NOUN
ejpam-6234	230	36	strategy	strategy	NOUN
ejpam-6234	230	37	,	,	PUNCT
ejpam-6234	230	38	the	the	DET
ejpam-6234	230	39	drone	drone	NOUN
ejpam-6234	230	40	is	be	AUX
ejpam-6234	230	41	starting	start	VERB
ejpam-6234	230	42	from	from	ADP
ejpam-6234	230	43	(	(	PUNCT
ejpam-6234	230	44	x0	x0	PROPN
ejpam-6234	230	45	,	,	PUNCT
ejpam-6234	230	46	y0	y0	PROPN
ejpam-6234	230	47	,	,	PUNCT
ejpam-6234	230	48	θ0	θ0	PROPN
ejpam-6234	230	49	)	)	PUNCT
ejpam-6234	230	50	equal	equal	ADJ
ejpam-6234	230	51	to	to	ADP
ejpam-6234	230	52	(	(	PUNCT
ejpam-6234	230	53	−50	−50	PROPN
ejpam-6234	230	54	m	m	NOUN
ejpam-6234	230	55	,	,	PUNCT
ejpam-6234	230	56	100	100	NUM
ejpam-6234	230	57	m	m	PROPN
ejpam-6234	230	58	,	,	PUNCT
ejpam-6234	230	59	0	0	NUM
ejpam-6234	230	60	rad	rad	PROPN
ejpam-6234	230	61	/	/	SYM
ejpam-6234	230	62	s	s	NOUN
ejpam-6234	230	63	)	)	PUNCT
ejpam-6234	230	64	references	reference	NOUN
ejpam-6234	230	65	[	[	X
ejpam-6234	230	66	1	1	NUM
ejpam-6234	230	67	]	]	PUNCT
ejpam-6234	230	68	alain	alain	PROPN
ejpam-6234	230	69	ajami	ajami	PROPN
ejpam-6234	230	70	,	,	PUNCT
ejpam-6234	230	71	jean	jean	PROPN
ejpam-6234	230	72	paul	paul	PROPN
ejpam-6234	230	73	gauthier	gauthier	PROPN
ejpam-6234	230	74	,	,	PUNCT
ejpam-6234	230	75	and	and	CCONJ
ejpam-6234	230	76	ludovic	ludovic	PROPN
ejpam-6234	230	77	sacchelli	sacchelli	PROPN
ejpam-6234	230	78	.	.	PUNCT
ejpam-6234	231	1	dynamic	dynamic	ADJ
ejpam-6234	231	2	output	output	NOUN
ejpam-6234	231	3	stabilization	stabilization	NOUN
ejpam-6234	231	4	of	of	ADP
ejpam-6234	231	5	control	control	NOUN
ejpam-6234	231	6	systems	system	NOUN
ejpam-6234	231	7	:	:	PUNCT
ejpam-6234	231	8	an	an	DET
ejpam-6234	231	9	unobservable	unobservable	ADJ
ejpam-6234	231	10	kinematic	kinematic	ADJ
ejpam-6234	231	11	drone	drone	NOUN
ejpam-6234	231	12	model	model	NOUN
ejpam-6234	231	13	.	.	PUNCT
ejpam-6234	232	1	automatica	automatica	PROPN
ejpam-6234	232	2	,	,	PUNCT
ejpam-6234	232	3	125:109383	125:109383	NUM
ejpam-6234	232	4	,	,	PUNCT
ejpam-6234	232	5	2021	2021	NUM
ejpam-6234	232	6	.	.	PUNCT
ejpam-6234	233	1	[	[	X
ejpam-6234	233	2	2	2	NUM
ejpam-6234	233	3	]	]	X
ejpam-6234	233	4	lucas	lucas	PROPN
ejpam-6234	233	5	brivadis	brivadis	PROPN
ejpam-6234	233	6	,	,	PUNCT
ejpam-6234	233	7	jean	jean	PROPN
ejpam-6234	233	8	-	-	PUNCT
ejpam-6234	233	9	paul	paul	PROPN
ejpam-6234	233	10	gauthier	gauthier	PROPN
ejpam-6234	233	11	,	,	PUNCT
ejpam-6234	233	12	ludovic	ludovic	PROPN
ejpam-6234	233	13	sacchelli	sacchelli	PROPN
ejpam-6234	233	14	,	,	PUNCT
ejpam-6234	233	15	and	and	CCONJ
ejpam-6234	233	16	ulysse	ulysse	NOUN
ejpam-6234	233	17	serres	serre	NOUN
ejpam-6234	233	18	.	.	PUNCT
ejpam-6234	234	1	avoiding	avoid	VERB
ejpam-6234	234	2	observability	observability	NOUN
ejpam-6234	234	3	singularities	singularity	NOUN
ejpam-6234	234	4	in	in	ADP
ejpam-6234	234	5	output	output	NOUN
ejpam-6234	234	6	feedback	feedback	NOUN
ejpam-6234	234	7	bilinear	bilinear	NOUN
ejpam-6234	234	8	systems	system	NOUN
ejpam-6234	234	9	.	.	PUNCT
ejpam-6234	235	1	siam	siam	PROPN
ejpam-6234	235	2	journal	journal	PROPN
ejpam-6234	235	3	on	on	ADP
ejpam-6234	235	4	control	control	NOUN
ejpam-6234	235	5	and	and	CCONJ
ejpam-6234	235	6	optimization	optimization	NOUN
ejpam-6234	235	7	,	,	PUNCT
ejpam-6234	235	8	59(3):1759–1780	59(3):1759–1780	NUM
ejpam-6234	235	9	,	,	PUNCT
ejpam-6234	235	10	2021	2021	NUM
ejpam-6234	235	11	.	.	PUNCT
ejpam-6234	236	1	[	[	X
ejpam-6234	236	2	3	3	NUM
ejpam-6234	236	3	]	]	X
ejpam-6234	236	4	jean	jean	PROPN
ejpam-6234	236	5	-	-	PUNCT
ejpam-6234	236	6	paul	paul	PROPN
ejpam-6234	236	7	gauthier	gauthier	PROPN
ejpam-6234	236	8	and	and	CCONJ
ejpam-6234	236	9	ivan	ivan	PROPN
ejpam-6234	236	10	kupka	kupka	PROPN
ejpam-6234	236	11	.	.	PUNCT
ejpam-6234	237	1	a	a	DET
ejpam-6234	237	2	separation	separation	NOUN
ejpam-6234	237	3	principle	principle	NOUN
ejpam-6234	237	4	for	for	ADP
ejpam-6234	237	5	bilinear	bilinear	NOUN
ejpam-6234	237	6	systems	system	NOUN
ejpam-6234	237	7	with	with	ADP
ejpam-6234	237	8	dissipative	dissipative	ADJ
ejpam-6234	237	9	drift	drift	NOUN
ejpam-6234	237	10	.	.	PUNCT
ejpam-6234	238	1	ieee	ieee	NOUN
ejpam-6234	238	2	transactions	transaction	NOUN
ejpam-6234	238	3	on	on	ADP
ejpam-6234	238	4	automatic	automatic	ADJ
ejpam-6234	238	5	control	control	NOUN
ejpam-6234	238	6	,	,	PUNCT
ejpam-6234	238	7	37(12):1970–1974	37(12):1970–1974	NUM
ejpam-6234	238	8	,	,	PUNCT
ejpam-6234	238	9	1992	1992	NUM
ejpam-6234	238	10	.	.	PUNCT
ejpam-6234	239	1	[	[	X
ejpam-6234	239	2	4	4	NUM
ejpam-6234	239	3	]	]	X
ejpam-6234	239	4	lucas	lucas	PROPN
ejpam-6234	239	5	brivadis	brivadis	PROPN
ejpam-6234	239	6	,	,	PUNCT
ejpam-6234	239	7	jean	jean	PROPN
ejpam-6234	239	8	-	-	PUNCT
ejpam-6234	239	9	paul	paul	PROPN
ejpam-6234	239	10	gauthier	gauthier	PROPN
ejpam-6234	239	11	,	,	PUNCT
ejpam-6234	239	12	and	and	CCONJ
ejpam-6234	239	13	ludovic	ludovic	PROPN
ejpam-6234	239	14	sacchelli	sacchelli	PROPN
ejpam-6234	239	15	.	.	PUNCT
ejpam-6234	240	1	output	output	NOUN
ejpam-6234	240	2	feedback	feedback	NOUN
ejpam-6234	240	3	stabilization	stabilization	NOUN
ejpam-6234	240	4	of	of	ADP
ejpam-6234	240	5	nonuniformly	nonuniformly	ADV
ejpam-6234	240	6	observable	observable	ADJ
ejpam-6234	240	7	systems	system	NOUN
ejpam-6234	240	8	.	.	PUNCT
ejpam-6234	241	1	in	in	ADP
ejpam-6234	241	2	proceedings	proceeding	NOUN
ejpam-6234	241	3	of	of	ADP
ejpam-6234	241	4	steklov	steklov	PROPN
ejpam-6234	241	5	mathematical	mathematical	PROPN
ejpam-6234	241	6	institute	institute	PROPN
ejpam-6234	241	7	,	,	PUNCT
ejpam-6234	241	8	in	in	ADP
ejpam-6234	241	9	honor	honor	NOUN
ejpam-6234	241	10	of	of	ADP
ejpam-6234	241	11	revaz	revaz	PROPN
ejpam-6234	241	12	gamkrelidze	gamkrelidze	PROPN
ejpam-6234	241	13	,	,	PUNCT
ejpam-6234	241	14	2022	2022	NUM
ejpam-6234	241	15	.	.	PUNCT
ejpam-6234	242	1	[	[	X
ejpam-6234	242	2	5	5	X
ejpam-6234	242	3	]	]	PUNCT
ejpam-6234	242	4	jean	jean	PROPN
ejpam-6234	242	5	michel	michel	PROPN
ejpam-6234	242	6	coron	coron	PROPN
ejpam-6234	242	7	.	.	PUNCT
ejpam-6234	243	1	on	on	ADP
ejpam-6234	243	2	the	the	DET
ejpam-6234	243	3	stabilization	stabilization	NOUN
ejpam-6234	243	4	of	of	ADP
ejpam-6234	243	5	controllable	controllable	ADJ
ejpam-6234	243	6	and	and	CCONJ
ejpam-6234	243	7	observable	observable	ADJ
ejpam-6234	243	8	systems	system	NOUN
ejpam-6234	243	9	by	by	ADP
ejpam-6234	243	10	an	an	DET
ejpam-6234	243	11	output	output	NOUN
ejpam-6234	243	12	feedback	feedback	NOUN
ejpam-6234	243	13	law	law	NOUN
ejpam-6234	243	14	.	.	PUNCT
ejpam-6234	244	1	mathematics	mathematic	NOUN
ejpam-6234	244	2	of	of	ADP
ejpam-6234	244	3	control	control	NOUN
ejpam-6234	244	4	,	,	PUNCT
ejpam-6234	244	5	signals	signal	NOUN
ejpam-6234	244	6	,	,	PUNCT
ejpam-6234	244	7	and	and	CCONJ
ejpam-6234	244	8	systems	system	NOUN
ejpam-6234	244	9	,	,	PUNCT
ejpam-6234	244	10	7(3):187–216	7(3):187–216	NUM
ejpam-6234	244	11	,	,	PUNCT
ejpam-6234	244	12	1994	1994	NUM
ejpam-6234	244	13	.	.	PUNCT
ejpam-6234	245	1	[	[	X
ejpam-6234	245	2	6	6	NUM
ejpam-6234	245	3	]	]	X
ejpam-6234	245	4	andrew	andrew	PROPN
ejpam-6234	245	5	teel	teel	PROPN
ejpam-6234	245	6	and	and	CCONJ
ejpam-6234	245	7	laurent	laurent	PROPN
ejpam-6234	245	8	praly	praly	PROPN
ejpam-6234	245	9	.	.	PUNCT
ejpam-6234	246	1	global	global	ADJ
ejpam-6234	246	2	stabilizability	stabilizability	NOUN
ejpam-6234	246	3	and	and	CCONJ
ejpam-6234	246	4	observability	observability	NOUN
ejpam-6234	246	5	imply	imply	VERB
ejpam-6234	246	6	semiglobal	semiglobal	ADJ
ejpam-6234	246	7	stabilizability	stabilizability	NOUN
ejpam-6234	246	8	by	by	ADP
ejpam-6234	246	9	output	output	NOUN
ejpam-6234	246	10	feedback	feedback	NOUN
ejpam-6234	246	11	.	.	PUNCT
ejpam-6234	247	1	systems	system	NOUN
ejpam-6234	247	2	and	and	CCONJ
ejpam-6234	247	3	control	control	NOUN
ejpam-6234	247	4	letters	letter	NOUN
ejpam-6234	247	5	,	,	PUNCT
ejpam-6234	247	6	22(5):313–325	22(5):313–325	PROPN
ejpam-6234	247	7	,	,	PUNCT
ejpam-6234	247	8	1994	1994	NUM
ejpam-6234	247	9	.	.	PUNCT
ejpam-6234	248	1	a.	a.	PROPN
ejpam-6234	248	2	ajami	ajami	PROPN
ejpam-6234	248	3	et	et	PROPN
ejpam-6234	248	4	al	al	PROPN
ejpam-6234	248	5	.	.	PUNCT
ejpam-6234	248	6	/	/	SYM
ejpam-6234	248	7	eur	eur	PROPN
ejpam-6234	248	8	.	.	PUNCT
ejpam-6234	249	1	j.	j.	PROPN
ejpam-6234	249	2	pure	pure	PROPN
ejpam-6234	249	3	appl	appl	PROPN
ejpam-6234	249	4	.	.	PROPN
ejpam-6234	249	5	math	math	PROPN
ejpam-6234	249	6	,	,	PUNCT
ejpam-6234	249	7	18	18	NUM
ejpam-6234	249	8	(	(	PUNCT
ejpam-6234	249	9	3	3	NUM
ejpam-6234	249	10	)	)	PUNCT
ejpam-6234	249	11	(	(	PUNCT
ejpam-6234	249	12	2025	2025	NUM
ejpam-6234	249	13	)	)	PUNCT
ejpam-6234	249	14	,	,	PUNCT
ejpam-6234	249	15	6234	6234	NUM
ejpam-6234	249	16	13	13	NUM
ejpam-6234	249	17	of	of	ADP
ejpam-6234	249	18	14	14	NUM
ejpam-6234	249	19	[	[	X
ejpam-6234	249	20	7	7	NUM
ejpam-6234	249	21	]	]	X
ejpam-6234	249	22	andrew	andrew	PROPN
ejpam-6234	249	23	teel	teel	PROPN
ejpam-6234	249	24	and	and	CCONJ
ejpam-6234	249	25	laurent	laurent	PROPN
ejpam-6234	249	26	praly	praly	PROPN
ejpam-6234	249	27	.	.	PUNCT
ejpam-6234	250	1	tools	tool	NOUN
ejpam-6234	250	2	for	for	ADP
ejpam-6234	250	3	semiglobal	semiglobal	ADJ
ejpam-6234	250	4	stabilization	stabilization	NOUN
ejpam-6234	250	5	by	by	ADP
ejpam-6234	250	6	partial	partial	ADJ
ejpam-6234	250	7	state	state	NOUN
ejpam-6234	250	8	and	and	CCONJ
ejpam-6234	250	9	output	output	NOUN
ejpam-6234	250	10	feedback	feedback	NOUN
ejpam-6234	250	11	.	.	PUNCT
ejpam-6234	251	1	siam	siam	PROPN
ejpam-6234	251	2	journal	journal	PROPN
ejpam-6234	251	3	on	on	ADP
ejpam-6234	251	4	control	control	NOUN
ejpam-6234	251	5	and	and	CCONJ
ejpam-6234	251	6	optimization	optimization	NOUN
ejpam-6234	251	7	,	,	PUNCT
ejpam-6234	251	8	33(5):1443–1488	33(5):1443–1488	NUM
ejpam-6234	251	9	,	,	PUNCT
ejpam-6234	251	10	1995	1995	NUM
ejpam-6234	251	11	.	.	PUNCT
ejpam-6234	252	1	[	[	X
ejpam-6234	252	2	8	8	NUM
ejpam-6234	252	3	]	]	X
ejpam-6234	252	4	jean	jean	PROPN
ejpam-6234	252	5	-	-	PUNCT
ejpam-6234	252	6	paul	paul	PROPN
ejpam-6234	252	7	gauthier	gauthier	PROPN
ejpam-6234	252	8	and	and	CCONJ
ejpam-6234	252	9	ivan	ivan	PROPN
ejpam-6234	252	10	kupka	kupka	PROPN
ejpam-6234	252	11	.	.	PUNCT
ejpam-6234	253	1	deterministic	deterministic	ADJ
ejpam-6234	253	2	observation	observation	NOUN
ejpam-6234	253	3	theory	theory	NOUN
ejpam-6234	253	4	and	and	CCONJ
ejpam-6234	253	5	applications	application	NOUN
ejpam-6234	253	6	.	.	PUNCT
ejpam-6234	254	1	cambridge	cambridge	PROPN
ejpam-6234	254	2	university	university	PROPN
ejpam-6234	254	3	press	press	NOUN
ejpam-6234	254	4	,	,	PUNCT
ejpam-6234	254	5	2001	2001	NUM
ejpam-6234	254	6	.	.	PUNCT
ejpam-6234	255	1	[	[	X
ejpam-6234	255	2	9	9	NUM
ejpam-6234	255	3	]	]	PUNCT
ejpam-6234	255	4	f.	f.	PROPN
ejpam-6234	255	5	mazenc	mazenc	PROPN
ejpam-6234	255	6	,	,	PUNCT
ejpam-6234	255	7	l.	l.	PROPN
ejpam-6234	255	8	praly	praly	PROPN
ejpam-6234	255	9	,	,	PUNCT
ejpam-6234	255	10	and	and	CCONJ
ejpam-6234	255	11	w.	w.	PROPN
ejpam-6234	255	12	p.	p.	PROPN
ejpam-6234	255	13	dayawansa	dayawansa	VERB
ejpam-6234	255	14	.	.	PUNCT
ejpam-6234	256	1	global	global	ADJ
ejpam-6234	256	2	stabilization	stabilization	NOUN
ejpam-6234	256	3	by	by	ADP
ejpam-6234	256	4	output	output	NOUN
ejpam-6234	256	5	feedback	feedback	NOUN
ejpam-6234	256	6	:	:	PUNCT
ejpam-6234	256	7	examples	example	NOUN
ejpam-6234	256	8	and	and	CCONJ
ejpam-6234	256	9	counterexamples	counterexample	NOUN
ejpam-6234	256	10	.	.	PUNCT
ejpam-6234	257	1	systems	system	NOUN
ejpam-6234	257	2	and	and	CCONJ
ejpam-6234	257	3	control	control	NOUN
ejpam-6234	257	4	letters	letter	NOUN
ejpam-6234	257	5	,	,	PUNCT
ejpam-6234	257	6	23(2):119–125	23(2):119–125	NUM
ejpam-6234	257	7	,	,	PUNCT
ejpam-6234	257	8	1994	1994	NUM
ejpam-6234	257	9	.	.	PUNCT
ejpam-6234	258	1	[	[	X
ejpam-6234	258	2	10	10	NUM
ejpam-6234	258	3	]	]	X
ejpam-6234	258	4	v.g	v.g	PROPN
ejpam-6234	258	5	.	.	PROPN
ejpam-6234	258	6	boltyanskii	boltyanskii	PROPN
ejpam-6234	258	7	and	and	CCONJ
ejpam-6234	258	8	i.	i.	PROPN
ejpam-6234	258	9	tarnove	tarnove	PROPN
ejpam-6234	258	10	.	.	PUNCT
ejpam-6234	259	1	mathematical	mathematical	ADJ
ejpam-6234	259	2	methods	method	NOUN
ejpam-6234	259	3	of	of	ADP
ejpam-6234	259	4	optimal	optimal	ADJ
ejpam-6234	259	5	control	control	NOUN
ejpam-6234	259	6	.	.	PUNCT
ejpam-6234	260	1	holt	holt	PROPN
ejpam-6234	260	2	,	,	PUNCT
ejpam-6234	260	3	rinehart	rinehart	PROPN
ejpam-6234	260	4	and	and	CCONJ
ejpam-6234	260	5	winston	winston	PROPN
ejpam-6234	260	6	,	,	PUNCT
ejpam-6234	260	7	1971	1971	NUM
ejpam-6234	260	8	.	.	PUNCT
ejpam-6234	261	1	[	[	X
ejpam-6234	261	2	11	11	NUM
ejpam-6234	261	3	]	]	X
ejpam-6234	261	4	l.s	l.s	PROPN
ejpam-6234	261	5	.	.	PROPN
ejpam-6234	261	6	pontryagin	pontryagin	NOUN
ejpam-6234	261	7	.	.	PUNCT
ejpam-6234	262	1	mathematical	mathematical	ADJ
ejpam-6234	262	2	theory	theory	NOUN
ejpam-6234	262	3	of	of	ADP
ejpam-6234	262	4	optimal	optimal	ADJ
ejpam-6234	262	5	processes	process	NOUN
ejpam-6234	262	6	.	.	PUNCT
ejpam-6234	263	1	taylor	taylor	PROPN
ejpam-6234	263	2	&	&	CCONJ
ejpam-6234	263	3	francis	francis	PROPN
ejpam-6234	263	4	,	,	PUNCT
ejpam-6234	263	5	1987	1987	NUM
ejpam-6234	263	6	.	.	PUNCT
ejpam-6234	264	1	[	[	X
ejpam-6234	264	2	12	12	NUM
ejpam-6234	264	3	]	]	PUNCT
ejpam-6234	264	4	l.	l.	PROPN
ejpam-6234	264	5	e.	e.	PROPN
ejpam-6234	264	6	dubins	dubins	PROPN
ejpam-6234	264	7	.	.	PUNCT
ejpam-6234	265	1	on	on	ADP
ejpam-6234	265	2	curves	curve	NOUN
ejpam-6234	265	3	of	of	ADP
ejpam-6234	265	4	minimal	minimal	ADJ
ejpam-6234	265	5	length	length	NOUN
ejpam-6234	265	6	with	with	ADP
ejpam-6234	265	7	a	a	DET
ejpam-6234	265	8	constraint	constraint	NOUN
ejpam-6234	265	9	on	on	ADP
ejpam-6234	265	10	average	average	ADJ
ejpam-6234	265	11	curvature	curvature	NOUN
ejpam-6234	265	12	,	,	PUNCT
ejpam-6234	265	13	and	and	CCONJ
ejpam-6234	265	14	with	with	ADP
ejpam-6234	265	15	prescribed	prescribed	ADJ
ejpam-6234	265	16	initial	initial	ADJ
ejpam-6234	265	17	and	and	CCONJ
ejpam-6234	265	18	terminal	terminal	ADJ
ejpam-6234	265	19	positions	position	NOUN
ejpam-6234	265	20	and	and	CCONJ
ejpam-6234	265	21	tangents	tangent	NOUN
ejpam-6234	265	22	.	.	PUNCT
ejpam-6234	265	23	american	american	ADJ
ejpam-6234	265	24	journal	journal	PROPN
ejpam-6234	265	25	of	of	ADP
ejpam-6234	265	26	mathematics	mathematic	NOUN
ejpam-6234	265	27	,	,	PUNCT
ejpam-6234	265	28	79(3):497–516	79(3):497–516	PROPN
ejpam-6234	265	29	,	,	PUNCT
ejpam-6234	265	30	1957	1957	NUM
ejpam-6234	265	31	.	.	PUNCT
ejpam-6234	266	1	[	[	X
ejpam-6234	266	2	13	13	NUM
ejpam-6234	266	3	]	]	X
ejpam-6234	266	4	philippe	philippe	PROPN
ejpam-6234	266	5	souères	souère	NOUN
ejpam-6234	266	6	and	and	CCONJ
ejpam-6234	266	7	jean	jean	PROPN
ejpam-6234	266	8	paul	paul	PROPN
ejpam-6234	266	9	laumond	laumond	PROPN
ejpam-6234	266	10	.	.	PUNCT
ejpam-6234	267	1	shortest	short	ADJ
ejpam-6234	267	2	paths	path	NOUN
ejpam-6234	267	3	synthesis	synthesis	NOUN
ejpam-6234	267	4	for	for	ADP
ejpam-6234	267	5	a	a	DET
ejpam-6234	267	6	car	car	NOUN
ejpam-6234	267	7	-	-	PUNCT
ejpam-6234	267	8	like	like	ADJ
ejpam-6234	267	9	robot	robot	NOUN
ejpam-6234	267	10	.	.	PUNCT
ejpam-6234	268	1	ieee	ieee	NOUN
ejpam-6234	268	2	transactions	transaction	NOUN
ejpam-6234	268	3	on	on	ADP
ejpam-6234	268	4	automatic	automatic	ADJ
ejpam-6234	268	5	control	control	NOUN
ejpam-6234	268	6	,	,	PUNCT
ejpam-6234	268	7	41(5):672–688	41(5):672–688	PROPN
ejpam-6234	268	8	,	,	PUNCT
ejpam-6234	268	9	1996	1996	NUM
ejpam-6234	268	10	.	.	PUNCT
ejpam-6234	269	1	[	[	X
ejpam-6234	269	2	14	14	NUM
ejpam-6234	269	3	]	]	X
ejpam-6234	269	4	thibault	thibault	PROPN
ejpam-6234	269	5	maillot	maillot	PROPN
ejpam-6234	269	6	,	,	PUNCT
ejpam-6234	269	7	ugo	ugo	PROPN
ejpam-6234	269	8	boscain	boscain	NOUN
ejpam-6234	269	9	,	,	PUNCT
ejpam-6234	269	10	jean	jean	PROPN
ejpam-6234	269	11	-	-	PUNCT
ejpam-6234	269	12	paul	paul	PROPN
ejpam-6234	269	13	gauthier	gauthier	PROPN
ejpam-6234	269	14	,	,	PUNCT
ejpam-6234	269	15	and	and	CCONJ
ejpam-6234	269	16	ulysse	ulysse	NOUN
ejpam-6234	269	17	serres	serre	NOUN
ejpam-6234	269	18	.	.	PUNCT
ejpam-6234	270	1	lyapunov	lyapunov	NOUN
ejpam-6234	270	2	and	and	CCONJ
ejpam-6234	270	3	minimum	minimum	ADJ
ejpam-6234	270	4	-	-	PUNCT
ejpam-6234	270	5	time	time	NOUN
ejpam-6234	270	6	path	path	NOUN
ejpam-6234	270	7	planning	planning	NOUN
ejpam-6234	270	8	for	for	ADP
ejpam-6234	270	9	drones	drone	NOUN
ejpam-6234	270	10	.	.	PUNCT
ejpam-6234	271	1	journal	journal	PROPN
ejpam-6234	271	2	of	of	ADP
ejpam-6234	271	3	dynamical	dynamical	ADJ
ejpam-6234	271	4	and	and	CCONJ
ejpam-6234	271	5	control	control	NOUN
ejpam-6234	271	6	systems	system	NOUN
ejpam-6234	271	7	,	,	PUNCT
ejpam-6234	271	8	21(1):47–80	21(1):47–80	NUM
ejpam-6234	271	9	,	,	PUNCT
ejpam-6234	271	10	2015	2015	NUM
ejpam-6234	271	11	.	.	PUNCT
ejpam-6234	272	1	[	[	X
ejpam-6234	272	2	15	15	NUM
ejpam-6234	272	3	]	]	X
ejpam-6234	272	4	marc	marc	PROPN
ejpam-6234	272	5	-	-	PUNCT
ejpam-6234	272	6	aurele	aurele	PROPN
ejpam-6234	272	7	lagache	lagache	NOUN
ejpam-6234	272	8	,	,	PUNCT
ejpam-6234	272	9	ulysse	ulysse	NOUN
ejpam-6234	272	10	serres	serre	NOUN
ejpam-6234	272	11	,	,	PUNCT
ejpam-6234	272	12	and	and	CCONJ
ejpam-6234	272	13	vincent	vincent	PROPN
ejpam-6234	272	14	andrieu	andrieu	PROPN
ejpam-6234	272	15	.	.	PUNCT
ejpam-6234	273	1	time	time	NOUN
ejpam-6234	273	2	minimum	minimum	ADJ
ejpam-6234	273	3	synthesis	synthesis	NOUN
ejpam-6234	273	4	for	for	ADP
ejpam-6234	273	5	a	a	DET
ejpam-6234	273	6	kinematic	kinematic	ADJ
ejpam-6234	273	7	drone	drone	NOUN
ejpam-6234	273	8	model	model	NOUN
ejpam-6234	273	9	.	.	PUNCT
ejpam-6234	274	1	in	in	ADP
ejpam-6234	274	2	2015	2015	NUM
ejpam-6234	274	3	54th	54th	ADJ
ejpam-6234	274	4	ieee	ieee	NOUN
ejpam-6234	274	5	conference	conference	NOUN
ejpam-6234	274	6	on	on	ADP
ejpam-6234	274	7	decision	decision	NOUN
ejpam-6234	274	8	and	and	CCONJ
ejpam-6234	274	9	control	control	NOUN
ejpam-6234	274	10	(	(	PUNCT
ejpam-6234	274	11	cdc	cdc	PROPN
ejpam-6234	274	12	)	)	PUNCT
ejpam-6234	274	13	,	,	PUNCT
ejpam-6234	274	14	pages	page	NOUN
ejpam-6234	274	15	4067–4072	4067–4072	NUM
ejpam-6234	274	16	,	,	PUNCT
ejpam-6234	274	17	2015	2015	NUM
ejpam-6234	274	18	.	.	PUNCT
ejpam-6234	275	1	[	[	X
ejpam-6234	275	2	16	16	NUM
ejpam-6234	275	3	]	]	X
ejpam-6234	275	4	ugo	ugo	PROPN
ejpam-6234	275	5	boscain	boscain	NOUN
ejpam-6234	275	6	and	and	CCONJ
ejpam-6234	275	7	benedetto	benedetto	PROPN
ejpam-6234	275	8	piccoli	piccoli	PROPN
ejpam-6234	275	9	.	.	PUNCT
ejpam-6234	276	1	optimal	optimal	ADJ
ejpam-6234	276	2	syntheses	synthesis	NOUN
ejpam-6234	276	3	for	for	ADP
ejpam-6234	276	4	control	control	NOUN
ejpam-6234	276	5	systems	system	NOUN
ejpam-6234	276	6	on	on	ADP
ejpam-6234	276	7	2	2	NUM
ejpam-6234	276	8	-	-	PUNCT
ejpam-6234	276	9	d	d	NOUN
ejpam-6234	276	10	manifolds	manifold	NOUN
ejpam-6234	276	11	,	,	PUNCT
ejpam-6234	276	12	volume	volume	NOUN
ejpam-6234	276	13	43	43	NUM
ejpam-6234	276	14	.	.	PUNCT
ejpam-6234	277	1	springer	springer	NOUN
ejpam-6234	277	2	smai	smai	PROPN
ejpam-6234	277	3	,	,	PUNCT
ejpam-6234	277	4	2004	2004	NUM
ejpam-6234	277	5	.	.	PUNCT
ejpam-6234	278	1	[	[	X
ejpam-6234	278	2	17	17	NUM
ejpam-6234	278	3	]	]	X
ejpam-6234	278	4	michel	michel	PROPN
ejpam-6234	278	5	fliess	fliess	PROPN
ejpam-6234	278	6	and	and	CCONJ
ejpam-6234	278	7	ivan	ivan	PROPN
ejpam-6234	278	8	kupka	kupka	PROPN
ejpam-6234	278	9	.	.	PUNCT
ejpam-6234	279	1	a	a	DET
ejpam-6234	279	2	finiteness	finiteness	ADJ
ejpam-6234	279	3	criterion	criterion	NOUN
ejpam-6234	279	4	for	for	ADP
ejpam-6234	279	5	nonlinear	nonlinear	ADJ
ejpam-6234	279	6	input	input	NOUN
ejpam-6234	279	7	–	–	PUNCT
ejpam-6234	279	8	output	output	NOUN
ejpam-6234	279	9	differential	differential	NOUN
ejpam-6234	279	10	systems	system	NOUN
ejpam-6234	279	11	.	.	PUNCT
ejpam-6234	280	1	siam	siam	PROPN
ejpam-6234	280	2	journal	journal	PROPN
ejpam-6234	280	3	on	on	ADP
ejpam-6234	280	4	control	control	NOUN
ejpam-6234	280	5	and	and	CCONJ
ejpam-6234	280	6	optimization	optimization	NOUN
ejpam-6234	280	7	,	,	PUNCT
ejpam-6234	280	8	21(5):721–728	21(5):721–728	PROPN
ejpam-6234	280	9	,	,	PUNCT
ejpam-6234	280	10	1983	1983	NUM
ejpam-6234	280	11	.	.	PUNCT
ejpam-6234	281	1	[	[	X
ejpam-6234	281	2	18	18	NUM
ejpam-6234	281	3	]	]	X
ejpam-6234	281	4	robert	robert	PROPN
ejpam-6234	281	5	hermann	hermann	PROPN
ejpam-6234	281	6	and	and	CCONJ
ejpam-6234	281	7	arthur	arthur	PROPN
ejpam-6234	281	8	j.	j.	PROPN
ejpam-6234	281	9	krener	krener	PROPN
ejpam-6234	281	10	.	.	PUNCT
ejpam-6234	282	1	nonlinear	nonlinear	ADJ
ejpam-6234	282	2	controllability	controllability	NOUN
ejpam-6234	282	3	and	and	CCONJ
ejpam-6234	282	4	observability	observability	NOUN
ejpam-6234	282	5	.	.	PUNCT
ejpam-6234	283	1	ieee	ieee	NOUN
ejpam-6234	283	2	transactions	transaction	NOUN
ejpam-6234	283	3	on	on	ADP
ejpam-6234	283	4	automatic	automatic	ADJ
ejpam-6234	283	5	control	control	NOUN
ejpam-6234	283	6	,	,	PUNCT
ejpam-6234	283	7	22(5):728–740	22(5):728–740	PROPN
ejpam-6234	283	8	,	,	PUNCT
ejpam-6234	283	9	1977	1977	NUM
ejpam-6234	283	10	.	.	PUNCT
ejpam-6234	284	1	[	[	X
ejpam-6234	284	2	19	19	NUM
ejpam-6234	284	3	]	]	X
ejpam-6234	284	4	hector	hector	NOUN
ejpam-6234	284	5	j.	j.	PROPN
ejpam-6234	284	6	sussmann	sussmann	PROPN
ejpam-6234	284	7	.	.	PUNCT
ejpam-6234	285	1	on	on	ADP
ejpam-6234	285	2	quotients	quotient	NOUN
ejpam-6234	285	3	of	of	ADP
ejpam-6234	285	4	manifolds	manifold	NOUN
ejpam-6234	285	5	:	:	PUNCT
ejpam-6234	285	6	a	a	DET
ejpam-6234	285	7	generalization	generalization	NOUN
ejpam-6234	285	8	of	of	ADP
ejpam-6234	285	9	the	the	DET
ejpam-6234	285	10	closed	closed	ADJ
ejpam-6234	285	11	subgroup	subgroup	NOUN
ejpam-6234	285	12	theorem	theorem	PROPN
ejpam-6234	285	13	.	.	PUNCT
ejpam-6234	286	1	bulletin	bulletin	NOUN
ejpam-6234	286	2	of	of	ADP
ejpam-6234	286	3	the	the	DET
ejpam-6234	286	4	american	american	PROPN
ejpam-6234	286	5	mathematical	mathematical	PROPN
ejpam-6234	286	6	society	society	NOUN
ejpam-6234	286	7	,	,	PUNCT
ejpam-6234	286	8	80(3):573–575	80(3):573–575	PROPN
ejpam-6234	286	9	,	,	PUNCT
ejpam-6234	286	10	1974	1974	NUM
ejpam-6234	286	11	.	.	PUNCT
ejpam-6234	287	1	[	[	X
ejpam-6234	287	2	20	20	NUM
ejpam-6234	287	3	]	]	X
ejpam-6234	287	4	hector	hector	PROPN
ejpam-6234	287	5	j.	j.	PROPN
ejpam-6234	287	6	sussmann	sussmann	PROPN
ejpam-6234	287	7	.	.	PUNCT
ejpam-6234	288	1	existence	existence	NOUN
ejpam-6234	288	2	and	and	CCONJ
ejpam-6234	288	3	uniqueness	uniqueness	NOUN
ejpam-6234	288	4	of	of	ADP
ejpam-6234	288	5	minimal	minimal	ADJ
ejpam-6234	288	6	realizations	realization	NOUN
ejpam-6234	288	7	of	of	ADP
ejpam-6234	288	8	nonlinear	nonlinear	ADJ
ejpam-6234	288	9	systems	system	NOUN
ejpam-6234	288	10	.	.	PUNCT
ejpam-6234	289	1	math	math	NOUN
ejpam-6234	289	2	.	.	PUNCT
ejpam-6234	290	1	system	system	NOUN
ejpam-6234	290	2	theory	theory	NOUN
ejpam-6234	290	3	,	,	PUNCT
ejpam-6234	290	4	10(1):263–284	10(1):263–284	NOUN
ejpam-6234	290	5	,	,	PUNCT
ejpam-6234	290	6	1976	1976	NUM
ejpam-6234	290	7	.	.	PUNCT
ejpam-6234	291	1	[	[	X
ejpam-6234	291	2	21	21	NUM
ejpam-6234	291	3	]	]	X
ejpam-6234	291	4	héctor	héctor	PROPN
ejpam-6234	291	5	j.	j.	PROPN
ejpam-6234	291	6	sussmann	sussmann	PROPN
ejpam-6234	291	7	.	.	PUNCT
ejpam-6234	292	1	single	single	ADJ
ejpam-6234	292	2	-	-	PUNCT
ejpam-6234	292	3	input	input	NOUN
ejpam-6234	292	4	observability	observability	NOUN
ejpam-6234	292	5	of	of	ADP
ejpam-6234	292	6	continuous	continuous	ADJ
ejpam-6234	292	7	-	-	PUNCT
ejpam-6234	292	8	time	time	NOUN
ejpam-6234	292	9	systems	system	NOUN
ejpam-6234	292	10	.	.	PUNCT
ejpam-6234	293	1	mathematical	mathematical	ADJ
ejpam-6234	293	2	systems	system	NOUN
ejpam-6234	293	3	theory	theory	NOUN
ejpam-6234	293	4	,	,	PUNCT
ejpam-6234	293	5	12(1):371–393	12(1):371–393	PROPN
ejpam-6234	293	6	,	,	PUNCT
ejpam-6234	293	7	1978	1978	NUM
ejpam-6234	293	8	.	.	PUNCT
ejpam-6234	294	1	[	[	X
ejpam-6234	294	2	22	22	NUM
ejpam-6234	294	3	]	]	PUNCT
ejpam-6234	294	4	alain	alain	PROPN
ejpam-6234	294	5	ajami	ajami	PROPN
ejpam-6234	294	6	,	,	PUNCT
ejpam-6234	294	7	marwan	marwan	PROPN
ejpam-6234	294	8	brouche	brouche	PROPN
ejpam-6234	294	9	,	,	PUNCT
ejpam-6234	294	10	jean	jean	PROPN
ejpam-6234	294	11	-	-	PUNCT
ejpam-6234	294	12	paul	paul	PROPN
ejpam-6234	294	13	gauthier	gauthier	PROPN
ejpam-6234	294	14	,	,	PUNCT
ejpam-6234	294	15	and	and	CCONJ
ejpam-6234	294	16	ludovic	ludovic	ADJ
ejpam-6234	294	17	sachelli	sachelli	NOUN
ejpam-6234	294	18	.	.	PUNCT
ejpam-6234	295	1	output	output	NOUN
ejpam-6234	295	2	stabilization	stabilization	NOUN
ejpam-6234	295	3	of	of	ADP
ejpam-6234	295	4	military	military	PROPN
ejpam-6234	295	5	uav	uav	PROPN
ejpam-6234	295	6	in	in	ADP
ejpam-6234	295	7	the	the	DET
ejpam-6234	295	8	unobservable	unobservable	ADJ
ejpam-6234	295	9	case	case	NOUN
ejpam-6234	295	10	.	.	PUNCT
ejpam-6234	296	1	in	in	ADP
ejpam-6234	296	2	2020	2020	NUM
ejpam-6234	296	3	ieee	ieee	NOUN
ejpam-6234	296	4	aerospace	aerospace	NOUN
ejpam-6234	296	5	conference	conference	NOUN
ejpam-6234	296	6	,	,	PUNCT
ejpam-6234	296	7	pages	page	NOUN
ejpam-6234	296	8	1–6	1–6	NUM
ejpam-6234	296	9	,	,	PUNCT
ejpam-6234	296	10	2020	2020	NUM
ejpam-6234	296	11	.	.	PUNCT
ejpam-6234	297	1	[	[	X
ejpam-6234	297	2	23	23	NUM
ejpam-6234	297	3	]	]	X
ejpam-6234	297	4	jack	jack	PROPN
ejpam-6234	297	5	carr	carr	PROPN
ejpam-6234	297	6	.	.	PUNCT
ejpam-6234	298	1	applications	application	NOUN
ejpam-6234	298	2	of	of	ADP
ejpam-6234	298	3	center	center	ADJ
ejpam-6234	298	4	manifold	manifold	ADJ
ejpam-6234	298	5	theory	theory	NOUN
ejpam-6234	298	6	.	.	PUNCT
ejpam-6234	299	1	springer	springer	PROPN
ejpam-6234	299	2	new	new	PROPN
ejpam-6234	299	3	york	york	PROPN
ejpam-6234	299	4	,	,	PUNCT
ejpam-6234	299	5	1981	1981	NUM
ejpam-6234	299	6	.	.	PUNCT
ejpam-6234	300	1	[	[	X
ejpam-6234	300	2	24	24	NUM
ejpam-6234	300	3	]	]	X
ejpam-6234	300	4	marc	marc	PROPN
ejpam-6234	300	5	-	-	PUNCT
ejpam-6234	300	6	aurèle	aurèle	PROPN
ejpam-6234	300	7	lagache	lagache	NOUN
ejpam-6234	300	8	,	,	PUNCT
ejpam-6234	300	9	ulysse	ulysse	NOUN
ejpam-6234	300	10	serres	serre	NOUN
ejpam-6234	300	11	,	,	PUNCT
ejpam-6234	300	12	and	and	CCONJ
ejpam-6234	300	13	jean	jean	PROPN
ejpam-6234	300	14	-	-	PUNCT
ejpam-6234	300	15	paul	paul	PROPN
ejpam-6234	300	16	gauthier	gauthier	PROPN
ejpam-6234	300	17	.	.	PUNCT
ejpam-6234	301	1	exact	exact	ADJ
ejpam-6234	301	2	output	output	NOUN
ejpam-6234	301	3	stabilization	stabilization	NOUN
ejpam-6234	301	4	at	at	ADP
ejpam-6234	301	5	unobservable	unobservable	ADJ
ejpam-6234	301	6	points	point	NOUN
ejpam-6234	301	7	:	:	PUNCT
ejpam-6234	301	8	analysis	analysis	NOUN
ejpam-6234	301	9	via	via	ADP
ejpam-6234	301	10	an	an	DET
ejpam-6234	301	11	example	example	NOUN
ejpam-6234	301	12	.	.	PUNCT
ejpam-6234	302	1	in	in	ADP
ejpam-6234	302	2	2017	2017	NUM
ejpam-6234	302	3	ieee	ieee	NOUN
ejpam-6234	302	4	56th	56th	ADJ
ejpam-6234	302	5	annual	annual	ADJ
ejpam-6234	302	6	conference	conference	NOUN
ejpam-6234	302	7	on	on	ADP
ejpam-6234	302	8	decision	decision	NOUN
ejpam-6234	302	9	and	and	CCONJ
ejpam-6234	302	10	control	control	NOUN
ejpam-6234	302	11	(	(	PUNCT
ejpam-6234	302	12	cdc	cdc	PROPN
ejpam-6234	302	13	)	)	PUNCT
ejpam-6234	302	14	,	,	PUNCT
ejpam-6234	302	15	pages	page	NOUN
ejpam-6234	302	16	6744–6749	6744–6749	NUM
ejpam-6234	302	17	,	,	PUNCT
ejpam-6234	302	18	2017	2017	NUM
ejpam-6234	302	19	.	.	PUNCT
ejpam-6234	303	1	[	[	X
ejpam-6234	303	2	25	25	NUM
ejpam-6234	303	3	]	]	X
ejpam-6234	303	4	jean	jean	PROPN
ejpam-6234	303	5	sawma	sawma	PROPN
ejpam-6234	303	6	,	,	PUNCT
ejpam-6234	303	7	alain	alain	PROPN
ejpam-6234	303	8	ajami	ajami	PROPN
ejpam-6234	303	9	,	,	PUNCT
ejpam-6234	303	10	thibault	thibault	PROPN
ejpam-6234	303	11	maillot	maillot	PROPN
ejpam-6234	303	12	,	,	PUNCT
ejpam-6234	303	13	and	and	CCONJ
ejpam-6234	303	14	joseph	joseph	PROPN
ejpam-6234	303	15	el	el	PROPN
ejpam-6234	303	16	maalouf	maalouf	PROPN
ejpam-6234	303	17	.	.	PUNCT
ejpam-6234	304	1	lyapunovl	lyapunovl	PROPN
ejpam-6234	304	2	lasalle	lasalle	PROPN
ejpam-6234	304	3	based	base	VERB
ejpam-6234	304	4	dynamic	dynamic	ADJ
ejpam-6234	304	5	stabilization	stabilization	NOUN
ejpam-6234	304	6	for	for	ADP
ejpam-6234	304	7	fixedwing	fixedwe	VERB
ejpam-6234	304	8	drones	drone	NOUN
ejpam-6234	304	9	.	.	PUNCT
ejpam-6234	305	1	journal	journal	PROPN
ejpam-6234	305	2	of	of	ADP
ejpam-6234	305	3	automation	automation	NOUN
ejpam-6234	305	4	,	,	PUNCT
ejpam-6234	305	5	mobile	mobile	ADJ
ejpam-6234	305	6	robotics	robotic	NOUN
ejpam-6234	305	7	and	and	CCONJ
ejpam-6234	305	8	intelligent	intelligent	ADJ
ejpam-6234	305	9	systems	system	NOUN
ejpam-6234	305	10	,	,	PUNCT
ejpam-6234	305	11	17(4):40–48	17(4):40–48	NUM
ejpam-6234	305	12	,	,	PUNCT
ejpam-6234	305	13	2021	2021	NUM
ejpam-6234	305	14	.	.	PUNCT
ejpam-6234	306	1	a.	a.	PROPN
ejpam-6234	306	2	ajami	ajami	PROPN
ejpam-6234	306	3	et	et	PROPN
ejpam-6234	306	4	al	al	PROPN
ejpam-6234	306	5	.	.	PUNCT
ejpam-6234	306	6	/	/	SYM
ejpam-6234	306	7	eur	eur	PROPN
ejpam-6234	306	8	.	.	PUNCT
ejpam-6234	307	1	j.	j.	PROPN
ejpam-6234	307	2	pure	pure	PROPN
ejpam-6234	307	3	appl	appl	PROPN
ejpam-6234	307	4	.	.	PROPN
ejpam-6234	307	5	math	math	PROPN
ejpam-6234	307	6	,	,	PUNCT
ejpam-6234	307	7	18	18	NUM
ejpam-6234	307	8	(	(	PUNCT
ejpam-6234	307	9	3	3	NUM
ejpam-6234	307	10	)	)	PUNCT
ejpam-6234	307	11	(	(	PUNCT
ejpam-6234	307	12	2025	2025	NUM
ejpam-6234	307	13	)	)	PUNCT
ejpam-6234	307	14	,	,	PUNCT
ejpam-6234	307	15	6234	6234	NUM
ejpam-6234	307	16	14	14	NUM
ejpam-6234	307	17	of	of	ADP
ejpam-6234	307	18	14	14	NUM
ejpam-6234	307	19	[	[	SYM
ejpam-6234	307	20	26	26	NUM
ejpam-6234	307	21	]	]	PUNCT
ejpam-6234	307	22	alain	alain	PROPN
ejpam-6234	307	23	ajami	ajami	PROPN
ejpam-6234	307	24	,	,	PUNCT
ejpam-6234	307	25	jean	jean	PROPN
ejpam-6234	307	26	sawma	sawma	PROPN
ejpam-6234	307	27	,	,	PUNCT
ejpam-6234	307	28	and	and	CCONJ
ejpam-6234	307	29	joseph	joseph	PROPN
ejpam-6234	307	30	el	el	PROPN
ejpam-6234	307	31	maalouf	maalouf	PROPN
ejpam-6234	307	32	.	.	PUNCT
ejpam-6234	308	1	dynamic	dynamic	ADJ
ejpam-6234	308	2	stabilization	stabilization	NOUN
ejpam-6234	308	3	-	-	PUNCT
ejpam-6234	308	4	based	base	VERB
ejpam-6234	308	5	trajectory	trajectory	NOUN
ejpam-6234	308	6	planning	planning	NOUN
ejpam-6234	308	7	for	for	ADP
ejpam-6234	308	8	drones	drone	NOUN
ejpam-6234	308	9	.	.	PUNCT
ejpam-6234	309	1	aip	aip	PROPN
ejpam-6234	309	2	conference	conference	NOUN
ejpam-6234	309	3	proceedings	proceeding	NOUN
ejpam-6234	309	4	,	,	PUNCT
ejpam-6234	309	5	2570(1):020003	2570(1):020003	NUM
ejpam-6234	309	6	,	,	PUNCT
ejpam-6234	309	7	08	08	NUM
ejpam-6234	309	8	2022	2022	NUM
ejpam-6234	309	9	.	.	PUNCT