id	sid	tid	token	lemma	pos
fuelectenerg-2698	1	1	plane	plane	NOUN
fuelectenerg-2698	1	2	thermoelastic	thermoelastic	ADJ
fuelectenerg-2698	1	3	waves	wave	NOUN
fuelectenerg-2698	1	4	in	in	ADP
fuelectenerg-2698	1	5	infinite	infinite	ADJ
fuelectenerg-2698	1	6	half	half	ADJ
fuelectenerg-2698	1	7	-	-	PUNCT
fuelectenerg-2698	1	8	space	space	NOUN
fuelectenerg-2698	1	9	caused	cause	VERB
fuelectenerg-2698	1	10	facta	facta	PROPN
fuelectenerg-2698	1	11	universitatis	universitatis	PROPN
fuelectenerg-2698	1	12	series	series	NOUN
fuelectenerg-2698	1	13	:	:	PUNCT
fuelectenerg-2698	1	14	electronics	electronic	NOUN
fuelectenerg-2698	1	15	and	and	CCONJ
fuelectenerg-2698	1	16	energetics	energetics	NOUN
fuelectenerg-2698	1	17	vol	vol	NOUN
fuelectenerg-2698	1	18	.	.	PUNCT
fuelectenerg-2698	2	1	31	31	NUM
fuelectenerg-2698	2	2	,	,	PUNCT
fuelectenerg-2698	2	3	no	no	DET
fuelectenerg-2698	2	4	1	1	NUM
fuelectenerg-2698	2	5	,	,	PUNCT
fuelectenerg-2698	2	6	march	march	PROPN
fuelectenerg-2698	2	7	2018	2018	NUM
fuelectenerg-2698	2	8	,	,	PUNCT
fuelectenerg-2698	2	9	pp	pp	ADV
fuelectenerg-2698	2	10	.	.	PUNCT
fuelectenerg-2698	3	1	75	75	NUM
fuelectenerg-2698	3	2	87	87	NUM
fuelectenerg-2698	3	3	https://doi.org/10.2298/fuee1801075b	https://doi.org/10.2298/fuee1801075b	NOUN
fuelectenerg-2698	3	4	electronic	electronic	ADJ
fuelectenerg-2698	3	5	gearing	gearing	NOUN
fuelectenerg-2698	3	6	of	of	ADP
fuelectenerg-2698	3	7	two	two	NUM
fuelectenerg-2698	3	8	dc	dc	PROPN
fuelectenerg-2698	3	9	motor	motor	NOUN
fuelectenerg-2698	3	10	shafts	shafts	ADJ
fuelectenerg-2698	3	11	for	for	ADP
fuelectenerg-2698	3	12	wheg	wheg	ADJ
fuelectenerg-2698	3	13	type	type	NOUN
fuelectenerg-2698	3	14	mobile	mobile	ADJ
fuelectenerg-2698	3	15	robot	robot	NOUN
fuelectenerg-2698	3	16			PROPN
fuelectenerg-2698	3	17	miloš	miloš	NOUN
fuelectenerg-2698	3	18	božić	božić	NOUN
fuelectenerg-2698	3	19	1	1	NUM
fuelectenerg-2698	3	20	,	,	PUNCT
fuelectenerg-2698	3	21	sanja	sanja	X
fuelectenerg-2698	3	22	antić	antić	PROPN
fuelectenerg-2698	3	23	1	1	NUM
fuelectenerg-2698	3	24	,	,	PUNCT
fuelectenerg-2698	3	25	vojislav	vojislav	NOUN
fuelectenerg-2698	3	26	vujičić	vujičić	ADJ
fuelectenerg-2698	3	27	1	1	NUM
fuelectenerg-2698	3	28	,	,	PUNCT
fuelectenerg-2698	3	29	miroslav	miroslav	NOUN
fuelectenerg-2698	3	30	bjekić	bjekić	VERB
fuelectenerg-2698	3	31	1	1	NUM
fuelectenerg-2698	3	32	,	,	PUNCT
fuelectenerg-2698	3	33	goran	goran	NOUN
fuelectenerg-2698	3	34	đorđević	đorđević	NOUN
fuelectenerg-2698	3	35	2	2	NUM
fuelectenerg-2698	3	36	1	1	NUM
fuelectenerg-2698	3	37	university	university	NOUN
fuelectenerg-2698	3	38	of	of	ADP
fuelectenerg-2698	3	39	kragujevac	kragujevac	PROPN
fuelectenerg-2698	3	40	,	,	PUNCT
fuelectenerg-2698	3	41	faculty	faculty	NOUN
fuelectenerg-2698	3	42	of	of	ADP
fuelectenerg-2698	3	43	technical	technical	ADJ
fuelectenerg-2698	3	44	sciences	sciences	PROPN
fuelectenerg-2698	3	45	,	,	PUNCT
fuelectenerg-2698	3	46	ĉaĉak	ĉaĉak	NOUN
fuelectenerg-2698	3	47	,	,	PUNCT
fuelectenerg-2698	3	48	serbia	serbia	PROPN
fuelectenerg-2698	3	49	2	2	NUM
fuelectenerg-2698	3	50	university	university	NOUN
fuelectenerg-2698	3	51	of	of	ADP
fuelectenerg-2698	3	52	niš	niš	PROPN
fuelectenerg-2698	3	53	,	,	PUNCT
fuelectenerg-2698	3	54	faculty	faculty	NOUN
fuelectenerg-2698	3	55	of	of	ADP
fuelectenerg-2698	3	56	electronic	electronic	ADJ
fuelectenerg-2698	3	57	engineering	engineering	NOUN
fuelectenerg-2698	3	58	,	,	PUNCT
fuelectenerg-2698	3	59	niš	niš	NOUN
fuelectenerg-2698	3	60	,	,	PUNCT
fuelectenerg-2698	3	61	serbia	serbia	PROPN
fuelectenerg-2698	3	62	abstract	abstract	ADJ
fuelectenerg-2698	3	63	.	.	PUNCT
fuelectenerg-2698	4	1	this	this	DET
fuelectenerg-2698	4	2	paper	paper	NOUN
fuelectenerg-2698	4	3	describes	describe	VERB
fuelectenerg-2698	4	4	the	the	DET
fuelectenerg-2698	4	5	implementation	implementation	NOUN
fuelectenerg-2698	4	6	of	of	ADP
fuelectenerg-2698	4	7	electronic	electronic	ADJ
fuelectenerg-2698	4	8	gearing	gearing	NOUN
fuelectenerg-2698	4	9	of	of	ADP
fuelectenerg-2698	4	10	two	two	NUM
fuelectenerg-2698	4	11	dc	dc	PROPN
fuelectenerg-2698	4	12	motor	motor	NOUN
fuelectenerg-2698	4	13	shafts	shafts	ADJ
fuelectenerg-2698	4	14	.	.	PUNCT
fuelectenerg-2698	5	1	dc	dc	PROPN
fuelectenerg-2698	5	2	motors	motors	PROPN
fuelectenerg-2698	5	3	are	be	AUX
fuelectenerg-2698	5	4	drives	drive	NOUN
fuelectenerg-2698	5	5	for	for	ADP
fuelectenerg-2698	5	6	a	a	DET
fuelectenerg-2698	5	7	mobile	mobile	ADJ
fuelectenerg-2698	5	8	robot	robot	NOUN
fuelectenerg-2698	5	9	with	with	ADP
fuelectenerg-2698	5	10	wheels	wheel	NOUN
fuelectenerg-2698	5	11	in	in	ADP
fuelectenerg-2698	5	12	the	the	DET
fuelectenerg-2698	5	13	form	form	NOUN
fuelectenerg-2698	5	14	of	of	ADP
fuelectenerg-2698	5	15	wheel	wheel	NOUN
fuelectenerg-2698	5	16	leg	leg	NOUN
fuelectenerg-2698	5	17	(	(	PUNCT
fuelectenerg-2698	5	18	wheg	wheg	NOUN
fuelectenerg-2698	5	19	)	)	PUNCT
fuelectenerg-2698	5	20	configuration	configuration	NOUN
fuelectenerg-2698	5	21	.	.	PUNCT
fuelectenerg-2698	6	1	a	a	DET
fuelectenerg-2698	6	2	single	single	ADJ
fuelectenerg-2698	6	3	wheel	wheel	NOUN
fuelectenerg-2698	6	4	consists	consist	VERB
fuelectenerg-2698	6	5	of	of	ADP
fuelectenerg-2698	6	6	two	two	NUM
fuelectenerg-2698	6	7	whegs	wheg	NOUN
fuelectenerg-2698	6	8	(	(	PUNCT
fuelectenerg-2698	6	9	dwheg	dwheg	PROPN
fuelectenerg-2698	6	10	)	)	PUNCT
fuelectenerg-2698	6	11	.	.	PUNCT
fuelectenerg-2698	7	1	the	the	DET
fuelectenerg-2698	7	2	first	first	ADJ
fuelectenerg-2698	7	3	dc	dc	PROPN
fuelectenerg-2698	7	4	motor	motor	NOUN
fuelectenerg-2698	7	5	drives	drive	VERB
fuelectenerg-2698	7	6	one	one	NUM
fuelectenerg-2698	7	7	wheg	wheg	NOUN
fuelectenerg-2698	7	8	,	,	PUNCT
fuelectenerg-2698	7	9	while	while	SCONJ
fuelectenerg-2698	7	10	the	the	DET
fuelectenerg-2698	7	11	second	second	ADJ
fuelectenerg-2698	7	12	one	one	NOUN
fuelectenerg-2698	7	13	drives	drive	VERB
fuelectenerg-2698	7	14	another	another	DET
fuelectenerg-2698	7	15	independent	independent	ADJ
fuelectenerg-2698	7	16	wheg	wheg	NOUN
fuelectenerg-2698	7	17	.	.	PUNCT
fuelectenerg-2698	8	1	one	one	NUM
fuelectenerg-2698	8	2	motor	motor	NOUN
fuelectenerg-2698	8	3	serves	serve	VERB
fuelectenerg-2698	8	4	as	as	ADP
fuelectenerg-2698	8	5	the	the	DET
fuelectenerg-2698	8	6	master	master	NOUN
fuelectenerg-2698	8	7	drive	drive	NOUN
fuelectenerg-2698	8	8	motor	motor	NOUN
fuelectenerg-2698	8	9	,	,	PUNCT
fuelectenerg-2698	8	10	while	while	SCONJ
fuelectenerg-2698	8	11	the	the	DET
fuelectenerg-2698	8	12	other	other	ADJ
fuelectenerg-2698	8	13	represents	represent	VERB
fuelectenerg-2698	8	14	the	the	DET
fuelectenerg-2698	8	15	slave	slave	NOUN
fuelectenerg-2698	8	16	drive	drive	NOUN
fuelectenerg-2698	8	17	motor	motor	NOUN
fuelectenerg-2698	8	18	.	.	PUNCT
fuelectenerg-2698	9	1	as	as	SCONJ
fuelectenerg-2698	9	2	the	the	DET
fuelectenerg-2698	9	3	motors	motor	NOUN
fuelectenerg-2698	9	4	are	be	AUX
fuelectenerg-2698	9	5	independent	independent	ADJ
fuelectenerg-2698	9	6	,	,	PUNCT
fuelectenerg-2698	9	7	it	it	PRON
fuelectenerg-2698	9	8	is	be	AUX
fuelectenerg-2698	9	9	necessary	necessary	ADJ
fuelectenerg-2698	9	10	to	to	PART
fuelectenerg-2698	9	11	synchronize	synchronize	VERB
fuelectenerg-2698	9	12	the	the	DET
fuelectenerg-2698	9	13	speed	speed	NOUN
fuelectenerg-2698	9	14	and	and	CCONJ
fuelectenerg-2698	9	15	adjust	adjust	VERB
fuelectenerg-2698	9	16	the	the	DET
fuelectenerg-2698	9	17	angle	angle	NOUN
fuelectenerg-2698	9	18	between	between	ADP
fuelectenerg-2698	9	19	shafts	shafts	ADJ
fuelectenerg-2698	9	20	.	.	PUNCT
fuelectenerg-2698	10	1	the	the	DET
fuelectenerg-2698	10	2	main	main	ADJ
fuelectenerg-2698	10	3	contribution	contribution	NOUN
fuelectenerg-2698	10	4	of	of	ADP
fuelectenerg-2698	10	5	this	this	DET
fuelectenerg-2698	10	6	paper	paper	NOUN
fuelectenerg-2698	10	7	is	be	AUX
fuelectenerg-2698	10	8	the	the	DET
fuelectenerg-2698	10	9	implementation	implementation	NOUN
fuelectenerg-2698	10	10	of	of	ADP
fuelectenerg-2698	10	11	control	control	NOUN
fuelectenerg-2698	10	12	structure	structure	NOUN
fuelectenerg-2698	10	13	that	that	PRON
fuelectenerg-2698	10	14	enables	enable	VERB
fuelectenerg-2698	10	15	the	the	DET
fuelectenerg-2698	10	16	slave	slave	NOUN
fuelectenerg-2698	10	17	to	to	PART
fuelectenerg-2698	10	18	follow	follow	VERB
fuelectenerg-2698	10	19	the	the	DET
fuelectenerg-2698	10	20	master	master	NOUN
fuelectenerg-2698	10	21	drive	drive	NOUN
fuelectenerg-2698	10	22	,	,	PUNCT
fuelectenerg-2698	10	23	without	without	ADP
fuelectenerg-2698	10	24	mechanical	mechanical	ADJ
fuelectenerg-2698	10	25	coupling	coupling	NOUN
fuelectenerg-2698	10	26	.	.	PUNCT
fuelectenerg-2698	11	1	based	base	VERB
fuelectenerg-2698	11	2	on	on	ADP
fuelectenerg-2698	11	3	encoder	encoder	NOUN
fuelectenerg-2698	11	4	measurements	measurement	NOUN
fuelectenerg-2698	11	5	,	,	PUNCT
fuelectenerg-2698	11	6	the	the	DET
fuelectenerg-2698	11	7	slave	slave	NOUN
fuelectenerg-2698	11	8	effectively	effectively	ADV
fuelectenerg-2698	11	9	follows	follow	VERB
fuelectenerg-2698	11	10	the	the	DET
fuelectenerg-2698	11	11	master	master	NOUN
fuelectenerg-2698	11	12	drive	drive	VERB
fuelectenerg-2698	11	13	for	for	ADP
fuelectenerg-2698	11	14	the	the	DET
fuelectenerg-2698	11	15	given	give	VERB
fuelectenerg-2698	11	16	references	reference	NOUN
fuelectenerg-2698	11	17	of	of	ADP
fuelectenerg-2698	11	18	speed	speed	NOUN
fuelectenerg-2698	11	19	and	and	CCONJ
fuelectenerg-2698	11	20	angle	angle	NOUN
fuelectenerg-2698	11	21	.	.	PUNCT
fuelectenerg-2698	12	1	speed	speed	NOUN
fuelectenerg-2698	12	2	and	and	CCONJ
fuelectenerg-2698	12	3	positioning	positioning	NOUN
fuelectenerg-2698	12	4	loops	loop	NOUN
fuelectenerg-2698	12	5	are	be	AUX
fuelectenerg-2698	12	6	implemented	implement	VERB
fuelectenerg-2698	12	7	on	on	ADP
fuelectenerg-2698	12	8	real	real	ADJ
fuelectenerg-2698	12	9	time	time	NOUN
fuelectenerg-2698	12	10	controller	controller	NOUN
fuelectenerg-2698	12	11	sbrio	sbrio	PROPN
fuelectenerg-2698	12	12	.	.	PUNCT
fuelectenerg-2698	13	1	the	the	DET
fuelectenerg-2698	13	2	laboratory	laboratory	NOUN
fuelectenerg-2698	13	3	setup	setup	NOUN
fuelectenerg-2698	13	4	was	be	AUX
fuelectenerg-2698	13	5	created	create	VERB
fuelectenerg-2698	13	6	and	and	CCONJ
fuelectenerg-2698	13	7	comparison	comparison	NOUN
fuelectenerg-2698	13	8	of	of	ADP
fuelectenerg-2698	13	9	realized	realize	VERB
fuelectenerg-2698	13	10	and	and	CCONJ
fuelectenerg-2698	13	11	required	require	VERB
fuelectenerg-2698	13	12	angles	angle	NOUN
fuelectenerg-2698	13	13	and	and	CCONJ
fuelectenerg-2698	13	14	speeds	speed	NOUN
fuelectenerg-2698	13	15	was	be	AUX
fuelectenerg-2698	13	16	made	make	VERB
fuelectenerg-2698	13	17	.	.	PUNCT
fuelectenerg-2698	14	1	key	key	ADJ
fuelectenerg-2698	14	2	words	word	NOUN
fuelectenerg-2698	14	3	:	:	PUNCT
fuelectenerg-2698	14	4	electronic	electronic	ADJ
fuelectenerg-2698	14	5	gearing	gearing	NOUN
fuelectenerg-2698	14	6	,	,	PUNCT
fuelectenerg-2698	14	7	master	master	NOUN
fuelectenerg-2698	14	8	,	,	PUNCT
fuelectenerg-2698	14	9	slave	slave	NOUN
fuelectenerg-2698	14	10	,	,	PUNCT
fuelectenerg-2698	14	11	wheg	wheg	PROPN
fuelectenerg-2698	14	12	,	,	PUNCT
fuelectenerg-2698	14	13	dc	dc	PROPN
fuelectenerg-2698	14	14	motor	motor	NOUN
fuelectenerg-2698	14	15	,	,	PUNCT
fuelectenerg-2698	14	16	sbrio	sbrio	NOUN
fuelectenerg-2698	14	17	1	1	NUM
fuelectenerg-2698	14	18	.	.	PUNCT
fuelectenerg-2698	14	19	introduction	introduction	NOUN
fuelectenerg-2698	14	20	coupling	coupling	NOUN
fuelectenerg-2698	14	21	of	of	ADP
fuelectenerg-2698	14	22	motion	motion	NOUN
fuelectenerg-2698	14	23	axis	axis	NOUN
fuelectenerg-2698	14	24	in	in	ADP
fuelectenerg-2698	14	25	industrial	industrial	ADJ
fuelectenerg-2698	14	26	and	and	CCONJ
fuelectenerg-2698	14	27	robotic	robotic	ADJ
fuelectenerg-2698	14	28	applications	application	NOUN
fuelectenerg-2698	14	29	is	be	AUX
fuelectenerg-2698	14	30	always	always	ADV
fuelectenerg-2698	14	31	a	a	DET
fuelectenerg-2698	14	32	challenging	challenging	ADJ
fuelectenerg-2698	14	33	task	task	NOUN
fuelectenerg-2698	14	34	.	.	PUNCT
fuelectenerg-2698	15	1	it	it	PRON
fuelectenerg-2698	15	2	is	be	AUX
fuelectenerg-2698	15	3	often	often	ADV
fuelectenerg-2698	15	4	necessary	necessary	ADJ
fuelectenerg-2698	15	5	to	to	PART
fuelectenerg-2698	15	6	do	do	VERB
fuelectenerg-2698	15	7	coupling	coupling	NOUN
fuelectenerg-2698	15	8	and	and	CCONJ
fuelectenerg-2698	15	9	synchronization	synchronization	NOUN
fuelectenerg-2698	15	10	of	of	ADP
fuelectenerg-2698	15	11	two	two	NUM
fuelectenerg-2698	15	12	or	or	CCONJ
fuelectenerg-2698	15	13	more	more	ADJ
fuelectenerg-2698	15	14	axes	axis	NOUN
fuelectenerg-2698	15	15	,	,	PUNCT
fuelectenerg-2698	15	16	linear	linear	ADJ
fuelectenerg-2698	16	1	[	[	X
fuelectenerg-2698	16	2	1	1	NUM
fuelectenerg-2698	16	3	,	,	PUNCT
fuelectenerg-2698	16	4	2	2	NUM
fuelectenerg-2698	16	5	]	]	PUNCT
fuelectenerg-2698	16	6	,	,	PUNCT
fuelectenerg-2698	16	7	circular	circular	ADJ
fuelectenerg-2698	16	8	or	or	CCONJ
fuelectenerg-2698	16	9	other	other	ADJ
fuelectenerg-2698	16	10	complex	complex	ADJ
fuelectenerg-2698	16	11	movements	movement	NOUN
fuelectenerg-2698	16	12	,	,	PUNCT
fuelectenerg-2698	16	13	such	such	ADJ
fuelectenerg-2698	16	14	as	as	ADP
fuelectenerg-2698	16	15	curve	curve	NOUN
fuelectenerg-2698	16	16	profiles	profile	NOUN
fuelectenerg-2698	16	17	.	.	PUNCT
fuelectenerg-2698	17	1	the	the	DET
fuelectenerg-2698	17	2	task	task	NOUN
fuelectenerg-2698	17	3	can	can	AUX
fuelectenerg-2698	17	4	be	be	AUX
fuelectenerg-2698	17	5	performed	perform	VERB
fuelectenerg-2698	17	6	in	in	ADP
fuelectenerg-2698	17	7	contact	contact	NOUN
fuelectenerg-2698	17	8	way	way	NOUN
fuelectenerg-2698	17	9	,	,	PUNCT
fuelectenerg-2698	17	10	by	by	ADP
fuelectenerg-2698	17	11	using	use	VERB
fuelectenerg-2698	17	12	mechanical	mechanical	ADJ
fuelectenerg-2698	17	13	couplings	coupling	NOUN
fuelectenerg-2698	17	14	like	like	ADP
fuelectenerg-2698	17	15	gear	gear	NOUN
fuelectenerg-2698	17	16	pairs	pair	NOUN
fuelectenerg-2698	17	17	,	,	PUNCT
fuelectenerg-2698	17	18	differential	differential	NOUN
fuelectenerg-2698	17	19	drive	drive	NOUN
fuelectenerg-2698	17	20	,	,	PUNCT
fuelectenerg-2698	17	21	belts	belt	NOUN
fuelectenerg-2698	17	22	,	,	PUNCT
fuelectenerg-2698	17	23	chains	chain	NOUN
fuelectenerg-2698	17	24	,	,	PUNCT
fuelectenerg-2698	17	25	etc	etc	X
fuelectenerg-2698	17	26	.	.	X
fuelectenerg-2698	18	1	another	another	DET
fuelectenerg-2698	18	2	possible	possible	ADJ
fuelectenerg-2698	18	3	alternative	alternative	NOUN
fuelectenerg-2698	18	4	is	be	AUX
fuelectenerg-2698	18	5	contactless	contactless	ADJ
fuelectenerg-2698	18	6	coupling	coupling	NOUN
fuelectenerg-2698	18	7	.	.	PUNCT
fuelectenerg-2698	19	1	in	in	ADP
fuelectenerg-2698	19	2	industrial	industrial	ADJ
fuelectenerg-2698	19	3	applications	application	NOUN
fuelectenerg-2698	19	4	,	,	PUNCT
fuelectenerg-2698	19	5	it	it	PRON
fuelectenerg-2698	19	6	is	be	AUX
fuelectenerg-2698	19	7	used	use	VERB
fuelectenerg-2698	19	8	in	in	ADP
fuelectenerg-2698	19	9	servo	servo	NOUN
fuelectenerg-2698	19	10	applications	application	NOUN
fuelectenerg-2698	19	11	under	under	ADP
fuelectenerg-2698	19	12	the	the	DET
fuelectenerg-2698	19	13	name	name	NOUN
fuelectenerg-2698	19	14	electronic	electronic	ADJ
fuelectenerg-2698	19	15	coupling	coupling	NOUN
fuelectenerg-2698	19	16	,	,	PUNCT
fuelectenerg-2698	19	17	electronic	electronic	ADJ
fuelectenerg-2698	19	18	gearing	gearing	NOUN
fuelectenerg-2698	19	19	or	or	CCONJ
fuelectenerg-2698	19	20	electronic	electronic	ADJ
fuelectenerg-2698	19	21	line	line	NOUN
fuelectenerg-2698	19	22	shafting	shaft	VERB
fuelectenerg-2698	19	23	[	[	X
fuelectenerg-2698	19	24	3	3	NUM
fuelectenerg-2698	19	25	,	,	PUNCT
fuelectenerg-2698	19	26	4	4	NUM
fuelectenerg-2698	19	27	]	]	PUNCT
fuelectenerg-2698	19	28	,	,	PUNCT
fuelectenerg-2698	19	29	while	while	SCONJ
fuelectenerg-2698	19	30	in	in	ADP
fuelectenerg-2698	19	31	the	the	DET
fuelectenerg-2698	19	32	automobile	automobile	NOUN
fuelectenerg-2698	19	33	industry	industry	NOUN
fuelectenerg-2698	19	34	,	,	PUNCT
fuelectenerg-2698	19	35	this	this	DET
fuelectenerg-2698	19	36	technology	technology	NOUN
fuelectenerg-2698	19	37	is	be	AUX
fuelectenerg-2698	19	38	called	call	VERB
fuelectenerg-2698	19	39	drive	drive	NOUN
fuelectenerg-2698	19	40	-	-	PUNCT
fuelectenerg-2698	19	41	by	by	ADP
fuelectenerg-2698	19	42	-	-	PUNCT
fuelectenerg-2698	19	43	wire	wire	NOUN
fuelectenerg-2698	20	1	[	[	X
fuelectenerg-2698	20	2	5	5	NUM
fuelectenerg-2698	20	3	,	,	PUNCT
fuelectenerg-2698	20	4	6	6	NUM
fuelectenerg-2698	20	5	]	]	PUNCT
fuelectenerg-2698	20	6	.	.	PUNCT
fuelectenerg-2698	21	1	the	the	DET
fuelectenerg-2698	21	2	examples	example	NOUN
fuelectenerg-2698	21	3	of	of	ADP
fuelectenerg-2698	21	4	the	the	DET
fuelectenerg-2698	21	5	electronic	electronic	ADJ
fuelectenerg-2698	21	6	coupling	coupling	NOUN
fuelectenerg-2698	21	7	can	can	AUX
fuelectenerg-2698	21	8	be	be	AUX
fuelectenerg-2698	21	9	found	find	VERB
fuelectenerg-2698	21	10	in	in	ADP
fuelectenerg-2698	21	11	haptic	haptic	ADJ
fuelectenerg-2698	21	12	devices	device	NOUN
fuelectenerg-2698	21	13	[	[	X
fuelectenerg-2698	21	14	7	7	NUM
fuelectenerg-2698	21	15	,	,	PUNCT
fuelectenerg-2698	21	16	8	8	NUM
fuelectenerg-2698	21	17	]	]	PUNCT
fuelectenerg-2698	21	18	.	.	PUNCT
fuelectenerg-2698	22	1	the	the	DET
fuelectenerg-2698	22	2	advantages	advantage	NOUN
fuelectenerg-2698	22	3	of	of	ADP
fuelectenerg-2698	22	4	electronic	electronic	ADJ
fuelectenerg-2698	22	5	over	over	ADP
fuelectenerg-2698	22	6	mechanical	mechanical	ADJ
fuelectenerg-2698	22	7	coupling	coupling	NOUN
fuelectenerg-2698	22	8	are	be	AUX
fuelectenerg-2698	22	9	numerous	numerous	ADJ
fuelectenerg-2698	22	10	.	.	PUNCT
fuelectenerg-2698	23	1	electronic	electronic	ADJ
fuelectenerg-2698	23	2	gearing	gearing	NOUN
fuelectenerg-2698	23	3	is	be	AUX
fuelectenerg-2698	23	4	used	use	VERB
fuelectenerg-2698	23	5	instead	instead	ADV
fuelectenerg-2698	23	6	of	of	ADP
fuelectenerg-2698	23	7	mechanical	mechanical	ADJ
fuelectenerg-2698	23	8	assemblies	assembly	NOUN
fuelectenerg-2698	23	9	,	,	PUNCT
fuelectenerg-2698	23	10	given	give	VERB
fuelectenerg-2698	23	11	that	that	SCONJ
fuelectenerg-2698	23	12	the	the	DET
fuelectenerg-2698	23	13	received	receive	VERB
fuelectenerg-2698	23	14	march	march	PROPN
fuelectenerg-2698	23	15	14	14	NUM
fuelectenerg-2698	23	16	,	,	PUNCT
fuelectenerg-2698	23	17	2017	2017	NUM
fuelectenerg-2698	23	18	;	;	PUNCT
fuelectenerg-2698	23	19	received	receive	VERB
fuelectenerg-2698	23	20	in	in	ADP
fuelectenerg-2698	23	21	revised	revise	VERB
fuelectenerg-2698	23	22	form	form	NOUN
fuelectenerg-2698	23	23	july	july	PROPN
fuelectenerg-2698	23	24	27	27	NUM
fuelectenerg-2698	23	25	,	,	PUNCT
fuelectenerg-2698	23	26	2017	2017	NUM
fuelectenerg-2698	23	27	corresponding	correspond	VERB
fuelectenerg-2698	23	28	author	author	NOUN
fuelectenerg-2698	23	29	:	:	PUNCT
fuelectenerg-2698	23	30	miloš	miloš	PROPN
fuelectenerg-2698	23	31	božić	božić	PROPN
fuelectenerg-2698	23	32	university	university	PROPN
fuelectenerg-2698	23	33	of	of	ADP
fuelectenerg-2698	23	34	kragujevac	kragujevac	PROPN
fuelectenerg-2698	23	35	,	,	PUNCT
fuelectenerg-2698	23	36	faculty	faculty	NOUN
fuelectenerg-2698	23	37	of	of	ADP
fuelectenerg-2698	23	38	technical	technical	ADJ
fuelectenerg-2698	23	39	sciences	science	NOUN
fuelectenerg-2698	23	40	,	,	PUNCT
fuelectenerg-2698	23	41	svetog	svetog	NOUN
fuelectenerg-2698	23	42	save	save	VERB
fuelectenerg-2698	23	43	65	65	NUM
fuelectenerg-2698	23	44	,	,	PUNCT
fuelectenerg-2698	23	45	32000	32000	NUM
fuelectenerg-2698	23	46	ĉaĉak	ĉaĉak	NOUN
fuelectenerg-2698	23	47	,	,	PUNCT
fuelectenerg-2698	23	48	serbia	serbia	PROPN
fuelectenerg-2698	23	49	(	(	PUNCT
fuelectenerg-2698	23	50	e	e	NOUN
fuelectenerg-2698	23	51	-	-	NOUN
fuelectenerg-2698	23	52	mail	mail	NOUN
fuelectenerg-2698	23	53	:	:	PUNCT
fuelectenerg-2698	23	54	milos.bozic@ftn.kg.ac.rs	milos.bozic@ftn.kg.ac.rs	NUM
fuelectenerg-2698	23	55	)	)	PUNCT
fuelectenerg-2698	23	56	76	76	NUM
fuelectenerg-2698	23	57	m.	m.	NOUN
fuelectenerg-2698	23	58	božić	božić	NOUN
fuelectenerg-2698	23	59	,	,	PUNCT
fuelectenerg-2698	23	60	s.	s.	PROPN
fuelectenerg-2698	23	61	antić	antić	PROPN
fuelectenerg-2698	23	62	,	,	PUNCT
fuelectenerg-2698	23	63	v.	v.	ADP
fuelectenerg-2698	23	64	vujiĉić	vujiĉić	PROPN
fuelectenerg-2698	23	65	,	,	PUNCT
fuelectenerg-2698	23	66	m.	m.	NOUN
fuelectenerg-2698	23	67	bjekić	bjekić	PROPN
fuelectenerg-2698	23	68	,	,	PUNCT
fuelectenerg-2698	23	69	g.	g.	PROPN
fuelectenerg-2698	23	70	đorđević	đorđević	AUX
fuelectenerg-2698	23	71	latter	latter	ADV
fuelectenerg-2698	23	72	are	be	AUX
fuelectenerg-2698	23	73	the	the	DET
fuelectenerg-2698	23	74	weakest	weak	ADJ
fuelectenerg-2698	23	75	link	link	NOUN
fuelectenerg-2698	23	76	in	in	ADP
fuelectenerg-2698	23	77	the	the	DET
fuelectenerg-2698	23	78	system	system	NOUN
fuelectenerg-2698	23	79	.	.	PUNCT
fuelectenerg-2698	24	1	electronic	electronic	ADJ
fuelectenerg-2698	24	2	coupling	coupling	NOUN
fuelectenerg-2698	24	3	makes	make	VERB
fuelectenerg-2698	24	4	the	the	DET
fuelectenerg-2698	24	5	system	system	NOUN
fuelectenerg-2698	24	6	more	more	ADV
fuelectenerg-2698	24	7	efficient	efficient	ADJ
fuelectenerg-2698	24	8	and	and	CCONJ
fuelectenerg-2698	24	9	flexible	flexible	ADJ
fuelectenerg-2698	24	10	.	.	PUNCT
fuelectenerg-2698	25	1	typically	typically	ADV
fuelectenerg-2698	25	2	,	,	PUNCT
fuelectenerg-2698	25	3	there	there	PRON
fuelectenerg-2698	25	4	is	be	VERB
fuelectenerg-2698	25	5	one	one	NUM
fuelectenerg-2698	25	6	master	master	NOUN
fuelectenerg-2698	25	7	drive	drive	NOUN
fuelectenerg-2698	25	8	and	and	CCONJ
fuelectenerg-2698	25	9	one	one	NUM
fuelectenerg-2698	25	10	or	or	CCONJ
fuelectenerg-2698	25	11	more	more	ADJ
fuelectenerg-2698	25	12	slave	slave	NOUN
fuelectenerg-2698	25	13	drives	drive	NOUN
fuelectenerg-2698	25	14	which	which	PRON
fuelectenerg-2698	25	15	follow	follow	VERB
fuelectenerg-2698	25	16	references	reference	NOUN
fuelectenerg-2698	25	17	set	set	VERB
fuelectenerg-2698	25	18	by	by	ADP
fuelectenerg-2698	25	19	the	the	DET
fuelectenerg-2698	25	20	master	master	NOUN
fuelectenerg-2698	25	21	drive	drive	NOUN
fuelectenerg-2698	25	22	.	.	PUNCT
fuelectenerg-2698	26	1	reference	reference	NOUN
fuelectenerg-2698	26	2	can	can	AUX
fuelectenerg-2698	26	3	be	be	AUX
fuelectenerg-2698	26	4	given	give	VERB
fuelectenerg-2698	26	5	in	in	ADP
fuelectenerg-2698	26	6	the	the	DET
fuelectenerg-2698	26	7	form	form	NOUN
fuelectenerg-2698	26	8	of	of	ADP
fuelectenerg-2698	26	9	torque	torque	NOUN
fuelectenerg-2698	26	10	(	(	PUNCT
fuelectenerg-2698	26	11	current	current	ADJ
fuelectenerg-2698	26	12	)	)	PUNCT
fuelectenerg-2698	26	13	,	,	PUNCT
fuelectenerg-2698	26	14	speed	speed	NOUN
fuelectenerg-2698	26	15	or	or	CCONJ
fuelectenerg-2698	26	16	position	position	NOUN
fuelectenerg-2698	26	17	therefore	therefore	ADV
fuelectenerg-2698	26	18	the	the	DET
fuelectenerg-2698	26	19	concept	concept	NOUN
fuelectenerg-2698	26	20	can	can	AUX
fuelectenerg-2698	26	21	be	be	AUX
fuelectenerg-2698	26	22	applied	apply	VERB
fuelectenerg-2698	26	23	to	to	ADP
fuelectenerg-2698	26	24	a	a	DET
fuelectenerg-2698	26	25	wide	wide	ADJ
fuelectenerg-2698	26	26	variety	variety	NOUN
fuelectenerg-2698	26	27	of	of	ADP
fuelectenerg-2698	26	28	applications	application	NOUN
fuelectenerg-2698	26	29	.	.	PUNCT
fuelectenerg-2698	27	1	in	in	ADP
fuelectenerg-2698	27	2	this	this	DET
fuelectenerg-2698	27	3	paper	paper	NOUN
fuelectenerg-2698	27	4	,	,	PUNCT
fuelectenerg-2698	27	5	the	the	DET
fuelectenerg-2698	27	6	concept	concept	NOUN
fuelectenerg-2698	27	7	master	master	NOUN
fuelectenerg-2698	27	8	-	-	PUNCT
fuelectenerg-2698	27	9	slave	slave	NOUN
fuelectenerg-2698	27	10	drive	drive	NOUN
fuelectenerg-2698	27	11	was	be	AUX
fuelectenerg-2698	27	12	applied	apply	VERB
fuelectenerg-2698	27	13	to	to	ADP
fuelectenerg-2698	27	14	wheel	wheel	NOUN
fuelectenerg-2698	27	15	leg	leg	NOUN
fuelectenerg-2698	27	16	drive	drive	NOUN
fuelectenerg-2698	27	17	(	(	PUNCT
fuelectenerg-2698	27	18	wheg	wheg	NOUN
fuelectenerg-2698	27	19	)	)	PUNCT
fuelectenerg-2698	28	1	[	[	X
fuelectenerg-2698	28	2	9	9	NUM
fuelectenerg-2698	28	3	,	,	PUNCT
fuelectenerg-2698	28	4	10	10	NUM
fuelectenerg-2698	28	5	]	]	PUNCT
fuelectenerg-2698	28	6	.	.	PUNCT
fuelectenerg-2698	29	1	wheg	wheg	PROPN
fuelectenerg-2698	29	2	has	have	VERB
fuelectenerg-2698	29	3	a	a	DET
fuelectenerg-2698	29	4	form	form	NOUN
fuelectenerg-2698	29	5	of	of	ADP
fuelectenerg-2698	29	6	legged	legged	ADJ
fuelectenerg-2698	29	7	wheel	wheel	NOUN
fuelectenerg-2698	29	8	with	with	ADP
fuelectenerg-2698	29	9	n	n	CCONJ
fuelectenerg-2698	29	10	legs	leg	NOUN
fuelectenerg-2698	29	11	(	(	PUNCT
fuelectenerg-2698	29	12	spokes	spoke	NOUN
fuelectenerg-2698	29	13	)	)	PUNCT
fuelectenerg-2698	29	14	.	.	PUNCT
fuelectenerg-2698	30	1	in	in	ADP
fuelectenerg-2698	30	2	the	the	DET
fuelectenerg-2698	30	3	setup	setup	NOUN
fuelectenerg-2698	30	4	employed	employ	VERB
fuelectenerg-2698	30	5	in	in	ADP
fuelectenerg-2698	30	6	the	the	DET
fuelectenerg-2698	30	7	paper	paper	NOUN
fuelectenerg-2698	30	8	,	,	PUNCT
fuelectenerg-2698	30	9	wheg	wheg	PROPN
fuelectenerg-2698	30	10	had	have	VERB
fuelectenerg-2698	30	11	four	four	NUM
fuelectenerg-2698	30	12	spokes	spoke	NOUN
fuelectenerg-2698	30	13	.	.	PUNCT
fuelectenerg-2698	31	1	placing	place	VERB
fuelectenerg-2698	31	2	two	two	NUM
fuelectenerg-2698	31	3	whegs	wheg	NOUN
fuelectenerg-2698	31	4	next	next	ADV
fuelectenerg-2698	31	5	to	to	ADP
fuelectenerg-2698	31	6	each	each	DET
fuelectenerg-2698	31	7	other	other	ADJ
fuelectenerg-2698	31	8	and	and	CCONJ
fuelectenerg-2698	31	9	by	by	ADP
fuelectenerg-2698	31	10	independent	independent	ADJ
fuelectenerg-2698	31	11	drive	drive	NOUN
fuelectenerg-2698	31	12	of	of	ADP
fuelectenerg-2698	31	13	master	master	NOUN
fuelectenerg-2698	31	14	and	and	CCONJ
fuelectenerg-2698	31	15	slave	slave	NOUN
fuelectenerg-2698	31	16	,	,	PUNCT
fuelectenerg-2698	31	17	double	double	ADJ
fuelectenerg-2698	31	18	wheg	wheg	NOUN
fuelectenerg-2698	31	19	drive	drive	NOUN
fuelectenerg-2698	31	20	(	(	PUNCT
fuelectenerg-2698	31	21	dwheg	dwheg	PROPN
fuelectenerg-2698	31	22	)	)	PUNCT
fuelectenerg-2698	31	23	is	be	AUX
fuelectenerg-2698	31	24	obtained	obtain	VERB
fuelectenerg-2698	31	25	.	.	PUNCT
fuelectenerg-2698	32	1	dwheg	dwheg	PROPN
fuelectenerg-2698	32	2	drive	drive	PROPN
fuelectenerg-2698	32	3	allows	allow	VERB
fuelectenerg-2698	32	4	independent	independent	ADJ
fuelectenerg-2698	32	5	control	control	NOUN
fuelectenerg-2698	32	6	of	of	ADP
fuelectenerg-2698	32	7	the	the	DET
fuelectenerg-2698	32	8	two	two	NUM
fuelectenerg-2698	32	9	whegs	wheg	NOUN
fuelectenerg-2698	32	10	.	.	PUNCT
fuelectenerg-2698	33	1	figure	figure	NOUN
fuelectenerg-2698	33	2	1	1	NUM
fuelectenerg-2698	33	3	left	left	NOUN
fuelectenerg-2698	33	4	illustrates	illustrate	VERB
fuelectenerg-2698	33	5	all	all	DET
fuelectenerg-2698	33	6	the	the	DET
fuelectenerg-2698	33	7	seven	seven	NUM
fuelectenerg-2698	33	8	elements	element	NOUN
fuelectenerg-2698	33	9	of	of	ADP
fuelectenerg-2698	33	10	the	the	DET
fuelectenerg-2698	33	11	dwheg	dwheg	PROPN
fuelectenerg-2698	33	12	master	master	PROPN
fuelectenerg-2698	33	13	-	-	PUNCT
fuelectenerg-2698	33	14	slave	slave	NOUN
fuelectenerg-2698	33	15	drive	drive	PROPN
fuelectenerg-2698	33	16	wheel	wheel	NOUN
fuelectenerg-2698	33	17	.	.	PUNCT
fuelectenerg-2698	34	1	fig	fig	NOUN
fuelectenerg-2698	34	2	.	.	PUNCT
fuelectenerg-2698	35	1	1	1	NUM
fuelectenerg-2698	35	2	dwheg	dwheg	PROPN
fuelectenerg-2698	35	3	master	master	PROPN
fuelectenerg-2698	35	4	-	-	PUNCT
fuelectenerg-2698	35	5	slave	slave	NOUN
fuelectenerg-2698	35	6	drive	drive	NOUN
fuelectenerg-2698	35	7	(	(	PUNCT
fuelectenerg-2698	35	8	left	left	ADJ
fuelectenerg-2698	35	9	)	)	PUNCT
fuelectenerg-2698	35	10	and	and	CCONJ
fuelectenerg-2698	35	11	prototype	prototype	NOUN
fuelectenerg-2698	35	12	of	of	ADP
fuelectenerg-2698	35	13	robot	robot	NOUN
fuelectenerg-2698	35	14	with	with	ADP
fuelectenerg-2698	35	15	rigid	rigid	ADJ
fuelectenerg-2698	35	16	dwheg	dwheg	ADJ
fuelectenerg-2698	35	17	drives	drive	NOUN
fuelectenerg-2698	35	18	(	(	PUNCT
fuelectenerg-2698	35	19	right	right	ADJ
fuelectenerg-2698	35	20	)	)	PUNCT
fuelectenerg-2698	35	21	the	the	DET
fuelectenerg-2698	35	22	figure	figure	NOUN
fuelectenerg-2698	35	23	1	1	NUM
fuelectenerg-2698	35	24	left	left	NOUN
fuelectenerg-2698	35	25	shows	show	VERB
fuelectenerg-2698	35	26	the	the	DET
fuelectenerg-2698	35	27	main	main	ADJ
fuelectenerg-2698	35	28	parts	part	NOUN
fuelectenerg-2698	35	29	of	of	ADP
fuelectenerg-2698	35	30	the	the	DET
fuelectenerg-2698	35	31	dwheg	dwheg	PROPN
fuelectenerg-2698	35	32	drive	drive	NOUN
fuelectenerg-2698	35	33	module	module	NOUN
fuelectenerg-2698	35	34	.	.	PUNCT
fuelectenerg-2698	36	1	the	the	DET
fuelectenerg-2698	36	2	parts	part	NOUN
fuelectenerg-2698	36	3	are	be	AUX
fuelectenerg-2698	36	4	numbered	number	VERB
fuelectenerg-2698	36	5	as	as	SCONJ
fuelectenerg-2698	36	6	follows	follow	VERB
fuelectenerg-2698	36	7	:	:	PUNCT
fuelectenerg-2698	36	8	1	1	X
fuelectenerg-2698	36	9	)	)	PUNCT
fuelectenerg-2698	36	10	master	master	NOUN
fuelectenerg-2698	36	11	motor	motor	NOUN
fuelectenerg-2698	36	12	,	,	PUNCT
fuelectenerg-2698	36	13	2	2	NUM
fuelectenerg-2698	36	14	)	)	PUNCT
fuelectenerg-2698	36	15	slave	slave	NOUN
fuelectenerg-2698	36	16	motor	motor	NOUN
fuelectenerg-2698	36	17	,	,	PUNCT
fuelectenerg-2698	36	18	3	3	NUM
fuelectenerg-2698	36	19	)	)	PUNCT
fuelectenerg-2698	36	20	coupling	coupling	NOUN
fuelectenerg-2698	36	21	,	,	PUNCT
fuelectenerg-2698	36	22	4	4	X
fuelectenerg-2698	36	23	)	)	PUNCT
fuelectenerg-2698	36	24	pulleys	pulley	NOUN
fuelectenerg-2698	36	25	with	with	ADP
fuelectenerg-2698	36	26	a	a	DET
fuelectenerg-2698	36	27	belt	belt	NOUN
fuelectenerg-2698	36	28	,	,	PUNCT
fuelectenerg-2698	36	29	5	5	NUM
fuelectenerg-2698	36	30	)	)	PUNCT
fuelectenerg-2698	36	31	bearing	bear	VERB
fuelectenerg-2698	36	32	case	case	NOUN
fuelectenerg-2698	36	33	and	and	CCONJ
fuelectenerg-2698	36	34	shaft	shaft	NOUN
fuelectenerg-2698	36	35	6	6	NUM
fuelectenerg-2698	36	36	)	)	PUNCT
fuelectenerg-2698	36	37	slave	slave	NOUN
fuelectenerg-2698	36	38	wheg	wheg	NOUN
fuelectenerg-2698	36	39	,	,	PUNCT
fuelectenerg-2698	36	40	7	7	X
fuelectenerg-2698	36	41	)	)	PUNCT
fuelectenerg-2698	36	42	master	master	NOUN
fuelectenerg-2698	36	43	wheg	wheg	NOUN
fuelectenerg-2698	36	44	.	.	PUNCT
fuelectenerg-2698	37	1	dwheg	dwheg	PROPN
fuelectenerg-2698	37	2	presents	present	VERB
fuelectenerg-2698	37	3	original	original	ADJ
fuelectenerg-2698	37	4	authors	author	NOUN
fuelectenerg-2698	37	5	solution	solution	NOUN
fuelectenerg-2698	37	6	[	[	X
fuelectenerg-2698	37	7	9	9	NUM
fuelectenerg-2698	37	8	]	]	PUNCT
fuelectenerg-2698	37	9	.	.	PUNCT
fuelectenerg-2698	38	1	this	this	DET
fuelectenerg-2698	38	2	type	type	NOUN
fuelectenerg-2698	38	3	of	of	ADP
fuelectenerg-2698	38	4	drive	drive	NOUN
fuelectenerg-2698	38	5	is	be	AUX
fuelectenerg-2698	38	6	designed	design	VERB
fuelectenerg-2698	38	7	to	to	PART
fuelectenerg-2698	38	8	increase	increase	VERB
fuelectenerg-2698	38	9	the	the	DET
fuelectenerg-2698	38	10	efficiency	efficiency	NOUN
fuelectenerg-2698	38	11	of	of	ADP
fuelectenerg-2698	38	12	mobile	mobile	ADJ
fuelectenerg-2698	38	13	walking	walking	NOUN
fuelectenerg-2698	38	14	robot	robot	NOUN
fuelectenerg-2698	38	15	,	,	PUNCT
fuelectenerg-2698	38	16	planned	plan	VERB
fuelectenerg-2698	38	17	for	for	ADP
fuelectenerg-2698	38	18	the	the	DET
fuelectenerg-2698	38	19	uneven	uneven	ADJ
fuelectenerg-2698	38	20	terrain	terrain	NOUN
fuelectenerg-2698	38	21	.	.	PUNCT
fuelectenerg-2698	39	1	the	the	DET
fuelectenerg-2698	39	2	appearance	appearance	NOUN
fuelectenerg-2698	39	3	of	of	ADP
fuelectenerg-2698	39	4	the	the	DET
fuelectenerg-2698	39	5	prototype	prototype	NOUN
fuelectenerg-2698	39	6	robot	robot	NOUN
fuelectenerg-2698	39	7	during	during	ADP
fuelectenerg-2698	39	8	the	the	DET
fuelectenerg-2698	39	9	testing	testing	NOUN
fuelectenerg-2698	39	10	phase	phase	NOUN
fuelectenerg-2698	39	11	with	with	ADP
fuelectenerg-2698	39	12	the	the	DET
fuelectenerg-2698	39	13	rigid	rigid	ADJ
fuelectenerg-2698	39	14	type	type	NOUN
fuelectenerg-2698	39	15	of	of	ADP
fuelectenerg-2698	39	16	dwheg	dwheg	ADJ
fuelectenerg-2698	39	17	drive	drive	NOUN
fuelectenerg-2698	39	18	can	can	AUX
fuelectenerg-2698	39	19	be	be	AUX
fuelectenerg-2698	39	20	seen	see	VERB
fuelectenerg-2698	39	21	in	in	ADP
fuelectenerg-2698	39	22	figure	figure	NOUN
fuelectenerg-2698	39	23	1	1	NUM
fuelectenerg-2698	39	24	right	right	ADJ
fuelectenerg-2698	39	25	.	.	PUNCT
fuelectenerg-2698	40	1	this	this	DET
fuelectenerg-2698	40	2	study	study	NOUN
fuelectenerg-2698	40	3	deals	deal	VERB
fuelectenerg-2698	40	4	with	with	ADP
fuelectenerg-2698	40	5	practical	practical	ADJ
fuelectenerg-2698	40	6	issues	issue	NOUN
fuelectenerg-2698	40	7	of	of	ADP
fuelectenerg-2698	40	8	active	active	ADJ
fuelectenerg-2698	40	9	control	control	NOUN
fuelectenerg-2698	40	10	of	of	ADP
fuelectenerg-2698	40	11	the	the	DET
fuelectenerg-2698	40	12	parameter	parameter	NOUN
fuelectenerg-2698	40	13	α	α	NOUN
fuelectenerg-2698	40	14	.	.	PUNCT
fuelectenerg-2698	41	1	by	by	ADP
fuelectenerg-2698	41	2	changing	change	VERB
fuelectenerg-2698	41	3	the	the	DET
fuelectenerg-2698	41	4	angle	angle	NOUN
fuelectenerg-2698	41	5	α	α	DET
fuelectenerg-2698	41	6	different	different	ADJ
fuelectenerg-2698	41	7	compliance	compliance	NOUN
fuelectenerg-2698	41	8	and	and	CCONJ
fuelectenerg-2698	41	9	contact	contact	NOUN
fuelectenerg-2698	41	10	area	area	NOUN
fuelectenerg-2698	41	11	with	with	ADP
fuelectenerg-2698	41	12	the	the	DET
fuelectenerg-2698	41	13	ground	ground	NOUN
fuelectenerg-2698	41	14	are	be	AUX
fuelectenerg-2698	41	15	provided	provide	VERB
fuelectenerg-2698	41	16	.	.	PUNCT
fuelectenerg-2698	42	1	this	this	PRON
fuelectenerg-2698	42	2	allows	allow	VERB
fuelectenerg-2698	42	3	the	the	DET
fuelectenerg-2698	42	4	mobile	mobile	ADJ
fuelectenerg-2698	42	5	robot	robot	NOUN
fuelectenerg-2698	42	6	to	to	PART
fuelectenerg-2698	42	7	move	move	VERB
fuelectenerg-2698	42	8	efficiently	efficiently	ADV
fuelectenerg-2698	42	9	over	over	ADP
fuelectenerg-2698	42	10	the	the	DET
fuelectenerg-2698	42	11	flat	flat	ADJ
fuelectenerg-2698	42	12	terrain	terrain	NOUN
fuelectenerg-2698	42	13	when	when	SCONJ
fuelectenerg-2698	42	14	α	α	PROPN
fuelectenerg-2698	42	15	tends	tend	VERB
fuelectenerg-2698	42	16	to	to	ADP
fuelectenerg-2698	42	17	45	45	NUM
fuelectenerg-2698	42	18	°	°	NOUN
fuelectenerg-2698	42	19	as	as	ADV
fuelectenerg-2698	42	20	well	well	ADV
fuelectenerg-2698	42	21	as	as	ADP
fuelectenerg-2698	42	22	over	over	ADP
fuelectenerg-2698	42	23	a	a	DET
fuelectenerg-2698	42	24	rough	rough	ADJ
fuelectenerg-2698	42	25	terrain	terrain	NOUN
fuelectenerg-2698	42	26	when	when	SCONJ
fuelectenerg-2698	42	27	the	the	DET
fuelectenerg-2698	42	28	angle	angle	NOUN
fuelectenerg-2698	42	29	α	α	PROPN
fuelectenerg-2698	42	30	tends	tend	VERB
fuelectenerg-2698	42	31	to	to	ADP
fuelectenerg-2698	42	32	0	0	NUM
fuelectenerg-2698	42	33	°	°	NUM
fuelectenerg-2698	42	34	.	.	PUNCT
fuelectenerg-2698	43	1	because	because	SCONJ
fuelectenerg-2698	43	2	of	of	ADP
fuelectenerg-2698	43	3	the	the	DET
fuelectenerg-2698	43	4	nature	nature	NOUN
fuelectenerg-2698	43	5	of	of	ADP
fuelectenerg-2698	43	6	the	the	DET
fuelectenerg-2698	43	7	problem	problem	NOUN
fuelectenerg-2698	43	8	this	this	DET
fuelectenerg-2698	43	9	system	system	NOUN
fuelectenerg-2698	43	10	does	do	AUX
fuelectenerg-2698	43	11	not	not	PART
fuelectenerg-2698	43	12	require	require	VERB
fuelectenerg-2698	43	13	precise	precise	ADJ
fuelectenerg-2698	43	14	angle	angle	NOUN
fuelectenerg-2698	43	15	adjustment	adjustment	NOUN
fuelectenerg-2698	43	16	.	.	PUNCT
fuelectenerg-2698	44	1	the	the	DET
fuelectenerg-2698	44	2	response	response	NOUN
fuelectenerg-2698	44	3	time	time	NOUN
fuelectenerg-2698	44	4	of	of	ADP
fuelectenerg-2698	44	5	angle	angle	NOUN
fuelectenerg-2698	44	6	adjustment	adjustment	NOUN
fuelectenerg-2698	44	7	is	be	AUX
fuelectenerg-2698	44	8	not	not	PART
fuelectenerg-2698	44	9	critical	critical	ADJ
fuelectenerg-2698	44	10	.	.	PUNCT
fuelectenerg-2698	45	1	it	it	PRON
fuelectenerg-2698	45	2	is	be	AUX
fuelectenerg-2698	45	3	sufficient	sufficient	ADJ
fuelectenerg-2698	45	4	to	to	PART
fuelectenerg-2698	45	5	adjust	adjust	VERB
fuelectenerg-2698	45	6	the	the	DET
fuelectenerg-2698	45	7	angle	angle	NOUN
fuelectenerg-2698	45	8	of	of	ADP
fuelectenerg-2698	45	9	at	at	ADV
fuelectenerg-2698	45	10	least	least	ADV
fuelectenerg-2698	45	11	one	one	NUM
fuelectenerg-2698	45	12	full	full	ADJ
fuelectenerg-2698	45	13	revolution	revolution	NOUN
fuelectenerg-2698	45	14	of	of	ADP
fuelectenerg-2698	45	15	dwheg	dwheg	PROPN
fuelectenerg-2698	45	16	.	.	PUNCT
fuelectenerg-2698	46	1	varieties	variety	NOUN
fuelectenerg-2698	46	2	of	of	ADP
fuelectenerg-2698	46	3	synchronizing	synchronize	VERB
fuelectenerg-2698	46	4	methods	method	NOUN
fuelectenerg-2698	46	5	are	be	AUX
fuelectenerg-2698	46	6	presented	present	VERB
fuelectenerg-2698	46	7	in	in	ADP
fuelectenerg-2698	46	8	the	the	DET
fuelectenerg-2698	46	9	industry	industry	NOUN
fuelectenerg-2698	46	10	[	[	X
fuelectenerg-2698	46	11	2,16,17,18	2,16,17,18	X
fuelectenerg-2698	46	12	]	]	X
fuelectenerg-2698	46	13	.	.	PUNCT
fuelectenerg-2698	47	1	in	in	ADP
fuelectenerg-2698	47	2	industrial	industrial	ADJ
fuelectenerg-2698	47	3	drives	drive	NOUN
fuelectenerg-2698	47	4	,	,	PUNCT
fuelectenerg-2698	47	5	it	it	PRON
fuelectenerg-2698	47	6	is	be	AUX
fuelectenerg-2698	47	7	necessary	necessary	ADJ
fuelectenerg-2698	47	8	to	to	PART
fuelectenerg-2698	47	9	perform	perform	VERB
fuelectenerg-2698	47	10	the	the	DET
fuelectenerg-2698	47	11	synchronization	synchronization	NOUN
fuelectenerg-2698	47	12	speed	speed	NOUN
fuelectenerg-2698	47	13	in	in	ADP
fuelectenerg-2698	47	14	the	the	DET
fuelectenerg-2698	47	15	shortest	short	ADJ
fuelectenerg-2698	47	16	possible	possible	ADJ
fuelectenerg-2698	47	17	time	time	NOUN
fuelectenerg-2698	47	18	and	and	CCONJ
fuelectenerg-2698	47	19	change	change	NOUN
fuelectenerg-2698	47	20	of	of	ADP
fuelectenerg-2698	47	21	the	the	DET
fuelectenerg-2698	47	22	speed	speed	NOUN
fuelectenerg-2698	47	23	of	of	ADP
fuelectenerg-2698	47	24	the	the	DET
fuelectenerg-2698	47	25	master	master	NOUN
fuelectenerg-2698	47	26	drive	drive	NOUN
fuelectenerg-2698	47	27	is	be	AUX
fuelectenerg-2698	47	28	allowed	allow	VERB
fuelectenerg-2698	47	29	,	,	PUNCT
fuelectenerg-2698	47	30	so	so	ADV
fuelectenerg-2698	47	31	the	the	DET
fuelectenerg-2698	47	32	cross	cross	NOUN
fuelectenerg-2698	47	33	coupling	coupling	NOUN
fuelectenerg-2698	47	34	technique	technique	NOUN
fuelectenerg-2698	47	35	is	be	AUX
fuelectenerg-2698	47	36	commonly	commonly	ADV
fuelectenerg-2698	47	37	used	use	VERB
fuelectenerg-2698	47	38	.	.	PUNCT
fuelectenerg-2698	48	1	a	a	DET
fuelectenerg-2698	48	2	typical	typical	ADJ
fuelectenerg-2698	48	3	example	example	NOUN
fuelectenerg-2698	48	4	of	of	ADP
fuelectenerg-2698	48	5	cross	cross	NOUN
fuelectenerg-2698	48	6	coupling	coupling	NOUN
fuelectenerg-2698	48	7	is	be	AUX
fuelectenerg-2698	48	8	the	the	DET
fuelectenerg-2698	48	9	linear	linear	ADJ
fuelectenerg-2698	48	10	interpolation	interpolation	NOUN
fuelectenerg-2698	48	11	between	between	ADP
fuelectenerg-2698	48	12	two	two	NUM
fuelectenerg-2698	48	13	axes	axis	NOUN
fuelectenerg-2698	48	14	.	.	PUNCT
fuelectenerg-2698	49	1	in	in	ADP
fuelectenerg-2698	49	2	dwheg	dwheg	PROPN
fuelectenerg-2698	49	3	drive	drive	VERB
fuelectenerg-2698	49	4	the	the	DET
fuelectenerg-2698	49	5	slave	slave	NOUN
fuelectenerg-2698	49	6	drive	drive	NOUN
fuelectenerg-2698	49	7	must	must	AUX
fuelectenerg-2698	49	8	not	not	PART
fuelectenerg-2698	49	9	have	have	VERB
fuelectenerg-2698	49	10	influence	influence	NOUN
fuelectenerg-2698	49	11	on	on	ADP
fuelectenerg-2698	49	12	the	the	DET
fuelectenerg-2698	49	13	work	work	NOUN
fuelectenerg-2698	49	14	speed	speed	NOUN
fuelectenerg-2698	49	15	of	of	ADP
fuelectenerg-2698	49	16	master	master	NOUN
fuelectenerg-2698	49	17	drive	drive	NOUN
fuelectenerg-2698	49	18	.	.	PUNCT
fuelectenerg-2698	50	1	slave	slave	PROPN
fuelectenerg-2698	50	2	motors	motors	PROPN
fuelectenerg-2698	50	3	represent	represent	VERB
fuelectenerg-2698	50	4	an	an	DET
fuelectenerg-2698	50	5	additional	additional	ADJ
fuelectenerg-2698	50	6	support	support	NOUN
fuelectenerg-2698	50	7	system	system	NOUN
fuelectenerg-2698	50	8	and	and	CCONJ
fuelectenerg-2698	50	9	allow	allow	VERB
fuelectenerg-2698	50	10	efficient	efficient	ADJ
fuelectenerg-2698	50	11	travel	travel	NOUN
fuelectenerg-2698	50	12	of	of	ADP
fuelectenerg-2698	50	13	the	the	DET
fuelectenerg-2698	50	14	robot	robot	NOUN
fuelectenerg-2698	50	15	over	over	ADP
fuelectenerg-2698	50	16	different	different	ADJ
fuelectenerg-2698	50	17	terrains	terrain	NOUN
fuelectenerg-2698	50	18	.	.	PUNCT
fuelectenerg-2698	51	1	for	for	ADP
fuelectenerg-2698	51	2	example	example	NOUN
fuelectenerg-2698	51	3	,	,	PUNCT
fuelectenerg-2698	51	4	in	in	ADP
fuelectenerg-2698	51	5	case	case	NOUN
fuelectenerg-2698	51	6	of	of	ADP
fuelectenerg-2698	51	7	loss	loss	NOUN
fuelectenerg-2698	51	8	of	of	ADP
fuelectenerg-2698	51	9	function	function	NOUN
fuelectenerg-2698	51	10	of	of	ADP
fuelectenerg-2698	51	11	slave	slave	NOUN
fuelectenerg-2698	51	12	drive	drive	NOUN
fuelectenerg-2698	51	13	in	in	ADP
fuelectenerg-2698	51	14	case	case	NOUN
fuelectenerg-2698	51	15	of	of	ADP
fuelectenerg-2698	51	16	cross	cross	NOUN
fuelectenerg-2698	51	17	coupling	couple	VERB
fuelectenerg-2698	51	18	techniques	technique	NOUN
fuelectenerg-2698	51	19	that	that	PRON
fuelectenerg-2698	51	20	would	would	AUX
fuelectenerg-2698	51	21	mean	mean	VERB
fuelectenerg-2698	51	22	that	that	SCONJ
fuelectenerg-2698	51	23	0.5	0.5	NUM
fuelectenerg-2698	51	24	m	m	PROPN
fuelectenerg-2698	51	25	electronic	electronic	ADJ
fuelectenerg-2698	51	26	gearing	gearing	NOUN
fuelectenerg-2698	51	27	of	of	ADP
fuelectenerg-2698	51	28	two	two	NUM
fuelectenerg-2698	51	29	dc	dc	PROPN
fuelectenerg-2698	51	30	motor	motor	NOUN
fuelectenerg-2698	51	31	shafts	shafts	ADJ
fuelectenerg-2698	51	32	for	for	ADP
fuelectenerg-2698	51	33	wheg	wheg	ADJ
fuelectenerg-2698	51	34	type	type	NOUN
fuelectenerg-2698	51	35	mobile	mobile	ADJ
fuelectenerg-2698	51	36	robot	robot	NOUN
fuelectenerg-2698	51	37	77	77	NUM
fuelectenerg-2698	51	38	master	master	NOUN
fuelectenerg-2698	51	39	motor	motor	NOUN
fuelectenerg-2698	51	40	should	should	AUX
fuelectenerg-2698	51	41	stop	stop	VERB
fuelectenerg-2698	51	42	or	or	CCONJ
fuelectenerg-2698	51	43	slow	slow	VERB
fuelectenerg-2698	51	44	down	down	ADP
fuelectenerg-2698	51	45	.	.	PUNCT
fuelectenerg-2698	52	1	so	so	ADV
fuelectenerg-2698	52	2	cross	cross	VERB
fuelectenerg-2698	52	3	coupling	couple	VERB
fuelectenerg-2698	52	4	synchronization	synchronization	NOUN
fuelectenerg-2698	52	5	will	will	AUX
fuelectenerg-2698	52	6	impact	impact	VERB
fuelectenerg-2698	52	7	on	on	ADP
fuelectenerg-2698	52	8	mobile	mobile	ADJ
fuelectenerg-2698	52	9	robot	robot	NOUN
fuelectenerg-2698	52	10	movement	movement	NOUN
fuelectenerg-2698	52	11	and	and	CCONJ
fuelectenerg-2698	52	12	it	it	PRON
fuelectenerg-2698	52	13	would	would	AUX
fuelectenerg-2698	52	14	be	be	AUX
fuelectenerg-2698	52	15	impossible	impossible	ADJ
fuelectenerg-2698	52	16	for	for	SCONJ
fuelectenerg-2698	52	17	robot	robot	NOUN
fuelectenerg-2698	52	18	to	to	PART
fuelectenerg-2698	52	19	track	track	VERB
fuelectenerg-2698	52	20	reference	reference	NOUN
fuelectenerg-2698	52	21	path	path	NOUN
fuelectenerg-2698	52	22	.	.	PUNCT
fuelectenerg-2698	53	1	the	the	DET
fuelectenerg-2698	53	2	paper	paper	NOUN
fuelectenerg-2698	53	3	presents	present	VERB
fuelectenerg-2698	53	4	implementation	implementation	NOUN
fuelectenerg-2698	53	5	of	of	ADP
fuelectenerg-2698	53	6	master	master	NOUN
fuelectenerg-2698	53	7	slave	slave	NOUN
fuelectenerg-2698	53	8	synchronization	synchronization	NOUN
fuelectenerg-2698	53	9	on	on	ADP
fuelectenerg-2698	53	10	dwheg	dwheg	PROPN
fuelectenerg-2698	53	11	drive	drive	NOUN
fuelectenerg-2698	53	12	type	type	NOUN
fuelectenerg-2698	53	13	with	with	ADP
fuelectenerg-2698	53	14	additional	additional	ADJ
fuelectenerg-2698	53	15	position	position	NOUN
fuelectenerg-2698	53	16	loop	loop	NOUN
fuelectenerg-2698	53	17	.	.	PUNCT
fuelectenerg-2698	54	1	in	in	ADP
fuelectenerg-2698	54	2	the	the	DET
fuelectenerg-2698	54	3	next	next	ADJ
fuelectenerg-2698	54	4	part	part	NOUN
fuelectenerg-2698	54	5	of	of	ADP
fuelectenerg-2698	54	6	the	the	DET
fuelectenerg-2698	54	7	paper	paper	NOUN
fuelectenerg-2698	54	8	the	the	DET
fuelectenerg-2698	54	9	mathematical	mathematical	ADJ
fuelectenerg-2698	54	10	model	model	NOUN
fuelectenerg-2698	54	11	of	of	ADP
fuelectenerg-2698	54	12	the	the	DET
fuelectenerg-2698	54	13	dwheg	dwheg	PROPN
fuelectenerg-2698	54	14	drive	drive	PROPN
fuelectenerg-2698	54	15	motor	motor	NOUN
fuelectenerg-2698	54	16	is	be	AUX
fuelectenerg-2698	54	17	presented	present	VERB
fuelectenerg-2698	54	18	.	.	PUNCT
fuelectenerg-2698	55	1	the	the	DET
fuelectenerg-2698	55	2	third	third	ADJ
fuelectenerg-2698	55	3	part	part	NOUN
fuelectenerg-2698	55	4	shows	show	VERB
fuelectenerg-2698	55	5	the	the	DET
fuelectenerg-2698	55	6	control	control	NOUN
fuelectenerg-2698	55	7	structure	structure	NOUN
fuelectenerg-2698	55	8	and	and	CCONJ
fuelectenerg-2698	55	9	the	the	DET
fuelectenerg-2698	55	10	synthesis	synthesis	NOUN
fuelectenerg-2698	55	11	of	of	ADP
fuelectenerg-2698	55	12	speed	speed	NOUN
fuelectenerg-2698	55	13	and	and	CCONJ
fuelectenerg-2698	55	14	position	position	NOUN
fuelectenerg-2698	55	15	loops	loop	NOUN
fuelectenerg-2698	55	16	.	.	PUNCT
fuelectenerg-2698	56	1	the	the	DET
fuelectenerg-2698	56	2	fourth	fourth	ADJ
fuelectenerg-2698	56	3	part	part	NOUN
fuelectenerg-2698	56	4	of	of	ADP
fuelectenerg-2698	56	5	the	the	DET
fuelectenerg-2698	56	6	paper	paper	NOUN
fuelectenerg-2698	56	7	shows	show	VERB
fuelectenerg-2698	56	8	the	the	DET
fuelectenerg-2698	56	9	experimental	experimental	ADJ
fuelectenerg-2698	56	10	setup	setup	NOUN
fuelectenerg-2698	56	11	and	and	CCONJ
fuelectenerg-2698	56	12	obtained	obtain	VERB
fuelectenerg-2698	56	13	results	result	NOUN
fuelectenerg-2698	56	14	.	.	PUNCT
fuelectenerg-2698	57	1	the	the	DET
fuelectenerg-2698	57	2	fifth	fifth	ADJ
fuelectenerg-2698	57	3	part	part	NOUN
fuelectenerg-2698	57	4	is	be	AUX
fuelectenerg-2698	57	5	a	a	DET
fuelectenerg-2698	57	6	brief	brief	ADJ
fuelectenerg-2698	57	7	conclusion	conclusion	NOUN
fuelectenerg-2698	57	8	with	with	ADP
fuelectenerg-2698	57	9	the	the	DET
fuelectenerg-2698	57	10	future	future	ADJ
fuelectenerg-2698	57	11	steps	step	NOUN
fuelectenerg-2698	57	12	.	.	PUNCT
fuelectenerg-2698	58	1	2	2	X
fuelectenerg-2698	58	2	.	.	X
fuelectenerg-2698	58	3	mathematical	mathematical	ADJ
fuelectenerg-2698	58	4	model	model	NOUN
fuelectenerg-2698	58	5	of	of	ADP
fuelectenerg-2698	58	6	dc	dc	PROPN
fuelectenerg-2698	58	7	motor	motor	PROPN
fuelectenerg-2698	58	8	electric	electric	PROPN
fuelectenerg-2698	58	9	circuit	circuit	PROPN
fuelectenerg-2698	58	10	of	of	ADP
fuelectenerg-2698	58	11	the	the	DET
fuelectenerg-2698	58	12	dc	dc	PROPN
fuelectenerg-2698	58	13	motor	motor	NOUN
fuelectenerg-2698	58	14	with	with	ADP
fuelectenerg-2698	58	15	permanent	permanent	ADJ
fuelectenerg-2698	58	16	magnets	magnet	NOUN
fuelectenerg-2698	58	17	is	be	AUX
fuelectenerg-2698	58	18	given	give	VERB
fuelectenerg-2698	58	19	in	in	ADP
fuelectenerg-2698	58	20	figure	figure	NOUN
fuelectenerg-2698	58	21	2	2	NUM
fuelectenerg-2698	58	22	.	.	PUNCT
fuelectenerg-2698	58	23	fig	fig	NOUN
fuelectenerg-2698	58	24	.	.	PUNCT
fuelectenerg-2698	59	1	2	2	NUM
fuelectenerg-2698	59	2	electric	electric	ADJ
fuelectenerg-2698	59	3	circuit	circuit	NOUN
fuelectenerg-2698	59	4	of	of	ADP
fuelectenerg-2698	59	5	the	the	DET
fuelectenerg-2698	59	6	dc	dc	PROPN
fuelectenerg-2698	59	7	motor	motor	NOUN
fuelectenerg-2698	59	8	with	with	ADP
fuelectenerg-2698	59	9	permanent	permanent	ADJ
fuelectenerg-2698	59	10	magnets	magnet	NOUN
fuelectenerg-2698	59	11	mathematical	mathematical	ADJ
fuelectenerg-2698	59	12	model	model	NOUN
fuelectenerg-2698	59	13	of	of	ADP
fuelectenerg-2698	59	14	the	the	DET
fuelectenerg-2698	59	15	dc	dc	PROPN
fuelectenerg-2698	59	16	motor	motor	NOUN
fuelectenerg-2698	59	17	can	can	AUX
fuelectenerg-2698	59	18	be	be	AUX
fuelectenerg-2698	59	19	described	describe	VERB
fuelectenerg-2698	59	20	by	by	ADP
fuelectenerg-2698	59	21	following	follow	VERB
fuelectenerg-2698	59	22	equations	equation	NOUN
fuelectenerg-2698	59	23	:	:	PUNCT
fuelectenerg-2698	59	24	(	(	PUNCT
fuelectenerg-2698	59	25	)	)	PUNCT
fuelectenerg-2698	59	26	(	(	PUNCT
fuelectenerg-2698	59	27	)	)	PUNCT
fuelectenerg-2698	60	1	m	m	VERB
fuelectenerg-2698	61	1	o	o	INTJ
fuelectenerg-2698	61	2	t	t	X
fuelectenerg-2698	61	3	t	t	PROPN
fuelectenerg-2698	61	4	n	n	PROPN
fuelectenerg-2698	61	5			PROPN
fuelectenerg-2698	61	6			PROPN
fuelectenerg-2698	62	1			NUM
fuelectenerg-2698	62	2	(	(	PUNCT
fuelectenerg-2698	62	3	1	1	NUM
fuelectenerg-2698	62	4	)	)	PUNCT
fuelectenerg-2698	62	5	(	(	PUNCT
fuelectenerg-2698	62	6	)	)	PUNCT
fuelectenerg-2698	62	7	(	(	PUNCT
fuelectenerg-2698	62	8	)	)	PUNCT
fuelectenerg-2698	62	9	(	(	PUNCT
fuelectenerg-2698	62	10	)	)	PUNCT
fuelectenerg-2698	62	11	(	(	PUNCT
fuelectenerg-2698	62	12	const	const	NOUN
fuelectenerg-2698	62	13	.)m	.)m	PROPN
fuelectenerg-2698	62	14	m	m	VERB
fuelectenerg-2698	62	15	me	i	PRON
fuelectenerg-2698	62	16	me	i	PRON
fuelectenerg-2698	62	17	m	m	VERB
fuelectenerg-2698	62	18	me	i	PRON
fuelectenerg-2698	62	19	o	o	X
fuelectenerg-2698	62	20	d	d	X
fuelectenerg-2698	62	21	e	e	PROPN
fuelectenerg-2698	62	22	t	t	PROPN
fuelectenerg-2698	62	23	k	k	PROPN
fuelectenerg-2698	62	24	k	k	PROPN
fuelectenerg-2698	62	25	t	t	PROPN
fuelectenerg-2698	62	26	nk	nk	PROPN
fuelectenerg-2698	62	27	t	t	PROPN
fuelectenerg-2698	62	28	dt	dt	NOUN
fuelectenerg-2698	63	1			PROPN
fuelectenerg-2698	63	2			PROPN
fuelectenerg-2698	63	3			PRON
fuelectenerg-2698	63	4			PROPN
fuelectenerg-2698	64	1			NUM
fuelectenerg-2698	64	2			PROPN
fuelectenerg-2698	65	1			NUM
fuelectenerg-2698	65	2			NOUN
fuelectenerg-2698	65	3	(	(	PUNCT
fuelectenerg-2698	65	4	2	2	NUM
fuelectenerg-2698	65	5	)	)	PUNCT
fuelectenerg-2698	65	6	(	(	PUNCT
fuelectenerg-2698	65	7	)	)	PUNCT
fuelectenerg-2698	65	8	(	(	PUNCT
fuelectenerg-2698	65	9	)	)	PUNCT
fuelectenerg-2698	65	10	(	(	PUNCT
fuelectenerg-2698	65	11	)	)	PUNCT
fuelectenerg-2698	65	12	(	(	PUNCT
fuelectenerg-2698	65	13	)	)	PUNCT
fuelectenerg-2698	65	14	r	r	NOUN
fuelectenerg-2698	65	15	r	r	NOUN
fuelectenerg-2698	65	16	r	r	NOUN
fuelectenerg-2698	65	17	r	r	NOUN
fuelectenerg-2698	65	18	r	r	NOUN
fuelectenerg-2698	65	19	m	m	NOUN
fuelectenerg-2698	65	20	di	di	NOUN
fuelectenerg-2698	65	21	u	u	PROPN
fuelectenerg-2698	65	22	t	t	PROPN
fuelectenerg-2698	65	23	l	l	NOUN
fuelectenerg-2698	65	24	t	t	NOUN
fuelectenerg-2698	66	1	r	r	NOUN
fuelectenerg-2698	67	1	i	i	PRON
fuelectenerg-2698	67	2	t	t	X
fuelectenerg-2698	67	3	e	e	X
fuelectenerg-2698	67	4	t	t	NOUN
fuelectenerg-2698	67	5	dt	dt	PROPN
fuelectenerg-2698	67	6			PROPN
fuelectenerg-2698	67	7			ADV
fuelectenerg-2698	67	8			X
fuelectenerg-2698	67	9	(	(	PUNCT
fuelectenerg-2698	67	10	3	3	NUM
fuelectenerg-2698	67	11	)	)	PUNCT
fuelectenerg-2698	67	12	(	(	PUNCT
fuelectenerg-2698	67	13	)	)	PUNCT
fuelectenerg-2698	67	14	(	(	PUNCT
fuelectenerg-2698	67	15	)	)	PUNCT
fuelectenerg-2698	67	16	m	m	VERB
fuelectenerg-2698	67	17	em	em	VERB
fuelectenerg-2698	67	18	rm	rm	NOUN
fuelectenerg-2698	68	1	t	t	PROPN
fuelectenerg-2698	68	2	k	k	PROPN
fuelectenerg-2698	69	1	i	i	PRON
fuelectenerg-2698	69	2	t	t	PROPN
fuelectenerg-2698	69	3	(	(	PUNCT
fuelectenerg-2698	69	4	4	4	NUM
fuelectenerg-2698	69	5	)	)	PUNCT
fuelectenerg-2698	69	6	(	(	PUNCT
fuelectenerg-2698	69	7	)	)	PUNCT
fuelectenerg-2698	69	8	(	(	PUNCT
fuelectenerg-2698	69	9	)	)	PUNCT
fuelectenerg-2698	69	10	(	(	PUNCT
fuelectenerg-2698	69	11	)	)	PUNCT
fuelectenerg-2698	69	12	(	(	PUNCT
fuelectenerg-2698	69	13	)	)	PUNCT
fuelectenerg-2698	69	14	(	(	PUNCT
fuelectenerg-2698	69	15	)	)	PUNCT
fuelectenerg-2698	69	16	m	m	VERB
fuelectenerg-2698	69	17	m	m	VERB
fuelectenerg-2698	69	18	c	c	NOUN
fuelectenerg-2698	69	19	l	l	NOUN
fuelectenerg-2698	69	20	m	m	VERB
fuelectenerg-2698	69	21	d	d	NOUN
fuelectenerg-2698	69	22	m	m	VERB
fuelectenerg-2698	69	23	t	t	PROPN
fuelectenerg-2698	69	24	m	m	PROPN
fuelectenerg-2698	69	25	t	t	PROPN
fuelectenerg-2698	69	26	m	m	PROPN
fuelectenerg-2698	69	27	t	t	PROPN
fuelectenerg-2698	69	28	j	j	PROPN
fuelectenerg-2698	69	29	t	t	PROPN
fuelectenerg-2698	69	30	f	f	PROPN
fuelectenerg-2698	69	31	t	t	PROPN
fuelectenerg-2698	69	32	dt	dt	X
fuelectenerg-2698	69	33			PROPN
fuelectenerg-2698	69	34			PROPN
fuelectenerg-2698	69	35			PROPN
fuelectenerg-2698	69	36			PROPN
fuelectenerg-2698	69	37			ADJ
fuelectenerg-2698	69	38			PROPN
fuelectenerg-2698	69	39	(	(	PUNCT
fuelectenerg-2698	69	40	5	5	NUM
fuelectenerg-2698	69	41	)	)	PUNCT
fuelectenerg-2698	69	42	where	where	SCONJ
fuelectenerg-2698	69	43	:	:	PUNCT
fuelectenerg-2698	69	44	ur(t	ur(t	NOUN
fuelectenerg-2698	69	45	)	)	PUNCT
fuelectenerg-2698	69	46	,	,	PUNCT
fuelectenerg-2698	69	47	ir(t	ir(t	NUM
fuelectenerg-2698	69	48	)	)	PUNCT
fuelectenerg-2698	69	49	–	–	PUNCT
fuelectenerg-2698	69	50	armature	armature	NOUN
fuelectenerg-2698	69	51	voltage	voltage	NOUN
fuelectenerg-2698	69	52	and	and	CCONJ
fuelectenerg-2698	69	53	current	current	ADJ
fuelectenerg-2698	69	54	,	,	PUNCT
fuelectenerg-2698	69	55	rr	rr	NOUN
fuelectenerg-2698	69	56	,	,	PUNCT
fuelectenerg-2698	69	57	lr	lr	INTJ
fuelectenerg-2698	69	58	–	–	PUNCT
fuelectenerg-2698	69	59	armature	armature	NOUN
fuelectenerg-2698	69	60	resistance	resistance	NOUN
fuelectenerg-2698	69	61	and	and	CCONJ
fuelectenerg-2698	69	62	inductance	inductance	NOUN
fuelectenerg-2698	69	63	em(t	em(t	NOUN
fuelectenerg-2698	69	64	)	)	PUNCT
fuelectenerg-2698	69	65			NOUN
fuelectenerg-2698	69	66	armature	armature	NOUN
fuelectenerg-2698	69	67	induced	induce	VERB
fuelectenerg-2698	69	68	emf	emf	NOUN
fuelectenerg-2698	69	69	,	,	PUNCT
fuelectenerg-2698	69	70	m	m	X
fuelectenerg-2698	69	71	–	–	PUNCT
fuelectenerg-2698	69	72	angular	angular	ADJ
fuelectenerg-2698	69	73	displacement	displacement	NOUN
fuelectenerg-2698	69	74	of	of	ADP
fuelectenerg-2698	69	75	motor	motor	NOUN
fuelectenerg-2698	69	76	shaft	shaft	NOUN
fuelectenerg-2698	69	77	;	;	PUNCT
fuelectenerg-2698	69	78	o	o	X
fuelectenerg-2698	69	79	–	–	PUNCT
fuelectenerg-2698	69	80	angular	angular	ADJ
fuelectenerg-2698	69	81	displacement	displacement	NOUN
fuelectenerg-2698	69	82	of	of	ADP
fuelectenerg-2698	69	83	gearbox	gearbox	NOUN
fuelectenerg-2698	69	84	out	out	ADV
fuelectenerg-2698	69	85	;	;	PUNCT
fuelectenerg-2698	69	86	m(t	m(t	X
fuelectenerg-2698	69	87	)	)	PUNCT
fuelectenerg-2698	69	88	–	–	PUNCT
fuelectenerg-2698	69	89	angular	angular	ADJ
fuelectenerg-2698	69	90	speed	speed	NOUN
fuelectenerg-2698	69	91	of	of	ADP
fuelectenerg-2698	69	92	motor	motor	NOUN
fuelectenerg-2698	69	93	shaft	shaft	NOUN
fuelectenerg-2698	69	94	[	[	X
fuelectenerg-2698	69	95	rad	rad	PROPN
fuelectenerg-2698	69	96	/	/	SYM
fuelectenerg-2698	69	97	s	s	PART
fuelectenerg-2698	69	98	]	]	X
fuelectenerg-2698	69	99	;	;	PUNCT
fuelectenerg-2698	69	100	o(t	o(t	X
fuelectenerg-2698	69	101	)	)	PUNCT
fuelectenerg-2698	69	102	–	–	PUNCT
fuelectenerg-2698	69	103	angular	angular	ADJ
fuelectenerg-2698	69	104	speed	speed	NOUN
fuelectenerg-2698	69	105	of	of	ADP
fuelectenerg-2698	69	106	gearbox	gearbox	NOUN
fuelectenerg-2698	69	107	out	out	ADP
fuelectenerg-2698	69	108	[	[	X
fuelectenerg-2698	69	109	rad	rad	INTJ
fuelectenerg-2698	69	110	/	/	SYM
fuelectenerg-2698	69	111	s	s	PROPN
fuelectenerg-2698	69	112	]	]	X
fuelectenerg-2698	69	113	;	;	PUNCT
fuelectenerg-2698	69	114	kme	kme	PROPN
fuelectenerg-2698	69	115	,	,	PUNCT
fuelectenerg-2698	69	116	kem	kem	PROPN
fuelectenerg-2698	69	117	–	–	PUNCT
fuelectenerg-2698	69	118	emf	emf	NOUN
fuelectenerg-2698	69	119	and	and	CCONJ
fuelectenerg-2698	69	120	torque	torque	NOUN
fuelectenerg-2698	69	121	constant	constant	ADJ
fuelectenerg-2698	69	122	,	,	PUNCT
fuelectenerg-2698	69	123	mm(t	mm(t	NOUN
fuelectenerg-2698	69	124	)	)	PUNCT
fuelectenerg-2698	69	125	–	–	PUNCT
fuelectenerg-2698	69	126	generating	generate	VERB
fuelectenerg-2698	69	127	motor	motor	NOUN
fuelectenerg-2698	69	128	torque	torque	NOUN
fuelectenerg-2698	69	129	;	;	PUNCT
fuelectenerg-2698	69	130	ml(t	ml(t	X
fuelectenerg-2698	69	131	)	)	PUNCT
fuelectenerg-2698	69	132	–	–	PUNCT
fuelectenerg-2698	69	133	load	load	NOUN
fuelectenerg-2698	69	134	torque	torque	NOUN
fuelectenerg-2698	69	135	on	on	ADP
fuelectenerg-2698	69	136	motor	motor	PROPN
fuelectenerg-2698	69	137	side	side	NOUN
fuelectenerg-2698	69	138	,	,	PUNCT
fuelectenerg-2698	69	139	mc(t	mc(t	PROPN
fuelectenerg-2698	69	140	)	)	PUNCT
fuelectenerg-2698	69	141	–	–	PUNCT
fuelectenerg-2698	69	142	coulomb	coulomb	NOUN
fuelectenerg-2698	69	143	friction	friction	NOUN
fuelectenerg-2698	69	144	;	;	PUNCT
fuelectenerg-2698	69	145	jm	jm	PROPN
fuelectenerg-2698	69	146	,	,	PUNCT
fuelectenerg-2698	69	147	jo	jo	PROPN
fuelectenerg-2698	69	148	–	–	PUNCT
fuelectenerg-2698	69	149	motor	motor	NOUN
fuelectenerg-2698	69	150	and	and	CCONJ
fuelectenerg-2698	69	151	load	load	NOUN
fuelectenerg-2698	69	152	inertia	inertia	NOUN
fuelectenerg-2698	69	153	;	;	PUNCT
fuelectenerg-2698	69	154	j	j	PROPN
fuelectenerg-2698	69	155	=	=	SYM
fuelectenerg-2698	69	156	jm	jm	PROPN
fuelectenerg-2698	69	157	+	+	CCONJ
fuelectenerg-2698	69	158	jo	jo	PROPN
fuelectenerg-2698	69	159	/	/	SYM
fuelectenerg-2698	69	160	n	n	PROPN
fuelectenerg-2698	69	161	2	2	NUM
fuelectenerg-2698	69	162	–	–	SYM
fuelectenerg-2698	69	163	78	78	NUM
fuelectenerg-2698	69	164	m.	m.	NOUN
fuelectenerg-2698	69	165	božić	božić	NOUN
fuelectenerg-2698	69	166	,	,	PUNCT
fuelectenerg-2698	69	167	s.	s.	PROPN
fuelectenerg-2698	69	168	antić	antić	PROPN
fuelectenerg-2698	69	169	,	,	PUNCT
fuelectenerg-2698	69	170	v.	v.	ADP
fuelectenerg-2698	69	171	vujiĉić	vujiĉić	PROPN
fuelectenerg-2698	69	172	,	,	PUNCT
fuelectenerg-2698	69	173	m.	m.	NOUN
fuelectenerg-2698	69	174	bjekić	bjekić	PROPN
fuelectenerg-2698	69	175	,	,	PUNCT
fuelectenerg-2698	69	176	g.	g.	PROPN
fuelectenerg-2698	69	177	đorđević	đorđević	PROPN
fuelectenerg-2698	69	178	total	total	NOUN
fuelectenerg-2698	69	179	inertia	inertia	NOUN
fuelectenerg-2698	69	180	on	on	ADP
fuelectenerg-2698	69	181	motor	motor	NOUN
fuelectenerg-2698	69	182	side	side	NOUN
fuelectenerg-2698	69	183	;	;	PUNCT
fuelectenerg-2698	69	184	fm	fm	NOUN
fuelectenerg-2698	69	185	,	,	PUNCT
fuelectenerg-2698	69	186	fo	fo	INTJ
fuelectenerg-2698	69	187	–	–	PUNCT
fuelectenerg-2698	69	188	motor	motor	NOUN
fuelectenerg-2698	69	189	and	and	CCONJ
fuelectenerg-2698	69	190	load	load	VERB
fuelectenerg-2698	69	191	viscous	viscous	ADJ
fuelectenerg-2698	69	192	friction	friction	NOUN
fuelectenerg-2698	69	193	;	;	PUNCT
fuelectenerg-2698	69	194	f	f	PROPN
fuelectenerg-2698	69	195	=	=	PUNCT
fuelectenerg-2698	69	196	fm	fm	PROPN
fuelectenerg-2698	69	197	+	+	CCONJ
fuelectenerg-2698	69	198	fo	fo	NOUN
fuelectenerg-2698	69	199	/	/	SYM
fuelectenerg-2698	69	200	n	n	NOUN
fuelectenerg-2698	69	201	2	2	NUM
fuelectenerg-2698	69	202	–	–	PUNCT
fuelectenerg-2698	69	203	total	total	ADJ
fuelectenerg-2698	69	204	viscous	viscous	ADJ
fuelectenerg-2698	69	205	friction	friction	NOUN
fuelectenerg-2698	69	206	on	on	ADP
fuelectenerg-2698	69	207	motor	motor	NOUN
fuelectenerg-2698	69	208	side	side	NOUN
fuelectenerg-2698	69	209	;	;	PUNCT
fuelectenerg-2698	69	210	n	n	NUM
fuelectenerg-2698	69	211	–	–	PUNCT
fuelectenerg-2698	69	212	gear	gear	NOUN
fuelectenerg-2698	69	213	ratio	ratio	NOUN
fuelectenerg-2698	69	214	.	.	PUNCT
fuelectenerg-2698	70	1	appropriate	appropriate	ADJ
fuelectenerg-2698	70	2	block	block	NOUN
fuelectenerg-2698	70	3	diagram	diagram	NOUN
fuelectenerg-2698	70	4	of	of	ADP
fuelectenerg-2698	70	5	the	the	DET
fuelectenerg-2698	70	6	dc	dc	PROPN
fuelectenerg-2698	70	7	motor	motor	NOUN
fuelectenerg-2698	70	8	model	model	NOUN
fuelectenerg-2698	70	9	is	be	AUX
fuelectenerg-2698	70	10	presented	present	VERB
fuelectenerg-2698	70	11	in	in	ADP
fuelectenerg-2698	70	12	figure	figure	NOUN
fuelectenerg-2698	70	13	3	3	NUM
fuelectenerg-2698	70	14	.	.	PUNCT
fuelectenerg-2698	70	15	fig	fig	NOUN
fuelectenerg-2698	70	16	.	.	PUNCT
fuelectenerg-2698	71	1	3	3	NUM
fuelectenerg-2698	71	2	block	block	NOUN
fuelectenerg-2698	71	3	diagram	diagram	NOUN
fuelectenerg-2698	71	4	of	of	ADP
fuelectenerg-2698	71	5	the	the	DET
fuelectenerg-2698	71	6	dc	dc	PROPN
fuelectenerg-2698	71	7	motor	motor	PROPN
fuelectenerg-2698	71	8	mathematical	mathematical	PROPN
fuelectenerg-2698	71	9	model	model	NOUN
fuelectenerg-2698	71	10	to	to	PART
fuelectenerg-2698	71	11	make	make	VERB
fuelectenerg-2698	71	12	realistic	realistic	ADJ
fuelectenerg-2698	71	13	mathematical	mathematical	ADJ
fuelectenerg-2698	71	14	model	model	NOUN
fuelectenerg-2698	71	15	and	and	CCONJ
fuelectenerg-2698	71	16	to	to	PART
fuelectenerg-2698	71	17	perform	perform	VERB
fuelectenerg-2698	71	18	controller	controller	NOUN
fuelectenerg-2698	71	19	synthesis	synthesis	NOUN
fuelectenerg-2698	71	20	,	,	PUNCT
fuelectenerg-2698	71	21	it	it	PRON
fuelectenerg-2698	71	22	was	be	AUX
fuelectenerg-2698	71	23	necessary	necessary	ADJ
fuelectenerg-2698	71	24	to	to	PART
fuelectenerg-2698	71	25	identify	identify	VERB
fuelectenerg-2698	71	26	relevant	relevant	ADJ
fuelectenerg-2698	71	27	parameters	parameter	NOUN
fuelectenerg-2698	71	28	.	.	PUNCT
fuelectenerg-2698	72	1	parameters	parameter	NOUN
fuelectenerg-2698	72	2	that	that	PRON
fuelectenerg-2698	72	3	were	be	AUX
fuelectenerg-2698	72	4	not	not	PART
fuelectenerg-2698	72	5	known	know	VERB
fuelectenerg-2698	72	6	were	be	AUX
fuelectenerg-2698	72	7	determined	determine	VERB
fuelectenerg-2698	72	8	experimentally	experimentally	ADV
fuelectenerg-2698	72	9	[	[	X
fuelectenerg-2698	72	10	11	11	NUM
fuelectenerg-2698	72	11	]	]	PUNCT
fuelectenerg-2698	72	12	.	.	PUNCT
fuelectenerg-2698	73	1	appendix	appendix	NOUN
fuelectenerg-2698	73	2	provides	provide	VERB
fuelectenerg-2698	73	3	a	a	DET
fuelectenerg-2698	73	4	table	table	NOUN
fuelectenerg-2698	73	5	with	with	ADP
fuelectenerg-2698	73	6	motor	motor	NOUN
fuelectenerg-2698	73	7	data	datum	NOUN
fuelectenerg-2698	73	8	.	.	PUNCT
fuelectenerg-2698	74	1	the	the	DET
fuelectenerg-2698	74	2	measurement	measurement	NOUN
fuelectenerg-2698	74	3	of	of	ADP
fuelectenerg-2698	74	4	the	the	DET
fuelectenerg-2698	74	5	parameters	parameter	NOUN
fuelectenerg-2698	74	6	showed	show	VERB
fuelectenerg-2698	74	7	that	that	SCONJ
fuelectenerg-2698	74	8	the	the	DET
fuelectenerg-2698	74	9	mathematical	mathematical	ADJ
fuelectenerg-2698	74	10	model	model	NOUN
fuelectenerg-2698	74	11	given	give	VERB
fuelectenerg-2698	74	12	in	in	ADP
fuelectenerg-2698	74	13	the	the	DET
fuelectenerg-2698	74	14	form	form	NOUN
fuelectenerg-2698	74	15	of	of	ADP
fuelectenerg-2698	74	16	block	block	NOUN
fuelectenerg-2698	74	17	diagram	diagram	NOUN
fuelectenerg-2698	74	18	in	in	ADP
fuelectenerg-2698	74	19	figure	figure	NOUN
fuelectenerg-2698	74	20	3	3	NUM
fuelectenerg-2698	74	21	could	could	AUX
fuelectenerg-2698	74	22	be	be	AUX
fuelectenerg-2698	74	23	further	far	ADV
fuelectenerg-2698	74	24	simplified	simplify	VERB
fuelectenerg-2698	74	25	.	.	PUNCT
fuelectenerg-2698	75	1	firstly	firstly	ADV
fuelectenerg-2698	75	2	,	,	PUNCT
fuelectenerg-2698	75	3	coulomb	coulomb	NOUN
fuelectenerg-2698	75	4	friction	friction	NOUN
fuelectenerg-2698	75	5	was	be	AUX
fuelectenerg-2698	75	6	neglected	neglect	VERB
fuelectenerg-2698	75	7	because	because	SCONJ
fuelectenerg-2698	75	8	of	of	ADP
fuelectenerg-2698	75	9	its	its	PRON
fuelectenerg-2698	75	10	minor	minor	ADJ
fuelectenerg-2698	75	11	influence	influence	NOUN
fuelectenerg-2698	75	12	on	on	ADP
fuelectenerg-2698	75	13	the	the	DET
fuelectenerg-2698	75	14	system	system	NOUN
fuelectenerg-2698	75	15	behavior	behavior	NOUN
fuelectenerg-2698	75	16	,	,	PUNCT
fuelectenerg-2698	75	17	given	give	VERB
fuelectenerg-2698	75	18	its	its	PRON
fuelectenerg-2698	75	19	low	low	ADJ
fuelectenerg-2698	75	20	value	value	NOUN
fuelectenerg-2698	75	21	[	[	X
fuelectenerg-2698	75	22	11	11	NUM
fuelectenerg-2698	75	23	]	]	PUNCT
fuelectenerg-2698	75	24	.	.	PUNCT
fuelectenerg-2698	76	1	the	the	DET
fuelectenerg-2698	76	2	motor	motor	NOUN
fuelectenerg-2698	76	3	transfer	transfer	NOUN
fuelectenerg-2698	76	4	function	function	NOUN
fuelectenerg-2698	76	5	becomes	become	VERB
fuelectenerg-2698	76	6	:	:	PUNCT
fuelectenerg-2698	76	7	2	2	NUM
fuelectenerg-2698	76	8	2	2	NUM
fuelectenerg-2698	76	9	5	5	NUM
fuelectenerg-2698	76	10	2	2	NUM
fuelectenerg-2698	76	11	(	(	PUNCT
fuelectenerg-2698	76	12	)	)	PUNCT
fuelectenerg-2698	76	13	19.175	19.175	NUM
fuelectenerg-2698	76	14	(	(	PUNCT
fuelectenerg-2698	76	15	)	)	PUNCT
fuelectenerg-2698	76	16	(	(	PUNCT
fuelectenerg-2698	76	17	)	)	PUNCT
fuelectenerg-2698	76	18	(	(	PUNCT
fuelectenerg-2698	76	19	)	)	PUNCT
fuelectenerg-2698	76	20	(	(	PUNCT
fuelectenerg-2698	76	21	)	)	PUNCT
fuelectenerg-2698	76	22	2	2	NUM
fuelectenerg-2698	76	23	1	1	NUM
fuelectenerg-2698	76	24	2.849	2.849	NUM
fuelectenerg-2698	76	25	10	10	NUM
fuelectenerg-2698	76	26	0.019	0.019	NUM
fuelectenerg-2698	76	27	1	1	NUM
fuelectenerg-2698	76	28	m	m	NOUN
fuelectenerg-2698	76	29	em	em	PRON
fuelectenerg-2698	76	30	m	m	VERB
fuelectenerg-2698	76	31	m	m	VERB
fuelectenerg-2698	76	32	r	r	NOUN
fuelectenerg-2698	76	33	r	r	NOUN
fuelectenerg-2698	76	34	r	r	NOUN
fuelectenerg-2698	76	35	em	em	PRON
fuelectenerg-2698	76	36	me	i	PRON
fuelectenerg-2698	76	37	v	v	ADP
fuelectenerg-2698	76	38	r	r	NOUN
fuelectenerg-2698	76	39	v	v	NOUN
fuelectenerg-2698	76	40	s	s	X
fuelectenerg-2698	76	41	k	k	NOUN
fuelectenerg-2698	77	1	k	k	PROPN
fuelectenerg-2698	78	1	g	g	PROPN
fuelectenerg-2698	78	2	s	s	X
fuelectenerg-2698	78	3	u	u	NOUN
fuelectenerg-2698	78	4	s	s	PART
fuelectenerg-2698	78	5	l	l	NOUN
fuelectenerg-2698	78	6	s	s	PART
fuelectenerg-2698	78	7	r	r	NOUN
fuelectenerg-2698	78	8	js	js	PROPN
fuelectenerg-2698	79	1	f	f	PROPN
fuelectenerg-2698	79	2	k	k	PROPN
fuelectenerg-2698	79	3	k	k	PROPN
fuelectenerg-2698	79	4	t	t	PROPN
fuelectenerg-2698	79	5	s	s	PROPN
fuelectenerg-2698	79	6	t	t	PROPN
fuelectenerg-2698	79	7	s	s	PART
fuelectenerg-2698	79	8	s	s	X
fuelectenerg-2698	79	9	s	s	NOUN
fuelectenerg-2698	79	10			PROPN
fuelectenerg-2698	80	1			NUM
fuelectenerg-2698	80	2			NOUN
fuelectenerg-2698	81	1			NUM
fuelectenerg-2698	81	2			PROPN
fuelectenerg-2698	81	3			ADV
fuelectenerg-2698	81	4			PUNCT
fuelectenerg-2698	81	5			PUNCT
fuelectenerg-2698	81	6			PUNCT
fuelectenerg-2698	81	7			PROPN
fuelectenerg-2698	81	8			PROPN
fuelectenerg-2698	81	9			PROPN
fuelectenerg-2698	81	10			PUNCT
fuelectenerg-2698	81	11			X
fuelectenerg-2698	81	12	(	(	PUNCT
fuelectenerg-2698	81	13	6	6	NUM
fuelectenerg-2698	81	14	)	)	PUNCT
fuelectenerg-2698	81	15	where	where	SCONJ
fuelectenerg-2698	81	16	em	em	PRON
fuelectenerg-2698	81	17	m	m	VERB
fuelectenerg-2698	81	18	r	r	VERB
fuelectenerg-2698	81	19	em	em	PRON
fuelectenerg-2698	81	20	me	i	PRON
fuelectenerg-2698	82	1	k	k	NOUN
fuelectenerg-2698	82	2	k	k	NOUN
fuelectenerg-2698	83	1	r	r	NOUN
fuelectenerg-2698	83	2	f	f	PROPN
fuelectenerg-2698	84	1	k	k	PROPN
fuelectenerg-2698	84	2	k	k	PROPN
fuelectenerg-2698	85	1			PROPN
fuelectenerg-2698	85	2			ADJ
fuelectenerg-2698	85	3			NOUN
fuelectenerg-2698	85	4	gain	gain	NOUN
fuelectenerg-2698	85	5	,	,	PUNCT
fuelectenerg-2698	85	6	r	r	NOUN
fuelectenerg-2698	85	7	v	v	NOUN
fuelectenerg-2698	85	8	r	r	NOUN
fuelectenerg-2698	85	9	em	em	PRON
fuelectenerg-2698	85	10	me	i	PRON
fuelectenerg-2698	86	1	jl	jl	PROPN
fuelectenerg-2698	86	2	t	t	PROPN
fuelectenerg-2698	87	1	r	r	NOUN
fuelectenerg-2698	87	2	f	f	PROPN
fuelectenerg-2698	88	1	k	k	PROPN
fuelectenerg-2698	88	2	k	k	PROPN
fuelectenerg-2698	89	1			PROPN
fuelectenerg-2698	89	2			PUNCT
fuelectenerg-2698	89	3			NOUN
fuelectenerg-2698	89	4	time	time	NOUN
fuelectenerg-2698	89	5	constant	constant	ADJ
fuelectenerg-2698	89	6	,	,	PUNCT
fuelectenerg-2698	89	7	2	2	NUM
fuelectenerg-2698	89	8	(	(	PUNCT
fuelectenerg-2698	89	9	)	)	PUNCT
fuelectenerg-2698	89	10	r	r	NOUN
fuelectenerg-2698	89	11	r	r	NOUN
fuelectenerg-2698	89	12	r	r	NOUN
fuelectenerg-2698	89	13	r	r	NOUN
fuelectenerg-2698	89	14	r	r	NOUN
fuelectenerg-2698	89	15	em	em	PRON
fuelectenerg-2698	89	16	me	i	PRON
fuelectenerg-2698	89	17	fl	fl	INTJ
fuelectenerg-2698	89	18	jr	jr	INTJ
fuelectenerg-2698	89	19	jl	jl	PROPN
fuelectenerg-2698	89	20	r	r	PROPN
fuelectenerg-2698	89	21	f	f	PROPN
fuelectenerg-2698	89	22	k	k	PROPN
fuelectenerg-2698	89	23	k	k	PROPN
fuelectenerg-2698	89	24			PROPN
fuelectenerg-2698	89	25			X
fuelectenerg-2698	89	26			PROPN
fuelectenerg-2698	89	27			PUNCT
fuelectenerg-2698	89	28			NOUN
fuelectenerg-2698	89	29	relative	relative	ADJ
fuelectenerg-2698	89	30	damping	damp	VERB
fuelectenerg-2698	89	31	factor	factor	NOUN
fuelectenerg-2698	89	32	.	.	PUNCT
fuelectenerg-2698	90	1	secondly	secondly	ADV
fuelectenerg-2698	90	2	,	,	PUNCT
fuelectenerg-2698	90	3	motor	motor	NOUN
fuelectenerg-2698	90	4	inductance	inductance	NOUN
fuelectenerg-2698	90	5	could	could	AUX
fuelectenerg-2698	90	6	also	also	ADV
fuelectenerg-2698	90	7	be	be	AUX
fuelectenerg-2698	90	8	neglected	neglect	VERB
fuelectenerg-2698	90	9	.	.	PUNCT
fuelectenerg-2698	91	1	this	this	PRON
fuelectenerg-2698	91	2	was	be	AUX
fuelectenerg-2698	91	3	confirmed	confirm	VERB
fuelectenerg-2698	91	4	by	by	ADP
fuelectenerg-2698	91	5	the	the	DET
fuelectenerg-2698	91	6	relatively	relatively	ADV
fuelectenerg-2698	91	7	small	small	ADJ
fuelectenerg-2698	91	8	value	value	NOUN
fuelectenerg-2698	91	9	of	of	ADP
fuelectenerg-2698	91	10	motor	motor	NOUN
fuelectenerg-2698	91	11	inductance	inductance	NOUN
fuelectenerg-2698	91	12	.	.	PUNCT
fuelectenerg-2698	92	1	therefore	therefore	ADV
fuelectenerg-2698	92	2	,	,	PUNCT
fuelectenerg-2698	92	3	the	the	DET
fuelectenerg-2698	92	4	transfer	transfer	NOUN
fuelectenerg-2698	92	5	function	function	NOUN
fuelectenerg-2698	92	6	of	of	ADP
fuelectenerg-2698	92	7	unloaded	unload	VERB
fuelectenerg-2698	92	8	drive	drive	NOUN
fuelectenerg-2698	92	9	becomes	become	VERB
fuelectenerg-2698	92	10	of	of	ADP
fuelectenerg-2698	92	11	the	the	DET
fuelectenerg-2698	92	12	first	first	ADJ
fuelectenerg-2698	92	13	order	order	NOUN
fuelectenerg-2698	92	14	:	:	PUNCT
fuelectenerg-2698	92	15	(	(	PUNCT
fuelectenerg-2698	92	16	)	)	PUNCT
fuelectenerg-2698	92	17	19.175	19.175	NUM
fuelectenerg-2698	92	18	(	(	PUNCT
fuelectenerg-2698	92	19	)	)	PUNCT
fuelectenerg-2698	92	20	(	(	PUNCT
fuelectenerg-2698	92	21	)	)	PUNCT
fuelectenerg-2698	92	22	1	1	NUM
fuelectenerg-2698	92	23	0.019	0.019	NUM
fuelectenerg-2698	92	24	1	1	NUM
fuelectenerg-2698	92	25	m	m	NOUN
fuelectenerg-2698	92	26	m	m	VERB
fuelectenerg-2698	92	27	m	m	VERB
fuelectenerg-2698	92	28	r	r	NOUN
fuelectenerg-2698	92	29	m	m	NOUN
fuelectenerg-2698	92	30	s	s	PART
fuelectenerg-2698	93	1	k	k	NOUN
fuelectenerg-2698	93	2	g	g	PROPN
fuelectenerg-2698	93	3	s	s	PROPN
fuelectenerg-2698	93	4	u	u	NOUN
fuelectenerg-2698	93	5	s	s	PROPN
fuelectenerg-2698	93	6	t	t	PROPN
fuelectenerg-2698	93	7	s	s	PART
fuelectenerg-2698	93	8	s	s	PART
fuelectenerg-2698	93	9			PROPN
fuelectenerg-2698	93	10			ADJ
fuelectenerg-2698	93	11			PROPN
fuelectenerg-2698	93	12			PROPN
fuelectenerg-2698	93	13			ADV
fuelectenerg-2698	93	14			X
fuelectenerg-2698	93	15	(	(	PUNCT
fuelectenerg-2698	93	16	7	7	NUM
fuelectenerg-2698	93	17	)	)	PUNCT
fuelectenerg-2698	93	18	where	where	SCONJ
fuelectenerg-2698	93	19	19.175em	19.175em	NUM
fuelectenerg-2698	93	20	m	m	VERB
fuelectenerg-2698	93	21	r	r	VERB
fuelectenerg-2698	93	22	m	m	VERB
fuelectenerg-2698	93	23	em	em	PRON
fuelectenerg-2698	93	24	me	i	PRON
fuelectenerg-2698	94	1	k	k	NOUN
fuelectenerg-2698	94	2	k	k	NOUN
fuelectenerg-2698	95	1	r	r	NOUN
fuelectenerg-2698	95	2	f	f	PROPN
fuelectenerg-2698	96	1	k	k	PROPN
fuelectenerg-2698	96	2	k	k	PROPN
fuelectenerg-2698	97	1			PROPN
fuelectenerg-2698	97	2			PROPN
fuelectenerg-2698	97	3			ADV
fuelectenerg-2698	97	4	,	,	PUNCT
fuelectenerg-2698	97	5	19ms	19ms	NUM
fuelectenerg-2698	97	6	,	,	PUNCT
fuelectenerg-2698	97	7	m	m	VERB
fuelectenerg-2698	97	8	r	r	NOUN
fuelectenerg-2698	97	9	m	m	NOUN
fuelectenerg-2698	97	10	r	r	NOUN
fuelectenerg-2698	97	11	m	m	VERB
fuelectenerg-2698	97	12	em	em	PRON
fuelectenerg-2698	97	13	me	i	PRON
fuelectenerg-2698	98	1	j	j	NOUN
fuelectenerg-2698	98	2	r	r	NOUN
fuelectenerg-2698	98	3	t	t	PROPN
fuelectenerg-2698	98	4	r	r	NOUN
fuelectenerg-2698	98	5	f	f	PROPN
fuelectenerg-2698	99	1	k	k	PROPN
fuelectenerg-2698	99	2	k	k	PROPN
fuelectenerg-2698	100	1			PROPN
fuelectenerg-2698	100	2			PROPN
fuelectenerg-2698	100	3			PUNCT
fuelectenerg-2698	100	4	(	(	PUNCT
fuelectenerg-2698	100	5	8)	8)	NUM
fuelectenerg-2698	100	6	are	be	AUX
fuelectenerg-2698	100	7	the	the	DET
fuelectenerg-2698	100	8	gain	gain	NOUN
fuelectenerg-2698	100	9	factor	factor	NOUN
fuelectenerg-2698	100	10	and	and	CCONJ
fuelectenerg-2698	100	11	time	time	NOUN
fuelectenerg-2698	100	12	constant	constant	ADJ
fuelectenerg-2698	100	13	of	of	ADP
fuelectenerg-2698	100	14	the	the	DET
fuelectenerg-2698	100	15	motor	motor	NOUN
fuelectenerg-2698	100	16	.	.	PUNCT
fuelectenerg-2698	101	1	based	base	VERB
fuelectenerg-2698	101	2	on	on	ADP
fuelectenerg-2698	101	3	the	the	DET
fuelectenerg-2698	101	4	above	above	ADJ
fuelectenerg-2698	101	5	analysis	analysis	NOUN
fuelectenerg-2698	101	6	,	,	PUNCT
fuelectenerg-2698	101	7	the	the	DET
fuelectenerg-2698	101	8	first	first	ADJ
fuelectenerg-2698	101	9	order	order	NOUN
fuelectenerg-2698	101	10	model	model	NOUN
fuelectenerg-2698	101	11	(	(	PUNCT
fuelectenerg-2698	101	12	7	7	X
fuelectenerg-2698	101	13	)	)	PUNCT
fuelectenerg-2698	101	14	is	be	AUX
fuelectenerg-2698	101	15	further	far	ADV
fuelectenerg-2698	101	16	used	use	VERB
fuelectenerg-2698	101	17	.	.	PUNCT
fuelectenerg-2698	102	1	electronic	electronic	ADJ
fuelectenerg-2698	102	2	gearing	gearing	NOUN
fuelectenerg-2698	102	3	of	of	ADP
fuelectenerg-2698	102	4	two	two	NUM
fuelectenerg-2698	102	5	dc	dc	PROPN
fuelectenerg-2698	102	6	motor	motor	NOUN
fuelectenerg-2698	102	7	shafts	shafts	ADJ
fuelectenerg-2698	102	8	for	for	ADP
fuelectenerg-2698	102	9	wheg	wheg	ADJ
fuelectenerg-2698	102	10	type	type	NOUN
fuelectenerg-2698	102	11	mobile	mobile	ADJ
fuelectenerg-2698	102	12	robot	robot	NOUN
fuelectenerg-2698	102	13	79	79	NUM
fuelectenerg-2698	102	14	the	the	DET
fuelectenerg-2698	102	15	selection	selection	NOUN
fuelectenerg-2698	102	16	of	of	ADP
fuelectenerg-2698	102	17	the	the	DET
fuelectenerg-2698	102	18	measurement	measurement	NOUN
fuelectenerg-2698	102	19	period	period	NOUN
fuelectenerg-2698	102	20	was	be	AUX
fuelectenerg-2698	102	21	based	base	VERB
fuelectenerg-2698	102	22	on	on	ADP
fuelectenerg-2698	102	23	the	the	DET
fuelectenerg-2698	102	24	bandwidth	bandwidth	NOUN
fuelectenerg-2698	102	25	of	of	ADP
fuelectenerg-2698	102	26	the	the	DET
fuelectenerg-2698	102	27	closedloop	closedloop	NOUN
fuelectenerg-2698	102	28	system	system	NOUN
fuelectenerg-2698	102	29	.	.	PUNCT
fuelectenerg-2698	103	1	bandwidth	bandwidth	NOUN
fuelectenerg-2698	103	2	of	of	ADP
fuelectenerg-2698	103	3	the	the	DET
fuelectenerg-2698	103	4	motor	motor	NOUN
fuelectenerg-2698	103	5	in	in	ADP
fuelectenerg-2698	103	6	a	a	DET
fuelectenerg-2698	103	7	closed	closed	ADJ
fuelectenerg-2698	103	8	loop	loop	NOUN
fuelectenerg-2698	103	9	in	in	ADP
fuelectenerg-2698	103	10	the	the	DET
fuelectenerg-2698	103	11	absence	absence	NOUN
fuelectenerg-2698	103	12	of	of	ADP
fuelectenerg-2698	103	13	controllers	controller	NOUN
fuelectenerg-2698	103	14	is	be	AUX
fuelectenerg-2698	103	15	determined	determine	VERB
fuelectenerg-2698	103	16	by	by	ADP
fuelectenerg-2698	103	17	the	the	DET
fuelectenerg-2698	103	18	equation	equation	NOUN
fuelectenerg-2698	103	19	:	:	PUNCT
fuelectenerg-2698	103	20	0	0	NUM
fuelectenerg-2698	103	21	m	m	NUM
fuelectenerg-2698	103	22	1	1	NUM
fuelectenerg-2698	103	23	rad	rad	PROPN
fuelectenerg-2698	103	24	105.263	105.263	NUM
fuelectenerg-2698	104	1	.	.	PUNCT
fuelectenerg-2698	104	2	0.5	0.5	NUM
fuelectenerg-2698	104	3	st	st	PROPN
fuelectenerg-2698	105	1			PROPN
fuelectenerg-2698	105	2			NUM
fuelectenerg-2698	105	3			NOUN
fuelectenerg-2698	105	4	(	(	PUNCT
fuelectenerg-2698	105	5	9	9	NUM
fuelectenerg-2698	105	6	)	)	PUNCT
fuelectenerg-2698	105	7	according	accord	VERB
fuelectenerg-2698	105	8	to	to	ADP
fuelectenerg-2698	105	9	the	the	DET
fuelectenerg-2698	105	10	sampling	sampling	NOUN
fuelectenerg-2698	105	11	theorem	theorem	NOUN
fuelectenerg-2698	105	12	,	,	PUNCT
fuelectenerg-2698	105	13	the	the	DET
fuelectenerg-2698	105	14	sampling	sample	VERB
fuelectenerg-2698	105	15	frequency	frequency	NOUN
fuelectenerg-2698	105	16	s	s	NOUN
fuelectenerg-2698	105	17	should	should	AUX
fuelectenerg-2698	105	18	be	be	AUX
fuelectenerg-2698	105	19	at	at	ADV
fuelectenerg-2698	105	20	least	least	ADJ
fuelectenerg-2698	105	21	twice	twice	DET
fuelectenerg-2698	105	22	the	the	DET
fuelectenerg-2698	105	23	bandwidth	bandwidth	NOUN
fuelectenerg-2698	105	24	of	of	ADP
fuelectenerg-2698	105	25	the	the	DET
fuelectenerg-2698	105	26	system	system	NOUN
fuelectenerg-2698	105	27	o	o	X
fuelectenerg-2698	106	1	[	[	X
fuelectenerg-2698	106	2	13	13	NUM
fuelectenerg-2698	106	3	]	]	PUNCT
fuelectenerg-2698	106	4	,	,	PUNCT
fuelectenerg-2698	106	5	which	which	PRON
fuelectenerg-2698	106	6	infers	infer	VERB
fuelectenerg-2698	106	7	that	that	SCONJ
fuelectenerg-2698	106	8	0	0	NUM
fuelectenerg-2698	106	9	0,5	0,5	NUM
fuelectenerg-2698	106	10	29.845ms.mt	29.845ms.mt	NOUN
fuelectenerg-2698	106	11	т	т	PROPN
fuelectenerg-2698	106	12			PROPN
fuelectenerg-2698	106	13			PROPN
fuelectenerg-2698	106	14			NOUN
fuelectenerg-2698	106	15			PROPN
fuelectenerg-2698	106	16			NUM
fuelectenerg-2698	106	17			PRON
fuelectenerg-2698	106	18			X
fuelectenerg-2698	106	19	(	(	PUNCT
fuelectenerg-2698	106	20	10	10	NUM
fuelectenerg-2698	106	21	)	)	PUNCT
fuelectenerg-2698	106	22	this	this	DET
fuelectenerg-2698	106	23	value	value	NOUN
fuelectenerg-2698	106	24	of	of	ADP
fuelectenerg-2698	106	25	the	the	DET
fuelectenerg-2698	106	26	sampling	sample	VERB
fuelectenerg-2698	106	27	period	period	NOUN
fuelectenerg-2698	106	28	represents	represent	VERB
fuelectenerg-2698	106	29	the	the	DET
fuelectenerg-2698	106	30	theoretical	theoretical	ADJ
fuelectenerg-2698	106	31	maximum	maximum	NOUN
fuelectenerg-2698	106	32	.	.	PUNCT
fuelectenerg-2698	107	1	however	however	ADV
fuelectenerg-2698	107	2	,	,	PUNCT
fuelectenerg-2698	107	3	more	more	ADV
fuelectenerg-2698	107	4	practical	practical	ADJ
fuelectenerg-2698	107	5	reasons	reason	NOUN
fuelectenerg-2698	107	6	require	require	VERB
fuelectenerg-2698	107	7	that	that	SCONJ
fuelectenerg-2698	107	8	sampling	sample	VERB
fuelectenerg-2698	107	9	period	period	NOUN
fuelectenerg-2698	107	10	be	be	AUX
fuelectenerg-2698	107	11	lower	low	ADJ
fuelectenerg-2698	107	12	than	than	ADP
fuelectenerg-2698	107	13	the	the	DET
fuelectenerg-2698	107	14	theoretical	theoretical	ADJ
fuelectenerg-2698	107	15	maximum	maximum	NOUN
fuelectenerg-2698	107	16	allowed	allow	VERB
fuelectenerg-2698	107	17	.	.	PUNCT
fuelectenerg-2698	108	1	the	the	DET
fuelectenerg-2698	108	2	relatively	relatively	ADV
fuelectenerg-2698	108	3	large	large	ADJ
fuelectenerg-2698	108	4	sampling	sampling	NOUN
fuelectenerg-2698	108	5	period	period	NOUN
fuelectenerg-2698	108	6	in	in	ADP
fuelectenerg-2698	108	7	relation	relation	NOUN
fuelectenerg-2698	108	8	to	to	ADP
fuelectenerg-2698	108	9	the	the	DET
fuelectenerg-2698	108	10	real	real	ADJ
fuelectenerg-2698	108	11	dynamics	dynamic	NOUN
fuelectenerg-2698	108	12	of	of	ADP
fuelectenerg-2698	108	13	the	the	DET
fuelectenerg-2698	108	14	system	system	NOUN
fuelectenerg-2698	108	15	can	can	AUX
fuelectenerg-2698	108	16	have	have	VERB
fuelectenerg-2698	108	17	negative	negative	ADJ
fuelectenerg-2698	108	18	impact	impact	NOUN
fuelectenerg-2698	108	19	on	on	ADP
fuelectenerg-2698	108	20	the	the	DET
fuelectenerg-2698	108	21	closed	closed	ADJ
fuelectenerg-2698	108	22	-	-	PUNCT
fuelectenerg-2698	108	23	loop	loop	NOUN
fuelectenerg-2698	108	24	system	system	NOUN
fuelectenerg-2698	108	25	stability	stability	NOUN
fuelectenerg-2698	108	26	[	[	X
fuelectenerg-2698	108	27	13	13	NUM
fuelectenerg-2698	108	28	]	]	PUNCT
fuelectenerg-2698	108	29	.	.	PUNCT
fuelectenerg-2698	109	1	factors	factor	NOUN
fuelectenerg-2698	109	2	that	that	PRON
fuelectenerg-2698	109	3	determine	determine	VERB
fuelectenerg-2698	109	4	the	the	DET
fuelectenerg-2698	109	5	lower	low	ADJ
fuelectenerg-2698	109	6	allowable	allowable	ADJ
fuelectenerg-2698	109	7	value	value	NOUN
fuelectenerg-2698	109	8	of	of	ADP
fuelectenerg-2698	109	9	sampling	sample	VERB
fuelectenerg-2698	109	10	period	period	NOUN
fuelectenerg-2698	109	11	are	be	AUX
fuelectenerg-2698	109	12	quality	quality	NOUN
fuelectenerg-2698	109	13	reference	reference	NOUN
fuelectenerg-2698	109	14	tracking	tracking	NOUN
fuelectenerg-2698	109	15	,	,	PUNCT
fuelectenerg-2698	109	16	quality	quality	NOUN
fuelectenerg-2698	109	17	control	control	NOUN
fuelectenerg-2698	109	18	,	,	PUNCT
fuelectenerg-2698	109	19	measured	measure	VERB
fuelectenerg-2698	109	20	by	by	ADP
fuelectenerg-2698	109	21	the	the	DET
fuelectenerg-2698	109	22	error	error	NOUN
fuelectenerg-2698	109	23	in	in	ADP
fuelectenerg-2698	109	24	the	the	DET
fuelectenerg-2698	109	25	system	system	NOUN
fuelectenerg-2698	109	26	response	response	NOUN
fuelectenerg-2698	109	27	due	due	ADP
fuelectenerg-2698	109	28	to	to	ADP
fuelectenerg-2698	109	29	the	the	DET
fuelectenerg-2698	109	30	presence	presence	NOUN
fuelectenerg-2698	109	31	of	of	ADP
fuelectenerg-2698	109	32	external	external	ADJ
fuelectenerg-2698	109	33	disturbance	disturbance	NOUN
fuelectenerg-2698	109	34	,	,	PUNCT
fuelectenerg-2698	109	35	system	system	NOUN
fuelectenerg-2698	109	36	sensitivity	sensitivity	NOUN
fuelectenerg-2698	109	37	to	to	PART
fuelectenerg-2698	109	38	parameter	parameter	VERB
fuelectenerg-2698	109	39	variations	variation	NOUN
fuelectenerg-2698	109	40	and	and	CCONJ
fuelectenerg-2698	109	41	noise	noise	NOUN
fuelectenerg-2698	109	42	sensor	sensor	NOUN
fuelectenerg-2698	109	43	-	-	PUNCT
fuelectenerg-2698	109	44	induced	induce	VERB
fuelectenerg-2698	109	45	errors	error	NOUN
fuelectenerg-2698	109	46	.	.	PUNCT
fuelectenerg-2698	110	1	in	in	ADP
fuelectenerg-2698	110	2	real	real	ADJ
fuelectenerg-2698	110	3	applications	application	NOUN
fuelectenerg-2698	110	4	,	,	PUNCT
fuelectenerg-2698	110	5	for	for	ADP
fuelectenerg-2698	110	6	adequate	adequate	ADJ
fuelectenerg-2698	110	7	reference	reference	NOUN
fuelectenerg-2698	110	8	tracking	tracking	NOUN
fuelectenerg-2698	110	9	and	and	CCONJ
fuelectenerg-2698	110	10	elimination	elimination	NOUN
fuelectenerg-2698	110	11	of	of	ADP
fuelectenerg-2698	110	12	disturbance	disturbance	NOUN
fuelectenerg-2698	110	13	,	,	PUNCT
fuelectenerg-2698	110	14	sampling	sample	VERB
fuelectenerg-2698	110	15	frequency	frequency	NOUN
fuelectenerg-2698	110	16	selection	selection	NOUN
fuelectenerg-2698	110	17	s	s	PROPN
fuelectenerg-2698	110	18	=	=	PUNCT
fuelectenerg-2698	110	19	(	(	PUNCT
fuelectenerg-2698	110	20	10	10	NUM
fuelectenerg-2698	110	21			PROPN
fuelectenerg-2698	110	22	20)o	20)o	PROPN
fuelectenerg-2698	110	23	is	be	AUX
fuelectenerg-2698	110	24	proposed	propose	VERB
fuelectenerg-2698	110	25	[	[	X
fuelectenerg-2698	110	26	14	14	NUM
fuelectenerg-2698	110	27	]	]	PUNCT
fuelectenerg-2698	110	28	.	.	PUNCT
fuelectenerg-2698	111	1	this	this	PRON
fuelectenerg-2698	111	2	results	result	VERB
fuelectenerg-2698	111	3	in	in	ADP
fuelectenerg-2698	111	4	a	a	DET
fuelectenerg-2698	111	5	preferred	preferred	ADJ
fuelectenerg-2698	111	6	range	range	NOUN
fuelectenerg-2698	111	7	of	of	ADP
fuelectenerg-2698	111	8	the	the	DET
fuelectenerg-2698	111	9	sampling	sample	VERB
fuelectenerg-2698	111	10	period	period	NOUN
fuelectenerg-2698	111	11			PROPN
fuelectenerg-2698	111	12	2.98ms	2.98m	NOUN
fuelectenerg-2698	111	13	5.97ms	5.97ms	NUM
fuelectenerg-2698	111	14	.t	.t	VERB
fuelectenerg-2698	111	15			NOUN
fuelectenerg-2698	111	16			PROPN
fuelectenerg-2698	111	17	(	(	PUNCT
fuelectenerg-2698	111	18	11	11	NUM
fuelectenerg-2698	111	19	)	)	PUNCT
fuelectenerg-2698	111	20	given	give	VERB
fuelectenerg-2698	111	21	that	that	SCONJ
fuelectenerg-2698	111	22	the	the	DET
fuelectenerg-2698	111	23	introduction	introduction	NOUN
fuelectenerg-2698	111	24	of	of	ADP
fuelectenerg-2698	111	25	the	the	DET
fuelectenerg-2698	111	26	controllers	controller	NOUN
fuelectenerg-2698	111	27	additionally	additionally	ADV
fuelectenerg-2698	111	28	increases	increase	VERB
fuelectenerg-2698	111	29	the	the	DET
fuelectenerg-2698	111	30	bandwidth	bandwidth	NOUN
fuelectenerg-2698	111	31	of	of	ADP
fuelectenerg-2698	111	32	closed	closed	ADJ
fuelectenerg-2698	111	33	loop	loop	NOUN
fuelectenerg-2698	111	34	system	system	NOUN
fuelectenerg-2698	111	35	,	,	PUNCT
fuelectenerg-2698	111	36	sampling	sample	VERB
fuelectenerg-2698	111	37	periods	period	NOUN
fuelectenerg-2698	111	38	in	in	ADP
fuelectenerg-2698	111	39	the	the	DET
fuelectenerg-2698	111	40	speed	speed	NOUN
fuelectenerg-2698	111	41	and	and	CCONJ
fuelectenerg-2698	111	42	position	position	NOUN
fuelectenerg-2698	111	43	loops	loop	NOUN
fuelectenerg-2698	111	44	,	,	PUNCT
fuelectenerg-2698	111	45	based	base	VERB
fuelectenerg-2698	111	46	on	on	ADP
fuelectenerg-2698	111	47	(	(	PUNCT
fuelectenerg-2698	111	48	11	11	NUM
fuelectenerg-2698	111	49	)	)	PUNCT
fuelectenerg-2698	111	50	,	,	PUNCT
fuelectenerg-2698	111	51	were	be	AUX
fuelectenerg-2698	111	52	selected	select	VERB
fuelectenerg-2698	111	53	to	to	PART
fuelectenerg-2698	111	54	be	be	AUX
fuelectenerg-2698	111	55	1ms	1ms	ADJ
fuelectenerg-2698	111	56	and	and	CCONJ
fuelectenerg-2698	111	57	5ms	5ms	ADJ
fuelectenerg-2698	111	58	,	,	PUNCT
fuelectenerg-2698	111	59	respectively	respectively	ADV
fuelectenerg-2698	111	60	.	.	PUNCT
fuelectenerg-2698	112	1	3	3	X
fuelectenerg-2698	112	2	.	.	X
fuelectenerg-2698	112	3	system	system	NOUN
fuelectenerg-2698	112	4	control	control	NOUN
fuelectenerg-2698	112	5	structure	structure	NOUN
fuelectenerg-2698	112	6	the	the	DET
fuelectenerg-2698	112	7	control	control	NOUN
fuelectenerg-2698	112	8	structure	structure	NOUN
fuelectenerg-2698	112	9	that	that	PRON
fuelectenerg-2698	112	10	provides	provide	VERB
fuelectenerg-2698	112	11	electronic	electronic	ADJ
fuelectenerg-2698	112	12	coupling	coupling	NOUN
fuelectenerg-2698	112	13	of	of	ADP
fuelectenerg-2698	112	14	two	two	NUM
fuelectenerg-2698	112	15	motor	motor	NOUN
fuelectenerg-2698	112	16	shafts	shafts	ADJ
fuelectenerg-2698	112	17	is	be	AUX
fuelectenerg-2698	112	18	shown	show	VERB
fuelectenerg-2698	112	19	in	in	ADP
fuelectenerg-2698	112	20	figure	figure	NOUN
fuelectenerg-2698	112	21	4	4	NUM
fuelectenerg-2698	112	22	.	.	PUNCT
fuelectenerg-2698	113	1	the	the	DET
fuelectenerg-2698	113	2	block	block	NOUN
fuelectenerg-2698	113	3	diagram	diagram	NOUN
fuelectenerg-2698	113	4	shows	show	VERB
fuelectenerg-2698	113	5	two	two	NUM
fuelectenerg-2698	113	6	independent	independent	ADJ
fuelectenerg-2698	113	7	references	reference	NOUN
fuelectenerg-2698	113	8	,	,	PUNCT
fuelectenerg-2698	113	9	those	those	PRON
fuelectenerg-2698	113	10	for	for	ADP
fuelectenerg-2698	113	11	speed	speed	NOUN
fuelectenerg-2698	113	12	–	–	PUNCT
fuelectenerg-2698	113	13	ωr	ωr	ADJ
fuelectenerg-2698	113	14	and	and	CCONJ
fuelectenerg-2698	113	15	angle	angle	NOUN
fuelectenerg-2698	113	16	–	–	PUNCT
fuelectenerg-2698	113	17	α	α	X
fuelectenerg-2698	113	18	.	.	PUNCT
fuelectenerg-2698	113	19	master	master	PROPN
fuelectenerg-2698	113	20	drive	drive	NOUN
fuelectenerg-2698	113	21	contains	contain	VERB
fuelectenerg-2698	113	22	only	only	ADV
fuelectenerg-2698	113	23	a	a	DET
fuelectenerg-2698	113	24	speed	speed	NOUN
fuelectenerg-2698	113	25	loop	loop	NOUN
fuelectenerg-2698	113	26	,	,	PUNCT
fuelectenerg-2698	113	27	while	while	SCONJ
fuelectenerg-2698	113	28	slave	slave	NOUN
fuelectenerg-2698	113	29	drive	drive	NOUN
fuelectenerg-2698	113	30	has	have	VERB
fuelectenerg-2698	113	31	a	a	DET
fuelectenerg-2698	113	32	cascade	cascade	NOUN
fuelectenerg-2698	113	33	structure	structure	NOUN
fuelectenerg-2698	113	34	with	with	ADP
fuelectenerg-2698	113	35	a	a	DET
fuelectenerg-2698	113	36	position	position	NOUN
fuelectenerg-2698	113	37	and	and	CCONJ
fuelectenerg-2698	113	38	a	a	DET
fuelectenerg-2698	113	39	speed	speed	NOUN
fuelectenerg-2698	113	40	loop	loop	NOUN
fuelectenerg-2698	113	41	.	.	PUNCT
fuelectenerg-2698	114	1	on	on	ADP
fuelectenerg-2698	114	2	the	the	DET
fuelectenerg-2698	114	3	summing	sum	VERB
fuelectenerg-2698	114	4	junction	junction	NOUN
fuelectenerg-2698	114	5	in	in	ADP
fuelectenerg-2698	114	6	the	the	DET
fuelectenerg-2698	114	7	slave	slave	NOUN
fuelectenerg-2698	114	8	loop	loop	NOUN
fuelectenerg-2698	114	9	,	,	PUNCT
fuelectenerg-2698	114	10	there	there	PRON
fuelectenerg-2698	114	11	are	be	VERB
fuelectenerg-2698	114	12	two	two	NUM
fuelectenerg-2698	114	13	references	reference	NOUN
fuelectenerg-2698	114	14	that	that	PRON
fuelectenerg-2698	114	15	are	be	AUX
fuelectenerg-2698	114	16	summarized	summarize	VERB
fuelectenerg-2698	114	17	.	.	PUNCT
fuelectenerg-2698	115	1	the	the	DET
fuelectenerg-2698	115	2	first	first	ADJ
fuelectenerg-2698	115	3	reference	reference	NOUN
fuelectenerg-2698	115	4	is	be	AUX
fuelectenerg-2698	115	5	the	the	DET
fuelectenerg-2698	115	6	instantaneous	instantaneous	ADJ
fuelectenerg-2698	115	7	master	master	NOUN
fuelectenerg-2698	115	8	drive	drive	NOUN
fuelectenerg-2698	115	9	speed	speed	NOUN
fuelectenerg-2698	115	10	.	.	PUNCT
fuelectenerg-2698	116	1	the	the	DET
fuelectenerg-2698	116	2	second	second	ADJ
fuelectenerg-2698	116	3	one	one	NOUN
fuelectenerg-2698	116	4	is	be	AUX
fuelectenerg-2698	116	5	a	a	DET
fuelectenerg-2698	116	6	speed	speed	NOUN
fuelectenerg-2698	116	7	requirement	requirement	NOUN
fuelectenerg-2698	116	8	for	for	ADP
fuelectenerg-2698	116	9	changing	change	VERB
fuelectenerg-2698	116	10	the	the	DET
fuelectenerg-2698	116	11	shaft	shaft	NOUN
fuelectenerg-2698	116	12	angle	angle	NOUN
fuelectenerg-2698	116	13	of	of	ADP
fuelectenerg-2698	116	14	slave	slave	NOUN
fuelectenerg-2698	116	15	motor	motor	NOUN
fuelectenerg-2698	116	16	,	,	PUNCT
fuelectenerg-2698	116	17	which	which	PRON
fuelectenerg-2698	116	18	can	can	AUX
fuelectenerg-2698	116	19	be	be	AUX
fuelectenerg-2698	116	20	either	either	CCONJ
fuelectenerg-2698	116	21	positive	positive	ADJ
fuelectenerg-2698	116	22	or	or	CCONJ
fuelectenerg-2698	116	23	negative	negative	ADJ
fuelectenerg-2698	116	24	.	.	PUNCT
fuelectenerg-2698	117	1	pi	pi	PROPN
fuelectenerg-2698	117	2	controller	controller	NOUN
fuelectenerg-2698	117	3	is	be	AUX
fuelectenerg-2698	117	4	selected	select	VERB
fuelectenerg-2698	117	5	for	for	ADP
fuelectenerg-2698	117	6	speed	speed	NOUN
fuelectenerg-2698	117	7	loop	loop	NOUN
fuelectenerg-2698	117	8	and	and	CCONJ
fuelectenerg-2698	117	9	pd	pd	NOUN
fuelectenerg-2698	117	10	controller	controller	NOUN
fuelectenerg-2698	117	11	for	for	ADP
fuelectenerg-2698	117	12	positional	positional	ADJ
fuelectenerg-2698	117	13	one	one	NUM
fuelectenerg-2698	117	14	.	.	PUNCT
fuelectenerg-2698	118	1	the	the	DET
fuelectenerg-2698	118	2	synthesis	synthesis	NOUN
fuelectenerg-2698	118	3	and	and	CCONJ
fuelectenerg-2698	118	4	selection	selection	NOUN
fuelectenerg-2698	118	5	of	of	ADP
fuelectenerg-2698	118	6	the	the	DET
fuelectenerg-2698	118	7	controller	controller	NOUN
fuelectenerg-2698	118	8	parameters	parameter	NOUN
fuelectenerg-2698	118	9	will	will	AUX
fuelectenerg-2698	118	10	be	be	AUX
fuelectenerg-2698	118	11	explained	explain	VERB
fuelectenerg-2698	118	12	in	in	ADP
fuelectenerg-2698	118	13	more	more	ADJ
fuelectenerg-2698	118	14	detail	detail	NOUN
fuelectenerg-2698	118	15	in	in	ADP
fuelectenerg-2698	118	16	chapters	chapter	NOUN
fuelectenerg-2698	118	17	that	that	PRON
fuelectenerg-2698	118	18	follow	follow	VERB
fuelectenerg-2698	118	19	.	.	PUNCT
fuelectenerg-2698	119	1	80	80	NUM
fuelectenerg-2698	119	2	m.	m.	NOUN
fuelectenerg-2698	119	3	božić	božić	NOUN
fuelectenerg-2698	119	4	,	,	PUNCT
fuelectenerg-2698	119	5	s.	s.	PROPN
fuelectenerg-2698	119	6	antić	antić	PROPN
fuelectenerg-2698	119	7	,	,	PUNCT
fuelectenerg-2698	119	8	v.	v.	ADP
fuelectenerg-2698	119	9	vujiĉić	vujiĉić	PROPN
fuelectenerg-2698	119	10	,	,	PUNCT
fuelectenerg-2698	119	11	m.	m.	NOUN
fuelectenerg-2698	119	12	bjekić	bjekić	PROPN
fuelectenerg-2698	119	13	,	,	PUNCT
fuelectenerg-2698	119	14	g.	g.	PROPN
fuelectenerg-2698	119	15	đorđević	đorđević	PUNCT
fuelectenerg-2698	119	16	fig	fig	NOUN
fuelectenerg-2698	119	17	.	.	PUNCT
fuelectenerg-2698	119	18	4	4	NUM
fuelectenerg-2698	119	19	master	master	NOUN
fuelectenerg-2698	119	20	slave	slave	NOUN
fuelectenerg-2698	119	21	loops	loop	NOUN
fuelectenerg-2698	119	22	3.1	3.1	NUM
fuelectenerg-2698	119	23	.	.	PUNCT
fuelectenerg-2698	120	1	the	the	DET
fuelectenerg-2698	120	2	synthesis	synthesis	NOUN
fuelectenerg-2698	120	3	of	of	ADP
fuelectenerg-2698	120	4	speed	speed	NOUN
fuelectenerg-2698	120	5	loops	loop	NOUN
fuelectenerg-2698	120	6	in	in	ADP
fuelectenerg-2698	120	7	z	z	NOUN
fuelectenerg-2698	120	8	domain	domain	NOUN
fuelectenerg-2698	120	9	the	the	DET
fuelectenerg-2698	120	10	torque	torque	NOUN
fuelectenerg-2698	120	11	/	/	SYM
fuelectenerg-2698	120	12	current	current	ADJ
fuelectenerg-2698	120	13	loop	loop	NOUN
fuelectenerg-2698	120	14	was	be	AUX
fuelectenerg-2698	120	15	implemented	implement	VERB
fuelectenerg-2698	120	16	in	in	ADP
fuelectenerg-2698	120	17	the	the	DET
fuelectenerg-2698	120	18	motor	motor	NOUN
fuelectenerg-2698	120	19	driver	driver	NOUN
fuelectenerg-2698	120	20	.	.	PUNCT
fuelectenerg-2698	121	1	in	in	ADP
fuelectenerg-2698	121	2	the	the	DET
fuelectenerg-2698	121	3	block	block	NOUN
fuelectenerg-2698	121	4	diagrams	diagram	NOUN
fuelectenerg-2698	121	5	,	,	PUNCT
fuelectenerg-2698	121	6	the	the	DET
fuelectenerg-2698	121	7	driver	driver	NOUN
fuelectenerg-2698	121	8	is	be	AUX
fuelectenerg-2698	121	9	represented	represent	VERB
fuelectenerg-2698	121	10	only	only	ADV
fuelectenerg-2698	121	11	by	by	ADP
fuelectenerg-2698	121	12	its	its	PRON
fuelectenerg-2698	121	13	transfer	transfer	NOUN
fuelectenerg-2698	121	14	function	function	NOUN
fuelectenerg-2698	121	15	.	.	PUNCT
fuelectenerg-2698	122	1	the	the	DET
fuelectenerg-2698	122	2	transfer	transfer	NOUN
fuelectenerg-2698	122	3	function	function	NOUN
fuelectenerg-2698	122	4	of	of	ADP
fuelectenerg-2698	122	5	the	the	DET
fuelectenerg-2698	122	6	driver	driver	NOUN
fuelectenerg-2698	122	7	was	be	AUX
fuelectenerg-2698	122	8	obtained	obtain	VERB
fuelectenerg-2698	122	9	by	by	ADP
fuelectenerg-2698	122	10	recording	record	VERB
fuelectenerg-2698	122	11	the	the	DET
fuelectenerg-2698	122	12	response	response	NOUN
fuelectenerg-2698	122	13	of	of	ADP
fuelectenerg-2698	122	14	motor	motor	NOUN
fuelectenerg-2698	122	15	speed	speed	NOUN
fuelectenerg-2698	122	16	to	to	PART
fuelectenerg-2698	122	17	step	step	VERB
fuelectenerg-2698	122	18	excitation	excitation	NOUN
fuelectenerg-2698	122	19	reference	reference	NOUN
fuelectenerg-2698	122	20	voltage	voltage	NOUN
fuelectenerg-2698	122	21	.	.	PUNCT
fuelectenerg-2698	123	1	due	due	ADP
fuelectenerg-2698	123	2	to	to	ADP
fuelectenerg-2698	123	3	the	the	DET
fuelectenerg-2698	123	4	cascade	cascade	NOUN
fuelectenerg-2698	123	5	control	control	NOUN
fuelectenerg-2698	123	6	structure	structure	NOUN
fuelectenerg-2698	123	7	,	,	PUNCT
fuelectenerg-2698	123	8	speed	speed	NOUN
fuelectenerg-2698	123	9	loop	loop	NOUN
fuelectenerg-2698	123	10	can	can	AUX
fuelectenerg-2698	123	11	be	be	AUX
fuelectenerg-2698	123	12	adjusted	adjust	VERB
fuelectenerg-2698	123	13	independently	independently	ADV
fuelectenerg-2698	123	14	of	of	ADP
fuelectenerg-2698	123	15	the	the	DET
fuelectenerg-2698	123	16	position	position	NOUN
fuelectenerg-2698	123	17	loop	loop	NOUN
fuelectenerg-2698	123	18	.	.	PUNCT
fuelectenerg-2698	124	1	figure	figure	NOUN
fuelectenerg-2698	124	2	5	5	NUM
fuelectenerg-2698	124	3	shows	show	VERB
fuelectenerg-2698	124	4	simulink	simulink	NOUN
fuelectenerg-2698	124	5	model	model	NOUN
fuelectenerg-2698	124	6	of	of	ADP
fuelectenerg-2698	124	7	the	the	DET
fuelectenerg-2698	124	8	speed	speed	NOUN
fuelectenerg-2698	124	9	loop	loop	NOUN
fuelectenerg-2698	124	10	.	.	PUNCT
fuelectenerg-2698	125	1	fig	fig	NOUN
fuelectenerg-2698	125	2	.	.	PUNCT
fuelectenerg-2698	126	1	5	5	NUM
fuelectenerg-2698	126	2	simplified	simplified	ADJ
fuelectenerg-2698	126	3	model	model	NOUN
fuelectenerg-2698	126	4	of	of	ADP
fuelectenerg-2698	126	5	the	the	DET
fuelectenerg-2698	126	6	speed	speed	NOUN
fuelectenerg-2698	126	7	-	-	PUNCT
fuelectenerg-2698	126	8	loop	loop	NOUN
fuelectenerg-2698	126	9	where	where	SCONJ
fuelectenerg-2698	126	10	:	:	PUNCT
fuelectenerg-2698	126	11	t1	t1	NOUN
fuelectenerg-2698	126	12	=	=	PUNCT
fuelectenerg-2698	127	1	1ms	1ms	NOUN
fuelectenerg-2698	127	2	is	be	AUX
fuelectenerg-2698	127	3	the	the	DET
fuelectenerg-2698	127	4	speed	speed	NOUN
fuelectenerg-2698	127	5	loop	loop	NOUN
fuelectenerg-2698	127	6	sampling	sampling	NOUN
fuelectenerg-2698	127	7	period	period	NOUN
fuelectenerg-2698	127	8	;	;	PUNCT
fuelectenerg-2698	127	9	kd	kd	PROPN
fuelectenerg-2698	127	10	=	=	PROPN
fuelectenerg-2698	127	11	8.463910	8.463910	NUM
fuelectenerg-2698	127	12	3	3	NOUN
fuelectenerg-2698	127	13	is	be	AUX
fuelectenerg-2698	127	14	the	the	DET
fuelectenerg-2698	127	15	driver	driver	NOUN
fuelectenerg-2698	127	16	constant	constant	ADJ
fuelectenerg-2698	127	17	;	;	PUNCT
fuelectenerg-2698	127	18	kc	kc	PROPN
fuelectenerg-2698	127	19	=	=	SYM
fuelectenerg-2698	127	20	1	1	NUM
fuelectenerg-2698	127	21	/	/	SYM
fuelectenerg-2698	127	22	30	30	NUM
fuelectenerg-2698	127	23	is	be	AUX
fuelectenerg-2698	127	24	the	the	DET
fuelectenerg-2698	127	25	speed	speed	NOUN
fuelectenerg-2698	127	26	translation	translation	NOUN
fuelectenerg-2698	127	27	constant	constant	ADJ
fuelectenerg-2698	127	28	from	from	ADP
fuelectenerg-2698	127	29	rpm	rpm	NOUN
fuelectenerg-2698	127	30	to	to	ADP
fuelectenerg-2698	127	31	impulses	impulse	NOUN
fuelectenerg-2698	127	32	per	per	ADP
fuelectenerg-2698	127	33	interval	interval	NOUN
fuelectenerg-2698	127	34	(	(	PUNCT
fuelectenerg-2698	127	35	imp	imp	PROPN
fuelectenerg-2698	127	36	/	/	SYM
fuelectenerg-2698	127	37	int	int	NOUN
fuelectenerg-2698	127	38	)	)	PUNCT
fuelectenerg-2698	127	39	;	;	PUNCT
fuelectenerg-2698	127	40	230	230	NUM
fuelectenerg-2698	127	41	5.166	5.166	NUM
fuelectenerg-2698	127	42	10d	10d	NUM
fuelectenerg-2698	127	43	m	m	VERB
fuelectenerg-2698	127	44	ck	ck	INTJ
fuelectenerg-2698	127	45	k	k	PROPN
fuelectenerg-2698	127	46	k	k	PROPN
fuelectenerg-2698	127	47	k	k	PROPN
fuelectenerg-2698	127	48			PROPN
fuelectenerg-2698	127	49			ADJ
fuelectenerg-2698	127	50			PROPN
fuelectenerg-2698	127	51			NOUN
fuelectenerg-2698	127	52	;	;	PUNCT
fuelectenerg-2698	127	53	nr(t	nr(t	NUM
fuelectenerg-2698	127	54	)	)	PUNCT
fuelectenerg-2698	127	55	,	,	PUNCT
fuelectenerg-2698	127	56	n(t	n(t	PROPN
fuelectenerg-2698	127	57	)	)	PUNCT
fuelectenerg-2698	127	58	are	be	AUX
fuelectenerg-2698	127	59	the	the	DET
fuelectenerg-2698	127	60	reference	reference	NOUN
fuelectenerg-2698	127	61	and	and	CCONJ
fuelectenerg-2698	127	62	the	the	DET
fuelectenerg-2698	127	63	measured	measured	ADJ
fuelectenerg-2698	127	64	speed	speed	NOUN
fuelectenerg-2698	127	65	in	in	ADP
fuelectenerg-2698	127	66	imp	imp	PROPN
fuelectenerg-2698	127	67	/	/	SYM
fuelectenerg-2698	127	68	int	int	NOUN
fuelectenerg-2698	127	69	.	.	PUNCT
fuelectenerg-2698	128	1	the	the	DET
fuelectenerg-2698	128	2	transfer	transfer	NOUN
fuelectenerg-2698	128	3	function	function	NOUN
fuelectenerg-2698	128	4	of	of	ADP
fuelectenerg-2698	128	5	the	the	DET
fuelectenerg-2698	128	6	motor	motor	NOUN
fuelectenerg-2698	128	7	with	with	ADP
fuelectenerg-2698	128	8	the	the	DET
fuelectenerg-2698	128	9	driver	driver	NOUN
fuelectenerg-2698	128	10	in	in	ADP
fuelectenerg-2698	128	11			ADJ
fuelectenerg-2698	128	12	domain	domain	NOUN
fuelectenerg-2698	128	13	is	be	AUX
fuelectenerg-2698	128	14	:	:	PUNCT
fuelectenerg-2698	128	15	/	/	SYM
fuelectenerg-2698	128	16	/	/	SYM
fuelectenerg-2698	128	17	1	1	NUM
fuelectenerg-2698	128	18	1	1	NUM
fuelectenerg-2698	128	19	(	(	PUNCT
fuelectenerg-2698	128	20	)	)	PUNCT
fuelectenerg-2698	128	21	1	1	NUM
fuelectenerg-2698	128	22	m	m	NOUN
fuelectenerg-2698	128	23	m	m	VERB
fuelectenerg-2698	128	24	t	t	NOUN
fuelectenerg-2698	128	25	tst	tst	NOUN
fuelectenerg-2698	128	26	t	t	PROPN
fuelectenerg-2698	128	27	t	t	PROPN
fuelectenerg-2698	128	28	m	m	NOUN
fuelectenerg-2698	128	29	e	e	X
fuelectenerg-2698	128	30	k	k	PROPN
fuelectenerg-2698	128	31	e	e	X
fuelectenerg-2698	128	32	g	g	PROPN
fuelectenerg-2698	129	1	z	z	PROPN
fuelectenerg-2698	129	2	k	k	PROPN
fuelectenerg-2698	130	1	s	s	PROPN
fuelectenerg-2698	130	2	st	st	PROPN
fuelectenerg-2698	130	3	z	z	PROPN
fuelectenerg-2698	130	4	e	e	X
fuelectenerg-2698	130	5			PUNCT
fuelectenerg-2698	130	6			VERB
fuelectenerg-2698	130	7			NOUN
fuelectenerg-2698	130	8			ADJ
fuelectenerg-2698	130	9			PROPN
fuelectenerg-2698	130	10			PROPN
fuelectenerg-2698	130	11			NUM
fuelectenerg-2698	130	12			PROPN
fuelectenerg-2698	130	13			ADJ
fuelectenerg-2698	130	14			NOUN
fuelectenerg-2698	130	15			NOUN
fuelectenerg-2698	130	16			X
fuelectenerg-2698	130	17	(	(	PUNCT
fuelectenerg-2698	130	18	12	12	NUM
fuelectenerg-2698	130	19	)	)	PUNCT
fuelectenerg-2698	130	20	1	1	NUM
fuelectenerg-2698	130	21	2	2	NUM
fuelectenerg-2698	130	22	0.002643	0.002643	NUM
fuelectenerg-2698	130	23	(	(	PUNCT
fuelectenerg-2698	130	24	)	)	PUNCT
fuelectenerg-2698	130	25	.	.	PUNCT
fuelectenerg-2698	131	1	0.9488	0.9488	NUM
fuelectenerg-2698	131	2	c	c	NOUN
fuelectenerg-2698	131	3	g	g	PROPN
fuelectenerg-2698	131	4	z	z	PROPN
fuelectenerg-2698	131	5	z	z	NOUN
fuelectenerg-2698	131	6	z	z	NOUN
fuelectenerg-2698	131	7	c	c	NOUN
fuelectenerg-2698	132	1			NUM
fuelectenerg-2698	132	2			PROPN
fuelectenerg-2698	132	3			PROPN
fuelectenerg-2698	132	4			NOUN
fuelectenerg-2698	132	5	(	(	PUNCT
fuelectenerg-2698	132	6	13	13	NUM
fuelectenerg-2698	132	7	)	)	PUNCT
fuelectenerg-2698	132	8	the	the	DET
fuelectenerg-2698	132	9	characteristic	characteristic	ADJ
fuelectenerg-2698	132	10	equation	equation	NOUN
fuelectenerg-2698	132	11	is	be	AUX
fuelectenerg-2698	132	12	now	now	ADV
fuelectenerg-2698	132	13	:	:	PUNCT
fuelectenerg-2698	132	14	1	1	NUM
fuelectenerg-2698	132	15	2	2	NUM
fuelectenerg-2698	132	16	(	(	PUNCT
fuelectenerg-2698	132	17	)	)	PUNCT
fuelectenerg-2698	132	18	1	1	NUM
fuelectenerg-2698	132	19	(	(	PUNCT
fuelectenerg-2698	132	20	)	)	PUNCT
fuelectenerg-2698	132	21	1	1	NUM
fuelectenerg-2698	132	22	0	0	NUM
fuelectenerg-2698	132	23	1	1	NUM
fuelectenerg-2698	132	24	p	p	NOUN
fuelectenerg-2698	133	1	i	i	PRON
fuelectenerg-2698	133	2	c	c	PROPN
fuelectenerg-2698	133	3	z	z	PROPN
fuelectenerg-2698	134	1	w	w	PROPN
fuelectenerg-2698	134	2	z	z	PROPN
fuelectenerg-2698	134	3	k	k	PROPN
fuelectenerg-2698	135	1	k	k	PROPN
fuelectenerg-2698	135	2	z	z	PUNCT
fuelectenerg-2698	135	3	c	c	PROPN
fuelectenerg-2698	135	4	z	z	X
fuelectenerg-2698	135	5			PROPN
fuelectenerg-2698	135	6			PROPN
fuelectenerg-2698	135	7			ADV
fuelectenerg-2698	135	8			PUNCT
fuelectenerg-2698	135	9			PROPN
fuelectenerg-2698	135	10			PROPN
fuelectenerg-2698	135	11			PROPN
fuelectenerg-2698	135	12	(	(	PUNCT
fuelectenerg-2698	135	13	14	14	NUM
fuelectenerg-2698	135	14	)	)	PUNCT
fuelectenerg-2698	135	15	i.e.	i.e.	X
fuelectenerg-2698	135	16	2	2	NUM
fuelectenerg-2698	135	17	1	1	NUM
fuelectenerg-2698	135	18	2	2	NUM
fuelectenerg-2698	135	19	1	1	NUM
fuelectenerg-2698	135	20	2	2	NUM
fuelectenerg-2698	135	21	[	[	X
fuelectenerg-2698	135	22	(	(	PUNCT
fuelectenerg-2698	135	23	)	)	PUNCT
fuelectenerg-2698	135	24	1	1	NUM
fuelectenerg-2698	135	25	]	]	SYM
fuelectenerg-2698	135	26	0p	0p	NUM
fuelectenerg-2698	135	27	i	i	NOUN
fuelectenerg-2698	135	28	pz	pz	NOUN
fuelectenerg-2698	136	1	z	z	PROPN
fuelectenerg-2698	136	2	k	k	PROPN
fuelectenerg-2698	137	1	k	k	PROPN
fuelectenerg-2698	137	2	c	c	NOUN
fuelectenerg-2698	137	3	c	c	NOUN
fuelectenerg-2698	137	4	c	c	PROPN
fuelectenerg-2698	137	5	k	k	PROPN
fuelectenerg-2698	137	6	c	c	PROPN
fuelectenerg-2698	137	7			PROPN
fuelectenerg-2698	138	1			PUNCT
fuelectenerg-2698	138	2			PROPN
fuelectenerg-2698	138	3			PROPN
fuelectenerg-2698	138	4			PROPN
fuelectenerg-2698	138	5			PROPN
fuelectenerg-2698	138	6			VERB
fuelectenerg-2698	138	7			NUM
fuelectenerg-2698	138	8	electronic	electronic	ADJ
fuelectenerg-2698	138	9	gearing	gearing	NOUN
fuelectenerg-2698	138	10	of	of	ADP
fuelectenerg-2698	138	11	two	two	NUM
fuelectenerg-2698	138	12	dc	dc	PROPN
fuelectenerg-2698	138	13	motor	motor	NOUN
fuelectenerg-2698	138	14	shafts	shafts	ADJ
fuelectenerg-2698	138	15	for	for	ADP
fuelectenerg-2698	138	16	wheg	wheg	ADJ
fuelectenerg-2698	138	17	type	type	NOUN
fuelectenerg-2698	138	18	mobile	mobile	ADJ
fuelectenerg-2698	138	19	robot	robot	NOUN
fuelectenerg-2698	138	20	81	81	NUM
fuelectenerg-2698	138	21	since	since	SCONJ
fuelectenerg-2698	138	22	the	the	DET
fuelectenerg-2698	138	23	characteristic	characteristic	ADJ
fuelectenerg-2698	138	24	equation	equation	NOUN
fuelectenerg-2698	138	25	of	of	ADP
fuelectenerg-2698	138	26	a	a	DET
fuelectenerg-2698	138	27	second	second	ADJ
fuelectenerg-2698	138	28	-	-	PUNCT
fuelectenerg-2698	138	29	order	order	NOUN
fuelectenerg-2698	138	30	system	system	NOUN
fuelectenerg-2698	138	31	for	for	ADP
fuelectenerg-2698	138	32	pseudo	pseudo	NOUN
fuelectenerg-2698	138	33	periodic	periodic	ADJ
fuelectenerg-2698	138	34	time	time	NOUN
fuelectenerg-2698	138	35	response	response	NOUN
fuelectenerg-2698	138	36	when	when	SCONJ
fuelectenerg-2698	138	37	0	0	NUM
fuelectenerg-2698	138	38	1	1	NUM
fuelectenerg-2698	138	39			NOUN
fuelectenerg-2698	138	40			PROPN
fuelectenerg-2698	138	41	has	have	VERB
fuelectenerg-2698	138	42	the	the	DET
fuelectenerg-2698	138	43	form	form	NOUN
fuelectenerg-2698	138	44	22	22	NUM
fuelectenerg-2698	138	45	2	2	NUM
fuelectenerg-2698	138	46	(	(	PUNCT
fuelectenerg-2698	138	47	)	)	PUNCT
fuelectenerg-2698	138	48	1	1	NUM
fuelectenerg-2698	138	49	2	2	NUM
fuelectenerg-2698	138	50	cos	cos	PROPN
fuelectenerg-2698	138	51	(	(	PUNCT
fuelectenerg-2698	138	52	1	1	NUM
fuelectenerg-2698	138	53	)	)	PUNCT
fuelectenerg-2698	138	54	0n	0n	NOUN
fuelectenerg-2698	138	55	nt	nt	PROPN
fuelectenerg-2698	138	56	t	t	PROPN
fuelectenerg-2698	138	57	nw	nw	PROPN
fuelectenerg-2698	138	58	z	z	PROPN
fuelectenerg-2698	138	59	z	z	PROPN
fuelectenerg-2698	138	60	e	e	PROPN
fuelectenerg-2698	138	61	t	t	PROPN
fuelectenerg-2698	139	1	z	z	PROPN
fuelectenerg-2698	139	2	e	e	PROPN
fuelectenerg-2698	140	1			PROPN
fuelectenerg-2698	140	2			PROPN
fuelectenerg-2698	140	3			PROPN
fuelectenerg-2698	140	4			ADJ
fuelectenerg-2698	140	5			PROPN
fuelectenerg-2698	140	6			PROPN
fuelectenerg-2698	140	7			NUM
fuelectenerg-2698	140	8			PUNCT
fuelectenerg-2698	140	9			SYM
fuelectenerg-2698	140	10			PROPN
fuelectenerg-2698	140	11			ADV
fuelectenerg-2698	140	12			NUM
fuelectenerg-2698	140	13	(	(	PUNCT
fuelectenerg-2698	140	14	15	15	NUM
fuelectenerg-2698	140	15	)	)	PUNCT
fuelectenerg-2698	140	16	it	it	PRON
fuelectenerg-2698	140	17	follows	follow	VERB
fuelectenerg-2698	140	18	2	2	NUM
fuelectenerg-2698	140	19	2	2	NUM
fuelectenerg-2698	140	20	1	1	NUM
fuelectenerg-2698	140	21	nt	not	PART
fuelectenerg-2698	140	22	p	p	NOUN
fuelectenerg-2698	141	1	c	c	NOUN
fuelectenerg-2698	141	2	e	e	X
fuelectenerg-2698	141	3	k	k	PROPN
fuelectenerg-2698	141	4	c	c	PROPN
fuelectenerg-2698	141	5			PROPN
fuelectenerg-2698	141	6			PROPN
fuelectenerg-2698	141	7			PROPN
fuelectenerg-2698	141	8			NUM
fuelectenerg-2698	141	9	,	,	PUNCT
fuelectenerg-2698	141	10	22	22	NUM
fuelectenerg-2698	141	11	1	1	NUM
fuelectenerg-2698	141	12	1	1	NUM
fuelectenerg-2698	141	13	(	(	PUNCT
fuelectenerg-2698	141	14	1	1	NUM
fuelectenerg-2698	141	15	2	2	NUM
fuelectenerg-2698	141	16	cos	cos	PROPN
fuelectenerg-2698	141	17	(	(	PUNCT
fuelectenerg-2698	141	18	1	1	NUM
fuelectenerg-2698	141	19	)	)	PUNCT
fuelectenerg-2698	141	20	)	)	PUNCT
fuelectenerg-2698	141	21	n	n	X
fuelectenerg-2698	141	22	nt	not	PART
fuelectenerg-2698	141	23	t	t	PROPN
fuelectenerg-2698	142	1	i	i	PRON
fuelectenerg-2698	142	2	nk	nk	PROPN
fuelectenerg-2698	142	3	e	e	PROPN
fuelectenerg-2698	142	4	t	t	NOUN
fuelectenerg-2698	142	5	e	e	X
fuelectenerg-2698	142	6	c	c	PROPN
fuelectenerg-2698	142	7			PROPN
fuelectenerg-2698	142	8			PROPN
fuelectenerg-2698	142	9			SYM
fuelectenerg-2698	142	10			PROPN
fuelectenerg-2698	142	11			NOUN
fuelectenerg-2698	142	12			NUM
fuelectenerg-2698	142	13			X
fuelectenerg-2698	142	14			PROPN
fuelectenerg-2698	142	15			VERB
fuelectenerg-2698	142	16	by	by	ADP
fuelectenerg-2698	142	17	selection	selection	NOUN
fuelectenerg-2698	142	18	different	different	ADJ
fuelectenerg-2698	142	19	values	value	NOUN
fuelectenerg-2698	142	20	of	of	ADP
fuelectenerg-2698	142	21	the	the	DET
fuelectenerg-2698	142	22	damping	damp	VERB
fuelectenerg-2698	142	23	factor	factor	NOUN
fuelectenerg-2698	142	24			NOUN
fuelectenerg-2698	142	25	and	and	CCONJ
fuelectenerg-2698	142	26	selecting	select	VERB
fuelectenerg-2698	142	27	the	the	DET
fuelectenerg-2698	142	28	natural	natural	ADJ
fuelectenerg-2698	142	29	frequency	frequency	NOUN
fuelectenerg-2698	142	30	n	n	NOUN
fuelectenerg-2698	142	31	i.e.	i.e.	X
fuelectenerg-2698	142	32	the	the	DET
fuelectenerg-2698	142	33	desired	desire	VERB
fuelectenerg-2698	142	34	bandwidth	bandwidth	NOUN
fuelectenerg-2698	142	35	of	of	ADP
fuelectenerg-2698	142	36	the	the	DET
fuelectenerg-2698	142	37	closed	closed	ADJ
fuelectenerg-2698	142	38	-	-	PUNCT
fuelectenerg-2698	142	39	loop	loop	NOUN
fuelectenerg-2698	142	40	system	system	NOUN
fuelectenerg-2698	142	41	0	0	NOUN
fuelectenerg-2698	142	42	to	to	PART
fuelectenerg-2698	142	43	be	be	AUX
fuelectenerg-2698	142	44	n	n	NOUN
fuelectenerg-2698	142	45			X
fuelectenerg-2698	142	46	0	0	X
fuelectenerg-2698	142	47	=	=	SYM
fuelectenerg-2698	142	48	314	314	NUM
fuelectenerg-2698	142	49	rad	rad	NOUN
fuelectenerg-2698	142	50	/	/	SYM
fuelectenerg-2698	142	51	s	s	PART
fuelectenerg-2698	142	52	(	(	PUNCT
fuelectenerg-2698	142	53	closed	closed	ADJ
fuelectenerg-2698	142	54	loop	loop	NOUN
fuelectenerg-2698	142	55	bandwidth	bandwidth	NOUN
fuelectenerg-2698	142	56	without	without	ADP
fuelectenerg-2698	142	57	controller	controller	NOUN
fuelectenerg-2698	142	58	from	from	ADP
fuelectenerg-2698	142	59	(	(	PUNCT
fuelectenerg-2698	142	60	9	9	NUM
fuelectenerg-2698	142	61	)	)	PUNCT
fuelectenerg-2698	142	62	is	be	AUX
fuelectenerg-2698	142	63	105.263	105.263	NUM
fuelectenerg-2698	142	64	rad/	rad/	ADJ
fuelectenerg-2698	142	65	s	s	PART
fuelectenerg-2698	142	66	)	)	PUNCT
fuelectenerg-2698	142	67	different	different	ADJ
fuelectenerg-2698	142	68	values	value	NOUN
fuelectenerg-2698	142	69	of	of	ADP
fuelectenerg-2698	142	70	kp	kp	PROPN
fuelectenerg-2698	142	71	=	=	SYM
fuelectenerg-2698	142	72	45.5984	45.5984	PROPN
fuelectenerg-2698	142	73	and	and	CCONJ
fuelectenerg-2698	142	74	ki	ki	PROPN
fuelectenerg-2698	142	75	=	=	VERB
fuelectenerg-2698	142	76	33.7229	33.7229	NUM
fuelectenerg-2698	142	77	were	be	AUX
fuelectenerg-2698	142	78	obtained	obtain	VERB
fuelectenerg-2698	142	79	,	,	PUNCT
fuelectenerg-2698	142	80	and	and	CCONJ
fuelectenerg-2698	142	81	are	be	AUX
fuelectenerg-2698	142	82	given	give	VERB
fuelectenerg-2698	142	83	in	in	ADP
fuelectenerg-2698	142	84	table	table	NOUN
fuelectenerg-2698	142	85	1	1	NUM
fuelectenerg-2698	142	86	.	.	PUNCT
fuelectenerg-2698	142	87	table	table	NOUN
fuelectenerg-2698	142	88	1	1	NUM
fuelectenerg-2698	142	89	parameters	parameter	NOUN
fuelectenerg-2698	142	90	of	of	ADP
fuelectenerg-2698	142	91	pi	pi	NOUN
fuelectenerg-2698	142	92	regulator	regulator	NOUN
fuelectenerg-2698	142	93	for	for	ADP
fuelectenerg-2698	142	94	314radn	314radn	NUM
fuelectenerg-2698	142	95			NUM
fuelectenerg-2698	142	96			NOUN
fuelectenerg-2698	143	1	kp	kp	PROPN
fuelectenerg-2698	143	2	ki	ki	PROPN
fuelectenerg-2698	143	3	0.3	0.3	NUM
fuelectenerg-2698	143	4	45.5984	45.5984	NUM
fuelectenerg-2698	143	5	33.7229	33.7229	NUM
fuelectenerg-2698	143	6	0.5	0.5	NUM
fuelectenerg-2698	143	7	82.5883	82.5883	NUM
fuelectenerg-2698	143	8	31.7538	31.7538	NUM
fuelectenerg-2698	143	9	0.7	0.7	NUM
fuelectenerg-2698	143	10	115.2122	115.2122	NUM
fuelectenerg-2698	143	11	29.9389	29.9389	NUM
fuelectenerg-2698	143	12	0.9	0.9	NUM
fuelectenerg-2698	143	13	143.9854	143.9854	NUM
fuelectenerg-2698	143	14	28.2646	28.2646	NUM
fuelectenerg-2698	143	15	digital	digital	ADJ
fuelectenerg-2698	143	16	pi	pi	NOUN
fuelectenerg-2698	143	17	parameters	parameter	NOUN
fuelectenerg-2698	143	18	were	be	AUX
fuelectenerg-2698	143	19	also	also	ADV
fuelectenerg-2698	143	20	selected	select	VERB
fuelectenerg-2698	143	21	with	with	ADP
fuelectenerg-2698	143	22	ziegler	ziegler	PROPN
fuelectenerg-2698	143	23	-	-	PUNCT
fuelectenerg-2698	143	24	nichols	nichols	PROPN
fuelectenerg-2698	143	25	method	method	NOUN
fuelectenerg-2698	143	26	.	.	PUNCT
fuelectenerg-2698	144	1	737.3pkrk	737.3pkrk	NUM
fuelectenerg-2698	144	2			NOUN
fuelectenerg-2698	144	3	,	,	PUNCT
fuelectenerg-2698	144	4	32	32	NUM
fuelectenerg-2698	144	5	10	10	NUM
fuelectenerg-2698	144	6	skrt	skrt	ADJ
fuelectenerg-2698	144	7			NOUN
fuelectenerg-2698	144	8	,	,	PUNCT
fuelectenerg-2698	144	9	0	0	NUM
fuelectenerg-2698	144	10	.	.	NOUN
fuelectenerg-2698	144	11	3	3	NUM
fuelectenerg-2698	144	12	.845	.845	NUM
fuelectenerg-2698	145	1	31pkrpk	31pkrpk	NUM
fuelectenerg-2698	145	2	k	k	NOUN
fuelectenerg-2698	145	3			NUM
fuelectenerg-2698	145	4			PROPN
fuelectenerg-2698	145	5	,	,	PUNCT
fuelectenerg-2698	145	6	1.2	1.2	NUM
fuelectenerg-2698	145	7	199i	199i	NOUN
fuelectenerg-2698	145	8	p	p	X
fuelectenerg-2698	146	1	kr	kr	PROPN
fuelectenerg-2698	146	2	t	t	PROPN
fuelectenerg-2698	146	3	k	k	PROPN
fuelectenerg-2698	146	4	k	k	PROPN
fuelectenerg-2698	146	5	t	t	PROPN
fuelectenerg-2698	146	6			PROPN
fuelectenerg-2698	147	1			PROPN
fuelectenerg-2698	147	2			PROPN
fuelectenerg-2698	147	3			NUM
fuelectenerg-2698	147	4	fig	fig	NOUN
fuelectenerg-2698	147	5	.	.	PUNCT
fuelectenerg-2698	148	1	6	6	NUM
fuelectenerg-2698	148	2	motor	motor	NOUN
fuelectenerg-2698	148	3	speed	speed	NOUN
fuelectenerg-2698	148	4	for	for	ADP
fuelectenerg-2698	148	5	different	different	ADJ
fuelectenerg-2698	148	6	methods	method	NOUN
fuelectenerg-2698	148	7	of	of	ADP
fuelectenerg-2698	148	8	digital	digital	ADJ
fuelectenerg-2698	148	9	pi	pi	NOUN
fuelectenerg-2698	148	10	parameters	parameter	NOUN
fuelectenerg-2698	148	11	synthesis	synthesis	VERB
fuelectenerg-2698	148	12	however	however	ADV
fuelectenerg-2698	148	13	,	,	PUNCT
fuelectenerg-2698	148	14	the	the	DET
fuelectenerg-2698	148	15	aim	aim	NOUN
fuelectenerg-2698	148	16	was	be	AUX
fuelectenerg-2698	148	17	to	to	PART
fuelectenerg-2698	148	18	achieve	achieve	VERB
fuelectenerg-2698	148	19	the	the	DET
fuelectenerg-2698	148	20	aperiodic	aperiodic	ADJ
fuelectenerg-2698	148	21	velocity	velocity	NOUN
fuelectenerg-2698	148	22	response	response	NOUN
fuelectenerg-2698	148	23	to	to	ADP
fuelectenerg-2698	148	24	the	the	DET
fuelectenerg-2698	148	25	given	give	VERB
fuelectenerg-2698	148	26	reference	reference	NOUN
fuelectenerg-2698	148	27	with	with	ADP
fuelectenerg-2698	148	28	desired	desire	VERB
fuelectenerg-2698	148	29	dynamic	dynamic	ADJ
fuelectenerg-2698	148	30	.	.	PUNCT
fuelectenerg-2698	149	1	so	so	ADV
fuelectenerg-2698	149	2	,	,	PUNCT
fuelectenerg-2698	149	3	for	for	ADP
fuelectenerg-2698	149	4	the	the	DET
fuelectenerg-2698	149	5	regulator	regulator	NOUN
fuelectenerg-2698	149	6	parameters	parameter	NOUN
fuelectenerg-2698	149	7	synthesis	synthesis	VERB
fuelectenerg-2698	149	8	,	,	PUNCT
fuelectenerg-2698	149	9	the	the	DET
fuelectenerg-2698	149	10	method	method	NOUN
fuelectenerg-2698	149	11	of	of	ADP
fuelectenerg-2698	149	12	compensation	compensation	NOUN
fuelectenerg-2698	149	13	was	be	AUX
fuelectenerg-2698	149	14	applied	apply	VERB
fuelectenerg-2698	149	15	.	.	PUNCT
fuelectenerg-2698	150	1	closed	closed	ADJ
fuelectenerg-2698	150	2	loop	loop	NOUN
fuelectenerg-2698	150	3	transfer	transfer	NOUN
fuelectenerg-2698	150	4	function	function	NOUN
fuelectenerg-2698	150	5	of	of	ADP
fuelectenerg-2698	150	6	the	the	DET
fuelectenerg-2698	150	7	velocity	velocity	NOUN
fuelectenerg-2698	150	8	loop	loop	NOUN
fuelectenerg-2698	150	9	is	be	AUX
fuelectenerg-2698	150	10	defined	define	VERB
fuelectenerg-2698	150	11	with	with	ADP
fuelectenerg-2698	150	12	2	2	NUM
fuelectenerg-2698	150	13	1	1	NUM
fuelectenerg-2698	150	14	2	2	NUM
fuelectenerg-2698	150	15	(	(	PUNCT
fuelectenerg-2698	150	16	)	)	PUNCT
fuelectenerg-2698	150	17	(	(	PUNCT
fuelectenerg-2698	150	18	1	1	NUM
fuelectenerg-2698	150	19	)	)	PUNCT
fuelectenerg-2698	150	20	(	(	PUNCT
fuelectenerg-2698	150	21	)	)	PUNCT
fuelectenerg-2698	150	22	.	.	PUNCT
fuelectenerg-2698	151	1	(	(	PUNCT
fuelectenerg-2698	151	2	(	(	PUNCT
fuelectenerg-2698	151	3	1	1	NUM
fuelectenerg-2698	151	4	)	)	PUNCT
fuelectenerg-2698	151	5	)	)	PUNCT
fuelectenerg-2698	151	6	(	(	PUNCT
fuelectenerg-2698	151	7	)	)	PUNCT
fuelectenerg-2698	151	8	(	(	PUNCT
fuelectenerg-2698	151	9	1	1	X
fuelectenerg-2698	151	10	)	)	PUNCT
fuelectenerg-2698	151	11	s	s	VERB
fuelectenerg-2698	151	12	p	p	NOUN
fuelectenerg-2698	152	1	i	i	PRON
fuelectenerg-2698	152	2	z	z	NOUN
fuelectenerg-2698	153	1	c	c	PROPN
fuelectenerg-2698	153	2	z	z	PROPN
fuelectenerg-2698	153	3	w	w	PROPN
fuelectenerg-2698	153	4	z	z	NOUN
fuelectenerg-2698	153	5	c	c	PROPN
fuelectenerg-2698	154	1	k	k	PROPN
fuelectenerg-2698	154	2	z	z	PROPN
fuelectenerg-2698	155	1	k	k	PROPN
fuelectenerg-2698	156	1	z	z	PROPN
fuelectenerg-2698	156	2	z	z	PROPN
fuelectenerg-2698	157	1	c	c	PROPN
fuelectenerg-2698	157	2	z	z	PROPN
fuelectenerg-2698	157	3			PROPN
fuelectenerg-2698	157	4			PROPN
fuelectenerg-2698	157	5			PROPN
fuelectenerg-2698	157	6			PROPN
fuelectenerg-2698	157	7			PUNCT
fuelectenerg-2698	157	8			PUNCT
fuelectenerg-2698	157	9			PROPN
fuelectenerg-2698	157	10			PROPN
fuelectenerg-2698	157	11	(	(	PUNCT
fuelectenerg-2698	157	12	16	16	NUM
fuelectenerg-2698	157	13	)	)	PUNCT
fuelectenerg-2698	157	14	82	82	NUM
fuelectenerg-2698	157	15	m.	m.	NOUN
fuelectenerg-2698	157	16	božić	božić	NOUN
fuelectenerg-2698	157	17	,	,	PUNCT
fuelectenerg-2698	157	18	s.	s.	PROPN
fuelectenerg-2698	157	19	antić	antić	PROPN
fuelectenerg-2698	157	20	,	,	PUNCT
fuelectenerg-2698	157	21	v.	v.	ADP
fuelectenerg-2698	157	22	vujiĉić	vujiĉić	PROPN
fuelectenerg-2698	157	23	,	,	PUNCT
fuelectenerg-2698	157	24	m.	m.	NOUN
fuelectenerg-2698	157	25	bjekić	bjekić	PROPN
fuelectenerg-2698	157	26	,	,	PUNCT
fuelectenerg-2698	157	27	g.	g.	PROPN
fuelectenerg-2698	157	28	đorđević	đorđević	AUX
fuelectenerg-2698	158	1	the	the	DET
fuelectenerg-2698	158	2	parameters	parameter	NOUN
fuelectenerg-2698	158	3	of	of	ADP
fuelectenerg-2698	158	4	the	the	DET
fuelectenerg-2698	158	5	pi	pi	NOUN
fuelectenerg-2698	158	6	controller	controller	NOUN
fuelectenerg-2698	158	7	were	be	AUX
fuelectenerg-2698	158	8	selected	select	VERB
fuelectenerg-2698	158	9	in	in	ADP
fuelectenerg-2698	158	10	that	that	DET
fuelectenerg-2698	158	11	manner	manner	NOUN
fuelectenerg-2698	158	12	so	so	SCONJ
fuelectenerg-2698	158	13	that	that	SCONJ
fuelectenerg-2698	158	14	one	one	NUM
fuelectenerg-2698	158	15	pole	pole	NOUN
fuelectenerg-2698	158	16	was	be	AUX
fuelectenerg-2698	158	17	equal	equal	ADJ
fuelectenerg-2698	158	18	1	1	NUM
fuelectenerg-2698	158	19	2	2	NUM
fuelectenerg-2698	158	20	0.9488z	0.9488z	NUM
fuelectenerg-2698	159	1	c	c	NOUN
fuelectenerg-2698	160	1			INTJ
fuelectenerg-2698	160	2	.	.	PUNCT
fuelectenerg-2698	161	1	in	in	ADP
fuelectenerg-2698	161	2	this	this	DET
fuelectenerg-2698	161	3	way	way	NOUN
fuelectenerg-2698	161	4	,	,	PUNCT
fuelectenerg-2698	161	5	the	the	DET
fuelectenerg-2698	161	6	transfer	transfer	NOUN
fuelectenerg-2698	161	7	function	function	NOUN
fuelectenerg-2698	161	8	of	of	ADP
fuelectenerg-2698	161	9	the	the	DET
fuelectenerg-2698	161	10	velocity	velocity	NOUN
fuelectenerg-2698	161	11	loop	loop	NOUN
fuelectenerg-2698	161	12	was	be	AUX
fuelectenerg-2698	161	13	reduced	reduce	VERB
fuelectenerg-2698	161	14	to	to	ADP
fuelectenerg-2698	161	15	the	the	DET
fuelectenerg-2698	161	16	first	first	ADJ
fuelectenerg-2698	161	17	-	-	PUNCT
fuelectenerg-2698	161	18	order	order	NOUN
fuelectenerg-2698	161	19	.	.	PUNCT
fuelectenerg-2698	162	1	now	now	ADV
fuelectenerg-2698	162	2	with	with	ADP
fuelectenerg-2698	162	3	the	the	DET
fuelectenerg-2698	162	4	selection	selection	NOUN
fuelectenerg-2698	162	5	of	of	ADP
fuelectenerg-2698	162	6	the	the	DET
fuelectenerg-2698	162	7	second	second	ADJ
fuelectenerg-2698	162	8	pole	pole	NOUN
fuelectenerg-2698	162	9	in	in	ADP
fuelectenerg-2698	162	10	order	order	NOUN
fuelectenerg-2698	162	11	to	to	PART
fuelectenerg-2698	162	12	achieve	achieve	VERB
fuelectenerg-2698	162	13	the	the	DET
fuelectenerg-2698	162	14	aperiodic	aperiodic	ADJ
fuelectenerg-2698	162	15	response	response	NOUN
fuelectenerg-2698	162	16	of	of	ADP
fuelectenerg-2698	162	17	the	the	DET
fuelectenerg-2698	162	18	given	give	VERB
fuelectenerg-2698	162	19	time	time	NOUN
fuelectenerg-2698	162	20	constant	constant	ADJ
fuelectenerg-2698	162	21	5mst	5mst	PROPN
fuelectenerg-2698	162	22			CCONJ
fuelectenerg-2698	162	23			PROPN
fuelectenerg-2698	162	24	,	,	PUNCT
fuelectenerg-2698	162	25	2	2	NUM
fuelectenerg-2698	162	26	0.8187	0.8187	NUM
fuelectenerg-2698	162	27	t	t	NOUN
fuelectenerg-2698	162	28	tz	tz	NOUN
fuelectenerg-2698	162	29	e	e	PROPN
fuelectenerg-2698	162	30			NOUN
fuelectenerg-2698	162	31			PRON
fuelectenerg-2698	163	1	the	the	DET
fuelectenerg-2698	163	2	parameters	parameter	NOUN
fuelectenerg-2698	163	3	of	of	ADP
fuelectenerg-2698	163	4	the	the	DET
fuelectenerg-2698	163	5	pi	pi	NOUN
fuelectenerg-2698	163	6	speed	speed	NOUN
fuelectenerg-2698	163	7	regulator	regulator	NOUN
fuelectenerg-2698	163	8	were	be	AUX
fuelectenerg-2698	163	9	determined	determine	VERB
fuelectenerg-2698	163	10	.	.	PUNCT
fuelectenerg-2698	164	1	2	2	NUM
fuelectenerg-2698	164	2	1	1	NUM
fuelectenerg-2698	164	3	2	2	NUM
fuelectenerg-2698	164	4	1	1	NUM
fuelectenerg-2698	164	5	65.0842p	65.0842p	ADP
fuelectenerg-2698	164	6	c	c	NOUN
fuelectenerg-2698	164	7	z	z	NOUN
fuelectenerg-2698	164	8	z	z	NOUN
fuelectenerg-2698	164	9	k	k	PROPN
fuelectenerg-2698	164	10	c	c	PROPN
fuelectenerg-2698	164	11			PROPN
fuelectenerg-2698	164	12			PROPN
fuelectenerg-2698	164	13			ADJ
fuelectenerg-2698	164	14	and	and	CCONJ
fuelectenerg-2698	164	15	1	1	NUM
fuelectenerg-2698	164	16	2	2	NUM
fuelectenerg-2698	164	17	1	1	NUM
fuelectenerg-2698	164	18	2	2	NUM
fuelectenerg-2698	164	19	1	1	NUM
fuelectenerg-2698	164	20	1	1	NUM
fuelectenerg-2698	164	21	3.5121i	3.5121i	NUM
fuelectenerg-2698	164	22	z	z	NOUN
fuelectenerg-2698	164	23	z	z	NOUN
fuelectenerg-2698	164	24	z	z	NOUN
fuelectenerg-2698	164	25	z	z	NOUN
fuelectenerg-2698	165	1	k	k	PROPN
fuelectenerg-2698	165	2	c	c	PROPN
fuelectenerg-2698	165	3			PROPN
fuelectenerg-2698	165	4			PROPN
fuelectenerg-2698	165	5			VERB
fuelectenerg-2698	165	6			PROPN
fuelectenerg-2698	165	7			NOUN
fuelectenerg-2698	165	8	.	.	PUNCT
fuelectenerg-2698	166	1	pi	pi	PROPN
fuelectenerg-2698	166	2	controller	controller	NOUN
fuelectenerg-2698	166	3	was	be	AUX
fuelectenerg-2698	166	4	implemented	implement	VERB
fuelectenerg-2698	166	5	within	within	ADP
fuelectenerg-2698	166	6	the	the	DET
fuelectenerg-2698	166	7	labview	labview	NOUN
fuelectenerg-2698	166	8	code	code	NOUN
fuelectenerg-2698	166	9	.	.	PUNCT
fuelectenerg-2698	167	1	its	its	PRON
fuelectenerg-2698	167	2	discrete	discrete	ADJ
fuelectenerg-2698	167	3	transfer	transfer	NOUN
fuelectenerg-2698	167	4	function	function	NOUN
fuelectenerg-2698	167	5	is	be	AUX
fuelectenerg-2698	167	6	:	:	PUNCT
fuelectenerg-2698	167	7	1	1	NUM
fuelectenerg-2698	167	8	(	(	PUNCT
fuelectenerg-2698	167	9	)	)	PUNCT
fuelectenerg-2698	167	10	65.0842	65.0842	NUM
fuelectenerg-2698	167	11	3.5121	3.5121	NUM
fuelectenerg-2698	167	12	65.0842	65.0842	NUM
fuelectenerg-2698	167	13	3512.1	3512.1	NUM
fuelectenerg-2698	167	14	1	1	NUM
fuelectenerg-2698	167	15	1	1	NUM
fuelectenerg-2698	167	16	r	r	NOUN
fuelectenerg-2698	167	17	t	t	NOUN
fuelectenerg-2698	167	18	zz	zz	NOUN
fuelectenerg-2698	167	19	g	g	PROPN
fuelectenerg-2698	167	20	z	z	PROPN
fuelectenerg-2698	167	21	z	z	PROPN
fuelectenerg-2698	167	22	z	z	PROPN
fuelectenerg-2698	168	1			PROPN
fuelectenerg-2698	168	2			ADV
fuelectenerg-2698	168	3			NUM
fuelectenerg-2698	168	4			ADJ
fuelectenerg-2698	168	5			PROPN
fuelectenerg-2698	168	6			PROPN
fuelectenerg-2698	168	7	(	(	PUNCT
fuelectenerg-2698	168	8	17	17	NUM
fuelectenerg-2698	168	9	)	)	PUNCT
fuelectenerg-2698	168	10	where	where	SCONJ
fuelectenerg-2698	168	11	t1=1ms	t1=1ms	NOUN
fuelectenerg-2698	168	12	was	be	AUX
fuelectenerg-2698	168	13	the	the	DET
fuelectenerg-2698	168	14	speed	speed	NOUN
fuelectenerg-2698	168	15	loop	loop	NOUN
fuelectenerg-2698	168	16	sampling	sampling	NOUN
fuelectenerg-2698	168	17	period	period	NOUN
fuelectenerg-2698	168	18	.	.	PUNCT
fuelectenerg-2698	169	1	figure	figure	NOUN
fuelectenerg-2698	169	2	7	7	NUM
fuelectenerg-2698	169	3	shows	show	VERB
fuelectenerg-2698	169	4	the	the	DET
fuelectenerg-2698	169	5	speed	speed	NOUN
fuelectenerg-2698	169	6	responses	response	NOUN
fuelectenerg-2698	169	7	of	of	ADP
fuelectenerg-2698	169	8	simulink	simulink	NOUN
fuelectenerg-2698	169	9	and	and	CCONJ
fuelectenerg-2698	169	10	real	real	ADJ
fuelectenerg-2698	169	11	model	model	NOUN
fuelectenerg-2698	169	12	during	during	ADP
fuelectenerg-2698	169	13	pi	pi	NOUN
fuelectenerg-2698	169	14	speed	speed	NOUN
fuelectenerg-2698	169	15	control	control	NOUN
fuelectenerg-2698	169	16	using	use	VERB
fuelectenerg-2698	169	17	compensation	compensation	NOUN
fuelectenerg-2698	169	18	method	method	NOUN
fuelectenerg-2698	169	19	.	.	PUNCT
fuelectenerg-2698	170	1	measurement	measurement	NOUN
fuelectenerg-2698	170	2	confirms	confirm	VERB
fuelectenerg-2698	170	3	the	the	DET
fuelectenerg-2698	170	4	achievement	achievement	NOUN
fuelectenerg-2698	170	5	of	of	ADP
fuelectenerg-2698	170	6	the	the	DET
fuelectenerg-2698	170	7	desired	desire	VERB
fuelectenerg-2698	170	8	time	time	NOUN
fuelectenerg-2698	170	9	constant	constant	ADJ
fuelectenerg-2698	170	10	using	use	VERB
fuelectenerg-2698	170	11	this	this	DET
fuelectenerg-2698	170	12	method	method	NOUN
fuelectenerg-2698	170	13	.	.	PUNCT
fuelectenerg-2698	171	1	response	response	NOUN
fuelectenerg-2698	171	2	matching	matching	NOUN
fuelectenerg-2698	171	3	of	of	ADP
fuelectenerg-2698	171	4	the	the	DET
fuelectenerg-2698	171	5	model	model	NOUN
fuelectenerg-2698	171	6	and	and	CCONJ
fuelectenerg-2698	171	7	the	the	DET
fuelectenerg-2698	171	8	actual	actual	ADJ
fuelectenerg-2698	171	9	system	system	NOUN
fuelectenerg-2698	171	10	was	be	AUX
fuelectenerg-2698	171	11	obtained	obtain	VERB
fuelectenerg-2698	171	12	.	.	PUNCT
fuelectenerg-2698	172	1	fig	fig	NOUN
fuelectenerg-2698	172	2	.	.	PUNCT
fuelectenerg-2698	172	3	7	7	NUM
fuelectenerg-2698	173	1	the	the	DET
fuelectenerg-2698	173	2	speed	speed	NOUN
fuelectenerg-2698	173	3	responses	response	NOUN
fuelectenerg-2698	173	4	during	during	ADP
fuelectenerg-2698	173	5	pi	pi	NOUN
fuelectenerg-2698	173	6	speed	speed	NOUN
fuelectenerg-2698	173	7	control	control	NOUN
fuelectenerg-2698	173	8	with	with	ADP
fuelectenerg-2698	173	9	parameters	parameter	NOUN
fuelectenerg-2698	173	10	obtained	obtain	VERB
fuelectenerg-2698	173	11	using	use	VERB
fuelectenerg-2698	173	12	compensation	compensation	NOUN
fuelectenerg-2698	173	13	method	method	NOUN
fuelectenerg-2698	173	14	:	:	PUNCT
fuelectenerg-2698	173	15	simulink	simulink	NOUN
fuelectenerg-2698	173	16	and	and	CCONJ
fuelectenerg-2698	173	17	the	the	DET
fuelectenerg-2698	173	18	real	real	ADJ
fuelectenerg-2698	173	19	system	system	NOUN
fuelectenerg-2698	173	20	after	after	ADP
fuelectenerg-2698	173	21	the	the	DET
fuelectenerg-2698	173	22	adjustment	adjustment	NOUN
fuelectenerg-2698	173	23	of	of	ADP
fuelectenerg-2698	173	24	speed	speed	NOUN
fuelectenerg-2698	173	25	loop	loop	NOUN
fuelectenerg-2698	173	26	parameters	parameter	NOUN
fuelectenerg-2698	173	27	,	,	PUNCT
fuelectenerg-2698	173	28	speed	speed	NOUN
fuelectenerg-2698	173	29	loop	loop	NOUN
fuelectenerg-2698	173	30	could	could	AUX
fuelectenerg-2698	173	31	be	be	AUX
fuelectenerg-2698	173	32	presented	present	VERB
fuelectenerg-2698	173	33	as	as	ADP
fuelectenerg-2698	173	34	a	a	DET
fuelectenerg-2698	173	35	simple	simple	ADJ
fuelectenerg-2698	173	36	first	first	ADJ
fuelectenerg-2698	173	37	-	-	PUNCT
fuelectenerg-2698	173	38	order	order	NOUN
fuelectenerg-2698	173	39	transfer	transfer	NOUN
fuelectenerg-2698	173	40	function	function	NOUN
fuelectenerg-2698	173	41	.	.	PUNCT
fuelectenerg-2698	174	1	since	since	SCONJ
fuelectenerg-2698	174	2	the	the	DET
fuelectenerg-2698	174	3	open	open	ADJ
fuelectenerg-2698	174	4	loop	loop	NOUN
fuelectenerg-2698	174	5	transfer	transfer	NOUN
fuelectenerg-2698	174	6	function	function	NOUN
fuelectenerg-2698	174	7	had	have	VERB
fuelectenerg-2698	174	8	the	the	DET
fuelectenerg-2698	174	9	first	first	ADJ
fuelectenerg-2698	174	10	order	order	NOUN
fuelectenerg-2698	174	11	astatism	astatism	NOUN
fuelectenerg-2698	174	12	,	,	PUNCT
fuelectenerg-2698	174	13	the	the	DET
fuelectenerg-2698	174	14	zero	zero	NUM
fuelectenerg-2698	174	15	steady	steady	ADJ
fuelectenerg-2698	174	16	-	-	PUNCT
fuelectenerg-2698	174	17	state	state	NOUN
fuelectenerg-2698	174	18	error	error	NOUN
fuelectenerg-2698	174	19	is	be	AUX
fuelectenerg-2698	174	20	provided	provide	VERB
fuelectenerg-2698	174	21	when	when	SCONJ
fuelectenerg-2698	174	22	the	the	DET
fuelectenerg-2698	174	23	input	input	NOUN
fuelectenerg-2698	174	24	signal	signal	NOUN
fuelectenerg-2698	174	25	has	have	VERB
fuelectenerg-2698	174	26	the	the	DET
fuelectenerg-2698	174	27	step	step	NOUN
fuelectenerg-2698	174	28	or	or	CCONJ
fuelectenerg-2698	174	29	constant	constant	ADJ
fuelectenerg-2698	174	30	input	input	NOUN
fuelectenerg-2698	174	31	.	.	PUNCT
fuelectenerg-2698	175	1	therefore	therefore	ADV
fuelectenerg-2698	175	2	,	,	PUNCT
fuelectenerg-2698	175	3	in	in	ADP
fuelectenerg-2698	175	4	order	order	NOUN
fuelectenerg-2698	175	5	to	to	PART
fuelectenerg-2698	175	6	provide	provide	VERB
fuelectenerg-2698	175	7	the	the	DET
fuelectenerg-2698	175	8	necessary	necessary	ADJ
fuelectenerg-2698	175	9	dynamic	dynamic	ADJ
fuelectenerg-2698	175	10	characteristics	characteristic	NOUN
fuelectenerg-2698	175	11	of	of	ADP
fuelectenerg-2698	175	12	the	the	DET
fuelectenerg-2698	175	13	response	response	NOUN
fuelectenerg-2698	175	14	,	,	PUNCT
fuelectenerg-2698	175	15	which	which	PRON
fuelectenerg-2698	175	16	is	be	AUX
fuelectenerg-2698	175	17	preferably	preferably	ADV
fuelectenerg-2698	175	18	to	to	PART
fuelectenerg-2698	175	19	have	have	VERB
fuelectenerg-2698	175	20	the	the	DET
fuelectenerg-2698	175	21	aperiodic	aperiodic	ADJ
fuelectenerg-2698	175	22	character	character	NOUN
fuelectenerg-2698	175	23	,	,	PUNCT
fuelectenerg-2698	175	24	pd	pd	PROPN
fuelectenerg-2698	175	25	controller	controller	NOUN
fuelectenerg-2698	175	26	was	be	AUX
fuelectenerg-2698	175	27	selected	select	VERB
fuelectenerg-2698	175	28	.	.	PUNCT
fuelectenerg-2698	176	1	desired	desire	VERB
fuelectenerg-2698	176	2	aperiodic	aperiodic	ADJ
fuelectenerg-2698	176	3	time	time	NOUN
fuelectenerg-2698	176	4	response	response	NOUN
fuelectenerg-2698	176	5	was	be	AUX
fuelectenerg-2698	176	6	obtained	obtain	VERB
fuelectenerg-2698	176	7	with	with	ADP
fuelectenerg-2698	176	8	auto	auto	NOUN
fuelectenerg-2698	176	9	tuning	tuning	NOUN
fuelectenerg-2698	176	10	option	option	NOUN
fuelectenerg-2698	176	11	with	with	ADP
fuelectenerg-2698	176	12	selection	selection	NOUN
fuelectenerg-2698	176	13	of	of	ADP
fuelectenerg-2698	176	14	0.06pk	0.06pk	NUM
fuelectenerg-2698	176	15			PROPN
fuelectenerg-2698	176	16	and	and	CCONJ
fuelectenerg-2698	176	17	0.3dk	0.3dk	PRON
fuelectenerg-2698	176	18			NOUN
fuelectenerg-2698	176	19	,	,	PUNCT
fuelectenerg-2698	176	20	the	the	DET
fuelectenerg-2698	176	21	transfer	transfer	NOUN
fuelectenerg-2698	176	22	function	function	NOUN
fuelectenerg-2698	176	23	of	of	ADP
fuelectenerg-2698	176	24	pd	pd	PROPN
fuelectenerg-2698	176	25	controller	controller	NOUN
fuelectenerg-2698	176	26	in	in	ADP
fuelectenerg-2698	176	27	discrete	discrete	ADJ
fuelectenerg-2698	176	28	time	time	NOUN
fuelectenerg-2698	176	29	domain	domain	NOUN
fuelectenerg-2698	176	30	,	,	PUNCT
fuelectenerg-2698	176	31	realized	realize	VERB
fuelectenerg-2698	176	32	in	in	ADP
fuelectenerg-2698	176	33	labview	labview	PROPN
fuelectenerg-2698	176	34	code	code	PROPN
fuelectenerg-2698	176	35	,	,	PUNCT
fuelectenerg-2698	176	36	was	be	AUX
fuelectenerg-2698	176	37	electronic	electronic	ADJ
fuelectenerg-2698	176	38	gearing	gearing	NOUN
fuelectenerg-2698	176	39	of	of	ADP
fuelectenerg-2698	176	40	two	two	NUM
fuelectenerg-2698	176	41	dc	dc	PROPN
fuelectenerg-2698	176	42	motor	motor	NOUN
fuelectenerg-2698	176	43	shafts	shafts	ADJ
fuelectenerg-2698	176	44	for	for	ADP
fuelectenerg-2698	176	45	wheg	wheg	ADJ
fuelectenerg-2698	176	46	type	type	NOUN
fuelectenerg-2698	176	47	mobile	mobile	ADJ
fuelectenerg-2698	176	48	robot	robot	NOUN
fuelectenerg-2698	176	49	83	83	NUM
fuelectenerg-2698	176	50	1	1	NUM
fuelectenerg-2698	176	51	1	1	NUM
fuelectenerg-2698	176	52	2	2	NUM
fuelectenerg-2698	176	53	0.0015	0.0015	NUM
fuelectenerg-2698	176	54	(	(	PUNCT
fuelectenerg-2698	176	55	)	)	PUNCT
fuelectenerg-2698	176	56	0.06	0.06	NUM
fuelectenerg-2698	176	57	0.3(1	0.3(1	NUM
fuelectenerg-2698	176	58	)	)	PUNCT
fuelectenerg-2698	176	59	0.06	0.06	NUM
fuelectenerg-2698	176	60	(	(	PUNCT
fuelectenerg-2698	176	61	1	1	NUM
fuelectenerg-2698	176	62	)	)	PUNCT
fuelectenerg-2698	176	63	,	,	PUNCT
fuelectenerg-2698	176	64	rg	rg	PROPN
fuelectenerg-2698	176	65	z	z	PROPN
fuelectenerg-2698	176	66	z	z	PROPN
fuelectenerg-2698	176	67	z	z	PROPN
fuelectenerg-2698	176	68	t	t	PROPN
fuelectenerg-2698	176	69			PROPN
fuelectenerg-2698	176	70			PROPN
fuelectenerg-2698	176	71			PUNCT
fuelectenerg-2698	176	72			PROPN
fuelectenerg-2698	176	73			PROPN
fuelectenerg-2698	176	74			ADJ
fuelectenerg-2698	176	75			X
fuelectenerg-2698	176	76	(	(	PUNCT
fuelectenerg-2698	176	77	18	18	NUM
fuelectenerg-2698	176	78	)	)	PUNCT
fuelectenerg-2698	176	79	where	where	SCONJ
fuelectenerg-2698	176	80	t2	t2	NOUN
fuelectenerg-2698	176	81	=	=	PUNCT
fuelectenerg-2698	176	82	5ms	5ms	ADV
fuelectenerg-2698	176	83	was	be	AUX
fuelectenerg-2698	176	84	the	the	DET
fuelectenerg-2698	176	85	position	position	NOUN
fuelectenerg-2698	176	86	loop	loop	NOUN
fuelectenerg-2698	176	87	sampling	sampling	NOUN
fuelectenerg-2698	176	88	period	period	NOUN
fuelectenerg-2698	176	89	.	.	PUNCT
fuelectenerg-2698	177	1	figure	figure	NOUN
fuelectenerg-2698	177	2	8	8	NUM
fuelectenerg-2698	177	3	shows	show	VERB
fuelectenerg-2698	177	4	angular	angular	ADJ
fuelectenerg-2698	177	5	responses	response	NOUN
fuelectenerg-2698	177	6	during	during	ADP
fuelectenerg-2698	177	7	pd	pd	PROPN
fuelectenerg-2698	177	8	position	position	NOUN
fuelectenerg-2698	177	9	control	control	NOUN
fuelectenerg-2698	177	10	.	.	PUNCT
fuelectenerg-2698	178	1	matching	match	VERB
fuelectenerg-2698	178	2	of	of	ADP
fuelectenerg-2698	178	3	the	the	DET
fuelectenerg-2698	178	4	model	model	NOUN
fuelectenerg-2698	178	5	and	and	CCONJ
fuelectenerg-2698	178	6	the	the	DET
fuelectenerg-2698	178	7	real	real	ADJ
fuelectenerg-2698	178	8	system	system	NOUN
fuelectenerg-2698	178	9	angular	angular	ADJ
fuelectenerg-2698	178	10	response	response	NOUN
fuelectenerg-2698	178	11	is	be	AUX
fuelectenerg-2698	178	12	apparent	apparent	ADJ
fuelectenerg-2698	178	13	.	.	PUNCT
fuelectenerg-2698	179	1	fig	fig	NOUN
fuelectenerg-2698	179	2	.	.	PUNCT
fuelectenerg-2698	179	3	8	8	NUM
fuelectenerg-2698	179	4	the	the	DET
fuelectenerg-2698	179	5	angular	angular	ADJ
fuelectenerg-2698	179	6	responses	response	NOUN
fuelectenerg-2698	179	7	during	during	ADP
fuelectenerg-2698	179	8	pd	pd	PROPN
fuelectenerg-2698	179	9	position	position	NOUN
fuelectenerg-2698	179	10	control	control	NOUN
fuelectenerg-2698	179	11	:	:	PUNCT
fuelectenerg-2698	179	12	simulink	simulink	NOUN
fuelectenerg-2698	179	13	and	and	CCONJ
fuelectenerg-2698	179	14	the	the	DET
fuelectenerg-2698	179	15	real	real	ADJ
fuelectenerg-2698	179	16	system	system	NOUN
fuelectenerg-2698	179	17	4	4	NUM
fuelectenerg-2698	179	18	.	.	PUNCT
fuelectenerg-2698	179	19	experiment	experiment	NOUN
fuelectenerg-2698	179	20	setup	setup	NOUN
fuelectenerg-2698	179	21	and	and	CCONJ
fuelectenerg-2698	179	22	results	result	NOUN
fuelectenerg-2698	179	23	in	in	ADP
fuelectenerg-2698	179	24	order	order	NOUN
fuelectenerg-2698	179	25	to	to	PART
fuelectenerg-2698	179	26	test	test	VERB
fuelectenerg-2698	179	27	the	the	DET
fuelectenerg-2698	179	28	proposed	propose	VERB
fuelectenerg-2698	179	29	control	control	NOUN
fuelectenerg-2698	179	30	structure	structure	NOUN
fuelectenerg-2698	179	31	,	,	PUNCT
fuelectenerg-2698	179	32	experimental	experimental	ADJ
fuelectenerg-2698	179	33	setup	setup	NOUN
fuelectenerg-2698	179	34	was	be	AUX
fuelectenerg-2698	179	35	made	make	VERB
fuelectenerg-2698	179	36	.	.	PUNCT
fuelectenerg-2698	180	1	the	the	DET
fuelectenerg-2698	180	2	setup	setup	NOUN
fuelectenerg-2698	180	3	is	be	AUX
fuelectenerg-2698	180	4	shown	show	VERB
fuelectenerg-2698	180	5	in	in	ADP
fuelectenerg-2698	180	6	figure	figure	NOUN
fuelectenerg-2698	180	7	9	9	NUM
fuelectenerg-2698	180	8	.	.	PUNCT
fuelectenerg-2698	180	9	fig	fig	NOUN
fuelectenerg-2698	180	10	.	.	PUNCT
fuelectenerg-2698	181	1	9	9	NUM
fuelectenerg-2698	181	2	experimental	experimental	ADJ
fuelectenerg-2698	181	3	setup	setup	NOUN
fuelectenerg-2698	181	4	for	for	ADP
fuelectenerg-2698	181	5	realization	realization	NOUN
fuelectenerg-2698	181	6	of	of	ADP
fuelectenerg-2698	181	7	electronic	electronic	ADJ
fuelectenerg-2698	181	8	gearing	gearing	NOUN
fuelectenerg-2698	181	9	[	[	X
fuelectenerg-2698	181	10	19,20	19,20	X
fuelectenerg-2698	181	11	]	]	X
fuelectenerg-2698	181	12	the	the	DET
fuelectenerg-2698	181	13	main	main	ADJ
fuelectenerg-2698	181	14	elements	element	NOUN
fuelectenerg-2698	181	15	of	of	ADP
fuelectenerg-2698	181	16	the	the	DET
fuelectenerg-2698	181	17	experimental	experimental	ADJ
fuelectenerg-2698	181	18	setup	setup	NOUN
fuelectenerg-2698	181	19	were	be	AUX
fuelectenerg-2698	181	20	:	:	PUNCT
fuelectenerg-2698	181	21	1	1	NUM
fuelectenerg-2698	181	22	–	–	PUNCT
fuelectenerg-2698	181	23	computer	computer	NOUN
fuelectenerg-2698	181	24	with	with	ADP
fuelectenerg-2698	181	25	labview	labview	NOUN
fuelectenerg-2698	181	26	applications	application	NOUN
fuelectenerg-2698	181	27	for	for	ADP
fuelectenerg-2698	181	28	monitoring	monitoring	NOUN
fuelectenerg-2698	181	29	,	,	PUNCT
fuelectenerg-2698	181	30	2	2	NUM
fuelectenerg-2698	181	31	–	–	PUNCT
fuelectenerg-2698	181	32	master	master	NOUN
fuelectenerg-2698	181	33	motor	motor	NOUN
fuelectenerg-2698	181	34	with	with	ADP
fuelectenerg-2698	181	35	encoder	encoder	NOUN
fuelectenerg-2698	181	36	resolutions	resolution	NOUN
fuelectenerg-2698	181	37	of	of	ADP
fuelectenerg-2698	181	38	500	500	NUM
fuelectenerg-2698	181	39	ppr	ppr	NOUN
fuelectenerg-2698	181	40	,	,	PUNCT
fuelectenerg-2698	181	41	3	3	NUM
fuelectenerg-2698	181	42	–	–	PUNCT
fuelectenerg-2698	181	43	slave	slave	NOUN
fuelectenerg-2698	181	44	motor	motor	NOUN
fuelectenerg-2698	181	45	with	with	ADP
fuelectenerg-2698	181	46	encoder	encoder	NOUN
fuelectenerg-2698	181	47	resolutions	resolution	NOUN
fuelectenerg-2698	181	48	500	500	NUM
fuelectenerg-2698	181	49	ppr	ppr	NOUN
fuelectenerg-2698	181	50	,	,	PUNCT
fuelectenerg-2698	181	51	4	4	NUM
fuelectenerg-2698	181	52	–	–	PUNCT
fuelectenerg-2698	181	53	real	real	ADJ
fuelectenerg-2698	181	54	time	time	NOUN
fuelectenerg-2698	181	55	sbrio9636	sbrio9636	PROPN
fuelectenerg-2698	181	56	controller	controller	NOUN
fuelectenerg-2698	181	57	,	,	PUNCT
fuelectenerg-2698	181	58	5	5	NUM
fuelectenerg-2698	181	59	–	–	PUNCT
fuelectenerg-2698	181	60	master	master	NOUN
fuelectenerg-2698	181	61	dc	dc	PROPN
fuelectenerg-2698	181	62	driver	driver	NOUN
fuelectenerg-2698	181	63	,	,	PUNCT
fuelectenerg-2698	181	64	6	6	NUM
fuelectenerg-2698	181	65	–	–	PUNCT
fuelectenerg-2698	181	66	slave	slave	NOUN
fuelectenerg-2698	181	67	dc	dc	PROPN
fuelectenerg-2698	181	68	driver	driver	NOUN
fuelectenerg-2698	181	69	,	,	PUNCT
fuelectenerg-2698	181	70	7	7	NUM
fuelectenerg-2698	181	71	–	–	PUNCT
fuelectenerg-2698	181	72	dual	dual	ADJ
fuelectenerg-2698	181	73	power	power	NOUN
fuelectenerg-2698	181	74	30vdc	30vdc	NOUN
fuelectenerg-2698	181	75	,	,	PUNCT
fuelectenerg-2698	181	76	5a	5a	NUM
fuelectenerg-2698	181	77	.	.	PUNCT
fuelectenerg-2698	182	1	the	the	DET
fuelectenerg-2698	182	2	video	video	NOUN
fuelectenerg-2698	182	3	showing	show	VERB
fuelectenerg-2698	182	4	the	the	DET
fuelectenerg-2698	182	5	experimental	experimental	ADJ
fuelectenerg-2698	182	6	setup	setup	NOUN
fuelectenerg-2698	182	7	in	in	ADP
fuelectenerg-2698	182	8	operation	operation	NOUN
fuelectenerg-2698	182	9	is	be	AUX
fuelectenerg-2698	182	10	available	available	ADJ
fuelectenerg-2698	182	11	at	at	ADP
fuelectenerg-2698	182	12	the	the	DET
fuelectenerg-2698	182	13	link	link	NOUN
fuelectenerg-2698	182	14	given	give	VERB
fuelectenerg-2698	182	15	in	in	ADP
fuelectenerg-2698	182	16	[	[	X
fuelectenerg-2698	182	17	19	19	NUM
fuelectenerg-2698	182	18	,	,	PUNCT
fuelectenerg-2698	182	19	20	20	NUM
fuelectenerg-2698	182	20	]	]	PUNCT
fuelectenerg-2698	182	21	.	.	PUNCT
fuelectenerg-2698	183	1	84	84	NUM
fuelectenerg-2698	183	2	m.	m.	NOUN
fuelectenerg-2698	183	3	božić	božić	NOUN
fuelectenerg-2698	183	4	,	,	PUNCT
fuelectenerg-2698	183	5	s.	s.	PROPN
fuelectenerg-2698	183	6	antić	antić	PROPN
fuelectenerg-2698	183	7	,	,	PUNCT
fuelectenerg-2698	183	8	v.	v.	ADP
fuelectenerg-2698	183	9	vujiĉić	vujiĉić	PROPN
fuelectenerg-2698	183	10	,	,	PUNCT
fuelectenerg-2698	183	11	m.	m.	NOUN
fuelectenerg-2698	183	12	bjekić	bjekić	PROPN
fuelectenerg-2698	183	13	,	,	PUNCT
fuelectenerg-2698	183	14	g.	g.	PROPN
fuelectenerg-2698	183	15	đorđević	đorđević	PUNCT
fuelectenerg-2698	183	16	fig	fig	NOUN
fuelectenerg-2698	183	17	.	.	PUNCT
fuelectenerg-2698	184	1	10	10	NUM
fuelectenerg-2698	184	2	block	block	NOUN
fuelectenerg-2698	184	3	diagram	diagram	NOUN
fuelectenerg-2698	184	4	of	of	ADP
fuelectenerg-2698	184	5	the	the	DET
fuelectenerg-2698	184	6	experimental	experimental	ADJ
fuelectenerg-2698	184	7	setup	setup	NOUN
fuelectenerg-2698	184	8	the	the	DET
fuelectenerg-2698	184	9	block	block	NOUN
fuelectenerg-2698	184	10	diagram	diagram	NOUN
fuelectenerg-2698	184	11	of	of	ADP
fuelectenerg-2698	184	12	the	the	DET
fuelectenerg-2698	184	13	experimental	experimental	ADJ
fuelectenerg-2698	184	14	setup	setup	NOUN
fuelectenerg-2698	184	15	shows	show	VERB
fuelectenerg-2698	184	16	that	that	SCONJ
fuelectenerg-2698	184	17	the	the	DET
fuelectenerg-2698	184	18	drivers	driver	NOUN
fuelectenerg-2698	184	19	run	run	VERB
fuelectenerg-2698	184	20	in	in	ADP
fuelectenerg-2698	184	21	open	open	ADJ
fuelectenerg-2698	184	22	loop	loop	NOUN
fuelectenerg-2698	184	23	configuration	configuration	NOUN
fuelectenerg-2698	184	24	.	.	PUNCT
fuelectenerg-2698	185	1	the	the	DET
fuelectenerg-2698	185	2	speed	speed	NOUN
fuelectenerg-2698	185	3	loop	loop	NOUN
fuelectenerg-2698	185	4	was	be	AUX
fuelectenerg-2698	185	5	realized	realize	VERB
fuelectenerg-2698	185	6	in	in	ADP
fuelectenerg-2698	185	7	the	the	DET
fuelectenerg-2698	185	8	fpga	fpga	PROPN
fuelectenerg-2698	185	9	section	section	NOUN
fuelectenerg-2698	185	10	of	of	ADP
fuelectenerg-2698	185	11	the	the	DET
fuelectenerg-2698	185	12	controller	controller	NOUN
fuelectenerg-2698	185	13	,	,	PUNCT
fuelectenerg-2698	185	14	while	while	SCONJ
fuelectenerg-2698	185	15	the	the	DET
fuelectenerg-2698	185	16	position	position	NOUN
fuelectenerg-2698	185	17	loop	loop	NOUN
fuelectenerg-2698	185	18	was	be	AUX
fuelectenerg-2698	185	19	realized	realize	VERB
fuelectenerg-2698	185	20	in	in	ADP
fuelectenerg-2698	185	21	the	the	DET
fuelectenerg-2698	185	22	real	real	ADJ
fuelectenerg-2698	185	23	-	-	PUNCT
fuelectenerg-2698	185	24	time	time	NOUN
fuelectenerg-2698	185	25	part	part	NOUN
fuelectenerg-2698	185	26	of	of	ADP
fuelectenerg-2698	185	27	the	the	DET
fuelectenerg-2698	185	28	controller	controller	NOUN
fuelectenerg-2698	185	29	.	.	PUNCT
fuelectenerg-2698	186	1	figures	figure	NOUN
fuelectenerg-2698	186	2	below	below	ADP
fuelectenerg-2698	186	3	show	show	VERB
fuelectenerg-2698	186	4	the	the	DET
fuelectenerg-2698	186	5	reference	reference	NOUN
fuelectenerg-2698	186	6	and	and	CCONJ
fuelectenerg-2698	186	7	the	the	DET
fuelectenerg-2698	186	8	obtained	obtain	VERB
fuelectenerg-2698	186	9	values	value	NOUN
fuelectenerg-2698	186	10	of	of	ADP
fuelectenerg-2698	186	11	the	the	DET
fuelectenerg-2698	186	12	input	input	NOUN
fuelectenerg-2698	186	13	signals	signal	NOUN
fuelectenerg-2698	186	14	.	.	PUNCT
fuelectenerg-2698	187	1	figure	figure	VERB
fuelectenerg-2698	187	2	11	11	NUM
fuelectenerg-2698	187	3	shows	show	VERB
fuelectenerg-2698	187	4	angular	angular	ADJ
fuelectenerg-2698	187	5	tracking	tracking	NOUN
fuelectenerg-2698	187	6	of	of	ADP
fuelectenerg-2698	187	7	the	the	DET
fuelectenerg-2698	187	8	slave	slave	NOUN
fuelectenerg-2698	187	9	for	for	ADP
fuelectenerg-2698	187	10	the	the	DET
fuelectenerg-2698	187	11	given	give	VERB
fuelectenerg-2698	187	12	master	master	NOUN
fuelectenerg-2698	187	13	reference	reference	NOUN
fuelectenerg-2698	187	14	speed	speed	NOUN
fuelectenerg-2698	187	15	and	and	CCONJ
fuelectenerg-2698	187	16	angle	angle	NOUN
fuelectenerg-2698	187	17	shift	shift	NOUN
fuelectenerg-2698	187	18	.	.	PUNCT
fuelectenerg-2698	188	1	fig	fig	NOUN
fuelectenerg-2698	188	2	.	.	PUNCT
fuelectenerg-2698	189	1	11	11	NUM
fuelectenerg-2698	189	2	master	master	NOUN
fuelectenerg-2698	189	3	wheg	wheg	NOUN
fuelectenerg-2698	189	4	(	(	PUNCT
fuelectenerg-2698	189	5	red	red	ADJ
fuelectenerg-2698	189	6	)	)	PUNCT
fuelectenerg-2698	189	7	angular	angular	ADJ
fuelectenerg-2698	189	8	reference	reference	NOUN
fuelectenerg-2698	189	9	,	,	PUNCT
fuelectenerg-2698	189	10	under	under	ADP
fuelectenerg-2698	189	11	constant	constant	ADJ
fuelectenerg-2698	189	12	velocity	velocity	NOUN
fuelectenerg-2698	189	13	,	,	PUNCT
fuelectenerg-2698	189	14	followed	follow	VERB
fuelectenerg-2698	189	15	by	by	ADP
fuelectenerg-2698	189	16	slave	slave	NOUN
fuelectenerg-2698	189	17	wheg	wheg	NOUN
fuelectenerg-2698	189	18	(	(	PUNCT
fuelectenerg-2698	189	19	green	green	ADJ
fuelectenerg-2698	189	20	)	)	PUNCT
fuelectenerg-2698	189	21	the	the	DET
fuelectenerg-2698	189	22	influence	influence	NOUN
fuelectenerg-2698	189	23	of	of	ADP
fuelectenerg-2698	189	24	external	external	ADJ
fuelectenerg-2698	189	25	disturbance	disturbance	NOUN
fuelectenerg-2698	189	26	on	on	ADP
fuelectenerg-2698	189	27	the	the	DET
fuelectenerg-2698	189	28	wheg	wheg	ADJ
fuelectenerg-2698	189	29	drive	drive	NOUN
fuelectenerg-2698	189	30	of	of	ADP
fuelectenerg-2698	189	31	the	the	DET
fuelectenerg-2698	189	32	master	master	NOUN
fuelectenerg-2698	189	33	motor	motor	NOUN
fuelectenerg-2698	189	34	is	be	AUX
fuelectenerg-2698	189	35	shown	show	VERB
fuelectenerg-2698	189	36	in	in	ADP
fuelectenerg-2698	189	37	figure	figure	NOUN
fuelectenerg-2698	189	38	12	12	NUM
fuelectenerg-2698	189	39	.	.	PUNCT
fuelectenerg-2698	190	1	a	a	DET
fuelectenerg-2698	190	2	satisfactory	satisfactory	ADJ
fuelectenerg-2698	190	3	tracking	tracking	NOUN
fuelectenerg-2698	190	4	of	of	ADP
fuelectenerg-2698	190	5	the	the	DET
fuelectenerg-2698	190	6	slave	slave	NOUN
fuelectenerg-2698	190	7	drive	drive	NOUN
fuelectenerg-2698	190	8	against	against	ADP
fuelectenerg-2698	190	9	low	low	ADJ
fuelectenerg-2698	190	10	resolution	resolution	NOUN
fuelectenerg-2698	190	11	of	of	ADP
fuelectenerg-2698	190	12	the	the	DET
fuelectenerg-2698	190	13	encoder	encoder	NOUN
fuelectenerg-2698	190	14	and	and	CCONJ
fuelectenerg-2698	190	15	short	short	ADJ
fuelectenerg-2698	190	16	duration	duration	NOUN
fuelectenerg-2698	190	17	of	of	ADP
fuelectenerg-2698	190	18	disturbance	disturbance	NOUN
fuelectenerg-2698	190	19	can	can	AUX
fuelectenerg-2698	190	20	be	be	AUX
fuelectenerg-2698	190	21	observed	observe	VERB
fuelectenerg-2698	190	22	.	.	PUNCT
fuelectenerg-2698	191	1	electronic	electronic	ADJ
fuelectenerg-2698	191	2	gearing	gearing	NOUN
fuelectenerg-2698	191	3	of	of	ADP
fuelectenerg-2698	191	4	two	two	NUM
fuelectenerg-2698	191	5	dc	dc	PROPN
fuelectenerg-2698	191	6	motor	motor	NOUN
fuelectenerg-2698	191	7	shafts	shafts	ADJ
fuelectenerg-2698	191	8	for	for	ADP
fuelectenerg-2698	191	9	wheg	wheg	ADJ
fuelectenerg-2698	191	10	type	type	NOUN
fuelectenerg-2698	191	11	mobile	mobile	ADJ
fuelectenerg-2698	191	12	robot	robot	NOUN
fuelectenerg-2698	191	13	85	85	NUM
fuelectenerg-2698	191	14	fig	fig	NOUN
fuelectenerg-2698	191	15	.	.	PUNCT
fuelectenerg-2698	192	1	12	12	NUM
fuelectenerg-2698	192	2	robustness	robustness	NOUN
fuelectenerg-2698	192	3	demonstration	demonstration	NOUN
fuelectenerg-2698	192	4	on	on	ADP
fuelectenerg-2698	192	5	the	the	DET
fuelectenerg-2698	192	6	master	master	NOUN
fuelectenerg-2698	192	7	motor	motor	NOUN
fuelectenerg-2698	192	8	disturbance	disturbance	NOUN
fuelectenerg-2698	192	9	to	to	PART
fuelectenerg-2698	192	10	test	test	VERB
fuelectenerg-2698	192	11	the	the	DET
fuelectenerg-2698	192	12	accuracy	accuracy	NOUN
fuelectenerg-2698	192	13	of	of	ADP
fuelectenerg-2698	192	14	the	the	DET
fuelectenerg-2698	192	15	system	system	NOUN
fuelectenerg-2698	192	16	in	in	ADP
fuelectenerg-2698	192	17	the	the	DET
fuelectenerg-2698	192	18	range	range	NOUN
fuelectenerg-2698	192	19	of	of	ADP
fuelectenerg-2698	192	20	speeds	speed	NOUN
fuelectenerg-2698	192	21	and	and	CCONJ
fuelectenerg-2698	192	22	angles	angle	NOUN
fuelectenerg-2698	192	23	,	,	PUNCT
fuelectenerg-2698	192	24	whereby	whereby	SCONJ
fuelectenerg-2698	192	25	angle	angle	NOUN
fuelectenerg-2698	192	26	α	α	PROPN
fuelectenerg-2698	192	27	was	be	AUX
fuelectenerg-2698	192	28	controlled	control	VERB
fuelectenerg-2698	192	29	,	,	PUNCT
fuelectenerg-2698	192	30	the	the	DET
fuelectenerg-2698	192	31	speed	speed	NOUN
fuelectenerg-2698	192	32	–	–	PUNCT
fuelectenerg-2698	192	33	angle	angle	NOUN
fuelectenerg-2698	192	34	matrix	matrix	NOUN
fuelectenerg-2698	192	35	was	be	AUX
fuelectenerg-2698	192	36	formed	form	VERB
fuelectenerg-2698	192	37	by	by	ADP
fuelectenerg-2698	192	38	measuring	measure	VERB
fuelectenerg-2698	192	39	.	.	PUNCT
fuelectenerg-2698	193	1	speed	speed	NOUN
fuelectenerg-2698	193	2	range	range	NOUN
fuelectenerg-2698	193	3	was	be	AUX
fuelectenerg-2698	193	4	examined	examine	VERB
fuelectenerg-2698	193	5	in	in	ADP
fuelectenerg-2698	193	6	the	the	DET
fuelectenerg-2698	193	7	range	range	NOUN
fuelectenerg-2698	193	8	of	of	ADP
fuelectenerg-2698	193	9	0	0	NUM
fuelectenerg-2698	193	10	to	to	PART
fuelectenerg-2698	193	11	3000	3000	NUM
fuelectenerg-2698	193	12	rpm	rpm	NOUN
fuelectenerg-2698	193	13	,	,	PUNCT
fuelectenerg-2698	193	14	with	with	ADP
fuelectenerg-2698	193	15	a	a	DET
fuelectenerg-2698	193	16	resolution	resolution	NOUN
fuelectenerg-2698	193	17	of	of	ADP
fuelectenerg-2698	193	18	200	200	NUM
fuelectenerg-2698	193	19	rpm	rpm	NOUN
fuelectenerg-2698	193	20	.	.	PUNCT
fuelectenerg-2698	194	1	the	the	DET
fuelectenerg-2698	194	2	angles	angle	NOUN
fuelectenerg-2698	194	3	were	be	AUX
fuelectenerg-2698	194	4	ranging	range	VERB
fuelectenerg-2698	194	5	from	from	ADP
fuelectenerg-2698	194	6	0	0	NUM
fuelectenerg-2698	194	7	°	°	NOUN
fuelectenerg-2698	194	8	to	to	ADP
fuelectenerg-2698	194	9	90	90	NUM
fuelectenerg-2698	194	10	°	°	NOUN
fuelectenerg-2698	194	11	with	with	ADP
fuelectenerg-2698	194	12	a	a	DET
fuelectenerg-2698	194	13	resolution	resolution	NOUN
fuelectenerg-2698	194	14	of	of	ADP
fuelectenerg-2698	194	15	5	5	NUM
fuelectenerg-2698	194	16	°	°	NOUN
fuelectenerg-2698	194	17	.	.	PUNCT
fuelectenerg-2698	195	1	at	at	ADP
fuelectenerg-2698	195	2	higher	high	ADJ
fuelectenerg-2698	195	3	speeds	speed	NOUN
fuelectenerg-2698	195	4	of	of	ADP
fuelectenerg-2698	195	5	the	the	DET
fuelectenerg-2698	195	6	master	master	NOUN
fuelectenerg-2698	195	7	a	a	DET
fuelectenerg-2698	195	8	higher	high	ADJ
fuelectenerg-2698	195	9	value	value	NOUN
fuelectenerg-2698	195	10	of	of	ADP
fuelectenerg-2698	195	11	error	error	NOUN
fuelectenerg-2698	195	12	in	in	ADP
fuelectenerg-2698	195	13	the	the	DET
fuelectenerg-2698	195	14	slave	slave	NOUN
fuelectenerg-2698	195	15	was	be	AUX
fuelectenerg-2698	195	16	observed	observe	VERB
fuelectenerg-2698	195	17	.	.	PUNCT
fuelectenerg-2698	196	1	the	the	DET
fuelectenerg-2698	196	2	reasons	reason	NOUN
fuelectenerg-2698	196	3	for	for	ADP
fuelectenerg-2698	196	4	the	the	DET
fuelectenerg-2698	196	5	error	error	NOUN
fuelectenerg-2698	196	6	were	be	AUX
fuelectenerg-2698	196	7	noise	noise	NOUN
fuelectenerg-2698	196	8	increase	increase	NOUN
fuelectenerg-2698	196	9	at	at	ADP
fuelectenerg-2698	196	10	the	the	DET
fuelectenerg-2698	196	11	encoder	encoder	NOUN
fuelectenerg-2698	196	12	due	due	ADP
fuelectenerg-2698	196	13	to	to	ADP
fuelectenerg-2698	196	14	vibration	vibration	NOUN
fuelectenerg-2698	196	15	and	and	CCONJ
fuelectenerg-2698	196	16	problems	problem	NOUN
fuelectenerg-2698	196	17	with	with	ADP
fuelectenerg-2698	196	18	fixing	fix	VERB
fuelectenerg-2698	196	19	the	the	DET
fuelectenerg-2698	196	20	encoder	encoder	NOUN
fuelectenerg-2698	196	21	to	to	ADP
fuelectenerg-2698	196	22	the	the	DET
fuelectenerg-2698	196	23	motor	motor	NOUN
fuelectenerg-2698	196	24	shaft	shaft	NOUN
fuelectenerg-2698	196	25	.	.	PUNCT
fuelectenerg-2698	197	1	the	the	DET
fuelectenerg-2698	197	2	greatest	great	ADJ
fuelectenerg-2698	197	3	error	error	NOUN
fuelectenerg-2698	197	4	that	that	PRON
fuelectenerg-2698	197	5	occurred	occur	VERB
fuelectenerg-2698	197	6	was	be	AUX
fuelectenerg-2698	197	7	around	around	ADV
fuelectenerg-2698	197	8	2	2	NUM
fuelectenerg-2698	197	9	%	%	NOUN
fuelectenerg-2698	197	10	.	.	PUNCT
fuelectenerg-2698	198	1	fig	fig	NOUN
fuelectenerg-2698	198	2	.	.	PUNCT
fuelectenerg-2698	199	1	13	13	NUM
fuelectenerg-2698	199	2	angle	angle	NOUN
fuelectenerg-2698	199	3	error	error	NOUN
fuelectenerg-2698	199	4	for	for	ADP
fuelectenerg-2698	199	5	range	range	NOUN
fuelectenerg-2698	199	6	of	of	ADP
fuelectenerg-2698	199	7	the	the	DET
fuelectenerg-2698	199	8	angle	angle	NOUN
fuelectenerg-2698	199	9	and	and	CCONJ
fuelectenerg-2698	199	10	speed	speed	NOUN
fuelectenerg-2698	199	11	values	value	NOUN
fuelectenerg-2698	199	12	86	86	NUM
fuelectenerg-2698	199	13	m.	m.	NOUN
fuelectenerg-2698	199	14	božić	božić	NOUN
fuelectenerg-2698	199	15	,	,	PUNCT
fuelectenerg-2698	199	16	s.	s.	PROPN
fuelectenerg-2698	199	17	antić	antić	PROPN
fuelectenerg-2698	199	18	,	,	PUNCT
fuelectenerg-2698	199	19	v.	v.	ADP
fuelectenerg-2698	199	20	vujiĉić	vujiĉić	PROPN
fuelectenerg-2698	199	21	,	,	PUNCT
fuelectenerg-2698	199	22	m.	m.	NOUN
fuelectenerg-2698	199	23	bjekić	bjekić	PROPN
fuelectenerg-2698	199	24	,	,	PUNCT
fuelectenerg-2698	199	25	g.	g.	PROPN
fuelectenerg-2698	199	26	đorđević	đorđević	NOUN
fuelectenerg-2698	199	27	5	5	NUM
fuelectenerg-2698	199	28	.	.	X
fuelectenerg-2698	199	29	conclusion	conclusion	VERB
fuelectenerg-2698	199	30	a	a	DET
fuelectenerg-2698	199	31	functional	functional	ADJ
fuelectenerg-2698	199	32	master	master	NOUN
fuelectenerg-2698	199	33	–	–	PUNCT
fuelectenerg-2698	199	34	slave	slave	NOUN
fuelectenerg-2698	199	35	drive	drive	NOUN
fuelectenerg-2698	199	36	structure	structure	NOUN
fuelectenerg-2698	199	37	for	for	ADP
fuelectenerg-2698	199	38	electronic	electronic	ADJ
fuelectenerg-2698	199	39	gearing	gearing	NOUN
fuelectenerg-2698	199	40	was	be	AUX
fuelectenerg-2698	199	41	implemented	implement	VERB
fuelectenerg-2698	199	42	.	.	PUNCT
fuelectenerg-2698	200	1	after	after	ADP
fuelectenerg-2698	200	2	the	the	DET
fuelectenerg-2698	200	3	identification	identification	NOUN
fuelectenerg-2698	200	4	of	of	ADP
fuelectenerg-2698	200	5	parameters	parameter	NOUN
fuelectenerg-2698	200	6	,	,	PUNCT
fuelectenerg-2698	200	7	the	the	DET
fuelectenerg-2698	200	8	mathematical	mathematical	ADJ
fuelectenerg-2698	200	9	model	model	NOUN
fuelectenerg-2698	200	10	of	of	ADP
fuelectenerg-2698	200	11	the	the	DET
fuelectenerg-2698	200	12	motors	motor	NOUN
fuelectenerg-2698	200	13	was	be	AUX
fuelectenerg-2698	200	14	formed	form	VERB
fuelectenerg-2698	200	15	.	.	PUNCT
fuelectenerg-2698	201	1	also	also	ADV
fuelectenerg-2698	201	2	,	,	PUNCT
fuelectenerg-2698	201	3	the	the	DET
fuelectenerg-2698	201	4	complete	complete	ADJ
fuelectenerg-2698	201	5	synthesis	synthesis	NOUN
fuelectenerg-2698	201	6	of	of	ADP
fuelectenerg-2698	201	7	the	the	DET
fuelectenerg-2698	201	8	digital	digital	ADJ
fuelectenerg-2698	201	9	control	control	NOUN
fuelectenerg-2698	201	10	system	system	NOUN
fuelectenerg-2698	201	11	is	be	AUX
fuelectenerg-2698	201	12	shown	show	VERB
fuelectenerg-2698	201	13	in	in	ADP
fuelectenerg-2698	201	14	the	the	DET
fuelectenerg-2698	201	15	paper	paper	NOUN
fuelectenerg-2698	201	16	.	.	PUNCT
fuelectenerg-2698	202	1	the	the	DET
fuelectenerg-2698	202	2	speed	speed	NOUN
fuelectenerg-2698	202	3	and	and	CCONJ
fuelectenerg-2698	202	4	position	position	NOUN
fuelectenerg-2698	202	5	controller	controller	NOUN
fuelectenerg-2698	202	6	were	be	AUX
fuelectenerg-2698	202	7	designed	design	VERB
fuelectenerg-2698	202	8	by	by	ADP
fuelectenerg-2698	202	9	using	use	VERB
fuelectenerg-2698	202	10	the	the	DET
fuelectenerg-2698	202	11	rt	rt	PROPN
fuelectenerg-2698	202	12	controller	controller	PROPN
fuelectenerg-2698	202	13	fpga	fpga	PROPN
fuelectenerg-2698	202	14	sbrio9636	sbrio9636	PROPN
fuelectenerg-2698	202	15	.	.	PUNCT
fuelectenerg-2698	203	1	the	the	DET
fuelectenerg-2698	203	2	efficiency	efficiency	NOUN
fuelectenerg-2698	203	3	of	of	ADP
fuelectenerg-2698	203	4	the	the	DET
fuelectenerg-2698	203	5	controller	controller	NOUN
fuelectenerg-2698	203	6	was	be	AUX
fuelectenerg-2698	203	7	demonstrated	demonstrate	VERB
fuelectenerg-2698	203	8	and	and	CCONJ
fuelectenerg-2698	203	9	no	no	DET
fuelectenerg-2698	203	10	notable	notable	ADJ
fuelectenerg-2698	203	11	delay	delay	NOUN
fuelectenerg-2698	203	12	in	in	ADP
fuelectenerg-2698	203	13	re	re	VERB
fuelectenerg-2698	203	14	-	-	VERB
fuelectenerg-2698	203	15	aligning	align	VERB
fuelectenerg-2698	203	16	the	the	DET
fuelectenerg-2698	203	17	slave	slave	NOUN
fuelectenerg-2698	203	18	wheg	wheg	NOUN
fuelectenerg-2698	203	19	to	to	ADP
fuelectenerg-2698	203	20	the	the	DET
fuelectenerg-2698	203	21	master	master	NOUN
fuelectenerg-2698	203	22	wheg	wheg	ADJ
fuelectenerg-2698	203	23	velocity	velocity	NOUN
fuelectenerg-2698	203	24	at	at	ADP
fuelectenerg-2698	203	25	given	give	VERB
fuelectenerg-2698	203	26	angle	angle	NOUN
fuelectenerg-2698	203	27	shift	shift	NOUN
fuelectenerg-2698	203	28	was	be	AUX
fuelectenerg-2698	203	29	observed	observe	VERB
fuelectenerg-2698	203	30	.	.	PUNCT
fuelectenerg-2698	204	1	this	this	PRON
fuelectenerg-2698	204	2	practically	practically	ADV
fuelectenerg-2698	204	3	means	mean	VERB
fuelectenerg-2698	204	4	that	that	SCONJ
fuelectenerg-2698	204	5	realignment	realignment	NOUN
fuelectenerg-2698	204	6	can	can	AUX
fuelectenerg-2698	204	7	be	be	AUX
fuelectenerg-2698	204	8	done	do	VERB
fuelectenerg-2698	204	9	within	within	ADP
fuelectenerg-2698	204	10	one	one	NUM
fuelectenerg-2698	204	11	single	single	ADJ
fuelectenerg-2698	204	12	rotation	rotation	NOUN
fuelectenerg-2698	204	13	of	of	ADP
fuelectenerg-2698	204	14	dwheg	dwheg	PROPN
fuelectenerg-2698	204	15	.	.	PUNCT
fuelectenerg-2698	205	1	this	this	PRON
fuelectenerg-2698	205	2	allows	allow	VERB
fuelectenerg-2698	205	3	a	a	DET
fuelectenerg-2698	205	4	robot	robot	NOUN
fuelectenerg-2698	205	5	to	to	PART
fuelectenerg-2698	205	6	rapidly	rapidly	ADV
fuelectenerg-2698	205	7	adapt	adapt	VERB
fuelectenerg-2698	205	8	to	to	ADP
fuelectenerg-2698	205	9	even	even	ADV
fuelectenerg-2698	205	10	small	small	ADJ
fuelectenerg-2698	205	11	obstacles	obstacle	NOUN
fuelectenerg-2698	205	12	like	like	ADP
fuelectenerg-2698	205	13	stones	stone	NOUN
fuelectenerg-2698	205	14	or	or	CCONJ
fuelectenerg-2698	205	15	wet	wet	ADJ
fuelectenerg-2698	205	16	ground	ground	NOUN
fuelectenerg-2698	205	17	.	.	PUNCT
fuelectenerg-2698	206	1	future	future	ADJ
fuelectenerg-2698	206	2	work	work	NOUN
fuelectenerg-2698	206	3	will	will	AUX
fuelectenerg-2698	206	4	be	be	AUX
fuelectenerg-2698	206	5	based	base	VERB
fuelectenerg-2698	206	6	on	on	ADP
fuelectenerg-2698	206	7	enhancement	enhancement	NOUN
fuelectenerg-2698	206	8	of	of	ADP
fuelectenerg-2698	206	9	the	the	DET
fuelectenerg-2698	206	10	system	system	NOUN
fuelectenerg-2698	206	11	performance	performance	NOUN
fuelectenerg-2698	206	12	by	by	ADP
fuelectenerg-2698	206	13	increasing	increase	VERB
fuelectenerg-2698	206	14	the	the	DET
fuelectenerg-2698	206	15	resolution	resolution	NOUN
fuelectenerg-2698	206	16	of	of	ADP
fuelectenerg-2698	206	17	the	the	DET
fuelectenerg-2698	206	18	encoder	encoder	NOUN
fuelectenerg-2698	206	19	and	and	CCONJ
fuelectenerg-2698	206	20	the	the	DET
fuelectenerg-2698	206	21	realization	realization	NOUN
fuelectenerg-2698	206	22	of	of	ADP
fuelectenerg-2698	206	23	all	all	DET
fuelectenerg-2698	206	24	loops	loop	NOUN
fuelectenerg-2698	206	25	on	on	ADP
fuelectenerg-2698	206	26	fpga	fpga	PROPN
fuelectenerg-2698	206	27	platform	platform	NOUN
fuelectenerg-2698	206	28	.	.	PUNCT
fuelectenerg-2698	207	1	further	further	ADJ
fuelectenerg-2698	207	2	testing	testing	NOUN
fuelectenerg-2698	207	3	of	of	ADP
fuelectenerg-2698	207	4	this	this	DET
fuelectenerg-2698	207	5	drive	drive	NOUN
fuelectenerg-2698	207	6	will	will	AUX
fuelectenerg-2698	207	7	be	be	AUX
fuelectenerg-2698	207	8	carried	carry	VERB
fuelectenerg-2698	207	9	out	out	ADP
fuelectenerg-2698	207	10	in	in	ADP
fuelectenerg-2698	207	11	real	real	ADJ
fuelectenerg-2698	207	12	conditions	condition	NOUN
fuelectenerg-2698	207	13	,	,	PUNCT
fuelectenerg-2698	207	14	on	on	ADP
fuelectenerg-2698	207	15	a	a	DET
fuelectenerg-2698	207	16	treadmill	treadmill	NOUN
fuelectenerg-2698	207	17	belt	belt	NOUN
fuelectenerg-2698	207	18	figure	figure	NOUN
fuelectenerg-2698	207	19	14	14	NUM
fuelectenerg-2698	207	20	left	left	ADJ
fuelectenerg-2698	207	21	and	and	CCONJ
fuelectenerg-2698	207	22	on	on	ADP
fuelectenerg-2698	207	23	a	a	DET
fuelectenerg-2698	207	24	rotating	rotate	VERB
fuelectenerg-2698	207	25	test	test	NOUN
fuelectenerg-2698	207	26	station	station	NOUN
fuelectenerg-2698	207	27	figure	figure	NOUN
fuelectenerg-2698	207	28	14	14	NUM
fuelectenerg-2698	207	29	right	right	ADJ
fuelectenerg-2698	207	30	.	.	PUNCT
fuelectenerg-2698	208	1	currently	currently	ADV
fuelectenerg-2698	208	2	used	use	VERB
fuelectenerg-2698	208	3	controller	controller	NOUN
fuelectenerg-2698	208	4	and	and	CCONJ
fuelectenerg-2698	208	5	driver	driver	NOUN
fuelectenerg-2698	208	6	for	for	ADP
fuelectenerg-2698	208	7	rapid	rapid	ADJ
fuelectenerg-2698	208	8	testing	testing	NOUN
fuelectenerg-2698	208	9	of	of	ADP
fuelectenerg-2698	208	10	the	the	DET
fuelectenerg-2698	208	11	algorithm	algorithm	NOUN
fuelectenerg-2698	208	12	will	will	AUX
fuelectenerg-2698	208	13	be	be	AUX
fuelectenerg-2698	208	14	replaced	replace	VERB
fuelectenerg-2698	208	15	with	with	ADP
fuelectenerg-2698	208	16	a	a	DET
fuelectenerg-2698	208	17	cheaper	cheap	ADJ
fuelectenerg-2698	208	18	microcontroller	microcontroller	NOUN
fuelectenerg-2698	208	19	and	and	CCONJ
fuelectenerg-2698	208	20	a	a	DET
fuelectenerg-2698	208	21	driver	driver	NOUN
fuelectenerg-2698	208	22	,	,	PUNCT
fuelectenerg-2698	208	23	in	in	ADP
fuelectenerg-2698	208	24	order	order	NOUN
fuelectenerg-2698	208	25	to	to	PART
fuelectenerg-2698	208	26	set	set	VERB
fuelectenerg-2698	208	27	up	up	ADP
fuelectenerg-2698	208	28	a	a	DET
fuelectenerg-2698	208	29	complete	complete	ADJ
fuelectenerg-2698	208	30	system	system	NOUN
fuelectenerg-2698	208	31	into	into	ADP
fuelectenerg-2698	208	32	the	the	DET
fuelectenerg-2698	208	33	mobile	mobile	NOUN
fuelectenerg-2698	208	34	robot	robot	NOUN
fuelectenerg-2698	208	35	.	.	PUNCT
fuelectenerg-2698	209	1	fig	fig	NOUN
fuelectenerg-2698	209	2	.	.	PUNCT
fuelectenerg-2698	210	1	14	14	NUM
fuelectenerg-2698	210	2	models	model	NOUN
fuelectenerg-2698	210	3	of	of	ADP
fuelectenerg-2698	210	4	treadmill	treadmill	NOUN
fuelectenerg-2698	210	5	force	force	NOUN
fuelectenerg-2698	210	6	plate	plate	NOUN
fuelectenerg-2698	210	7	(	(	PUNCT
fuelectenerg-2698	210	8	left	leave	VERB
fuelectenerg-2698	210	9	)	)	PUNCT
fuelectenerg-2698	210	10	and	and	CCONJ
fuelectenerg-2698	210	11	rotating	rotate	VERB
fuelectenerg-2698	210	12	test	test	NOUN
fuelectenerg-2698	210	13	station	station	NOUN
fuelectenerg-2698	210	14	(	(	PUNCT
fuelectenerg-2698	210	15	right	right	ADJ
fuelectenerg-2698	210	16	)	)	PUNCT
fuelectenerg-2698	210	17	references	reference	NOUN
fuelectenerg-2698	211	1	[	[	X
fuelectenerg-2698	211	2	1	1	X
fuelectenerg-2698	211	3	]	]	PUNCT
fuelectenerg-2698	211	4	v.	v.	ADP
fuelectenerg-2698	211	5	mhase	mhase	PROPN
fuelectenerg-2698	211	6	,	,	PUNCT
fuelectenerg-2698	211	7	k.r	k.r	PROPN
fuelectenerg-2698	211	8	.	.	PROPN
fuelectenerg-2698	211	9	sudarshan	sudarshan	PROPN
fuelectenerg-2698	211	10	,	,	PUNCT
fuelectenerg-2698	211	11	o.	o.	PROPN
fuelectenerg-2698	211	12	pardeshi	pardeshi	PROPN
fuelectenerg-2698	211	13	,	,	PUNCT
fuelectenerg-2698	211	14	p.v	p.v	PROPN
fuelectenerg-2698	211	15	.	.	PROPN
fuelectenerg-2698	211	16	suryawanshi	suryawanshi	NOUN
fuelectenerg-2698	211	17	,	,	PUNCT
fuelectenerg-2698	211	18	"	"	PUNCT
fuelectenerg-2698	211	19	integrated	integrated	ADJ
fuelectenerg-2698	211	20	speed	speed	NOUN
fuelectenerg-2698	211	21	–	–	PUNCT
fuelectenerg-2698	211	22	position	position	NOUN
fuelectenerg-2698	211	23	tracking	tracking	NOUN
fuelectenerg-2698	211	24	with	with	ADP
fuelectenerg-2698	211	25	trajectory	trajectory	NOUN
fuelectenerg-2698	211	26	generation	generation	NOUN
fuelectenerg-2698	211	27	and	and	CCONJ
fuelectenerg-2698	211	28	synchronization	synchronization	NOUN
fuelectenerg-2698	211	29	for	for	ADP
fuelectenerg-2698	211	30	2	2	NUM
fuelectenerg-2698	211	31	–	–	PUNCT
fuelectenerg-2698	211	32	axis	axis	ADJ
fuelectenerg-2698	211	33	dc	dc	PROPN
fuelectenerg-2698	211	34	motion	motion	NOUN
fuelectenerg-2698	211	35	control	control	NOUN
fuelectenerg-2698	211	36	"	"	PUNCT
fuelectenerg-2698	211	37	,	,	PUNCT
fuelectenerg-2698	211	38	international	international	ADJ
fuelectenerg-2698	211	39	journal	journal	NOUN
fuelectenerg-2698	211	40	of	of	ADP
fuelectenerg-2698	211	41	engineering	engineering	NOUN
fuelectenerg-2698	211	42	research	research	NOUN
fuelectenerg-2698	211	43	and	and	CCONJ
fuelectenerg-2698	211	44	development	development	NOUN
fuelectenerg-2698	211	45	,	,	PUNCT
fuelectenerg-2698	211	46	vol	vol	NOUN
fuelectenerg-2698	211	47	.	.	PROPN
fuelectenerg-2698	211	48	1	1	NUM
fuelectenerg-2698	211	49	,	,	PUNCT
fuelectenerg-2698	211	50	issue	issue	NOUN
fuelectenerg-2698	211	51	6	6	NUM
fuelectenerg-2698	211	52	,	,	PUNCT
fuelectenerg-2698	211	53	pp	pp	ADJ
fuelectenerg-2698	211	54	.	.	PUNCT
fuelectenerg-2698	212	1	61	61	NUM
fuelectenerg-2698	212	2	-	-	SYM
fuelectenerg-2698	212	3	66	66	NUM
fuelectenerg-2698	212	4	,	,	PUNCT
fuelectenerg-2698	212	5	2012	2012	NUM
fuelectenerg-2698	212	6	.	.	PUNCT
fuelectenerg-2698	213	1	[	[	X
fuelectenerg-2698	213	2	2	2	NUM
fuelectenerg-2698	213	3	]	]	X
fuelectenerg-2698	213	4	f.j	f.j	PROPN
fuelectenerg-2698	213	5	.	.	PROPN
fuelectenerg-2698	213	6	pkrez	pkrez	NOUN
fuelectenerg-2698	213	7	-	-	PUNCT
fuelectenerg-2698	213	8	pinal	pinal	PROPN
fuelectenerg-2698	213	9	,	,	PUNCT
fuelectenerg-2698	213	10	c.	c.	PROPN
fuelectenerg-2698	213	11	ngez	ngez	PROPN
fuelectenerg-2698	213	12	,	,	PUNCT
fuelectenerg-2698	213	13	r.	r.	PROPN
fuelectenerg-2698	213	14	alvarez	alvarez	PROPN
fuelectenerg-2698	213	15	,	,	PUNCT
fuelectenerg-2698	213	16	i.	i.	PROPN
fuelectenerg-2698	213	17	cervantes	cervantes	PROPN
fuelectenerg-2698	213	18	,	,	PUNCT
fuelectenerg-2698	213	19	"	"	PUNCT
fuelectenerg-2698	213	20	comparison	comparison	NOUN
fuelectenerg-2698	213	21	of	of	ADP
fuelectenerg-2698	213	22	multi	multi	ADJ
fuelectenerg-2698	213	23	-	-	ADJ
fuelectenerg-2698	213	24	motor	motor	ADJ
fuelectenerg-2698	213	25	synchronization	synchronization	NOUN
fuelectenerg-2698	213	26	techniques	technique	NOUN
fuelectenerg-2698	213	27	"	"	PUNCT
fuelectenerg-2698	213	28	,	,	PUNCT
fuelectenerg-2698	213	29	industrial	industrial	ADJ
fuelectenerg-2698	213	30	electronics	electronic	NOUN
fuelectenerg-2698	213	31	society	society	NOUN
fuelectenerg-2698	213	32	ieee	ieee	NOUN
fuelectenerg-2698	213	33	,	,	PUNCT
fuelectenerg-2698	213	34	pp	pp	ADP
fuelectenerg-2698	213	35	.	.	PUNCT
fuelectenerg-2698	214	1	1670	1670	NUM
fuelectenerg-2698	214	2	-	-	SYM
fuelectenerg-2698	214	3	1675	1675	NUM
fuelectenerg-2698	214	4	,	,	PUNCT
fuelectenerg-2698	214	5	2004	2004	NUM
fuelectenerg-2698	214	6	.	.	PUNCT
fuelectenerg-2698	215	1	[	[	X
fuelectenerg-2698	215	2	3	3	X
fuelectenerg-2698	215	3	]	]	X
fuelectenerg-2698	215	4	y.h	y.h	PROPN
fuelectenerg-2698	215	5	.	.	PROPN
fuelectenerg-2698	215	6	chang	chang	PROPN
fuelectenerg-2698	215	7	,	,	PUNCT
fuelectenerg-2698	215	8	w.h	w.h	PROPN
fuelectenerg-2698	215	9	.	.	PROPN
fuelectenerg-2698	215	10	chieng	chieng	PROPN
fuelectenerg-2698	215	11	,	,	PUNCT
fuelectenerg-2698	215	12	c.s	c.s	PROPN
fuelectenerg-2698	215	13	.	.	PROPN
fuelectenerg-2698	215	14	liao	liao	PROPN
fuelectenerg-2698	215	15	,	,	PUNCT
fuelectenerg-2698	215	16	s.l	s.l	PROPN
fuelectenerg-2698	215	17	.	.	PROPN
fuelectenerg-2698	215	18	jeng	jeng	PROPN
fuelectenerg-2698	215	19	,	,	PUNCT
fuelectenerg-2698	215	20	"	"	PUNCT
fuelectenerg-2698	215	21	a	a	DET
fuelectenerg-2698	215	22	novel	novel	ADJ
fuelectenerg-2698	215	23	master	master	NOUN
fuelectenerg-2698	215	24	switching	switch	VERB
fuelectenerg-2698	215	25	method	method	NOUN
fuelectenerg-2698	215	26	for	for	ADP
fuelectenerg-2698	215	27	electronic	electronic	ADJ
fuelectenerg-2698	215	28	cam	cam	NOUN
fuelectenerg-2698	215	29	control	control	NOUN
fuelectenerg-2698	215	30	with	with	ADP
fuelectenerg-2698	215	31	special	special	ADJ
fuelectenerg-2698	215	32	reference	reference	NOUN
fuelectenerg-2698	215	33	to	to	ADP
fuelectenerg-2698	215	34	multi	multi	ADJ
fuelectenerg-2698	215	35	-	-	ADJ
fuelectenerg-2698	215	36	axis	axis	ADJ
fuelectenerg-2698	215	37	coordinated	coordinated	ADJ
fuelectenerg-2698	215	38	trajectory	trajectory	NOUN
fuelectenerg-2698	215	39	following	follow	VERB
fuelectenerg-2698	215	40	"	"	PUNCT
fuelectenerg-2698	215	41	,	,	PUNCT
fuelectenerg-2698	215	42	control	control	NOUN
fuelectenerg-2698	215	43	engineering	engineering	NOUN
fuelectenerg-2698	215	44	practice	practice	NOUN
fuelectenerg-2698	215	45	,	,	PUNCT
fuelectenerg-2698	215	46	vol	vol	NOUN
fuelectenerg-2698	215	47	.	.	PROPN
fuelectenerg-2698	215	48	14	14	NUM
fuelectenerg-2698	215	49	,	,	PUNCT
fuelectenerg-2698	215	50	pp	pp	ADJ
fuelectenerg-2698	215	51	.	.	PUNCT
fuelectenerg-2698	216	1	107	107	NUM
fuelectenerg-2698	216	2	-	-	SYM
fuelectenerg-2698	216	3	120	120	NUM
fuelectenerg-2698	216	4	,	,	PUNCT
fuelectenerg-2698	216	5	2006	2006	NUM
fuelectenerg-2698	216	6	.	.	PUNCT
fuelectenerg-2698	217	1	[	[	X
fuelectenerg-2698	217	2	4	4	X
fuelectenerg-2698	217	3	]	]	X
fuelectenerg-2698	217	4	c.s	c.s	PROPN
fuelectenerg-2698	217	5	.	.	PROPN
fuelectenerg-2698	217	6	liao	liao	PROPN
fuelectenerg-2698	217	7	,	,	PUNCT
fuelectenerg-2698	217	8	s.l	s.l	PROPN
fuelectenerg-2698	217	9	.	.	PROPN
fuelectenerg-2698	217	10	jeng	jeng	PROPN
fuelectenerg-2698	217	11	,	,	PUNCT
fuelectenerg-2698	217	12	w.h	w.h	PROPN
fuelectenerg-2698	217	13	.	.	PROPN
fuelectenerg-2698	217	14	chieng	chieng	PROPN
fuelectenerg-2698	217	15	,	,	PUNCT
fuelectenerg-2698	217	16	"	"	PUNCT
fuelectenerg-2698	217	17	electronic	electronic	ADJ
fuelectenerg-2698	217	18	cam	cam	NOUN
fuelectenerg-2698	217	19	motion	motion	NOUN
fuelectenerg-2698	217	20	generation	generation	NOUN
fuelectenerg-2698	217	21	with	with	ADP
fuelectenerg-2698	217	22	special	special	ADJ
fuelectenerg-2698	217	23	reference	reference	NOUN
fuelectenerg-2698	217	24	to	to	ADP
fuelectenerg-2698	217	25	constrained	constrained	ADJ
fuelectenerg-2698	217	26	velocity	velocity	NOUN
fuelectenerg-2698	217	27	,	,	PUNCT
fuelectenerg-2698	217	28	acceleration	acceleration	NOUN
fuelectenerg-2698	217	29	,	,	PUNCT
fuelectenerg-2698	217	30	and	and	CCONJ
fuelectenerg-2698	217	31	jerk	jerk	NOUN
fuelectenerg-2698	217	32	"	"	PUNCT
fuelectenerg-2698	217	33	,	,	PUNCT
fuelectenerg-2698	217	34	isa	isa	NOUN
fuelectenerg-2698	217	35	transactions	transaction	NOUN
fuelectenerg-2698	217	36	,	,	PUNCT
fuelectenerg-2698	217	37	pp	pp	ADP
fuelectenerg-2698	217	38	.	.	PUNCT
fuelectenerg-2698	218	1	427	427	NUM
fuelectenerg-2698	218	2	-	-	SYM
fuelectenerg-2698	218	3	443	443	NUM
fuelectenerg-2698	218	4	,	,	PUNCT
fuelectenerg-2698	218	5	2004	2004	NUM
fuelectenerg-2698	218	6	.	.	PUNCT
fuelectenerg-2698	219	1	[	[	X
fuelectenerg-2698	219	2	5	5	NUM
fuelectenerg-2698	219	3	]	]	PUNCT
fuelectenerg-2698	219	4	p.	p.	NOUN
fuelectenerg-2698	219	5	ciáurriz	ciáurriz	NOUN
fuelectenerg-2698	219	6	,	,	PUNCT
fuelectenerg-2698	219	7	i.	i.	NOUN
fuelectenerg-2698	219	8	díaz	díaz	PROPN
fuelectenerg-2698	219	9	,	,	PUNCT
fuelectenerg-2698	219	10	j.j	j.j	PROPN
fuelectenerg-2698	219	11	.	.	PROPN
fuelectenerg-2698	219	12	gil	gil	PROPN
fuelectenerg-2698	219	13	,	,	PUNCT
fuelectenerg-2698	219	14	"	"	PUNCT
fuelectenerg-2698	219	15	bimanual	bimanual	ADJ
fuelectenerg-2698	219	16	drive	drive	NOUN
fuelectenerg-2698	219	17	-	-	PUNCT
fuelectenerg-2698	219	18	by	by	ADP
fuelectenerg-2698	219	19	-	-	PUNCT
fuelectenerg-2698	219	20	wire	wire	NOUN
fuelectenerg-2698	219	21	system	system	NOUN
fuelectenerg-2698	219	22	with	with	ADP
fuelectenerg-2698	219	23	haptic	haptic	ADJ
fuelectenerg-2698	219	24	feedback	feedback	NOUN
fuelectenerg-2698	219	25	"	"	PUNCT
fuelectenerg-2698	219	26	,	,	PUNCT
fuelectenerg-2698	219	27	in	in	ADP
fuelectenerg-2698	219	28	proceedings	proceeding	NOUN
fuelectenerg-2698	219	29	of	of	ADP
fuelectenerg-2698	219	30	the	the	DET
fuelectenerg-2698	219	31	ieee	ieee	NOUN
fuelectenerg-2698	219	32	international	international	ADJ
fuelectenerg-2698	219	33	symposium	symposium	NOUN
fuelectenerg-2698	219	34	on	on	ADP
fuelectenerg-2698	219	35	haptic	haptic	ADJ
fuelectenerg-2698	219	36	audio	audio	ADJ
fuelectenerg-2698	219	37	visual	visual	ADJ
fuelectenerg-2698	219	38	environments	environment	NOUN
fuelectenerg-2698	219	39	and	and	CCONJ
fuelectenerg-2698	219	40	games	game	NOUN
fuelectenerg-2698	219	41	(	(	PUNCT
fuelectenerg-2698	219	42	have	have	AUX
fuelectenerg-2698	219	43	)	)	PUNCT
fuelectenerg-2698	219	44	,	,	PUNCT
fuelectenerg-2698	219	45	2013	2013	NUM
fuelectenerg-2698	219	46	,	,	PUNCT
fuelectenerg-2698	219	47	pp	pp	ADJ
fuelectenerg-2698	219	48	.	.	PUNCT
fuelectenerg-2698	220	1	18	18	NUM
fuelectenerg-2698	220	2	-	-	SYM
fuelectenerg-2698	220	3	23	23	NUM
fuelectenerg-2698	220	4	.	.	PUNCT
fuelectenerg-2698	221	1	[	[	X
fuelectenerg-2698	221	2	6	6	NUM
fuelectenerg-2698	221	3	]	]	PUNCT
fuelectenerg-2698	221	4	o.	o.	NOUN
fuelectenerg-2698	221	5	sename	sename	NOUN
fuelectenerg-2698	221	6	,	,	PUNCT
fuelectenerg-2698	221	7	"	"	PUNCT
fuelectenerg-2698	221	8	hα	hα	ADP
fuelectenerg-2698	221	9	control	control	NOUN
fuelectenerg-2698	221	10	of	of	ADP
fuelectenerg-2698	221	11	a	a	DET
fuelectenerg-2698	221	12	teleoperation	teleoperation	NOUN
fuelectenerg-2698	221	13	drive	drive	NOUN
fuelectenerg-2698	221	14	-	-	PUNCT
fuelectenerg-2698	221	15	by	by	ADP
fuelectenerg-2698	221	16	-	-	PUNCT
fuelectenerg-2698	221	17	wire	wire	NOUN
fuelectenerg-2698	221	18	system	system	NOUN
fuelectenerg-2698	221	19	with	with	ADP
fuelectenerg-2698	221	20	communication	communication	NOUN
fuelectenerg-2698	221	21	time	time	NOUN
fuelectenerg-2698	221	22	-	-	PUNCT
fuelectenerg-2698	221	23	delay	delay	NOUN
fuelectenerg-2698	221	24	"	"	PUNCT
fuelectenerg-2698	221	25	,	,	PUNCT
fuelectenerg-2698	221	26	in	in	ADP
fuelectenerg-2698	221	27	proceedings	proceeding	NOUN
fuelectenerg-2698	221	28	of	of	ADP
fuelectenerg-2698	221	29	the	the	DET
fuelectenerg-2698	221	30	14th	14th	ADJ
fuelectenerg-2698	221	31	mediterranean	mediterranean	PROPN
fuelectenerg-2698	221	32	conference	conference	NOUN
fuelectenerg-2698	221	33	on	on	ADP
fuelectenerg-2698	221	34	control	control	NOUN
fuelectenerg-2698	221	35	and	and	CCONJ
fuelectenerg-2698	221	36	automation	automation	NOUN
fuelectenerg-2698	221	37	,	,	PUNCT
fuelectenerg-2698	221	38	2006	2006	NUM
fuelectenerg-2698	221	39	,	,	PUNCT
fuelectenerg-2698	221	40	pp	pp	ADJ
fuelectenerg-2698	221	41	.	.	PUNCT
fuelectenerg-2698	222	1	1	1	NUM
fuelectenerg-2698	222	2	-	-	SYM
fuelectenerg-2698	222	3	6	6	NUM
fuelectenerg-2698	222	4	.	.	PUNCT
fuelectenerg-2698	222	5	electronic	electronic	ADJ
fuelectenerg-2698	222	6	gearing	gearing	NOUN
fuelectenerg-2698	222	7	of	of	ADP
fuelectenerg-2698	222	8	two	two	NUM
fuelectenerg-2698	222	9	dc	dc	PROPN
fuelectenerg-2698	222	10	motor	motor	NOUN
fuelectenerg-2698	222	11	shafts	shafts	ADJ
fuelectenerg-2698	222	12	for	for	ADP
fuelectenerg-2698	222	13	wheg	wheg	ADJ
fuelectenerg-2698	222	14	type	type	NOUN
fuelectenerg-2698	222	15	mobile	mobile	ADJ
fuelectenerg-2698	222	16	robot	robot	NOUN
fuelectenerg-2698	222	17	87	87	NUM
fuelectenerg-2698	223	1	[	[	X
fuelectenerg-2698	223	2	7	7	NUM
fuelectenerg-2698	223	3	]	]	PUNCT
fuelectenerg-2698	223	4	a.m.	a.m.	PROPN
fuelectenerg-2698	223	5	sharma	sharma	PROPN
fuelectenerg-2698	223	6	,	,	PUNCT
fuelectenerg-2698	223	7	s.	s.	PROPN
fuelectenerg-2698	223	8	kumar	kumar	PROPN
fuelectenerg-2698	223	9	,	,	PUNCT
fuelectenerg-2698	223	10	a.	a.	PROPN
fuelectenerg-2698	223	11	kumar	kumar	PROPN
fuelectenerg-2698	223	12	,	,	PUNCT
fuelectenerg-2698	223	13	"	"	PUNCT
fuelectenerg-2698	223	14	implementation	implementation	NOUN
fuelectenerg-2698	223	15	of	of	ADP
fuelectenerg-2698	223	16	force	force	NOUN
fuelectenerg-2698	223	17	feedback	feedback	NOUN
fuelectenerg-2698	223	18	(	(	PUNCT
fuelectenerg-2698	223	19	haptic	haptic	ADJ
fuelectenerg-2698	223	20	)	)	PUNCT
fuelectenerg-2698	223	21	in	in	ADP
fuelectenerg-2698	223	22	master	master	NOUN
fuelectenerg-2698	223	23	slave	slave	NOUN
fuelectenerg-2698	223	24	robotic	robotic	ADJ
fuelectenerg-2698	223	25	configuration	configuration	NOUN
fuelectenerg-2698	223	26	"	"	PUNCT
fuelectenerg-2698	223	27	,	,	PUNCT
fuelectenerg-2698	223	28	communication	communication	NOUN
fuelectenerg-2698	223	29	,	,	PUNCT
fuelectenerg-2698	223	30	control	control	NOUN
fuelectenerg-2698	223	31	and	and	CCONJ
fuelectenerg-2698	223	32	intelligent	intelligent	ADJ
fuelectenerg-2698	223	33	systems	system	NOUN
fuelectenerg-2698	223	34	(	(	PUNCT
fuelectenerg-2698	223	35	ccis	ccis	NOUN
fuelectenerg-2698	223	36	)	)	PUNCT
fuelectenerg-2698	223	37	,	,	PUNCT
fuelectenerg-2698	223	38	pp	pp	PROPN
fuelectenerg-2698	223	39	.	.	PUNCT
fuelectenerg-2698	224	1	267	267	NUM
fuelectenerg-2698	224	2	–	–	PUNCT
fuelectenerg-2698	224	3	271	271	NUM
fuelectenerg-2698	224	4	,	,	PUNCT
fuelectenerg-2698	224	5	2015	2015	NUM
fuelectenerg-2698	224	6	.	.	PUNCT
fuelectenerg-2698	225	1	[	[	X
fuelectenerg-2698	225	2	8	8	NUM
fuelectenerg-2698	225	3	]	]	X
fuelectenerg-2698	225	4	r.	r.	PROPN
fuelectenerg-2698	225	5	antonello	antonello	PROPN
fuelectenerg-2698	225	6	,	,	PUNCT
fuelectenerg-2698	225	7	r.	r.	PROPN
fuelectenerg-2698	225	8	oboe	oboe	PROPN
fuelectenerg-2698	225	9	,	,	PUNCT
fuelectenerg-2698	225	10	"	"	PUNCT
fuelectenerg-2698	225	11	force	force	NOUN
fuelectenerg-2698	225	12	controller	controller	NOUN
fuelectenerg-2698	225	13	tuning	tune	VERB
fuelectenerg-2698	225	14	for	for	ADP
fuelectenerg-2698	225	15	a	a	DET
fuelectenerg-2698	225	16	master	master	NOUN
fuelectenerg-2698	225	17	-	-	PUNCT
fuelectenerg-2698	225	18	slave	slave	NOUN
fuelectenerg-2698	225	19	system	system	NOUN
fuelectenerg-2698	225	20	with	with	ADP
fuelectenerg-2698	225	21	proximity	proximity	NOUN
fuelectenerg-2698	225	22	based	base	VERB
fuelectenerg-2698	225	23	haptic	haptic	ADJ
fuelectenerg-2698	225	24	feedback	feedback	NOUN
fuelectenerg-2698	225	25	"	"	PUNCT
fuelectenerg-2698	225	26	,	,	PUNCT
fuelectenerg-2698	225	27	in	in	ADP
fuelectenerg-2698	225	28	proceedings	proceeding	NOUN
fuelectenerg-2698	225	29	of	of	ADP
fuelectenerg-2698	225	30	40th	40th	ADJ
fuelectenerg-2698	225	31	annual	annual	ADJ
fuelectenerg-2698	225	32	conferfence	conferfence	NOUN
fuelectenerg-2698	225	33	iecon	iecon	NOUN
fuelectenerg-2698	225	34	2014	2014	NUM
fuelectenerg-2698	225	35	,	,	PUNCT
fuelectenerg-2698	225	36	ieee	ieee	NOUN
fuelectenerg-2698	225	37	industrial	industrial	ADJ
fuelectenerg-2698	225	38	electronics	electronic	NOUN
fuelectenerg-2698	225	39	society	society	NOUN
fuelectenerg-2698	225	40	,	,	PUNCT
fuelectenerg-2698	225	41	2014	2014	NUM
fuelectenerg-2698	225	42	,	,	PUNCT
fuelectenerg-2698	225	43	pp	pp	ADP
fuelectenerg-2698	225	44	.	.	PUNCT
fuelectenerg-2698	225	45	2774	2774	NUM
fuelectenerg-2698	225	46	-	-	SYM
fuelectenerg-2698	225	47	2779	2779	NUM
fuelectenerg-2698	225	48	.	.	PUNCT
fuelectenerg-2698	226	1	[	[	X
fuelectenerg-2698	226	2	9	9	NUM
fuelectenerg-2698	226	3	]	]	PUNCT
fuelectenerg-2698	226	4	m.	m.	NOUN
fuelectenerg-2698	226	5	fremerey	fremerey	PROPN
fuelectenerg-2698	226	6	,	,	PUNCT
fuelectenerg-2698	226	7	s.	s.	PROPN
fuelectenerg-2698	226	8	köhring	köhring	PROPN
fuelectenerg-2698	226	9	,	,	PUNCT
fuelectenerg-2698	226	10	o.	o.	PROPN
fuelectenerg-2698	226	11	nassar	nassar	PROPN
fuelectenerg-2698	226	12	,	,	PUNCT
fuelectenerg-2698	226	13	m.	m.	NOUN
fuelectenerg-2698	226	14	schöne	schöne	PROPN
fuelectenerg-2698	226	15	,	,	PUNCT
fuelectenerg-2698	226	16	k.	k.	PROPN
fuelectenerg-2698	226	17	weinmeister	weinmeister	PROPN
fuelectenerg-2698	226	18	,	,	PUNCT
fuelectenerg-2698	226	19	f.	f.	PROPN
fuelectenerg-2698	226	20	becker	becker	PROPN
fuelectenerg-2698	226	21	,	,	PUNCT
fuelectenerg-2698	226	22	g.s	g.s	PROPN
fuelectenerg-2698	226	23	.	.	PROPN
fuelectenerg-2698	226	24	đorċević	đorċević	PROPN
fuelectenerg-2698	226	25	,	,	PUNCT
fuelectenerg-2698	226	26	h.	h.	PROPN
fuelectenerg-2698	226	27	witte	witte	PROPN
fuelectenerg-2698	226	28	,	,	PUNCT
fuelectenerg-2698	226	29	"	"	PUNCT
fuelectenerg-2698	226	30	a	a	DET
fuelectenerg-2698	226	31	phase	phase	NOUN
fuelectenerg-2698	226	32	-	-	PUNCT
fuelectenerg-2698	226	33	shifting	shift	VERB
fuelectenerg-2698	226	34	double	double	ADJ
fuelectenerg-2698	226	35	-	-	PUNCT
fuelectenerg-2698	226	36	wheg	wheg	NOUN
fuelectenerg-2698	226	37	-	-	PUNCT
fuelectenerg-2698	226	38	module	module	NOUN
fuelectenerg-2698	226	39	for	for	ADP
fuelectenerg-2698	226	40	realization	realization	NOUN
fuelectenerg-2698	226	41	of	of	ADP
fuelectenerg-2698	226	42	wheg	wheg	NOUN
fuelectenerg-2698	226	43	-	-	PUNCT
fuelectenerg-2698	226	44	driven	drive	VERB
fuelectenerg-2698	226	45	robots	robot	NOUN
fuelectenerg-2698	226	46	"	"	PUNCT
fuelectenerg-2698	226	47	,	,	PUNCT
fuelectenerg-2698	226	48	in	in	ADP
fuelectenerg-2698	226	49	proceedings	proceeding	NOUN
fuelectenerg-2698	226	50	of	of	ADP
fuelectenerg-2698	226	51	the	the	DET
fuelectenerg-2698	226	52	third	third	ADJ
fuelectenerg-2698	226	53	international	international	ADJ
fuelectenerg-2698	226	54	conference	conference	NOUN
fuelectenerg-2698	226	55	,	,	PUNCT
fuelectenerg-2698	226	56	living	living	NOUN
fuelectenerg-2698	226	57	machines	machine	NOUN
fuelectenerg-2698	226	58	,	,	PUNCT
fuelectenerg-2698	226	59	milan	milan	PROPN
fuelectenerg-2698	226	60	,	,	PUNCT
fuelectenerg-2698	226	61	italy	italy	PROPN
fuelectenerg-2698	226	62	,	,	PUNCT
fuelectenerg-2698	226	63	2014	2014	NUM
fuelectenerg-2698	226	64	,	,	PUNCT
fuelectenerg-2698	226	65	pp	pp	ADJ
fuelectenerg-2698	226	66	.	.	PUNCT
fuelectenerg-2698	227	1	97	97	NUM
fuelectenerg-2698	227	2	-	-	SYM
fuelectenerg-2698	227	3	107	107	NUM
fuelectenerg-2698	227	4	.	.	PUNCT
fuelectenerg-2698	228	1	[	[	X
fuelectenerg-2698	228	2	10	10	NUM
fuelectenerg-2698	228	3	]	]	PUNCT
fuelectenerg-2698	228	4	m.	m.	NOUN
fuelectenerg-2698	228	5	fremerey	fremerey	PROPN
fuelectenerg-2698	228	6	,	,	PUNCT
fuelectenerg-2698	228	7	g.	g.	PROPN
fuelectenerg-2698	228	8	djordjevic	djordjevic	PROPN
fuelectenerg-2698	228	9	,	,	PUNCT
fuelectenerg-2698	228	10	h.	h.	PROPN
fuelectenerg-2698	228	11	witte	witte	PROPN
fuelectenerg-2698	228	12	,	,	PUNCT
fuelectenerg-2698	228	13	"	"	PUNCT
fuelectenerg-2698	228	14	warmor	warmor	NOUN
fuelectenerg-2698	228	15	:	:	PUNCT
fuelectenerg-2698	228	16	whegs	wheg	NOUN
fuelectenerg-2698	228	17	adaptation	adaptation	NOUN
fuelectenerg-2698	228	18	and	and	CCONJ
fuelectenerg-2698	228	19	reconfiguration	reconfiguration	NOUN
fuelectenerg-2698	228	20	of	of	ADP
fuelectenerg-2698	228	21	modular	modular	ADJ
fuelectenerg-2698	228	22	robot	robot	NOUN
fuelectenerg-2698	228	23	with	with	ADP
fuelectenerg-2698	228	24	tunable	tunable	ADJ
fuelectenerg-2698	228	25	compliance	compliance	NOUN
fuelectenerg-2698	228	26	"	"	PUNCT
fuelectenerg-2698	228	27	,	,	PUNCT
fuelectenerg-2698	228	28	in	in	ADP
fuelectenerg-2698	228	29	proceedings	proceeding	NOUN
fuelectenerg-2698	228	30	of	of	ADP
fuelectenerg-2698	228	31	the	the	DET
fuelectenerg-2698	228	32	first	first	ADJ
fuelectenerg-2698	228	33	international	international	ADJ
fuelectenerg-2698	228	34	conference	conference	NOUN
fuelectenerg-2698	228	35	,	,	PUNCT
fuelectenerg-2698	228	36	living	living	NOUN
fuelectenerg-2698	228	37	machines	machine	NOUN
fuelectenerg-2698	228	38	,	,	PUNCT
fuelectenerg-2698	228	39	barcelona	barcelona	PROPN
fuelectenerg-2698	228	40	,	,	PUNCT
fuelectenerg-2698	228	41	spain	spain	PROPN
fuelectenerg-2698	228	42	,	,	PUNCT
fuelectenerg-2698	228	43	2012	2012	NUM
fuelectenerg-2698	228	44	,	,	PUNCT
fuelectenerg-2698	228	45	vol	vol	NOUN
fuelectenerg-2698	228	46	.	.	PROPN
fuelectenerg-2698	228	47	7375	7375	NUM
fuelectenerg-2698	228	48	,	,	PUNCT
fuelectenerg-2698	228	49	pp	pp	ADJ
fuelectenerg-2698	228	50	.	.	PUNCT
fuelectenerg-2698	228	51	345	345	NUM
fuelectenerg-2698	228	52	-	-	SYM
fuelectenerg-2698	228	53	346	346	NUM
fuelectenerg-2698	228	54	.	.	PUNCT
fuelectenerg-2698	229	1	[	[	X
fuelectenerg-2698	229	2	11	11	NUM
fuelectenerg-2698	229	3	]	]	PUNCT
fuelectenerg-2698	229	4	m.	m.	NOUN
fuelectenerg-2698	229	5	bjekic	bjekic	PROPN
fuelectenerg-2698	229	6	,	,	PUNCT
fuelectenerg-2698	229	7	s.	s.	PROPN
fuelectenerg-2698	229	8	antic	antic	PROPN
fuelectenerg-2698	229	9	,	,	PUNCT
fuelectenerg-2698	229	10	a.	a.	NOUN
fuelectenerg-2698	229	11	milovanovic	milovanovic	PROPN
fuelectenerg-2698	229	12	,	,	PUNCT
fuelectenerg-2698	229	13	"	"	PUNCT
fuelectenerg-2698	229	14	permanent	permanent	ADJ
fuelectenerg-2698	229	15	magnet	magnet	NOUN
fuelectenerg-2698	229	16	dc	dc	PROPN
fuelectenerg-2698	229	17	motor	motor	PROPN
fuelectenerg-2698	229	18	friction	friction	PROPN
fuelectenerg-2698	229	19	measurement	measurement	NOUN
fuelectenerg-2698	229	20	and	and	CCONJ
fuelectenerg-2698	229	21	analysis	analysis	NOUN
fuelectenerg-2698	229	22	of	of	ADP
fuelectenerg-2698	229	23	friction	friction	NOUN
fuelectenerg-2698	229	24	’s	’s	PART
fuelectenerg-2698	229	25	impact	impact	NOUN
fuelectenerg-2698	229	26	"	"	PUNCT
fuelectenerg-2698	229	27	,	,	PUNCT
fuelectenerg-2698	229	28	int	int	PROPN
fuelectenerg-2698	229	29	.	.	PUNCT
fuelectenerg-2698	230	1	rev	rev	PROPN
fuelectenerg-2698	230	2	.	.	PROPN
fuelectenerg-2698	230	3	electr	electr	PROPN
fuelectenerg-2698	230	4	.	.	PUNCT
fuelectenerg-2698	231	1	eng	eng	PROPN
fuelectenerg-2698	231	2	.	.	PROPN
fuelectenerg-2698	231	3	,	,	PUNCT
fuelectenerg-2698	231	4	vol	vol	NOUN
fuelectenerg-2698	231	5	.	.	PROPN
fuelectenerg-2698	231	6	6	6	NUM
fuelectenerg-2698	231	7	,	,	PUNCT
fuelectenerg-2698	231	8	no	no	INTJ
fuelectenerg-2698	231	9	.	.	NOUN
fuelectenerg-2698	231	10	5	5	NUM
fuelectenerg-2698	231	11	,	,	PUNCT
fuelectenerg-2698	231	12	pp	pp	ADJ
fuelectenerg-2698	231	13	.	.	PUNCT
fuelectenerg-2698	232	1	2261	2261	NUM
fuelectenerg-2698	232	2	-	-	SYM
fuelectenerg-2698	232	3	2269	2269	NUM
fuelectenerg-2698	232	4	,	,	PUNCT
fuelectenerg-2698	232	5	2011	2011	NUM
fuelectenerg-2698	232	6	[	[	X
fuelectenerg-2698	232	7	12	12	NUM
fuelectenerg-2698	232	8	]	]	X
fuelectenerg-2698	232	9	m.j	m.j	PROPN
fuelectenerg-2698	232	10	.	.	PROPN
fuelectenerg-2698	232	11	stojĉić	stojĉić	PROPN
fuelectenerg-2698	232	12	,	,	PUNCT
fuelectenerg-2698	232	13	"	"	PUNCT
fuelectenerg-2698	232	14	design	design	NOUN
fuelectenerg-2698	232	15	of	of	ADP
fuelectenerg-2698	232	16	a	a	DET
fuelectenerg-2698	232	17	digital	digital	ADJ
fuelectenerg-2698	232	18	positioning	positioning	NOUN
fuelectenerg-2698	232	19	system	system	NOUN
fuelectenerg-2698	232	20	with	with	ADP
fuelectenerg-2698	232	21	sinusoidal	sinusoidal	ADJ
fuelectenerg-2698	232	22	change	change	NOUN
fuelectenerg-2698	232	23	of	of	ADP
fuelectenerg-2698	232	24	the	the	DET
fuelectenerg-2698	232	25	jerk	jerk	NOUN
fuelectenerg-2698	232	26	"	"	PUNCT
fuelectenerg-2698	232	27	,	,	PUNCT
fuelectenerg-2698	232	28	appl	appl	PROPN
fuelectenerg-2698	232	29	.	.	PROPN
fuelectenerg-2698	232	30	mech	mech	PROPN
fuelectenerg-2698	232	31	.	.	PUNCT
fuelectenerg-2698	233	1	mater	mater	PROPN
fuelectenerg-2698	233	2	.	.	PUNCT
fuelectenerg-2698	233	3	,	,	PUNCT
fuelectenerg-2698	233	4	vol	vol	NOUN
fuelectenerg-2698	233	5	.	.	PUNCT
fuelectenerg-2698	234	1	474	474	NUM
fuelectenerg-2698	234	2	,	,	PUNCT
fuelectenerg-2698	234	3	pp	pp	ADV
fuelectenerg-2698	234	4	.	.	PUNCT
fuelectenerg-2698	235	1	255–260	255–260	NUM
fuelectenerg-2698	235	2	,	,	PUNCT
fuelectenerg-2698	235	3	jan	jan	PROPN
fuelectenerg-2698	235	4	.	.	PROPN
fuelectenerg-2698	235	5	2014	2014	NUM
fuelectenerg-2698	236	1	[	[	X
fuelectenerg-2698	236	2	13	13	NUM
fuelectenerg-2698	236	3	]	]	X
fuelectenerg-2698	236	4	n.	n.	PROPN
fuelectenerg-2698	236	5	s.	s.	PROPN
fuelectenerg-2698	236	6	nise	nise	PROPN
fuelectenerg-2698	236	7	,	,	PUNCT
fuelectenerg-2698	236	8	control	control	NOUN
fuelectenerg-2698	236	9	systems	system	NOUN
fuelectenerg-2698	236	10	engineering	engineering	NOUN
fuelectenerg-2698	236	11	,	,	PUNCT
fuelectenerg-2698	236	12	6th	6th	ADJ
fuelectenerg-2698	236	13	edition	edition	NOUN
fuelectenerg-2698	236	14	international	international	ADJ
fuelectenerg-2698	236	15	student	student	NOUN
fuelectenerg-2698	236	16	version	version	NOUN
fuelectenerg-2698	236	17	,	,	PUNCT
fuelectenerg-2698	236	18	wiley	wiley	NOUN
fuelectenerg-2698	236	19	,	,	PUNCT
fuelectenerg-2698	236	20	2011	2011	NUM
fuelectenerg-2698	236	21	,	,	PUNCT
fuelectenerg-2698	236	22	isbn	isbn	ADJ
fuelectenerg-2698	236	23	:	:	PUNCT
fuelectenerg-2698	236	24	978	978	NUM
fuelectenerg-2698	236	25	-	-	SYM
fuelectenerg-2698	236	26	0	0	NUM
fuelectenerg-2698	236	27	-	-	PUNCT
fuelectenerg-2698	236	28	470	470	NUM
fuelectenerg-2698	236	29	-	-	PUNCT
fuelectenerg-2698	236	30	64612	64612	NUM
fuelectenerg-2698	236	31	-	-	SYM
fuelectenerg-2698	236	32	0	0	PUNCT
fuelectenerg-2698	237	1	[	[	X
fuelectenerg-2698	237	2	14	14	NUM
fuelectenerg-2698	237	3	]	]	PUNCT
fuelectenerg-2698	237	4	k.	k.	PROPN
fuelectenerg-2698	237	5	ogata	ogata	PROPN
fuelectenerg-2698	237	6	,	,	PUNCT
fuelectenerg-2698	237	7	modern	modern	ADJ
fuelectenerg-2698	237	8	control	control	NOUN
fuelectenerg-2698	237	9	engineering	engineering	NOUN
fuelectenerg-2698	237	10	,	,	PUNCT
fuelectenerg-2698	237	11	fifth	fifth	ADJ
fuelectenerg-2698	237	12	edition	edition	NOUN
fuelectenerg-2698	237	13	,	,	PUNCT
fuelectenerg-2698	237	14	pearson	pearson	PROPN
fuelectenerg-2698	237	15	,	,	PUNCT
fuelectenerg-2698	237	16	2010	2010	NUM
fuelectenerg-2698	237	17	.	.	PUNCT
fuelectenerg-2698	238	1	[	[	X
fuelectenerg-2698	238	2	15	15	NUM
fuelectenerg-2698	238	3	]	]	X
fuelectenerg-2698	238	4	m.	m.	NOUN
fuelectenerg-2698	238	5	stojić	stojić	PROPN
fuelectenerg-2698	238	6	,	,	PUNCT
fuelectenerg-2698	238	7	digitalni	digitalni	PROPN
fuelectenerg-2698	238	8	sistemi	sistemi	PROPN
fuelectenerg-2698	238	9	upravljanja	upravljanja	PROPN
fuelectenerg-2698	238	10	.	.	PROPN
fuelectenerg-2698	239	1	nauĉna	nauĉna	PROPN
fuelectenerg-2698	239	2	knjiga	knjiga	PROPN
fuelectenerg-2698	239	3	,	,	PUNCT
fuelectenerg-2698	239	4	beograd	beograd	PROPN
fuelectenerg-2698	239	5	,	,	PUNCT
fuelectenerg-2698	239	6	1989	1989	NUM
fuelectenerg-2698	239	7	.	.	PUNCT
fuelectenerg-2698	240	1	[	[	X
fuelectenerg-2698	240	2	16	16	NUM
fuelectenerg-2698	240	3	]	]	X
fuelectenerg-2698	240	4	y.	y.	PROPN
fuelectenerg-2698	240	5	koren	koren	PROPN
fuelectenerg-2698	240	6	,	,	PUNCT
fuelectenerg-2698	240	7	"	"	PUNCT
fuelectenerg-2698	240	8	cross	cross	ADJ
fuelectenerg-2698	240	9	-	-	ADJ
fuelectenerg-2698	240	10	coupled	couple	VERB
fuelectenerg-2698	240	11	biaxial	biaxial	ADJ
fuelectenerg-2698	240	12	computer	computer	NOUN
fuelectenerg-2698	240	13	control	control	NOUN
fuelectenerg-2698	240	14	for	for	ADP
fuelectenerg-2698	240	15	manufacturing	manufacturing	NOUN
fuelectenerg-2698	240	16	systems	system	NOUN
fuelectenerg-2698	240	17	"	"	PUNCT
fuelectenerg-2698	240	18	,	,	PUNCT
fuelectenerg-2698	240	19	journal	journal	NOUN
fuelectenerg-2698	240	20	of	of	ADP
fuelectenerg-2698	240	21	the	the	DET
fuelectenerg-2698	240	22	dynamic	dynamic	ADJ
fuelectenerg-2698	240	23	systems	system	NOUN
fuelectenerg-2698	240	24	,	,	PUNCT
fuelectenerg-2698	240	25	measurement	measurement	NOUN
fuelectenerg-2698	240	26	and	and	CCONJ
fuelectenerg-2698	240	27	control	control	NOUN
fuelectenerg-2698	240	28	,	,	PUNCT
fuelectenerg-2698	240	29	vol	vol	NOUN
fuelectenerg-2698	240	30	.	.	PROPN
fuelectenerg-2698	240	31	102	102	NUM
fuelectenerg-2698	240	32	,	,	PUNCT
fuelectenerg-2698	240	33	pp	pp	ADJ
fuelectenerg-2698	240	34	.	.	PUNCT
fuelectenerg-2698	241	1	265	265	NUM
fuelectenerg-2698	241	2	-	-	SYM
fuelectenerg-2698	241	3	272	272	NUM
fuelectenerg-2698	241	4	,	,	PUNCT
fuelectenerg-2698	241	5	1980	1980	NUM
fuelectenerg-2698	241	6	.	.	PUNCT
fuelectenerg-2698	242	1	[	[	X
fuelectenerg-2698	242	2	17	17	NUM
fuelectenerg-2698	242	3	]	]	X
fuelectenerg-2698	242	4	m.b	m.b	PROPN
fuelectenerg-2698	242	5	.	.	PROPN
fuelectenerg-2698	242	6	naumović	naumović	PROPN
fuelectenerg-2698	242	7	,	,	PUNCT
fuelectenerg-2698	242	8	and	and	CCONJ
fuelectenerg-2698	242	9	m.r	m.r	PROPN
fuelectenerg-2698	242	10	.	.	PROPN
fuelectenerg-2698	242	11	stojić	stojić	PROPN
fuelectenerg-2698	242	12	,	,	PUNCT
fuelectenerg-2698	242	13	"	"	PUNCT
fuelectenerg-2698	242	14	two	two	NUM
fuelectenerg-2698	242	15	distant	distant	ADJ
fuelectenerg-2698	242	16	cross	cross	ADJ
fuelectenerg-2698	242	17	-	-	ADJ
fuelectenerg-2698	242	18	coupled	couple	VERB
fuelectenerg-2698	242	19	positioning	positioning	NOUN
fuelectenerg-2698	242	20	servo	servo	NOUN
fuelectenerg-2698	242	21	drives	drive	NOUN
fuelectenerg-2698	242	22	:	:	PUNCT
fuelectenerg-2698	242	23	theory	theory	NOUN
fuelectenerg-2698	242	24	and	and	CCONJ
fuelectenerg-2698	242	25	experiment	experiment	NOUN
fuelectenerg-2698	242	26	"	"	PUNCT
fuelectenerg-2698	242	27	,	,	PUNCT
fuelectenerg-2698	242	28	electronics	electronic	NOUN
fuelectenerg-2698	242	29	,	,	PUNCT
fuelectenerg-2698	242	30	university	university	NOUN
fuelectenerg-2698	242	31	of	of	ADP
fuelectenerg-2698	242	32	banja	banja	PROPN
fuelectenerg-2698	242	33	luka	luka	PROPN
fuelectenerg-2698	242	34	,	,	PUNCT
fuelectenerg-2698	242	35	vol	vol	NOUN
fuelectenerg-2698	242	36	.	.	PROPN
fuelectenerg-2698	242	37	13	13	NUM
fuelectenerg-2698	242	38	,	,	PUNCT
fuelectenerg-2698	242	39	no	no	INTJ
fuelectenerg-2698	242	40	.	.	NOUN
fuelectenerg-2698	242	41	2	2	NUM
fuelectenerg-2698	242	42	,	,	PUNCT
fuelectenerg-2698	242	43	pp	pp	ADJ
fuelectenerg-2698	242	44	.	.	PUNCT
fuelectenerg-2698	242	45	25	25	NUM
fuelectenerg-2698	242	46	-	-	SYM
fuelectenerg-2698	242	47	29	29	NUM
fuelectenerg-2698	242	48	,	,	PUNCT
fuelectenerg-2698	242	49	december	december	PROPN
fuelectenerg-2698	242	50	2009	2009	NUM
fuelectenerg-2698	242	51	.	.	PUNCT
fuelectenerg-2698	243	1	[	[	X
fuelectenerg-2698	243	2	18	18	NUM
fuelectenerg-2698	243	3	]	]	PUNCT
fuelectenerg-2698	243	4	l.	l.	PROPN
fuelectenerg-2698	243	5	feng	feng	PROPN
fuelectenerg-2698	243	6	,	,	PUNCT
fuelectenerg-2698	243	7	y.	y.	PROPN
fuelectenerg-2698	243	8	koren	koren	PROPN
fuelectenerg-2698	243	9	,	,	PUNCT
fuelectenerg-2698	243	10	j.	j.	PROPN
fuelectenerg-2698	243	11	borenstein	borenstein	PROPN
fuelectenerg-2698	243	12	,	,	PUNCT
fuelectenerg-2698	243	13	cross	cross	ADJ
fuelectenerg-2698	243	14	-	-	ADJ
fuelectenerg-2698	243	15	coupling	coupling	ADJ
fuelectenerg-2698	243	16	motion	motion	NOUN
fuelectenerg-2698	243	17	controller	controller	NOUN
fuelectenerg-2698	243	18	for	for	ADP
fuelectenerg-2698	243	19	mobile	mobile	NOUN
fuelectenerg-2698	243	20	robots	robot	NOUN
fuelectenerg-2698	243	21	,	,	PUNCT
fuelectenerg-2698	243	22	ieee	ieee	NOUN
fuelectenerg-2698	243	23	control	control	NOUN
fuelectenerg-2698	243	24	systems	systems	PROPN
fuelectenerg-2698	243	25	,	,	PUNCT
fuelectenerg-2698	243	26	pp	pp	ADJ
fuelectenerg-2698	243	27	.	.	PUNCT
fuelectenerg-2698	244	1	35	35	NUM
fuelectenerg-2698	244	2	-	-	SYM
fuelectenerg-2698	244	3	43	43	NUM
fuelectenerg-2698	244	4	,	,	PUNCT
fuelectenerg-2698	244	5	december	december	PROPN
fuelectenerg-2698	244	6	1993	1993	NUM
fuelectenerg-2698	244	7	.	.	PUNCT
fuelectenerg-2698	245	1	[	[	X
fuelectenerg-2698	245	2	19	19	NUM
fuelectenerg-2698	245	3	]	]	X
fuelectenerg-2698	245	4	electronic	electronic	ADJ
fuelectenerg-2698	245	5	gearing	gearing	NOUN
fuelectenerg-2698	245	6	of	of	ADP
fuelectenerg-2698	245	7	two	two	NUM
fuelectenerg-2698	245	8	dc	dc	PROPN
fuelectenerg-2698	245	9	motors	motors	PROPN
fuelectenerg-2698	245	10	,	,	PUNCT
fuelectenerg-2698	245	11	video	video	NOUN
fuelectenerg-2698	245	12	file	file	NOUN
fuelectenerg-2698	245	13	part	part	NOUN
fuelectenerg-2698	245	14	2	2	NUM
fuelectenerg-2698	245	15	,	,	PUNCT
fuelectenerg-2698	245	16	laboratory	laboratory	NOUN
fuelectenerg-2698	245	17	for	for	ADP
fuelectenerg-2698	245	18	electrical	electrical	ADJ
fuelectenerg-2698	245	19	machines	machine	NOUN
fuelectenerg-2698	245	20	and	and	CCONJ
fuelectenerg-2698	245	21	drives	drive	NOUN
fuelectenerg-2698	245	22	,	,	PUNCT
fuelectenerg-2698	245	23	facultyof	facultyof	PROPN
fuelectenerg-2698	245	24	technical	technical	PROPN
fuelectenerg-2698	245	25	sciences	sciences	PROPN
fuelectenerg-2698	245	26	ĉaĉak	ĉaĉak	PROPN
fuelectenerg-2698	245	27	,	,	PUNCT
fuelectenerg-2698	245	28	university	university	PROPN
fuelectenerg-2698	245	29	of	of	ADP
fuelectenerg-2698	245	30	kragujevac	kragujevac	PROPN
fuelectenerg-2698	245	31	,	,	PUNCT
fuelectenerg-2698	245	32	accessed	access	VERB
fuelectenerg-2698	245	33	02.2017	02.2017	NUM
fuelectenerg-2698	246	1	[	[	X
fuelectenerg-2698	246	2	20	20	NUM
fuelectenerg-2698	246	3	]	]	PUNCT
fuelectenerg-2698	246	4	https://www.youtube.com/watch?v=dpx8kdulsz0	https://www.youtube.com/watch?v=dpx8kdulsz0	PROPN
fuelectenerg-2698	247	1	[	[	X
fuelectenerg-2698	247	2	21	21	NUM
fuelectenerg-2698	247	3	]	]	X
fuelectenerg-2698	247	4	electronic	electronic	ADJ
fuelectenerg-2698	247	5	gearing	gearing	NOUN
fuelectenerg-2698	247	6	of	of	ADP
fuelectenerg-2698	247	7	two	two	NUM
fuelectenerg-2698	247	8	dc	dc	PROPN
fuelectenerg-2698	247	9	motors	motors	PROPN
fuelectenerg-2698	247	10	,	,	PUNCT
fuelectenerg-2698	247	11	video	video	NOUN
fuelectenerg-2698	247	12	file	file	NOUN
fuelectenerg-2698	247	13	part	part	NOUN
fuelectenerg-2698	247	14	1	1	NUM
fuelectenerg-2698	247	15	,	,	PUNCT
fuelectenerg-2698	247	16	laboratory	laboratory	NOUN
fuelectenerg-2698	247	17	for	for	ADP
fuelectenerg-2698	247	18	electrical	electrical	ADJ
fuelectenerg-2698	247	19	machines	machine	NOUN
fuelectenerg-2698	247	20	and	and	CCONJ
fuelectenerg-2698	247	21	drives	drive	NOUN
fuelectenerg-2698	247	22	,	,	PUNCT
fuelectenerg-2698	247	23	faculty	faculty	NOUN
fuelectenerg-2698	247	24	of	of	ADP
fuelectenerg-2698	247	25	technical	technical	PROPN
fuelectenerg-2698	247	26	sciences	sciences	PROPN
fuelectenerg-2698	247	27	ĉaĉak	ĉaĉak	PROPN
fuelectenerg-2698	247	28	,	,	PUNCT
fuelectenerg-2698	247	29	university	university	PROPN
fuelectenerg-2698	247	30	of	of	ADP
fuelectenerg-2698	247	31	kragujevac	kragujevac	PROPN
fuelectenerg-2698	247	32	,	,	PUNCT
fuelectenerg-2698	247	33	accessed	access	VERB
fuelectenerg-2698	247	34	02.2017	02.2017	NUM
fuelectenerg-2698	248	1	[	[	X
fuelectenerg-2698	248	2	22	22	NUM
fuelectenerg-2698	248	3	]	]	PUNCT
fuelectenerg-2698	248	4	https://www.youtube.com/watch?v=osbq7e46yu4	https://www.youtube.com/watch?v=osbq7e46yu4	X
fuelectenerg-2698	248	5	appendix	appendix	VERB
fuelectenerg-2698	248	6	table	table	NOUN
fuelectenerg-2698	248	7	2	2	NUM
fuelectenerg-2698	248	8	motor	motor	NOUN
fuelectenerg-2698	248	9	data	datum	NOUN
fuelectenerg-2698	248	10	parameter	parameter	NOUN
fuelectenerg-2698	248	11	value	value	NOUN
fuelectenerg-2698	248	12	nominal	nominal	ADJ
fuelectenerg-2698	248	13	voltage	voltage	NOUN
fuelectenerg-2698	248	14	24	24	NUM
fuelectenerg-2698	248	15	v	v	NUM
fuelectenerg-2698	248	16	nominal	nominal	ADJ
fuelectenerg-2698	248	17	current	current	ADJ
fuelectenerg-2698	248	18	0.9	0.9	NUM
fuelectenerg-2698	248	19	a	a	DET
fuelectenerg-2698	248	20	nominal	nominal	ADJ
fuelectenerg-2698	248	21	torque	torque	NOUN
fuelectenerg-2698	248	22	3.810	3.810	NUM
fuelectenerg-2698	248	23	-	-	SYM
fuelectenerg-2698	248	24	2	2	NUM
fuelectenerg-2698	248	25	nm	nm	PRON
fuelectenerg-2698	248	26	nominal	nominal	ADJ
fuelectenerg-2698	248	27	speed	speed	NOUN
fuelectenerg-2698	248	28	3600	3600	NUM
fuelectenerg-2698	248	29	rpm	rpm	NOUN
fuelectenerg-2698	248	30	friction	friction	NOUN
fuelectenerg-2698	248	31	torque	torque	NOUN
fuelectenerg-2698	248	32	at	at	ADP
fuelectenerg-2698	248	33	no	no	DET
fuelectenerg-2698	248	34	load	load	NOUN
fuelectenerg-2698	248	35	0.7	0.7	NUM
fuelectenerg-2698	248	36	10	10	NUM
fuelectenerg-2698	248	37	-	-	SYM
fuelectenerg-2698	248	38	2	2	NUM
fuelectenerg-2698	248	39	nm	nm	NOUN
fuelectenerg-2698	248	40	no	no	DET
fuelectenerg-2698	248	41	load	load	NOUN
fuelectenerg-2698	248	42	speed	speed	NOUN
fuelectenerg-2698	248	43	4200	4200	NUM
fuelectenerg-2698	248	44	rpm	rpm	ADJ
fuelectenerg-2698	248	45	nominal	nominal	ADJ
fuelectenerg-2698	248	46	power	power	NOUN
fuelectenerg-2698	248	47	14.3	14.3	NUM
fuelectenerg-2698	248	48	w	w	NOUN
fuelectenerg-2698	248	49	torque	torque	NOUN
fuelectenerg-2698	248	50	constant	constant	ADJ
fuelectenerg-2698	248	51	5.14	5.14	NUM
fuelectenerg-2698	248	52	10	10	NUM
fuelectenerg-2698	248	53	-	-	SYM
fuelectenerg-2698	248	54	2	2	NUM
fuelectenerg-2698	248	55	nm	nm	NOUN
fuelectenerg-2698	248	56	/	/	SYM
fuelectenerg-2698	248	57	a	a	DET
fuelectenerg-2698	248	58	terminal	terminal	ADJ
fuelectenerg-2698	248	59	resistance	resistance	NOUN
fuelectenerg-2698	248	60	5.95	5.95	NUM
fuelectenerg-2698	248	61	ω	ω	PROPN
fuelectenerg-2698	248	62	terminal	terminal	ADJ
fuelectenerg-2698	248	63	inductance	inductance	NOUN
fuelectenerg-2698	248	64	8.9	8.9	NUM
fuelectenerg-2698	248	65	mh	mh	PROPN
fuelectenerg-2698	248	66	gear	gear	NOUN
fuelectenerg-2698	248	67	ratio	ratio	NOUN
fuelectenerg-2698	248	68	6.25	6.25	NUM
fuelectenerg-2698	248	69	nominal	nominal	ADJ
fuelectenerg-2698	248	70	torque	torque	NOUN
fuelectenerg-2698	248	71	40	40	NUM
fuelectenerg-2698	248	72	10	10	NUM
fuelectenerg-2698	248	73	-	-	SYM
fuelectenerg-2698	248	74	2	2	NUM
fuelectenerg-2698	248	75	nm	nm	ADJ
fuelectenerg-2698	248	76	viscous	viscous	ADJ
fuelectenerg-2698	248	77	friction	friction	NOUN
fuelectenerg-2698	248	78	6.5	6.5	NUM
fuelectenerg-2698	248	79	10	10	NUM
fuelectenerg-2698	248	80	-	-	SYM
fuelectenerg-2698	248	81	6	6	NUM
fuelectenerg-2698	248	82	nm	nm	NOUN
fuelectenerg-2698	248	83	/	/	SYM
fuelectenerg-2698	248	84	rad	rad	NOUN
fuelectenerg-2698	248	85	/	/	SYM
fuelectenerg-2698	248	86	s	s	PART
fuelectenerg-2698	248	87	coulumb	coulumb	NOUN
fuelectenerg-2698	248	88	friction	friction	NOUN
fuelectenerg-2698	248	89	4.9	4.9	NUM
fuelectenerg-2698	248	90	10	10	NUM
fuelectenerg-2698	248	91	-	-	SYM
fuelectenerg-2698	248	92	6	6	NUM
fuelectenerg-2698	248	93	nm	nm	NOUN
fuelectenerg-2698	248	94	https://www.youtube.com/watch?v=dpx8kdulsz0	https://www.youtube.com/watch?v=dpx8kdulsz0	NOUN
fuelectenerg-2698	248	95	https://www.youtube.com/watch?v=osbq7e46yu4	https://www.youtube.com/watch?v=osbq7e46yu4	NOUN