id	sid	tid	token	lemma	pos
fumecheng-10846	1	1	10846	10846	NUM
fumecheng-10846	1	2	facta	facta	NOUN
fumecheng-10846	1	3	universitatis	universitatis	PROPN
fumecheng-10846	1	4	series	series	NOUN
fumecheng-10846	1	5	:	:	PUNCT
fumecheng-10846	1	6	mechanical	mechanical	ADJ
fumecheng-10846	1	7	engineering	engineering	NOUN
fumecheng-10846	1	8	https://doi.org/10.22190/fume220607032k	https://doi.org/10.22190/fume220607032k	VERB
fumecheng-10846	1	9	©	©	PROPN
fumecheng-10846	1	10	2020	2020	NUM
fumecheng-10846	1	11	by	by	ADP
fumecheng-10846	1	12	university	university	PROPN
fumecheng-10846	1	13	of	of	ADP
fumecheng-10846	1	14	niš	niš	PROPN
fumecheng-10846	1	15	,	,	PUNCT
fumecheng-10846	1	16	serbia	serbia	PROPN
fumecheng-10846	1	17	|	|	ADV
fumecheng-10846	1	18	creative	creative	ADJ
fumecheng-10846	1	19	commons	common	NOUN
fumecheng-10846	1	20	license	license	NOUN
fumecheng-10846	1	21	:	:	PUNCT
fumecheng-10846	1	22	cc	cc	VERB
fumecheng-10846	1	23	by	by	ADP
fumecheng-10846	1	24	-	-	PUNCT
fumecheng-10846	1	25	nc	nc	VERB
fumecheng-10846	1	26	-	-	PUNCT
fumecheng-10846	1	27	nd	nd	ADV
fumecheng-10846	1	28	original	original	ADJ
fumecheng-10846	1	29	scientific	scientific	ADJ
fumecheng-10846	1	30	paper	paper	NUM
fumecheng-10846	1	31	design	design	NOUN
fumecheng-10846	1	32	and	and	CCONJ
fumecheng-10846	1	33	tuning	tuning	NOUN
fumecheng-10846	1	34	of	of	ADP
fumecheng-10846	1	35	the	the	DET
fumecheng-10846	1	36	lyapunov	lyapunov	NOUN
fumecheng-10846	1	37	based	base	VERB
fumecheng-10846	1	38	nonlinear	nonlinear	ADJ
fumecheng-10846	1	39	position	position	NOUN
fumecheng-10846	1	40	control	control	NOUN
fumecheng-10846	1	41	of	of	ADP
fumecheng-10846	1	42	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	1	43	servo	servo	NOUN
fumecheng-10846	1	44	systems	system	NOUN
fumecheng-10846	1	45	mitja	mitja	VERB
fumecheng-10846	1	46	kastrevc	kastrevc	PROPN
fumecheng-10846	1	47	,	,	PUNCT
fumecheng-10846	1	48	nenad	nenad	PROPN
fumecheng-10846	1	49	gubeljak	gubeljak	PROPN
fumecheng-10846	1	50	,	,	PUNCT
fumecheng-10846	1	51	edvard	edvard	PROPN
fumecheng-10846	1	52	detiček	detiček	PROPN
fumecheng-10846	1	53	university	university	PROPN
fumecheng-10846	1	54	of	of	ADP
fumecheng-10846	1	55	maribor	maribor	PROPN
fumecheng-10846	1	56	,	,	PUNCT
fumecheng-10846	1	57	faculty	faculty	NOUN
fumecheng-10846	1	58	of	of	ADP
fumecheng-10846	1	59	mechanical	mechanical	ADJ
fumecheng-10846	1	60	engineering	engineering	NOUN
fumecheng-10846	1	61	,	,	PUNCT
fumecheng-10846	1	62	slovenia	slovenia	PROPN
fumecheng-10846	1	63	abstract	abstract	PROPN
fumecheng-10846	1	64	.	.	PUNCT
fumecheng-10846	2	1	a	a	DET
fumecheng-10846	2	2	complete	complete	ADJ
fumecheng-10846	2	3	study	study	NOUN
fumecheng-10846	2	4	of	of	ADP
fumecheng-10846	2	5	the	the	DET
fumecheng-10846	2	6	development	development	NOUN
fumecheng-10846	2	7	of	of	ADP
fumecheng-10846	2	8	a	a	DET
fumecheng-10846	2	9	nonlinear	nonlinear	ADJ
fumecheng-10846	2	10	backstepping	backstepping	NOUN
fumecheng-10846	2	11	controller	controller	NOUN
fumecheng-10846	2	12	for	for	ADP
fumecheng-10846	2	13	an	an	DET
fumecheng-10846	2	14	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	2	15	servo	servo	NOUN
fumecheng-10846	2	16	system	system	NOUN
fumecheng-10846	2	17	is	be	AUX
fumecheng-10846	2	18	shown	show	VERB
fumecheng-10846	2	19	in	in	ADP
fumecheng-10846	2	20	this	this	DET
fumecheng-10846	2	21	paper	paper	NOUN
fumecheng-10846	2	22	.	.	PUNCT
fumecheng-10846	3	1	the	the	DET
fumecheng-10846	3	2	authors	author	NOUN
fumecheng-10846	3	3	present	present	VERB
fumecheng-10846	3	4	an	an	DET
fumecheng-10846	3	5	optimized	optimize	VERB
fumecheng-10846	3	6	nonlinear	nonlinear	ADJ
fumecheng-10846	3	7	mathematical	mathematical	ADJ
fumecheng-10846	3	8	model	model	NOUN
fumecheng-10846	3	9	used	use	VERB
fumecheng-10846	3	10	as	as	ADP
fumecheng-10846	3	11	fundamental	fundamental	ADJ
fumecheng-10846	3	12	for	for	ADP
fumecheng-10846	3	13	computer	computer	NOUN
fumecheng-10846	3	14	simulation	simulation	NOUN
fumecheng-10846	3	15	.	.	PUNCT
fumecheng-10846	4	1	a	a	DET
fumecheng-10846	4	2	proposed	propose	VERB
fumecheng-10846	4	3	nonlinear	nonlinear	ADJ
fumecheng-10846	4	4	controller	controller	NOUN
fumecheng-10846	4	5	is	be	AUX
fumecheng-10846	4	6	suitable	suitable	ADJ
fumecheng-10846	4	7	for	for	ADP
fumecheng-10846	4	8	research	research	NOUN
fumecheng-10846	4	9	of	of	ADP
fumecheng-10846	4	10	behavior	behavior	NOUN
fumecheng-10846	4	11	of	of	ADP
fumecheng-10846	4	12	the	the	DET
fumecheng-10846	4	13	complete	complete	ADJ
fumecheng-10846	4	14	system	system	NOUN
fumecheng-10846	4	15	in	in	ADP
fumecheng-10846	4	16	control	control	NOUN
fumecheng-10846	4	17	.	.	PUNCT
fumecheng-10846	5	1	special	special	ADJ
fumecheng-10846	5	2	attention	attention	NOUN
fumecheng-10846	5	3	is	be	AUX
fumecheng-10846	5	4	paid	pay	VERB
fumecheng-10846	5	5	to	to	ADP
fumecheng-10846	5	6	the	the	DET
fumecheng-10846	5	7	selection	selection	NOUN
fumecheng-10846	5	8	of	of	ADP
fumecheng-10846	5	9	tuning	tune	VERB
fumecheng-10846	5	10	parameters	parameter	NOUN
fumecheng-10846	5	11	.	.	PUNCT
fumecheng-10846	6	1	using	use	VERB
fumecheng-10846	6	2	the	the	DET
fumecheng-10846	6	3	experience	experience	NOUN
fumecheng-10846	6	4	of	of	ADP
fumecheng-10846	6	5	earlier	early	ADJ
fumecheng-10846	6	6	studies	study	NOUN
fumecheng-10846	6	7	of	of	ADP
fumecheng-10846	6	8	the	the	DET
fumecheng-10846	6	9	state	state	NOUN
fumecheng-10846	6	10	-	-	PUNCT
fumecheng-10846	6	11	space	space	NOUN
fumecheng-10846	6	12	controller	controller	NOUN
fumecheng-10846	6	13	where	where	SCONJ
fumecheng-10846	6	14	the	the	DET
fumecheng-10846	6	15	additional	additional	ADJ
fumecheng-10846	6	16	feedback	feedback	NOUN
fumecheng-10846	6	17	signals	signal	NOUN
fumecheng-10846	6	18	such	such	ADJ
fumecheng-10846	6	19	as	as	ADP
fumecheng-10846	6	20	velocity	velocity	NOUN
fumecheng-10846	6	21	and	and	CCONJ
fumecheng-10846	6	22	acceleration	acceleration	NOUN
fumecheng-10846	6	23	signal	signal	NOUN
fumecheng-10846	6	24	increase	increase	VERB
fumecheng-10846	6	25	the	the	DET
fumecheng-10846	6	26	frequency	frequency	NOUN
fumecheng-10846	6	27	and	and	CCONJ
fumecheng-10846	6	28	damping	damp	VERB
fumecheng-10846	6	29	factor	factor	NOUN
fumecheng-10846	6	30	of	of	ADP
fumecheng-10846	6	31	the	the	DET
fumecheng-10846	6	32	system	system	NOUN
fumecheng-10846	6	33	,	,	PUNCT
fumecheng-10846	6	34	the	the	DET
fumecheng-10846	6	35	results	result	NOUN
fumecheng-10846	6	36	were	be	AUX
fumecheng-10846	6	37	proved	prove	VERB
fumecheng-10846	6	38	by	by	ADP
fumecheng-10846	6	39	computer	computer	NOUN
fumecheng-10846	6	40	simulation	simulation	NOUN
fumecheng-10846	6	41	.	.	PUNCT
fumecheng-10846	7	1	the	the	DET
fumecheng-10846	7	2	results	result	NOUN
fumecheng-10846	7	3	show	show	VERB
fumecheng-10846	7	4	that	that	SCONJ
fumecheng-10846	7	5	by	by	ADP
fumecheng-10846	7	6	appropriate	appropriate	ADJ
fumecheng-10846	7	7	selection	selection	NOUN
fumecheng-10846	7	8	of	of	ADP
fumecheng-10846	7	9	tuning	tune	VERB
fumecheng-10846	7	10	parameters	parameter	NOUN
fumecheng-10846	7	11	the	the	DET
fumecheng-10846	7	12	system	system	NOUN
fumecheng-10846	7	13	can	can	AUX
fumecheng-10846	7	14	achieve	achieve	VERB
fumecheng-10846	7	15	the	the	DET
fumecheng-10846	7	16	best	good	ADJ
fumecheng-10846	7	17	reference	reference	NOUN
fumecheng-10846	7	18	signal	signal	NOUN
fumecheng-10846	7	19	tracking	tracking	NOUN
fumecheng-10846	7	20	performance	performance	NOUN
fumecheng-10846	7	21	with	with	ADP
fumecheng-10846	7	22	a	a	DET
fumecheng-10846	7	23	small	small	ADJ
fumecheng-10846	7	24	tracking	tracking	NOUN
fumecheng-10846	7	25	error	error	NOUN
fumecheng-10846	7	26	.	.	PUNCT
fumecheng-10846	8	1	the	the	DET
fumecheng-10846	8	2	proposed	propose	VERB
fumecheng-10846	8	3	approach	approach	NOUN
fumecheng-10846	8	4	seems	seem	VERB
fumecheng-10846	8	5	to	to	PART
fumecheng-10846	8	6	be	be	AUX
fumecheng-10846	8	7	adequate	adequate	ADJ
fumecheng-10846	8	8	not	not	PART
fumecheng-10846	8	9	only	only	ADV
fumecheng-10846	8	10	for	for	ADP
fumecheng-10846	8	11	step	step	NOUN
fumecheng-10846	8	12	reference	reference	NOUN
fumecheng-10846	8	13	signals	signal	NOUN
fumecheng-10846	8	14	but	but	CCONJ
fumecheng-10846	8	15	also	also	ADV
fumecheng-10846	8	16	for	for	ADP
fumecheng-10846	8	17	ramp	ramp	NOUN
fumecheng-10846	8	18	and	and	CCONJ
fumecheng-10846	8	19	sinusoidal	sinusoidal	ADJ
fumecheng-10846	8	20	reference	reference	NOUN
fumecheng-10846	8	21	signals	signal	NOUN
fumecheng-10846	8	22	.	.	PUNCT
fumecheng-10846	9	1	however	however	ADV
fumecheng-10846	9	2	,	,	PUNCT
fumecheng-10846	9	3	the	the	DET
fumecheng-10846	9	4	parameters	parameter	NOUN
fumecheng-10846	9	5	of	of	ADP
fumecheng-10846	9	6	the	the	DET
fumecheng-10846	9	7	backstepping	backstepping	NOUN
fumecheng-10846	9	8	controller	controller	NOUN
fumecheng-10846	9	9	can	can	AUX
fumecheng-10846	9	10	be	be	AUX
fumecheng-10846	9	11	optimized	optimize	VERB
fumecheng-10846	9	12	manually	manually	ADV
fumecheng-10846	9	13	to	to	PART
fumecheng-10846	9	14	achieve	achieve	VERB
fumecheng-10846	9	15	the	the	DET
fumecheng-10846	9	16	best	good	ADJ
fumecheng-10846	9	17	results	result	NOUN
fumecheng-10846	9	18	required	require	VERB
fumecheng-10846	9	19	.	.	PUNCT
fumecheng-10846	10	1	key	key	ADJ
fumecheng-10846	10	2	words	word	NOUN
fumecheng-10846	10	3	:	:	PUNCT
fumecheng-10846	10	4	nonlinear	nonlinear	ADJ
fumecheng-10846	10	5	control	control	NOUN
fumecheng-10846	10	6	,	,	PUNCT
fumecheng-10846	10	7	nonlinear	nonlinear	ADJ
fumecheng-10846	10	8	modeling	modeling	NOUN
fumecheng-10846	10	9	,	,	PUNCT
fumecheng-10846	10	10	lyapunov	lyapunov	ADJ
fumecheng-10846	10	11	methods	method	NOUN
fumecheng-10846	10	12	,	,	PUNCT
fumecheng-10846	10	13	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	10	14	servo	servo	NOUN
fumecheng-10846	10	15	system	system	NOUN
fumecheng-10846	10	16	,	,	PUNCT
fumecheng-10846	10	17	computer	computer	NOUN
fumecheng-10846	10	18	simulation	simulation	NOUN
fumecheng-10846	10	19	1	1	NUM
fumecheng-10846	10	20	.	.	PUNCT
fumecheng-10846	10	21	introduction	introduction	NOUN
fumecheng-10846	10	22	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	10	23	servo	servo	NOUN
fumecheng-10846	10	24	systems	system	NOUN
fumecheng-10846	10	25	(	(	PUNCT
fumecheng-10846	10	26	ehs	ehs	NOUN
fumecheng-10846	10	27	-	-	PUNCT
fumecheng-10846	10	28	systems	system	NOUN
fumecheng-10846	10	29	)	)	PUNCT
fumecheng-10846	10	30	are	be	AUX
fumecheng-10846	10	31	used	use	VERB
fumecheng-10846	10	32	in	in	ADP
fumecheng-10846	10	33	several	several	ADJ
fumecheng-10846	10	34	fields	field	NOUN
fumecheng-10846	10	35	of	of	ADP
fumecheng-10846	10	36	industry	industry	NOUN
fumecheng-10846	10	37	and	and	CCONJ
fumecheng-10846	10	38	represent	represent	VERB
fumecheng-10846	10	39	an	an	DET
fumecheng-10846	10	40	important	important	ADJ
fumecheng-10846	10	41	part	part	NOUN
fumecheng-10846	10	42	of	of	ADP
fumecheng-10846	10	43	automatization	automatization	NOUN
fumecheng-10846	10	44	.	.	PUNCT
fumecheng-10846	11	1	the	the	DET
fumecheng-10846	11	2	systems	system	NOUN
fumecheng-10846	11	3	like	like	ADP
fumecheng-10846	11	4	robots	robot	NOUN
fumecheng-10846	11	5	,	,	PUNCT
fumecheng-10846	11	6	computer	computer	NOUN
fumecheng-10846	11	7	numerical	numerical	PROPN
fumecheng-10846	11	8	control	control	PROPN
fumecheng-10846	11	9	machines	machine	NOUN
fumecheng-10846	11	10	(	(	PUNCT
fumecheng-10846	11	11	cnc	cnc	PROPN
fumecheng-10846	11	12	)	)	PUNCT
fumecheng-10846	11	13	,	,	PUNCT
fumecheng-10846	11	14	press	press	NOUN
fumecheng-10846	11	15	brakes	brake	NOUN
fumecheng-10846	11	16	,	,	PUNCT
fumecheng-10846	11	17	and	and	CCONJ
fumecheng-10846	11	18	computer	computer	NOUN
fumecheng-10846	11	19	-	-	PUNCT
fumecheng-10846	11	20	controlled	control	VERB
fumecheng-10846	11	21	testing	testing	NOUN
fumecheng-10846	11	22	machines	machine	NOUN
fumecheng-10846	11	23	use	use	VERB
fumecheng-10846	11	24	the	the	DET
fumecheng-10846	11	25	advantage	advantage	NOUN
fumecheng-10846	11	26	of	of	ADP
fumecheng-10846	11	27	hydraulic	hydraulic	ADJ
fumecheng-10846	11	28	power	power	NOUN
fumecheng-10846	11	29	systems	system	NOUN
fumecheng-10846	11	30	.	.	PUNCT
fumecheng-10846	12	1	additionally	additionally	ADV
fumecheng-10846	12	2	to	to	ADP
fumecheng-10846	12	3	this	this	PRON
fumecheng-10846	12	4	,	,	PUNCT
fumecheng-10846	12	5	the	the	DET
fumecheng-10846	12	6	positioning	positioning	NOUN
fumecheng-10846	12	7	systems	system	NOUN
fumecheng-10846	12	8	have	have	VERB
fumecheng-10846	12	9	some	some	DET
fumecheng-10846	12	10	specific	specific	ADJ
fumecheng-10846	12	11	use	use	NOUN
fumecheng-10846	12	12	spatially	spatially	ADV
fumecheng-10846	12	13	in	in	ADP
fumecheng-10846	12	14	testing	testing	NOUN
fumecheng-10846	12	15	machines	machine	NOUN
fumecheng-10846	12	16	,	,	PUNCT
fumecheng-10846	12	17	where	where	SCONJ
fumecheng-10846	12	18	the	the	DET
fumecheng-10846	12	19	dynamic	dynamic	ADJ
fumecheng-10846	12	20	and	and	CCONJ
fumecheng-10846	12	21	accuracy	accuracy	NOUN
fumecheng-10846	12	22	are	be	AUX
fumecheng-10846	12	23	very	very	ADV
fumecheng-10846	12	24	important	important	ADJ
fumecheng-10846	12	25	.	.	PUNCT
fumecheng-10846	13	1	smooth	smooth	ADJ
fumecheng-10846	13	2	response	response	NOUN
fumecheng-10846	13	3	characteristics	characteristic	NOUN
fumecheng-10846	13	4	with	with	ADP
fumecheng-10846	13	5	the	the	DET
fumecheng-10846	13	6	received	received	PROPN
fumecheng-10846	13	7	:	:	PUNCT
fumecheng-10846	13	8	june	june	PROPN
fumecheng-10846	13	9	07	07	NUM
fumecheng-10846	13	10	,	,	PUNCT
fumecheng-10846	13	11	2022	2022	NUM
fumecheng-10846	13	12	/	/	SYM
fumecheng-10846	13	13	accepted	accept	VERB
fumecheng-10846	13	14	july	july	PROPN
fumecheng-10846	13	15	28	28	NUM
fumecheng-10846	13	16	,	,	PUNCT
fumecheng-10846	13	17	2022	2022	NUM
fumecheng-10846	13	18	corresponding	correspond	VERB
fumecheng-10846	13	19	author	author	NOUN
fumecheng-10846	13	20	:	:	PUNCT
fumecheng-10846	13	21	mitja	mitja	VERB
fumecheng-10846	13	22	kastrevc	kastrevc	PROPN
fumecheng-10846	13	23	university	university	PROPN
fumecheng-10846	13	24	of	of	ADP
fumecheng-10846	13	25	maribor	maribor	PROPN
fumecheng-10846	13	26	,	,	PUNCT
fumecheng-10846	13	27	faculty	faculty	NOUN
fumecheng-10846	13	28	of	of	ADP
fumecheng-10846	13	29	mechanical	mechanical	ADJ
fumecheng-10846	13	30	engineering	engineering	NOUN
fumecheng-10846	13	31	,	,	PUNCT
fumecheng-10846	13	32	smetanova	smetanova	X
fumecheng-10846	13	33	17	17	NUM
fumecheng-10846	13	34	,	,	PUNCT
fumecheng-10846	13	35	maribor	maribor	PROPN
fumecheng-10846	13	36	slovenia	slovenia	PROPN
fumecheng-10846	13	37	e	e	PROPN
fumecheng-10846	13	38	-	-	NOUN
fumecheng-10846	13	39	mail	mail	NOUN
fumecheng-10846	13	40	:	:	PUNCT
fumecheng-10846	13	41	mitja.kastrevc@um.si	mitja.kastrevc@um.si	NUM
fumecheng-10846	13	42	2	2	NUM
fumecheng-10846	13	43	m.	m.	NOUN
fumecheng-10846	13	44	kastrevc	kastrevc	PROPN
fumecheng-10846	13	45	,	,	PUNCT
fumecheng-10846	13	46	n.	n.	PROPN
fumecheng-10846	13	47	gubeljak	gubeljak	PROPN
fumecheng-10846	13	48	,	,	PUNCT
fumecheng-10846	13	49	e.	e.	PROPN
fumecheng-10846	13	50	detiček	detiček	PROPN
fumecheng-10846	13	51	capacity	capacity	NOUN
fumecheng-10846	13	52	of	of	ADP
fumecheng-10846	13	53	generating	generate	VERB
fumecheng-10846	13	54	high	high	ADJ
fumecheng-10846	13	55	force	force	NOUN
fumecheng-10846	13	56	and	and	CCONJ
fumecheng-10846	13	57	positioning	positioning	NOUN
fumecheng-10846	13	58	accuracy	accuracy	NOUN
fumecheng-10846	13	59	are	be	AUX
fumecheng-10846	13	60	important	important	ADJ
fumecheng-10846	13	61	for	for	ADP
fumecheng-10846	13	62	use	use	NOUN
fumecheng-10846	13	63	in	in	ADP
fumecheng-10846	13	64	the	the	DET
fumecheng-10846	13	65	area	area	NOUN
fumecheng-10846	13	66	of	of	ADP
fumecheng-10846	13	67	testing	testing	NOUN
fumecheng-10846	13	68	machines	machine	NOUN
fumecheng-10846	13	69	ideal	ideal	ADJ
fumecheng-10846	13	70	for	for	ADP
fumecheng-10846	13	71	material	material	NOUN
fumecheng-10846	13	72	or	or	CCONJ
fumecheng-10846	13	73	testing	testing	NOUN
fumecheng-10846	13	74	of	of	ADP
fumecheng-10846	13	75	constructions	construction	NOUN
fumecheng-10846	13	76	.	.	PUNCT
fumecheng-10846	14	1	this	this	DET
fumecheng-10846	14	2	capability	capability	NOUN
fumecheng-10846	14	3	in	in	ADP
fumecheng-10846	14	4	positioning	positioning	NOUN
fumecheng-10846	14	5	exerts	exert	VERB
fumecheng-10846	14	6	a	a	DET
fumecheng-10846	14	7	significant	significant	ADJ
fumecheng-10846	14	8	impact	impact	NOUN
fumecheng-10846	14	9	on	on	ADP
fumecheng-10846	14	10	modern	modern	ADJ
fumecheng-10846	14	11	equipment	equipment	NOUN
fumecheng-10846	14	12	for	for	ADP
fumecheng-10846	14	13	position	position	NOUN
fumecheng-10846	14	14	control	control	NOUN
fumecheng-10846	14	15	applications	application	NOUN
fumecheng-10846	14	16	[	[	X
fumecheng-10846	14	17	1,2	1,2	NUM
fumecheng-10846	14	18	]	]	PUNCT
fumecheng-10846	14	19	.	.	PUNCT
fumecheng-10846	15	1	different	different	ADJ
fumecheng-10846	15	2	authors	author	NOUN
fumecheng-10846	15	3	present	present	VERB
fumecheng-10846	15	4	research	research	NOUN
fumecheng-10846	15	5	proof	proof	NOUN
fumecheng-10846	15	6	of	of	ADP
fumecheng-10846	15	7	the	the	DET
fumecheng-10846	15	8	usage	usage	NOUN
fumecheng-10846	15	9	of	of	ADP
fumecheng-10846	15	10	a	a	DET
fumecheng-10846	15	11	different	different	ADJ
fumecheng-10846	15	12	approach	approach	NOUN
fumecheng-10846	15	13	to	to	ADP
fumecheng-10846	15	14	improving	improve	VERB
fumecheng-10846	15	15	the	the	DET
fumecheng-10846	15	16	positioning	positioning	NOUN
fumecheng-10846	15	17	of	of	ADP
fumecheng-10846	15	18	electro	electro	ADJ
fumecheng-10846	15	19	-	-	PUNCT
fumecheng-10846	15	20	hydraulic	hydraulic	NOUN
fumecheng-10846	15	21	servo	servo	NOUN
fumecheng-10846	15	22	(	(	PUNCT
fumecheng-10846	15	23	ehs	ehs	PROPN
fumecheng-10846	15	24	)	)	PUNCT
fumecheng-10846	15	25	systems	system	NOUN
fumecheng-10846	15	26	[	[	X
fumecheng-10846	15	27	3,4	3,4	NUM
fumecheng-10846	15	28	]	]	PUNCT
fumecheng-10846	15	29	.	.	PUNCT
fumecheng-10846	16	1	the	the	DET
fumecheng-10846	16	2	development	development	NOUN
fumecheng-10846	16	3	of	of	ADP
fumecheng-10846	16	4	a	a	DET
fumecheng-10846	16	5	suitable	suitable	ADJ
fumecheng-10846	16	6	controller	controller	NOUN
fumecheng-10846	16	7	,	,	PUNCT
fumecheng-10846	16	8	which	which	PRON
fumecheng-10846	16	9	could	could	AUX
fumecheng-10846	16	10	cover	cover	VERB
fumecheng-10846	16	11	most	most	ADJ
fumecheng-10846	16	12	demands	demand	NOUN
fumecheng-10846	16	13	is	be	AUX
fumecheng-10846	16	14	very	very	ADV
fumecheng-10846	16	15	significant	significant	ADJ
fumecheng-10846	16	16	.	.	PUNCT
fumecheng-10846	17	1	it	it	PRON
fumecheng-10846	17	2	is	be	AUX
fumecheng-10846	17	3	well	well	ADV
fumecheng-10846	17	4	known	know	VERB
fumecheng-10846	17	5	that	that	SCONJ
fumecheng-10846	17	6	the	the	DET
fumecheng-10846	17	7	dynamics	dynamic	NOUN
fumecheng-10846	17	8	of	of	ADP
fumecheng-10846	17	9	ehs	ehs	PROPN
fumecheng-10846	17	10	systems	system	NOUN
fumecheng-10846	17	11	are	be	AUX
fumecheng-10846	17	12	highly	highly	ADV
fumecheng-10846	17	13	nonlinear	nonlinear	ADJ
fumecheng-10846	17	14	[	[	X
fumecheng-10846	17	15	5	5	NUM
fumecheng-10846	17	16	-	-	SYM
fumecheng-10846	17	17	8	8	NUM
fumecheng-10846	17	18	]	]	PUNCT
fumecheng-10846	17	19	.	.	PUNCT
fumecheng-10846	18	1	the	the	DET
fumecheng-10846	18	2	system	system	NOUN
fumecheng-10846	18	3	model	model	NOUN
fumecheng-10846	18	4	is	be	AUX
fumecheng-10846	18	5	normally	normally	ADV
fumecheng-10846	18	6	stiff	stiff	ADJ
fumecheng-10846	18	7	with	with	ADP
fumecheng-10846	18	8	fast	fast	ADJ
fumecheng-10846	18	9	dynamics	dynamic	NOUN
fumecheng-10846	18	10	for	for	ADP
fumecheng-10846	18	11	the	the	DET
fumecheng-10846	18	12	hydraulics	hydraulic	NOUN
fumecheng-10846	18	13	and	and	CCONJ
fumecheng-10846	18	14	relatively	relatively	ADV
fumecheng-10846	18	15	slow	slow	ADJ
fumecheng-10846	18	16	dynamics	dynamic	NOUN
fumecheng-10846	18	17	for	for	ADP
fumecheng-10846	18	18	the	the	DET
fumecheng-10846	18	19	mechanical	mechanical	ADJ
fumecheng-10846	18	20	parts	part	NOUN
fumecheng-10846	18	21	.	.	PUNCT
fumecheng-10846	19	1	models	model	NOUN
fumecheng-10846	19	2	usually	usually	ADV
fumecheng-10846	19	3	contain	contain	VERB
fumecheng-10846	19	4	strong	strong	ADJ
fumecheng-10846	19	5	nonlinear	nonlinear	ADJ
fumecheng-10846	19	6	elements	element	NOUN
fumecheng-10846	19	7	such	such	ADJ
fumecheng-10846	19	8	as	as	ADP
fumecheng-10846	19	9	the	the	DET
fumecheng-10846	19	10	flow	flow	NOUN
fumecheng-10846	19	11	in	in	ADP
fumecheng-10846	19	12	orifices	orifice	NOUN
fumecheng-10846	19	13	,	,	PUNCT
fumecheng-10846	19	14	friction	friction	NOUN
fumecheng-10846	19	15	,	,	PUNCT
fumecheng-10846	19	16	valve	valve	NOUN
fumecheng-10846	19	17	overlap	overlap	NOUN
fumecheng-10846	19	18	,	,	PUNCT
fumecheng-10846	19	19	and	and	CCONJ
fumecheng-10846	19	20	input	input	NOUN
fumecheng-10846	19	21	saturation	saturation	NOUN
fumecheng-10846	19	22	.	.	PUNCT
fumecheng-10846	20	1	the	the	DET
fumecheng-10846	20	2	oil	oil	NOUN
fumecheng-10846	20	3	characteristics	characteristic	NOUN
fumecheng-10846	20	4	depend	depend	VERB
fumecheng-10846	20	5	on	on	ADP
fumecheng-10846	20	6	parameters	parameter	NOUN
fumecheng-10846	20	7	such	such	ADJ
fumecheng-10846	20	8	as	as	ADP
fumecheng-10846	20	9	temperature	temperature	NOUN
fumecheng-10846	20	10	and	and	CCONJ
fumecheng-10846	20	11	air	air	NOUN
fumecheng-10846	20	12	content	content	NOUN
fumecheng-10846	20	13	[	[	X
fumecheng-10846	20	14	9	9	NUM
fumecheng-10846	20	15	-	-	SYM
fumecheng-10846	20	16	11	11	NUM
fumecheng-10846	20	17	]	]	PUNCT
fumecheng-10846	20	18	.	.	PUNCT
fumecheng-10846	21	1	therefore	therefore	ADV
fumecheng-10846	21	2	,	,	PUNCT
fumecheng-10846	21	3	the	the	DET
fumecheng-10846	21	4	control	control	NOUN
fumecheng-10846	21	5	strategy	strategy	NOUN
fumecheng-10846	21	6	must	must	AUX
fumecheng-10846	21	7	be	be	AUX
fumecheng-10846	21	8	based	base	VERB
fumecheng-10846	21	9	on	on	ADP
fumecheng-10846	21	10	a	a	DET
fumecheng-10846	21	11	nonlinear	nonlinear	ADJ
fumecheng-10846	21	12	type	type	NOUN
fumecheng-10846	21	13	of	of	ADP
fumecheng-10846	21	14	controller	controller	NOUN
fumecheng-10846	21	15	such	such	ADJ
fumecheng-10846	21	16	as	as	ADP
fumecheng-10846	21	17	the	the	DET
fumecheng-10846	21	18	nonlinear	nonlinear	ADJ
fumecheng-10846	21	19	integrator	integrator	NOUN
fumecheng-10846	21	20	backstepping	backstepping	NOUN
fumecheng-10846	21	21	approach	approach	NOUN
fumecheng-10846	21	22	.	.	PUNCT
fumecheng-10846	22	1	emphasis	emphasis	NOUN
fumecheng-10846	22	2	is	be	AUX
fumecheng-10846	22	3	essentially	essentially	ADV
fumecheng-10846	22	4	on	on	ADP
fumecheng-10846	22	5	the	the	DET
fumecheng-10846	22	6	effect	effect	NOUN
fumecheng-10846	22	7	of	of	ADP
fumecheng-10846	22	8	the	the	DET
fumecheng-10846	22	9	tuning	tuning	NOUN
fumecheng-10846	22	10	parameters	parameter	NOUN
fumecheng-10846	22	11	and	and	CCONJ
fumecheng-10846	22	12	on	on	ADP
fumecheng-10846	22	13	how	how	SCONJ
fumecheng-10846	22	14	it	it	PRON
fumecheng-10846	22	15	influences	influence	VERB
fumecheng-10846	22	16	the	the	DET
fumecheng-10846	22	17	dynamic	dynamic	ADJ
fumecheng-10846	22	18	behavior	behavior	NOUN
fumecheng-10846	22	19	of	of	ADP
fumecheng-10846	22	20	the	the	DET
fumecheng-10846	22	21	system	system	NOUN
fumecheng-10846	22	22	.	.	PUNCT
fumecheng-10846	23	1	the	the	DET
fumecheng-10846	23	2	backstepping	backstepping	NOUN
fumecheng-10846	23	3	control	control	NOUN
fumecheng-10846	23	4	ensures	ensure	VERB
fumecheng-10846	23	5	the	the	DET
fumecheng-10846	23	6	global	global	ADJ
fumecheng-10846	23	7	asymptotic	asymptotic	ADJ
fumecheng-10846	23	8	stability	stability	NOUN
fumecheng-10846	23	9	,	,	PUNCT
fumecheng-10846	23	10	the	the	DET
fumecheng-10846	23	11	tuning	tuning	NOUN
fumecheng-10846	23	12	parameters	parameter	NOUN
fumecheng-10846	23	13	of	of	ADP
fumecheng-10846	23	14	the	the	DET
fumecheng-10846	23	15	controller	controller	NOUN
fumecheng-10846	23	16	,	,	PUNCT
fumecheng-10846	23	17	nonetheless	nonetheless	ADV
fumecheng-10846	23	18	do	do	AUX
fumecheng-10846	23	19	greatly	greatly	ADV
fumecheng-10846	23	20	affect	affect	VERB
fumecheng-10846	23	21	desired	desire	VERB
fumecheng-10846	23	22	dynamic	dynamic	ADJ
fumecheng-10846	23	23	behavior	behavior	NOUN
fumecheng-10846	23	24	[	[	X
fumecheng-10846	23	25	4	4	NUM
fumecheng-10846	23	26	]	]	PUNCT
fumecheng-10846	23	27	.	.	PUNCT
fumecheng-10846	24	1	a	a	DET
fumecheng-10846	24	2	commonly	commonly	ADV
fumecheng-10846	24	3	used	use	VERB
fumecheng-10846	24	4	approach	approach	NOUN
fumecheng-10846	24	5	in	in	ADP
fumecheng-10846	24	6	the	the	DET
fumecheng-10846	24	7	design	design	NOUN
fumecheng-10846	24	8	of	of	ADP
fumecheng-10846	24	9	feedback	feedback	NOUN
fumecheng-10846	24	10	systems	system	NOUN
fumecheng-10846	24	11	,	,	PUNCT
fumecheng-10846	24	12	use	use	VERB
fumecheng-10846	24	13	the	the	DET
fumecheng-10846	24	14	method	method	NOUN
fumecheng-10846	24	15	of	of	ADP
fumecheng-10846	24	16	feedback	feedback	NOUN
fumecheng-10846	24	17	linearization	linearization	NOUN
fumecheng-10846	24	18	to	to	PART
fumecheng-10846	24	19	eliminate	eliminate	VERB
fumecheng-10846	24	20	nonlinearities	nonlinearitie	NOUN
fumecheng-10846	24	21	.	.	PUNCT
fumecheng-10846	25	1	feedback	feedback	NOUN
fumecheng-10846	25	2	linearization	linearization	NOUN
fumecheng-10846	25	3	employs	employ	VERB
fumecheng-10846	25	4	changes	change	NOUN
fumecheng-10846	25	5	of	of	ADP
fumecheng-10846	25	6	coordinates	coordinate	NOUN
fumecheng-10846	25	7	to	to	PART
fumecheng-10846	25	8	transform	transform	VERB
fumecheng-10846	25	9	a	a	DET
fumecheng-10846	25	10	given	give	VERB
fumecheng-10846	25	11	nonlinear	nonlinear	ADJ
fumecheng-10846	25	12	system	system	NOUN
fumecheng-10846	25	13	into	into	ADP
fumecheng-10846	25	14	an	an	DET
fumecheng-10846	25	15	equivalent	equivalent	ADJ
fumecheng-10846	25	16	linear	linear	ADJ
fumecheng-10846	25	17	one	one	NUM
fumecheng-10846	25	18	.	.	PUNCT
fumecheng-10846	26	1	a	a	DET
fumecheng-10846	26	2	major	major	ADJ
fumecheng-10846	26	3	advantage	advantage	NOUN
fumecheng-10846	26	4	of	of	ADP
fumecheng-10846	26	5	the	the	DET
fumecheng-10846	26	6	feedback	feedback	NOUN
fumecheng-10846	26	7	linearization	linearization	NOUN
fumecheng-10846	26	8	approach	approach	NOUN
fumecheng-10846	26	9	is	be	AUX
fumecheng-10846	26	10	related	relate	VERB
fumecheng-10846	26	11	to	to	ADP
fumecheng-10846	26	12	the	the	DET
fumecheng-10846	26	13	cancelations	cancelation	NOUN
fumecheng-10846	26	14	of	of	ADP
fumecheng-10846	26	15	the	the	DET
fumecheng-10846	26	16	system	system	NOUN
fumecheng-10846	26	17	's	's	PART
fumecheng-10846	26	18	nonlinear	nonlinear	ADJ
fumecheng-10846	26	19	dynamics	dynamic	NOUN
fumecheng-10846	26	20	that	that	PRON
fumecheng-10846	26	21	are	be	AUX
fumecheng-10846	26	22	introduced	introduce	VERB
fumecheng-10846	26	23	in	in	ADP
fumecheng-10846	26	24	the	the	DET
fumecheng-10846	26	25	design	design	NOUN
fumecheng-10846	26	26	process	process	NOUN
fumecheng-10846	26	27	[	[	X
fumecheng-10846	26	28	9	9	NUM
fumecheng-10846	26	29	-	-	SYM
fumecheng-10846	26	30	11	11	NUM
fumecheng-10846	26	31	]	]	PUNCT
fumecheng-10846	26	32	.	.	PUNCT
fumecheng-10846	27	1	some	some	DET
fumecheng-10846	27	2	nonlinearities	nonlinearitie	NOUN
fumecheng-10846	27	3	have	have	VERB
fumecheng-10846	27	4	positive	positive	ADJ
fumecheng-10846	27	5	effects	effect	NOUN
fumecheng-10846	27	6	on	on	ADP
fumecheng-10846	27	7	system	system	NOUN
fumecheng-10846	27	8	stability	stability	NOUN
fumecheng-10846	27	9	;	;	PUNCT
fumecheng-10846	27	10	therefore	therefore	ADV
fumecheng-10846	27	11	,	,	PUNCT
fumecheng-10846	27	12	their	their	PRON
fumecheng-10846	27	13	cancellation	cancellation	NOUN
fumecheng-10846	27	14	can	can	AUX
fumecheng-10846	27	15	achieve	achieve	VERB
fumecheng-10846	27	16	the	the	DET
fumecheng-10846	27	17	opposite	opposite	ADJ
fumecheng-10846	27	18	effect	effect	NOUN
fumecheng-10846	27	19	,	,	PUNCT
fumecheng-10846	27	20	which	which	PRON
fumecheng-10846	27	21	can	can	AUX
fumecheng-10846	27	22	lead	lead	VERB
fumecheng-10846	27	23	to	to	ADP
fumecheng-10846	27	24	unstable	unstable	ADJ
fumecheng-10846	27	25	operation	operation	NOUN
fumecheng-10846	27	26	of	of	ADP
fumecheng-10846	27	27	the	the	DET
fumecheng-10846	27	28	system	system	NOUN
fumecheng-10846	27	29	.	.	PUNCT
fumecheng-10846	28	1	as	as	ADP
fumecheng-10846	28	2	a	a	DET
fumecheng-10846	28	3	solution	solution	NOUN
fumecheng-10846	28	4	to	to	ADP
fumecheng-10846	28	5	this	this	DET
fumecheng-10846	28	6	problem	problem	NOUN
fumecheng-10846	28	7	the	the	DET
fumecheng-10846	28	8	integrator	integrator	NOUN
fumecheng-10846	28	9	backstepping	backstepping	NOUN
fumecheng-10846	28	10	approach	approach	NOUN
fumecheng-10846	28	11	is	be	AUX
fumecheng-10846	28	12	an	an	DET
fumecheng-10846	28	13	appropriate	appropriate	ADJ
fumecheng-10846	28	14	solution	solution	NOUN
fumecheng-10846	28	15	.	.	PUNCT
fumecheng-10846	29	1	the	the	DET
fumecheng-10846	29	2	fundamental	fundamental	ADJ
fumecheng-10846	29	3	concept	concept	NOUN
fumecheng-10846	29	4	of	of	ADP
fumecheng-10846	29	5	the	the	DET
fumecheng-10846	29	6	backstepping	backstepping	NOUN
fumecheng-10846	29	7	method	method	NOUN
fumecheng-10846	29	8	is	be	AUX
fumecheng-10846	29	9	introduced	introduce	VERB
fumecheng-10846	29	10	by	by	ADP
fumecheng-10846	29	11	krstic	krstic	PROPN
fumecheng-10846	29	12	et	et	PROPN
fumecheng-10846	29	13	al	al	PROPN
fumecheng-10846	29	14	.	.	PROPN
fumecheng-10846	30	1	in	in	ADP
fumecheng-10846	30	2	their	their	PRON
fumecheng-10846	30	3	book	book	NOUN
fumecheng-10846	30	4	[	[	X
fumecheng-10846	30	5	12	12	NUM
fumecheng-10846	30	6	]	]	PUNCT
fumecheng-10846	30	7	.	.	PUNCT
fumecheng-10846	31	1	the	the	DET
fumecheng-10846	31	2	approach	approach	NOUN
fumecheng-10846	31	3	focusing	focus	VERB
fumecheng-10846	31	4	on	on	ADP
fumecheng-10846	31	5	the	the	DET
fumecheng-10846	31	6	stabilization	stabilization	NOUN
fumecheng-10846	31	7	problem	problem	NOUN
fumecheng-10846	31	8	in	in	ADP
fumecheng-10846	31	9	stochastic	stochastic	ADJ
fumecheng-10846	31	10	nonlinear	nonlinear	ADJ
fumecheng-10846	31	11	systems	system	NOUN
fumecheng-10846	31	12	is	be	AUX
fumecheng-10846	31	13	developed	develop	VERB
fumecheng-10846	31	14	in	in	ADP
fumecheng-10846	31	15	the	the	DET
fumecheng-10846	31	16	extension	extension	NOUN
fumecheng-10846	31	17	of	of	ADP
fumecheng-10846	31	18	this	this	DET
fumecheng-10846	31	19	book	book	NOUN
fumecheng-10846	31	20	.	.	PUNCT
fumecheng-10846	32	1	the	the	DET
fumecheng-10846	32	2	backstepping	backstepping	NOUN
fumecheng-10846	32	3	control	control	NOUN
fumecheng-10846	32	4	method	method	NOUN
fumecheng-10846	32	5	is	be	AUX
fumecheng-10846	32	6	also	also	ADV
fumecheng-10846	32	7	presented	present	VERB
fumecheng-10846	32	8	in	in	ADP
fumecheng-10846	32	9	[	[	PUNCT
fumecheng-10846	32	10	13	13	NUM
fumecheng-10846	32	11	-	-	SYM
fumecheng-10846	32	12	15	15	NUM
fumecheng-10846	32	13	]	]	PUNCT
fumecheng-10846	32	14	where	where	SCONJ
fumecheng-10846	32	15	this	this	DET
fumecheng-10846	32	16	technique	technique	NOUN
fumecheng-10846	32	17	is	be	AUX
fumecheng-10846	32	18	explained	explain	VERB
fumecheng-10846	32	19	in	in	ADP
fumecheng-10846	32	20	detail	detail	NOUN
fumecheng-10846	32	21	for	for	ADP
fumecheng-10846	32	22	regulating	regulate	VERB
fumecheng-10846	32	23	and	and	CCONJ
fumecheng-10846	32	24	tracking	tracking	NOUN
fumecheng-10846	32	25	problems	problem	NOUN
fumecheng-10846	32	26	.	.	PUNCT
fumecheng-10846	33	1	numerous	numerous	ADJ
fumecheng-10846	33	2	applications	application	NOUN
fumecheng-10846	33	3	in	in	ADP
fumecheng-10846	33	4	the	the	DET
fumecheng-10846	33	5	industry	industry	NOUN
fumecheng-10846	33	6	were	be	AUX
fumecheng-10846	33	7	used	use	VERB
fumecheng-10846	33	8	to	to	PART
fumecheng-10846	33	9	obtain	obtain	VERB
fumecheng-10846	33	10	successful	successful	ADJ
fumecheng-10846	33	11	control	control	NOUN
fumecheng-10846	33	12	of	of	ADP
fumecheng-10846	33	13	electric	electric	ADJ
fumecheng-10846	33	14	machines	machine	NOUN
fumecheng-10846	33	15	,	,	PUNCT
fumecheng-10846	33	16	wind	wind	NOUN
fumecheng-10846	33	17	turbines	turbine	NOUN
fumecheng-10846	33	18	,	,	PUNCT
fumecheng-10846	33	19	based	base	VERB
fumecheng-10846	33	20	power	power	NOUN
fumecheng-10846	33	21	production	production	NOUN
fumecheng-10846	33	22	,	,	PUNCT
fumecheng-10846	33	23	robotic	robotic	ADJ
fumecheng-10846	33	24	production	production	NOUN
fumecheng-10846	33	25	systems	system	NOUN
fumecheng-10846	33	26	,	,	PUNCT
fumecheng-10846	33	27	and	and	CCONJ
fumecheng-10846	33	28	flight	flight	NOUN
fumecheng-10846	33	29	trajectory	trajectory	NOUN
fumecheng-10846	33	30	control	control	NOUN
fumecheng-10846	33	31	.	.	PUNCT
fumecheng-10846	34	1	a	a	DET
fumecheng-10846	34	2	backstepping	backstepping	NOUN
fumecheng-10846	34	3	controller	controller	NOUN
fumecheng-10846	34	4	is	be	AUX
fumecheng-10846	34	5	one	one	NUM
fumecheng-10846	34	6	of	of	ADP
fumecheng-10846	34	7	the	the	DET
fumecheng-10846	34	8	recursive	recursive	ADJ
fumecheng-10846	34	9	designed	design	VERB
fumecheng-10846	34	10	controllers	controller	NOUN
fumecheng-10846	34	11	.	.	PUNCT
fumecheng-10846	35	1	it	it	PRON
fumecheng-10846	35	2	is	be	AUX
fumecheng-10846	35	3	designed	design	VERB
fumecheng-10846	35	4	by	by	ADP
fumecheng-10846	35	5	step	step	NOUN
fumecheng-10846	35	6	back	back	ADV
fumecheng-10846	35	7	toward	toward	ADP
fumecheng-10846	35	8	the	the	DET
fumecheng-10846	35	9	control	control	NOUN
fumecheng-10846	35	10	input	input	NOUN
fumecheng-10846	35	11	starting	start	VERB
fumecheng-10846	35	12	with	with	ADP
fumecheng-10846	35	13	the	the	DET
fumecheng-10846	35	14	scalar	scalar	ADJ
fumecheng-10846	35	15	equation	equation	NOUN
fumecheng-10846	35	16	which	which	PRON
fumecheng-10846	35	17	is	be	AUX
fumecheng-10846	35	18	separated	separate	VERB
fumecheng-10846	35	19	from	from	ADP
fumecheng-10846	35	20	it	it	PRON
fumecheng-10846	35	21	by	by	ADP
fumecheng-10846	35	22	the	the	DET
fumecheng-10846	35	23	largest	large	ADJ
fumecheng-10846	35	24	number	number	NOUN
fumecheng-10846	35	25	of	of	ADP
fumecheng-10846	35	26	integrators	integrator	NOUN
fumecheng-10846	35	27	.	.	PUNCT
fumecheng-10846	36	1	because	because	SCONJ
fumecheng-10846	36	2	of	of	ADP
fumecheng-10846	36	3	this	this	DET
fumecheng-10846	36	4	recursive	recursive	ADJ
fumecheng-10846	36	5	structure	structure	NOUN
fumecheng-10846	36	6	,	,	PUNCT
fumecheng-10846	36	7	the	the	DET
fumecheng-10846	36	8	design	design	NOUN
fumecheng-10846	36	9	process	process	NOUN
fumecheng-10846	36	10	of	of	ADP
fumecheng-10846	36	11	this	this	DET
fumecheng-10846	36	12	controller	controller	NOUN
fumecheng-10846	36	13	starts	start	VERB
fumecheng-10846	36	14	at	at	ADP
fumecheng-10846	36	15	the	the	DET
fumecheng-10846	36	16	known	know	VERB
fumecheng-10846	36	17	stable	stable	ADJ
fumecheng-10846	36	18	system	system	NOUN
fumecheng-10846	36	19	and	and	CCONJ
fumecheng-10846	36	20	back	back	VERB
fumecheng-10846	36	21	out	out	ADP
fumecheng-10846	36	22	new	new	ADJ
fumecheng-10846	36	23	controllers	controller	NOUN
fumecheng-10846	36	24	that	that	PRON
fumecheng-10846	36	25	progressively	progressively	ADV
fumecheng-10846	36	26	stabilize	stabilize	VERB
fumecheng-10846	36	27	each	each	DET
fumecheng-10846	36	28	other	other	ADJ
fumecheng-10846	36	29	subsystem	subsystem	NOUN
fumecheng-10846	36	30	.	.	PUNCT
fumecheng-10846	37	1	the	the	DET
fumecheng-10846	37	2	process	process	NOUN
fumecheng-10846	37	3	terminates	terminate	VERB
fumecheng-10846	37	4	when	when	SCONJ
fumecheng-10846	37	5	the	the	DET
fumecheng-10846	37	6	final	final	ADJ
fumecheng-10846	37	7	external	external	ADJ
fumecheng-10846	37	8	control	control	NOUN
fumecheng-10846	37	9	is	be	AUX
fumecheng-10846	37	10	reached	reach	VERB
fumecheng-10846	37	11	[	[	PUNCT
fumecheng-10846	37	12	9	9	NUM
fumecheng-10846	37	13	-	-	SYM
fumecheng-10846	37	14	11	11	NUM
fumecheng-10846	37	15	]	]	PUNCT
fumecheng-10846	37	16	.	.	PUNCT
fumecheng-10846	38	1	without	without	ADP
fumecheng-10846	38	2	uncertainties	uncertainty	NOUN
fumecheng-10846	38	3	,	,	PUNCT
fumecheng-10846	38	4	backstepping	backstepping	NOUN
fumecheng-10846	38	5	can	can	AUX
fumecheng-10846	38	6	be	be	AUX
fumecheng-10846	38	7	used	use	VERB
fumecheng-10846	38	8	to	to	PART
fumecheng-10846	38	9	force	force	VERB
fumecheng-10846	38	10	a	a	DET
fumecheng-10846	38	11	nonlinear	nonlinear	ADJ
fumecheng-10846	38	12	system	system	NOUN
fumecheng-10846	38	13	to	to	PART
fumecheng-10846	38	14	behave	behave	VERB
fumecheng-10846	38	15	like	like	ADP
fumecheng-10846	38	16	a	a	DET
fumecheng-10846	38	17	linear	linear	ADJ
fumecheng-10846	38	18	system	system	NOUN
fumecheng-10846	38	19	in	in	ADP
fumecheng-10846	38	20	a	a	DET
fumecheng-10846	38	21	new	new	ADJ
fumecheng-10846	38	22	set	set	NOUN
fumecheng-10846	38	23	of	of	ADP
fumecheng-10846	38	24	coordinates	coordinate	NOUN
fumecheng-10846	38	25	.	.	PUNCT
fumecheng-10846	39	1	backstepping	backstepping	NOUN
fumecheng-10846	39	2	can	can	AUX
fumecheng-10846	39	3	avoid	avoid	VERB
fumecheng-10846	39	4	cancellations	cancellation	NOUN
fumecheng-10846	39	5	of	of	ADP
fumecheng-10846	39	6	useful	useful	ADJ
fumecheng-10846	39	7	nonlinearities	nonlinearitie	NOUN
fumecheng-10846	39	8	and	and	CCONJ
fumecheng-10846	39	9	pursue	pursue	VERB
fumecheng-10846	39	10	the	the	DET
fumecheng-10846	39	11	objectives	objective	NOUN
fumecheng-10846	39	12	of	of	ADP
fumecheng-10846	39	13	stabilization	stabilization	NOUN
fumecheng-10846	39	14	and	and	CCONJ
fumecheng-10846	39	15	tracking	tracking	NOUN
fumecheng-10846	39	16	reference	reference	NOUN
fumecheng-10846	39	17	input	input	NOUN
fumecheng-10846	39	18	.	.	PUNCT
fumecheng-10846	40	1	for	for	ADP
fumecheng-10846	40	2	tracking	track	VERB
fumecheng-10846	40	3	problem	problem	NOUN
fumecheng-10846	40	4	backstepping	backstepping	NOUN
fumecheng-10846	40	5	always	always	ADV
fumecheng-10846	40	6	use	use	VERB
fumecheng-10846	40	7	the	the	DET
fumecheng-10846	40	8	error	error	NOUN
fumecheng-10846	40	9	between	between	ADP
fumecheng-10846	40	10	the	the	DET
fumecheng-10846	40	11	actual	actual	ADJ
fumecheng-10846	40	12	and	and	CCONJ
fumecheng-10846	40	13	desired	desire	VERB
fumecheng-10846	40	14	input	input	NOUN
fumecheng-10846	40	15	to	to	PART
fumecheng-10846	40	16	start	start	VERB
fumecheng-10846	40	17	the	the	DET
fumecheng-10846	40	18	design	design	NOUN
fumecheng-10846	40	19	process	process	NOUN
fumecheng-10846	40	20	.	.	PUNCT
fumecheng-10846	41	1	design	design	NOUN
fumecheng-10846	41	2	and	and	CCONJ
fumecheng-10846	41	3	tuning	tuning	NOUN
fumecheng-10846	41	4	of	of	ADP
fumecheng-10846	41	5	lyapunov	lyapunov	NOUN
fumecheng-10846	41	6	based	base	VERB
fumecheng-10846	41	7	nonlinear	nonlinear	ADJ
fumecheng-10846	41	8	position	position	NOUN
fumecheng-10846	41	9	control	control	NOUN
fumecheng-10846	41	10	of	of	ADP
fumecheng-10846	41	11	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	41	12	servo	servo	NOUN
fumecheng-10846	41	13	systems	system	NOUN
fumecheng-10846	41	14	3	3	NUM
fumecheng-10846	41	15	this	this	DET
fumecheng-10846	41	16	method	method	NOUN
fumecheng-10846	41	17	of	of	ADP
fumecheng-10846	41	18	control	control	NOUN
fumecheng-10846	41	19	also	also	ADV
fumecheng-10846	41	20	provides	provide	VERB
fumecheng-10846	41	21	a	a	DET
fumecheng-10846	41	22	solution	solution	NOUN
fumecheng-10846	41	23	for	for	ADP
fumecheng-10846	41	24	optimal	optimal	ADJ
fumecheng-10846	41	25	control	control	NOUN
fumecheng-10846	41	26	problems	problem	NOUN
fumecheng-10846	42	1	[	[	X
fumecheng-10846	42	2	16	16	NUM
fumecheng-10846	42	3	]	]	PUNCT
fumecheng-10846	42	4	,	,	PUNCT
fumecheng-10846	42	5	estimating	estimate	VERB
fumecheng-10846	42	6	parameters	parameter	NOUN
fumecheng-10846	42	7	and	and	CCONJ
fumecheng-10846	42	8	adaptive	adaptive	ADJ
fumecheng-10846	42	9	control	control	NOUN
fumecheng-10846	42	10	design	design	NOUN
fumecheng-10846	42	11	as	as	ADV
fumecheng-10846	42	12	well	well	ADV
fumecheng-10846	42	13	as	as	ADP
fumecheng-10846	42	14	the	the	DET
fumecheng-10846	42	15	development	development	NOUN
fumecheng-10846	42	16	of	of	ADP
fumecheng-10846	42	17	robust	robust	ADJ
fumecheng-10846	42	18	nonlinear	nonlinear	ADJ
fumecheng-10846	42	19	controllers	controller	NOUN
fumecheng-10846	42	20	.	.	PUNCT
fumecheng-10846	43	1	the	the	DET
fumecheng-10846	43	2	observer	observer	NOUN
fumecheng-10846	43	3	-	-	PUNCT
fumecheng-10846	43	4	based	base	VERB
fumecheng-10846	43	5	backstepping	backstepping	NOUN
fumecheng-10846	43	6	technique	technique	NOUN
fumecheng-10846	43	7	has	have	AUX
fumecheng-10846	43	8	been	be	AUX
fumecheng-10846	43	9	designed	design	VERB
fumecheng-10846	43	10	for	for	ADP
fumecheng-10846	43	11	force	force	NOUN
fumecheng-10846	43	12	control	control	NOUN
fumecheng-10846	43	13	of	of	ADP
fumecheng-10846	43	14	the	the	DET
fumecheng-10846	43	15	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	43	16	actuator	actuator	NOUN
fumecheng-10846	43	17	system	system	NOUN
fumecheng-10846	43	18	[	[	X
fumecheng-10846	43	19	17	17	NUM
fumecheng-10846	43	20	]	]	PUNCT
fumecheng-10846	43	21	and	and	CCONJ
fumecheng-10846	43	22	an	an	DET
fumecheng-10846	43	23	active	active	ADJ
fumecheng-10846	43	24	suspension	suspension	NOUN
fumecheng-10846	43	25	control	control	NOUN
fumecheng-10846	43	26	system	system	NOUN
fumecheng-10846	43	27	[	[	X
fumecheng-10846	43	28	18	18	NUM
fumecheng-10846	43	29	]	]	PUNCT
fumecheng-10846	43	30	.	.	PUNCT
fumecheng-10846	44	1	to	to	PART
fumecheng-10846	44	2	obtain	obtain	VERB
fumecheng-10846	44	3	the	the	DET
fumecheng-10846	44	4	best	good	ADJ
fumecheng-10846	44	5	value	value	NOUN
fumecheng-10846	44	6	for	for	ADP
fumecheng-10846	44	7	its	its	PRON
fumecheng-10846	44	8	tuning	tuning	NOUN
fumecheng-10846	44	9	parameters	parameter	NOUN
fumecheng-10846	44	10	the	the	DET
fumecheng-10846	44	11	particle	particle	NOUN
fumecheng-10846	44	12	swarm	swarm	NOUN
fumecheng-10846	44	13	optimization	optimization	NOUN
fumecheng-10846	44	14	tool	tool	NOUN
fumecheng-10846	44	15	was	be	AUX
fumecheng-10846	44	16	proposed	propose	VERB
fumecheng-10846	44	17	[	[	X
fumecheng-10846	44	18	19	19	NUM
fumecheng-10846	44	19	]	]	PUNCT
fumecheng-10846	44	20	.	.	PUNCT
fumecheng-10846	45	1	it	it	PRON
fumecheng-10846	45	2	is	be	AUX
fumecheng-10846	45	3	proved	prove	VERB
fumecheng-10846	45	4	that	that	SCONJ
fumecheng-10846	45	5	the	the	DET
fumecheng-10846	45	6	technique	technique	NOUN
fumecheng-10846	45	7	improves	improve	VERB
fumecheng-10846	45	8	the	the	DET
fumecheng-10846	45	9	transient	transient	ADJ
fumecheng-10846	45	10	stability	stability	NOUN
fumecheng-10846	45	11	and	and	CCONJ
fumecheng-10846	45	12	damping	damp	VERB
fumecheng-10846	45	13	presented	present	VERB
fumecheng-10846	45	14	in	in	ADP
fumecheng-10846	45	15	the	the	DET
fumecheng-10846	45	16	system	system	NOUN
fumecheng-10846	45	17	.	.	PUNCT
fumecheng-10846	46	1	the	the	DET
fumecheng-10846	46	2	performance	performance	NOUN
fumecheng-10846	46	3	of	of	ADP
fumecheng-10846	46	4	the	the	DET
fumecheng-10846	46	5	backstepping	backstepping	NOUN
fumecheng-10846	46	6	controller	controller	NOUN
fumecheng-10846	46	7	depends	depend	VERB
fumecheng-10846	46	8	on	on	ADP
fumecheng-10846	46	9	its	its	PRON
fumecheng-10846	46	10	gains	gain	NOUN
fumecheng-10846	46	11	or	or	CCONJ
fumecheng-10846	46	12	controller	controller	NOUN
fumecheng-10846	46	13	parameters	parameter	NOUN
fumecheng-10846	46	14	.	.	PUNCT
fumecheng-10846	47	1	with	with	ADP
fumecheng-10846	47	2	the	the	DET
fumecheng-10846	47	3	use	use	NOUN
fumecheng-10846	47	4	of	of	ADP
fumecheng-10846	47	5	a	a	DET
fumecheng-10846	47	6	simplified	simplified	ADJ
fumecheng-10846	47	7	mathematical	mathematical	ADJ
fumecheng-10846	47	8	model	model	NOUN
fumecheng-10846	47	9	,	,	PUNCT
fumecheng-10846	47	10	the	the	DET
fumecheng-10846	47	11	value	value	NOUN
fumecheng-10846	47	12	of	of	ADP
fumecheng-10846	47	13	control	control	NOUN
fumecheng-10846	47	14	parameters	parameter	NOUN
fumecheng-10846	47	15	k1	k1	NOUN
fumecheng-10846	47	16	,	,	PUNCT
fumecheng-10846	47	17	k2	k2	NOUN
fumecheng-10846	47	18	,	,	PUNCT
fumecheng-10846	47	19	and	and	CCONJ
fumecheng-10846	47	20	k3	k3	NOUN
fumecheng-10846	47	21	are	be	AUX
fumecheng-10846	47	22	tuned	tune	VERB
fumecheng-10846	47	23	manually	manually	ADV
fumecheng-10846	47	24	to	to	PART
fumecheng-10846	47	25	prevent	prevent	VERB
fumecheng-10846	47	26	the	the	DET
fumecheng-10846	47	27	control	control	NOUN
fumecheng-10846	47	28	signal	signal	NOUN
fumecheng-10846	47	29	from	from	ADP
fumecheng-10846	47	30	chattering	chatter	VERB
fumecheng-10846	47	31	.	.	PUNCT
fumecheng-10846	48	1	2	2	X
fumecheng-10846	48	2	.	.	X
fumecheng-10846	48	3	mathematical	mathematical	ADJ
fumecheng-10846	48	4	model	model	NOUN
fumecheng-10846	48	5	of	of	ADP
fumecheng-10846	48	6	the	the	DET
fumecheng-10846	48	7	electro	electro	ADJ
fumecheng-10846	48	8	-	-	PUNCT
fumecheng-10846	48	9	hydraulic	hydraulic	NOUN
fumecheng-10846	48	10	servo	servo	NOUN
fumecheng-10846	48	11	system	system	NOUN
fumecheng-10846	48	12	a	a	DET
fumecheng-10846	48	13	typical	typical	ADJ
fumecheng-10846	48	14	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	48	15	positioning	positioning	NOUN
fumecheng-10846	48	16	servo	servo	NOUN
fumecheng-10846	48	17	system	system	NOUN
fumecheng-10846	48	18	consists	consist	VERB
fumecheng-10846	48	19	of	of	ADP
fumecheng-10846	48	20	a	a	DET
fumecheng-10846	48	21	hydraulic	hydraulic	ADJ
fumecheng-10846	48	22	power	power	NOUN
fumecheng-10846	48	23	supply	supply	NOUN
fumecheng-10846	48	24	(	(	PUNCT
fumecheng-10846	48	25	fig	fig	NOUN
fumecheng-10846	48	26	.	.	PUNCT
fumecheng-10846	49	1	1a	1a	NUM
fumecheng-10846	49	2	,	,	PUNCT
fumecheng-10846	49	3	pos	pos	NOUN
fumecheng-10846	49	4	.	.	NOUN
fumecheng-10846	50	1	1	1	X
fumecheng-10846	50	2	)	)	PUNCT
fumecheng-10846	50	3	e.g.	e.g.	ADV
fumecheng-10846	50	4	constant	constant	ADJ
fumecheng-10846	50	5	pressure	pressure	NOUN
fumecheng-10846	50	6	hydraulic	hydraulic	NOUN
fumecheng-10846	50	7	pump	pump	NOUN
fumecheng-10846	50	8	with	with	ADP
fumecheng-10846	50	9	a	a	DET
fumecheng-10846	50	10	relief	relief	NOUN
fumecheng-10846	50	11	valve	valve	NOUN
fumecheng-10846	50	12	and	and	CCONJ
fumecheng-10846	50	13	accumulator	accumulator	NOUN
fumecheng-10846	50	14	(	(	PUNCT
fumecheng-10846	50	15	fig	fig	NOUN
fumecheng-10846	50	16	.	.	PUNCT
fumecheng-10846	51	1	1a	1a	NUM
fumecheng-10846	51	2	,	,	PUNCT
fumecheng-10846	51	3	pos	pos	NOUN
fumecheng-10846	51	4	.	.	NOUN
fumecheng-10846	52	1	1	1	NUM
fumecheng-10846	52	2	)	)	PUNCT
fumecheng-10846	52	3	,	,	PUNCT
fumecheng-10846	52	4	a	a	DET
fumecheng-10846	52	5	flow	flow	NOUN
fumecheng-10846	52	6	control	control	NOUN
fumecheng-10846	52	7	servo	servo	NOUN
fumecheng-10846	52	8	valve	valve	NOUN
fumecheng-10846	52	9	(	(	PUNCT
fumecheng-10846	52	10	sv	sv	NOUN
fumecheng-10846	52	11	)	)	PUNCT
fumecheng-10846	52	12	(	(	PUNCT
fumecheng-10846	52	13	fig	fig	NOUN
fumecheng-10846	52	14	.	.	PUNCT
fumecheng-10846	53	1	1a	1a	NUM
fumecheng-10846	53	2	,	,	PUNCT
fumecheng-10846	53	3	pos	pos	NOUN
fumecheng-10846	53	4	.	.	NOUN
fumecheng-10846	54	1	2	2	NUM
fumecheng-10846	54	2	)	)	PUNCT
fumecheng-10846	54	3	,	,	PUNCT
fumecheng-10846	54	4	a	a	DET
fumecheng-10846	54	5	hydraulic	hydraulic	ADJ
fumecheng-10846	54	6	cylinder	cylinder	NOUN
fumecheng-10846	54	7	(	(	PUNCT
fumecheng-10846	54	8	fig	fig	NOUN
fumecheng-10846	54	9	.	.	PUNCT
fumecheng-10846	55	1	1a	1a	NUM
fumecheng-10846	55	2	,	,	PUNCT
fumecheng-10846	55	3	pos	pos	NOUN
fumecheng-10846	55	4	.	.	PUNCT
fumecheng-10846	56	1	3	3	NUM
fumecheng-10846	56	2	)	)	PUNCT
fumecheng-10846	56	3	,	,	PUNCT
fumecheng-10846	56	4	moving	move	VERB
fumecheng-10846	56	5	mass	mass	NOUN
fumecheng-10846	56	6	(	(	PUNCT
fumecheng-10846	56	7	fig	fig	NOUN
fumecheng-10846	56	8	.	.	PUNCT
fumecheng-10846	57	1	1a	1a	NUM
fumecheng-10846	57	2	,	,	PUNCT
fumecheng-10846	57	3	pos	pos	NOUN
fumecheng-10846	57	4	.	.	NOUN
fumecheng-10846	58	1	4	4	NUM
fumecheng-10846	58	2	)	)	PUNCT
fumecheng-10846	58	3	,	,	PUNCT
fumecheng-10846	58	4	a	a	DET
fumecheng-10846	58	5	position	position	NOUN
fumecheng-10846	58	6	sensor	sensor	NOUN
fumecheng-10846	58	7	and	and	CCONJ
fumecheng-10846	58	8	an	an	DET
fumecheng-10846	58	9	electronic	electronic	ADJ
fumecheng-10846	58	10	control	control	NOUN
fumecheng-10846	58	11	unit	unit	NOUN
fumecheng-10846	58	12	.	.	PUNCT
fumecheng-10846	59	1	fig	fig	NOUN
fumecheng-10846	59	2	.	.	PUNCT
fumecheng-10846	60	1	1	1	NUM
fumecheng-10846	60	2	represents	represent	VERB
fumecheng-10846	60	3	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	60	4	servo	servo	NOUN
fumecheng-10846	60	5	drive	drive	NOUN
fumecheng-10846	60	6	(	(	PUNCT
fumecheng-10846	60	7	a	a	PRON
fumecheng-10846	60	8	-	-	PUNCT
fumecheng-10846	60	9	schematic	schematic	ADJ
fumecheng-10846	60	10	representation	representation	NOUN
fumecheng-10846	60	11	,	,	PUNCT
fumecheng-10846	60	12	b	b	X
fumecheng-10846	60	13	-	-	PUNCT
fumecheng-10846	60	14	photo	photo	NOUN
fumecheng-10846	60	15	of	of	ADP
fumecheng-10846	60	16	the	the	DET
fumecheng-10846	60	17	testing	testing	NOUN
fumecheng-10846	60	18	rig	rig	NOUN
fumecheng-10846	60	19	with	with	ADP
fumecheng-10846	60	20	added	add	VERB
fumecheng-10846	60	21	mass	mass	NOUN
fumecheng-10846	60	22	in	in	ADP
fumecheng-10846	60	23	moving	move	VERB
fumecheng-10846	60	24	trolley	trolley	NOUN
fumecheng-10846	60	25	)	)	PUNCT
fumecheng-10846	60	26	.	.	PUNCT
fumecheng-10846	61	1	because	because	SCONJ
fumecheng-10846	61	2	designing	design	VERB
fumecheng-10846	61	3	positioning	positioning	NOUN
fumecheng-10846	61	4	servo	servo	NOUN
fumecheng-10846	61	5	systems	system	NOUN
fumecheng-10846	61	6	are	be	AUX
fumecheng-10846	61	7	complex	complex	ADJ
fumecheng-10846	61	8	spatially	spatially	ADV
fumecheng-10846	61	9	for	for	ADP
fumecheng-10846	61	10	additional	additional	ADJ
fumecheng-10846	61	11	boundary	boundary	ADJ
fumecheng-10846	61	12	conditions	condition	NOUN
fumecheng-10846	61	13	,	,	PUNCT
fumecheng-10846	61	14	computer	computer	NOUN
fumecheng-10846	61	15	simulation	simulation	NOUN
fumecheng-10846	61	16	of	of	ADP
fumecheng-10846	61	17	the	the	DET
fumecheng-10846	61	18	behavior	behavior	NOUN
fumecheng-10846	61	19	of	of	ADP
fumecheng-10846	61	20	such	such	ADJ
fumecheng-10846	61	21	systems	system	NOUN
fumecheng-10846	61	22	is	be	AUX
fumecheng-10846	61	23	necessary	necessary	ADJ
fumecheng-10846	61	24	.	.	PUNCT
fumecheng-10846	62	1	the	the	DET
fumecheng-10846	62	2	analysis	analysis	NOUN
fumecheng-10846	62	3	of	of	ADP
fumecheng-10846	62	4	the	the	DET
fumecheng-10846	62	5	system	system	NOUN
fumecheng-10846	62	6	dynamics	dynamic	NOUN
fumecheng-10846	62	7	is	be	AUX
fumecheng-10846	62	8	realized	realize	VERB
fumecheng-10846	62	9	through	through	ADP
fumecheng-10846	62	10	mathematical	mathematical	ADJ
fumecheng-10846	62	11	modeling	modeling	NOUN
fumecheng-10846	62	12	and	and	CCONJ
fumecheng-10846	62	13	computer	computer	NOUN
fumecheng-10846	62	14	simulation	simulation	NOUN
fumecheng-10846	62	15	of	of	ADP
fumecheng-10846	62	16	dynamic	dynamic	ADJ
fumecheng-10846	62	17	behavior	behavior	NOUN
fumecheng-10846	62	18	[	[	X
fumecheng-10846	62	19	20	20	NUM
fumecheng-10846	62	20	]	]	PUNCT
fumecheng-10846	62	21	.	.	PUNCT
fumecheng-10846	63	1	the	the	DET
fumecheng-10846	63	2	mathematical	mathematical	ADJ
fumecheng-10846	63	3	model	model	NOUN
fumecheng-10846	63	4	is	be	AUX
fumecheng-10846	63	5	based	base	VERB
fumecheng-10846	63	6	on	on	ADP
fumecheng-10846	63	7	physical	physical	ADJ
fumecheng-10846	63	8	laws	law	NOUN
fumecheng-10846	63	9	that	that	PRON
fumecheng-10846	63	10	express	express	VERB
fumecheng-10846	63	11	the	the	DET
fumecheng-10846	63	12	dynamic	dynamic	ADJ
fumecheng-10846	63	13	behavior	behavior	NOUN
fumecheng-10846	63	14	of	of	ADP
fumecheng-10846	63	15	the	the	DET
fumecheng-10846	63	16	ehs	ehs	NOUN
fumecheng-10846	63	17	system	system	NOUN
fumecheng-10846	63	18	through	through	ADP
fumecheng-10846	63	19	differential	differential	ADJ
fumecheng-10846	63	20	equations	equation	NOUN
fumecheng-10846	63	21	.	.	PUNCT
fumecheng-10846	64	1	however	however	ADV
fumecheng-10846	64	2	,	,	PUNCT
fumecheng-10846	64	3	this	this	DET
fumecheng-10846	64	4	task	task	NOUN
fumecheng-10846	64	5	is	be	AUX
fumecheng-10846	64	6	troublesome	troublesome	ADJ
fumecheng-10846	64	7	due	due	ADP
fumecheng-10846	64	8	to	to	ADP
fumecheng-10846	64	9	the	the	DET
fumecheng-10846	64	10	multidisciplinary	multidisciplinary	ADJ
fumecheng-10846	64	11	nature	nature	NOUN
fumecheng-10846	64	12	of	of	ADP
fumecheng-10846	64	13	the	the	DET
fumecheng-10846	64	14	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	64	15	system	system	NOUN
fumecheng-10846	64	16	that	that	PRON
fumecheng-10846	64	17	requires	require	VERB
fumecheng-10846	64	18	electric	electric	PROPN
fumecheng-10846	64	19	,	,	PUNCT
fumecheng-10846	64	20	magnetic	magnetic	ADJ
fumecheng-10846	64	21	,	,	PUNCT
fumecheng-10846	64	22	mechanical	mechanical	ADJ
fumecheng-10846	64	23	,	,	PUNCT
fumecheng-10846	64	24	and	and	CCONJ
fumecheng-10846	64	25	hydraulic	hydraulic	ADJ
fumecheng-10846	64	26	knowledge	knowledge	NOUN
fumecheng-10846	64	27	.	.	PUNCT
fumecheng-10846	65	1	nonlinearities	nonlinearitie	NOUN
fumecheng-10846	65	2	of	of	ADP
fumecheng-10846	65	3	systems	system	NOUN
fumecheng-10846	65	4	used	use	VERB
fumecheng-10846	65	5	in	in	ADP
fumecheng-10846	65	6	ehs	ehs	NOUN
fumecheng-10846	65	7	drives	drive	NOUN
fumecheng-10846	65	8	consist	consist	VERB
fumecheng-10846	65	9	of	of	ADP
fumecheng-10846	65	10	nonlinearities	nonlinearitie	NOUN
fumecheng-10846	65	11	,	,	PUNCT
fumecheng-10846	65	12	which	which	PRON
fumecheng-10846	65	13	contribute	contribute	VERB
fumecheng-10846	65	14	to	to	ADP
fumecheng-10846	65	15	the	the	DET
fumecheng-10846	65	16	dynamical	dynamical	ADJ
fumecheng-10846	65	17	response	response	NOUN
fumecheng-10846	65	18	of	of	ADP
fumecheng-10846	65	19	the	the	DET
fumecheng-10846	65	20	complete	complete	ADJ
fumecheng-10846	65	21	system	system	NOUN
fumecheng-10846	65	22	.	.	PUNCT
fumecheng-10846	66	1	a	a	DET
fumecheng-10846	66	2	)	)	PUNCT
fumecheng-10846	66	3	b	b	NOUN
fumecheng-10846	66	4	)	)	PUNCT
fumecheng-10846	66	5	fig	fig	NOUN
fumecheng-10846	66	6	.	.	PUNCT
fumecheng-10846	67	1	1	1	NUM
fumecheng-10846	67	2	a	a	DET
fumecheng-10846	67	3	)	)	PUNCT
fumecheng-10846	67	4	ehs	ehs	NOUN
fumecheng-10846	67	5	positioning	positioning	NOUN
fumecheng-10846	67	6	system	system	NOUN
fumecheng-10846	67	7	b	b	NOUN
fumecheng-10846	67	8	)	)	PUNCT
fumecheng-10846	67	9	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	67	10	servo	servo	NOUN
fumecheng-10846	67	11	system	system	NOUN
fumecheng-10846	67	12	with	with	ADP
fumecheng-10846	67	13	load	load	NOUN
fumecheng-10846	67	14	4	4	NUM
fumecheng-10846	67	15	m.	m.	NOUN
fumecheng-10846	67	16	kastrevc	kastrevc	PROPN
fumecheng-10846	67	17	,	,	PUNCT
fumecheng-10846	67	18	n.	n.	PROPN
fumecheng-10846	67	19	gubeljak	gubeljak	PROPN
fumecheng-10846	67	20	,	,	PUNCT
fumecheng-10846	67	21	e.	e.	PROPN
fumecheng-10846	67	22	detiček	detiček	PROPN
fumecheng-10846	67	23	the	the	DET
fumecheng-10846	67	24	detailed	detailed	ADJ
fumecheng-10846	67	25	description	description	NOUN
fumecheng-10846	67	26	of	of	ADP
fumecheng-10846	67	27	different	different	ADJ
fumecheng-10846	67	28	components	component	NOUN
fumecheng-10846	67	29	used	use	VERB
fumecheng-10846	67	30	in	in	ADP
fumecheng-10846	67	31	the	the	DET
fumecheng-10846	67	32	ehs	ehs	NOUN
fumecheng-10846	67	33	system	system	NOUN
fumecheng-10846	67	34	,	,	PUNCT
fumecheng-10846	67	35	the	the	DET
fumecheng-10846	67	36	authors	author	NOUN
fumecheng-10846	67	37	described	describe	VERB
fumecheng-10846	67	38	in	in	ADP
fumecheng-10846	67	39	the	the	DET
fumecheng-10846	67	40	articles	article	NOUN
fumecheng-10846	67	41	[	[	X
fumecheng-10846	67	42	9	9	NUM
fumecheng-10846	67	43	-	-	SYM
fumecheng-10846	67	44	11	11	NUM
fumecheng-10846	67	45	]	]	PUNCT
fumecheng-10846	67	46	;	;	PUNCT
fumecheng-10846	67	47	therefore	therefore	ADV
fumecheng-10846	67	48	,	,	PUNCT
fumecheng-10846	67	49	for	for	ADP
fumecheng-10846	67	50	giving	give	VERB
fumecheng-10846	67	51	some	some	DET
fumecheng-10846	67	52	explanation	explanation	NOUN
fumecheng-10846	67	53	only	only	ADV
fumecheng-10846	67	54	the	the	DET
fumecheng-10846	67	55	important	important	ADJ
fumecheng-10846	67	56	facts	fact	NOUN
fumecheng-10846	67	57	will	will	AUX
fumecheng-10846	67	58	be	be	AUX
fumecheng-10846	67	59	presented	present	VERB
fumecheng-10846	67	60	.	.	PUNCT
fumecheng-10846	68	1	2.1	2.1	NUM
fumecheng-10846	68	2	servo	servo	NOUN
fumecheng-10846	68	3	valve	valve	NOUN
fumecheng-10846	68	4	dynamics	dynamic	NOUN
fumecheng-10846	68	5	a	a	DET
fumecheng-10846	68	6	detailed	detailed	ADJ
fumecheng-10846	68	7	description	description	NOUN
fumecheng-10846	68	8	of	of	ADP
fumecheng-10846	68	9	the	the	DET
fumecheng-10846	68	10	dynamic	dynamic	ADJ
fumecheng-10846	68	11	response	response	NOUN
fumecheng-10846	68	12	of	of	ADP
fumecheng-10846	68	13	servo	servo	NOUN
fumecheng-10846	68	14	valve	valve	NOUN
fumecheng-10846	68	15	(	(	PUNCT
fumecheng-10846	68	16	sv	sv	NOUN
fumecheng-10846	68	17	)	)	PUNCT
fumecheng-10846	68	18	can	can	AUX
fumecheng-10846	68	19	be	be	AUX
fumecheng-10846	68	20	presented	present	VERB
fumecheng-10846	68	21	with	with	ADP
fumecheng-10846	68	22	the	the	DET
fumecheng-10846	68	23	use	use	NOUN
fumecheng-10846	68	24	of	of	ADP
fumecheng-10846	68	25	basic	basic	ADJ
fumecheng-10846	68	26	equations	equation	NOUN
fumecheng-10846	68	27	based	base	VERB
fumecheng-10846	68	28	on	on	ADP
fumecheng-10846	68	29	physics	physics	NOUN
fumecheng-10846	68	30	laws	law	NOUN
fumecheng-10846	68	31	(	(	PUNCT
fumecheng-10846	68	32	detail	detail	NOUN
fumecheng-10846	68	33	description	description	NOUN
fumecheng-10846	68	34	given	give	VERB
fumecheng-10846	68	35	in	in	ADP
fumecheng-10846	68	36	[	[	NOUN
fumecheng-10846	68	37	9	9	NUM
fumecheng-10846	68	38	,	,	PUNCT
fumecheng-10846	68	39	10	10	NUM
fumecheng-10846	68	40	,	,	PUNCT
fumecheng-10846	68	41	21	21	NUM
fumecheng-10846	68	42	]	]	PUNCT
fumecheng-10846	68	43	.	.	PUNCT
fumecheng-10846	69	1	the	the	DET
fumecheng-10846	69	2	dynamic	dynamic	ADJ
fumecheng-10846	69	3	behavior	behavior	NOUN
fumecheng-10846	69	4	of	of	ADP
fumecheng-10846	69	5	sv	sv	PROPN
fumecheng-10846	69	6	involves	involve	VERB
fumecheng-10846	69	7	a	a	DET
fumecheng-10846	69	8	large	large	ADJ
fumecheng-10846	69	9	number	number	NOUN
fumecheng-10846	69	10	of	of	ADP
fumecheng-10846	69	11	parameters	parameter	NOUN
fumecheng-10846	69	12	.	.	PUNCT
fumecheng-10846	70	1	to	to	PART
fumecheng-10846	70	2	obtain	obtain	VERB
fumecheng-10846	70	3	an	an	DET
fumecheng-10846	70	4	optimal	optimal	ADJ
fumecheng-10846	70	5	solution	solution	NOUN
fumecheng-10846	70	6	,	,	PUNCT
fumecheng-10846	70	7	the	the	DET
fumecheng-10846	70	8	inspection	inspection	NOUN
fumecheng-10846	70	9	of	of	ADP
fumecheng-10846	70	10	step	step	NOUN
fumecheng-10846	70	11	responses	response	NOUN
fumecheng-10846	70	12	and	and	CCONJ
fumecheng-10846	70	13	frequency	frequency	NOUN
fumecheng-10846	70	14	diagrams	diagram	NOUN
fumecheng-10846	70	15	suggests	suggest	VERB
fumecheng-10846	70	16	an	an	DET
fumecheng-10846	70	17	approximation	approximation	NOUN
fumecheng-10846	70	18	of	of	ADP
fumecheng-10846	70	19	a	a	DET
fumecheng-10846	70	20	second	second	ADJ
fumecheng-10846	70	21	-	-	PUNCT
fumecheng-10846	70	22	order	order	NOUN
fumecheng-10846	70	23	model	model	NOUN
fumecheng-10846	70	24	of	of	ADP
fumecheng-10846	70	25	the	the	DET
fumecheng-10846	70	26	form	form	NOUN
fumecheng-10846	70	27	[	[	X
fumecheng-10846	70	28	22	22	NUM
fumecheng-10846	70	29	]	]	PUNCT
fumecheng-10846	70	30	.	.	PUNCT
fumecheng-10846	71	1			NOUN
fumecheng-10846	72	1			SYM
fumecheng-10846	72	2	2	2	NUM
fumecheng-10846	72	3	21	21	NUM
fumecheng-10846	72	4	sgnv	sgnv	NOUN
fumecheng-10846	72	5	v	v	ADP
fumecheng-10846	72	6	v	v	NOUN
fumecheng-10846	72	7	v	v	ADP
fumecheng-10846	72	8	hs	hs	PROPN
fumecheng-10846	72	9	v	v	INTJ
fumecheng-10846	72	10	v	v	INTJ
fumecheng-10846	72	11	vv	vv	NOUN
fumecheng-10846	72	12	x	x	NOUN
fumecheng-10846	72	13	x	x	PUNCT
fumecheng-10846	72	14	x	x	X
fumecheng-10846	72	15	f	f	NOUN
fumecheng-10846	72	16	x	x	X
fumecheng-10846	72	17	k	k	X
fumecheng-10846	72	18	u	u	NOUN
fumecheng-10846	72	19			X
fumecheng-10846	72	20			ADP
fumecheng-10846	72	21			PROPN
fumecheng-10846	72	22			CCONJ
fumecheng-10846	72	23			PUNCT
fumecheng-10846	72	24			PROPN
fumecheng-10846	72	25			NOUN
fumecheng-10846	72	26			PROPN
fumecheng-10846	72	27	(	(	PUNCT
fumecheng-10846	72	28	1	1	NUM
fumecheng-10846	72	29	)	)	PUNCT
fumecheng-10846	72	30	where	where	SCONJ
fumecheng-10846	72	31	:	:	PUNCT
fumecheng-10846	72	32	v	v	X
fumecheng-10846	72	33	–	–	PUNCT
fumecheng-10846	72	34	valve	valve	VERB
fumecheng-10846	72	35	natural	natural	ADJ
fumecheng-10846	72	36	frequency	frequency	NOUN
fumecheng-10846	72	37	,	,	PUNCT
fumecheng-10846	72	38	v	v	PUNCT
fumecheng-10846	72	39	damping	damp	VERB
fumecheng-10846	72	40	coefficient	coefficient	NOUN
fumecheng-10846	72	41	,	,	PUNCT
fumecheng-10846	72	42	xv	xv	PROPN
fumecheng-10846	72	43	–	–	PUNCT
fumecheng-10846	72	44	valve	valve	NOUN
fumecheng-10846	72	45	spool	spool	ADJ
fumecheng-10846	72	46	displacement	displacement	NOUN
fumecheng-10846	72	47	,	,	PUNCT
fumecheng-10846	72	48	fhs	fh	VERB
fumecheng-10846	72	49	–	–	PUNCT
fumecheng-10846	72	50	valve	valve	VERB
fumecheng-10846	72	51	hysteresis	hysteresis	NOUN
fumecheng-10846	72	52	and	and	CCONJ
fumecheng-10846	72	53	response	response	NOUN
fumecheng-10846	72	54	sensitivity	sensitivity	NOUN
fumecheng-10846	72	55	,	,	PUNCT
fumecheng-10846	72	56	kv	kv	PROPN
fumecheng-10846	72	57	–	–	PUNCT
fumecheng-10846	72	58	valve	valve	VERB
fumecheng-10846	72	59	flow	flow	NOUN
fumecheng-10846	72	60	gain	gain	NOUN
fumecheng-10846	72	61	,	,	PUNCT
fumecheng-10846	72	62	u	u	NOUN
fumecheng-10846	72	63	–	–	PUNCT
fumecheng-10846	72	64	valve	valve	NOUN
fumecheng-10846	72	65	input	input	NOUN
fumecheng-10846	72	66	signal	signal	NOUN
fumecheng-10846	72	67	.	.	PUNCT
fumecheng-10846	73	1	most	most	ADJ
fumecheng-10846	73	2	producers	producer	NOUN
fumecheng-10846	73	3	of	of	ADP
fumecheng-10846	73	4	sv	sv	INTJ
fumecheng-10846	73	5	give	give	VERB
fumecheng-10846	73	6	information	information	NOUN
fumecheng-10846	73	7	on	on	ADP
fumecheng-10846	73	8	the	the	DET
fumecheng-10846	73	9	most	most	ADV
fumecheng-10846	73	10	needed	need	VERB
fumecheng-10846	73	11	parameters	parameter	NOUN
fumecheng-10846	73	12	needed	need	VERB
fumecheng-10846	73	13	to	to	PART
fumecheng-10846	73	14	obtain	obtain	VERB
fumecheng-10846	73	15	constants	constant	NOUN
fumecheng-10846	73	16	in	in	ADP
fumecheng-10846	73	17	eq	eq	ADP
fumecheng-10846	73	18	.	.	PUNCT
fumecheng-10846	74	1	(	(	PUNCT
fumecheng-10846	74	2	1	1	NUM
fumecheng-10846	74	3	)	)	PUNCT
fumecheng-10846	74	4	.	.	PUNCT
fumecheng-10846	75	1	additionally	additionally	ADV
fumecheng-10846	75	2	,	,	PUNCT
fumecheng-10846	75	3	the	the	DET
fumecheng-10846	75	4	limitation	limitation	NOUN
fumecheng-10846	75	5	of	of	ADP
fumecheng-10846	75	6	the	the	DET
fumecheng-10846	75	7	highest	high	ADJ
fumecheng-10846	75	8	spool	spool	NOUN
fumecheng-10846	75	9	speed	speed	NOUN
fumecheng-10846	75	10	is	be	AUX
fumecheng-10846	75	11	recommended	recommend	VERB
fumecheng-10846	75	12	for	for	ADP
fumecheng-10846	75	13	the	the	DET
fumecheng-10846	75	14	simulation	simulation	NOUN
fumecheng-10846	75	15	process	process	NOUN
fumecheng-10846	75	16	.	.	PUNCT
fumecheng-10846	76	1	2.2	2.2	NUM
fumecheng-10846	76	2	hydraulic	hydraulic	ADJ
fumecheng-10846	76	3	actuator	actuator	NOUN
fumecheng-10846	76	4	dynamics	dynamic	NOUN
fumecheng-10846	76	5	the	the	DET
fumecheng-10846	76	6	hydraulic	hydraulic	ADJ
fumecheng-10846	76	7	actuator	actuator	NOUN
fumecheng-10846	76	8	(	(	PUNCT
fumecheng-10846	76	9	cylinder	cylinder	NOUN
fumecheng-10846	76	10	)	)	PUNCT
fumecheng-10846	76	11	represents	represent	VERB
fumecheng-10846	76	12	the	the	DET
fumecheng-10846	76	13	next	next	ADJ
fumecheng-10846	76	14	important	important	ADJ
fumecheng-10846	76	15	part	part	NOUN
fumecheng-10846	76	16	of	of	ADP
fumecheng-10846	76	17	the	the	DET
fumecheng-10846	76	18	ehs	ehs	NOUN
fumecheng-10846	76	19	system	system	NOUN
fumecheng-10846	76	20	as	as	ADP
fumecheng-10846	76	21	the	the	DET
fumecheng-10846	76	22	converter	converter	NOUN
fumecheng-10846	76	23	of	of	ADP
fumecheng-10846	76	24	hydraulic	hydraulic	ADJ
fumecheng-10846	76	25	power	power	NOUN
fumecheng-10846	76	26	into	into	ADP
fumecheng-10846	76	27	mechanical	mechanical	ADJ
fumecheng-10846	76	28	power	power	NOUN
fumecheng-10846	76	29	.	.	PUNCT
fumecheng-10846	77	1	for	for	ADP
fumecheng-10846	77	2	calculation	calculation	NOUN
fumecheng-10846	77	3	,	,	PUNCT
fumecheng-10846	77	4	the	the	DET
fumecheng-10846	77	5	behavior	behavior	NOUN
fumecheng-10846	77	6	of	of	ADP
fumecheng-10846	77	7	pressure	pressure	NOUN
fumecheng-10846	77	8	in	in	ADP
fumecheng-10846	77	9	both	both	DET
fumecheng-10846	77	10	chambers	chamber	NOUN
fumecheng-10846	77	11	is	be	AUX
fumecheng-10846	77	12	needed	need	VERB
fumecheng-10846	77	13	.	.	PUNCT
fumecheng-10846	78	1	eqs	eqs	PROPN
fumecheng-10846	78	2	.	.	PUNCT
fumecheng-10846	79	1	(	(	PUNCT
fumecheng-10846	79	2	2	2	NUM
fumecheng-10846	79	3	)	)	PUNCT
fumecheng-10846	79	4	and	and	CCONJ
fumecheng-10846	79	5	(	(	PUNCT
fumecheng-10846	79	6	3	3	X
fumecheng-10846	79	7	)	)	PUNCT
fumecheng-10846	79	8	give	give	VERB
fumecheng-10846	79	9	the	the	DET
fumecheng-10846	79	10	chamber	chamber	NOUN
fumecheng-10846	79	11	pressure	pressure	NOUN
fumecheng-10846	79	12	dynamics	dynamic	NOUN
fumecheng-10846	79	13	by	by	ADP
fumecheng-10846	79	14	[	[	X
fumecheng-10846	79	15	21	21	NUM
fumecheng-10846	79	16	]	]	PUNCT
fumecheng-10846	79	17	,	,	PUNCT
fumecheng-10846	79	18	as	as	SCONJ
fumecheng-10846	79	19	follows	follow	VERB
fumecheng-10846	79	20	:	:	PUNCT
fumecheng-10846	79	21	aeff	aeff	PROPN
fumecheng-10846	79	22	a	a	DET
fumecheng-10846	79	23	a	a	DET
fumecheng-10846	79	24	p	p	X
fumecheng-10846	79	25	p	p	X
fumecheng-10846	79	26	li	li	PROPN
fumecheng-10846	79	27	lea	lea	PROPN
fumecheng-10846	79	28	a	a	DET
fumecheng-10846	79	29	p	p	X
fumecheng-10846	79	30	q	q	NOUN
fumecheng-10846	79	31	a	a	PRON
fumecheng-10846	79	32	x	x	X
fumecheng-10846	79	33	q	q	X
fumecheng-10846	79	34	q	q	X
fumecheng-10846	79	35	v	v	ADP
fumecheng-10846	79	36			PROPN
fumecheng-10846	79	37			PROPN
fumecheng-10846	80	1			PROPN
fumecheng-10846	80	2			PROPN
fumecheng-10846	80	3			SYM
fumecheng-10846	80	4			NOUN
fumecheng-10846	80	5			PROPN
fumecheng-10846	80	6	(	(	PUNCT
fumecheng-10846	80	7	2	2	NUM
fumecheng-10846	80	8	)	)	PUNCT
fumecheng-10846	80	9	beff	beff	NOUN
fumecheng-10846	81	1	b	b	PROPN
fumecheng-10846	81	2	b	b	PROPN
fumecheng-10846	81	3	p	p	X
fumecheng-10846	82	1	p	p	PROPN
fumecheng-10846	82	2	li	li	PROPN
fumecheng-10846	82	3	leb	leb	PROPN
fumecheng-10846	82	4	b	b	PROPN
fumecheng-10846	82	5	p	p	NOUN
fumecheng-10846	82	6	q	q	X
fumecheng-10846	82	7	a	a	X
fumecheng-10846	82	8	x	x	X
fumecheng-10846	82	9	q	q	X
fumecheng-10846	82	10	q	q	X
fumecheng-10846	82	11	v	v	ADP
fumecheng-10846	82	12			PROPN
fumecheng-10846	82	13			PROPN
fumecheng-10846	82	14			PROPN
fumecheng-10846	82	15			PROPN
fumecheng-10846	82	16			SYM
fumecheng-10846	82	17			NOUN
fumecheng-10846	82	18			PROPN
fumecheng-10846	82	19	(	(	PUNCT
fumecheng-10846	82	20	3	3	NUM
fumecheng-10846	82	21	)	)	PUNCT
fumecheng-10846	82	22	in	in	ADP
fumecheng-10846	82	23	eqs	eqs	PROPN
fumecheng-10846	82	24	.	.	PUNCT
fumecheng-10846	83	1	(	(	PUNCT
fumecheng-10846	83	2	2	2	NUM
fumecheng-10846	83	3	)	)	PUNCT
fumecheng-10846	83	4	and	and	CCONJ
fumecheng-10846	83	5	(	(	PUNCT
fumecheng-10846	83	6	3	3	X
fumecheng-10846	83	7	)	)	PUNCT
fumecheng-10846	83	8	the	the	DET
fumecheng-10846	83	9	effective	effective	ADJ
fumecheng-10846	83	10	bulk	bulk	ADJ
fumecheng-10846	83	11	module	module	NOUN
fumecheng-10846	83	12	is	be	AUX
fumecheng-10846	83	13	also	also	ADV
fumecheng-10846	83	14	variable	variable	ADJ
fumecheng-10846	83	15	,	,	PUNCT
fumecheng-10846	83	16	which	which	PRON
fumecheng-10846	83	17	depends	depend	VERB
fumecheng-10846	83	18	on	on	ADP
fumecheng-10846	83	19	the	the	DET
fumecheng-10846	83	20	pressure	pressure	NOUN
fumecheng-10846	83	21	.	.	PUNCT
fumecheng-10846	84	1	in	in	ADP
fumecheng-10846	84	2	literature	literature	NOUN
fumecheng-10846	84	3	,	,	PUNCT
fumecheng-10846	84	4	there	there	PRON
fumecheng-10846	84	5	is	be	VERB
fumecheng-10846	84	6	also	also	ADV
fumecheng-10846	84	7	given	give	VERB
fumecheng-10846	84	8	the	the	DET
fumecheng-10846	84	9	dependence	dependence	NOUN
fumecheng-10846	84	10	on	on	ADP
fumecheng-10846	84	11	temperature	temperature	NOUN
fumecheng-10846	84	12	,	,	PUNCT
fumecheng-10846	84	13	which	which	PRON
fumecheng-10846	84	14	can	can	AUX
fumecheng-10846	84	15	be	be	AUX
fumecheng-10846	84	16	also	also	ADV
fumecheng-10846	84	17	included	include	VERB
fumecheng-10846	84	18	in	in	ADP
fumecheng-10846	84	19	the	the	DET
fumecheng-10846	84	20	calculation	calculation	NOUN
fumecheng-10846	84	21	.	.	PUNCT
fumecheng-10846	85	1	the	the	DET
fumecheng-10846	85	2	empirical	empirical	ADJ
fumecheng-10846	85	3	equation	equation	NOUN
fumecheng-10846	85	4	for	for	ADP
fumecheng-10846	85	5	calculation	calculation	NOUN
fumecheng-10846	85	6	of	of	ADP
fumecheng-10846	85	7	the	the	DET
fumecheng-10846	85	8	effective	effective	ADJ
fumecheng-10846	85	9	bulk	bulk	ADJ
fumecheng-10846	85	10	modulus	modulus	NOUN
fumecheng-10846	85	11	presented	present	VERB
fumecheng-10846	85	12	by	by	ADP
fumecheng-10846	85	13	lee	lee	PROPN
fumecheng-10846	85	14	[	[	X
fumecheng-10846	85	15	21	21	NUM
fumecheng-10846	85	16	]	]	PUNCT
fumecheng-10846	85	17	for	for	ADP
fumecheng-10846	85	18	hydraulic	hydraulic	ADJ
fumecheng-10846	85	19	cylinders	cylinder	NOUN
fumecheng-10846	85	20	is	be	AUX
fumecheng-10846	85	21	expressed	express	VERB
fumecheng-10846	85	22	as	as	ADP
fumecheng-10846	85	23	:	:	PUNCT
fumecheng-10846	85	24	1	1	NUM
fumecheng-10846	85	25	max	max	NOUN
fumecheng-10846	85	26	2	2	NUM
fumecheng-10846	85	27	3	3	NUM
fumecheng-10846	85	28	max	max	NOUN
fumecheng-10846	85	29	log	log	VERB
fumecheng-10846	85	30	a	a	DET
fumecheng-10846	85	31	aeff	aeff	NOUN
fumecheng-10846	85	32	p	p	PROPN
fumecheng-10846	85	33	a	a	PRON
fumecheng-10846	85	34	a	a	DET
fumecheng-10846	85	35	a	a	DET
fumecheng-10846	85	36	p	p	NOUN
fumecheng-10846	85	37			PROPN
fumecheng-10846	85	38			PROPN
fumecheng-10846	85	39			NOUN
fumecheng-10846	85	40			NOUN
fumecheng-10846	86	1			PROPN
fumecheng-10846	86	2			PROPN
fumecheng-10846	86	3			PROPN
fumecheng-10846	86	4			PROPN
fumecheng-10846	86	5			CCONJ
fumecheng-10846	86	6			PROPN
fumecheng-10846	86	7			NOUN
fumecheng-10846	86	8	(	(	PUNCT
fumecheng-10846	86	9	4	4	NUM
fumecheng-10846	86	10	)	)	PUNCT
fumecheng-10846	86	11	1	1	NUM
fumecheng-10846	86	12	max	max	NOUN
fumecheng-10846	86	13	2	2	NUM
fumecheng-10846	86	14	3	3	NUM
fumecheng-10846	86	15	max	max	PROPN
fumecheng-10846	86	16	log	log	PROPN
fumecheng-10846	86	17	b	b	PROPN
fumecheng-10846	86	18	beff	beff	NOUN
fumecheng-10846	86	19	p	p	PROPN
fumecheng-10846	86	20	a	a	PRON
fumecheng-10846	86	21	a	a	DET
fumecheng-10846	86	22	a	a	DET
fumecheng-10846	86	23	p	p	NOUN
fumecheng-10846	86	24			PROPN
fumecheng-10846	86	25			PROPN
fumecheng-10846	86	26			NOUN
fumecheng-10846	86	27			NOUN
fumecheng-10846	86	28			PROPN
fumecheng-10846	86	29			PROPN
fumecheng-10846	86	30			PROPN
fumecheng-10846	86	31			PROPN
fumecheng-10846	86	32			CCONJ
fumecheng-10846	86	33			PROPN
fumecheng-10846	86	34			NOUN
fumecheng-10846	86	35	(	(	PUNCT
fumecheng-10846	86	36	5	5	NUM
fumecheng-10846	86	37	)	)	PUNCT
fumecheng-10846	86	38	design	design	NOUN
fumecheng-10846	86	39	and	and	CCONJ
fumecheng-10846	86	40	tuning	tuning	NOUN
fumecheng-10846	86	41	of	of	ADP
fumecheng-10846	86	42	lyapunov	lyapunov	NOUN
fumecheng-10846	86	43	based	base	VERB
fumecheng-10846	86	44	nonlinear	nonlinear	ADJ
fumecheng-10846	86	45	position	position	NOUN
fumecheng-10846	86	46	control	control	NOUN
fumecheng-10846	86	47	of	of	ADP
fumecheng-10846	86	48	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	86	49	servo	servo	NOUN
fumecheng-10846	86	50	systems	system	NOUN
fumecheng-10846	86	51	5	5	NUM
fumecheng-10846	86	52	with	with	ADP
fumecheng-10846	86	53	parameters	parameter	NOUN
fumecheng-10846	86	54	a1=0.5	a1=0.5	PROPN
fumecheng-10846	86	55	,	,	PUNCT
fumecheng-10846	86	56	a2=90	a2=90	NOUN
fumecheng-10846	86	57	,	,	PUNCT
fumecheng-10846	86	58	a3=3	a3=3	PROPN
fumecheng-10846	86	59	,	,	PUNCT
fumecheng-10846	86	60	max=1800	max=1800	PROPN
fumecheng-10846	86	61	mpa	mpa	PROPN
fumecheng-10846	86	62	,	,	PUNCT
fumecheng-10846	86	63	pmax=28	pmax=28	VERB
fumecheng-10846	86	64	mpa	mpa	PROPN
fumecheng-10846	86	65	.	.	PUNCT
fumecheng-10846	87	1	the	the	DET
fumecheng-10846	87	2	cylinder	cylinder	NOUN
fumecheng-10846	87	3	chambers	chamber	NOUN
fumecheng-10846	87	4	volumes	volume	NOUN
fumecheng-10846	87	5	are	be	AUX
fumecheng-10846	87	6	given	give	VERB
fumecheng-10846	87	7	by	by	ADP
fumecheng-10846	87	8			NOUN
fumecheng-10846	87	9	0	0	NOUN
fumecheng-10846	87	10	0a	0a	VERB
fumecheng-10846	87	11	a	a	DET
fumecheng-10846	87	12	p	p	NOUN
fumecheng-10846	87	13	pv	pv	NOUN
fumecheng-10846	87	14	v	v	ADP
fumecheng-10846	87	15	a	a	DET
fumecheng-10846	87	16	x	x	SYM
fumecheng-10846	87	17	x	x	X
fumecheng-10846	87	18			PROPN
fumecheng-10846	87	19			PROPN
fumecheng-10846	87	20			NUM
fumecheng-10846	87	21			PUNCT
fumecheng-10846	87	22			PROPN
fumecheng-10846	87	23			PROPN
fumecheng-10846	87	24	(	(	PUNCT
fumecheng-10846	87	25	6	6	NUM
fumecheng-10846	87	26	)	)	PUNCT
fumecheng-10846	87	27			NOUN
fumecheng-10846	87	28	0	0	NOUN
fumecheng-10846	87	29	0b	0b	PROPN
fumecheng-10846	88	1	b	b	PROPN
fumecheng-10846	88	2	p	p	NOUN
fumecheng-10846	88	3	pv	pv	PROPN
fumecheng-10846	88	4	v	v	ADP
fumecheng-10846	88	5	a	a	DET
fumecheng-10846	88	6	x	x	X
fumecheng-10846	88	7	x	x	PROPN
fumecheng-10846	88	8			PROPN
fumecheng-10846	88	9			PUNCT
fumecheng-10846	89	1			PROPN
fumecheng-10846	89	2			PROPN
fumecheng-10846	89	3			PUNCT
fumecheng-10846	89	4			PROPN
fumecheng-10846	89	5			PROPN
fumecheng-10846	89	6	(	(	PUNCT
fumecheng-10846	89	7	7	7	NUM
fumecheng-10846	89	8	)	)	PUNCT
fumecheng-10846	89	9	where	where	SCONJ
fumecheng-10846	89	10	:	:	PUNCT
fumecheng-10846	89	11	x0	x0	PROPN
fumecheng-10846	89	12	initial	initial	ADJ
fumecheng-10846	89	13	piston	piston	NOUN
fumecheng-10846	89	14	position	position	NOUN
fumecheng-10846	89	15	,	,	PUNCT
fumecheng-10846	89	16	xp	xp	CCONJ
fumecheng-10846	89	17	actual	actual	ADJ
fumecheng-10846	89	18	piston	piston	NOUN
fumecheng-10846	89	19	position	position	NOUN
fumecheng-10846	89	20	,	,	PUNCT
fumecheng-10846	89	21	va0,vb0	va0,vb0	VERB
fumecheng-10846	89	22	the	the	DET
fumecheng-10846	89	23	initial	initial	ADJ
fumecheng-10846	89	24	chamber	chamber	NOUN
fumecheng-10846	89	25	volumes	volume	NOUN
fumecheng-10846	89	26	.	.	PUNCT
fumecheng-10846	90	1	these	these	DET
fumecheng-10846	90	2	volumes	volume	NOUN
fumecheng-10846	90	3	consist	consist	VERB
fumecheng-10846	90	4	of	of	ADP
fumecheng-10846	90	5	an	an	DET
fumecheng-10846	90	6	efficient	efficient	ADJ
fumecheng-10846	90	7	part	part	NOUN
fumecheng-10846	90	8	(	(	PUNCT
fumecheng-10846	90	9	the	the	DET
fumecheng-10846	90	10	volume	volume	NOUN
fumecheng-10846	90	11	required	require	VERB
fumecheng-10846	90	12	to	to	PART
fumecheng-10846	90	13	fill	fill	VERB
fumecheng-10846	90	14	only	only	ADV
fumecheng-10846	90	15	the	the	DET
fumecheng-10846	90	16	chambers	chamber	NOUN
fumecheng-10846	90	17	)	)	PUNCT
fumecheng-10846	90	18	and	and	CCONJ
fumecheng-10846	90	19	an	an	DET
fumecheng-10846	90	20	inefficient	inefficient	ADJ
fumecheng-10846	90	21	part	part	NOUN
fumecheng-10846	90	22	(	(	PUNCT
fumecheng-10846	90	23	volume	volume	NOUN
fumecheng-10846	90	24	of	of	ADP
fumecheng-10846	90	25	the	the	DET
fumecheng-10846	90	26	pipelines	pipeline	NOUN
fumecheng-10846	90	27	between	between	ADP
fumecheng-10846	90	28	the	the	DET
fumecheng-10846	90	29	valve	valve	NOUN
fumecheng-10846	90	30	and	and	CCONJ
fumecheng-10846	90	31	actuator	actuator	NOUN
fumecheng-10846	90	32	)	)	PUNCT
fumecheng-10846	90	33	for	for	ADP
fumecheng-10846	90	34	side	side	NOUN
fumecheng-10846	90	35	a	a	PRON
fumecheng-10846	90	36	and	and	CCONJ
fumecheng-10846	90	37	b	b	NOUN
fumecheng-10846	90	38	,	,	PUNCT
fumecheng-10846	90	39	respectively	respectively	ADV
fumecheng-10846	90	40	.	.	PUNCT
fumecheng-10846	91	1	aa=	aa=	PROPN
fumecheng-10846	91	2	ap	ap	PROPN
fumecheng-10846	91	3	is	be	AUX
fumecheng-10846	91	4	a	a	DET
fumecheng-10846	91	5	piston	piston	NOUN
fumecheng-10846	91	6	surface	surface	NOUN
fumecheng-10846	91	7	area	area	NOUN
fumecheng-10846	91	8	and	and	CCONJ
fumecheng-10846	91	9	the	the	DET
fumecheng-10846	91	10	ab=ap	ab=ap	PROPN
fumecheng-10846	91	11	rode	ride	VERB
fumecheng-10846	91	12	side	side	NOUN
fumecheng-10846	91	13	area	area	NOUN
fumecheng-10846	91	14	where	where	SCONJ
fumecheng-10846	91	15			X
fumecheng-10846	91	16	=	=	SYM
fumecheng-10846	91	17	ab	ab	PROPN
fumecheng-10846	91	18	/	/	SYM
fumecheng-10846	91	19	aa	aa	PROPN
fumecheng-10846	91	20	is	be	AUX
fumecheng-10846	91	21	a	a	DET
fumecheng-10846	91	22	ratio	ratio	NOUN
fumecheng-10846	91	23	of	of	ADP
fumecheng-10846	91	24	cylinder	cylinder	NOUN
fumecheng-10846	91	25	bore	bore	NOUN
fumecheng-10846	91	26	area	area	NOUN
fumecheng-10846	91	27	and	and	CCONJ
fumecheng-10846	91	28	the	the	DET
fumecheng-10846	91	29	annulus	annulus	ADJ
fumecheng-10846	91	30	effective	effective	ADJ
fumecheng-10846	91	31	area	area	NOUN
fumecheng-10846	91	32	at	at	ADP
fumecheng-10846	91	33	the	the	DET
fumecheng-10846	91	34	rod	rod	NOUN
fumecheng-10846	91	35	side	side	NOUN
fumecheng-10846	91	36	[	[	X
fumecheng-10846	91	37	9	9	NUM
fumecheng-10846	91	38	,	,	PUNCT
fumecheng-10846	91	39	21	21	NUM
fumecheng-10846	91	40	]	]	PUNCT
fumecheng-10846	91	41	.	.	PUNCT
fumecheng-10846	92	1	furthermore	furthermore	ADV
fumecheng-10846	92	2	,	,	PUNCT
fumecheng-10846	92	3	in	in	ADP
fumecheng-10846	92	4	eqs	eqs	PROPN
fumecheng-10846	92	5	.	.	PUNCT
fumecheng-10846	93	1	(	(	PUNCT
fumecheng-10846	93	2	2	2	NUM
fumecheng-10846	93	3	)	)	PUNCT
fumecheng-10846	93	4	and	and	CCONJ
fumecheng-10846	93	5	(	(	PUNCT
fumecheng-10846	93	6	3	3	NUM
fumecheng-10846	93	7	)	)	PUNCT
fumecheng-10846	93	8	,	,	PUNCT
fumecheng-10846	93	9	qli	qli	NOUN
fumecheng-10846	93	10	and	and	CCONJ
fumecheng-10846	93	11	qle	qle	PROPN
fumecheng-10846	93	12	denote	denote	VERB
fumecheng-10846	93	13	the	the	DET
fumecheng-10846	93	14	internal	internal	ADJ
fumecheng-10846	93	15	leakage	leakage	NOUN
fumecheng-10846	93	16	flow	flow	NOUN
fumecheng-10846	93	17	and	and	CCONJ
fumecheng-10846	93	18	the	the	DET
fumecheng-10846	93	19	external	external	ADJ
fumecheng-10846	93	20	leakage	leakage	NOUN
fumecheng-10846	93	21	flow	flow	NOUN
fumecheng-10846	93	22	,	,	PUNCT
fumecheng-10846	93	23	respectively	respectively	ADV
fumecheng-10846	93	24	.	.	PUNCT
fumecheng-10846	94	1	leakage	leakage	NOUN
fumecheng-10846	94	2	from	from	ADP
fumecheng-10846	94	3	one	one	NUM
fumecheng-10846	94	4	cylinder	cylinder	NOUN
fumecheng-10846	94	5	chamber	chamber	NOUN
fumecheng-10846	94	6	to	to	ADP
fumecheng-10846	94	7	another	another	PRON
fumecheng-10846	94	8	,	,	PUNCT
fumecheng-10846	94	9	known	know	VERB
fumecheng-10846	94	10	as	as	ADP
fumecheng-10846	94	11	internal	internal	ADJ
fumecheng-10846	94	12	leakage	leakage	NOUN
fumecheng-10846	94	13	flow	flow	NOUN
fumecheng-10846	94	14	,	,	PUNCT
fumecheng-10846	94	15	by	by	ADP
fumecheng-10846	94	16	an	an	DET
fumecheng-10846	94	17	assumption	assumption	NOUN
fumecheng-10846	94	18	of	of	ADP
fumecheng-10846	94	19	laminar	laminar	ADJ
fumecheng-10846	94	20	flow	flow	NOUN
fumecheng-10846	94	21	can	can	AUX
fumecheng-10846	94	22	be	be	AUX
fumecheng-10846	94	23	calculated	calculate	VERB
fumecheng-10846	94	24	:	:	PUNCT
fumecheng-10846	94	25			PROPN
fumecheng-10846	94	26	li	li	PROPN
fumecheng-10846	95	1	l	l	PROPN
fumecheng-10846	96	1	b	b	X
fumecheng-10846	96	2	aq	aq	NOUN
fumecheng-10846	96	3	k	k	X
fumecheng-10846	96	4	p	p	X
fumecheng-10846	96	5	p	p	PROPN
fumecheng-10846	96	6			X
fumecheng-10846	96	7	(	(	PUNCT
fumecheng-10846	96	8	8)	8)	NUM
fumecheng-10846	96	9	where	where	SCONJ
fumecheng-10846	96	10	:	:	PUNCT
fumecheng-10846	96	11	kl	kl	ADP
fumecheng-10846	96	12	the	the	DET
fumecheng-10846	96	13	internal	internal	ADJ
fumecheng-10846	96	14	leakage	leakage	NOUN
fumecheng-10846	96	15	flow	flow	NOUN
fumecheng-10846	96	16	coefficient	coefficient	NOUN
fumecheng-10846	96	17	.	.	PUNCT
fumecheng-10846	97	1	the	the	DET
fumecheng-10846	97	2	external	external	ADJ
fumecheng-10846	97	3	leakage	leakage	NOUN
fumecheng-10846	97	4	can	can	AUX
fumecheng-10846	97	5	be	be	AUX
fumecheng-10846	97	6	neglected	neglect	VERB
fumecheng-10846	97	7	.	.	PUNCT
fumecheng-10846	98	1	the	the	DET
fumecheng-10846	98	2	dynamic	dynamic	ADJ
fumecheng-10846	98	3	subsystem	subsystem	NOUN
fumecheng-10846	98	4	of	of	ADP
fumecheng-10846	98	5	the	the	DET
fumecheng-10846	98	6	piston	piston	NOUN
fumecheng-10846	98	7	and	and	CCONJ
fumecheng-10846	98	8	the	the	DET
fumecheng-10846	98	9	moving	move	VERB
fumecheng-10846	98	10	mass	mass	NOUN
fumecheng-10846	98	11	is	be	AUX
fumecheng-10846	98	12	described	describe	VERB
fumecheng-10846	98	13	by	by	ADP
fumecheng-10846	98	14	:	:	PUNCT
fumecheng-10846	98	15			PROPN
fumecheng-10846	98	16			PROPN
fumecheng-10846	98	17			NOUN
fumecheng-10846	98	18	p	p	VERB
fumecheng-10846	98	19	f	f	PROPN
fumecheng-10846	99	1	p	p	PROPN
fumecheng-10846	99	2	a	a	DET
fumecheng-10846	99	3	b	b	NOUN
fumecheng-10846	99	4	p	p	NOUN
fumecheng-10846	99	5	extm	extm	NOUN
fumecheng-10846	99	6	x	x	X
fumecheng-10846	99	7	f	f	X
fumecheng-10846	99	8	x	x	X
fumecheng-10846	100	1	p	p	X
fumecheng-10846	100	2	p	p	X
fumecheng-10846	100	3	a	a	DET
fumecheng-10846	100	4	f	f	NUM
fumecheng-10846	100	5			X
fumecheng-10846	100	6			PROPN
fumecheng-10846	100	7			PROPN
fumecheng-10846	100	8			VERB
fumecheng-10846	100	9			VERB
fumecheng-10846	100	10			NOUN
fumecheng-10846	100	11	(	(	PUNCT
fumecheng-10846	100	12	9	9	NUM
fumecheng-10846	100	13	)	)	PUNCT
fumecheng-10846	100	14	where	where	SCONJ
fumecheng-10846	100	15	:	:	PUNCT
fumecheng-10846	100	16	mt	mt	PROPN
fumecheng-10846	100	17	the	the	DET
fumecheng-10846	100	18	total	total	ADJ
fumecheng-10846	100	19	mass	mass	NOUN
fumecheng-10846	100	20	,	,	PUNCT
fumecheng-10846	100	21	ff	ff	PROPN
fumecheng-10846	100	22	friction	friction	NOUN
fumecheng-10846	100	23	force	force	NOUN
fumecheng-10846	100	24	,	,	PUNCT
fumecheng-10846	100	25	fext	fext	ADJ
fumecheng-10846	100	26	external	external	ADJ
fumecheng-10846	100	27	load	load	NOUN
fumecheng-10846	100	28	force	force	NOUN
fumecheng-10846	100	29	.	.	PUNCT
fumecheng-10846	101	1	total	total	ADJ
fumecheng-10846	101	2	mass	mass	PROPN
fumecheng-10846	101	3	m	m	PROPN
fumecheng-10846	101	4	consists	consist	VERB
fumecheng-10846	101	5	of	of	ADP
fumecheng-10846	101	6	the	the	DET
fumecheng-10846	101	7	piston	piston	NOUN
fumecheng-10846	101	8	mass	mass	NOUN
fumecheng-10846	101	9	and	and	CCONJ
fumecheng-10846	101	10	the	the	DET
fumecheng-10846	101	11	mass	mass	NOUN
fumecheng-10846	101	12	of	of	ADP
fumecheng-10846	101	13	hydraulic	hydraulic	ADJ
fumecheng-10846	101	14	fluid	fluid	NOUN
fumecheng-10846	101	15	in	in	ADP
fumecheng-10846	101	16	the	the	DET
fumecheng-10846	101	17	cylinder	cylinder	NOUN
fumecheng-10846	101	18	chambers	chamber	NOUN
fumecheng-10846	101	19	and	and	CCONJ
fumecheng-10846	101	20	the	the	DET
fumecheng-10846	101	21	pipelines	pipeline	NOUN
fumecheng-10846	101	22	and	and	CCONJ
fumecheng-10846	101	23	the	the	DET
fumecheng-10846	101	24	mass	mass	NOUN
fumecheng-10846	101	25	of	of	ADP
fumecheng-10846	101	26	the	the	DET
fumecheng-10846	101	27	load	load	NOUN
fumecheng-10846	101	28	.	.	PUNCT
fumecheng-10846	102	1	however	however	ADV
fumecheng-10846	102	2	,	,	PUNCT
fumecheng-10846	102	3	the	the	DET
fumecheng-10846	102	4	mass	mass	NOUN
fumecheng-10846	102	5	of	of	ADP
fumecheng-10846	102	6	fluid	fluid	NOUN
fumecheng-10846	102	7	can	can	AUX
fumecheng-10846	102	8	usually	usually	ADV
fumecheng-10846	102	9	be	be	AUX
fumecheng-10846	102	10	neglected	neglect	VERB
fumecheng-10846	102	11	with	with	ADP
fumecheng-10846	102	12	the	the	DET
fumecheng-10846	102	13	piston	piston	NOUN
fumecheng-10846	102	14	mass	mass	PROPN
fumecheng-10846	102	15	.	.	PUNCT
fumecheng-10846	103	1	in	in	ADP
fumecheng-10846	103	2	eq	eq	ADP
fumecheng-10846	103	3	.	.	PUNCT
fumecheng-10846	104	1	(	(	PUNCT
fumecheng-10846	104	2	9	9	X
fumecheng-10846	104	3	)	)	PUNCT
fumecheng-10846	104	4	an	an	DET
fumecheng-10846	104	5	important	important	ADJ
fumecheng-10846	104	6	part	part	NOUN
fumecheng-10846	104	7	is	be	AUX
fumecheng-10846	104	8	given	give	VERB
fumecheng-10846	104	9	to	to	ADP
fumecheng-10846	104	10	friction	friction	NOUN
fumecheng-10846	104	11	force	force	NOUN
fumecheng-10846	104	12	.	.	PUNCT
fumecheng-10846	105	1	different	different	ADJ
fumecheng-10846	105	2	authors	author	NOUN
fumecheng-10846	105	3	give	give	VERB
fumecheng-10846	105	4	various	various	ADJ
fumecheng-10846	105	5	solutions	solution	NOUN
fumecheng-10846	105	6	for	for	ADP
fumecheng-10846	105	7	representing	represent	VERB
fumecheng-10846	105	8	the	the	DET
fumecheng-10846	105	9	influence	influence	NOUN
fumecheng-10846	105	10	of	of	ADP
fumecheng-10846	105	11	friction	friction	NOUN
fumecheng-10846	105	12	.	.	PUNCT
fumecheng-10846	106	1	as	as	SCONJ
fumecheng-10846	106	2	a	a	DET
fumecheng-10846	106	3	compromise	compromise	NOUN
fumecheng-10846	106	4	for	for	ADP
fumecheng-10846	106	5	calculation	calculation	NOUN
fumecheng-10846	106	6	presented	present	VERB
fumecheng-10846	106	7	equation	equation	NOUN
fumecheng-10846	106	8	is	be	AUX
fumecheng-10846	106	9	used	use	VERB
fumecheng-10846	106	10	:	:	PUNCT
fumecheng-10846	107	1			NOUN
fumecheng-10846	107	2			SYM
fumecheng-10846	107	3			NOUN
fumecheng-10846	107	4			SYM
fumecheng-10846	107	5			NOUN
fumecheng-10846	107	6			SYM
fumecheng-10846	107	7			NOUN
fumecheng-10846	107	8			SYM
fumecheng-10846	107	9			NOUN
fumecheng-10846	107	10			SYM
fumecheng-10846	107	11			PROPN
fumecheng-10846	107	12	sgn	sgn	DET
fumecheng-10846	107	13	sgn	sgn	NOUN
fumecheng-10846	107	14	p	p	NOUN
fumecheng-10846	107	15	s	s	NOUN
fumecheng-10846	107	16	x	x	X
fumecheng-10846	107	17	c	c	NOUN
fumecheng-10846	107	18	f	f	PROPN
fumecheng-10846	107	19	p	p	X
fumecheng-10846	107	20	v	v	X
fumecheng-10846	107	21	p	p	X
fumecheng-10846	107	22	c	c	PROPN
fumecheng-10846	107	23	p	p	X
fumecheng-10846	107	24	s	s	PROPN
fumecheng-10846	107	25	p	p	X
fumecheng-10846	107	26	vf	vf	X
fumecheng-10846	107	27	p	p	X
fumecheng-10846	107	28	co	co	NOUN
fumecheng-10846	107	29	p	p	PROPN
fumecheng-10846	107	30	p	p	PROPN
fumecheng-10846	107	31	sof	sof	VERB
fumecheng-10846	107	32	x	x	PUNCT
fumecheng-10846	107	33	f	f	NOUN
fumecheng-10846	107	34	x	x	X
fumecheng-10846	107	35	f	f	NOUN
fumecheng-10846	107	36	x	x	X
fumecheng-10846	107	37	f	f	NOUN
fumecheng-10846	108	1	x	x	X
fumecheng-10846	108	2	x	x	X
fumecheng-10846	108	3	f	f	NOUN
fumecheng-10846	108	4	x	x	X
fumecheng-10846	108	5	x	x	X
fumecheng-10846	108	6	f	f	PROPN
fumecheng-10846	108	7	e	e	VERB
fumecheng-10846	108	8			PROPN
fumecheng-10846	108	9			PROPN
fumecheng-10846	108	10			ADV
fumecheng-10846	108	11			PUNCT
fumecheng-10846	108	12			PROPN
fumecheng-10846	108	13			PROPN
fumecheng-10846	108	14			ADJ
fumecheng-10846	108	15			NUM
fumecheng-10846	108	16			ADJ
fumecheng-10846	108	17			PROPN
fumecheng-10846	108	18			PROPN
fumecheng-10846	108	19	(	(	PUNCT
fumecheng-10846	108	20	10	10	NUM
fumecheng-10846	108	21	)	)	PUNCT
fumecheng-10846	108	22	with	with	ADP
fumecheng-10846	108	23	:	:	PUNCT
fumecheng-10846	108	24	vf	vf	VERB
fumecheng-10846	108	25	the	the	DET
fumecheng-10846	108	26	parameter	parameter	NOUN
fumecheng-10846	108	27	for	for	ADP
fumecheng-10846	108	28	viscous	viscous	ADJ
fumecheng-10846	108	29	friction	friction	NOUN
fumecheng-10846	108	30	,	,	PUNCT
fumecheng-10846	108	31	fco	fco	PROPN
fumecheng-10846	108	32	static	static	ADJ
fumecheng-10846	108	33	friction	friction	NOUN
fumecheng-10846	108	34	force	force	NOUN
fumecheng-10846	108	35	,	,	PUNCT
fumecheng-10846	108	36	fso	fso	VERB
fumecheng-10846	108	37	–	–	PUNCT
fumecheng-10846	108	38	stribeck	stribeck	NOUN
fumecheng-10846	108	39	friction	friction	NOUN
fumecheng-10846	108	40	force	force	NOUN
fumecheng-10846	108	41	,	,	PUNCT
fumecheng-10846	108	42	cs	cs	PROPN
fumecheng-10846	108	43	–	–	PUNCT
fumecheng-10846	108	44	stribeck	stribeck	NOUN
fumecheng-10846	108	45	velocity	velocity	NOUN
fumecheng-10846	108	46	.	.	PUNCT
fumecheng-10846	109	1	this	this	DET
fumecheng-10846	109	2	friction	friction	NOUN
fumecheng-10846	109	3	force	force	NOUN
fumecheng-10846	109	4	depends	depend	VERB
fumecheng-10846	109	5	on	on	ADP
fumecheng-10846	109	6	the	the	DET
fumecheng-10846	109	7	velocity	velocity	NOUN
fumecheng-10846	109	8	sign	sign	NOUN
fumecheng-10846	109	9	and	and	CCONJ
fumecheng-10846	109	10	is	be	AUX
fumecheng-10846	109	11	restricted	restrict	VERB
fumecheng-10846	109	12	to	to	ADP
fumecheng-10846	109	13	viscous	viscous	ADJ
fumecheng-10846	109	14	friction	friction	NOUN
fumecheng-10846	109	15	and	and	CCONJ
fumecheng-10846	109	16	columb	columb	ADJ
fumecheng-10846	109	17	friction	friction	NOUN
fumecheng-10846	109	18	with	with	ADP
fumecheng-10846	109	19	the	the	DET
fumecheng-10846	109	20	stribeck	stribeck	NOUN
fumecheng-10846	109	21	effect	effect	NOUN
fumecheng-10846	109	22	.	.	PUNCT
fumecheng-10846	110	1	moreover	moreover	ADV
fumecheng-10846	110	2	,	,	PUNCT
fumecheng-10846	110	3	the	the	DET
fumecheng-10846	110	4	friction	friction	NOUN
fumecheng-10846	110	5	force	force	NOUN
fumecheng-10846	110	6	must	must	AUX
fumecheng-10846	110	7	be	be	AUX
fumecheng-10846	110	8	considered	consider	VERB
fumecheng-10846	110	9	to	to	PART
fumecheng-10846	110	10	obtain	obtain	VERB
fumecheng-10846	110	11	acceptable	acceptable	ADJ
fumecheng-10846	110	12	tracking	tracking	NOUN
fumecheng-10846	110	13	accuracy	accuracy	NOUN
fumecheng-10846	110	14	.	.	PUNCT
fumecheng-10846	111	1	the	the	DET
fumecheng-10846	111	2	natural	natural	ADJ
fumecheng-10846	111	3	frequency	frequency	NOUN
fumecheng-10846	111	4	of	of	ADP
fumecheng-10846	111	5	components	component	NOUN
fumecheng-10846	111	6	and	and	CCONJ
fumecheng-10846	111	7	the	the	DET
fumecheng-10846	111	8	whole	whole	ADJ
fumecheng-10846	111	9	system	system	NOUN
fumecheng-10846	111	10	is	be	AUX
fumecheng-10846	111	11	important	important	ADJ
fumecheng-10846	111	12	data	datum	NOUN
fumecheng-10846	111	13	in	in	ADP
fumecheng-10846	111	14	the	the	DET
fumecheng-10846	111	15	dynamical	dynamical	ADJ
fumecheng-10846	111	16	analysis	analysis	NOUN
fumecheng-10846	111	17	.	.	PUNCT
fumecheng-10846	112	1	the	the	DET
fumecheng-10846	112	2	natural	natural	ADJ
fumecheng-10846	112	3	frequency	frequency	NOUN
fumecheng-10846	112	4	for	for	ADP
fumecheng-10846	112	5	the	the	DET
fumecheng-10846	112	6	overall	overall	ADJ
fumecheng-10846	112	7	system	system	NOUN
fumecheng-10846	112	8	equals	equal	VERB
fumecheng-10846	112	9	the	the	DET
fumecheng-10846	112	10	natural	natural	ADJ
fumecheng-10846	112	11	frequency	frequency	NOUN
fumecheng-10846	112	12	of	of	ADP
fumecheng-10846	112	13	the	the	DET
fumecheng-10846	112	14	hydro	hydro	NOUN
fumecheng-10846	112	15	-	-	PUNCT
fumecheng-10846	112	16	mechanical	mechanical	ADJ
fumecheng-10846	112	17	part	part	NOUN
fumecheng-10846	112	18	;	;	PUNCT
fumecheng-10846	112	19	therefore	therefore	ADV
fumecheng-10846	112	20	,	,	PUNCT
fumecheng-10846	112	21	the	the	DET
fumecheng-10846	112	22	electro	electro	ADJ
fumecheng-10846	112	23	-	-	PUNCT
fumecheng-10846	112	24	hydraulic	hydraulic	NOUN
fumecheng-10846	112	25	control	control	NOUN
fumecheng-10846	112	26	system	system	NOUN
fumecheng-10846	112	27	's	's	PART
fumecheng-10846	112	28	natural	natural	ADJ
fumecheng-10846	112	29	frequency	frequency	NOUN
fumecheng-10846	112	30	will	will	AUX
fumecheng-10846	112	31	be	be	AUX
fumecheng-10846	112	32	:	:	PUNCT
fumecheng-10846	112	33	h	h	PROPN
fumecheng-10846	112	34	h	h	NOUN
fumecheng-10846	113	1	c	c	NOUN
fumecheng-10846	113	2	m	m	VERB
fumecheng-10846	113	3			INTJ
fumecheng-10846	113	4			NUM
fumecheng-10846	113	5	(	(	PUNCT
fumecheng-10846	113	6	11	11	NUM
fumecheng-10846	113	7	)	)	SYM
fumecheng-10846	113	8	6	6	NUM
fumecheng-10846	113	9	m.	m.	NOUN
fumecheng-10846	113	10	kastrevc	kastrevc	PROPN
fumecheng-10846	113	11	,	,	PUNCT
fumecheng-10846	113	12	n.	n.	PROPN
fumecheng-10846	113	13	gubeljak	gubeljak	PROPN
fumecheng-10846	113	14	,	,	PUNCT
fumecheng-10846	113	15	e.	e.	PROPN
fumecheng-10846	113	16	detiček	detiček	PROPN
fumecheng-10846	113	17	to	to	PART
fumecheng-10846	113	18	calculate	calculate	VERB
fumecheng-10846	113	19	the	the	DET
fumecheng-10846	113	20	natural	natural	ADJ
fumecheng-10846	113	21	frequency	frequency	NOUN
fumecheng-10846	113	22	of	of	ADP
fumecheng-10846	113	23	the	the	DET
fumecheng-10846	113	24	hydraulic	hydraulic	ADJ
fumecheng-10846	113	25	cylinder	cylinder	NOUN
fumecheng-10846	113	26	,	,	PUNCT
fumecheng-10846	113	27	the	the	DET
fumecheng-10846	113	28	hydraulic	hydraulic	ADJ
fumecheng-10846	113	29	cylinder	cylinder	NOUN
fumecheng-10846	113	30	stiffness	stiffness	NOUN
fumecheng-10846	113	31	must	must	AUX
fumecheng-10846	113	32	be	be	AUX
fumecheng-10846	113	33	found	find	VERB
fumecheng-10846	113	34	in	in	ADP
fumecheng-10846	113	35	advance	advance	NOUN
fumecheng-10846	113	36	.	.	PUNCT
fumecheng-10846	114	1	the	the	DET
fumecheng-10846	114	2	total	total	ADJ
fumecheng-10846	114	3	stiffness	stiffness	NOUN
fumecheng-10846	114	4	of	of	ADP
fumecheng-10846	114	5	the	the	DET
fumecheng-10846	114	6	differential	differential	ADJ
fumecheng-10846	114	7	cylinder	cylinder	NOUN
fumecheng-10846	114	8	is	be	AUX
fumecheng-10846	114	9	defined	define	VERB
fumecheng-10846	114	10	by	by	ADP
fumecheng-10846	114	11	the	the	DET
fumecheng-10846	114	12	following	follow	VERB
fumecheng-10846	114	13	equation	equation	NOUN
fumecheng-10846	114	14	[	[	X
fumecheng-10846	114	15	21	21	NUM
fumecheng-10846	114	16	]	]	SYM
fumecheng-10846	114	17	:	:	PUNCT
fumecheng-10846	114	18	2	2	NUM
fumecheng-10846	114	19	2	2	NUM
fumecheng-10846	114	20	a	a	DET
fumecheng-10846	114	21	a	a	DET
fumecheng-10846	114	22	b	b	PROPN
fumecheng-10846	114	23	b	b	PROPN
fumecheng-10846	114	24	h	h	NOUN
fumecheng-10846	114	25	a	a	DET
fumecheng-10846	114	26	b	b	NOUN
fumecheng-10846	114	27	a	a	DET
fumecheng-10846	114	28	a	a	DET
fumecheng-10846	114	29	c	c	NOUN
fumecheng-10846	114	30	v	v	NOUN
fumecheng-10846	114	31	v	v	ADP
fumecheng-10846	114	32			NOUN
fumecheng-10846	114	33			ADP
fumecheng-10846	114	34			PROPN
fumecheng-10846	114	35			PROPN
fumecheng-10846	114	36			PUNCT
fumecheng-10846	114	37	(	(	PUNCT
fumecheng-10846	114	38	12	12	NUM
fumecheng-10846	114	39	)	)	PUNCT
fumecheng-10846	114	40	in	in	ADP
fumecheng-10846	114	41	the	the	DET
fumecheng-10846	114	42	case	case	NOUN
fumecheng-10846	114	43	of	of	ADP
fumecheng-10846	114	44	a	a	DET
fumecheng-10846	114	45	synchronous	synchronous	ADJ
fumecheng-10846	114	46	cylinder	cylinder	NOUN
fumecheng-10846	114	47	(	(	PUNCT
fumecheng-10846	114	48	double	double	ADJ
fumecheng-10846	114	49	rod	rod	NOUN
fumecheng-10846	114	50	of	of	ADP
fumecheng-10846	114	51	equal	equal	ADJ
fumecheng-10846	114	52	area	area	NOUN
fumecheng-10846	114	53	)	)	PUNCT
fumecheng-10846	114	54	,	,	PUNCT
fumecheng-10846	114	55	aa	aa	PROPN
fumecheng-10846	114	56	is	be	AUX
fumecheng-10846	114	57	equal	equal	ADJ
fumecheng-10846	114	58	ab	ab	PROPN
fumecheng-10846	114	59	.	.	PROPN
fumecheng-10846	115	1	for	for	ADP
fumecheng-10846	115	2	performance	performance	NOUN
fumecheng-10846	115	3	calculation	calculation	NOUN
fumecheng-10846	115	4	,	,	PUNCT
fumecheng-10846	115	5	only	only	ADV
fumecheng-10846	115	6	the	the	DET
fumecheng-10846	115	7	minimum	minimum	ADJ
fumecheng-10846	115	8	stiffness	stiffness	NOUN
fumecheng-10846	115	9	will	will	AUX
fumecheng-10846	115	10	be	be	AUX
fumecheng-10846	115	11	considered	consider	VERB
fumecheng-10846	115	12	since	since	SCONJ
fumecheng-10846	115	13	it	it	PRON
fumecheng-10846	115	14	has	have	VERB
fumecheng-10846	115	15	the	the	DET
fumecheng-10846	115	16	worst	bad	ADJ
fumecheng-10846	115	17	effect	effect	NOUN
fumecheng-10846	115	18	on	on	ADP
fumecheng-10846	115	19	the	the	DET
fumecheng-10846	115	20	system	system	NOUN
fumecheng-10846	115	21	dynamics	dynamic	NOUN
fumecheng-10846	115	22	.	.	PUNCT
fumecheng-10846	116	1	2.3	2.3	NUM
fumecheng-10846	116	2	verification	verification	NOUN
fumecheng-10846	116	3	of	of	ADP
fumecheng-10846	116	4	mathematical	mathematical	ADJ
fumecheng-10846	116	5	model	model	NOUN
fumecheng-10846	116	6	for	for	ADP
fumecheng-10846	116	7	simulation	simulation	NOUN
fumecheng-10846	116	8	of	of	ADP
fumecheng-10846	116	9	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	116	10	servo	servo	NOUN
fumecheng-10846	116	11	system	system	NOUN
fumecheng-10846	116	12	(	(	PUNCT
fumecheng-10846	116	13	ehs	ehs	PROPN
fumecheng-10846	116	14	)	)	PUNCT
fumecheng-10846	116	15	,	,	PUNCT
fumecheng-10846	116	16	the	the	DET
fumecheng-10846	116	17	matlab	matlab	PROPN
fumecheng-10846	116	18	-	-	PUNCT
fumecheng-10846	116	19	simulink	simulink	NOUN
fumecheng-10846	116	20	software	software	NOUN
fumecheng-10846	116	21	is	be	AUX
fumecheng-10846	116	22	used	use	VERB
fumecheng-10846	116	23	.	.	PUNCT
fumecheng-10846	117	1	the	the	DET
fumecheng-10846	117	2	parameters	parameter	NOUN
fumecheng-10846	117	3	used	use	VERB
fumecheng-10846	117	4	in	in	ADP
fumecheng-10846	117	5	the	the	DET
fumecheng-10846	117	6	simulation	simulation	NOUN
fumecheng-10846	117	7	are	be	AUX
fumecheng-10846	117	8	given	give	VERB
fumecheng-10846	117	9	in	in	ADP
fumecheng-10846	117	10	tab	tab	NOUN
fumecheng-10846	117	11	.	.	PUNCT
fumecheng-10846	118	1	1	1	X
fumecheng-10846	118	2	.	.	X
fumecheng-10846	118	3	external	external	ADJ
fumecheng-10846	118	4	force	force	NOUN
fumecheng-10846	118	5	fext	fext	NOUN
fumecheng-10846	118	6	can	can	AUX
fumecheng-10846	118	7	be	be	AUX
fumecheng-10846	118	8	used	use	VERB
fumecheng-10846	118	9	in	in	ADP
fumecheng-10846	118	10	the	the	DET
fumecheng-10846	118	11	case	case	NOUN
fumecheng-10846	118	12	where	where	SCONJ
fumecheng-10846	118	13	the	the	DET
fumecheng-10846	118	14	system	system	NOUN
fumecheng-10846	118	15	has	have	AUX
fumecheng-10846	118	16	additionally	additionally	ADV
fumecheng-10846	118	17	load	load	VERB
fumecheng-10846	118	18	opposite	opposite	ADJ
fumecheng-10846	118	19	moving	move	VERB
fumecheng-10846	118	20	direction	direction	NOUN
fumecheng-10846	118	21	(	(	PUNCT
fumecheng-10846	118	22	in	in	ADP
fumecheng-10846	118	23	our	our	PRON
fumecheng-10846	118	24	case	case	NOUN
fumecheng-10846	118	25	is	be	AUX
fumecheng-10846	118	26	no	no	DET
fumecheng-10846	118	27	additional	additional	ADJ
fumecheng-10846	118	28	external	external	ADJ
fumecheng-10846	118	29	force	force	NOUN
fumecheng-10846	118	30	present	present	ADJ
fumecheng-10846	118	31	)	)	PUNCT
fumecheng-10846	118	32	.	.	PUNCT
fumecheng-10846	119	1	table	table	NOUN
fumecheng-10846	119	2	1	1	NUM
fumecheng-10846	119	3	main	main	ADJ
fumecheng-10846	119	4	parameters	parameter	NOUN
fumecheng-10846	119	5	of	of	ADP
fumecheng-10846	119	6	the	the	DET
fumecheng-10846	119	7	ehs	ehs	NOUN
fumecheng-10846	119	8	system	system	NOUN
fumecheng-10846	119	9	parameter	parameter	NOUN
fumecheng-10846	119	10	value	value	NOUN
fumecheng-10846	119	11	parameter	parameter	NOUN
fumecheng-10846	119	12	value	value	NOUN
fumecheng-10846	119	13	ap	ap	PROPN
fumecheng-10846	119	14	6.4×10	6.4×10	PROPN
fumecheng-10846	119	15	-	-	SYM
fumecheng-10846	119	16	4	4	NUM
fumecheng-10846	119	17	m2	m2	PROPN
fumecheng-10846	119	18	m	m	VERB
fumecheng-10846	119	19	200	200	NUM
fumecheng-10846	119	20	kg	kg	NOUN
fumecheng-10846	119	21	vf	vf	PROPN
fumecheng-10846	119	22	70	70	NUM
fumecheng-10846	119	23	(	(	PUNCT
fumecheng-10846	119	24	n	n	CCONJ
fumecheng-10846	119	25	s)/m	s)/m	PROPN
fumecheng-10846	119	26	vt	vt	PROPN
fumecheng-10846	119	27	131.85×10	131.85×10	PROPN
fumecheng-10846	119	28	-	-	SYM
fumecheng-10846	119	29	6	6	NUM
fumecheng-10846	119	30	m3	m3	PROPN
fumecheng-10846	119	31	fco	fco	PROPN
fumecheng-10846	119	32	19.62	19.62	NUM
fumecheng-10846	119	33	n	n	PRON
fumecheng-10846	119	34			NOUN
fumecheng-10846	119	35	1.5×109	1.5×109	VERB
fumecheng-10846	119	36	pa	pa	PROPN
fumecheng-10846	119	37	fext	fext	PROPN
fumecheng-10846	119	38	0	0	NUM
fumecheng-10846	120	1	n	n	CCONJ
fumecheng-10846	120	2	ps	ps	PROPN
fumecheng-10846	120	3	21	21	NUM
fumecheng-10846	120	4	mpa	mpa	PROPN
fumecheng-10846	120	5	kl	kl	PROPN
fumecheng-10846	120	6	3×10	3×10	NUM
fumecheng-10846	120	7	-	-	SYM
fumecheng-10846	120	8	13	13	NUM
fumecheng-10846	120	9	m5	m5	NOUN
fumecheng-10846	120	10	/	/	SYM
fumecheng-10846	120	11	ns	n	VERB
fumecheng-10846	120	12			ADV
fumecheng-10846	120	13	850	850	NUM
fumecheng-10846	120	14	kg	kg	NOUN
fumecheng-10846	120	15	/	/	SYM
fumecheng-10846	120	16	m3	m3	PROPN
fumecheng-10846	120	17	cd	cd	PROPN
fumecheng-10846	120	18	0.63	0.63	NUM
fumecheng-10846	120	19	kv	kv	PROPN
fumecheng-10846	120	20	5.53×10	5.53×10	NUM
fumecheng-10846	120	21	-	-	SYM
fumecheng-10846	120	22	7	7	NUM
fumecheng-10846	120	23	m2	m2	PROPN
fumecheng-10846	120	24	/	/	SYM
fumecheng-10846	120	25	v	v	ADP
fumecheng-10846	120	26	the	the	DET
fumecheng-10846	120	27	validation	validation	NOUN
fumecheng-10846	120	28	of	of	ADP
fumecheng-10846	120	29	the	the	DET
fumecheng-10846	120	30	dynamical	dynamical	ADJ
fumecheng-10846	120	31	model	model	NOUN
fumecheng-10846	120	32	of	of	ADP
fumecheng-10846	120	33	the	the	DET
fumecheng-10846	120	34	ehs	ehs	NOUN
fumecheng-10846	120	35	system	system	NOUN
fumecheng-10846	120	36	has	have	AUX
fumecheng-10846	120	37	been	be	AUX
fumecheng-10846	120	38	proved	prove	VERB
fumecheng-10846	120	39	by	by	ADP
fumecheng-10846	120	40	earlier	early	ADJ
fumecheng-10846	120	41	experimental	experimental	ADJ
fumecheng-10846	120	42	testing	testing	NOUN
fumecheng-10846	120	43	,	,	PUNCT
fumecheng-10846	120	44	where	where	SCONJ
fumecheng-10846	120	45	the	the	DET
fumecheng-10846	120	46	ramp	ramp	NOUN
fumecheng-10846	120	47	reference	reference	NOUN
fumecheng-10846	120	48	was	be	AUX
fumecheng-10846	120	49	used	use	VERB
fumecheng-10846	120	50	(	(	PUNCT
fumecheng-10846	120	51	fig	fig	NOUN
fumecheng-10846	120	52	.	.	PUNCT
fumecheng-10846	121	1	2	2	NUM
fumecheng-10846	121	2	)	)	PUNCT
fumecheng-10846	121	3	.	.	PUNCT
fumecheng-10846	122	1	the	the	DET
fumecheng-10846	122	2	error	error	NOUN
fumecheng-10846	122	3	difference	difference	NOUN
fumecheng-10846	122	4	between	between	ADP
fumecheng-10846	122	5	experimental	experimental	ADJ
fumecheng-10846	122	6	and	and	CCONJ
fumecheng-10846	122	7	simulated	simulated	ADJ
fumecheng-10846	122	8	responses	response	NOUN
fumecheng-10846	122	9	is	be	AUX
fumecheng-10846	122	10	shown	show	VERB
fumecheng-10846	122	11	in	in	ADP
fumecheng-10846	122	12	fig	fig	NOUN
fumecheng-10846	122	13	.	.	PUNCT
fumecheng-10846	123	1	3	3	NUM
fumecheng-10846	123	2	,	,	PUNCT
fumecheng-10846	123	3	where	where	SCONJ
fumecheng-10846	123	4	the	the	DET
fumecheng-10846	123	5	difference	difference	NOUN
fumecheng-10846	123	6	between	between	ADP
fumecheng-10846	123	7	simulated	simulate	VERB
fumecheng-10846	123	8	and	and	CCONJ
fumecheng-10846	123	9	experimental	experimental	ADJ
fumecheng-10846	123	10	is	be	AUX
fumecheng-10846	123	11	also	also	ADV
fumecheng-10846	123	12	shown	show	VERB
fumecheng-10846	123	13	.	.	PUNCT
fumecheng-10846	124	1	the	the	DET
fumecheng-10846	124	2	mathematical	mathematical	ADJ
fumecheng-10846	124	3	model	model	NOUN
fumecheng-10846	124	4	perfectly	perfectly	ADV
fumecheng-10846	124	5	emulates	emulate	VERB
fumecheng-10846	124	6	the	the	DET
fumecheng-10846	124	7	real	real	ADJ
fumecheng-10846	124	8	system	system	NOUN
fumecheng-10846	124	9	dynamics	dynamic	NOUN
fumecheng-10846	124	10	;	;	PUNCT
fumecheng-10846	124	11	therefore	therefore	ADV
fumecheng-10846	124	12	,	,	PUNCT
fumecheng-10846	124	13	the	the	DET
fumecheng-10846	124	14	results	result	NOUN
fumecheng-10846	124	15	of	of	ADP
fumecheng-10846	124	16	computer	computer	NOUN
fumecheng-10846	124	17	simulation	simulation	NOUN
fumecheng-10846	124	18	of	of	ADP
fumecheng-10846	124	19	the	the	DET
fumecheng-10846	124	20	system	system	NOUN
fumecheng-10846	124	21	by	by	ADP
fumecheng-10846	124	22	using	use	VERB
fumecheng-10846	124	23	a	a	DET
fumecheng-10846	124	24	nonlinear	nonlinear	ADJ
fumecheng-10846	124	25	controller	controller	NOUN
fumecheng-10846	124	26	are	be	AUX
fumecheng-10846	124	27	relevant	relevant	ADJ
fumecheng-10846	124	28	.	.	PUNCT
fumecheng-10846	125	1	design	design	NOUN
fumecheng-10846	125	2	and	and	CCONJ
fumecheng-10846	125	3	tuning	tuning	NOUN
fumecheng-10846	125	4	of	of	ADP
fumecheng-10846	125	5	lyapunov	lyapunov	NOUN
fumecheng-10846	125	6	based	base	VERB
fumecheng-10846	125	7	nonlinear	nonlinear	ADJ
fumecheng-10846	125	8	position	position	NOUN
fumecheng-10846	125	9	control	control	NOUN
fumecheng-10846	125	10	of	of	ADP
fumecheng-10846	125	11	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	125	12	servo	servo	NOUN
fumecheng-10846	125	13	systems	system	NOUN
fumecheng-10846	125	14	7	7	NUM
fumecheng-10846	125	15	fig	fig	NOUN
fumecheng-10846	125	16	.	.	PUNCT
fumecheng-10846	126	1	2	2	NUM
fumecheng-10846	126	2	comparison	comparison	NOUN
fumecheng-10846	126	3	of	of	ADP
fumecheng-10846	126	4	nonlinear	nonlinear	ADJ
fumecheng-10846	126	5	mathematical	mathematical	ADJ
fumecheng-10846	126	6	model	model	NOUN
fumecheng-10846	126	7	and	and	CCONJ
fumecheng-10846	126	8	the	the	DET
fumecheng-10846	126	9	experimental	experimental	ADJ
fumecheng-10846	126	10	response	response	NOUN
fumecheng-10846	126	11	of	of	ADP
fumecheng-10846	126	12	the	the	DET
fumecheng-10846	126	13	ehs	ehs	NOUN
fumecheng-10846	126	14	system	system	NOUN
fumecheng-10846	126	15	with	with	ADP
fumecheng-10846	126	16	ramp	ramp	NOUN
fumecheng-10846	126	17	response	response	NOUN
fumecheng-10846	126	18	fig	fig	NOUN
fumecheng-10846	126	19	.	.	PUNCT
fumecheng-10846	127	1	3	3	NUM
fumecheng-10846	127	2	the	the	DET
fumecheng-10846	127	3	error	error	NOUN
fumecheng-10846	127	4	of	of	ADP
fumecheng-10846	127	5	simulated	simulated	ADJ
fumecheng-10846	127	6	and	and	CCONJ
fumecheng-10846	127	7	experimental	experimental	ADJ
fumecheng-10846	127	8	response	response	NOUN
fumecheng-10846	127	9	to	to	PART
fumecheng-10846	127	10	reference	reference	VERB
fumecheng-10846	127	11	3	3	NUM
fumecheng-10846	127	12	.	.	PUNCT
fumecheng-10846	127	13	controller	controller	NOUN
fumecheng-10846	127	14	design	design	VERB
fumecheng-10846	127	15	the	the	DET
fumecheng-10846	127	16	backstepping	backstepping	NOUN
fumecheng-10846	127	17	controller	controller	NOUN
fumecheng-10846	127	18	design	design	NOUN
fumecheng-10846	127	19	in	in	ADP
fumecheng-10846	127	20	the	the	DET
fumecheng-10846	127	21	case	case	NOUN
fumecheng-10846	127	22	of	of	ADP
fumecheng-10846	127	23	nonlinear	nonlinear	ADJ
fumecheng-10846	127	24	dynamical	dynamical	ADJ
fumecheng-10846	127	25	systems	system	NOUN
fumecheng-10846	127	26	is	be	AUX
fumecheng-10846	127	27	a	a	DET
fumecheng-10846	127	28	successful	successful	ADJ
fumecheng-10846	127	29	control	control	NOUN
fumecheng-10846	127	30	strategy	strategy	NOUN
fumecheng-10846	127	31	.	.	PUNCT
fumecheng-10846	128	1	nonlinear	nonlinear	ADJ
fumecheng-10846	128	2	systems	system	NOUN
fumecheng-10846	128	3	can	can	AUX
fumecheng-10846	128	4	be	be	AUX
fumecheng-10846	128	5	divided	divide	VERB
fumecheng-10846	128	6	into	into	ADP
fumecheng-10846	128	7	subsystems	subsystem	NOUN
fumecheng-10846	128	8	,	,	PUNCT
fumecheng-10846	128	9	whose	whose	DET
fumecheng-10846	128	10	numbers	number	NOUN
fumecheng-10846	128	11	depend	depend	VERB
fumecheng-10846	128	12	on	on	ADP
fumecheng-10846	128	13	dynamical	dynamical	ADJ
fumecheng-10846	128	14	model	model	NOUN
fumecheng-10846	128	15	order	order	NOUN
fumecheng-10846	128	16	.	.	PUNCT
fumecheng-10846	129	1	because	because	SCONJ
fumecheng-10846	129	2	of	of	ADP
fumecheng-10846	129	3	the	the	DET
fumecheng-10846	129	4	recursive	recursive	ADJ
fumecheng-10846	129	5	structure	structure	NOUN
fumecheng-10846	129	6	,	,	PUNCT
fumecheng-10846	129	7	the	the	DET
fumecheng-10846	129	8	designer	designer	NOUN
fumecheng-10846	129	9	can	can	AUX
fumecheng-10846	129	10	start	start	VERB
fumecheng-10846	129	11	the	the	DET
fumecheng-10846	129	12	design	design	NOUN
fumecheng-10846	129	13	process	process	NOUN
fumecheng-10846	129	14	at	at	ADP
fumecheng-10846	129	15	the	the	DET
fumecheng-10846	129	16	known	know	VERB
fumecheng-10846	129	17	-	-	PUNCT
fumecheng-10846	129	18	stable	stable	ADJ
fumecheng-10846	129	19	system	system	NOUN
fumecheng-10846	129	20	and	and	CCONJ
fumecheng-10846	129	21	design	design	NOUN
fumecheng-10846	129	22	,	,	PUNCT
fumecheng-10846	129	23	”	"	PUNCT
fumecheng-10846	129	24	back	back	ADV
fumecheng-10846	129	25	out	out	ADV
fumecheng-10846	129	26	”	"	PUNCT
fumecheng-10846	129	27	,	,	PUNCT
fumecheng-10846	129	28	new	new	ADJ
fumecheng-10846	129	29	controllers	controller	NOUN
fumecheng-10846	129	30	that	that	PRON
fumecheng-10846	129	31	progressively	progressively	ADV
fumecheng-10846	129	32	stabilize	stabilize	VERB
fumecheng-10846	129	33	each	each	DET
fumecheng-10846	129	34	outer	outer	ADJ
fumecheng-10846	129	35	subsystem	subsystem	NOUN
fumecheng-10846	129	36	.	.	PUNCT
fumecheng-10846	130	1	the	the	DET
fumecheng-10846	130	2	process	process	NOUN
fumecheng-10846	130	3	is	be	AUX
fumecheng-10846	130	4	finished	finish	VERB
fumecheng-10846	130	5	when	when	SCONJ
fumecheng-10846	130	6	the	the	DET
fumecheng-10846	130	7	final	final	ADJ
fumecheng-10846	130	8	external	external	ADJ
fumecheng-10846	130	9	control	control	NOUN
fumecheng-10846	130	10	is	be	AUX
fumecheng-10846	130	11	reached	reach	VERB
fumecheng-10846	130	12	[	[	PUNCT
fumecheng-10846	130	13	9	9	NUM
fumecheng-10846	130	14	,	,	PUNCT
fumecheng-10846	130	15	11	11	NUM
fumecheng-10846	130	16	]	]	PUNCT
fumecheng-10846	130	17	.	.	PUNCT
fumecheng-10846	131	1	8	8	NUM
fumecheng-10846	131	2	m.	m.	NOUN
fumecheng-10846	131	3	kastrevc	kastrevc	PROPN
fumecheng-10846	131	4	,	,	PUNCT
fumecheng-10846	131	5	n.	n.	PROPN
fumecheng-10846	131	6	gubeljak	gubeljak	PROPN
fumecheng-10846	131	7	,	,	PUNCT
fumecheng-10846	131	8	e.	e.	PROPN
fumecheng-10846	131	9	detiček	detiček	PROPN
fumecheng-10846	131	10	the	the	DET
fumecheng-10846	131	11	mathematical	mathematical	ADJ
fumecheng-10846	131	12	description	description	NOUN
fumecheng-10846	131	13	of	of	ADP
fumecheng-10846	131	14	a	a	DET
fumecheng-10846	131	15	nonlinear	nonlinear	ADJ
fumecheng-10846	131	16	system	system	NOUN
fumecheng-10846	131	17	in	in	ADP
fumecheng-10846	131	18	a	a	DET
fumecheng-10846	131	19	new	new	ADJ
fumecheng-10846	131	20	set	set	NOUN
fumecheng-10846	131	21	of	of	ADP
fumecheng-10846	131	22	coordinates	coordinate	NOUN
fumecheng-10846	131	23	allows	allow	VERB
fumecheng-10846	131	24	us	we	PRON
fumecheng-10846	131	25	to	to	PART
fumecheng-10846	131	26	use	use	VERB
fumecheng-10846	131	27	the	the	DET
fumecheng-10846	131	28	backstepping	backstepping	NOUN
fumecheng-10846	131	29	approach	approach	NOUN
fumecheng-10846	131	30	to	to	PART
fumecheng-10846	131	31	force	force	VERB
fumecheng-10846	131	32	it	it	PRON
fumecheng-10846	131	33	to	to	PART
fumecheng-10846	131	34	behave	behave	VERB
fumecheng-10846	131	35	like	like	ADP
fumecheng-10846	131	36	a	a	DET
fumecheng-10846	131	37	linear	linear	ADJ
fumecheng-10846	131	38	one	one	NUM
fumecheng-10846	132	1	[	[	X
fumecheng-10846	132	2	12	12	NUM
fumecheng-10846	132	3	]	]	PUNCT
fumecheng-10846	132	4	.	.	PUNCT
fumecheng-10846	133	1	the	the	DET
fumecheng-10846	133	2	ability	ability	NOUN
fumecheng-10846	133	3	to	to	PART
fumecheng-10846	133	4	avoid	avoid	VERB
fumecheng-10846	133	5	the	the	DET
fumecheng-10846	133	6	cancelation	cancelation	NOUN
fumecheng-10846	133	7	of	of	ADP
fumecheng-10846	133	8	useful	useful	ADJ
fumecheng-10846	133	9	nonlinearities	nonlinearitie	NOUN
fumecheng-10846	133	10	enables	enable	VERB
fumecheng-10846	133	11	a	a	DET
fumecheng-10846	133	12	backstepping	backstepping	NOUN
fumecheng-10846	133	13	approach	approach	NOUN
fumecheng-10846	133	14	to	to	PART
fumecheng-10846	133	15	pursue	pursue	VERB
fumecheng-10846	133	16	the	the	DET
fumecheng-10846	133	17	objectives	objective	NOUN
fumecheng-10846	133	18	of	of	ADP
fumecheng-10846	133	19	stabilization	stabilization	NOUN
fumecheng-10846	133	20	and	and	CCONJ
fumecheng-10846	133	21	tracking	tracking	NOUN
fumecheng-10846	133	22	rather	rather	ADV
fumecheng-10846	133	23	than	than	ADP
fumecheng-10846	133	24	that	that	PRON
fumecheng-10846	133	25	of	of	ADP
fumecheng-10846	133	26	the	the	DET
fumecheng-10846	133	27	linearization	linearization	NOUN
fumecheng-10846	133	28	method	method	NOUN
fumecheng-10846	133	29	.	.	PUNCT
fumecheng-10846	134	1	therefore	therefore	ADV
fumecheng-10846	134	2	,	,	PUNCT
fumecheng-10846	134	3	the	the	DET
fumecheng-10846	134	4	use	use	NOUN
fumecheng-10846	134	5	of	of	ADP
fumecheng-10846	134	6	a	a	DET
fumecheng-10846	134	7	backstepping	backstepping	NOUN
fumecheng-10846	134	8	controller	controller	NOUN
fumecheng-10846	134	9	is	be	AUX
fumecheng-10846	134	10	possible	possible	ADJ
fumecheng-10846	134	11	for	for	ADP
fumecheng-10846	134	12	solving	solve	VERB
fumecheng-10846	134	13	tracking	tracking	NOUN
fumecheng-10846	134	14	and	and	CCONJ
fumecheng-10846	134	15	regulation	regulation	NOUN
fumecheng-10846	134	16	problems	problem	NOUN
fumecheng-10846	134	17	.	.	PUNCT
fumecheng-10846	135	1	for	for	ADP
fumecheng-10846	135	2	tracking	tracking	NOUN
fumecheng-10846	135	3	problems	problem	NOUN
fumecheng-10846	135	4	,	,	PUNCT
fumecheng-10846	135	5	backstepping	backstepping	NOUN
fumecheng-10846	135	6	always	always	ADV
fumecheng-10846	135	7	uses	use	VERB
fumecheng-10846	135	8	the	the	DET
fumecheng-10846	135	9	error	error	NOUN
fumecheng-10846	135	10	between	between	ADP
fumecheng-10846	135	11	the	the	DET
fumecheng-10846	135	12	actual	actual	ADJ
fumecheng-10846	135	13	and	and	CCONJ
fumecheng-10846	135	14	desired	desire	VERB
fumecheng-10846	135	15	input	input	NOUN
fumecheng-10846	135	16	to	to	PART
fumecheng-10846	135	17	start	start	VERB
fumecheng-10846	135	18	the	the	DET
fumecheng-10846	135	19	design	design	NOUN
fumecheng-10846	135	20	process	process	NOUN
fumecheng-10846	135	21	.	.	PUNCT
fumecheng-10846	136	1	3.1	3.1	NUM
fumecheng-10846	136	2	model	model	NOUN
fumecheng-10846	136	3	simplification	simplification	NOUN
fumecheng-10846	136	4	due	due	ADP
fumecheng-10846	136	5	to	to	ADP
fumecheng-10846	136	6	the	the	DET
fumecheng-10846	136	7	complexity	complexity	NOUN
fumecheng-10846	136	8	of	of	ADP
fumecheng-10846	136	9	the	the	DET
fumecheng-10846	136	10	ehs	ehs	NOUN
fumecheng-10846	136	11	system	system	NOUN
fumecheng-10846	136	12	,	,	PUNCT
fumecheng-10846	136	13	the	the	DET
fumecheng-10846	136	14	simplification	simplification	NOUN
fumecheng-10846	136	15	of	of	ADP
fumecheng-10846	136	16	the	the	DET
fumecheng-10846	136	17	model	model	NOUN
fumecheng-10846	136	18	is	be	AUX
fumecheng-10846	136	19	preferable	preferable	ADJ
fumecheng-10846	136	20	.	.	PUNCT
fumecheng-10846	137	1	because	because	SCONJ
fumecheng-10846	137	2	of	of	ADP
fumecheng-10846	137	3	the	the	DET
fumecheng-10846	137	4	construction	construction	NOUN
fumecheng-10846	137	5	of	of	ADP
fumecheng-10846	137	6	the	the	DET
fumecheng-10846	137	7	system	system	NOUN
fumecheng-10846	137	8	the	the	DET
fumecheng-10846	137	9	dynamics	dynamic	NOUN
fumecheng-10846	137	10	of	of	ADP
fumecheng-10846	137	11	components	component	NOUN
fumecheng-10846	137	12	must	must	AUX
fumecheng-10846	137	13	be	be	AUX
fumecheng-10846	137	14	taken	take	VERB
fumecheng-10846	137	15	into	into	ADP
fumecheng-10846	137	16	consideration	consideration	NOUN
fumecheng-10846	137	17	.	.	PUNCT
fumecheng-10846	138	1	if	if	SCONJ
fumecheng-10846	138	2	we	we	PRON
fumecheng-10846	138	3	compare	compare	VERB
fumecheng-10846	138	4	the	the	DET
fumecheng-10846	138	5	dynamical	dynamical	ADJ
fumecheng-10846	138	6	properties	property	NOUN
fumecheng-10846	138	7	of	of	ADP
fumecheng-10846	138	8	sv	sv	NOUN
fumecheng-10846	138	9	and	and	CCONJ
fumecheng-10846	138	10	other	other	ADJ
fumecheng-10846	138	11	parts	part	NOUN
fumecheng-10846	138	12	of	of	ADP
fumecheng-10846	138	13	the	the	DET
fumecheng-10846	138	14	system	system	NOUN
fumecheng-10846	138	15	,	,	PUNCT
fumecheng-10846	138	16	we	we	PRON
fumecheng-10846	138	17	can	can	AUX
fumecheng-10846	138	18	see	see	VERB
fumecheng-10846	138	19	that	that	SCONJ
fumecheng-10846	138	20	the	the	DET
fumecheng-10846	138	21	dynamic	dynamic	NOUN
fumecheng-10846	138	22	of	of	ADP
fumecheng-10846	138	23	the	the	DET
fumecheng-10846	138	24	servo	servo	NOUN
fumecheng-10846	138	25	valve	valve	NOUN
fumecheng-10846	138	26	with	with	ADP
fumecheng-10846	138	27	control	control	NOUN
fumecheng-10846	138	28	electronics	electronic	NOUN
fumecheng-10846	138	29	is	be	AUX
fumecheng-10846	138	30	much	much	ADV
fumecheng-10846	138	31	higher	high	ADJ
fumecheng-10846	138	32	than	than	ADP
fumecheng-10846	138	33	the	the	DET
fumecheng-10846	138	34	dynamic	dynamic	NOUN
fumecheng-10846	138	35	of	of	ADP
fumecheng-10846	138	36	the	the	DET
fumecheng-10846	138	37	cylinder	cylinder	NOUN
fumecheng-10846	138	38	and	and	CCONJ
fumecheng-10846	138	39	load	load	NOUN
fumecheng-10846	138	40	.	.	PUNCT
fumecheng-10846	139	1	for	for	ADP
fumecheng-10846	139	2	a	a	DET
fumecheng-10846	139	3	hydraulic	hydraulic	ADJ
fumecheng-10846	139	4	system	system	NOUN
fumecheng-10846	139	5	with	with	ADP
fumecheng-10846	139	6	ap=6.4×10	ap=6.4×10	NOUN
fumecheng-10846	139	7	-	-	SYM
fumecheng-10846	139	8	4	4	NUM
fumecheng-10846	139	9	m2	m2	NOUN
fumecheng-10846	139	10	,	,	PUNCT
fumecheng-10846	139	11	vt=131.85×10	vt=131.85×10	NOUN
fumecheng-10846	139	12	-	-	SYM
fumecheng-10846	139	13	6	6	NUM
fumecheng-10846	139	14	m3	m3	PROPN
fumecheng-10846	139	15	and	and	CCONJ
fumecheng-10846	139	16	m=200	m=200	PROPN
fumecheng-10846	139	17	kg	kg	PROPN
fumecheng-10846	139	18	,	,	PUNCT
fumecheng-10846	139	19	the	the	DET
fumecheng-10846	139	20	minimum	minimum	ADJ
fumecheng-10846	139	21	natural	natural	ADJ
fumecheng-10846	139	22	frequency	frequency	NOUN
fumecheng-10846	139	23	is	be	AUX
fumecheng-10846	139	24	:	:	PUNCT
fumecheng-10846	139	25	2	2	NUM
fumecheng-10846	139	26	min	min	NOUN
fumecheng-10846	139	27	2	2	NUM
fumecheng-10846	139	28	215.866	215.866	NUM
fumecheng-10846	139	29	34.35	34.35	NUM
fumecheng-10846	139	30	p	p	NOUN
fumecheng-10846	139	31	h	h	NOUN
fumecheng-10846	139	32	t	t	PROPN
fumecheng-10846	139	33	a	a	DET
fumecheng-10846	139	34	rad	rad	INTJ
fumecheng-10846	139	35	hz	hz	VERB
fumecheng-10846	139	36	m	m	PRON
fumecheng-10846	139	37	v	v	NOUN
fumecheng-10846	139	38	s	s	NOUN
fumecheng-10846	139	39			PROPN
fumecheng-10846	139	40			PROPN
fumecheng-10846	140	1			PROPN
fumecheng-10846	140	2			NUM
fumecheng-10846	140	3			NUM
fumecheng-10846	140	4			NOUN
fumecheng-10846	141	1			NUM
fumecheng-10846	141	2	(	(	PUNCT
fumecheng-10846	141	3	13	13	NUM
fumecheng-10846	141	4	)	)	PUNCT
fumecheng-10846	141	5	natural	natural	ADJ
fumecheng-10846	141	6	frequency	frequency	NOUN
fumecheng-10846	141	7	can	can	AUX
fumecheng-10846	141	8	be	be	AUX
fumecheng-10846	141	9	read	read	VERB
fumecheng-10846	141	10	out	out	ADP
fumecheng-10846	141	11	,	,	PUNCT
fumecheng-10846	141	12	from	from	ADP
fumecheng-10846	141	13	the	the	DET
fumecheng-10846	141	14	manufacturer	manufacturer	NOUN
fumecheng-10846	141	15	's	's	PART
fumecheng-10846	141	16	datasheet	datasheet	NOUN
fumecheng-10846	141	17	for	for	ADP
fumecheng-10846	141	18	sv	sv	PROPN
fumecheng-10846	141	19	moog	moog	PROPN
fumecheng-10846	141	20	769	769	NUM
fumecheng-10846	142	1	[	[	X
fumecheng-10846	142	2	20	20	NUM
fumecheng-10846	142	3	]	]	PUNCT
fumecheng-10846	142	4	we	we	PRON
fumecheng-10846	142	5	can	can	AUX
fumecheng-10846	142	6	read	read	VERB
fumecheng-10846	142	7	out	out	ADP
fumecheng-10846	142	8	fv=325hz	fv=325hz	NOUN
fumecheng-10846	142	9	.	.	PUNCT
fumecheng-10846	143	1	because	because	SCONJ
fumecheng-10846	143	2	of	of	ADP
fumecheng-10846	143	3	a	a	DET
fumecheng-10846	143	4	very	very	ADV
fumecheng-10846	143	5	high	high	ADJ
fumecheng-10846	143	6	natural	natural	ADJ
fumecheng-10846	143	7	frequency	frequency	NOUN
fumecheng-10846	143	8	of	of	ADP
fumecheng-10846	143	9	the	the	DET
fumecheng-10846	143	10	servo	servo	NOUN
fumecheng-10846	143	11	valve	valve	NOUN
fumecheng-10846	143	12	in	in	ADP
fumecheng-10846	143	13	comparison	comparison	NOUN
fumecheng-10846	143	14	to	to	ADP
fumecheng-10846	143	15	hydraulic	hydraulic	ADJ
fumecheng-10846	143	16	cylinder	cylinder	NOUN
fumecheng-10846	143	17	v	v	PROPN
fumecheng-10846	143	18	>	>	PUNCT
fumecheng-10846	143	19	>	>	X
fumecheng-10846	143	20	hmin	hmin	X
fumecheng-10846	143	21	)	)	PUNCT
fumecheng-10846	143	22	,	,	PUNCT
fumecheng-10846	143	23	taking	take	VERB
fumecheng-10846	143	24	into	into	ADP
fumecheng-10846	143	25	account	account	NOUN
fumecheng-10846	143	26	also	also	ADV
fumecheng-10846	143	27	a	a	DET
fumecheng-10846	143	28	dynamic	dynamic	ADJ
fumecheng-10846	143	29	effect	effect	NOUN
fumecheng-10846	143	30	of	of	ADP
fumecheng-10846	143	31	the	the	DET
fumecheng-10846	143	32	manifold	manifold	NOUN
fumecheng-10846	143	33	which	which	PRON
fumecheng-10846	143	34	decreases	decrease	VERB
fumecheng-10846	143	35	the	the	DET
fumecheng-10846	143	36	hydraulic	hydraulic	ADJ
fumecheng-10846	143	37	natural	natural	ADJ
fumecheng-10846	143	38	frequency	frequency	NOUN
fumecheng-10846	143	39	,	,	PUNCT
fumecheng-10846	143	40	the	the	DET
fumecheng-10846	143	41	dynamic	dynamic	NOUN
fumecheng-10846	143	42	of	of	ADP
fumecheng-10846	143	43	sv	sv	PROPN
fumecheng-10846	143	44	can	can	AUX
fumecheng-10846	143	45	be	be	AUX
fumecheng-10846	143	46	neglected	neglect	VERB
fumecheng-10846	143	47	.	.	PUNCT
fumecheng-10846	144	1	the	the	DET
fumecheng-10846	144	2	servo	servo	NOUN
fumecheng-10846	144	3	valve	valve	NOUN
fumecheng-10846	144	4	can	can	AUX
fumecheng-10846	144	5	be	be	AUX
fumecheng-10846	144	6	described	describe	VERB
fumecheng-10846	144	7	only	only	ADV
fumecheng-10846	144	8	by	by	ADP
fumecheng-10846	144	9	the	the	DET
fumecheng-10846	144	10	static	static	ADJ
fumecheng-10846	144	11	relationship	relationship	NOUN
fumecheng-10846	144	12	between	between	ADP
fumecheng-10846	144	13	the	the	DET
fumecheng-10846	144	14	spool	spool	NOUN
fumecheng-10846	144	15	position	position	NOUN
fumecheng-10846	144	16	and	and	CCONJ
fumecheng-10846	144	17	the	the	DET
fumecheng-10846	144	18	valve	valve	NOUN
fumecheng-10846	144	19	current	current	ADJ
fumecheng-10846	144	20	input	input	NOUN
fumecheng-10846	144	21	[	[	X
fumecheng-10846	144	22	9	9	NUM
fumecheng-10846	144	23	,	,	PUNCT
fumecheng-10846	144	24	22	22	NUM
fumecheng-10846	144	25	]	]	PUNCT
fumecheng-10846	144	26	.	.	PUNCT
fumecheng-10846	145	1	moreover	moreover	ADV
fumecheng-10846	145	2	,	,	PUNCT
fumecheng-10846	145	3	the	the	DET
fumecheng-10846	145	4	combined	combined	ADJ
fumecheng-10846	145	5	assembly	assembly	NOUN
fumecheng-10846	145	6	of	of	ADP
fumecheng-10846	145	7	the	the	DET
fumecheng-10846	145	8	servo	servo	NOUN
fumecheng-10846	145	9	valve	valve	NOUN
fumecheng-10846	145	10	and	and	CCONJ
fumecheng-10846	145	11	the	the	DET
fumecheng-10846	145	12	electronic	electronic	ADJ
fumecheng-10846	145	13	amplifier	amplifier	NOUN
fumecheng-10846	145	14	can	can	AUX
fumecheng-10846	145	15	be	be	AUX
fumecheng-10846	145	16	described	describe	VERB
fumecheng-10846	145	17	by	by	ADP
fumecheng-10846	145	18	the	the	DET
fumecheng-10846	145	19	equation	equation	NOUN
fumecheng-10846	145	20	:	:	PUNCT
fumecheng-10846	146	1	v	v	NUM
fumecheng-10846	146	2	vx	vx	PROPN
fumecheng-10846	146	3	k	k	PROPN
fumecheng-10846	146	4	u	u	PROPN
fumecheng-10846	146	5			PROPN
fumecheng-10846	146	6	(	(	PUNCT
fumecheng-10846	146	7	14	14	NUM
fumecheng-10846	146	8	)	)	PUNCT
fumecheng-10846	147	1	where	where	SCONJ
fumecheng-10846	147	2	:	:	PUNCT
fumecheng-10846	147	3	kv	kv	PROPN
fumecheng-10846	147	4	(	(	PUNCT
fumecheng-10846	147	5	m	m	PROPN
fumecheng-10846	147	6	/	/	SYM
fumecheng-10846	147	7	v	v	NOUN
fumecheng-10846	147	8	)	)	PUNCT
fumecheng-10846	147	9	combined	combine	VERB
fumecheng-10846	147	10	sv	sv	PROPN
fumecheng-10846	147	11	and	and	CCONJ
fumecheng-10846	147	12	electronic	electronic	ADJ
fumecheng-10846	147	13	amplifier	amplifier	NOUN
fumecheng-10846	147	14	gain	gain	NOUN
fumecheng-10846	147	15	.	.	PUNCT
fumecheng-10846	148	1	simplified	simplify	VERB
fumecheng-10846	148	2	system	system	NOUN
fumecheng-10846	148	3	equations	equation	NOUN
fumecheng-10846	148	4	take	take	VERB
fumecheng-10846	148	5	the	the	DET
fumecheng-10846	148	6	following	follow	VERB
fumecheng-10846	148	7	form	form	NOUN
fumecheng-10846	148	8	:	:	PUNCT
fumecheng-10846	148	9			NOUN
fumecheng-10846	148	10			SYM
fumecheng-10846	148	11			NOUN
fumecheng-10846	148	12			PUNCT
fumecheng-10846	148	13			NOUN
fumecheng-10846	148	14			PROPN
fumecheng-10846	148	15	1	1	NUM
fumecheng-10846	148	16	sgn	sgn	NOUN
fumecheng-10846	148	17	sgn	sgn	NOUN
fumecheng-10846	148	18	.	.	PUNCT
fumecheng-10846	149	1	sgn4	sgn4	VERB
fumecheng-10846	149	2	4	4	NUM
fumecheng-10846	149	3	4	4	NUM
fumecheng-10846	149	4	p	p	NOUN
fumecheng-10846	149	5	s	s	X
fumecheng-10846	149	6	p	p	X
fumecheng-10846	149	7	p	p	X
fumecheng-10846	149	8	x	x	X
fumecheng-10846	149	9	p	p	X
fumecheng-10846	149	10	c	c	PROPN
fumecheng-10846	149	11	ext	ext	NOUN
fumecheng-10846	149	12	p	p	PROPN
fumecheng-10846	149	13	l	l	PROPN
fumecheng-10846	149	14	vf	vf	X
fumecheng-10846	149	15	p	p	X
fumecheng-10846	149	16	co	co	NOUN
fumecheng-10846	149	17	p	p	NOUN
fumecheng-10846	149	18	p	p	X
fumecheng-10846	150	1	so	so	SCONJ
fumecheng-10846	150	2	s	s	NOUN
fumecheng-10846	150	3	l	l	NOUN
fumecheng-10846	150	4	l	l	NOUN
fumecheng-10846	151	1	d	d	X
fumecheng-10846	151	2	v	v	ADP
fumecheng-10846	151	3	p	p	X
fumecheng-10846	151	4	p	p	PROPN
fumecheng-10846	151	5	l	l	NOUN
fumecheng-10846	151	6	l	l	NOUN
fumecheng-10846	151	7	t	t	NOUN
fumecheng-10846	151	8	t	t	X
fumecheng-10846	151	9	t	t	NOUN
fumecheng-10846	151	10	x	x	PUNCT
fumecheng-10846	151	11	x	x	PUNCT
fumecheng-10846	151	12	a	a	DET
fumecheng-10846	151	13	f	f	NOUN
fumecheng-10846	151	14	v	v	ADP
fumecheng-10846	151	15	p	p	NOUN
fumecheng-10846	151	16	x	x	X
fumecheng-10846	151	17	f	f	NOUN
fumecheng-10846	151	18	x	x	X
fumecheng-10846	151	19	x	x	X
fumecheng-10846	151	20	f	f	X
fumecheng-10846	151	21	e	e	X
fumecheng-10846	151	22	m	m	VERB
fumecheng-10846	151	23	m	m	VERB
fumecheng-10846	151	24	m	m	VERB
fumecheng-10846	151	25	p	p	NOUN
fumecheng-10846	151	26	u	u	NOUN
fumecheng-10846	151	27	p	p	NOUN
fumecheng-10846	151	28	p	p	PROPN
fumecheng-10846	151	29	c	c	PROPN
fumecheng-10846	151	30	k	k	PROPN
fumecheng-10846	151	31	u	u	PROPN
fumecheng-10846	151	32	a	a	X
fumecheng-10846	151	33	x	x	X
fumecheng-10846	151	34	k	k	X
fumecheng-10846	151	35	p	p	X
fumecheng-10846	151	36	v	v	INTJ
fumecheng-10846	151	37	v	v	NOUN
fumecheng-10846	151	38	v	v	NOUN
fumecheng-10846	151	39			PROPN
fumecheng-10846	151	40			PROPN
fumecheng-10846	151	41			PROPN
fumecheng-10846	151	42			PROPN
fumecheng-10846	151	43			NOUN
fumecheng-10846	151	44			PROPN
fumecheng-10846	151	45			PROPN
fumecheng-10846	151	46			PROPN
fumecheng-10846	151	47			NOUN
fumecheng-10846	151	48			NOUN
fumecheng-10846	152	1			ADJ
fumecheng-10846	152	2			ADJ
fumecheng-10846	152	3			PROPN
fumecheng-10846	152	4			NUM
fumecheng-10846	152	5			PUNCT
fumecheng-10846	152	6			NUM
fumecheng-10846	152	7			ADJ
fumecheng-10846	152	8			ADJ
fumecheng-10846	152	9			PROPN
fumecheng-10846	152	10			NOUN
fumecheng-10846	152	11			NOUN
fumecheng-10846	152	12			NOUN
fumecheng-10846	152	13			PROPN
fumecheng-10846	152	14			VERB
fumecheng-10846	152	15			PROPN
fumecheng-10846	152	16			PRON
fumecheng-10846	152	17			ADJ
fumecheng-10846	152	18			ADJ
fumecheng-10846	152	19			VERB
fumecheng-10846	152	20			NOUN
fumecheng-10846	152	21			VERB
fumecheng-10846	152	22			VERB
fumecheng-10846	152	23			NOUN
fumecheng-10846	152	24			PROPN
fumecheng-10846	152	25			PROPN
fumecheng-10846	152	26	(	(	PUNCT
fumecheng-10846	152	27	15	15	NUM
fumecheng-10846	152	28	)	)	PUNCT
fumecheng-10846	152	29	where	where	SCONJ
fumecheng-10846	152	30	:	:	PUNCT
fumecheng-10846	152	31	xp	xp	PROPN
fumecheng-10846	152	32	actual	actual	ADJ
fumecheng-10846	152	33	piston	piston	NOUN
fumecheng-10846	152	34	position	position	NOUN
fumecheng-10846	152	35	,	,	PUNCT
fumecheng-10846	152	36	vp	vp	PROPN
fumecheng-10846	152	37	piston	piston	PROPN
fumecheng-10846	152	38	velocity	velocity	NOUN
fumecheng-10846	152	39	,	,	PUNCT
fumecheng-10846	152	40	pl	pl	X
fumecheng-10846	152	41	load	load	NOUN
fumecheng-10846	152	42	pressure	pressure	NOUN
fumecheng-10846	152	43	.	.	PUNCT
fumecheng-10846	153	1	design	design	NOUN
fumecheng-10846	153	2	and	and	CCONJ
fumecheng-10846	153	3	tuning	tuning	NOUN
fumecheng-10846	153	4	of	of	ADP
fumecheng-10846	153	5	lyapunov	lyapunov	NOUN
fumecheng-10846	153	6	based	base	VERB
fumecheng-10846	153	7	nonlinear	nonlinear	ADJ
fumecheng-10846	153	8	position	position	NOUN
fumecheng-10846	153	9	control	control	NOUN
fumecheng-10846	153	10	of	of	ADP
fumecheng-10846	153	11	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	153	12	servo	servo	NOUN
fumecheng-10846	153	13	systems	system	NOUN
fumecheng-10846	153	14	9	9	NUM
fumecheng-10846	153	15	3.2	3.2	NUM
fumecheng-10846	153	16	nonlinear	nonlinear	ADJ
fumecheng-10846	153	17	controller	controller	NOUN
fumecheng-10846	153	18	design	design	VERB
fumecheng-10846	153	19	the	the	DET
fumecheng-10846	153	20	system	system	NOUN
fumecheng-10846	153	21	state	state	NOUN
fumecheng-10846	153	22	equations	equation	NOUN
fumecheng-10846	153	23	can	can	AUX
fumecheng-10846	153	24	be	be	AUX
fumecheng-10846	153	25	represented	represent	VERB
fumecheng-10846	153	26	in	in	ADP
fumecheng-10846	153	27	“	"	PUNCT
fumecheng-10846	153	28	strict	strict	ADJ
fumecheng-10846	153	29	feedback	feedback	NOUN
fumecheng-10846	153	30	form	form	NOUN
fumecheng-10846	153	31	”	"	PUNCT
fumecheng-10846	153	32	:	:	PUNCT
fumecheng-10846	153	33			NOUN
fumecheng-10846	154	1			SYM
fumecheng-10846	154	2			NOUN
fumecheng-10846	154	3			NOUN
fumecheng-10846	154	4	1	1	NUM
fumecheng-10846	154	5	2	2	NUM
fumecheng-10846	154	6	2	2	NUM
fumecheng-10846	154	7	1	1	NUM
fumecheng-10846	154	8	3	3	NUM
fumecheng-10846	154	9	2	2	NUM
fumecheng-10846	154	10	2	2	NUM
fumecheng-10846	154	11	4	4	NUM
fumecheng-10846	154	12	3	3	NUM
fumecheng-10846	154	13	5	5	NUM
fumecheng-10846	154	14	3	3	NUM
fumecheng-10846	154	15	6	6	NUM
fumecheng-10846	154	16	2	2	NUM
fumecheng-10846	154	17	7	7	NUM
fumecheng-10846	154	18	3	3	NUM
fumecheng-10846	154	19	sgn	sgn	NOUN
fumecheng-10846	154	20	sgns	sgn	NOUN
fumecheng-10846	154	21	x	x	SYM
fumecheng-10846	154	22	x	x	PUNCT
fumecheng-10846	154	23	x	x	PUNCT
fumecheng-10846	154	24	a	a	PRON
fumecheng-10846	154	25	x	x	SYM
fumecheng-10846	154	26	a	a	DET
fumecheng-10846	154	27	x	x	SYM
fumecheng-10846	154	28	a	a	X
fumecheng-10846	154	29	x	x	NOUN
fumecheng-10846	154	30	a	a	DET
fumecheng-10846	154	31	p	p	X
fumecheng-10846	154	32	u	u	NOUN
fumecheng-10846	154	33	x	x	X
fumecheng-10846	154	34	u	u	NOUN
fumecheng-10846	154	35	a	a	NOUN
fumecheng-10846	154	36	x	x	INTJ
fumecheng-10846	154	37	a	a	PRON
fumecheng-10846	154	38	x	x	SYM
fumecheng-10846	154	39			NUM
fumecheng-10846	154	40			PROPN
fumecheng-10846	154	41			NOUN
fumecheng-10846	154	42			VERB
fumecheng-10846	154	43			NOUN
fumecheng-10846	154	44			NUM
fumecheng-10846	154	45			NOUN
fumecheng-10846	154	46			VERB
fumecheng-10846	154	47			VERB
fumecheng-10846	154	48			PROPN
fumecheng-10846	154	49			NOUN
fumecheng-10846	154	50	(	(	PUNCT
fumecheng-10846	154	51	16	16	NUM
fumecheng-10846	154	52	)	)	PUNCT
fumecheng-10846	155	1	where	where	SCONJ
fumecheng-10846	155	2	:	:	PUNCT
fumecheng-10846	155	3	x1	x1	PROPN
fumecheng-10846	155	4	=	=	SYM
fumecheng-10846	155	5	xp	xp	PROPN
fumecheng-10846	155	6	,	,	PUNCT
fumecheng-10846	155	7	x2	x2	PROPN
fumecheng-10846	156	1	=	=	PUNCT
fumecheng-10846	157	1	vp	vp	PROPN
fumecheng-10846	157	2	,	,	PUNCT
fumecheng-10846	157	3	x3	x3	PROPN
fumecheng-10846	157	4	=	=	SYM
fumecheng-10846	157	5	pl	pl	NOUN
fumecheng-10846	157	6	,	,	PUNCT
fumecheng-10846	157	7	with	with	ADP
fumecheng-10846	157	8	:	:	PUNCT
fumecheng-10846	157	9	1	1	NUM
fumecheng-10846	157	10	2	2	NUM
fumecheng-10846	157	11	3	3	NUM
fumecheng-10846	157	12	4	4	NUM
fumecheng-10846	157	13	5	5	NUM
fumecheng-10846	157	14	6	6	NUM
fumecheng-10846	157	15	7	7	NUM
fumecheng-10846	157	16	4	4	NUM
fumecheng-10846	157	17	4	4	NUM
fumecheng-10846	157	18	4	4	NUM
fumecheng-10846	157	19	,	,	PUNCT
fumecheng-10846	157	20	,	,	PUNCT
fumecheng-10846	157	21	,	,	PUNCT
fumecheng-10846	157	22	,	,	PUNCT
fumecheng-10846	157	23	,	,	PUNCT
fumecheng-10846	157	24	,	,	PUNCT
fumecheng-10846	157	25	p	p	PROPN
fumecheng-10846	157	26	vf	vf	X
fumecheng-10846	157	27	co	co	X
fumecheng-10846	157	28	ext	ext	PROPN
fumecheng-10846	157	29	d	d	PROPN
fumecheng-10846	157	30	v	v	ADP
fumecheng-10846	157	31	p	p	PROPN
fumecheng-10846	157	32	l	l	NOUN
fumecheng-10846	157	33	t	t	X
fumecheng-10846	157	34	tt	tt	PROPN
fumecheng-10846	158	1	a	a	DET
fumecheng-10846	158	2	f	f	PROPN
fumecheng-10846	158	3	f	f	PROPN
fumecheng-10846	158	4	a	a	PRON
fumecheng-10846	158	5	a	a	DET
fumecheng-10846	158	6	a	a	DET
fumecheng-10846	158	7	a	a	NOUN
fumecheng-10846	158	8	a	a	NOUN
fumecheng-10846	158	9	c	c	NOUN
fumecheng-10846	158	10	k	k	PROPN
fumecheng-10846	159	1	a	a	DET
fumecheng-10846	159	2	a	a	DET
fumecheng-10846	159	3	a	a	DET
fumecheng-10846	159	4	k	k	NOUN
fumecheng-10846	159	5	m	m	VERB
fumecheng-10846	159	6	m	m	VERB
fumecheng-10846	159	7	m	m	VERB
fumecheng-10846	159	8	m	m	VERB
fumecheng-10846	159	9	v	v	ADJ
fumecheng-10846	159	10	vv	vv	ADP
fumecheng-10846	159	11			PROPN
fumecheng-10846	159	12			PROPN
fumecheng-10846	159	13			PROPN
fumecheng-10846	159	14			PROPN
fumecheng-10846	159	15			NOUN
fumecheng-10846	160	1			PROPN
fumecheng-10846	160	2			NOUN
fumecheng-10846	161	1			PRON
fumecheng-10846	161	2			PRON
fumecheng-10846	162	1			NOUN
fumecheng-10846	162	2			ADJ
fumecheng-10846	162	3			PROPN
fumecheng-10846	162	4			NUM
fumecheng-10846	162	5			NUM
fumecheng-10846	162	6			NOUN
fumecheng-10846	162	7			PROPN
fumecheng-10846	162	8			PROPN
fumecheng-10846	162	9	the	the	DET
fumecheng-10846	162	10	designing	design	VERB
fumecheng-10846	162	11	process	process	NOUN
fumecheng-10846	162	12	of	of	ADP
fumecheng-10846	162	13	a	a	DET
fumecheng-10846	162	14	backstepping	backstepping	NOUN
fumecheng-10846	162	15	controller	controller	NOUN
fumecheng-10846	162	16	is	be	AUX
fumecheng-10846	162	17	the	the	DET
fumecheng-10846	162	18	usage	usage	NOUN
fumecheng-10846	162	19	of	of	ADP
fumecheng-10846	162	20	linear	linear	ADJ
fumecheng-10846	162	21	terms	term	NOUN
fumecheng-10846	162	22	which	which	PRON
fumecheng-10846	162	23	corresponds	correspond	VERB
fumecheng-10846	162	24	to	to	ADP
fumecheng-10846	162	25	the	the	DET
fumecheng-10846	162	26	lipschitz	lipschitz	NOUN
fumecheng-10846	162	27	inequality	inequality	NOUN
fumecheng-10846	162	28	given	give	VERB
fumecheng-10846	162	29	by	by	ADP
fumecheng-10846	162	30	:	:	PUNCT
fumecheng-10846	162	31			NOUN
fumecheng-10846	162	32			SYM
fumecheng-10846	162	33			NOUN
fumecheng-10846	162	34	f	f	PUNCT
fumecheng-10846	162	35	x	x	PUNCT
fumecheng-10846	163	1	f	f	X
fumecheng-10846	163	2	y	y	PROPN
fumecheng-10846	163	3	l	l	NOUN
fumecheng-10846	163	4	x	x	PUNCT
fumecheng-10846	163	5	y	y	NOUN
fumecheng-10846	163	6			NOUN
fumecheng-10846	163	7			NOUN
fumecheng-10846	163	8	(	(	PUNCT
fumecheng-10846	163	9	17	17	NUM
fumecheng-10846	163	10	)	)	PUNCT
fumecheng-10846	163	11	to	to	PART
fumecheng-10846	163	12	satisfy	satisfy	VERB
fumecheng-10846	163	13	the	the	DET
fumecheng-10846	163	14	condition	condition	NOUN
fumecheng-10846	163	15	in	in	ADP
fumecheng-10846	163	16	eq	eq	ADP
fumecheng-10846	163	17	.	.	PUNCT
fumecheng-10846	164	1	(	(	PUNCT
fumecheng-10846	164	2	17	17	NUM
fumecheng-10846	164	3	)	)	PUNCT
fumecheng-10846	164	4	the	the	DET
fumecheng-10846	164	5	substitute	substitute	NOUN
fumecheng-10846	164	6	of	of	ADP
fumecheng-10846	164	7	the	the	DET
fumecheng-10846	164	8	“	"	PUNCT
fumecheng-10846	164	9	sgn	sgn	NOUN
fumecheng-10846	164	10	”	"	PUNCT
fumecheng-10846	164	11	function	function	NOUN
fumecheng-10846	164	12	with	with	ADP
fumecheng-10846	164	13	the	the	DET
fumecheng-10846	164	14	continuously	continuously	ADV
fumecheng-10846	164	15	differentiable	differentiable	ADJ
fumecheng-10846	164	16	function	function	NOUN
fumecheng-10846	164	17	“	"	PUNCT
fumecheng-10846	164	18	tanh	tanh	PROPN
fumecheng-10846	164	19	=	=	SYM
fumecheng-10846	164	20	th	th	X
fumecheng-10846	164	21	”	"	PUNCT
fumecheng-10846	164	22	(	(	PUNCT
fumecheng-10846	164	23	hyperbolic	hyperbolic	ADJ
fumecheng-10846	164	24	tangent	tangent	NOUN
fumecheng-10846	164	25	)	)	PUNCT
fumecheng-10846	164	26	is	be	AUX
fumecheng-10846	164	27	recommended	recommend	VERB
fumecheng-10846	164	28	.	.	PUNCT
fumecheng-10846	165	1	1	1	NUM
fumecheng-10846	165	2	2x	2x	NUM
fumecheng-10846	165	3	x	x	X
fumecheng-10846	165	4	(	(	PUNCT
fumecheng-10846	165	5	18a	18a	NOUN
fumecheng-10846	165	6	)	)	PUNCT
fumecheng-10846	165	7			NOUN
fumecheng-10846	165	8	2	2	ADJ
fumecheng-10846	165	9	1	1	NUM
fumecheng-10846	165	10	3	3	NUM
fumecheng-10846	165	11	2	2	NUM
fumecheng-10846	165	12	2	2	NUM
fumecheng-10846	165	13	3	3	NUM
fumecheng-10846	165	14	2	2	NUM
fumecheng-10846	165	15	4x	4x	NOUN
fumecheng-10846	165	16	a	a	PRON
fumecheng-10846	165	17	x	x	SYM
fumecheng-10846	165	18	a	a	PRON
fumecheng-10846	165	19	x	x	X
fumecheng-10846	165	20	a	a	DET
fumecheng-10846	165	21	th	th	X
fumecheng-10846	165	22	x	x	SYM
fumecheng-10846	165	23	a	a	VERB
fumecheng-10846	165	24			PROPN
fumecheng-10846	165	25			NOUN
fumecheng-10846	165	26			PROPN
fumecheng-10846	165	27			PROPN
fumecheng-10846	165	28	(	(	PUNCT
fumecheng-10846	165	29	18b	18b	NUM
fumecheng-10846	165	30	)	)	PUNCT
fumecheng-10846	165	31			NOUN
fumecheng-10846	165	32	3	3	ADJ
fumecheng-10846	165	33	5	5	NUM
fumecheng-10846	165	34	3	3	NUM
fumecheng-10846	165	35	6	6	NUM
fumecheng-10846	165	36	2	2	NUM
fumecheng-10846	165	37	7	7	NUM
fumecheng-10846	165	38	3sgnsx	3sgnsx	NUM
fumecheng-10846	165	39	a	a	DET
fumecheng-10846	165	40	p	p	X
fumecheng-10846	165	41	u	u	NOUN
fumecheng-10846	165	42	x	x	X
fumecheng-10846	165	43	u	u	NOUN
fumecheng-10846	165	44	a	a	NOUN
fumecheng-10846	165	45	x	x	X
fumecheng-10846	165	46	a	a	DET
fumecheng-10846	165	47	x	x	PROPN
fumecheng-10846	165	48			PROPN
fumecheng-10846	165	49			PROPN
fumecheng-10846	165	50			VERB
fumecheng-10846	165	51			PROPN
fumecheng-10846	165	52			NOUN
fumecheng-10846	165	53	(	(	PUNCT
fumecheng-10846	165	54	18c	18c	NUM
fumecheng-10846	165	55	)	)	PUNCT
fumecheng-10846	165	56	where	where	SCONJ
fumecheng-10846	165	57			NOUN
fumecheng-10846	165	58	free	free	ADJ
fumecheng-10846	165	59	coefficient	coefficient	NOUN
fumecheng-10846	165	60	(	(	PUNCT
fumecheng-10846	165	61	selected	select	VERB
fumecheng-10846	165	62	value	value	NOUN
fumecheng-10846	165	63	of	of	ADP
fumecheng-10846	165	64	is	be	AUX
fumecheng-10846	165	65	=2	=2	ADJ
fumecheng-10846	165	66	)	)	PUNCT
fumecheng-10846	165	67	.	.	PUNCT
fumecheng-10846	166	1	the	the	DET
fumecheng-10846	166	2	control	control	PROPN
fumecheng-10846	166	3	task	task	NOUN
fumecheng-10846	166	4	is	be	AUX
fumecheng-10846	166	5	to	to	PART
fumecheng-10846	166	6	stabilize	stabilize	VERB
fumecheng-10846	166	7	the	the	DET
fumecheng-10846	166	8	plant	plant	NOUN
fumecheng-10846	166	9	and	and	CCONJ
fumecheng-10846	166	10	track	track	VERB
fumecheng-10846	166	11	the	the	DET
fumecheng-10846	166	12	given	give	VERB
fumecheng-10846	166	13	reference	reference	NOUN
fumecheng-10846	166	14	signal	signal	VERB
fumecheng-10846	166	15	asymptotically	asymptotically	ADV
fumecheng-10846	166	16	.	.	PUNCT
fumecheng-10846	167	1	the	the	DET
fumecheng-10846	167	2	detailed	detailed	ADJ
fumecheng-10846	167	3	derivations	derivation	NOUN
fumecheng-10846	167	4	of	of	ADP
fumecheng-10846	167	5	finding	find	VERB
fumecheng-10846	167	6	backstepping	backstepping	NOUN
fumecheng-10846	167	7	control	control	NOUN
fumecheng-10846	167	8	input	input	NOUN
fumecheng-10846	167	9	are	be	AUX
fumecheng-10846	167	10	covered	cover	VERB
fumecheng-10846	167	11	in	in	ADP
fumecheng-10846	167	12	the	the	DET
fumecheng-10846	167	13	three	three	NUM
fumecheng-10846	167	14	steps	step	NOUN
fumecheng-10846	167	15	[	[	X
fumecheng-10846	167	16	9	9	NUM
fumecheng-10846	167	17	,	,	PUNCT
fumecheng-10846	167	18	11	11	NUM
fumecheng-10846	167	19	]	]	PUNCT
fumecheng-10846	167	20	.	.	PUNCT
fumecheng-10846	168	1	step	step	NOUN
fumecheng-10846	168	2	1	1	NUM
fumecheng-10846	168	3	the	the	DET
fumecheng-10846	168	4	first	first	ADJ
fumecheng-10846	168	5	step	step	NOUN
fumecheng-10846	168	6	is	be	AUX
fumecheng-10846	168	7	to	to	PART
fumecheng-10846	168	8	find	find	VERB
fumecheng-10846	168	9	the	the	DET
fumecheng-10846	168	10	first	first	ADJ
fumecheng-10846	168	11	error	error	NOUN
fumecheng-10846	168	12	variable	variable	NOUN
fumecheng-10846	168	13	and	and	CCONJ
fumecheng-10846	168	14	its	its	PRON
fumecheng-10846	168	15	derivate	derivate	NOUN
fumecheng-10846	168	16	as	as	SCONJ
fumecheng-10846	168	17	shown	show	VERB
fumecheng-10846	168	18	in	in	ADP
fumecheng-10846	168	19	eq	eq	ADP
fumecheng-10846	168	20	.	.	PUNCT
fumecheng-10846	169	1	(	(	PUNCT
fumecheng-10846	169	2	19	19	NUM
fumecheng-10846	169	3	)	)	PUNCT
fumecheng-10846	169	4	and	and	CCONJ
fumecheng-10846	169	5	(	(	PUNCT
fumecheng-10846	169	6	20	20	NUM
fumecheng-10846	169	7	)	)	PUNCT
fumecheng-10846	169	8	.	.	PUNCT
fumecheng-10846	170	1	1	1	NUM
fumecheng-10846	170	2	1z	1z	NOUN
fumecheng-10846	170	3	x	x	SYM
fumecheng-10846	170	4	r	r	X
fumecheng-10846	170	5			NOUN
fumecheng-10846	170	6	(	(	PUNCT
fumecheng-10846	170	7	19	19	NUM
fumecheng-10846	170	8	)	)	PUNCT
fumecheng-10846	170	9	1	1	NUM
fumecheng-10846	170	10	1z	1z	NOUN
fumecheng-10846	170	11	x	x	SYM
fumecheng-10846	170	12	r	r	X
fumecheng-10846	170	13			NOUN
fumecheng-10846	170	14	(	(	PUNCT
fumecheng-10846	170	15	20	20	NUM
fumecheng-10846	170	16	)	)	PUNCT
fumecheng-10846	170	17	where	where	SCONJ
fumecheng-10846	170	18	:	:	PUNCT
fumecheng-10846	170	19	r(t	r(t	NOUN
fumecheng-10846	170	20	)	)	PUNCT
fumecheng-10846	170	21	the	the	DET
fumecheng-10846	170	22	reference	reference	NOUN
fumecheng-10846	170	23	input	input	NOUN
fumecheng-10846	170	24	,	,	PUNCT
fumecheng-10846	170	25	x1	x1	NUM
fumecheng-10846	170	26	–	–	PUNCT
fumecheng-10846	170	27	position	position	NOUN
fumecheng-10846	170	28	variable	variable	NOUN
fumecheng-10846	170	29	.	.	PUNCT
fumecheng-10846	171	1	defining	define	VERB
fumecheng-10846	171	2	virtual	virtual	ADJ
fumecheng-10846	171	3	control	control	NOUN
fumecheng-10846	171	4	1	1	PROPN
fumecheng-10846	171	5	follows	follow	VERB
fumecheng-10846	171	6	from	from	ADP
fumecheng-10846	171	7	in	in	ADP
fumecheng-10846	171	8	consideration	consideration	NOUN
fumecheng-10846	171	9	of	of	ADP
fumecheng-10846	171	10	eq	eq	PROPN
fumecheng-10846	171	11	.	.	PUNCT
fumecheng-10846	172	1	(	(	PUNCT
fumecheng-10846	172	2	18a	18a	NOUN
fumecheng-10846	172	3	)	)	PUNCT
fumecheng-10846	172	4	.	.	PUNCT
fumecheng-10846	173	1	the	the	DET
fumecheng-10846	173	2	difference	difference	NOUN
fumecheng-10846	173	3	between	between	ADP
fumecheng-10846	173	4	actual	actual	ADJ
fumecheng-10846	173	5	and	and	CCONJ
fumecheng-10846	173	6	virtual	virtual	ADJ
fumecheng-10846	173	7	control	control	NOUN
fumecheng-10846	173	8	can	can	AUX
fumecheng-10846	173	9	be	be	AUX
fumecheng-10846	173	10	expressed	express	VERB
fumecheng-10846	173	11	with	with	ADP
fumecheng-10846	173	12	:	:	PUNCT
fumecheng-10846	173	13	2	2	NUM
fumecheng-10846	173	14	2	2	NUM
fumecheng-10846	173	15	1	1	NUM
fumecheng-10846	173	16	2	2	NUM
fumecheng-10846	173	17	2	2	NUM
fumecheng-10846	173	18	1z	1z	NOUN
fumecheng-10846	173	19	x	x	SYM
fumecheng-10846	173	20	x	x	SYM
fumecheng-10846	173	21	z	z	ADP
fumecheng-10846	173	22			PROPN
fumecheng-10846	173	23			NOUN
fumecheng-10846	173	24			NOUN
fumecheng-10846	173	25			ADP
fumecheng-10846	173	26			PUNCT
fumecheng-10846	173	27	(	(	PUNCT
fumecheng-10846	173	28	21	21	NUM
fumecheng-10846	173	29	)	)	PUNCT
fumecheng-10846	173	30	now	now	ADV
fumecheng-10846	173	31	we	we	PRON
fumecheng-10846	173	32	can	can	AUX
fumecheng-10846	173	33	define	define	VERB
fumecheng-10846	173	34	a	a	DET
fumecheng-10846	173	35	candidate	candidate	NOUN
fumecheng-10846	173	36	control	control	NOUN
fumecheng-10846	173	37	of	of	ADP
fumecheng-10846	173	38	lyapunov	lyapunov	PROPN
fumecheng-10846	173	39	functional	functional	ADJ
fumecheng-10846	173	40	for	for	ADP
fumecheng-10846	173	41	this	this	DET
fumecheng-10846	173	42	equation	equation	NOUN
fumecheng-10846	173	43	:	:	PUNCT
fumecheng-10846	173	44	2	2	NUM
fumecheng-10846	173	45	1	1	NUM
fumecheng-10846	173	46	1	1	NUM
fumecheng-10846	173	47	1	1	NUM
fumecheng-10846	173	48	2	2	NUM
fumecheng-10846	173	49	v	v	NOUN
fumecheng-10846	173	50	z	z	NOUN
fumecheng-10846	173	51			PROPN
fumecheng-10846	173	52	(	(	PUNCT
fumecheng-10846	173	53	22a	22a	NUM
fumecheng-10846	173	54	)	)	PUNCT
fumecheng-10846	173	55	10	10	NUM
fumecheng-10846	173	56	m.	m.	NOUN
fumecheng-10846	173	57	kastrevc	kastrevc	PROPN
fumecheng-10846	173	58	,	,	PUNCT
fumecheng-10846	173	59	n.	n.	PROPN
fumecheng-10846	173	60	gubeljak	gubeljak	PROPN
fumecheng-10846	173	61	,	,	PUNCT
fumecheng-10846	173	62	e.	e.	PROPN
fumecheng-10846	173	63	detiček	detiček	PROPN
fumecheng-10846	173	64	2	2	NUM
fumecheng-10846	173	65	1	1	NUM
fumecheng-10846	173	66	1	1	NUM
fumecheng-10846	173	67	2	2	NUM
fumecheng-10846	173	68	v	v	NOUN
fumecheng-10846	173	69	z	z	NOUN
fumecheng-10846	173	70			ADP
fumecheng-10846	173	71			PROPN
fumecheng-10846	173	72			PROPN
fumecheng-10846	173	73	(	(	PUNCT
fumecheng-10846	173	74	22b	22b	NOUN
fumecheng-10846	173	75	)	)	PUNCT
fumecheng-10846	173	76	2	2	NUM
fumecheng-10846	173	77	1	1	NUM
fumecheng-10846	173	78	1	1	NUM
fumecheng-10846	173	79	1	1	NUM
fumecheng-10846	173	80	2	2	NUM
fumecheng-10846	173	81	v	v	NOUN
fumecheng-10846	173	82	z	z	NOUN
fumecheng-10846	173	83			ADP
fumecheng-10846	173	84			PROPN
fumecheng-10846	173	85			NUM
fumecheng-10846	173	86	(	(	PUNCT
fumecheng-10846	173	87	22c	22c	NOUN
fumecheng-10846	173	88	)	)	PUNCT
fumecheng-10846	173	89	authors	author	NOUN
fumecheng-10846	173	90	rozali	rozali	VERB
fumecheng-10846	173	91	[	[	X
fumecheng-10846	173	92	3	3	NUM
fumecheng-10846	173	93	]	]	PUNCT
fumecheng-10846	173	94	and	and	CCONJ
fumecheng-10846	173	95	kadisi	kadisi	VERB
fumecheng-10846	173	96	[	[	X
fumecheng-10846	173	97	4	4	X
fumecheng-10846	173	98	]	]	PUNCT
fumecheng-10846	173	99	proposed	propose	VERB
fumecheng-10846	173	100	an	an	DET
fumecheng-10846	173	101	additional	additional	ADJ
fumecheng-10846	173	102	constant	constant	ADJ
fumecheng-10846	173	103			NOUN
fumecheng-10846	173	104	for	for	ADP
fumecheng-10846	173	105	fine	fine	ADV
fumecheng-10846	173	106	-	-	PUNCT
fumecheng-10846	173	107	tuning	tune	VERB
fumecheng-10846	173	108	needs	need	NOUN
fumecheng-10846	173	109	shown	show	VERB
fumecheng-10846	173	110	in	in	ADP
fumecheng-10846	173	111	eqs	eqs	PROPN
fumecheng-10846	173	112	.	.	PUNCT
fumecheng-10846	173	113	(	(	PUNCT
fumecheng-10846	173	114	22b	22b	NUM
fumecheng-10846	173	115	)	)	PUNCT
fumecheng-10846	173	116	and	and	CCONJ
fumecheng-10846	173	117	(	(	PUNCT
fumecheng-10846	173	118	22c	22c	NOUN
fumecheng-10846	173	119	)	)	PUNCT
fumecheng-10846	173	120	.	.	PUNCT
fumecheng-10846	174	1	this	this	PRON
fumecheng-10846	174	2	enables	enable	VERB
fumecheng-10846	174	3	more	more	ADJ
fumecheng-10846	174	4	flexibility	flexibility	NOUN
fumecheng-10846	174	5	in	in	ADP
fumecheng-10846	174	6	the	the	DET
fumecheng-10846	174	7	tuning	tuning	NOUN
fumecheng-10846	174	8	process	process	NOUN
fumecheng-10846	174	9	,	,	PUNCT
fumecheng-10846	174	10	but	but	CCONJ
fumecheng-10846	174	11	also	also	ADV
fumecheng-10846	174	12	cause	cause	VERB
fumecheng-10846	174	13	additional	additional	ADJ
fumecheng-10846	174	14	estimation	estimation	NOUN
fumecheng-10846	174	15	for	for	ADP
fumecheng-10846	174	16	values	value	NOUN
fumecheng-10846	174	17	in	in	ADP
fumecheng-10846	174	18	the	the	DET
fumecheng-10846	174	19	tuning	tuning	NOUN
fumecheng-10846	174	20	process	process	NOUN
fumecheng-10846	174	21	.	.	PUNCT
fumecheng-10846	175	1	with	with	ADP
fumecheng-10846	175	2	the	the	DET
fumecheng-10846	175	3	conventional	conventional	ADJ
fumecheng-10846	175	4	method	method	NOUN
fumecheng-10846	175	5	(	(	PUNCT
fumecheng-10846	175	6	without	without	ADP
fumecheng-10846	175	7	added	add	VERB
fumecheng-10846	175	8	fine	fine	ADV
fumecheng-10846	175	9	-	-	PUNCT
fumecheng-10846	175	10	tuned	tune	VERB
fumecheng-10846	175	11	parameter	parameter	NOUN
fumecheng-10846	175	12	)	)	PUNCT
fumecheng-10846	175	13	the	the	DET
fumecheng-10846	175	14	results	result	NOUN
fumecheng-10846	175	15	can	can	AUX
fumecheng-10846	175	16	be	be	AUX
fumecheng-10846	175	17	achieved	achieve	VERB
fumecheng-10846	175	18	successfully	successfully	ADV
fumecheng-10846	175	19	in	in	ADP
fumecheng-10846	175	20	comparison	comparison	NOUN
fumecheng-10846	175	21	to	to	ADP
fumecheng-10846	175	22	the	the	DET
fumecheng-10846	175	23	classical	classical	ADJ
fumecheng-10846	175	24	linear	linear	NOUN
fumecheng-10846	175	25	control	control	NOUN
fumecheng-10846	175	26	.	.	PUNCT
fumecheng-10846	176	1	the	the	DET
fumecheng-10846	176	2	derivative	derivative	NOUN
fumecheng-10846	176	3	of	of	ADP
fumecheng-10846	176	4	v	v	NOUN
fumecheng-10846	176	5	yields	yield	NOUN
fumecheng-10846	176	6	:	:	PUNCT
fumecheng-10846	176	7			NOUN
fumecheng-10846	176	8			SYM
fumecheng-10846	176	9			NOUN
fumecheng-10846	176	10			SYM
fumecheng-10846	176	11			NOUN
fumecheng-10846	176	12	1	1	VERB
fumecheng-10846	176	13	1	1	NUM
fumecheng-10846	176	14	2	2	NUM
fumecheng-10846	176	15	1	1	NUM
fumecheng-10846	176	16	1v	1v	NUM
fumecheng-10846	176	17	x	x	SYM
fumecheng-10846	177	1	r	r	NOUN
fumecheng-10846	177	2	z	z	NOUN
fumecheng-10846	177	3	x	x	NOUN
fumecheng-10846	177	4	r	r	NOUN
fumecheng-10846	177	5	r	r	ADP
fumecheng-10846	177	6			PROPN
fumecheng-10846	177	7			NUM
fumecheng-10846	177	8			PUNCT
fumecheng-10846	177	9			NOUN
fumecheng-10846	177	10			PROPN
fumecheng-10846	177	11			NOUN
fumecheng-10846	177	12	(	(	PUNCT
fumecheng-10846	177	13	23	23	NUM
fumecheng-10846	177	14	)	)	PUNCT
fumecheng-10846	177	15	now	now	ADV
fumecheng-10846	177	16	we	we	PRON
fumecheng-10846	177	17	can	can	AUX
fumecheng-10846	177	18	select	select	VERB
fumecheng-10846	177	19	a	a	DET
fumecheng-10846	177	20	virtual	virtual	ADJ
fumecheng-10846	177	21	control	control	NOUN
fumecheng-10846	177	22	for	for	ADP
fumecheng-10846	177	23	the	the	DET
fumecheng-10846	177	24	first	first	ADJ
fumecheng-10846	177	25	-	-	PUNCT
fumecheng-10846	177	26	order	order	NOUN
fumecheng-10846	177	27	system	system	NOUN
fumecheng-10846	177	28	:	:	PUNCT
fumecheng-10846	177	29	1	1	NUM
fumecheng-10846	177	30	1	1	NUM
fumecheng-10846	177	31	1	1	NUM
fumecheng-10846	177	32	1	1	NUM
fumecheng-10846	177	33	1	1	NUM
fumecheng-10846	177	34	1r	1r	NUM
fumecheng-10846	178	1	k	k	NOUN
fumecheng-10846	178	2	z	z	PUNCT
fumecheng-10846	179	1	k	k	NOUN
fumecheng-10846	179	2	x	x	PUNCT
fumecheng-10846	179	3	k	k	NOUN
fumecheng-10846	179	4	r	r	NOUN
fumecheng-10846	179	5	r	r	NOUN
fumecheng-10846	179	6			ADJ
fumecheng-10846	179	7			PROPN
fumecheng-10846	179	8			PROPN
fumecheng-10846	179	9			PROPN
fumecheng-10846	179	10			PUNCT
fumecheng-10846	179	11			X
fumecheng-10846	179	12	(	(	PUNCT
fumecheng-10846	179	13	24	24	NUM
fumecheng-10846	179	14	)	)	PUNCT
fumecheng-10846	179	15	where	where	SCONJ
fumecheng-10846	179	16	k1>0	k1>0	NOUN
fumecheng-10846	179	17	.	.	PUNCT
fumecheng-10846	180	1	hence	hence	ADV
fumecheng-10846	180	2	,	,	PUNCT
fumecheng-10846	180	3	v	v	X
fumecheng-10846	180	4	can	can	AUX
fumecheng-10846	180	5	be	be	AUX
fumecheng-10846	180	6	rewritten	rewrite	VERB
fumecheng-10846	180	7	as	as	ADP
fumecheng-10846	180	8	:	:	SYM
fumecheng-10846	180	9	2	2	NUM
fumecheng-10846	180	10	1	1	NUM
fumecheng-10846	180	11	1	1	NUM
fumecheng-10846	180	12	1	1	NUM
fumecheng-10846	180	13	1	1	NUM
fumecheng-10846	180	14	2v	2v	NUM
fumecheng-10846	180	15	k	k	PROPN
fumecheng-10846	180	16	z	z	PROPN
fumecheng-10846	180	17	z	z	PROPN
fumecheng-10846	180	18	z	z	PROPN
fumecheng-10846	180	19			PROPN
fumecheng-10846	180	20			PUNCT
fumecheng-10846	180	21	(	(	PUNCT
fumecheng-10846	180	22	25	25	NUM
fumecheng-10846	180	23	)	)	PUNCT
fumecheng-10846	180	24	step	step	NOUN
fumecheng-10846	180	25	2	2	NUM
fumecheng-10846	180	26	we	we	PRON
fumecheng-10846	180	27	use	use	VERB
fumecheng-10846	180	28	a	a	DET
fumecheng-10846	180	29	similar	similar	ADJ
fumecheng-10846	180	30	method	method	NOUN
fumecheng-10846	180	31	to	to	PART
fumecheng-10846	180	32	achieve	achieve	VERB
fumecheng-10846	180	33	define	define	VERB
fumecheng-10846	180	34	a	a	DET
fumecheng-10846	180	35	second	second	ADJ
fumecheng-10846	180	36	virtual	virtual	ADJ
fumecheng-10846	180	37	control	control	NOUN
fumecheng-10846	180	38	as	as	SCONJ
fumecheng-10846	180	39	given	give	VERB
fumecheng-10846	180	40	in	in	ADP
fumecheng-10846	180	41	eqs	eqs	PROPN
fumecheng-10846	180	42	.	.	PUNCT
fumecheng-10846	181	1	(	(	PUNCT
fumecheng-10846	181	2	26	26	NUM
fumecheng-10846	181	3	)	)	PUNCT
fumecheng-10846	181	4	,	,	PUNCT
fumecheng-10846	181	5	(	(	PUNCT
fumecheng-10846	181	6	27	27	NUM
fumecheng-10846	181	7	)	)	PUNCT
fumecheng-10846	181	8	,	,	PUNCT
fumecheng-10846	181	9	(	(	PUNCT
fumecheng-10846	181	10	28	28	NUM
fumecheng-10846	181	11	)	)	PUNCT
fumecheng-10846	181	12	,	,	PUNCT
fumecheng-10846	181	13	(	(	PUNCT
fumecheng-10846	181	14	29	29	NUM
fumecheng-10846	181	15	)	)	PUNCT
fumecheng-10846	181	16	and	and	CCONJ
fumecheng-10846	181	17	finally	finally	ADV
fumecheng-10846	181	18	(	(	PUNCT
fumecheng-10846	181	19	30	30	NUM
fumecheng-10846	181	20	)	)	PUNCT
fumecheng-10846	181	21	.	.	PUNCT
fumecheng-10846	182	1	3	3	NUM
fumecheng-10846	182	2	3	3	NUM
fumecheng-10846	182	3	2	2	NUM
fumecheng-10846	182	4	3	3	NUM
fumecheng-10846	182	5	3	3	NUM
fumecheng-10846	182	6	2z	2z	NUM
fumecheng-10846	182	7	x	x	SYM
fumecheng-10846	182	8	x	x	PUNCT
fumecheng-10846	182	9	z	z	ADP
fumecheng-10846	182	10			PROPN
fumecheng-10846	182	11			NOUN
fumecheng-10846	182	12			NOUN
fumecheng-10846	183	1			ADV
fumecheng-10846	183	2			PUNCT
fumecheng-10846	183	3	(	(	PUNCT
fumecheng-10846	183	4	26	26	NUM
fumecheng-10846	183	5	)	)	SYM
fumecheng-10846	183	6	2	2	NUM
fumecheng-10846	183	7	2	2	NUM
fumecheng-10846	183	8	1z	1z	NOUN
fumecheng-10846	183	9	x	x	SYM
fumecheng-10846	183	10			NOUN
fumecheng-10846	183	11			NOUN
fumecheng-10846	183	12	(	(	PUNCT
fumecheng-10846	183	13	27	27	NUM
fumecheng-10846	183	14	)	)	SYM
fumecheng-10846	183	15	2	2	NUM
fumecheng-10846	183	16	2	2	NUM
fumecheng-10846	183	17	1	1	NUM
fumecheng-10846	183	18	2	2	NUM
fumecheng-10846	183	19	1	1	NUM
fumecheng-10846	183	20	2	2	NUM
fumecheng-10846	183	21	v	v	NOUN
fumecheng-10846	183	22	v	v	ADP
fumecheng-10846	183	23	z	z	NOUN
fumecheng-10846	183	24			VERB
fumecheng-10846	183	25			PROPN
fumecheng-10846	183	26	(	(	PUNCT
fumecheng-10846	183	27	28	28	NUM
fumecheng-10846	183	28	)	)	PUNCT
fumecheng-10846	183	29	2	2	NUM
fumecheng-10846	183	30	2	2	NUM
fumecheng-10846	183	31	1	1	NUM
fumecheng-10846	183	32	2	2	NUM
fumecheng-10846	183	33	2v	2v	NUM
fumecheng-10846	183	34	v	v	ADP
fumecheng-10846	183	35	z	z	PROPN
fumecheng-10846	183	36	z	z	PROPN
fumecheng-10846	183	37			VERB
fumecheng-10846	183	38			PROPN
fumecheng-10846	183	39	(	(	PUNCT
fumecheng-10846	183	40	29	29	NUM
fumecheng-10846	183	41	)	)	PUNCT
fumecheng-10846	183	42			NOUN
fumecheng-10846	183	43			NOUN
fumecheng-10846	184	1	2	2	ADJ
fumecheng-10846	184	2	2	2	NUM
fumecheng-10846	184	3	2	2	NUM
fumecheng-10846	184	4	3	3	NUM
fumecheng-10846	184	5	2	2	NUM
fumecheng-10846	184	6	4	4	NUM
fumecheng-10846	184	7	1	1	NUM
fumecheng-10846	184	8	1	1	NUM
fumecheng-10846	184	9	2	2	NUM
fumecheng-10846	184	10	2	2	NUM
fumecheng-10846	184	11	1	1	NUM
fumecheng-10846	184	12	1	1	NUM
fumecheng-10846	184	13	a	a	PRON
fumecheng-10846	184	14	x	x	PUNCT
fumecheng-10846	184	15	a	a	DET
fumecheng-10846	184	16	th	th	X
fumecheng-10846	184	17	x	x	SYM
fumecheng-10846	184	18	a	a	DET
fumecheng-10846	184	19	z	z	NOUN
fumecheng-10846	184	20	k	k	PROPN
fumecheng-10846	184	21	z	z	PROPN
fumecheng-10846	184	22	a	a	DET
fumecheng-10846	184	23			NUM
fumecheng-10846	184	24			ADJ
fumecheng-10846	184	25			NOUN
fumecheng-10846	184	26			VERB
fumecheng-10846	184	27			PROPN
fumecheng-10846	184	28			PROPN
fumecheng-10846	184	29			PUNCT
fumecheng-10846	184	30			PUNCT
fumecheng-10846	184	31			PROPN
fumecheng-10846	184	32			PROPN
fumecheng-10846	184	33	(	(	PUNCT
fumecheng-10846	184	34	30	30	NUM
fumecheng-10846	184	35	)	)	PUNCT
fumecheng-10846	184	36	where	where	SCONJ
fumecheng-10846	184	37	k2>0	k2>0	PROPN
fumecheng-10846	184	38	,	,	PUNCT
fumecheng-10846	184	39	therefore	therefore	ADV
fumecheng-10846	184	40	:	:	PUNCT
fumecheng-10846	184	41	2	2	NUM
fumecheng-10846	184	42	2	2	NUM
fumecheng-10846	184	43	2	2	NUM
fumecheng-10846	184	44	1	1	NUM
fumecheng-10846	184	45	1	1	NUM
fumecheng-10846	184	46	2	2	NUM
fumecheng-10846	184	47	2	2	NUM
fumecheng-10846	184	48	1	1	NUM
fumecheng-10846	184	49	2	2	NUM
fumecheng-10846	184	50	3v	3v	NUM
fumecheng-10846	185	1	k	k	PROPN
fumecheng-10846	185	2	z	z	PROPN
fumecheng-10846	186	1	k	k	PROPN
fumecheng-10846	186	2	z	z	PROPN
fumecheng-10846	186	3	a	a	DET
fumecheng-10846	186	4	z	z	NOUN
fumecheng-10846	186	5	z	z	NOUN
fumecheng-10846	186	6			PROPN
fumecheng-10846	186	7			PROPN
fumecheng-10846	186	8			PROPN
fumecheng-10846	186	9			NUM
fumecheng-10846	186	10			ADJ
fumecheng-10846	186	11			PROPN
fumecheng-10846	186	12			PROPN
fumecheng-10846	186	13	(	(	PUNCT
fumecheng-10846	186	14	31	31	NUM
fumecheng-10846	186	15	)	)	PUNCT
fumecheng-10846	186	16	step	step	NOUN
fumecheng-10846	186	17	3	3	NUM
fumecheng-10846	186	18	this	this	DET
fumecheng-10846	186	19	step	step	NOUN
fumecheng-10846	186	20	is	be	AUX
fumecheng-10846	186	21	the	the	DET
fumecheng-10846	186	22	final	final	ADJ
fumecheng-10846	186	23	step	step	NOUN
fumecheng-10846	186	24	to	to	PART
fumecheng-10846	186	25	become	become	VERB
fumecheng-10846	186	26	the	the	DET
fumecheng-10846	186	27	final	final	ADJ
fumecheng-10846	186	28	control	control	NOUN
fumecheng-10846	186	29	for	for	ADP
fumecheng-10846	186	30	the	the	DET
fumecheng-10846	186	31	system	system	NOUN
fumecheng-10846	186	32	:	:	PUNCT
fumecheng-10846	186	33	3	3	NUM
fumecheng-10846	186	34	3	3	NUM
fumecheng-10846	186	35	2z	2z	NUM
fumecheng-10846	186	36	x	x	SYM
fumecheng-10846	186	37			NOUN
fumecheng-10846	186	38			NOUN
fumecheng-10846	186	39	(	(	PUNCT
fumecheng-10846	186	40	32	32	NUM
fumecheng-10846	186	41	)	)	PUNCT
fumecheng-10846	186	42	3	3	NUM
fumecheng-10846	186	43	2	2	NUM
fumecheng-10846	186	44	3	3	NUM
fumecheng-10846	186	45	1	1	NUM
fumecheng-10846	186	46	2	2	NUM
fumecheng-10846	186	47	v	v	NOUN
fumecheng-10846	186	48	v	v	ADP
fumecheng-10846	186	49	z	z	NOUN
fumecheng-10846	186	50			VERB
fumecheng-10846	186	51			PROPN
fumecheng-10846	186	52	(	(	PUNCT
fumecheng-10846	186	53	33	33	NUM
fumecheng-10846	186	54	)	)	PUNCT
fumecheng-10846	186	55	design	design	NOUN
fumecheng-10846	186	56	and	and	CCONJ
fumecheng-10846	186	57	tuning	tuning	NOUN
fumecheng-10846	186	58	of	of	ADP
fumecheng-10846	186	59	lyapunov	lyapunov	NOUN
fumecheng-10846	186	60	based	base	VERB
fumecheng-10846	186	61	nonlinear	nonlinear	ADJ
fumecheng-10846	186	62	position	position	NOUN
fumecheng-10846	186	63	control	control	NOUN
fumecheng-10846	186	64	of	of	ADP
fumecheng-10846	186	65	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	186	66	servo	servo	NOUN
fumecheng-10846	186	67	systems	system	NOUN
fumecheng-10846	186	68	11	11	NUM
fumecheng-10846	186	69	3	3	NUM
fumecheng-10846	186	70	2	2	NUM
fumecheng-10846	186	71	3	3	NUM
fumecheng-10846	186	72	3v	3v	NUM
fumecheng-10846	186	73	v	v	ADP
fumecheng-10846	186	74	z	z	PROPN
fumecheng-10846	186	75	z	z	NOUN
fumecheng-10846	186	76			VERB
fumecheng-10846	186	77			PROPN
fumecheng-10846	186	78	(	(	PUNCT
fumecheng-10846	186	79	34	34	NUM
fumecheng-10846	186	80	)	)	SYM
fumecheng-10846	186	81	1	1	NUM
fumecheng-10846	186	82	2	2	NUM
fumecheng-10846	186	83	6	6	NUM
fumecheng-10846	186	84	2	2	NUM
fumecheng-10846	186	85	7	7	NUM
fumecheng-10846	186	86	3	3	NUM
fumecheng-10846	186	87	2	2	NUM
fumecheng-10846	186	88	3	3	NUM
fumecheng-10846	186	89	3	3	NUM
fumecheng-10846	186	90	5	5	NUM
fumecheng-10846	186	91	3	3	NUM
fumecheng-10846	186	92	1	1	NUM
fumecheng-10846	186	93	1	1	NUM
fumecheng-10846	186	94	s	s	NOUN
fumecheng-10846	186	95	u	u	NOUN
fumecheng-10846	186	96	a	a	DET
fumecheng-10846	186	97	z	z	NOUN
fumecheng-10846	186	98	a	a	DET
fumecheng-10846	186	99	x	x	SYM
fumecheng-10846	186	100	a	a	X
fumecheng-10846	186	101	x	x	X
fumecheng-10846	187	1	k	k	NOUN
fumecheng-10846	187	2	z	z	NOUN
fumecheng-10846	187	3	a	a	DET
fumecheng-10846	187	4	p	p	X
fumecheng-10846	187	5	x	x	X
fumecheng-10846	187	6			PROPN
fumecheng-10846	187	7			PROPN
fumecheng-10846	187	8			PROPN
fumecheng-10846	187	9			PUNCT
fumecheng-10846	187	10			CCONJ
fumecheng-10846	187	11			PUNCT
fumecheng-10846	187	12			PROPN
fumecheng-10846	187	13			PROPN
fumecheng-10846	187	14			PROPN
fumecheng-10846	187	15			PROPN
fumecheng-10846	187	16	(	(	PUNCT
fumecheng-10846	187	17	35	35	NUM
fumecheng-10846	187	18	)	)	PUNCT
fumecheng-10846	187	19	where	where	SCONJ
fumecheng-10846	187	20	k3>0	k3>0	NOUN
fumecheng-10846	187	21	.	.	PUNCT
fumecheng-10846	188	1	then	then	ADV
fumecheng-10846	188	2	we	we	PRON
fumecheng-10846	188	3	get	get	VERB
fumecheng-10846	188	4	:	:	PUNCT
fumecheng-10846	188	5	2	2	NUM
fumecheng-10846	188	6	2	2	NUM
fumecheng-10846	188	7	2	2	NUM
fumecheng-10846	188	8	3	3	NUM
fumecheng-10846	188	9	1	1	NUM
fumecheng-10846	188	10	1	1	NUM
fumecheng-10846	188	11	2	2	NUM
fumecheng-10846	188	12	2	2	NUM
fumecheng-10846	188	13	3	3	NUM
fumecheng-10846	188	14	3v	3v	NUM
fumecheng-10846	189	1	k	k	PROPN
fumecheng-10846	190	1	z	z	PROPN
fumecheng-10846	191	1	k	k	PROPN
fumecheng-10846	191	2	z	z	PUNCT
fumecheng-10846	191	3	k	k	PROPN
fumecheng-10846	191	4	z	z	PROPN
fumecheng-10846	191	5			PROPN
fumecheng-10846	191	6			VERB
fumecheng-10846	191	7			NOUN
fumecheng-10846	191	8			VERB
fumecheng-10846	191	9			NOUN
fumecheng-10846	191	10			NUM
fumecheng-10846	191	11	(	(	PUNCT
fumecheng-10846	191	12	36	36	NUM
fumecheng-10846	191	13	)	)	PUNCT
fumecheng-10846	191	14	where	where	SCONJ
fumecheng-10846	191	15	k1	k1	NOUN
fumecheng-10846	191	16	,	,	PUNCT
fumecheng-10846	191	17	k2	k2	NOUN
fumecheng-10846	191	18	,	,	PUNCT
fumecheng-10846	191	19	k3>0	k3>0	PROPN
fumecheng-10846	191	20	.	.	PUNCT
fumecheng-10846	192	1	note	note	VERB
fumecheng-10846	192	2	that	that	SCONJ
fumecheng-10846	192	3	eq	eq	ADP
fumecheng-10846	192	4	.	.	PUNCT
fumecheng-10846	193	1	(	(	PUNCT
fumecheng-10846	193	2	28	28	NUM
fumecheng-10846	193	3	)	)	PUNCT
fumecheng-10846	193	4	is	be	AUX
fumecheng-10846	193	5	the	the	DET
fumecheng-10846	193	6	lyapunov	lyapunov	ADJ
fumecheng-10846	193	7	function	function	NOUN
fumecheng-10846	193	8	of	of	ADP
fumecheng-10846	193	9	the	the	DET
fumecheng-10846	193	10	system	system	NOUN
fumecheng-10846	193	11	defined	define	VERB
fumecheng-10846	193	12	by	by	ADP
fumecheng-10846	193	13	eqs	eqs	PROPN
fumecheng-10846	193	14	.	.	PROPN
fumecheng-10846	193	15	(	(	PUNCT
fumecheng-10846	193	16	18a	18a	NOUN
fumecheng-10846	193	17	)	)	PUNCT
fumecheng-10846	193	18	to	to	ADP
fumecheng-10846	193	19	(	(	PUNCT
fumecheng-10846	193	20	18c	18c	NUM
fumecheng-10846	193	21	)	)	PUNCT
fumecheng-10846	193	22	and	and	CCONJ
fumecheng-10846	193	23	that	that	SCONJ
fumecheng-10846	193	24	the	the	DET
fumecheng-10846	193	25	control	control	NOUN
fumecheng-10846	193	26	law	law	NOUN
fumecheng-10846	193	27	is	be	AUX
fumecheng-10846	193	28	given	give	VERB
fumecheng-10846	193	29	by	by	ADP
fumecheng-10846	193	30	eqs	eqs	PROPN
fumecheng-10846	193	31	.	.	PUNCT
fumecheng-10846	194	1	(	(	PUNCT
fumecheng-10846	194	2	24	24	NUM
fumecheng-10846	194	3	)	)	PUNCT
fumecheng-10846	194	4	,	,	PUNCT
fumecheng-10846	194	5	(	(	PUNCT
fumecheng-10846	194	6	30	30	NUM
fumecheng-10846	194	7	)	)	PUNCT
fumecheng-10846	194	8	,	,	PUNCT
fumecheng-10846	194	9	and	and	CCONJ
fumecheng-10846	194	10	(	(	PUNCT
fumecheng-10846	194	11	35	35	NUM
fumecheng-10846	194	12	)	)	PUNCT
fumecheng-10846	194	13	render	render	VERB
fumecheng-10846	194	14	its	its	PRON
fumecheng-10846	194	15	derivative	derivative	ADJ
fumecheng-10846	194	16	negative	negative	ADJ
fumecheng-10846	194	17	semidefinite	semidefinite	NOUN
fumecheng-10846	195	1	[	[	X
fumecheng-10846	195	2	9	9	NUM
fumecheng-10846	195	3	,	,	PUNCT
fumecheng-10846	195	4	11	11	NUM
fumecheng-10846	195	5	]	]	SYM
fumecheng-10846	195	6	4	4	NUM
fumecheng-10846	195	7	.	.	X
fumecheng-10846	195	8	selection	selection	NOUN
fumecheng-10846	195	9	of	of	ADP
fumecheng-10846	195	10	the	the	DET
fumecheng-10846	195	11	design	design	NOUN
fumecheng-10846	195	12	parameters	parameter	NOUN
fumecheng-10846	195	13	before	before	SCONJ
fumecheng-10846	195	14	we	we	PRON
fumecheng-10846	195	15	start	start	VERB
fumecheng-10846	195	16	with	with	ADP
fumecheng-10846	195	17	the	the	DET
fumecheng-10846	195	18	selection	selection	NOUN
fumecheng-10846	195	19	of	of	ADP
fumecheng-10846	195	20	the	the	DET
fumecheng-10846	195	21	parameters	parameter	NOUN
fumecheng-10846	195	22	of	of	ADP
fumecheng-10846	195	23	the	the	DET
fumecheng-10846	195	24	backstepping	backstepping	NOUN
fumecheng-10846	195	25	controller	controller	NOUN
fumecheng-10846	195	26	the	the	DET
fumecheng-10846	195	27	desired	desire	VERB
fumecheng-10846	195	28	dynamic	dynamic	ADJ
fumecheng-10846	195	29	behavior	behavior	NOUN
fumecheng-10846	195	30	of	of	ADP
fumecheng-10846	195	31	the	the	DET
fumecheng-10846	195	32	system	system	NOUN
fumecheng-10846	195	33	should	should	AUX
fumecheng-10846	195	34	be	be	AUX
fumecheng-10846	195	35	discussed	discuss	VERB
fumecheng-10846	195	36	first	first	ADV
fumecheng-10846	195	37	.	.	PUNCT
fumecheng-10846	196	1	different	different	ADJ
fumecheng-10846	196	2	authors	author	NOUN
fumecheng-10846	196	3	proposed	propose	VERB
fumecheng-10846	196	4	different	different	ADJ
fumecheng-10846	196	5	approaches	approach	NOUN
fumecheng-10846	196	6	to	to	ADP
fumecheng-10846	196	7	selecting	select	VERB
fumecheng-10846	196	8	the	the	DET
fumecheng-10846	196	9	proper	proper	ADJ
fumecheng-10846	196	10	controller	controller	NOUN
fumecheng-10846	196	11	and	and	CCONJ
fumecheng-10846	196	12	parameters	parameter	NOUN
fumecheng-10846	196	13	for	for	ADP
fumecheng-10846	196	14	it	it	PRON
fumecheng-10846	196	15	[	[	X
fumecheng-10846	196	16	23	23	NUM
fumecheng-10846	196	17	,	,	PUNCT
fumecheng-10846	196	18	24	24	NUM
fumecheng-10846	196	19	]	]	PUNCT
fumecheng-10846	196	20	.	.	PUNCT
fumecheng-10846	197	1	references	reference	NOUN
fumecheng-10846	197	2	of	of	ADP
fumecheng-10846	197	3	servo	servo	NOUN
fumecheng-10846	197	4	-	-	PUNCT
fumecheng-10846	197	5	hydraulic	hydraulic	ADJ
fumecheng-10846	197	6	drives	drive	NOUN
fumecheng-10846	197	7	are	be	AUX
fumecheng-10846	197	8	mostly	mostly	ADV
fumecheng-10846	197	9	:	:	PUNCT
fumecheng-10846	197	10	step	step	NOUN
fumecheng-10846	197	11	,	,	PUNCT
fumecheng-10846	197	12	ramp	ramp	NOUN
fumecheng-10846	197	13	,	,	PUNCT
fumecheng-10846	197	14	and	and	CCONJ
fumecheng-10846	197	15	sinusoidal	sinusoidal	ADJ
fumecheng-10846	197	16	signals	signal	NOUN
fumecheng-10846	197	17	.	.	PUNCT
fumecheng-10846	198	1	by	by	ADP
fumecheng-10846	198	2	use	use	NOUN
fumecheng-10846	198	3	of	of	ADP
fumecheng-10846	198	4	conventional	conventional	ADJ
fumecheng-10846	198	5	controllers	controller	NOUN
fumecheng-10846	198	6	such	such	ADJ
fumecheng-10846	198	7	as	as	ADP
fumecheng-10846	198	8	pid	pid	NOUN
fumecheng-10846	198	9	controllers	controller	NOUN
fumecheng-10846	198	10	,	,	PUNCT
fumecheng-10846	198	11	the	the	DET
fumecheng-10846	198	12	control	control	NOUN
fumecheng-10846	198	13	parameters	parameter	NOUN
fumecheng-10846	198	14	should	should	AUX
fumecheng-10846	198	15	be	be	AUX
fumecheng-10846	198	16	selected	select	VERB
fumecheng-10846	198	17	according	accord	VERB
fumecheng-10846	198	18	to	to	ADP
fumecheng-10846	198	19	the	the	DET
fumecheng-10846	198	20	dynamic	dynamic	ADJ
fumecheng-10846	198	21	characteristics	characteristic	NOUN
fumecheng-10846	198	22	of	of	ADP
fumecheng-10846	198	23	the	the	DET
fumecheng-10846	198	24	hydraulic	hydraulic	ADJ
fumecheng-10846	198	25	drive	drive	NOUN
fumecheng-10846	198	26	.	.	PUNCT
fumecheng-10846	199	1	in	in	ADP
fumecheng-10846	199	2	the	the	DET
fumecheng-10846	199	3	case	case	NOUN
fumecheng-10846	199	4	of	of	ADP
fumecheng-10846	199	5	positioning	position	VERB
fumecheng-10846	199	6	the	the	DET
fumecheng-10846	199	7	system	system	NOUN
fumecheng-10846	199	8	contains	contain	VERB
fumecheng-10846	199	9	an	an	DET
fumecheng-10846	199	10	integral	integral	ADJ
fumecheng-10846	199	11	dynamic	dynamic	ADJ
fumecheng-10846	199	12	behavior	behavior	NOUN
fumecheng-10846	199	13	.	.	PUNCT
fumecheng-10846	200	1	the	the	DET
fumecheng-10846	200	2	tuning	tuning	NOUN
fumecheng-10846	200	3	method	method	NOUN
fumecheng-10846	200	4	of	of	ADP
fumecheng-10846	200	5	the	the	DET
fumecheng-10846	200	6	pid	pid	NOUN
fumecheng-10846	200	7	controller	controller	NOUN
fumecheng-10846	200	8	is	be	AUX
fumecheng-10846	200	9	based	base	VERB
fumecheng-10846	200	10	on	on	ADP
fumecheng-10846	200	11	the	the	DET
fumecheng-10846	200	12	fact	fact	NOUN
fumecheng-10846	200	13	that	that	SCONJ
fumecheng-10846	200	14	i	i	PRON
fumecheng-10846	200	15	part	part	NOUN
fumecheng-10846	200	16	of	of	ADP
fumecheng-10846	200	17	the	the	DET
fumecheng-10846	200	18	controller	controller	NOUN
fumecheng-10846	200	19	should	should	AUX
fumecheng-10846	200	20	be	be	AUX
fumecheng-10846	200	21	avoided	avoid	VERB
fumecheng-10846	200	22	due	due	ADP
fumecheng-10846	200	23	to	to	ADP
fumecheng-10846	200	24	stability	stability	NOUN
fumecheng-10846	200	25	reasons	reason	NOUN
fumecheng-10846	200	26	.	.	PUNCT
fumecheng-10846	201	1	also	also	ADV
fumecheng-10846	201	2	,	,	PUNCT
fumecheng-10846	201	3	the	the	DET
fumecheng-10846	201	4	d	d	X
fumecheng-10846	201	5	part	part	NOUN
fumecheng-10846	201	6	of	of	ADP
fumecheng-10846	201	7	the	the	DET
fumecheng-10846	201	8	controller	controller	NOUN
fumecheng-10846	201	9	should	should	AUX
fumecheng-10846	201	10	be	be	AUX
fumecheng-10846	201	11	avoided	avoid	VERB
fumecheng-10846	201	12	due	due	ADP
fumecheng-10846	201	13	to	to	PART
fumecheng-10846	201	14	signal	signal	VERB
fumecheng-10846	201	15	noise	noise	NOUN
fumecheng-10846	201	16	and	and	CCONJ
fumecheng-10846	201	17	the	the	DET
fumecheng-10846	201	18	low	low	ADJ
fumecheng-10846	201	19	damping	damp	VERB
fumecheng-10846	201	20	factor	factor	NOUN
fumecheng-10846	201	21	of	of	ADP
fumecheng-10846	201	22	the	the	DET
fumecheng-10846	201	23	hydraulic	hydraulic	ADJ
fumecheng-10846	201	24	system	system	NOUN
fumecheng-10846	201	25	.	.	PUNCT
fumecheng-10846	202	1	in	in	ADP
fumecheng-10846	202	2	some	some	DET
fumecheng-10846	202	3	special	special	ADJ
fumecheng-10846	202	4	cases	case	NOUN
fumecheng-10846	202	5	,	,	PUNCT
fumecheng-10846	202	6	it	it	PRON
fumecheng-10846	202	7	is	be	AUX
fumecheng-10846	202	8	also	also	ADV
fumecheng-10846	202	9	possible	possible	ADJ
fumecheng-10846	202	10	to	to	PART
fumecheng-10846	202	11	use	use	VERB
fumecheng-10846	202	12	a	a	DET
fumecheng-10846	202	13	lag	lag	NOUN
fumecheng-10846	202	14	-	-	PUNCT
fumecheng-10846	202	15	lead	lead	NOUN
fumecheng-10846	202	16	controller	controller	NOUN
fumecheng-10846	202	17	.	.	PUNCT
fumecheng-10846	203	1	generally	generally	ADV
fumecheng-10846	203	2	,	,	PUNCT
fumecheng-10846	203	3	only	only	ADV
fumecheng-10846	203	4	the	the	DET
fumecheng-10846	203	5	p	p	ADJ
fumecheng-10846	203	6	part	part	NOUN
fumecheng-10846	203	7	of	of	ADP
fumecheng-10846	203	8	the	the	DET
fumecheng-10846	203	9	pid	pid	NOUN
fumecheng-10846	203	10	controller	controller	NOUN
fumecheng-10846	203	11	is	be	AUX
fumecheng-10846	203	12	appropriate	appropriate	ADJ
fumecheng-10846	203	13	for	for	ADP
fumecheng-10846	203	14	position	position	NOUN
fumecheng-10846	203	15	control	control	NOUN
fumecheng-10846	203	16	.	.	PUNCT
fumecheng-10846	204	1	in	in	ADP
fumecheng-10846	204	2	most	most	ADJ
fumecheng-10846	204	3	industrial	industrial	ADJ
fumecheng-10846	204	4	cases	case	NOUN
fumecheng-10846	204	5	the	the	DET
fumecheng-10846	204	6	selection	selection	NOUN
fumecheng-10846	204	7	of	of	ADP
fumecheng-10846	204	8	the	the	DET
fumecheng-10846	204	9	gain	gain	NOUN
fumecheng-10846	204	10	factor	factor	NOUN
fumecheng-10846	204	11	of	of	ADP
fumecheng-10846	204	12	the	the	DET
fumecheng-10846	204	13	p	p	ADJ
fumecheng-10846	204	14	controller	controller	NOUN
fumecheng-10846	204	15	should	should	AUX
fumecheng-10846	204	16	follow	follow	VERB
fumecheng-10846	204	17	the	the	DET
fumecheng-10846	204	18	demand	demand	NOUN
fumecheng-10846	204	19	of	of	ADP
fumecheng-10846	204	20	the	the	DET
fumecheng-10846	204	21	aperiodic	aperiodic	ADJ
fumecheng-10846	204	22	step	step	NOUN
fumecheng-10846	204	23	response	response	NOUN
fumecheng-10846	204	24	without	without	ADP
fumecheng-10846	204	25	any	any	DET
fumecheng-10846	204	26	overshoot	overshoot	NOUN
fumecheng-10846	204	27	.	.	PUNCT
fumecheng-10846	205	1	to	to	PART
fumecheng-10846	205	2	achieve	achieve	VERB
fumecheng-10846	205	3	these	these	PRON
fumecheng-10846	205	4	,	,	PUNCT
fumecheng-10846	205	5	only	only	ADV
fumecheng-10846	205	6	small	small	ADJ
fumecheng-10846	205	7	gain	gain	NOUN
fumecheng-10846	205	8	factors	factor	NOUN
fumecheng-10846	205	9	of	of	ADP
fumecheng-10846	205	10	the	the	DET
fumecheng-10846	205	11	p	p	NOUN
fumecheng-10846	205	12	controller	controller	NOUN
fumecheng-10846	205	13	can	can	AUX
fumecheng-10846	205	14	be	be	AUX
fumecheng-10846	205	15	applied	apply	VERB
fumecheng-10846	205	16	.	.	PUNCT
fumecheng-10846	206	1	similarly	similarly	ADV
fumecheng-10846	206	2	,	,	PUNCT
fumecheng-10846	206	3	the	the	DET
fumecheng-10846	206	4	same	same	ADJ
fumecheng-10846	206	5	restrictions	restriction	NOUN
fumecheng-10846	206	6	about	about	ADP
fumecheng-10846	206	7	the	the	DET
fumecheng-10846	206	8	dynamic	dynamic	ADJ
fumecheng-10846	206	9	response	response	NOUN
fumecheng-10846	206	10	of	of	ADP
fumecheng-10846	206	11	the	the	DET
fumecheng-10846	206	12	ehs	ehs	NOUN
fumecheng-10846	206	13	system	system	NOUN
fumecheng-10846	206	14	are	be	AUX
fumecheng-10846	206	15	taken	take	VERB
fumecheng-10846	206	16	into	into	ADP
fumecheng-10846	206	17	account	account	NOUN
fumecheng-10846	206	18	in	in	ADP
fumecheng-10846	206	19	the	the	DET
fumecheng-10846	206	20	case	case	NOUN
fumecheng-10846	206	21	of	of	ADP
fumecheng-10846	206	22	the	the	DET
fumecheng-10846	206	23	lyapunov	lyapunov	NOUN
fumecheng-10846	206	24	-	-	PUNCT
fumecheng-10846	206	25	based	base	VERB
fumecheng-10846	206	26	backstepping	backstepping	NOUN
fumecheng-10846	206	27	controller	controller	NOUN
fumecheng-10846	206	28	.	.	PUNCT
fumecheng-10846	207	1	to	to	PART
fumecheng-10846	207	2	choose	choose	VERB
fumecheng-10846	207	3	the	the	DET
fumecheng-10846	207	4	design	design	NOUN
fumecheng-10846	207	5	parameters	parameter	NOUN
fumecheng-10846	207	6	of	of	ADP
fumecheng-10846	207	7	the	the	DET
fumecheng-10846	207	8	above	above	ADV
fumecheng-10846	207	9	-	-	PUNCT
fumecheng-10846	207	10	developed	develop	VERB
fumecheng-10846	207	11	lyapunov	lyapunov	NOUN
fumecheng-10846	207	12	-	-	PUNCT
fumecheng-10846	207	13	based	base	VERB
fumecheng-10846	207	14	position	position	NOUN
fumecheng-10846	207	15	tracking	tracking	NOUN
fumecheng-10846	207	16	controller	controller	NOUN
fumecheng-10846	207	17	we	we	PRON
fumecheng-10846	207	18	should	should	AUX
fumecheng-10846	207	19	inspect	inspect	VERB
fumecheng-10846	207	20	the	the	DET
fumecheng-10846	207	21	closed	close	VERB
fumecheng-10846	207	22	-	-	PUNCT
fumecheng-10846	207	23	loop	loop	NOUN
fumecheng-10846	207	24	equations	equation	NOUN
fumecheng-10846	207	25	again	again	ADV
fumecheng-10846	207	26	.	.	PUNCT
fumecheng-10846	208	1	in	in	ADP
fumecheng-10846	208	2	our	our	PRON
fumecheng-10846	208	3	case	case	NOUN
fumecheng-10846	208	4	,	,	PUNCT
fumecheng-10846	208	5	we	we	PRON
fumecheng-10846	208	6	have	have	VERB
fumecheng-10846	208	7	two	two	NUM
fumecheng-10846	208	8	virtual	virtual	ADJ
fumecheng-10846	208	9	control	control	NOUN
fumecheng-10846	208	10	equations	equation	NOUN
fumecheng-10846	208	11	1	1	PUNCT
fumecheng-10846	208	12	(	(	PUNCT
fumecheng-10846	208	13	24	24	NUM
fumecheng-10846	208	14	)	)	PUNCT
fumecheng-10846	208	15	,	,	PUNCT
fumecheng-10846	208	16	2	2	X
fumecheng-10846	208	17	(	(	PUNCT
fumecheng-10846	208	18	30	30	NUM
fumecheng-10846	208	19	)	)	PUNCT
fumecheng-10846	208	20	,	,	PUNCT
fumecheng-10846	208	21	with	with	ADP
fumecheng-10846	208	22	final	final	ADJ
fumecheng-10846	208	23	control	control	NOUN
fumecheng-10846	208	24	law	law	NOUN
fumecheng-10846	208	25	(	(	PUNCT
fumecheng-10846	208	26	35	35	NUM
fumecheng-10846	208	27	)	)	PUNCT
fumecheng-10846	208	28	which	which	PRON
fumecheng-10846	208	29	contains	contain	VERB
fumecheng-10846	208	30	three	three	NUM
fumecheng-10846	208	31	tuning	tuning	NOUN
fumecheng-10846	208	32	parameters	parameter	NOUN
fumecheng-10846	208	33	k1	k1	NOUN
fumecheng-10846	208	34	,	,	PUNCT
fumecheng-10846	208	35	k2	k2	PROPN
fumecheng-10846	208	36	,	,	PUNCT
fumecheng-10846	208	37	k3	k3	PROPN
fumecheng-10846	208	38	.	.	PUNCT
fumecheng-10846	209	1	k1	k1	PROPN
fumecheng-10846	209	2	,	,	PUNCT
fumecheng-10846	209	3	k2	k2	NOUN
fumecheng-10846	209	4	,	,	PUNCT
fumecheng-10846	209	5	k3	k3	NOUN
fumecheng-10846	209	6	were	be	AUX
fumecheng-10846	209	7	determined	determine	VERB
fumecheng-10846	209	8	by	by	ADP
fumecheng-10846	209	9	an	an	DET
fumecheng-10846	209	10	experimental	experimental	ADJ
fumecheng-10846	209	11	computer	computer	NOUN
fumecheng-10846	209	12	simulation	simulation	NOUN
fumecheng-10846	209	13	method	method	NOUN
fumecheng-10846	209	14	.	.	PUNCT
fumecheng-10846	210	1	in	in	ADP
fumecheng-10846	210	2	the	the	DET
fumecheng-10846	210	3	beginning	beginning	NOUN
fumecheng-10846	210	4	,	,	PUNCT
fumecheng-10846	210	5	we	we	PRON
fumecheng-10846	210	6	choose	choose	VERB
fumecheng-10846	210	7	a	a	DET
fumecheng-10846	210	8	step	step	NOUN
fumecheng-10846	210	9	reference	reference	NOUN
fumecheng-10846	210	10	signal	signal	NOUN
fumecheng-10846	210	11	with	with	ADP
fumecheng-10846	210	12	a	a	DET
fumecheng-10846	210	13	magnitude	magnitude	NOUN
fumecheng-10846	210	14	of	of	ADP
fumecheng-10846	210	15	1	1	NUM
fumecheng-10846	210	16	mm	mm	NOUN
fumecheng-10846	210	17	.	.	PUNCT
fumecheng-10846	211	1	this	this	DET
fumecheng-10846	211	2	value	value	NOUN
fumecheng-10846	211	3	corresponds	correspond	VERB
fumecheng-10846	211	4	to	to	ADP
fumecheng-10846	211	5	velocity	velocity	NOUN
fumecheng-10846	211	6	error	error	NOUN
fumecheng-10846	211	7	by	by	ADP
fumecheng-10846	211	8	the	the	DET
fumecheng-10846	211	9	ramp	ramp	NOUN
fumecheng-10846	211	10	reference	reference	NOUN
fumecheng-10846	211	11	signal	signal	NOUN
fumecheng-10846	211	12	.	.	PUNCT
fumecheng-10846	212	1	starting	start	VERB
fumecheng-10846	212	2	point	point	NOUN
fumecheng-10846	212	3	where	where	SCONJ
fumecheng-10846	212	4	a	a	DET
fumecheng-10846	212	5	selection	selection	NOUN
fumecheng-10846	212	6	of	of	ADP
fumecheng-10846	212	7	equal	equal	ADJ
fumecheng-10846	212	8	values	value	NOUN
fumecheng-10846	212	9	of	of	ADP
fumecheng-10846	212	10	all	all	DET
fumecheng-10846	212	11	three	three	NUM
fumecheng-10846	212	12	parameters	parameter	NOUN
fumecheng-10846	212	13	k1	k1	NOUN
fumecheng-10846	212	14	=	=	SYM
fumecheng-10846	212	15	k2	k2	NOUN
fumecheng-10846	212	16	=	=	PUNCT
fumecheng-10846	212	17	k3.the	k3.the	DET
fumecheng-10846	212	18	result	result	NOUN
fumecheng-10846	212	19	is	be	AUX
fumecheng-10846	212	20	shown	show	VERB
fumecheng-10846	212	21	in	in	ADP
fumecheng-10846	212	22	fig.4	fig.4	PROPN
fumecheng-10846	212	23	.	.	PROPN
fumecheng-10846	212	24	12	12	NUM
fumecheng-10846	212	25	m.	m.	NOUN
fumecheng-10846	212	26	kastrevc	kastrevc	PROPN
fumecheng-10846	212	27	,	,	PUNCT
fumecheng-10846	212	28	n.	n.	PROPN
fumecheng-10846	212	29	gubeljak	gubeljak	PROPN
fumecheng-10846	212	30	,	,	PUNCT
fumecheng-10846	212	31	e.	e.	PROPN
fumecheng-10846	212	32	detiček	detiček	PROPN
fumecheng-10846	212	33	fig	fig	PROPN
fumecheng-10846	212	34	.	.	PUNCT
fumecheng-10846	213	1	4	4	NUM
fumecheng-10846	213	2	step	step	NOUN
fumecheng-10846	213	3	response	response	NOUN
fumecheng-10846	213	4	of	of	ADP
fumecheng-10846	213	5	ehs	ehs	NOUN
fumecheng-10846	213	6	system	system	NOUN
fumecheng-10846	213	7	by	by	ADP
fumecheng-10846	213	8	the	the	DET
fumecheng-10846	213	9	backstepping	backstepping	NOUN
fumecheng-10846	213	10	controller	controller	NOUN
fumecheng-10846	213	11	in	in	ADP
fumecheng-10846	213	12	fig	fig	NOUN
fumecheng-10846	213	13	.	.	PUNCT
fumecheng-10846	214	1	4	4	NUM
fumecheng-10846	214	2	p	p	NOUN
fumecheng-10846	214	3	-	-	PUNCT
fumecheng-10846	214	4	cont	cont	NOUN
fumecheng-10846	214	5	.	.	PUNCT
fumecheng-10846	215	1	means	mean	VERB
fumecheng-10846	215	2	p	p	NOUN
fumecheng-10846	215	3	controller	controller	NOUN
fumecheng-10846	215	4	with	with	ADP
fumecheng-10846	215	5	amplification	amplification	NOUN
fumecheng-10846	215	6	k	k	PROPN
fumecheng-10846	215	7	is	be	AUX
fumecheng-10846	215	8	equal	equal	ADJ
fumecheng-10846	215	9	to	to	ADP
fumecheng-10846	215	10	kp	kp	PROPN
fumecheng-10846	215	11	.	.	PUNCT
fumecheng-10846	216	1	the	the	DET
fumecheng-10846	216	2	notification	notification	NOUN
fumecheng-10846	216	3	bs-1	bs-1	NOUN
fumecheng-10846	216	4	,	,	PUNCT
fumecheng-10846	216	5	bs-2	bs-2	PUNCT
fumecheng-10846	216	6	and	and	CCONJ
fumecheng-10846	216	7	bs-3	bs-3	VERB
fumecheng-10846	216	8	represents	represent	VERB
fumecheng-10846	216	9	backstepping	backstepping	NOUN
fumecheng-10846	216	10	controllers	controller	NOUN
fumecheng-10846	216	11	with	with	ADP
fumecheng-10846	216	12	different	different	ADJ
fumecheng-10846	216	13	parameters	parameter	NOUN
fumecheng-10846	216	14	k1	k1	X
fumecheng-10846	216	15	,	,	PUNCT
fumecheng-10846	216	16	k2	k2	NOUN
fumecheng-10846	216	17	and	and	CCONJ
fumecheng-10846	216	18	k3	k3	PROPN
fumecheng-10846	216	19	.	.	PUNCT
fumecheng-10846	217	1	aiming	aim	VERB
fumecheng-10846	217	2	at	at	ADP
fumecheng-10846	217	3	achieving	achieve	VERB
fumecheng-10846	217	4	a	a	DET
fumecheng-10846	217	5	fast	fast	ADJ
fumecheng-10846	217	6	response	response	NOUN
fumecheng-10846	217	7	we	we	PRON
fumecheng-10846	217	8	try	try	VERB
fumecheng-10846	217	9	with	with	ADP
fumecheng-10846	217	10	a	a	DET
fumecheng-10846	217	11	higher	high	ADJ
fumecheng-10846	217	12	value	value	NOUN
fumecheng-10846	217	13	of	of	ADP
fumecheng-10846	217	14	k2	k2	NOUN
fumecheng-10846	217	15	,	,	PUNCT
fumecheng-10846	217	16	while	while	SCONJ
fumecheng-10846	217	17	k1	k1	ADJ
fumecheng-10846	217	18	and	and	CCONJ
fumecheng-10846	217	19	k3	k3	ADJ
fumecheng-10846	217	20	remain	remain	VERB
fumecheng-10846	217	21	the	the	DET
fumecheng-10846	217	22	same	same	ADJ
fumecheng-10846	217	23	as	as	ADP
fumecheng-10846	217	24	in	in	ADP
fumecheng-10846	217	25	the	the	DET
fumecheng-10846	217	26	previous	previous	ADJ
fumecheng-10846	217	27	experiment	experiment	NOUN
fumecheng-10846	217	28	(	(	PUNCT
fumecheng-10846	217	29	fig	fig	NOUN
fumecheng-10846	217	30	.	.	PUNCT
fumecheng-10846	217	31	5	5	NUM
fumecheng-10846	217	32	)	)	PUNCT
fumecheng-10846	217	33	.	.	PUNCT
fumecheng-10846	218	1	in	in	ADP
fumecheng-10846	218	2	the	the	DET
fumecheng-10846	218	3	next	next	ADJ
fumecheng-10846	218	4	step	step	NOUN
fumecheng-10846	218	5	,	,	PUNCT
fumecheng-10846	218	6	we	we	PRON
fumecheng-10846	218	7	try	try	VERB
fumecheng-10846	218	8	with	with	ADP
fumecheng-10846	218	9	different	different	ADJ
fumecheng-10846	218	10	values	value	NOUN
fumecheng-10846	218	11	of	of	ADP
fumecheng-10846	218	12	k3	k3	PROPN
fumecheng-10846	218	13	(	(	PUNCT
fumecheng-10846	218	14	fig	fig	NOUN
fumecheng-10846	218	15	.	.	PUNCT
fumecheng-10846	219	1	6	6	NUM
fumecheng-10846	219	2	)	)	PUNCT
fumecheng-10846	219	3	.	.	PUNCT
fumecheng-10846	220	1	higher	high	ADJ
fumecheng-10846	220	2	values	value	NOUN
fumecheng-10846	220	3	of	of	ADP
fumecheng-10846	220	4	k2	k2	ADJ
fumecheng-10846	220	5	increase	increase	NOUN
fumecheng-10846	220	6	dynamic	dynamic	ADJ
fumecheng-10846	220	7	response	response	NOUN
fumecheng-10846	220	8	(	(	PUNCT
fumecheng-10846	220	9	fig	fig	NOUN
fumecheng-10846	220	10	.	.	PUNCT
fumecheng-10846	220	11	5	5	NUM
fumecheng-10846	220	12	)	)	PUNCT
fumecheng-10846	220	13	.	.	PUNCT
fumecheng-10846	221	1	higher	high	ADJ
fumecheng-10846	221	2	values	value	NOUN
fumecheng-10846	221	3	of	of	ADP
fumecheng-10846	221	4	k3	k3	NOUN
fumecheng-10846	221	5	increase	increase	VERB
fumecheng-10846	221	6	the	the	DET
fumecheng-10846	221	7	damping	damp	VERB
fumecheng-10846	221	8	factor	factor	NOUN
fumecheng-10846	221	9	(	(	PUNCT
fumecheng-10846	221	10	fig	fig	NOUN
fumecheng-10846	221	11	.	.	PUNCT
fumecheng-10846	222	1	6	6	NUM
fumecheng-10846	222	2	)	)	PUNCT
fumecheng-10846	222	3	.	.	PUNCT
fumecheng-10846	223	1	fig	fig	NOUN
fumecheng-10846	223	2	.	.	PUNCT
fumecheng-10846	224	1	5	5	NUM
fumecheng-10846	224	2	step	step	NOUN
fumecheng-10846	224	3	response	response	NOUN
fumecheng-10846	224	4	of	of	ADP
fumecheng-10846	224	5	ehs	ehs	NOUN
fumecheng-10846	224	6	system	system	NOUN
fumecheng-10846	224	7	by	by	ADP
fumecheng-10846	224	8	different	different	ADJ
fumecheng-10846	224	9	values	value	NOUN
fumecheng-10846	224	10	of	of	ADP
fumecheng-10846	224	11	k2	k2	ADJ
fumecheng-10846	224	12	design	design	NOUN
fumecheng-10846	224	13	and	and	CCONJ
fumecheng-10846	224	14	tuning	tuning	NOUN
fumecheng-10846	224	15	of	of	ADP
fumecheng-10846	224	16	lyapunov	lyapunov	NOUN
fumecheng-10846	224	17	based	base	VERB
fumecheng-10846	224	18	nonlinear	nonlinear	ADJ
fumecheng-10846	224	19	position	position	NOUN
fumecheng-10846	224	20	control	control	NOUN
fumecheng-10846	224	21	of	of	ADP
fumecheng-10846	224	22	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	224	23	servo	servo	NOUN
fumecheng-10846	224	24	systems	system	NOUN
fumecheng-10846	224	25	13	13	NUM
fumecheng-10846	224	26	fig	fig	NOUN
fumecheng-10846	224	27	.	.	PUNCT
fumecheng-10846	225	1	6	6	NUM
fumecheng-10846	225	2	step	step	NOUN
fumecheng-10846	225	3	response	response	NOUN
fumecheng-10846	225	4	of	of	ADP
fumecheng-10846	225	5	ehs	ehs	NOUN
fumecheng-10846	225	6	system	system	NOUN
fumecheng-10846	225	7	by	by	ADP
fumecheng-10846	225	8	different	different	ADJ
fumecheng-10846	225	9	values	value	NOUN
fumecheng-10846	225	10	of	of	ADP
fumecheng-10846	225	11	k3	k3	ADJ
fumecheng-10846	225	12	improvement	improvement	NOUN
fumecheng-10846	225	13	of	of	ADP
fumecheng-10846	225	14	the	the	DET
fumecheng-10846	225	15	previous	previous	ADJ
fumecheng-10846	225	16	result	result	NOUN
fumecheng-10846	225	17	can	can	AUX
fumecheng-10846	225	18	be	be	AUX
fumecheng-10846	225	19	reached	reach	VERB
fumecheng-10846	225	20	by	by	ADP
fumecheng-10846	225	21	increasing	increase	VERB
fumecheng-10846	225	22	both	both	CCONJ
fumecheng-10846	225	23	k2	k2	NOUN
fumecheng-10846	225	24	and	and	CCONJ
fumecheng-10846	225	25	k3	k3	PROPN
fumecheng-10846	225	26	,	,	PUNCT
fumecheng-10846	225	27	see	see	VERB
fumecheng-10846	225	28	fig	fig	NOUN
fumecheng-10846	225	29	.	.	PUNCT
fumecheng-10846	226	1	7	7	X
fumecheng-10846	226	2	.	.	X
fumecheng-10846	226	3	fig	fig	NOUN
fumecheng-10846	226	4	.	.	PUNCT
fumecheng-10846	227	1	7	7	NUM
fumecheng-10846	227	2	step	step	NOUN
fumecheng-10846	227	3	response	response	NOUN
fumecheng-10846	227	4	of	of	ADP
fumecheng-10846	227	5	ehs	ehs	NOUN
fumecheng-10846	227	6	system	system	NOUN
fumecheng-10846	227	7	with	with	ADP
fumecheng-10846	227	8	different	different	ADJ
fumecheng-10846	227	9	values	value	NOUN
fumecheng-10846	227	10	of	of	ADP
fumecheng-10846	227	11	k2	k2	NOUN
fumecheng-10846	227	12	and	and	CCONJ
fumecheng-10846	227	13	k3	k3	PROPN
fumecheng-10846	227	14	finally	finally	ADV
fumecheng-10846	227	15	,	,	PUNCT
fumecheng-10846	227	16	we	we	PRON
fumecheng-10846	227	17	realize	realize	VERB
fumecheng-10846	227	18	the	the	DET
fumecheng-10846	227	19	ramp	ramp	NOUN
fumecheng-10846	227	20	reference	reference	NOUN
fumecheng-10846	227	21	response	response	NOUN
fumecheng-10846	227	22	with	with	ADP
fumecheng-10846	227	23	previous	previous	ADJ
fumecheng-10846	227	24	values	value	NOUN
fumecheng-10846	227	25	of	of	ADP
fumecheng-10846	227	26	k2	k2	NOUN
fumecheng-10846	227	27	and	and	CCONJ
fumecheng-10846	227	28	k3	k3	PROPN
fumecheng-10846	227	29	.	.	PUNCT
fumecheng-10846	228	1	the	the	DET
fumecheng-10846	228	2	results	result	NOUN
fumecheng-10846	228	3	are	be	AUX
fumecheng-10846	228	4	shown	show	VERB
fumecheng-10846	228	5	in	in	ADP
fumecheng-10846	228	6	figs	fig	NOUN
fumecheng-10846	228	7	.	.	PUNCT
fumecheng-10846	229	1	8	8	NUM
fumecheng-10846	229	2	and	and	CCONJ
fumecheng-10846	229	3	9	9	NUM
fumecheng-10846	229	4	.	.	PUNCT
fumecheng-10846	230	1	the	the	DET
fumecheng-10846	230	2	differences	difference	NOUN
fumecheng-10846	230	3	between	between	ADP
fumecheng-10846	230	4	time	time	NOUN
fumecheng-10846	230	5	responses	response	NOUN
fumecheng-10846	230	6	by	by	ADP
fumecheng-10846	230	7	the	the	DET
fumecheng-10846	230	8	p	p	PROPN
fumecheng-10846	230	9	–	–	PUNCT
fumecheng-10846	230	10	controller	controller	NOUN
fumecheng-10846	230	11	and	and	CCONJ
fumecheng-10846	230	12	back	back	ADV
fumecheng-10846	230	13	-	-	PUNCT
fumecheng-10846	230	14	stepping	step	VERB
fumecheng-10846	230	15	controller	controller	NOUN
fumecheng-10846	230	16	are	be	AUX
fumecheng-10846	230	17	brightened	brighten	VERB
fumecheng-10846	230	18	in	in	ADP
fumecheng-10846	230	19	the	the	DET
fumecheng-10846	230	20	detail	detail	NOUN
fumecheng-10846	230	21	.	.	PUNCT
fumecheng-10846	231	1	14	14	NUM
fumecheng-10846	231	2	m.	m.	NOUN
fumecheng-10846	231	3	kastrevc	kastrevc	PROPN
fumecheng-10846	231	4	,	,	PUNCT
fumecheng-10846	231	5	n.	n.	PROPN
fumecheng-10846	231	6	gubeljak	gubeljak	PROPN
fumecheng-10846	231	7	,	,	PUNCT
fumecheng-10846	231	8	e.	e.	PROPN
fumecheng-10846	231	9	detiček	detiček	PROPN
fumecheng-10846	231	10	fig	fig	PROPN
fumecheng-10846	231	11	.	.	PUNCT
fumecheng-10846	231	12	8	8	NUM
fumecheng-10846	231	13	ramp	ramp	NOUN
fumecheng-10846	231	14	response	response	NOUN
fumecheng-10846	231	15	of	of	ADP
fumecheng-10846	231	16	ehs	ehs	NOUN
fumecheng-10846	231	17	system	system	NOUN
fumecheng-10846	231	18	with	with	ADP
fumecheng-10846	231	19	different	different	ADJ
fumecheng-10846	231	20	values	value	NOUN
fumecheng-10846	231	21	of	of	ADP
fumecheng-10846	231	22	k2	k2	NOUN
fumecheng-10846	231	23	and	and	CCONJ
fumecheng-10846	231	24	k3	k3	ADJ
fumecheng-10846	231	25	fig	fig	NOUN
fumecheng-10846	231	26	.	.	PUNCT
fumecheng-10846	232	1	9	9	NUM
fumecheng-10846	232	2	detail	detail	NOUN
fumecheng-10846	232	3	by	by	ADP
fumecheng-10846	232	4	approaching	approach	VERB
fumecheng-10846	232	5	the	the	DET
fumecheng-10846	232	6	final	final	ADJ
fumecheng-10846	232	7	value	value	NOUN
fumecheng-10846	232	8	of	of	ADP
fumecheng-10846	232	9	a	a	DET
fumecheng-10846	232	10	ramp	ramp	NOUN
fumecheng-10846	232	11	response	response	NOUN
fumecheng-10846	232	12	of	of	ADP
fumecheng-10846	232	13	the	the	DET
fumecheng-10846	232	14	ehs	ehs	NOUN
fumecheng-10846	232	15	system	system	NOUN
fumecheng-10846	232	16	with	with	ADP
fumecheng-10846	232	17	different	different	ADJ
fumecheng-10846	232	18	values	value	NOUN
fumecheng-10846	232	19	of	of	ADP
fumecheng-10846	232	20	k2	k2	NOUN
fumecheng-10846	232	21	and	and	CCONJ
fumecheng-10846	232	22	k3	k3	ADJ
fumecheng-10846	232	23	fig	fig	NOUN
fumecheng-10846	232	24	.	.	PUNCT
fumecheng-10846	233	1	10	10	NUM
fumecheng-10846	233	2	shows	show	VERB
fumecheng-10846	233	3	the	the	DET
fumecheng-10846	233	4	response	response	NOUN
fumecheng-10846	233	5	of	of	ADP
fumecheng-10846	233	6	the	the	DET
fumecheng-10846	233	7	system	system	NOUN
fumecheng-10846	233	8	on	on	ADP
fumecheng-10846	233	9	a	a	DET
fumecheng-10846	233	10	sinusoidal	sinusoidal	ADJ
fumecheng-10846	233	11	reference	reference	NOUN
fumecheng-10846	233	12	signal	signal	NOUN
fumecheng-10846	233	13	.	.	PUNCT
fumecheng-10846	234	1	in	in	ADP
fumecheng-10846	234	2	this	this	DET
fumecheng-10846	234	3	case	case	NOUN
fumecheng-10846	234	4	,	,	PUNCT
fumecheng-10846	234	5	we	we	PRON
fumecheng-10846	234	6	use	use	VERB
fumecheng-10846	234	7	the	the	DET
fumecheng-10846	234	8	parameters	parameter	NOUN
fumecheng-10846	234	9	as	as	SCONJ
fumecheng-10846	234	10	were	be	AUX
fumecheng-10846	234	11	used	use	VERB
fumecheng-10846	234	12	in	in	ADP
fumecheng-10846	234	13	previous	previous	ADJ
fumecheng-10846	234	14	cases	case	NOUN
fumecheng-10846	234	15	.	.	PUNCT
fumecheng-10846	235	1	we	we	PRON
fumecheng-10846	235	2	can	can	AUX
fumecheng-10846	235	3	see	see	VERB
fumecheng-10846	235	4	the	the	DET
fumecheng-10846	235	5	influence	influence	NOUN
fumecheng-10846	235	6	of	of	ADP
fumecheng-10846	235	7	nonlinear	nonlinear	ADJ
fumecheng-10846	235	8	control	control	NOUN
fumecheng-10846	235	9	in	in	ADP
fumecheng-10846	235	10	comparison	comparison	NOUN
fumecheng-10846	235	11	to	to	ADP
fumecheng-10846	235	12	the	the	DET
fumecheng-10846	235	13	p	p	NOUN
fumecheng-10846	235	14	controller	controller	NOUN
fumecheng-10846	235	15	.	.	PUNCT
fumecheng-10846	236	1	design	design	NOUN
fumecheng-10846	236	2	and	and	CCONJ
fumecheng-10846	236	3	tuning	tuning	NOUN
fumecheng-10846	236	4	of	of	ADP
fumecheng-10846	236	5	lyapunov	lyapunov	NOUN
fumecheng-10846	236	6	based	base	VERB
fumecheng-10846	236	7	nonlinear	nonlinear	ADJ
fumecheng-10846	236	8	position	position	NOUN
fumecheng-10846	236	9	control	control	NOUN
fumecheng-10846	236	10	of	of	ADP
fumecheng-10846	236	11	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	236	12	servo	servo	NOUN
fumecheng-10846	236	13	systems	system	NOUN
fumecheng-10846	236	14	15	15	NUM
fumecheng-10846	236	15	fig	fig	NOUN
fumecheng-10846	236	16	.	.	PUNCT
fumecheng-10846	237	1	10	10	NUM
fumecheng-10846	237	2	sinus	sinus	NOUN
fumecheng-10846	237	3	reference	reference	NOUN
fumecheng-10846	237	4	response	response	NOUN
fumecheng-10846	237	5	of	of	ADP
fumecheng-10846	237	6	ehs	ehs	PROPN
fumecheng-10846	237	7	as	as	SCONJ
fumecheng-10846	237	8	shown	show	VERB
fumecheng-10846	237	9	in	in	ADP
fumecheng-10846	237	10	figs	fig	NOUN
fumecheng-10846	237	11	.	.	PUNCT
fumecheng-10846	238	1	9	9	NUM
fumecheng-10846	238	2	and	and	CCONJ
fumecheng-10846	238	3	10	10	NUM
fumecheng-10846	238	4	,	,	PUNCT
fumecheng-10846	238	5	the	the	DET
fumecheng-10846	238	6	behavior	behavior	NOUN
fumecheng-10846	238	7	of	of	ADP
fumecheng-10846	238	8	the	the	DET
fumecheng-10846	238	9	system	system	NOUN
fumecheng-10846	238	10	controlled	control	VERB
fumecheng-10846	238	11	with	with	ADP
fumecheng-10846	238	12	the	the	DET
fumecheng-10846	238	13	backstepping	backstepping	NOUN
fumecheng-10846	238	14	controller	controller	NOUN
fumecheng-10846	238	15	is	be	AUX
fumecheng-10846	238	16	significantly	significantly	ADV
fumecheng-10846	238	17	better	well	ADJ
fumecheng-10846	238	18	than	than	ADP
fumecheng-10846	238	19	from	from	ADP
fumecheng-10846	238	20	linear	linear	PROPN
fumecheng-10846	238	21	p	p	NOUN
fumecheng-10846	238	22	controller	controller	NOUN
fumecheng-10846	238	23	.	.	PUNCT
fumecheng-10846	239	1	we	we	PRON
fumecheng-10846	239	2	can	can	AUX
fumecheng-10846	239	3	see	see	VERB
fumecheng-10846	239	4	that	that	SCONJ
fumecheng-10846	239	5	the	the	DET
fumecheng-10846	239	6	chosen	choose	VERB
fumecheng-10846	239	7	parameters	parameter	NOUN
fumecheng-10846	239	8	enabled	enable	VERB
fumecheng-10846	239	9	better	well	ADJ
fumecheng-10846	239	10	dynamical	dynamical	ADJ
fumecheng-10846	239	11	behavior	behavior	NOUN
fumecheng-10846	239	12	of	of	ADP
fumecheng-10846	239	13	the	the	DET
fumecheng-10846	239	14	system	system	NOUN
fumecheng-10846	239	15	.	.	PUNCT
fumecheng-10846	240	1	the	the	DET
fumecheng-10846	240	2	parameters	parameter	NOUN
fumecheng-10846	240	3	with	with	ADP
fumecheng-10846	240	4	equal	equal	ADJ
fumecheng-10846	240	5	values	value	NOUN
fumecheng-10846	240	6	of	of	ADP
fumecheng-10846	240	7	k	k	PROPN
fumecheng-10846	240	8	(	(	PUNCT
fumecheng-10846	240	9	k1	k1	NOUN
fumecheng-10846	240	10	=	=	SYM
fumecheng-10846	240	11	k2	k2	NOUN
fumecheng-10846	240	12	=	=	SYM
fumecheng-10846	240	13	k3	k3	PROPN
fumecheng-10846	240	14	)	)	PUNCT
fumecheng-10846	240	15	give	give	VERB
fumecheng-10846	240	16	a	a	DET
fumecheng-10846	240	17	better	well	ADJ
fumecheng-10846	240	18	dynamical	dynamical	ADJ
fumecheng-10846	240	19	response	response	NOUN
fumecheng-10846	240	20	than	than	ADP
fumecheng-10846	240	21	the	the	DET
fumecheng-10846	240	22	p	p	NOUN
fumecheng-10846	240	23	controller	controller	NOUN
fumecheng-10846	240	24	.	.	PUNCT
fumecheng-10846	241	1	however	however	ADV
fumecheng-10846	241	2	,	,	PUNCT
fumecheng-10846	241	3	the	the	DET
fumecheng-10846	241	4	comparison	comparison	NOUN
fumecheng-10846	241	5	of	of	ADP
fumecheng-10846	241	6	both	both	PRON
fumecheng-10846	241	7	shows	show	VERB
fumecheng-10846	241	8	significant	significant	ADJ
fumecheng-10846	241	9	improvement	improvement	NOUN
fumecheng-10846	241	10	of	of	ADP
fumecheng-10846	241	11	system	system	NOUN
fumecheng-10846	241	12	dynamic	dynamic	ADJ
fumecheng-10846	241	13	behavior	behavior	NOUN
fumecheng-10846	241	14	in	in	ADP
fumecheng-10846	241	15	the	the	DET
fumecheng-10846	241	16	case	case	NOUN
fumecheng-10846	241	17	of	of	ADP
fumecheng-10846	241	18	backstepping	backstepping	NOUN
fumecheng-10846	241	19	controllers	controller	NOUN
fumecheng-10846	241	20	.	.	PUNCT
fumecheng-10846	242	1	5	5	X
fumecheng-10846	242	2	.	.	X
fumecheng-10846	242	3	conclusion	conclusion	NOUN
fumecheng-10846	242	4	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	242	5	servo	servo	NOUN
fumecheng-10846	242	6	actuators	actuator	NOUN
fumecheng-10846	242	7	will	will	AUX
fumecheng-10846	242	8	still	still	ADV
fumecheng-10846	242	9	be	be	AUX
fumecheng-10846	242	10	the	the	DET
fumecheng-10846	242	11	right	right	ADJ
fumecheng-10846	242	12	choice	choice	NOUN
fumecheng-10846	242	13	for	for	ADP
fumecheng-10846	242	14	many	many	ADJ
fumecheng-10846	242	15	application	application	NOUN
fumecheng-10846	242	16	domains	domain	NOUN
fumecheng-10846	242	17	,	,	PUNCT
fumecheng-10846	242	18	for	for	ADP
fumecheng-10846	242	19	many	many	ADJ
fumecheng-10846	242	20	years	year	NOUN
fumecheng-10846	242	21	.	.	PUNCT
fumecheng-10846	243	1	the	the	DET
fumecheng-10846	243	2	actuators	actuator	NOUN
fumecheng-10846	243	3	play	play	VERB
fumecheng-10846	243	4	a	a	DET
fumecheng-10846	243	5	vital	vital	ADJ
fumecheng-10846	243	6	role	role	NOUN
fumecheng-10846	243	7	in	in	ADP
fumecheng-10846	243	8	maneuvering	maneuver	VERB
fumecheng-10846	243	9	industrial	industrial	ADJ
fumecheng-10846	243	10	processes	process	NOUN
fumecheng-10846	243	11	and	and	CCONJ
fumecheng-10846	243	12	manufacturing	manufacturing	NOUN
fumecheng-10846	243	13	lines	line	NOUN
fumecheng-10846	243	14	.	.	PUNCT
fumecheng-10846	244	1	especially	especially	ADV
fumecheng-10846	244	2	important	important	ADJ
fumecheng-10846	244	3	is	be	AUX
fumecheng-10846	244	4	successfully	successfully	ADV
fumecheng-10846	244	5	closed	closed	ADJ
fumecheng-10846	244	6	-	-	PUNCT
fumecheng-10846	244	7	loop	loop	NOUN
fumecheng-10846	244	8	position	position	NOUN
fumecheng-10846	244	9	,	,	PUNCT
fumecheng-10846	244	10	velocity	velocity	NOUN
fumecheng-10846	244	11	,	,	PUNCT
fumecheng-10846	244	12	and	and	CCONJ
fumecheng-10846	244	13	force	force	NOUN
fumecheng-10846	244	14	control	control	NOUN
fumecheng-10846	244	15	of	of	ADP
fumecheng-10846	244	16	such	such	ADJ
fumecheng-10846	244	17	drives	drive	NOUN
fumecheng-10846	244	18	.	.	PUNCT
fumecheng-10846	245	1	in	in	ADP
fumecheng-10846	245	2	the	the	DET
fumecheng-10846	245	3	last	last	ADJ
fumecheng-10846	245	4	years	year	NOUN
fumecheng-10846	245	5	the	the	DET
fumecheng-10846	245	6	clear	clear	ADJ
fumecheng-10846	245	7	goal	goal	NOUN
fumecheng-10846	245	8	of	of	ADP
fumecheng-10846	245	9	many	many	ADJ
fumecheng-10846	245	10	researchers	researcher	NOUN
fumecheng-10846	245	11	and	and	CCONJ
fumecheng-10846	245	12	engineers	engineer	NOUN
fumecheng-10846	245	13	was	be	AUX
fumecheng-10846	245	14	where	where	SCONJ
fumecheng-10846	245	15	to	to	PART
fumecheng-10846	245	16	find	find	VERB
fumecheng-10846	245	17	an	an	DET
fumecheng-10846	245	18	improved	improved	ADJ
fumecheng-10846	245	19	control	control	NOUN
fumecheng-10846	245	20	strategy	strategy	NOUN
fumecheng-10846	245	21	.	.	PUNCT
fumecheng-10846	246	1	to	to	PART
fumecheng-10846	246	2	acquire	acquire	VERB
fumecheng-10846	246	3	the	the	DET
fumecheng-10846	246	4	highest	high	ADJ
fumecheng-10846	246	5	performance	performance	NOUN
fumecheng-10846	246	6	of	of	ADP
fumecheng-10846	246	7	electro	electro	ADJ
fumecheng-10846	246	8	-	-	PUNCT
fumecheng-10846	246	9	hydraulic	hydraulic	NOUN
fumecheng-10846	246	10	actuators	actuator	NOUN
fumecheng-10846	246	11	a	a	DET
fumecheng-10846	246	12	suitable	suitable	ADJ
fumecheng-10846	246	13	controller	controller	NOUN
fumecheng-10846	246	14	has	have	VERB
fumecheng-10846	246	15	to	to	PART
fumecheng-10846	246	16	be	be	AUX
fumecheng-10846	246	17	designed	design	VERB
fumecheng-10846	246	18	.	.	PUNCT
fumecheng-10846	247	1	this	this	DET
fumecheng-10846	247	2	paper	paper	NOUN
fumecheng-10846	247	3	deals	deal	NOUN
fumecheng-10846	247	4	with	with	ADP
fumecheng-10846	247	5	the	the	DET
fumecheng-10846	247	6	development	development	NOUN
fumecheng-10846	247	7	of	of	ADP
fumecheng-10846	247	8	a	a	DET
fumecheng-10846	247	9	lyapunov	lyapunov	NOUN
fumecheng-10846	247	10	-	-	PUNCT
fumecheng-10846	247	11	based	base	VERB
fumecheng-10846	247	12	nonlinear	nonlinear	ADJ
fumecheng-10846	247	13	controller	controller	NOUN
fumecheng-10846	247	14	based	base	VERB
fumecheng-10846	247	15	on	on	ADP
fumecheng-10846	247	16	the	the	DET
fumecheng-10846	247	17	integrator	integrator	NOUN
fumecheng-10846	247	18	backstepping	backstepping	NOUN
fumecheng-10846	247	19	approach	approach	NOUN
fumecheng-10846	247	20	.	.	PUNCT
fumecheng-10846	248	1	described	describe	VERB
fumecheng-10846	248	2	procedures	procedure	NOUN
fumecheng-10846	248	3	are	be	AUX
fumecheng-10846	248	4	focused	focus	VERB
fumecheng-10846	248	5	on	on	ADP
fumecheng-10846	248	6	the	the	DET
fumecheng-10846	248	7	selection	selection	NOUN
fumecheng-10846	248	8	of	of	ADP
fumecheng-10846	248	9	tuning	tune	VERB
fumecheng-10846	248	10	parameters	parameter	NOUN
fumecheng-10846	248	11	of	of	ADP
fumecheng-10846	248	12	such	such	DET
fumecheng-10846	248	13	a	a	DET
fumecheng-10846	248	14	controller	controller	NOUN
fumecheng-10846	248	15	.	.	PUNCT
fumecheng-10846	249	1	the	the	DET
fumecheng-10846	249	2	proposed	propose	VERB
fumecheng-10846	249	3	approach	approach	NOUN
fumecheng-10846	249	4	shows	show	VERB
fumecheng-10846	249	5	that	that	SCONJ
fumecheng-10846	249	6	the	the	DET
fumecheng-10846	249	7	selection	selection	NOUN
fumecheng-10846	249	8	of	of	ADP
fumecheng-10846	249	9	appropriate	appropriate	ADJ
fumecheng-10846	249	10	parameters	parameter	NOUN
fumecheng-10846	249	11	for	for	ADP
fumecheng-10846	249	12	the	the	DET
fumecheng-10846	249	13	backstepping	backstepping	NOUN
fumecheng-10846	249	14	controller	controller	NOUN
fumecheng-10846	249	15	can	can	AUX
fumecheng-10846	249	16	be	be	AUX
fumecheng-10846	249	17	satisfactorily	satisfactorily	ADV
fumecheng-10846	249	18	realized	realize	VERB
fumecheng-10846	249	19	by	by	ADP
fumecheng-10846	249	20	the	the	DET
fumecheng-10846	249	21	computer	computer	NOUN
fumecheng-10846	249	22	simulation	simulation	NOUN
fumecheng-10846	249	23	method	method	NOUN
fumecheng-10846	249	24	.	.	PUNCT
fumecheng-10846	250	1	the	the	DET
fumecheng-10846	250	2	results	result	NOUN
fumecheng-10846	250	3	of	of	ADP
fumecheng-10846	250	4	computer	computer	NOUN
fumecheng-10846	250	5	simulation	simulation	NOUN
fumecheng-10846	250	6	are	be	AUX
fumecheng-10846	250	7	represented	represent	VERB
fumecheng-10846	250	8	and	and	CCONJ
fumecheng-10846	250	9	conclusions	conclusion	NOUN
fumecheng-10846	250	10	are	be	AUX
fumecheng-10846	250	11	explained	explain	VERB
fumecheng-10846	250	12	.	.	PUNCT
fumecheng-10846	251	1	the	the	DET
fumecheng-10846	251	2	results	result	NOUN
fumecheng-10846	251	3	of	of	ADP
fumecheng-10846	251	4	computer	computer	NOUN
fumecheng-10846	251	5	simulation	simulation	NOUN
fumecheng-10846	251	6	and	and	CCONJ
fumecheng-10846	251	7	the	the	DET
fumecheng-10846	251	8	16	16	NUM
fumecheng-10846	251	9	m.	m.	NOUN
fumecheng-10846	251	10	kastrevc	kastrevc	PROPN
fumecheng-10846	251	11	,	,	PUNCT
fumecheng-10846	251	12	n.	n.	PROPN
fumecheng-10846	251	13	gubeljak	gubeljak	PROPN
fumecheng-10846	251	14	,	,	PUNCT
fumecheng-10846	251	15	e.	e.	PROPN
fumecheng-10846	251	16	detiček	detiček	PROPN
fumecheng-10846	251	17	proposed	propose	VERB
fumecheng-10846	251	18	method	method	NOUN
fumecheng-10846	251	19	for	for	ADP
fumecheng-10846	251	20	select	select	ADJ
fumecheng-10846	251	21	parameters	parameter	NOUN
fumecheng-10846	251	22	can	can	AUX
fumecheng-10846	251	23	be	be	AUX
fumecheng-10846	251	24	used	use	VERB
fumecheng-10846	251	25	in	in	ADP
fumecheng-10846	251	26	different	different	ADJ
fumecheng-10846	251	27	reference	reference	NOUN
fumecheng-10846	251	28	signals	signal	NOUN
fumecheng-10846	251	29	.	.	PUNCT
fumecheng-10846	252	1	the	the	DET
fumecheng-10846	252	2	proposed	propose	VERB
fumecheng-10846	252	3	method	method	NOUN
fumecheng-10846	252	4	allows	allow	VERB
fumecheng-10846	252	5	setting	set	VERB
fumecheng-10846	252	6	the	the	DET
fumecheng-10846	252	7	best	good	ADJ
fumecheng-10846	252	8	starting	starting	NOUN
fumecheng-10846	252	9	parameters	parameter	NOUN
fumecheng-10846	252	10	for	for	ADP
fumecheng-10846	252	11	use	use	NOUN
fumecheng-10846	252	12	in	in	ADP
fumecheng-10846	252	13	the	the	DET
fumecheng-10846	252	14	real	real	ADJ
fumecheng-10846	252	15	system	system	NOUN
fumecheng-10846	252	16	.	.	PUNCT
fumecheng-10846	253	1	the	the	DET
fumecheng-10846	253	2	fact	fact	NOUN
fumecheng-10846	253	3	,	,	PUNCT
fumecheng-10846	253	4	that	that	PRON
fumecheng-10846	253	5	computer	computer	NOUN
fumecheng-10846	253	6	simulation	simulation	NOUN
fumecheng-10846	253	7	enables	enable	VERB
fumecheng-10846	253	8	to	to	PART
fumecheng-10846	253	9	predict	predict	VERB
fumecheng-10846	253	10	critical	critical	ADJ
fumecheng-10846	253	11	operations	operation	NOUN
fumecheng-10846	253	12	conditions	condition	NOUN
fumecheng-10846	253	13	,	,	PUNCT
fumecheng-10846	253	14	allows	allow	VERB
fumecheng-10846	253	15	developers	developer	NOUN
fumecheng-10846	253	16	to	to	PART
fumecheng-10846	253	17	avoid	avoid	VERB
fumecheng-10846	253	18	damage	damage	NOUN
fumecheng-10846	253	19	to	to	ADP
fumecheng-10846	253	20	the	the	DET
fumecheng-10846	253	21	system	system	NOUN
fumecheng-10846	253	22	.	.	PUNCT
fumecheng-10846	254	1	finally	finally	ADV
fumecheng-10846	254	2	,	,	PUNCT
fumecheng-10846	254	3	by	by	ADP
fumecheng-10846	254	4	using	use	VERB
fumecheng-10846	254	5	these	these	DET
fumecheng-10846	254	6	experiences	experience	NOUN
fumecheng-10846	254	7	,	,	PUNCT
fumecheng-10846	254	8	the	the	DET
fumecheng-10846	254	9	electro	electro	ADJ
fumecheng-10846	254	10	-	-	PUNCT
fumecheng-10846	254	11	hydraulic	hydraulic	NOUN
fumecheng-10846	254	12	servo	servo	NOUN
fumecheng-10846	254	13	system	system	NOUN
fumecheng-10846	254	14	's	's	PART
fumecheng-10846	254	15	performances	performance	NOUN
fumecheng-10846	254	16	can	can	AUX
fumecheng-10846	254	17	be	be	AUX
fumecheng-10846	254	18	essentially	essentially	ADV
fumecheng-10846	254	19	improved	improve	VERB
fumecheng-10846	254	20	and	and	CCONJ
fumecheng-10846	254	21	the	the	DET
fumecheng-10846	254	22	best	good	ADJ
fumecheng-10846	254	23	position	position	NOUN
fumecheng-10846	254	24	reference	reference	NOUN
fumecheng-10846	254	25	tracking	tracking	NOUN
fumecheng-10846	254	26	performance	performance	NOUN
fumecheng-10846	254	27	with	with	ADP
fumecheng-10846	254	28	small	small	ADJ
fumecheng-10846	254	29	steady	steady	ADJ
fumecheng-10846	254	30	-	-	PUNCT
fumecheng-10846	254	31	state	state	NOUN
fumecheng-10846	254	32	error	error	NOUN
fumecheng-10846	254	33	can	can	AUX
fumecheng-10846	254	34	be	be	AUX
fumecheng-10846	254	35	achieved	achieve	VERB
fumecheng-10846	254	36	.	.	PUNCT
fumecheng-10846	255	1	our	our	PRON
fumecheng-10846	255	2	future	future	ADJ
fumecheng-10846	255	3	research	research	NOUN
fumecheng-10846	255	4	will	will	AUX
fumecheng-10846	255	5	include	include	VERB
fumecheng-10846	255	6	the	the	DET
fumecheng-10846	255	7	real	real	ADJ
fumecheng-10846	255	8	-	-	PUNCT
fumecheng-10846	255	9	time	time	NOUN
fumecheng-10846	255	10	and	and	CCONJ
fumecheng-10846	255	11	practical	practical	ADJ
fumecheng-10846	255	12	realization	realization	NOUN
fumecheng-10846	255	13	of	of	ADP
fumecheng-10846	255	14	the	the	DET
fumecheng-10846	255	15	abovedeveloped	abovedeveloped	ADJ
fumecheng-10846	255	16	nonlinear	nonlinear	ADJ
fumecheng-10846	255	17	controller	controller	NOUN
fumecheng-10846	255	18	.	.	PUNCT
fumecheng-10846	256	1	acknowledgements	acknowledgement	NOUN
fumecheng-10846	256	2	:	:	PUNCT
fumecheng-10846	256	3	the	the	DET
fumecheng-10846	256	4	authors	author	NOUN
fumecheng-10846	256	5	are	be	AUX
fumecheng-10846	256	6	grateful	grateful	ADJ
fumecheng-10846	256	7	for	for	ADP
fumecheng-10846	256	8	the	the	DET
fumecheng-10846	256	9	financial	financial	ADJ
fumecheng-10846	256	10	support	support	NOUN
fumecheng-10846	256	11	to	to	ADP
fumecheng-10846	256	12	the	the	DET
fumecheng-10846	256	13	slovenia	slovenia	PROPN
fumecheng-10846	256	14	research	research	PROPN
fumecheng-10846	256	15	agency	agency	PROPN
fumecheng-10846	256	16	arrs	arrs	PROPN
fumecheng-10846	256	17	,	,	PUNCT
fumecheng-10846	256	18	for	for	ADP
fumecheng-10846	256	19	the	the	DET
fumecheng-10846	256	20	research	research	NOUN
fumecheng-10846	256	21	program	program	NOUN
fumecheng-10846	256	22	p2	p2	NOUN
fumecheng-10846	256	23	-	-	PUNCT
fumecheng-10846	256	24	0137	0137	NUM
fumecheng-10846	256	25	numerical	numerical	ADJ
fumecheng-10846	256	26	and	and	CCONJ
fumecheng-10846	256	27	experimental	experimental	ADJ
fumecheng-10846	256	28	analysis	analysis	NOUN
fumecheng-10846	256	29	of	of	ADP
fumecheng-10846	256	30	nonlinear	nonlinear	ADJ
fumecheng-10846	256	31	mechanical	mechanical	ADJ
fumecheng-10846	256	32	systems	system	NOUN
fumecheng-10846	256	33	.	.	PUNCT
fumecheng-10846	257	1	references	reference	NOUN
fumecheng-10846	257	2	1	1	NUM
fumecheng-10846	257	3	.	.	PUNCT
fumecheng-10846	258	1	khalil	khalil	PROPN
fumecheng-10846	258	2	,	,	PUNCT
fumecheng-10846	258	3	h.k	h.k	PROPN
fumecheng-10846	258	4	.	.	PROPN
fumecheng-10846	258	5	,	,	PUNCT
fumecheng-10846	258	6	2009	2009	NUM
fumecheng-10846	258	7	,	,	PUNCT
fumecheng-10846	258	8	interactive	interactive	ADJ
fumecheng-10846	258	9	analysis	analysis	NOUN
fumecheng-10846	258	10	of	of	ADP
fumecheng-10846	258	11	closed	closed	ADJ
fumecheng-10846	258	12	-	-	PUNCT
fumecheng-10846	258	13	loop	loop	NOUN
fumecheng-10846	258	14	electro	electro	ADJ
fumecheng-10846	258	15	-	-	PUNCT
fumecheng-10846	258	16	hydraulic	hydraulic	NOUN
fumecheng-10846	258	17	control	control	NOUN
fumecheng-10846	258	18	systems	system	NOUN
fumecheng-10846	258	19	,	,	PUNCT
fumecheng-10846	258	20	13th	13th	ADJ
fumecheng-10846	258	21	international	international	ADJ
fumecheng-10846	258	22	conference	conference	NOUN
fumecheng-10846	258	23	on	on	ADP
fumecheng-10846	258	24	aerospace	aerospace	NOUN
fumecheng-10846	258	25	scienties	scientie	NOUN
fumecheng-10846	258	26	&	&	CCONJ
fumecheng-10846	258	27	aviation	aviation	PROPN
fumecheng-10846	258	28	technology	technology	PROPN
fumecheng-10846	258	29	,	,	PUNCT
fumecheng-10846	258	30	asat-13	asat-13	PROPN
fumecheng-10846	258	31	-	-	PUNCT
fumecheng-10846	258	32	hc-01	hc-01	NUM
fumecheng-10846	258	33	.	.	PUNCT
fumecheng-10846	259	1	2	2	X
fumecheng-10846	259	2	.	.	X
fumecheng-10846	259	3	kovari	kovari	PROPN
fumecheng-10846	259	4	,	,	PUNCT
fumecheng-10846	259	5	a.	a.	NOUN
fumecheng-10846	259	6	,	,	PUNCT
fumecheng-10846	259	7	2015	2015	NUM
fumecheng-10846	259	8	,	,	PUNCT
fumecheng-10846	259	9	effect	effect	NOUN
fumecheng-10846	259	10	of	of	ADP
fumecheng-10846	259	11	leakage	leakage	NOUN
fumecheng-10846	259	12	in	in	ADP
fumecheng-10846	259	13	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	259	14	servo	servo	NOUN
fumecheng-10846	259	15	systems	system	NOUN
fumecheng-10846	259	16	based	base	VERB
fumecheng-10846	259	17	on	on	ADP
fumecheng-10846	259	18	complex	complex	ADJ
fumecheng-10846	259	19	nonlinear	nonlinear	ADJ
fumecheng-10846	259	20	mathematical	mathematical	ADJ
fumecheng-10846	259	21	model	model	NOUN
fumecheng-10846	259	22	and	and	CCONJ
fumecheng-10846	259	23	experimental	experimental	ADJ
fumecheng-10846	259	24	results	result	NOUN
fumecheng-10846	259	25	,	,	PUNCT
fumecheng-10846	259	26	acta	acta	PROPN
fumecheng-10846	259	27	polytechnica	polytechnica	PROPN
fumecheng-10846	259	28	hungarica	hungarica	PROPN
fumecheng-10846	259	29	,	,	PUNCT
fumecheng-10846	259	30	12(3	12(3	NUM
fumecheng-10846	259	31	)	)	PUNCT
fumecheng-10846	259	32	,	,	PUNCT
fumecheng-10846	259	33	pp	pp	ADP
fumecheng-10846	259	34	.	.	PUNCT
fumecheng-10846	260	1	129	129	NUM
fumecheng-10846	260	2	-	-	SYM
fumecheng-10846	260	3	146	146	NUM
fumecheng-10846	260	4	.	.	PUNCT
fumecheng-10846	261	1	3	3	X
fumecheng-10846	261	2	.	.	X
fumecheng-10846	261	3	rozali	rozali	PROPN
fumecheng-10846	261	4	,	,	PUNCT
fumecheng-10846	261	5	s.md	s.md	PROPN
fumecheng-10846	261	6	.	.	PROPN
fumecheng-10846	261	7	,	,	PUNCT
fumecheng-10846	261	8	rahmat	rahmat	NOUN
fumecheng-10846	261	9	,	,	PUNCT
fumecheng-10846	261	10	m.f	m.f	PROPN
fumecheng-10846	261	11	.	.	PROPN
fumecheng-10846	261	12	,	,	PUNCT
fumecheng-10846	261	13	rashid	rashid	PROPN
fumecheng-10846	261	14	husain	husain	PROPN
fumecheng-10846	261	15	,	,	PUNCT
fumecheng-10846	261	16	a.	a.	NOUN
fumecheng-10846	261	17	,	,	PUNCT
fumecheng-10846	261	18	2012	2012	NUM
fumecheng-10846	261	19	,	,	PUNCT
fumecheng-10846	261	20	backstepping	backsteppe	VERB
fumecheng-10846	261	21	design	design	NOUN
fumecheng-10846	261	22	for	for	ADP
fumecheng-10846	261	23	position	position	NOUN
fumecheng-10846	261	24	tracking	tracking	NOUN
fumecheng-10846	261	25	control	control	NOUN
fumecheng-10846	261	26	of	of	ADP
fumecheng-10846	261	27	nonlinear	nonlinear	ADJ
fumecheng-10846	261	28	system	system	NOUN
fumecheng-10846	261	29	,	,	PUNCT
fumecheng-10846	261	30	ieee	ieee	PROPN
fumecheng-10846	261	31	international	international	ADJ
fumecheng-10846	261	32	conference	conference	NOUN
fumecheng-10846	261	33	on	on	ADP
fumecheng-10846	261	34	control	control	NOUN
fumecheng-10846	261	35	system	system	NOUN
fumecheng-10846	261	36	,	,	PUNCT
fumecheng-10846	261	37	computing	computing	NOUN
fumecheng-10846	261	38	and	and	CCONJ
fumecheng-10846	261	39	engineering	engineering	NOUN
fumecheng-10846	261	40	,	,	PUNCT
fumecheng-10846	261	41	pp	pp	ADJ
fumecheng-10846	261	42	.	.	PUNCT
fumecheng-10846	262	1	77	77	NUM
fumecheng-10846	262	2	-	-	SYM
fumecheng-10846	262	3	82	82	NUM
fumecheng-10846	262	4	.	.	NOUN
fumecheng-10846	263	1	4	4	NUM
fumecheng-10846	263	2	.	.	X
fumecheng-10846	263	3	kadissi	kadissi	ADJ
fumecheng-10846	263	4	,	,	PUNCT
fumecheng-10846	263	5	c.	c.	PROPN
fumecheng-10846	263	6	,	,	PUNCT
fumecheng-10846	263	7	kenne	kenne	PROPN
fumecheng-10846	263	8	,	,	PUNCT
fumecheng-10846	263	9	j.p	j.p	PROPN
fumecheng-10846	263	10	.	.	PROPN
fumecheng-10846	263	11	,	,	PUNCT
fumecheng-10846	263	12	saad	saad	PROPN
fumecheng-10846	263	13	,	,	PUNCT
fumecheng-10846	263	14	m.	m.	NOUN
fumecheng-10846	263	15	,	,	PUNCT
fumecheng-10846	263	16	2007	2007	NUM
fumecheng-10846	263	17	,	,	PUNCT
fumecheng-10846	263	18	identification	identification	NOUN
fumecheng-10846	263	19	and	and	CCONJ
fumecheng-10846	263	20	real	real	ADJ
fumecheng-10846	263	21	-	-	PUNCT
fumecheng-10846	263	22	time	time	NOUN
fumecheng-10846	263	23	control	control	NOUN
fumecheng-10846	263	24	of	of	ADP
fumecheng-10846	263	25	an	an	DET
fumecheng-10846	263	26	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	263	27	servo	servo	NOUN
fumecheng-10846	263	28	system	system	NOUN
fumecheng-10846	263	29	based	base	VERB
fumecheng-10846	263	30	on	on	ADP
fumecheng-10846	263	31	nonlinear	nonlinear	ADJ
fumecheng-10846	263	32	backstepping	backstepping	NOUN
fumecheng-10846	263	33	,	,	PUNCT
fumecheng-10846	263	34	ieee	ieee	PROPN
fumecheng-10846	263	35	/	/	SYM
fumecheng-10846	263	36	asme	asme	PROPN
fumecheng-10846	263	37	transactions	transaction	NOUN
fumecheng-10846	263	38	on	on	ADP
fumecheng-10846	263	39	mechatronics	mechatronic	NOUN
fumecheng-10846	263	40	,	,	PUNCT
fumecheng-10846	263	41	12(1	12(1	NUM
fumecheng-10846	263	42	)	)	PUNCT
fumecheng-10846	263	43	,	,	PUNCT
fumecheng-10846	264	1	pp	pp	PROPN
fumecheng-10846	264	2	.	.	PUNCT
fumecheng-10846	265	1	12	12	NUM
fumecheng-10846	265	2	-	-	SYM
fumecheng-10846	265	3	22	22	NUM
fumecheng-10846	265	4	.	.	PUNCT
fumecheng-10846	266	1	5	5	NUM
fumecheng-10846	266	2	.	.	X
fumecheng-10846	266	3	lovrec	lovrec	PROPN
fumecheng-10846	266	4	,	,	PUNCT
fumecheng-10846	266	5	d.	d.	PROPN
fumecheng-10846	266	6	,	,	PUNCT
fumecheng-10846	266	7	tašner	tašner	NOUN
fumecheng-10846	266	8	,	,	PUNCT
fumecheng-10846	266	9	t.	t.	PROPN
fumecheng-10846	266	10	,	,	PUNCT
fumecheng-10846	266	11	tič	tič	PROPN
fumecheng-10846	266	12	,	,	PUNCT
fumecheng-10846	266	13	v.	v.	ADV
fumecheng-10846	266	14	,	,	PUNCT
fumecheng-10846	266	15	2017	2017	NUM
fumecheng-10846	266	16	,	,	PUNCT
fumecheng-10846	266	17	dynamic	dynamic	ADJ
fumecheng-10846	266	18	behaviour	behaviour	NOUN
fumecheng-10846	266	19	of	of	ADP
fumecheng-10846	266	20	different	different	ADJ
fumecheng-10846	266	21	hydraulic	hydraulic	ADJ
fumecheng-10846	266	22	drive	drive	NOUN
fumecheng-10846	266	23	concepts	concept	NOUN
fumecheng-10846	266	24	comparison	comparison	NOUN
fumecheng-10846	266	25	and	and	CCONJ
fumecheng-10846	266	26	limits	limit	NOUN
fumecheng-10846	266	27	,	,	PUNCT
fumecheng-10846	266	28	international	international	ADJ
fumecheng-10846	266	29	journal	journal	NOUN
fumecheng-10846	266	30	of	of	ADP
fumecheng-10846	266	31	simulation	simulation	PROPN
fumecheng-10846	266	32	modelling	modelling	NOUN
fumecheng-10846	266	33	,	,	PUNCT
fumecheng-10846	266	34	16(3	16(3	NOUN
fumecheng-10846	266	35	)	)	PUNCT
fumecheng-10846	266	36	,	,	PUNCT
fumecheng-10846	266	37	pp	pp	PROPN
fumecheng-10846	266	38	.	.	PUNCT
fumecheng-10846	267	1	448	448	NUM
fumecheng-10846	267	2	-	-	SYM
fumecheng-10846	267	3	457	457	NUM
fumecheng-10846	267	4	.	.	PUNCT
fumecheng-10846	268	1	6	6	NUM
fumecheng-10846	268	2	.	.	X
fumecheng-10846	269	1	tič	tič	PROPN
fumecheng-10846	269	2	,	,	PUNCT
fumecheng-10846	269	3	v.	v.	ADV
fumecheng-10846	269	4	,	,	PUNCT
fumecheng-10846	269	5	rotovnik	rotovnik	X
fumecheng-10846	269	6	,	,	PUNCT
fumecheng-10846	269	7	a.	a.	NOUN
fumecheng-10846	269	8	,	,	PUNCT
fumecheng-10846	269	9	lovrec	lovrec	NOUN
fumecheng-10846	269	10	,	,	PUNCT
fumecheng-10846	269	11	d.	d.	NOUN
fumecheng-10846	269	12	,	,	PUNCT
fumecheng-10846	269	13	2021	2021	NUM
fumecheng-10846	269	14	,	,	PUNCT
fumecheng-10846	269	15	impact	impact	NOUN
fumecheng-10846	269	16	of	of	ADP
fumecheng-10846	269	17	proportional	proportional	ADJ
fumecheng-10846	269	18	valves	valve	NOUN
fumecheng-10846	269	19	´	´	PART
fumecheng-10846	269	20	differences	difference	NOUN
fumecheng-10846	269	21	to	to	PART
fumecheng-10846	269	22	ensure	ensure	VERB
fumecheng-10846	269	23	uniform	uniform	ADJ
fumecheng-10846	269	24	motion	motion	NOUN
fumecheng-10846	269	25	of	of	ADP
fumecheng-10846	269	26	hydraulic	hydraulic	ADJ
fumecheng-10846	269	27	motors	motor	NOUN
fumecheng-10846	269	28	,	,	PUNCT
fumecheng-10846	269	29	international	international	ADJ
fumecheng-10846	269	30	journal	journal	NOUN
fumecheng-10846	269	31	of	of	ADP
fumecheng-10846	269	32	simulation	simulation	PROPN
fumecheng-10846	269	33	modelling	modelling	NOUN
fumecheng-10846	269	34	,	,	PUNCT
fumecheng-10846	269	35	20(1	20(1	NUM
fumecheng-10846	269	36	)	)	PUNCT
fumecheng-10846	269	37	,	,	PUNCT
fumecheng-10846	269	38	pp	pp	ADP
fumecheng-10846	269	39	.	.	PUNCT
fumecheng-10846	270	1	52	52	NUM
fumecheng-10846	270	2	-	-	SYM
fumecheng-10846	270	3	63	63	NUM
fumecheng-10846	270	4	.	.	PUNCT
fumecheng-10846	271	1	7	7	X
fumecheng-10846	271	2	.	.	X
fumecheng-10846	271	3	detiček	detiček	PROPN
fumecheng-10846	271	4	,	,	PUNCT
fumecheng-10846	271	5	e.	e.	PROPN
fumecheng-10846	271	6	,	,	PUNCT
fumecheng-10846	271	7	gubeljak	gubeljak	PROPN
fumecheng-10846	271	8	,	,	PUNCT
fumecheng-10846	271	9	n.	n.	PROPN
fumecheng-10846	271	10	,	,	PUNCT
fumecheng-10846	271	11	kastrevc	kastrevc	PROPN
fumecheng-10846	271	12	,	,	PUNCT
fumecheng-10846	271	13	m.	m.	NOUN
fumecheng-10846	271	14	,	,	PUNCT
fumecheng-10846	271	15	2017	2017	NUM
fumecheng-10846	271	16	,	,	PUNCT
fumecheng-10846	271	17	design	design	NOUN
fumecheng-10846	271	18	of	of	ADP
fumecheng-10846	271	19	lyapunov	lyapunov	NOUN
fumecheng-10846	271	20	based	base	VERB
fumecheng-10846	271	21	nonlinear	nonlinear	ADJ
fumecheng-10846	271	22	velocity	velocity	NOUN
fumecheng-10846	271	23	control	control	NOUN
fumecheng-10846	271	24	of	of	ADP
fumecheng-10846	271	25	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	271	26	velocity	velocity	NOUN
fumecheng-10846	271	27	servo	servo	NOUN
fumecheng-10846	271	28	systems	system	NOUN
fumecheng-10846	271	29	,	,	PUNCT
fumecheng-10846	271	30	technical	technical	ADJ
fumecheng-10846	271	31	gazette	gazette	NOUN
fumecheng-10846	271	32	,	,	PUNCT
fumecheng-10846	271	33	24(3	24(3	NUM
fumecheng-10846	271	34	)	)	PUNCT
fumecheng-10846	271	35	,	,	PUNCT
fumecheng-10846	271	36	pp	pp	PROPN
fumecheng-10846	271	37	.	.	PUNCT
fumecheng-10846	272	1	745	745	NUM
fumecheng-10846	272	2	-	-	SYM
fumecheng-10846	272	3	751	751	NUM
fumecheng-10846	272	4	.	.	NOUN
fumecheng-10846	273	1	8	8	NUM
fumecheng-10846	273	2	.	.	PUNCT
fumecheng-10846	273	3	lovrec	lovrec	PROPN
fumecheng-10846	273	4	,	,	PUNCT
fumecheng-10846	273	5	d.	d.	PROPN
fumecheng-10846	273	6	,	,	PUNCT
fumecheng-10846	273	7	tic	tic	ADJ
fumecheng-10846	273	8	,	,	PUNCT
fumecheng-10846	273	9	v.	v.	NOUN
fumecheng-10846	273	10	,	,	PUNCT
fumecheng-10846	273	11	tasner	tasner	NOUN
fumecheng-10846	273	12	,	,	PUNCT
fumecheng-10846	273	13	t.	t.	PROPN
fumecheng-10846	273	14	,	,	PUNCT
fumecheng-10846	273	15	2015	2015	NUM
fumecheng-10846	273	16	,	,	PUNCT
fumecheng-10846	273	17	simulation	simulation	NOUN
fumecheng-10846	273	18	-	-	PUNCT
fumecheng-10846	273	19	aided	aid	VERB
fumecheng-10846	273	20	determination	determination	NOUN
fumecheng-10846	273	21	of	of	ADP
fumecheng-10846	273	22	an	an	DET
fumecheng-10846	273	23	efficiency	efficiency	NOUN
fumecheng-10846	273	24	field	field	NOUN
fumecheng-10846	273	25	as	as	ADP
fumecheng-10846	273	26	a	a	DET
fumecheng-10846	273	27	basis	basis	NOUN
fumecheng-10846	273	28	for	for	ADP
fumecheng-10846	273	29	maximum	maximum	ADJ
fumecheng-10846	273	30	efficiency	efficiency	NOUN
fumecheng-10846	273	31	controller	controller	NOUN
fumecheng-10846	273	32	design	design	NOUN
fumecheng-10846	273	33	,	,	PUNCT
fumecheng-10846	273	34	international	international	ADJ
fumecheng-10846	273	35	journal	journal	NOUN
fumecheng-10846	273	36	of	of	ADP
fumecheng-10846	273	37	simulation	simulation	PROPN
fumecheng-10846	273	38	modelling	modelling	NOUN
fumecheng-10846	273	39	,	,	PUNCT
fumecheng-10846	273	40	14(4	14(4	NUM
fumecheng-10846	273	41	)	)	PUNCT
fumecheng-10846	273	42	,	,	PUNCT
fumecheng-10846	273	43	pp	pp	ADP
fumecheng-10846	273	44	.	.	PUNCT
fumecheng-10846	274	1	669	669	NUM
fumecheng-10846	274	2	-	-	SYM
fumecheng-10846	274	3	682	682	NUM
fumecheng-10846	274	4	.	.	PUNCT
fumecheng-10846	275	1	9	9	X
fumecheng-10846	275	2	.	.	X
fumecheng-10846	275	3	detiček	detiček	PROPN
fumecheng-10846	275	4	,	,	PUNCT
fumecheng-10846	275	5	e.	e.	PROPN
fumecheng-10846	275	6	,	,	PUNCT
fumecheng-10846	275	7	kastrevc	kastrevc	PROPN
fumecheng-10846	275	8	,	,	PUNCT
fumecheng-10846	275	9	m.	m.	NOUN
fumecheng-10846	275	10	,	,	PUNCT
fumecheng-10846	275	11	2016	2016	NUM
fumecheng-10846	275	12	,	,	PUNCT
fumecheng-10846	275	13	design	design	NOUN
fumecheng-10846	275	14	of	of	ADP
fumecheng-10846	275	15	lyapunov	lyapunov	NOUN
fumecheng-10846	275	16	based	base	VERB
fumecheng-10846	275	17	nonlinear	nonlinear	ADJ
fumecheng-10846	275	18	position	position	NOUN
fumecheng-10846	275	19	control	control	NOUN
fumecheng-10846	275	20	of	of	ADP
fumecheng-10846	275	21	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	275	22	servo	servo	NOUN
fumecheng-10846	275	23	systems	system	NOUN
fumecheng-10846	275	24	.	.	PUNCT
fumecheng-10846	276	1	strojniški	strojniški	PROPN
fumecheng-10846	276	2	vestnik	vestnik	PROPN
fumecheng-10846	276	3	,	,	PUNCT
fumecheng-10846	276	4	62(3	62(3	NOUN
fumecheng-10846	276	5	)	)	PUNCT
fumecheng-10846	276	6	,	,	PUNCT
fumecheng-10846	276	7	pp	pp	PROPN
fumecheng-10846	276	8	.	.	PUNCT
fumecheng-10846	277	1	163	163	NUM
fumecheng-10846	277	2	-	-	SYM
fumecheng-10846	277	3	170	170	NUM
fumecheng-10846	277	4	.	.	PUNCT
fumecheng-10846	278	1	10	10	NUM
fumecheng-10846	278	2	.	.	X
fumecheng-10846	279	1	kastrevc	kastrevc	PROPN
fumecheng-10846	279	2	,	,	PUNCT
fumecheng-10846	279	3	m.	m.	NOUN
fumecheng-10846	279	4	,	,	PUNCT
fumecheng-10846	279	5	detiček	detiček	PROPN
fumecheng-10846	279	6	,	,	PUNCT
fumecheng-10846	279	7	e.	e.	PROPN
fumecheng-10846	279	8	,	,	PUNCT
fumecheng-10846	279	9	2017	2017	NUM
fumecheng-10846	279	10	,	,	PUNCT
fumecheng-10846	279	11	the	the	DET
fumecheng-10846	279	12	nonlinear	nonlinear	ADJ
fumecheng-10846	279	13	mathematical	mathematical	ADJ
fumecheng-10846	279	14	model	model	NOUN
fumecheng-10846	279	15	of	of	ADP
fumecheng-10846	279	16	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	279	17	position	position	NOUN
fumecheng-10846	279	18	servo	servo	NOUN
fumecheng-10846	279	19	system	system	NOUN
fumecheng-10846	279	20	,	,	PUNCT
fumecheng-10846	279	21	conference	conference	NOUN
fumecheng-10846	279	22	proceedings	proceeding	NOUN
fumecheng-10846	279	23	,	,	PUNCT
fumecheng-10846	279	24	1st	1st	PROPN
fumecheng-10846	279	25	ed	ed	NOUN
fumecheng-10846	279	26	.	.	PROPN
fumecheng-10846	279	27	maribor	maribor	PROPN
fumecheng-10846	279	28	,	,	PUNCT
fumecheng-10846	279	29	university	university	PROPN
fumecheng-10846	279	30	of	of	ADP
fumecheng-10846	279	31	maribor	maribor	PROPN
fumecheng-10846	279	32	press	press	PROPN
fumecheng-10846	279	33	,	,	PUNCT
fumecheng-10846	279	34	pp	pp	ADP
fumecheng-10846	279	35	.	.	PUNCT
fumecheng-10846	280	1	163	163	NUM
fumecheng-10846	280	2	-	-	SYM
fumecheng-10846	280	3	173	173	NUM
fumecheng-10846	280	4	.	.	PUNCT
fumecheng-10846	281	1	11	11	NUM
fumecheng-10846	281	2	.	.	PUNCT
fumecheng-10846	282	1	detiček	detiček	PROPN
fumecheng-10846	282	2	,	,	PUNCT
fumecheng-10846	282	3	e.	e.	PROPN
fumecheng-10846	282	4	,	,	PUNCT
fumecheng-10846	282	5	kastrevc	kastrevc	PROPN
fumecheng-10846	282	6	,	,	PUNCT
fumecheng-10846	282	7	m.	m.	NOUN
fumecheng-10846	282	8	,	,	PUNCT
fumecheng-10846	282	9	2017	2017	NUM
fumecheng-10846	282	10	,	,	PUNCT
fumecheng-10846	282	11	nonlinear	nonlinear	ADJ
fumecheng-10846	282	12	position	position	NOUN
fumecheng-10846	282	13	control	control	NOUN
fumecheng-10846	282	14	of	of	ADP
fumecheng-10846	282	15	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	282	16	servo	servo	NOUN
fumecheng-10846	282	17	system	system	NOUN
fumecheng-10846	282	18	,	,	PUNCT
fumecheng-10846	282	19	conference	conference	NOUN
fumecheng-10846	282	20	proceedings	proceeding	NOUN
fumecheng-10846	282	21	,	,	PUNCT
fumecheng-10846	282	22	1st	1st	PROPN
fumecheng-10846	282	23	ed	ed	NOUN
fumecheng-10846	282	24	.	.	PROPN
fumecheng-10846	282	25	maribor	maribor	PROPN
fumecheng-10846	282	26	,	,	PUNCT
fumecheng-10846	282	27	university	university	PROPN
fumecheng-10846	282	28	of	of	ADP
fumecheng-10846	282	29	maribor	maribor	PROPN
fumecheng-10846	282	30	press	press	PROPN
fumecheng-10846	282	31	,	,	PUNCT
fumecheng-10846	282	32	pp	pp	ADJ
fumecheng-10846	282	33	.	.	PUNCT
fumecheng-10846	283	1	73	73	NUM
fumecheng-10846	283	2	-	-	SYM
fumecheng-10846	283	3	83	83	NUM
fumecheng-10846	283	4	.	.	PUNCT
fumecheng-10846	284	1	12	12	NUM
fumecheng-10846	284	2	.	.	PUNCT
fumecheng-10846	285	1	kristic	kristic	ADJ
fumecheng-10846	285	2	,	,	PUNCT
fumecheng-10846	285	3	m.	m.	NOUN
fumecheng-10846	285	4	,	,	PUNCT
fumecheng-10846	285	5	kanellakopouls	kanellakopoul	NOUN
fumecheng-10846	285	6	,	,	PUNCT
fumecheng-10846	285	7	i.	i.	NOUN
fumecheng-10846	285	8	,	,	PUNCT
fumecheng-10846	285	9	kokotovic	kokotovic	VERB
fumecheng-10846	285	10	,	,	PUNCT
fumecheng-10846	285	11	p.v	p.v	PROPN
fumecheng-10846	285	12	.	.	PROPN
fumecheng-10846	285	13	,	,	PUNCT
fumecheng-10846	285	14	1995	1995	NUM
fumecheng-10846	285	15	,	,	PUNCT
fumecheng-10846	285	16	nonlinear	nonlinear	ADJ
fumecheng-10846	285	17	and	and	CCONJ
fumecheng-10846	285	18	adaptive	adaptive	ADJ
fumecheng-10846	285	19	control	control	NOUN
fumecheng-10846	285	20	design	design	NOUN
fumecheng-10846	285	21	,	,	PUNCT
fumecheng-10846	285	22	john	john	PROPN
fumecheng-10846	285	23	wiley	wiley	PROPN
fumecheng-10846	285	24	and	and	CCONJ
fumecheng-10846	285	25	sons	son	NOUN
fumecheng-10846	285	26	hoboken	hoboken	PROPN
fumecheng-10846	285	27	.	.	PROPN
fumecheng-10846	286	1	13	13	NUM
fumecheng-10846	286	2	.	.	PUNCT
fumecheng-10846	287	1	khalil	khalil	PROPN
fumecheng-10846	287	2	,	,	PUNCT
fumecheng-10846	287	3	h.	h.	PROPN
fumecheng-10846	287	4	k.	k.	PROPN
fumecheng-10846	287	5	,	,	PUNCT
fumecheng-10846	287	6	2002	2002	NUM
fumecheng-10846	287	7	,	,	PUNCT
fumecheng-10846	287	8	nonlinear	nonlinear	ADJ
fumecheng-10846	287	9	systems	system	NOUN
fumecheng-10846	287	10	,	,	PUNCT
fumecheng-10846	287	11	3rd	3rd	ADJ
fumecheng-10846	287	12	ed	ed	NOUN
fumecheng-10846	287	13	.	.	PROPN
fumecheng-10846	287	14	,	,	PUNCT
fumecheng-10846	287	15	prentice	prentice	PROPN
fumecheng-10846	287	16	hall	hall	PROPN
fumecheng-10846	287	17	,	,	PUNCT
fumecheng-10846	287	18	upper	upper	ADJ
fumecheng-10846	287	19	saddle	saddle	NOUN
fumecheng-10846	287	20	river	river	NOUN
fumecheng-10846	287	21	.	.	PUNCT
fumecheng-10846	288	1	14	14	NUM
fumecheng-10846	288	2	.	.	PUNCT
fumecheng-10846	289	1	lee	lee	PROPN
fumecheng-10846	289	2	,	,	PUNCT
fumecheng-10846	289	3	s.	s.	PROPN
fumecheng-10846	289	4	j.	j.	PROPN
fumecheng-10846	289	5	,	,	PUNCT
fumecheng-10846	289	6	tsao	tsao	PROPN
fumecheng-10846	289	7	,	,	PUNCT
fumecheng-10846	289	8	t.-c	t.-c	PROPN
fumecheng-10846	289	9	.	.	PROPN
fumecheng-10846	289	10	,	,	PUNCT
fumecheng-10846	289	11	2002	2002	NUM
fumecheng-10846	289	12	,	,	PUNCT
fumecheng-10846	289	13	nonlinear	nonlinear	ADJ
fumecheng-10846	289	14	backstepping	backstepping	NOUN
fumecheng-10846	289	15	control	control	NOUN
fumecheng-10846	289	16	of	of	ADP
fumecheng-10846	289	17	an	an	DET
fumecheng-10846	289	18	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	289	19	material	material	NOUN
fumecheng-10846	289	20	testing	testing	NOUN
fumecheng-10846	289	21	system	system	NOUN
fumecheng-10846	289	22	,	,	PUNCT
fumecheng-10846	289	23	proceedings	proceeding	NOUN
fumecheng-10846	289	24	of	of	ADP
fumecheng-10846	289	25	the	the	DET
fumecheng-10846	289	26	american	american	PROPN
fumecheng-10846	289	27	control	control	PROPN
fumecheng-10846	289	28	conference	conference	PROPN
fumecheng-10846	289	29	,	,	PUNCT
fumecheng-10846	289	30	vol	vol	NOUN
fumecheng-10846	289	31	.	.	PROPN
fumecheng-10846	289	32	6	6	NUM
fumecheng-10846	289	33	,	,	PUNCT
fumecheng-10846	289	34	pp	pp	ADJ
fumecheng-10846	289	35	.	.	PUNCT
fumecheng-10846	289	36	4852	4852	NUM
fumecheng-10846	289	37	-	-	SYM
fumecheng-10846	289	38	4830	4830	NUM
fumecheng-10846	289	39	.	.	PUNCT
fumecheng-10846	290	1	15	15	NUM
fumecheng-10846	290	2	.	.	PUNCT
fumecheng-10846	290	3	ursu	ursu	PROPN
fumecheng-10846	290	4	,	,	PUNCT
fumecheng-10846	290	5	i.	i.	NOUN
fumecheng-10846	290	6	,	,	PUNCT
fumecheng-10846	290	7	ursu	ursu	PROPN
fumecheng-10846	290	8	,	,	PUNCT
fumecheng-10846	290	9	f.	f.	PROPN
fumecheng-10846	290	10	,	,	PUNCT
fumecheng-10846	290	11	popescu	popescu	PROPN
fumecheng-10846	290	12	,	,	PUNCT
fumecheng-10846	290	13	f.	f.	PROPN
fumecheng-10846	290	14	,	,	PUNCT
fumecheng-10846	290	15	2006	2006	NUM
fumecheng-10846	290	16	,	,	PUNCT
fumecheng-10846	290	17	.	.	PUNCT
fumecheng-10846	291	1	backstepping	backsteppe	VERB
fumecheng-10846	291	2	design	design	NOUN
fumecheng-10846	291	3	for	for	ADP
fumecheng-10846	291	4	controlling	control	VERB
fumecheng-10846	291	5	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	291	6	servos	servo	NOUN
fumecheng-10846	291	7	,	,	PUNCT
fumecheng-10846	291	8	journal	journal	NOUN
fumecheng-10846	291	9	of	of	ADP
fumecheng-10846	291	10	the	the	DET
fumecheng-10846	291	11	franklin	franklin	PROPN
fumecheng-10846	291	12	institute	institute	PROPN
fumecheng-10846	291	13	,	,	PUNCT
fumecheng-10846	291	14	343(1	343(1	NUM
fumecheng-10846	291	15	)	)	PUNCT
fumecheng-10846	291	16	,	,	PUNCT
fumecheng-10846	291	17	pp	pp	ADP
fumecheng-10846	291	18	.	.	PUNCT
fumecheng-10846	292	1	94	94	NUM
fumecheng-10846	292	2	-	-	SYM
fumecheng-10846	292	3	110	110	NUM
fumecheng-10846	292	4	.	.	PUNCT
fumecheng-10846	293	1	16	16	NUM
fumecheng-10846	293	2	.	.	PUNCT
fumecheng-10846	294	1	bonchis	bonchis	PROPN
fumecheng-10846	294	2	,	,	PUNCT
fumecheng-10846	294	3	a.	a.	NOUN
fumecheng-10846	294	4	,	,	PUNCT
fumecheng-10846	294	5	corke	corke	NOUN
fumecheng-10846	294	6	,	,	PUNCT
fumecheng-10846	294	7	p.i	p.i	PROPN
fumecheng-10846	294	8	.	.	PROPN
fumecheng-10846	294	9	,	,	PUNCT
fumecheng-10846	294	10	rye	rye	PROPN
fumecheng-10846	294	11	,	,	PUNCT
fumecheng-10846	294	12	d.c	d.c	PROPN
fumecheng-10846	294	13	.	.	PROPN
fumecheng-10846	294	14	,	,	PUNCT
fumecheng-10846	294	15	ha	ha	INTJ
fumecheng-10846	294	16	,	,	PUNCT
fumecheng-10846	294	17	q.p	q.p	PROPN
fumecheng-10846	294	18	.	.	PROPN
fumecheng-10846	294	19	,	,	PUNCT
fumecheng-10846	294	20	2001	2001	NUM
fumecheng-10846	294	21	,	,	PUNCT
fumecheng-10846	294	22	variable	variable	ADJ
fumecheng-10846	294	23	structure	structure	NOUN
fumecheng-10846	294	24	methods	method	NOUN
fumecheng-10846	294	25	in	in	ADP
fumecheng-10846	294	26	hydraulic	hydraulic	ADJ
fumecheng-10846	294	27	servo	servo	NOUN
fumecheng-10846	294	28	systems	system	NOUN
fumecheng-10846	294	29	control	control	PROPN
fumecheng-10846	294	30	,	,	PUNCT
fumecheng-10846	294	31	automatica	automatica	PROPN
fumecheng-10846	294	32	,	,	PUNCT
fumecheng-10846	294	33	37(4	37(4	PROPN
fumecheng-10846	294	34	)	)	PUNCT
fumecheng-10846	294	35	,	,	PUNCT
fumecheng-10846	294	36	pp	pp	ADP
fumecheng-10846	294	37	.	.	PUNCT
fumecheng-10846	295	1	589–595	589–595	NUM
fumecheng-10846	295	2	.	.	PUNCT
fumecheng-10846	296	1	17	17	NUM
fumecheng-10846	296	2	.	.	PUNCT
fumecheng-10846	297	1	nakkarat	nakkarat	PROPN
fumecheng-10846	297	2	,	,	PUNCT
fumecheng-10846	297	3	p.	p.	PROPN
fumecheng-10846	297	4	,	,	PUNCT
fumecheng-10846	297	5	kuntanapreeda	kuntanapreeda	PROPN
fumecheng-10846	297	6	,	,	PUNCT
fumecheng-10846	297	7	s.	s.	PROPN
fumecheng-10846	297	8	,	,	PUNCT
fumecheng-10846	297	9	2009	2009	NUM
fumecheng-10846	297	10	,	,	PUNCT
fumecheng-10846	297	11	observer	observer	NOUN
fumecheng-10846	297	12	-	-	PUNCT
fumecheng-10846	297	13	based	base	VERB
fumecheng-10846	297	14	backstepping	backstepping	NOUN
fumecheng-10846	297	15	force	force	NOUN
fumecheng-10846	297	16	control	control	NOUN
fumecheng-10846	297	17	of	of	ADP
fumecheng-10846	297	18	an	an	DET
fumecheng-10846	297	19	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	297	20	actuator	actuator	NOUN
fumecheng-10846	297	21	,	,	PUNCT
fumecheng-10846	297	22	control	control	NOUN
fumecheng-10846	297	23	engineering	engineering	NOUN
fumecheng-10846	297	24	practice	practice	NOUN
fumecheng-10846	297	25	,	,	PUNCT
fumecheng-10846	297	26	17(8	17(8	NUM
fumecheng-10846	297	27	)	)	PUNCT
fumecheng-10846	297	28	,	,	PUNCT
fumecheng-10846	297	29	pp	pp	PROPN
fumecheng-10846	297	30	.	.	PUNCT
fumecheng-10846	298	1	895	895	NUM
fumecheng-10846	298	2	-	-	SYM
fumecheng-10846	298	3	902	902	NUM
fumecheng-10846	298	4	.	.	PUNCT
fumecheng-10846	299	1	design	design	NOUN
fumecheng-10846	299	2	and	and	CCONJ
fumecheng-10846	299	3	tuning	tuning	NOUN
fumecheng-10846	299	4	of	of	ADP
fumecheng-10846	299	5	lyapunov	lyapunov	NOUN
fumecheng-10846	299	6	based	base	VERB
fumecheng-10846	299	7	nonlinear	nonlinear	ADJ
fumecheng-10846	299	8	position	position	NOUN
fumecheng-10846	299	9	control	control	NOUN
fumecheng-10846	299	10	of	of	ADP
fumecheng-10846	299	11	electrohydraulic	electrohydraulic	NOUN
fumecheng-10846	299	12	servo	servo	NOUN
fumecheng-10846	299	13	systems	system	NOUN
fumecheng-10846	299	14	17	17	NUM
fumecheng-10846	299	15	18	18	NUM
fumecheng-10846	299	16	.	.	PUNCT
fumecheng-10846	300	1	sun	sun	PROPN
fumecheng-10846	300	2	,	,	PUNCT
fumecheng-10846	300	3	w.	w.	PROPN
fumecheng-10846	300	4	,	,	PUNCT
fumecheng-10846	300	5	gao	gao	PROPN
fumecheng-10846	300	6	,	,	PUNCT
fumecheng-10846	300	7	h.	h.	PROPN
fumecheng-10846	300	8	,	,	PUNCT
fumecheng-10846	300	9	kaynak	kaynak	PROPN
fumecheng-10846	300	10	,	,	PUNCT
fumecheng-10846	300	11	o.	o.	PROPN
fumecheng-10846	300	12	,	,	PUNCT
fumecheng-10846	300	13	2013	2013	NUM
fumecheng-10846	300	14	,	,	PUNCT
fumecheng-10846	300	15	adaptive	adaptive	ADJ
fumecheng-10846	300	16	backstepping	backstepping	NOUN
fumecheng-10846	300	17	control	control	NOUN
fumecheng-10846	300	18	for	for	ADP
fumecheng-10846	300	19	active	active	ADJ
fumecheng-10846	300	20	suspension	suspension	NOUN
fumecheng-10846	300	21	systems	system	NOUN
fumecheng-10846	300	22	with	with	ADP
fumecheng-10846	300	23	hard	hard	ADJ
fumecheng-10846	300	24	constraints	constraint	NOUN
fumecheng-10846	300	25	,	,	PUNCT
fumecheng-10846	300	26	ieee	ieee	PROPN
fumecheng-10846	300	27	/	/	SYM
fumecheng-10846	300	28	asme	asme	PROPN
fumecheng-10846	300	29	transactions	transaction	NOUN
fumecheng-10846	300	30	on	on	ADP
fumecheng-10846	300	31	mechatronics	mechatronic	NOUN
fumecheng-10846	300	32	,	,	PUNCT
fumecheng-10846	300	33	18(3	18(3	NUM
fumecheng-10846	300	34	)	)	PUNCT
fumecheng-10846	300	35	,	,	PUNCT
fumecheng-10846	300	36	pp	pp	ADP
fumecheng-10846	300	37	.	.	PUNCT
fumecheng-10846	300	38	1072	1072	NUM
fumecheng-10846	300	39	-	-	SYM
fumecheng-10846	300	40	1079	1079	NUM
fumecheng-10846	300	41	.	.	PUNCT
fumecheng-10846	301	1	19	19	NUM
fumecheng-10846	301	2	.	.	PUNCT
fumecheng-10846	302	1	wonohadidjojo	wonohadidjojo	PROPN
fumecheng-10846	302	2	,	,	PUNCT
fumecheng-10846	302	3	d.m	d.m	PROPN
fumecheng-10846	302	4	.	.	PROPN
fumecheng-10846	302	5	,	,	PUNCT
fumecheng-10846	302	6	kothapalli	kothapalli	PROPN
fumecheng-10846	302	7	,	,	PUNCT
fumecheng-10846	302	8	g.	g.	PROPN
fumecheng-10846	302	9	,	,	PUNCT
fumecheng-10846	302	10	hassan	hassan	PROPN
fumecheng-10846	302	11	,	,	PUNCT
fumecheng-10846	302	12	m.y	m.y	PROPN
fumecheng-10846	302	13	.	.	PROPN
fumecheng-10846	302	14	,	,	PUNCT
fumecheng-10846	302	15	2013	2013	NUM
fumecheng-10846	302	16	,	,	PUNCT
fumecheng-10846	302	17	position	position	NOUN
fumecheng-10846	302	18	control	control	NOUN
fumecheng-10846	302	19	of	of	ADP
fumecheng-10846	302	20	electro	electro	ADJ
fumecheng-10846	302	21	-	-	PUNCT
fumecheng-10846	302	22	hydraulic	hydraulic	NOUN
fumecheng-10846	302	23	actuator	actuator	NOUN
fumecheng-10846	302	24	system	system	NOUN
fumecheng-10846	302	25	using	use	VERB
fumecheng-10846	302	26	fuzzy	fuzzy	ADJ
fumecheng-10846	302	27	logic	logic	NOUN
fumecheng-10846	302	28	controller	controller	NOUN
fumecheng-10846	302	29	optimized	optimize	VERB
fumecheng-10846	302	30	by	by	ADP
fumecheng-10846	302	31	particle	particle	NOUN
fumecheng-10846	302	32	swarm	swarm	NOUN
fumecheng-10846	302	33	optimization	optimization	NOUN
fumecheng-10846	302	34	,	,	PUNCT
fumecheng-10846	302	35	international	international	ADJ
fumecheng-10846	302	36	journal	journal	NOUN
fumecheng-10846	302	37	of	of	ADP
fumecheng-10846	302	38	automation	automation	NOUN
fumecheng-10846	302	39	and	and	CCONJ
fumecheng-10846	302	40	computing	computing	NOUN
fumecheng-10846	302	41	,	,	PUNCT
fumecheng-10846	302	42	10(3	10(3	NUM
fumecheng-10846	302	43	)	)	PUNCT
fumecheng-10846	302	44	,	,	PUNCT
fumecheng-10846	302	45	pp	pp	ADJ
fumecheng-10846	302	46	.	.	PUNCT
fumecheng-10846	303	1	181	181	NUM
fumecheng-10846	303	2	-	-	SYM
fumecheng-10846	303	3	193	193	NUM
fumecheng-10846	303	4	.	.	PUNCT
fumecheng-10846	304	1	20	20	NUM
fumecheng-10846	304	2	.	.	PUNCT
fumecheng-10846	305	1	wright	wright	PROPN
fumecheng-10846	305	2	,	,	PUNCT
fumecheng-10846	305	3	h.	h.	PROPN
fumecheng-10846	305	4	,	,	PUNCT
fumecheng-10846	305	5	alleyne	alleyne	PROPN
fumecheng-10846	305	6	,	,	PUNCT
fumecheng-10846	305	7	a.	a.	NOUN
fumecheng-10846	305	8	,	,	PUNCT
fumecheng-10846	305	9	liu	liu	PROPN
fumecheng-10846	305	10	,	,	PUNCT
fumecheng-10846	305	11	r.	r.	PROPN
fumecheng-10846	305	12	,	,	PUNCT
fumecheng-10846	305	13	1997	1997	NUM
fumecheng-10846	305	14	,	,	PUNCT
fumecheng-10846	305	15	on	on	ADP
fumecheng-10846	305	16	the	the	DET
fumecheng-10846	305	17	stability	stability	NOUN
fumecheng-10846	305	18	and	and	CCONJ
fumecheng-10846	305	19	performance	performance	NOUN
fumecheng-10846	305	20	of	of	ADP
fumecheng-10846	305	21	two	two	NUM
fumecheng-10846	305	22	-	-	PUNCT
fumecheng-10846	305	23	state	state	NOUN
fumecheng-10846	305	24	hydraulic	hydraulic	ADJ
fumecheng-10846	305	25	servovalves	servovalve	NOUN
fumecheng-10846	305	26	,	,	PUNCT
fumecheng-10846	305	27	proceedings	proceeding	NOUN
fumecheng-10846	305	28	of	of	ADP
fumecheng-10846	305	29	the	the	DET
fumecheng-10846	305	30	asme	asme	PROPN
fumecheng-10846	305	31	dynamic	dynamic	ADJ
fumecheng-10846	305	32	systems	system	NOUN
fumecheng-10846	305	33	and	and	CCONJ
fumecheng-10846	305	34	control	control	PROPN
fumecheng-10846	305	35	division	division	NOUN
fumecheng-10846	305	36	,	,	PUNCT
fumecheng-10846	305	37	63	63	NUM
fumecheng-10846	305	38	,	,	PUNCT
fumecheng-10846	305	39	pp	pp	ADJ
fumecheng-10846	305	40	.	.	PUNCT
fumecheng-10846	306	1	215	215	NUM
fumecheng-10846	306	2	-	-	SYM
fumecheng-10846	306	3	222	222	NUM
fumecheng-10846	306	4	.	.	PUNCT
fumecheng-10846	307	1	21	21	NUM
fumecheng-10846	307	2	.	.	PUNCT
fumecheng-10846	308	1	jelali	jelali	PROPN
fumecheng-10846	308	2	,	,	PUNCT
fumecheng-10846	308	3	m.	m.	NOUN
fumecheng-10846	308	4	,	,	PUNCT
fumecheng-10846	308	5	kroll	kroll	PROPN
fumecheng-10846	308	6	,	,	PUNCT
fumecheng-10846	308	7	a.	a.	PROPN
fumecheng-10846	308	8	,	,	PUNCT
fumecheng-10846	308	9	2003	2003	NUM
fumecheng-10846	308	10	,	,	PUNCT
fumecheng-10846	308	11	hydraulic	hydraulic	ADJ
fumecheng-10846	308	12	servo	servo	NOUN
fumecheng-10846	308	13	-	-	PUNCT
fumecheng-10846	308	14	systems	system	NOUN
fumecheng-10846	308	15	:	:	PUNCT
fumecheng-10846	308	16	modelling	modelling	NOUN
fumecheng-10846	308	17	,	,	PUNCT
fumecheng-10846	308	18	identification	identification	NOUN
fumecheng-10846	308	19	and	and	CCONJ
fumecheng-10846	308	20	control	control	NOUN
fumecheng-10846	308	21	,	,	PUNCT
fumecheng-10846	308	22	springer	springer	NOUN
fumecheng-10846	308	23	–	–	PUNCT
fumecheng-10846	308	24	verlag	verlag	PROPN
fumecheng-10846	308	25	,	,	PUNCT
fumecheng-10846	308	26	london	london	PROPN
fumecheng-10846	308	27	,	,	PUNCT
fumecheng-10846	308	28	berlin	berlin	PROPN
fumecheng-10846	308	29	,	,	PUNCT
fumecheng-10846	308	30	heidelberg	heidelberg	PROPN
fumecheng-10846	308	31	.	.	PUNCT
fumecheng-10846	309	1	22	22	NUM
fumecheng-10846	309	2	.	.	PUNCT
fumecheng-10846	309	3	moog	moog	NOUN
fumecheng-10846	309	4	.	.	PUNCT
fumecheng-10846	310	1	servovalves	servovalve	NOUN
fumecheng-10846	310	2	with	with	ADP
fumecheng-10846	310	3	integrated	integrated	ADJ
fumecheng-10846	310	4	electronics	electronic	NOUN
fumecheng-10846	310	5	d769	d769	PROPN
fumecheng-10846	310	6	series	series	NOUN
fumecheng-10846	310	7	.	.	PUNCT
fumecheng-10846	311	1	rapport	rapport	NOUN
fumecheng-10846	311	2	technique	technique	NOUN
fumecheng-10846	311	3	,	,	PUNCT
fumecheng-10846	311	4	moog	moog	PROPN
fumecheng-10846	311	5	inc	inc	PROPN
fumecheng-10846	311	6	.	.	PROPN
fumecheng-10846	311	7	23	23	NUM
fumecheng-10846	311	8	.	.	PUNCT
fumecheng-10846	312	1	mavrinac	mavrinac	NOUN
fumecheng-10846	312	2	,	,	PUNCT
fumecheng-10846	312	3	m.	m.	NOUN
fumecheng-10846	312	4	,	,	PUNCT
fumecheng-10846	312	5	lorencin	lorencin	PROPN
fumecheng-10846	312	6	,	,	PUNCT
fumecheng-10846	312	7	i.	i.	NOUN
fumecheng-10846	312	8	,	,	PUNCT
fumecheng-10846	312	9	car	car	NOUN
fumecheng-10846	312	10	,	,	PUNCT
fumecheng-10846	312	11	z.	z.	PROPN
fumecheng-10846	312	12	,	,	PUNCT
fumecheng-10846	312	13	šercer	šercer	NOUN
fumecheng-10846	312	14	,	,	PUNCT
fumecheng-10846	312	15	m.	m.	NOUN
fumecheng-10846	312	16	,	,	PUNCT
fumecheng-10846	312	17	2022	2022	NUM
fumecheng-10846	312	18	,	,	PUNCT
fumecheng-10846	312	19	genetic	genetic	ADJ
fumecheng-10846	312	20	algorithm	algorithm	NOUN
fumecheng-10846	312	21	-	-	PUNCT
fumecheng-10846	312	22	based	base	VERB
fumecheng-10846	312	23	parametrization	parametrization	NOUN
fumecheng-10846	312	24	of	of	ADP
fumecheng-10846	312	25	a	a	DET
fumecheng-10846	312	26	pi	pi	NOUN
fumecheng-10846	312	27	controller	controller	NOUN
fumecheng-10846	312	28	for	for	ADP
fumecheng-10846	312	29	dc	dc	PROPN
fumecheng-10846	312	30	motor	motor	PROPN
fumecheng-10846	312	31	control	control	PROPN
fumecheng-10846	312	32	,	,	PUNCT
fumecheng-10846	312	33	technical	technical	ADJ
fumecheng-10846	312	34	gazette	gazette	PROPN
fumecheng-10846	312	35	,	,	PUNCT
fumecheng-10846	312	36	16(1	16(1	NUM
fumecheng-10846	312	37	)	)	PUNCT
fumecheng-10846	312	38	,	,	PUNCT
fumecheng-10846	312	39	pp.16	pp.16	PROPN
fumecheng-10846	312	40	-	-	PUNCT
fumecheng-10846	312	41	22	22	NUM
fumecheng-10846	312	42	.	.	PUNCT
fumecheng-10846	313	1	24	24	NUM
fumecheng-10846	313	2	.	.	PUNCT
fumecheng-10846	313	3	pingale	pingale	PROPN
fumecheng-10846	313	4	,	,	PUNCT
fumecheng-10846	313	5	r.	r.	PROPN
fumecheng-10846	313	6	,	,	PUNCT
fumecheng-10846	313	7	shinde	shinde	PROPN
fumecheng-10846	313	8	,	,	PUNCT
fumecheng-10846	313	9	s.n	s.n	PROPN
fumecheng-10846	313	10	.	.	PROPN
fumecheng-10846	313	11	,	,	PUNCT
fumecheng-10846	313	12	2021	2021	NUM
fumecheng-10846	313	13	,	,	PUNCT
fumecheng-10846	313	14	fuzzy	fuzzy	ADJ
fumecheng-10846	313	15	logic	logic	NOUN
fumecheng-10846	313	16	approach	approach	NOUN
fumecheng-10846	313	17	for	for	ADP
fumecheng-10846	313	18	routing	route	VERB
fumecheng-10846	313	19	in	in	ADP
fumecheng-10846	313	20	internet	internet	NOUN
fumecheng-10846	313	21	of	of	ADP
fumecheng-10846	313	22	things	thing	NOUN
fumecheng-10846	313	23	network	network	NOUN
fumecheng-10846	313	24	,	,	PUNCT
fumecheng-10846	313	25	technical	technical	ADJ
fumecheng-10846	313	26	gazette	gazette	NOUN
fumecheng-10846	313	27	,	,	PUNCT
fumecheng-10846	313	28	15(1	15(1	NUM
fumecheng-10846	313	29	)	)	PUNCT
fumecheng-10846	313	30	,	,	PUNCT
fumecheng-10846	314	1	pp	pp	PROPN
fumecheng-10846	314	2	.	.	PUNCT
fumecheng-10846	315	1	18	18	NUM
fumecheng-10846	315	2	-	-	SYM
fumecheng-10846	315	3	24	24	NUM
fumecheng-10846	315	4	.	.	PUNCT