id	sid	tid	token	lemma	pos
fumecheng-11564	1	1	11564	11564	NUM
fumecheng-11564	1	2	facta	facta	PROPN
fumecheng-11564	1	3	universitatis	universitatis	PROPN
fumecheng-11564	1	4	series	series	NOUN
fumecheng-11564	1	5	:	:	PUNCT
fumecheng-11564	1	6	mechanical	mechanical	ADJ
fumecheng-11564	1	7	engineering	engineering	NOUN
fumecheng-11564	1	8	vol	vol	NOUN
fumecheng-11564	1	9	.	.	PROPN
fumecheng-11564	1	10	21	21	NUM
fumecheng-11564	1	11	,	,	PUNCT
fumecheng-11564	1	12	no	no	DET
fumecheng-11564	1	13	1	1	NUM
fumecheng-11564	1	14	,	,	PUNCT
fumecheng-11564	1	15	2023	2023	NUM
fumecheng-11564	1	16	,	,	PUNCT
fumecheng-11564	1	17	pp	pp	ADJ
fumecheng-11564	1	18	.	.	PUNCT
fumecheng-11564	2	1	1	1	NUM
fumecheng-11564	2	2	20	20	NUM
fumecheng-11564	2	3	https://doi.org/10.22190/fume230125009b	https://doi.org/10.22190/fume230125009b	PROPN
fumecheng-11564	2	4	©	©	PROPN
fumecheng-11564	2	5	2023	2023	NUM
fumecheng-11564	2	6	by	by	ADP
fumecheng-11564	2	7	university	university	PROPN
fumecheng-11564	2	8	of	of	ADP
fumecheng-11564	2	9	niš	niš	PROPN
fumecheng-11564	2	10	,	,	PUNCT
fumecheng-11564	2	11	serbia	serbia	PROPN
fumecheng-11564	2	12	|	|	ADV
fumecheng-11564	2	13	creative	creative	ADJ
fumecheng-11564	2	14	commons	common	NOUN
fumecheng-11564	2	15	license	license	NOUN
fumecheng-11564	2	16	:	:	PUNCT
fumecheng-11564	2	17	cc	cc	VERB
fumecheng-11564	2	18	by	by	ADP
fumecheng-11564	2	19	-	-	PUNCT
fumecheng-11564	2	20	nc	nc	VERB
fumecheng-11564	2	21	-	-	PUNCT
fumecheng-11564	2	22	nd	nd	ADV
fumecheng-11564	2	23	original	original	ADJ
fumecheng-11564	2	24	scientific	scientific	ADJ
fumecheng-11564	2	25	paper	paper	ADJ
fumecheng-11564	2	26	discrete	discrete	ADJ
fumecheng-11564	2	27	-	-	PUNCT
fumecheng-11564	2	28	time	time	NOUN
fumecheng-11564	2	29	model	model	NOUN
fumecheng-11564	2	30	-	-	PUNCT
fumecheng-11564	2	31	based	base	VERB
fumecheng-11564	2	32	sliding	slide	VERB
fumecheng-11564	2	33	mode	mode	NOUN
fumecheng-11564	2	34	controllers	controller	NOUN
fumecheng-11564	2	35	for	for	ADP
fumecheng-11564	2	36	tower	tower	NOUN
fumecheng-11564	2	37	crane	crane	NOUN
fumecheng-11564	2	38	systems	system	NOUN
fumecheng-11564	2	39	anamaria	anamaria	PROPN
fumecheng-11564	2	40	-	-	PUNCT
fumecheng-11564	2	41	ioana	ioana	PROPN
fumecheng-11564	2	42	borlea1	borlea1	PROPN
fumecheng-11564	2	43	,	,	PUNCT
fumecheng-11564	2	44	radu	radu	PROPN
fumecheng-11564	2	45	-	-	PUNCT
fumecheng-11564	2	46	emil	emil	PROPN
fumecheng-11564	2	47	precup1,2	precup1,2	PROPN
fumecheng-11564	2	48	,	,	PUNCT
fumecheng-11564	2	49	raul	raul	NOUN
fumecheng-11564	2	50	-	-	PUNCT
fumecheng-11564	2	51	cristian	cristian	NOUN
fumecheng-11564	2	52	roman1	roman1	PROPN
fumecheng-11564	3	1	1politehnica	1politehnica	NUM
fumecheng-11564	3	2	university	university	NOUN
fumecheng-11564	3	3	of	of	ADP
fumecheng-11564	3	4	timisoara	timisoara	PROPN
fumecheng-11564	3	5	,	,	PUNCT
fumecheng-11564	3	6	department	department	NOUN
fumecheng-11564	3	7	of	of	ADP
fumecheng-11564	3	8	automation	automation	NOUN
fumecheng-11564	3	9	and	and	CCONJ
fumecheng-11564	3	10	applied	apply	VERB
fumecheng-11564	3	11	informatics	informatic	NOUN
fumecheng-11564	3	12	,	,	PUNCT
fumecheng-11564	3	13	timisoara	timisoara	PROPN
fumecheng-11564	3	14	,	,	PUNCT
fumecheng-11564	3	15	romania	romania	PROPN
fumecheng-11564	3	16	2romanian	2romanian	NUM
fumecheng-11564	3	17	academy	academy	NOUN
fumecheng-11564	3	18	–	–	PUNCT
fumecheng-11564	3	19	timisoara	timisoara	ADJ
fumecheng-11564	3	20	branch	branch	NOUN
fumecheng-11564	3	21	,	,	PUNCT
fumecheng-11564	3	22	center	center	NOUN
fumecheng-11564	3	23	for	for	ADP
fumecheng-11564	3	24	fundamental	fundamental	ADJ
fumecheng-11564	3	25	and	and	CCONJ
fumecheng-11564	3	26	advanced	advanced	ADJ
fumecheng-11564	3	27	technical	technical	ADJ
fumecheng-11564	3	28	research	research	NOUN
fumecheng-11564	3	29	,	,	PUNCT
fumecheng-11564	3	30	timisoara	timisoara	PROPN
fumecheng-11564	3	31	,	,	PUNCT
fumecheng-11564	3	32	romania	romania	PROPN
fumecheng-11564	3	33	abstract	abstract	NOUN
fumecheng-11564	3	34	.	.	PUNCT
fumecheng-11564	4	1	this	this	DET
fumecheng-11564	4	2	paper	paper	NOUN
fumecheng-11564	4	3	applies	apply	VERB
fumecheng-11564	4	4	three	three	NUM
fumecheng-11564	4	5	classical	classical	ADJ
fumecheng-11564	4	6	and	and	CCONJ
fumecheng-11564	4	7	very	very	ADV
fumecheng-11564	4	8	popular	popular	ADJ
fumecheng-11564	4	9	discrete	discrete	ADJ
fumecheng-11564	4	10	-	-	PUNCT
fumecheng-11564	4	11	time	time	NOUN
fumecheng-11564	4	12	modelbased	modelbase	VERB
fumecheng-11564	4	13	sliding	slide	VERB
fumecheng-11564	4	14	mode	mode	NOUN
fumecheng-11564	4	15	controllers	controller	NOUN
fumecheng-11564	4	16	,	,	PUNCT
fumecheng-11564	4	17	namely	namely	ADV
fumecheng-11564	4	18	the	the	DET
fumecheng-11564	4	19	furuta	furuta	ADJ
fumecheng-11564	4	20	controller	controller	NOUN
fumecheng-11564	4	21	,	,	PUNCT
fumecheng-11564	4	22	the	the	DET
fumecheng-11564	4	23	gao	gao	PROPN
fumecheng-11564	4	24	controller	controller	NOUN
fumecheng-11564	4	25	,	,	PUNCT
fumecheng-11564	4	26	and	and	CCONJ
fumecheng-11564	4	27	the	the	DET
fumecheng-11564	4	28	quasi	quasi	ADJ
fumecheng-11564	4	29	-	-	ADJ
fumecheng-11564	4	30	relay	relay	ADJ
fumecheng-11564	4	31	controller	controller	NOUN
fumecheng-11564	4	32	due	due	ADP
fumecheng-11564	4	33	to	to	ADP
fumecheng-11564	4	34	milosavljević	milosavljević	VERB
fumecheng-11564	4	35	,	,	PUNCT
fumecheng-11564	4	36	to	to	ADP
fumecheng-11564	4	37	the	the	DET
fumecheng-11564	4	38	position	position	NOUN
fumecheng-11564	4	39	control	control	NOUN
fumecheng-11564	4	40	of	of	ADP
fumecheng-11564	4	41	tower	tower	NOUN
fumecheng-11564	4	42	crane	crane	NOUN
fumecheng-11564	4	43	systems	system	NOUN
fumecheng-11564	4	44	.	.	PUNCT
fumecheng-11564	5	1	three	three	NUM
fumecheng-11564	5	2	single	single	ADJ
fumecheng-11564	5	3	input	input	NOUN
fumecheng-11564	5	4	-	-	PUNCT
fumecheng-11564	5	5	single	single	ADJ
fumecheng-11564	5	6	output	output	NOUN
fumecheng-11564	5	7	(	(	PUNCT
fumecheng-11564	5	8	siso	siso	NOUN
fumecheng-11564	5	9	)	)	PUNCT
fumecheng-11564	5	10	control	control	NOUN
fumecheng-11564	5	11	systems	system	NOUN
fumecheng-11564	5	12	are	be	AUX
fumecheng-11564	5	13	considered	consider	VERB
fumecheng-11564	5	14	,	,	PUNCT
fumecheng-11564	5	15	for	for	ADP
fumecheng-11564	5	16	cart	cart	NOUN
fumecheng-11564	5	17	position	position	NOUN
fumecheng-11564	5	18	control	control	NOUN
fumecheng-11564	5	19	,	,	PUNCT
fumecheng-11564	5	20	arm	arm	NOUN
fumecheng-11564	5	21	angular	angular	ADJ
fumecheng-11564	5	22	position	position	NOUN
fumecheng-11564	5	23	control	control	NOUN
fumecheng-11564	5	24	and	and	CCONJ
fumecheng-11564	5	25	payload	payload	NOUN
fumecheng-11564	5	26	position	position	NOUN
fumecheng-11564	5	27	control	control	NOUN
fumecheng-11564	5	28	,	,	PUNCT
fumecheng-11564	5	29	and	and	CCONJ
fumecheng-11564	5	30	separate	separate	ADJ
fumecheng-11564	5	31	siso	siso	NOUN
fumecheng-11564	5	32	controllers	controller	NOUN
fumecheng-11564	5	33	are	be	AUX
fumecheng-11564	5	34	designed	design	VERB
fumecheng-11564	5	35	in	in	ADP
fumecheng-11564	5	36	each	each	DET
fumecheng-11564	5	37	control	control	NOUN
fumecheng-11564	5	38	system	system	NOUN
fumecheng-11564	5	39	.	.	PUNCT
fumecheng-11564	6	1	experimental	experimental	ADJ
fumecheng-11564	6	2	results	result	NOUN
fumecheng-11564	6	3	are	be	AUX
fumecheng-11564	6	4	included	include	VERB
fumecheng-11564	6	5	to	to	PART
fumecheng-11564	6	6	support	support	VERB
fumecheng-11564	6	7	the	the	DET
fumecheng-11564	6	8	comparison	comparison	NOUN
fumecheng-11564	6	9	of	of	ADP
fumecheng-11564	6	10	the	the	DET
fumecheng-11564	6	11	three	three	NUM
fumecheng-11564	6	12	plus	plus	CCONJ
fumecheng-11564	6	13	three	three	NUM
fumecheng-11564	6	14	plus	plus	CCONJ
fumecheng-11564	6	15	three	three	NUM
fumecheng-11564	6	16	sliding	slide	VERB
fumecheng-11564	6	17	mode	mode	NOUN
fumecheng-11564	6	18	controllers	controller	NOUN
fumecheng-11564	6	19	.	.	PUNCT
fumecheng-11564	7	1	key	key	ADJ
fumecheng-11564	7	2	words	word	NOUN
fumecheng-11564	7	3	:	:	PUNCT
fumecheng-11564	7	4	discrete	discrete	ADJ
fumecheng-11564	7	5	-	-	PUNCT
fumecheng-11564	7	6	time	time	NOUN
fumecheng-11564	7	7	model	model	NOUN
fumecheng-11564	7	8	-	-	PUNCT
fumecheng-11564	7	9	based	base	VERB
fumecheng-11564	7	10	sliding	sliding	ADJ
fumecheng-11564	7	11	mode	mode	NOUN
fumecheng-11564	7	12	controllers	controller	NOUN
fumecheng-11564	7	13	,	,	PUNCT
fumecheng-11564	7	14	furuta	furuta	ADJ
fumecheng-11564	7	15	controller	controller	NOUN
fumecheng-11564	7	16	,	,	PUNCT
fumecheng-11564	7	17	gao	gao	PROPN
fumecheng-11564	7	18	controller	controller	PROPN
fumecheng-11564	7	19	,	,	PUNCT
fumecheng-11564	7	20	tower	tower	NOUN
fumecheng-11564	7	21	crane	crane	NOUN
fumecheng-11564	7	22	systems	system	NOUN
fumecheng-11564	7	23	1	1	NUM
fumecheng-11564	7	24	.	.	PUNCT
fumecheng-11564	8	1	introduction	introduction	NOUN
fumecheng-11564	8	2	sliding	slide	VERB
fumecheng-11564	8	3	mode	mode	NOUN
fumecheng-11564	8	4	control	control	NOUN
fumecheng-11564	8	5	(	(	PUNCT
fumecheng-11564	8	6	smc	smc	PROPN
fumecheng-11564	8	7	)	)	PUNCT
fumecheng-11564	8	8	is	be	AUX
fumecheng-11564	8	9	a	a	DET
fumecheng-11564	8	10	particular	particular	ADJ
fumecheng-11564	8	11	kind	kind	NOUN
fumecheng-11564	8	12	of	of	ADP
fumecheng-11564	8	13	variable	variable	ADJ
fumecheng-11564	8	14	structure	structure	NOUN
fumecheng-11564	8	15	system	system	NOUN
fumecheng-11564	8	16	originated	originate	VERB
fumecheng-11564	8	17	in	in	ADP
fumecheng-11564	8	18	the	the	DET
fumecheng-11564	8	19	early	early	ADJ
fumecheng-11564	8	20	60	60	NUM
fumecheng-11564	8	21	’s	’s	NOUN
fumecheng-11564	8	22	[	[	X
fumecheng-11564	8	23	1	1	NUM
fumecheng-11564	8	24	]	]	PUNCT
fumecheng-11564	8	25	.	.	PUNCT
fumecheng-11564	9	1	the	the	DET
fumecheng-11564	9	2	main	main	ADJ
fumecheng-11564	9	3	idea	idea	NOUN
fumecheng-11564	9	4	of	of	ADP
fumecheng-11564	9	5	the	the	DET
fumecheng-11564	9	6	general	general	ADJ
fumecheng-11564	9	7	variable	variable	ADJ
fumecheng-11564	9	8	structure	structure	NOUN
fumecheng-11564	9	9	control	control	NOUN
fumecheng-11564	9	10	(	(	PUNCT
fumecheng-11564	9	11	vsc	vsc	PROPN
fumecheng-11564	9	12	)	)	PUNCT
fumecheng-11564	9	13	laws	law	NOUN
fumecheng-11564	9	14	is	be	AUX
fumecheng-11564	9	15	to	to	PART
fumecheng-11564	9	16	use	use	VERB
fumecheng-11564	9	17	a	a	DET
fumecheng-11564	9	18	high	high	ADJ
fumecheng-11564	9	19	-	-	PUNCT
fumecheng-11564	9	20	speed	speed	NOUN
fumecheng-11564	9	21	switching	switching	NOUN
fumecheng-11564	9	22	control	control	NOUN
fumecheng-11564	9	23	scheme	scheme	NOUN
fumecheng-11564	9	24	to	to	PART
fumecheng-11564	9	25	drive	drive	VERB
fumecheng-11564	9	26	the	the	DET
fumecheng-11564	9	27	process	process	NOUN
fumecheng-11564	9	28	state	state	NOUN
fumecheng-11564	9	29	trajectory	trajectory	NOUN
fumecheng-11564	9	30	onto	onto	ADP
fumecheng-11564	9	31	a	a	DET
fumecheng-11564	9	32	specified	specify	VERB
fumecheng-11564	9	33	hyper	hyper	ADJ
fumecheng-11564	9	34	-	-	NOUN
fumecheng-11564	9	35	surface	surface	NOUN
fumecheng-11564	9	36	,	,	PUNCT
fumecheng-11564	9	37	which	which	PRON
fumecheng-11564	9	38	is	be	AUX
fumecheng-11564	9	39	commonly	commonly	ADV
fumecheng-11564	9	40	called	call	VERB
fumecheng-11564	9	41	the	the	DET
fumecheng-11564	9	42	sliding	slide	VERB
fumecheng-11564	9	43	surface	surface	NOUN
fumecheng-11564	9	44	or	or	CCONJ
fumecheng-11564	9	45	switching	switch	VERB
fumecheng-11564	9	46	surface	surface	NOUN
fumecheng-11564	9	47	,	,	PUNCT
fumecheng-11564	9	48	and	and	CCONJ
fumecheng-11564	9	49	next	next	ADV
fumecheng-11564	9	50	keep	keep	VERB
fumecheng-11564	9	51	the	the	DET
fumecheng-11564	9	52	process	process	NOUN
fumecheng-11564	9	53	state	state	NOUN
fumecheng-11564	9	54	trajectory	trajectory	NOUN
fumecheng-11564	9	55	moving	move	VERB
fumecheng-11564	9	56	along	along	ADP
fumecheng-11564	9	57	this	this	DET
fumecheng-11564	9	58	surface	surface	NOUN
fumecheng-11564	10	1	[	[	X
fumecheng-11564	10	2	2	2	NUM
fumecheng-11564	10	3	]	]	PUNCT
fumecheng-11564	10	4	in	in	ADP
fumecheng-11564	10	5	order	order	NOUN
fumecheng-11564	10	6	to	to	PART
fumecheng-11564	10	7	meet	meet	VERB
fumecheng-11564	10	8	the	the	DET
fumecheng-11564	10	9	performance	performance	NOUN
fumecheng-11564	10	10	specifications	specification	NOUN
fumecheng-11564	10	11	imposed	impose	VERB
fumecheng-11564	10	12	to	to	ADP
fumecheng-11564	10	13	the	the	DET
fumecheng-11564	10	14	control	control	NOUN
fumecheng-11564	10	15	system	system	NOUN
fumecheng-11564	10	16	.	.	PUNCT
fumecheng-11564	11	1	the	the	DET
fumecheng-11564	11	2	discontinuous	discontinuous	ADJ
fumecheng-11564	11	3	nature	nature	NOUN
fumecheng-11564	11	4	of	of	ADP
fumecheng-11564	11	5	the	the	DET
fumecheng-11564	11	6	control	control	NOUN
fumecheng-11564	11	7	signal	signal	NOUN
fumecheng-11564	11	8	helps	help	VERB
fumecheng-11564	11	9	to	to	PART
fumecheng-11564	11	10	maintain	maintain	VERB
fumecheng-11564	11	11	a	a	DET
fumecheng-11564	11	12	high	high	ADJ
fumecheng-11564	11	13	performance	performance	NOUN
fumecheng-11564	11	14	of	of	ADP
fumecheng-11564	11	15	smc	smc	PROPN
fumecheng-11564	11	16	and	and	CCONJ
fumecheng-11564	11	17	vsc	vsc	PROPN
fumecheng-11564	11	18	by	by	ADP
fumecheng-11564	11	19	switching	switch	VERB
fumecheng-11564	11	20	between	between	ADP
fumecheng-11564	11	21	two	two	NUM
fumecheng-11564	11	22	distinct	distinct	ADJ
fumecheng-11564	11	23	control	control	NOUN
fumecheng-11564	11	24	structures	structure	NOUN
fumecheng-11564	11	25	[	[	X
fumecheng-11564	11	26	3	3	NUM
fumecheng-11564	11	27	]	]	PUNCT
fumecheng-11564	11	28	.	.	PUNCT
fumecheng-11564	12	1	because	because	SCONJ
fumecheng-11564	12	2	of	of	ADP
fumecheng-11564	12	3	received	receive	VERB
fumecheng-11564	12	4	:	:	PUNCT
fumecheng-11564	12	5	january	january	PROPN
fumecheng-11564	12	6	25	25	NUM
fumecheng-11564	12	7	,	,	PUNCT
fumecheng-11564	12	8	2023	2023	NUM
fumecheng-11564	12	9	/	/	PUNCT
fumecheng-11564	12	10	accepted	accept	VERB
fumecheng-11564	12	11	march	march	PROPN
fumecheng-11564	12	12	05	05	NUM
fumecheng-11564	12	13	,	,	PUNCT
fumecheng-11564	12	14	2023	2023	NUM
fumecheng-11564	12	15	corresponding	correspond	VERB
fumecheng-11564	12	16	author	author	NOUN
fumecheng-11564	12	17	:	:	PUNCT
fumecheng-11564	12	18	radu	radu	PROPN
fumecheng-11564	12	19	-	-	PUNCT
fumecheng-11564	12	20	emil	emil	PROPN
fumecheng-11564	12	21	precup	precup	PROPN
fumecheng-11564	12	22	politehnica	politehnica	PROPN
fumecheng-11564	12	23	university	university	PROPN
fumecheng-11564	12	24	of	of	ADP
fumecheng-11564	12	25	timisoara	timisoara	PROPN
fumecheng-11564	12	26	,	,	PUNCT
fumecheng-11564	12	27	department	department	NOUN
fumecheng-11564	12	28	of	of	ADP
fumecheng-11564	12	29	automation	automation	NOUN
fumecheng-11564	12	30	and	and	CCONJ
fumecheng-11564	12	31	applied	apply	VERB
fumecheng-11564	12	32	informatics	informatic	NOUN
fumecheng-11564	12	33	,	,	PUNCT
fumecheng-11564	12	34	bd	bd	PROPN
fumecheng-11564	12	35	.	.	PROPN
fumecheng-11564	12	36	v.	v.	PROPN
fumecheng-11564	12	37	parvan	parvan	PROPN
fumecheng-11564	12	38	2	2	NUM
fumecheng-11564	12	39	,	,	PUNCT
fumecheng-11564	12	40	300223	300223	NUM
fumecheng-11564	12	41	timisoara	timisoara	NOUN
fumecheng-11564	12	42	,	,	PUNCT
fumecheng-11564	12	43	romania	romania	PROPN
fumecheng-11564	12	44	romanian	romanian	PROPN
fumecheng-11564	12	45	academy	academy	PROPN
fumecheng-11564	12	46	–	–	PUNCT
fumecheng-11564	12	47	timisoara	timisoara	ADJ
fumecheng-11564	12	48	branch	branch	NOUN
fumecheng-11564	12	49	,	,	PUNCT
fumecheng-11564	12	50	center	center	NOUN
fumecheng-11564	12	51	for	for	ADP
fumecheng-11564	12	52	fundamental	fundamental	ADJ
fumecheng-11564	12	53	and	and	CCONJ
fumecheng-11564	12	54	advanced	advanced	ADJ
fumecheng-11564	12	55	technical	technical	ADJ
fumecheng-11564	12	56	research	research	NOUN
fumecheng-11564	12	57	,	,	PUNCT
fumecheng-11564	12	58	bd	bd	PROPN
fumecheng-11564	12	59	.	.	PROPN
fumecheng-11564	12	60	mihai	mihai	PROPN
fumecheng-11564	12	61	viteazu	viteazu	PROPN
fumecheng-11564	12	62	24	24	NUM
fumecheng-11564	12	63	,	,	PUNCT
fumecheng-11564	12	64	300223	300223	NUM
fumecheng-11564	12	65	timisoara	timisoara	NOUN
fumecheng-11564	12	66	,	,	PUNCT
fumecheng-11564	12	67	romania	romania	PROPN
fumecheng-11564	12	68	e	e	PROPN
fumecheng-11564	12	69	-	-	NOUN
fumecheng-11564	12	70	mail	mail	NOUN
fumecheng-11564	12	71	:	:	PUNCT
fumecheng-11564	12	72	radu.precup@aut.upt.ro	radu.precup@aut.upt.ro	VERB
fumecheng-11564	12	73	2	2	NUM
fumecheng-11564	12	74	a.-i	a.-i	NOUN
fumecheng-11564	12	75	.	.	PUNCT
fumecheng-11564	13	1	borlea	borlea	PROPN
fumecheng-11564	13	2	,	,	PUNCT
fumecheng-11564	13	3	r.-e	r.-e	PROPN
fumecheng-11564	13	4	.	.	PUNCT
fumecheng-11564	14	1	precup	precup	PROPN
fumecheng-11564	14	2	,	,	PUNCT
fumecheng-11564	14	3	r.-c	r.-c	PROPN
fumecheng-11564	14	4	.	.	PUNCT
fumecheng-11564	15	1	roman	roman	VERB
fumecheng-11564	15	2	this	this	DET
fumecheng-11564	15	3	switching	switch	VERB
fumecheng-11564	15	4	behavior	behavior	NOUN
fumecheng-11564	15	5	,	,	PUNCT
fumecheng-11564	15	6	smc	smc	PROPN
fumecheng-11564	15	7	can	can	AUX
fumecheng-11564	15	8	have	have	VERB
fumecheng-11564	15	9	some	some	DET
fumecheng-11564	15	10	dead	dead	ADJ
fumecheng-11564	15	11	zones	zone	NOUN
fumecheng-11564	15	12	for	for	ADP
fumecheng-11564	15	13	parameters	parameter	NOUN
fumecheng-11564	15	14	variations	variation	NOUN
fumecheng-11564	15	15	,	,	PUNCT
fumecheng-11564	15	16	and	and	CCONJ
fumecheng-11564	15	17	is	be	AUX
fumecheng-11564	15	18	not	not	PART
fumecheng-11564	15	19	sensitive	sensitive	ADJ
fumecheng-11564	15	20	to	to	ADP
fumecheng-11564	15	21	disturbances	disturbance	NOUN
fumecheng-11564	15	22	[	[	X
fumecheng-11564	15	23	4	4	NUM
fumecheng-11564	15	24	]	]	PUNCT
fumecheng-11564	15	25	.	.	PUNCT
fumecheng-11564	16	1	this	this	DET
fumecheng-11564	16	2	paper	paper	NOUN
fumecheng-11564	16	3	is	be	AUX
fumecheng-11564	16	4	focused	focus	VERB
fumecheng-11564	16	5	on	on	ADP
fumecheng-11564	16	6	smc	smc	PROPN
fumecheng-11564	16	7	of	of	ADP
fumecheng-11564	16	8	tower	tower	PROPN
fumecheng-11564	16	9	crane	crane	NOUN
fumecheng-11564	16	10	systems	system	NOUN
fumecheng-11564	16	11	.	.	PUNCT
fumecheng-11564	17	1	such	such	ADJ
fumecheng-11564	17	2	control	control	NOUN
fumecheng-11564	17	3	approaches	approach	NOUN
fumecheng-11564	17	4	are	be	AUX
fumecheng-11564	17	5	outlined	outline	VERB
fumecheng-11564	17	6	as	as	SCONJ
fumecheng-11564	17	7	follows	follow	VERB
fumecheng-11564	17	8	.	.	PUNCT
fumecheng-11564	18	1	in	in	ADP
fumecheng-11564	18	2	[	[	X
fumecheng-11564	18	3	5	5	NUM
fumecheng-11564	18	4	]	]	PUNCT
fumecheng-11564	18	5	,	,	PUNCT
fumecheng-11564	18	6	a	a	DET
fumecheng-11564	18	7	continuous	continuous	ADJ
fumecheng-11564	18	8	-	-	PUNCT
fumecheng-11564	18	9	time	time	NOUN
fumecheng-11564	18	10	smc	smc	PROPN
fumecheng-11564	18	11	law	law	NOUN
fumecheng-11564	18	12	is	be	AUX
fumecheng-11564	18	13	designed	design	VERB
fumecheng-11564	18	14	based	base	VERB
fumecheng-11564	18	15	on	on	ADP
fumecheng-11564	18	16	a	a	DET
fumecheng-11564	18	17	nonlinear	nonlinear	ADJ
fumecheng-11564	18	18	model	model	NOUN
fumecheng-11564	18	19	of	of	ADP
fumecheng-11564	18	20	a	a	DET
fumecheng-11564	18	21	tower	tower	NOUN
fumecheng-11564	18	22	crane	crane	NOUN
fumecheng-11564	18	23	system	system	NOUN
fumecheng-11564	18	24	(	(	PUNCT
fumecheng-11564	18	25	tcs	tcs	NOUN
fumecheng-11564	18	26	)	)	PUNCT
fumecheng-11564	18	27	.	.	PUNCT
fumecheng-11564	19	1	two	two	NUM
fumecheng-11564	19	2	variants	variant	NOUN
fumecheng-11564	19	3	of	of	ADP
fumecheng-11564	19	4	discrete	discrete	ADJ
fumecheng-11564	19	5	-	-	PUNCT
fumecheng-11564	19	6	time	time	NOUN
fumecheng-11564	19	7	data	datum	NOUN
fumecheng-11564	19	8	-	-	PUNCT
fumecheng-11564	19	9	driven	drive	VERB
fumecheng-11564	19	10	smc	smc	NOUN
fumecheng-11564	19	11	laws	law	NOUN
fumecheng-11564	19	12	for	for	ADP
fumecheng-11564	19	13	tcss	tcss	NOUN
fumecheng-11564	19	14	are	be	AUX
fumecheng-11564	19	15	presented	present	VERB
fumecheng-11564	19	16	in	in	ADP
fumecheng-11564	19	17	[	[	X
fumecheng-11564	19	18	6	6	NUM
fumecheng-11564	19	19	]	]	PUNCT
fumecheng-11564	19	20	.	.	PUNCT
fumecheng-11564	20	1	many	many	ADJ
fumecheng-11564	20	2	papers	paper	NOUN
fumecheng-11564	20	3	on	on	ADP
fumecheng-11564	20	4	different	different	ADJ
fumecheng-11564	20	5	controllers	controller	NOUN
fumecheng-11564	20	6	for	for	ADP
fumecheng-11564	20	7	cranes	crane	NOUN
fumecheng-11564	20	8	have	have	AUX
fumecheng-11564	20	9	been	be	AUX
fumecheng-11564	20	10	reported	report	VERB
fumecheng-11564	20	11	in	in	ADP
fumecheng-11564	20	12	the	the	DET
fumecheng-11564	20	13	past	past	ADJ
fumecheng-11564	20	14	years	year	NOUN
fumecheng-11564	20	15	.	.	PUNCT
fumecheng-11564	21	1	the	the	DET
fumecheng-11564	21	2	smc	smc	PROPN
fumecheng-11564	21	3	problem	problem	NOUN
fumecheng-11564	21	4	for	for	ADP
fumecheng-11564	21	5	overhead	overhead	ADJ
fumecheng-11564	21	6	crane	crane	NOUN
fumecheng-11564	21	7	is	be	AUX
fumecheng-11564	21	8	the	the	DET
fumecheng-11564	21	9	subject	subject	NOUN
fumecheng-11564	21	10	of	of	ADP
fumecheng-11564	21	11	[	[	X
fumecheng-11564	21	12	7	7	NUM
fumecheng-11564	21	13	]	]	PUNCT
fumecheng-11564	21	14	,	,	PUNCT
fumecheng-11564	21	15	which	which	PRON
fumecheng-11564	21	16	describes	describe	VERB
fumecheng-11564	21	17	a	a	DET
fumecheng-11564	21	18	model	model	NOUN
fumecheng-11564	21	19	based	base	VERB
fumecheng-11564	21	20	integral	integral	ADJ
fumecheng-11564	21	21	smc	smc	PROPN
fumecheng-11564	21	22	scheme	scheme	NOUN
fumecheng-11564	21	23	for	for	ADP
fumecheng-11564	21	24	discrete	discrete	ADJ
fumecheng-11564	21	25	-	-	PUNCT
fumecheng-11564	21	26	time	time	NOUN
fumecheng-11564	21	27	systems	system	NOUN
fumecheng-11564	21	28	.	.	PUNCT
fumecheng-11564	22	1	the	the	DET
fumecheng-11564	22	2	authors	author	NOUN
fumecheng-11564	22	3	of	of	ADP
fumecheng-11564	22	4	[	[	X
fumecheng-11564	22	5	8	8	NUM
fumecheng-11564	22	6	]	]	PUNCT
fumecheng-11564	22	7	offer	offer	VERB
fumecheng-11564	22	8	a	a	DET
fumecheng-11564	22	9	modelbased	modelbase	VERB
fumecheng-11564	22	10	combination	combination	NOUN
fumecheng-11564	22	11	of	of	ADP
fumecheng-11564	22	12	smc	smc	PROPN
fumecheng-11564	22	13	.	.	PROPN
fumecheng-11564	22	14	second	second	ADJ
fumecheng-11564	22	15	-	-	PUNCT
fumecheng-11564	22	16	order	order	NOUN
fumecheng-11564	22	17	smc	smc	NOUN
fumecheng-11564	22	18	for	for	ADP
fumecheng-11564	22	19	controlling	control	VERB
fumecheng-11564	22	20	the	the	DET
fumecheng-11564	22	21	trolley	trolley	NOUN
fumecheng-11564	22	22	in	in	ADP
fumecheng-11564	22	23	the	the	DET
fumecheng-11564	22	24	xoy	xoy	NOUN
fumecheng-11564	22	25	plane	plane	NOUN
fumecheng-11564	22	26	is	be	AUX
fumecheng-11564	22	27	addressed	address	VERB
fumecheng-11564	22	28	in	in	ADP
fumecheng-11564	22	29	[	[	X
fumecheng-11564	22	30	9	9	NUM
fumecheng-11564	22	31	]	]	PUNCT
fumecheng-11564	22	32	.	.	PUNCT
fumecheng-11564	23	1	an	an	DET
fumecheng-11564	23	2	adaptive	adaptive	ADJ
fumecheng-11564	23	3	fuzzy	fuzzy	ADJ
fumecheng-11564	23	4	smc	smc	PROPN
fumecheng-11564	23	5	is	be	AUX
fumecheng-11564	23	6	developed	develop	VERB
fumecheng-11564	23	7	by	by	ADP
fumecheng-11564	23	8	[	[	X
fumecheng-11564	23	9	10	10	NUM
fumecheng-11564	23	10	]	]	PUNCT
fumecheng-11564	23	11	for	for	ADP
fumecheng-11564	23	12	trolley	trolley	NOUN
fumecheng-11564	23	13	position	position	NOUN
fumecheng-11564	23	14	and	and	CCONJ
fumecheng-11564	23	15	sway	sway	VERB
fumecheng-11564	23	16	control	control	NOUN
fumecheng-11564	23	17	in	in	ADP
fumecheng-11564	23	18	the	the	DET
fumecheng-11564	23	19	xoy	xoy	NOUN
fumecheng-11564	23	20	plane	plane	NOUN
fumecheng-11564	23	21	,	,	PUNCT
fumecheng-11564	23	22	where	where	SCONJ
fumecheng-11564	23	23	two	two	NUM
fumecheng-11564	23	24	linear	linear	ADJ
fumecheng-11564	23	25	sliding	slide	VERB
fumecheng-11564	23	26	surfaces	surface	NOUN
fumecheng-11564	23	27	are	be	AUX
fumecheng-11564	23	28	defined	define	VERB
fumecheng-11564	23	29	for	for	ADP
fumecheng-11564	23	30	the	the	DET
fumecheng-11564	23	31	position	position	NOUN
fumecheng-11564	23	32	and	and	CCONJ
fumecheng-11564	23	33	sway	sway	NOUN
fumecheng-11564	23	34	angle	angle	NOUN
fumecheng-11564	23	35	.	.	PUNCT
fumecheng-11564	24	1	tower	tower	NOUN
fumecheng-11564	24	2	cranes	crane	NOUN
fumecheng-11564	24	3	can	can	AUX
fumecheng-11564	24	4	be	be	AUX
fumecheng-11564	24	5	found	find	VERB
fumecheng-11564	24	6	in	in	ADP
fumecheng-11564	24	7	fewer	few	ADJ
fumecheng-11564	24	8	papers	paper	NOUN
fumecheng-11564	24	9	then	then	ADV
fumecheng-11564	24	10	overhead	overhead	ADJ
fumecheng-11564	24	11	cranes	crane	NOUN
fumecheng-11564	24	12	because	because	SCONJ
fumecheng-11564	24	13	of	of	ADP
fumecheng-11564	24	14	their	their	PRON
fumecheng-11564	24	15	increased	increase	VERB
fumecheng-11564	24	16	complexity	complexity	NOUN
fumecheng-11564	24	17	.	.	PUNCT
fumecheng-11564	25	1	an	an	DET
fumecheng-11564	25	2	adaptive	adaptive	ADJ
fumecheng-11564	25	3	control	control	NOUN
fumecheng-11564	25	4	scheme	scheme	NOUN
fumecheng-11564	25	5	for	for	ADP
fumecheng-11564	25	6	underactuated	underactuated	ADJ
fumecheng-11564	25	7	tower	tower	NOUN
fumecheng-11564	25	8	cranes	crane	NOUN
fumecheng-11564	25	9	is	be	AUX
fumecheng-11564	25	10	proposed	propose	VERB
fumecheng-11564	25	11	in	in	ADP
fumecheng-11564	25	12	[	[	X
fumecheng-11564	25	13	11	11	NUM
fumecheng-11564	25	14	]	]	PUNCT
fumecheng-11564	25	15	to	to	PART
fumecheng-11564	25	16	achieve	achieve	VERB
fumecheng-11564	25	17	simultaneous	simultaneous	ADJ
fumecheng-11564	25	18	slew	slew	ADJ
fumecheng-11564	25	19	/	/	SYM
fumecheng-11564	25	20	translation	translation	NOUN
fumecheng-11564	25	21	positioning	positioning	NOUN
fumecheng-11564	25	22	and	and	CCONJ
fumecheng-11564	25	23	swing	swing	NOUN
fumecheng-11564	25	24	suppression	suppression	NOUN
fumecheng-11564	25	25	,	,	PUNCT
fumecheng-11564	25	26	using	use	VERB
fumecheng-11564	25	27	this	this	DET
fumecheng-11564	25	28	approach	approach	NOUN
fumecheng-11564	25	29	is	be	AUX
fumecheng-11564	25	30	no	no	DET
fumecheng-11564	25	31	need	need	NOUN
fumecheng-11564	25	32	for	for	ADP
fumecheng-11564	25	33	linearize	linearize	NOUN
fumecheng-11564	25	34	the	the	DET
fumecheng-11564	25	35	tower	tower	PROPN
fumecheng-11564	25	36	crane	crane	NOUN
fumecheng-11564	25	37	dynamical	dynamical	ADJ
fumecheng-11564	25	38	equations	equation	NOUN
fumecheng-11564	25	39	around	around	ADP
fumecheng-11564	25	40	the	the	DET
fumecheng-11564	25	41	equilibrium	equilibrium	NOUN
fumecheng-11564	25	42	point	point	NOUN
fumecheng-11564	25	43	or	or	CCONJ
fumecheng-11564	25	44	to	to	PART
fumecheng-11564	25	45	neglect	neglect	VERB
fumecheng-11564	25	46	nonlinear	nonlinear	ADJ
fumecheng-11564	25	47	terms	term	NOUN
fumecheng-11564	25	48	.	.	PUNCT
fumecheng-11564	26	1	controllers	controller	NOUN
fumecheng-11564	26	2	which	which	PRON
fumecheng-11564	26	3	are	be	AUX
fumecheng-11564	26	4	composed	compose	VERB
fumecheng-11564	26	5	of	of	ADP
fumecheng-11564	26	6	partial	partial	ADJ
fumecheng-11564	26	7	feedback	feedback	NOUN
fumecheng-11564	26	8	linearization	linearization	NOUN
fumecheng-11564	26	9	and	and	CCONJ
fumecheng-11564	26	10	smc	smc	PROPN
fumecheng-11564	26	11	are	be	AUX
fumecheng-11564	26	12	suggested	suggest	VERB
fumecheng-11564	26	13	in	in	ADP
fumecheng-11564	26	14	[	[	X
fumecheng-11564	26	15	13	13	NUM
fumecheng-11564	26	16	]	]	PUNCT
fumecheng-11564	26	17	,	,	PUNCT
fumecheng-11564	26	18	guaranteeing	guarantee	VERB
fumecheng-11564	26	19	the	the	DET
fumecheng-11564	26	20	robustness	robustness	NOUN
fumecheng-11564	26	21	in	in	ADP
fumecheng-11564	26	22	the	the	DET
fumecheng-11564	26	23	case	case	NOUN
fumecheng-11564	26	24	of	of	ADP
fumecheng-11564	26	25	variations	variation	NOUN
fumecheng-11564	26	26	of	of	ADP
fumecheng-11564	26	27	several	several	ADJ
fumecheng-11564	26	28	system	system	NOUN
fumecheng-11564	26	29	parameters	parameter	NOUN
fumecheng-11564	26	30	.	.	PUNCT
fumecheng-11564	27	1	integral	integral	ADJ
fumecheng-11564	27	2	sliding	slide	VERB
fumecheng-11564	27	3	mode	mode	NOUN
fumecheng-11564	27	4	control	control	NOUN
fumecheng-11564	27	5	(	(	PUNCT
fumecheng-11564	27	6	ismc	ismc	NOUN
fumecheng-11564	27	7	)	)	PUNCT
fumecheng-11564	27	8	for	for	ADP
fumecheng-11564	27	9	tower	tower	NOUN
fumecheng-11564	27	10	cranes	crane	NOUN
fumecheng-11564	27	11	is	be	AUX
fumecheng-11564	27	12	proposed	propose	VERB
fumecheng-11564	27	13	in	in	ADP
fumecheng-11564	27	14	[	[	X
fumecheng-11564	27	15	13	13	NUM
fumecheng-11564	27	16	]	]	PUNCT
fumecheng-11564	27	17	to	to	PART
fumecheng-11564	27	18	ensure	ensure	VERB
fumecheng-11564	27	19	precise	precise	ADJ
fumecheng-11564	27	20	tracking	tracking	NOUN
fumecheng-11564	27	21	of	of	ADP
fumecheng-11564	27	22	the	the	DET
fumecheng-11564	27	23	desired	desire	VERB
fumecheng-11564	27	24	position	position	NOUN
fumecheng-11564	27	25	while	while	SCONJ
fumecheng-11564	27	26	reducing	reduce	VERB
fumecheng-11564	27	27	the	the	DET
fumecheng-11564	27	28	oscillations	oscillation	NOUN
fumecheng-11564	27	29	of	of	ADP
fumecheng-11564	27	30	the	the	DET
fumecheng-11564	27	31	payload	payload	NOUN
fumecheng-11564	27	32	.	.	PUNCT
fumecheng-11564	28	1	the	the	DET
fumecheng-11564	28	2	controller	controller	NOUN
fumecheng-11564	28	3	in	in	ADP
fumecheng-11564	28	4	[	[	X
fumecheng-11564	28	5	13	13	NUM
fumecheng-11564	28	6	]	]	PUNCT
fumecheng-11564	28	7	is	be	AUX
fumecheng-11564	28	8	designed	design	VERB
fumecheng-11564	28	9	using	use	VERB
fumecheng-11564	28	10	a	a	DET
fumecheng-11564	28	11	high	high	ADJ
fumecheng-11564	28	12	fidelity	fidelity	NOUN
fumecheng-11564	28	13	nonlinear	nonlinear	PROPN
fumecheng-11564	28	14	dynamical	dynamical	ADJ
fumecheng-11564	28	15	model	model	NOUN
fumecheng-11564	28	16	,	,	PUNCT
fumecheng-11564	28	17	however	however	ADV
fumecheng-11564	28	18	,	,	PUNCT
fumecheng-11564	28	19	the	the	DET
fumecheng-11564	28	20	switching	switch	VERB
fumecheng-11564	28	21	gain	gain	NOUN
fumecheng-11564	28	22	must	must	AUX
fumecheng-11564	28	23	be	be	AUX
fumecheng-11564	28	24	limited	limit	VERB
fumecheng-11564	28	25	to	to	PART
fumecheng-11564	28	26	implement	implement	VERB
fumecheng-11564	28	27	the	the	DET
fumecheng-11564	28	28	smc	smc	PROPN
fumecheng-11564	28	29	on	on	ADP
fumecheng-11564	28	30	the	the	DET
fumecheng-11564	28	31	real	real	ADJ
fumecheng-11564	28	32	tcs	tcs	NOUN
fumecheng-11564	28	33	,	,	PUNCT
fumecheng-11564	28	34	and	and	CCONJ
fumecheng-11564	28	35	as	as	ADP
fumecheng-11564	28	36	a	a	DET
fumecheng-11564	28	37	result	result	NOUN
fumecheng-11564	28	38	a	a	DET
fumecheng-11564	28	39	steady	steady	ADJ
fumecheng-11564	28	40	-	-	PUNCT
fumecheng-11564	28	41	state	state	NOUN
fumecheng-11564	28	42	error	error	NOUN
fumecheng-11564	28	43	will	will	AUX
fumecheng-11564	28	44	be	be	AUX
fumecheng-11564	28	45	present	present	ADJ
fumecheng-11564	28	46	in	in	ADP
fumecheng-11564	28	47	the	the	DET
fumecheng-11564	28	48	system	system	NOUN
fumecheng-11564	28	49	’s	’s	PART
fumecheng-11564	28	50	outputs	output	NOUN
fumecheng-11564	28	51	;	;	PUNCT
fumecheng-11564	28	52	this	this	DET
fumecheng-11564	28	53	shortcoming	shortcoming	NOUN
fumecheng-11564	28	54	is	be	AUX
fumecheng-11564	28	55	overcome	overcome	VERB
fumecheng-11564	28	56	using	use	VERB
fumecheng-11564	28	57	ismc	ismc	NOUN
fumecheng-11564	28	58	.	.	PUNCT
fumecheng-11564	29	1	the	the	DET
fumecheng-11564	29	2	purpose	purpose	NOUN
fumecheng-11564	29	3	of	of	ADP
fumecheng-11564	29	4	this	this	DET
fumecheng-11564	29	5	paper	paper	NOUN
fumecheng-11564	29	6	is	be	AUX
fumecheng-11564	29	7	to	to	PART
fumecheng-11564	29	8	apply	apply	VERB
fumecheng-11564	29	9	model	model	NOUN
fumecheng-11564	29	10	-	-	PUNCT
fumecheng-11564	29	11	based	base	VERB
fumecheng-11564	29	12	smc	smc	PROPN
fumecheng-11564	29	13	to	to	ADP
fumecheng-11564	29	14	a	a	DET
fumecheng-11564	29	15	representative	representative	ADJ
fumecheng-11564	29	16	nonlinear	nonlinear	ADJ
fumecheng-11564	29	17	process	process	NOUN
fumecheng-11564	29	18	,	,	PUNCT
fumecheng-11564	29	19	namely	namely	ADV
fumecheng-11564	29	20	the	the	DET
fumecheng-11564	29	21	tcs	tcs	NOUN
fumecheng-11564	29	22	.	.	PUNCT
fumecheng-11564	30	1	to	to	PART
fumecheng-11564	30	2	demonstrate	demonstrate	VERB
fumecheng-11564	30	3	the	the	DET
fumecheng-11564	30	4	performance	performance	NOUN
fumecheng-11564	30	5	of	of	ADP
fumecheng-11564	30	6	these	these	DET
fumecheng-11564	30	7	approaches	approach	NOUN
fumecheng-11564	30	8	,	,	PUNCT
fumecheng-11564	30	9	the	the	DET
fumecheng-11564	30	10	validation	validation	NOUN
fumecheng-11564	30	11	through	through	ADP
fumecheng-11564	30	12	experiments	experiment	NOUN
fumecheng-11564	30	13	is	be	AUX
fumecheng-11564	30	14	presented	present	VERB
fumecheng-11564	30	15	.	.	PUNCT
fumecheng-11564	31	1	three	three	NUM
fumecheng-11564	31	2	approaches	approach	NOUN
fumecheng-11564	31	3	to	to	PART
fumecheng-11564	31	4	discrete	discrete	VERB
fumecheng-11564	31	5	time	time	NOUN
fumecheng-11564	31	6	sliding	slide	VERB
fumecheng-11564	31	7	mode	mode	NOUN
fumecheng-11564	31	8	control	control	NOUN
fumecheng-11564	31	9	(	(	PUNCT
fumecheng-11564	31	10	dtsmc	dtsmc	NOUN
fumecheng-11564	31	11	)	)	PUNCT
fumecheng-11564	31	12	are	be	AUX
fumecheng-11564	31	13	described	describe	VERB
fumecheng-11564	31	14	based	base	VERB
fumecheng-11564	31	15	on	on	ADP
fumecheng-11564	31	16	the	the	DET
fumecheng-11564	31	17	mathematical	mathematical	ADJ
fumecheng-11564	31	18	model	model	NOUN
fumecheng-11564	31	19	of	of	ADP
fumecheng-11564	31	20	the	the	DET
fumecheng-11564	31	21	process	process	NOUN
fumecheng-11564	31	22	:	:	PUNCT
fumecheng-11564	31	23	the	the	DET
fumecheng-11564	31	24	dtsmc	dtsmc	NOUN
fumecheng-11564	31	25	law	law	NOUN
fumecheng-11564	31	26	in	in	ADP
fumecheng-11564	31	27	the	the	DET
fumecheng-11564	31	28	approach	approach	NOUN
fumecheng-11564	31	29	proposed	propose	VERB
fumecheng-11564	31	30	by	by	ADP
fumecheng-11564	31	31	k.	k.	PROPN
fumecheng-11564	31	32	furuta	furuta	PROPN
fumecheng-11564	32	1	[	[	X
fumecheng-11564	32	2	14	14	NUM
fumecheng-11564	32	3	]	]	PUNCT
fumecheng-11564	32	4	,	,	PUNCT
fumecheng-11564	32	5	the	the	DET
fumecheng-11564	32	6	dtsmc	dtsmc	NOUN
fumecheng-11564	32	7	law	law	NOUN
fumecheng-11564	32	8	in	in	ADP
fumecheng-11564	32	9	the	the	DET
fumecheng-11564	32	10	approach	approach	NOUN
fumecheng-11564	32	11	proposed	propose	VERB
fumecheng-11564	32	12	by	by	ADP
fumecheng-11564	32	13	w.-b	w.-b	PROPN
fumecheng-11564	32	14	.	.	PUNCT
fumecheng-11564	33	1	gao	gao	PROPN
fumecheng-11564	33	2	et	et	PROPN
fumecheng-11564	33	3	al	al	PROPN
fumecheng-11564	33	4	.	.	PUNCT
fumecheng-11564	34	1	[	[	X
fumecheng-11564	34	2	15	15	NUM
fumecheng-11564	34	3	]	]	PUNCT
fumecheng-11564	34	4	and	and	CCONJ
fumecheng-11564	34	5	the	the	DET
fumecheng-11564	34	6	dtsmc	dtsmc	NOUN
fumecheng-11564	34	7	law	law	NOUN
fumecheng-11564	34	8	of	of	ADP
fumecheng-11564	34	9	quasi	quasi	ADJ
fumecheng-11564	34	10	-	-	ADJ
fumecheng-11564	34	11	relay	relay	ADJ
fumecheng-11564	34	12	type	type	NOUN
fumecheng-11564	34	13	proposed	propose	VERB
fumecheng-11564	34	14	by	by	ADP
fumecheng-11564	34	15	č	č	PROPN
fumecheng-11564	34	16	.	.	PUNCT
fumecheng-11564	34	17	milosavljević	milosavljević	PROPN
fumecheng-11564	35	1	[	[	X
fumecheng-11564	35	2	16	16	NUM
fumecheng-11564	35	3	]	]	PUNCT
fumecheng-11564	35	4	.	.	PUNCT
fumecheng-11564	36	1	the	the	DET
fumecheng-11564	36	2	remainder	remainder	NOUN
fumecheng-11564	36	3	of	of	ADP
fumecheng-11564	36	4	this	this	DET
fumecheng-11564	36	5	paper	paper	NOUN
fumecheng-11564	36	6	is	be	AUX
fumecheng-11564	36	7	organized	organize	VERB
fumecheng-11564	36	8	as	as	SCONJ
fumecheng-11564	36	9	follows	follow	VERB
fumecheng-11564	36	10	.	.	PUNCT
fumecheng-11564	37	1	in	in	ADP
fumecheng-11564	37	2	section	section	NOUN
fumecheng-11564	37	3	2	2	NUM
fumecheng-11564	37	4	,	,	PUNCT
fumecheng-11564	37	5	the	the	DET
fumecheng-11564	37	6	dtsmc	dtsmc	NOUN
fumecheng-11564	37	7	problem	problem	NOUN
fumecheng-11564	37	8	formulation	formulation	NOUN
fumecheng-11564	37	9	and	and	CCONJ
fumecheng-11564	37	10	the	the	DET
fumecheng-11564	37	11	three	three	NUM
fumecheng-11564	37	12	control	control	NOUN
fumecheng-11564	37	13	laws	law	NOUN
fumecheng-11564	37	14	are	be	AUX
fumecheng-11564	37	15	described	describe	VERB
fumecheng-11564	37	16	.	.	PUNCT
fumecheng-11564	38	1	the	the	DET
fumecheng-11564	38	2	validation	validation	NOUN
fumecheng-11564	38	3	study	study	NOUN
fumecheng-11564	38	4	is	be	AUX
fumecheng-11564	38	5	presented	present	VERB
fumecheng-11564	38	6	in	in	ADP
fumecheng-11564	38	7	section	section	NOUN
fumecheng-11564	38	8	3	3	NUM
fumecheng-11564	38	9	.	.	PUNCT
fumecheng-11564	39	1	conclusions	conclusion	NOUN
fumecheng-11564	39	2	are	be	AUX
fumecheng-11564	39	3	presented	present	VERB
fumecheng-11564	39	4	in	in	ADP
fumecheng-11564	39	5	section	section	NOUN
fumecheng-11564	39	6	4	4	NUM
fumecheng-11564	39	7	.	.	NOUN
fumecheng-11564	39	8	2	2	NUM
fumecheng-11564	39	9	.	.	X
fumecheng-11564	39	10	model	model	NOUN
fumecheng-11564	39	11	-	-	PUNCT
fumecheng-11564	39	12	based	base	VERB
fumecheng-11564	39	13	sliding	slide	VERB
fumecheng-11564	39	14	mode	mode	NOUN
fumecheng-11564	39	15	control	control	NOUN
fumecheng-11564	39	16	problem	problem	NOUN
fumecheng-11564	39	17	formulation	formulation	NOUN
fumecheng-11564	39	18	let	let	VERB
fumecheng-11564	39	19	the	the	DET
fumecheng-11564	39	20	dynamical	dynamical	ADJ
fumecheng-11564	39	21	discrete	discrete	ADJ
fumecheng-11564	39	22	-	-	PUNCT
fumecheng-11564	39	23	time	time	NOUN
fumecheng-11564	39	24	system	system	NOUN
fumecheng-11564	39	25	be	be	AUX
fumecheng-11564	39	26	described	describe	VERB
fumecheng-11564	39	27	by	by	ADP
fumecheng-11564	39	28	the	the	DET
fumecheng-11564	39	29	following	follow	VERB
fumecheng-11564	39	30	single	single	ADJ
fumecheng-11564	39	31	input	input	NOUN
fumecheng-11564	39	32	linear	linear	PROPN
fumecheng-11564	39	33	time	time	NOUN
fumecheng-11564	39	34	-	-	PUNCT
fumecheng-11564	39	35	invariant	invariant	ADJ
fumecheng-11564	39	36	state	state	NOUN
fumecheng-11564	39	37	-	-	PUNCT
fumecheng-11564	39	38	space	space	NOUN
fumecheng-11564	39	39	mathematical	mathematical	ADJ
fumecheng-11564	39	40	model	model	NOUN
fumecheng-11564	39	41	:	:	PUNCT
fumecheng-11564	40	1			PROPN
fumecheng-11564	40	2			NOUN
fumecheng-11564	40	3			ADV
fumecheng-11564	41	1	=	=	PROPN
fumecheng-11564	41	2	+=+	+=+	PROPN
fumecheng-11564	41	3	,	,	PUNCT
fumecheng-11564	41	4	,	,	PUNCT
fumecheng-11564	41	5	:	:	PUNCT
fumecheng-11564	41	6	1	1	NUM
fumecheng-11564	41	7	kk	kk	NOUN
fumecheng-11564	41	8	kkk	kkk	PROPN
fumecheng-11564	41	9	u	u	PROPN
fumecheng-11564	41	10	p	p	X
fumecheng-11564	41	11	xcy	xcy	PROPN
fumecheng-11564	41	12	bxax	bxax	NOUN
fumecheng-11564	41	13	(	(	PUNCT
fumecheng-11564	41	14	1	1	NUM
fumecheng-11564	41	15	)	)	PUNCT
fumecheng-11564	41	16	where	where	SCONJ
fumecheng-11564	41	17	xk	xk	PROPN
fumecheng-11564	41	18	=	=	PUNCT
fumecheng-11564	42	1	[	[	X
fumecheng-11564	42	2	xk,1	xk,1	PROPN
fumecheng-11564	42	3	…	…	PUNCT
fumecheng-11564	42	4	xk	xk	PROPN
fumecheng-11564	42	5	,	,	PUNCT
fumecheng-11564	42	6	n]t	n]t	ADV
fumecheng-11564	42	7			PROPN
fumecheng-11564	42	8	n	n	PROPN
fumecheng-11564	42	9	is	be	AUX
fumecheng-11564	42	10	the	the	DET
fumecheng-11564	42	11	state	state	NOUN
fumecheng-11564	42	12	vector	vector	NOUN
fumecheng-11564	42	13	,	,	PUNCT
fumecheng-11564	42	14	t	t	PROPN
fumecheng-11564	42	15	indicates	indicate	VERB
fumecheng-11564	42	16	matrix	matrix	NOUN
fumecheng-11564	42	17	transposition	transposition	NOUN
fumecheng-11564	42	18	,	,	PUNCT
fumecheng-11564	42	19	k	k	PROPN
fumecheng-11564	42	20	indicates	indicate	VERB
fumecheng-11564	42	21	the	the	DET
fumecheng-11564	42	22	discrete	discrete	ADJ
fumecheng-11564	42	23	time	time	NOUN
fumecheng-11564	42	24	(	(	PUNCT
fumecheng-11564	42	25	sampling	sample	VERB
fumecheng-11564	42	26	interval	interval	NOUN
fumecheng-11564	42	27	)	)	PUNCT
fumecheng-11564	42	28	index	index	NOUN
fumecheng-11564	42	29	,	,	PUNCT
fumecheng-11564	42	30	kz	kz	PROPN
fumecheng-11564	42	31	,	,	PUNCT
fumecheng-11564	42	32	k0	k0	PROPN
fumecheng-11564	42	33	,	,	PUNCT
fumecheng-11564	42	34	the	the	DET
fumecheng-11564	42	35	(	(	PUNCT
fumecheng-11564	42	36	scalar	scalar	ADJ
fumecheng-11564	42	37	)	)	PUNCT
fumecheng-11564	42	38	control	control	NOUN
fumecheng-11564	42	39	input	input	NOUN
fumecheng-11564	42	40	discrete	discrete	ADJ
fumecheng-11564	42	41	-	-	PUNCT
fumecheng-11564	42	42	time	time	NOUN
fumecheng-11564	42	43	model	model	NOUN
fumecheng-11564	42	44	-	-	PUNCT
fumecheng-11564	42	45	based	base	VERB
fumecheng-11564	42	46	sliding	slide	VERB
fumecheng-11564	42	47	mode	mode	NOUN
fumecheng-11564	42	48	controllers	controller	NOUN
fumecheng-11564	42	49	for	for	ADP
fumecheng-11564	42	50	tower	tower	NOUN
fumecheng-11564	42	51	crane	crane	NOUN
fumecheng-11564	42	52	systems	system	NOUN
fumecheng-11564	42	53	3	3	NUM
fumecheng-11564	42	54	is	be	AUX
fumecheng-11564	42	55	uk	uk	PROPN
fumecheng-11564	42	56	,	,	PUNCT
fumecheng-11564	42	57	yk	yk	NOUN
fumecheng-11564	43	1	=	=	PUNCT
fumecheng-11564	44	1	[	[	X
fumecheng-11564	44	2	yk,1	yk,1	PROPN
fumecheng-11564	44	3	…	…	SYM
fumecheng-11564	44	4	yk	yk	PROPN
fumecheng-11564	44	5	,	,	PUNCT
fumecheng-11564	44	6	p]t	p]t	PROPN
fumecheng-11564	44	7			NOUN
fumecheng-11564	44	8	p	p	NUM
fumecheng-11564	44	9	is	be	AUX
fumecheng-11564	44	10	the	the	DET
fumecheng-11564	44	11	output	output	NOUN
fumecheng-11564	44	12	vector	vector	NOUN
fumecheng-11564	44	13	,	,	PUNCT
fumecheng-11564	44	14	and	and	CCONJ
fumecheng-11564	44	15	ann	ann	PROPN
fumecheng-11564	44	16	,	,	PUNCT
fumecheng-11564	44	17	bn1	bn1	NOUN
fumecheng-11564	44	18	and	and	CCONJ
fumecheng-11564	44	19	cpn	cpn	PROPN
fumecheng-11564	44	20	are	be	AUX
fumecheng-11564	44	21	the	the	DET
fumecheng-11564	44	22	system	system	NOUN
fumecheng-11564	44	23	matrix	matrix	NOUN
fumecheng-11564	44	24	,	,	PUNCT
fumecheng-11564	44	25	the	the	DET
fumecheng-11564	44	26	input	input	NOUN
fumecheng-11564	44	27	matrix	matrix	NOUN
fumecheng-11564	44	28	,	,	PUNCT
fumecheng-11564	44	29	the	the	DET
fumecheng-11564	44	30	output	output	NOUN
fumecheng-11564	44	31	matrix	matrix	NOUN
fumecheng-11564	44	32	,	,	PUNCT
fumecheng-11564	44	33	respectively	respectively	ADV
fumecheng-11564	44	34	[	[	X
fumecheng-11564	44	35	17	17	NUM
fumecheng-11564	44	36	]	]	PUNCT
fumecheng-11564	44	37	.	.	PUNCT
fumecheng-11564	45	1	although	although	SCONJ
fumecheng-11564	45	2	the	the	DET
fumecheng-11564	45	3	model	model	NOUN
fumecheng-11564	45	4	in	in	ADP
fumecheng-11564	45	5	(	(	PUNCT
fumecheng-11564	45	6	1	1	X
fumecheng-11564	45	7	)	)	PUNCT
fumecheng-11564	45	8	is	be	AUX
fumecheng-11564	45	9	linear	linear	ADJ
fumecheng-11564	45	10	,	,	PUNCT
fumecheng-11564	45	11	the	the	DET
fumecheng-11564	45	12	aim	aim	NOUN
fumecheng-11564	45	13	of	of	ADP
fumecheng-11564	45	14	smc	smc	PROPN
fumecheng-11564	45	15	is	be	AUX
fumecheng-11564	45	16	to	to	PART
fumecheng-11564	45	17	control	control	VERB
fumecheng-11564	45	18	nonlinear	nonlinear	ADJ
fumecheng-11564	45	19	processes	process	NOUN
fumecheng-11564	45	20	;	;	PUNCT
fumecheng-11564	45	21	however	however	ADV
fumecheng-11564	45	22	,	,	PUNCT
fumecheng-11564	45	23	this	this	DET
fumecheng-11564	45	24	linear	linear	ADJ
fumecheng-11564	45	25	model	model	NOUN
fumecheng-11564	45	26	is	be	AUX
fumecheng-11564	45	27	considered	consider	VERB
fumecheng-11564	45	28	as	as	SCONJ
fumecheng-11564	45	29	it	it	PRON
fumecheng-11564	45	30	allows	allow	VERB
fumecheng-11564	45	31	a	a	DET
fumecheng-11564	45	32	relatively	relatively	ADV
fumecheng-11564	45	33	simple	simple	ADJ
fumecheng-11564	45	34	analysis	analysis	NOUN
fumecheng-11564	45	35	and	and	CCONJ
fumecheng-11564	45	36	design	design	NOUN
fumecheng-11564	45	37	of	of	ADP
fumecheng-11564	45	38	the	the	DET
fumecheng-11564	45	39	control	control	NOUN
fumecheng-11564	45	40	systems	system	NOUN
fumecheng-11564	45	41	according	accord	VERB
fumecheng-11564	45	42	to	to	ADP
fumecheng-11564	45	43	[	[	X
fumecheng-11564	45	44	14	14	NUM
fumecheng-11564	45	45	]	]	PUNCT
fumecheng-11564	45	46	,	,	PUNCT
fumecheng-11564	45	47	[	[	X
fumecheng-11564	45	48	15	15	NUM
fumecheng-11564	45	49	]	]	PUNCT
fumecheng-11564	45	50	and	and	CCONJ
fumecheng-11564	45	51	[	[	X
fumecheng-11564	45	52	16	16	NUM
fumecheng-11564	45	53	]	]	PUNCT
fumecheng-11564	45	54	.	.	PUNCT
fumecheng-11564	46	1	using	use	VERB
fumecheng-11564	46	2	the	the	DET
fumecheng-11564	46	3	notation	notation	NOUN
fumecheng-11564	46	4	sk	sk	NOUN
fumecheng-11564	46	5	for	for	ADP
fumecheng-11564	46	6	the	the	DET
fumecheng-11564	46	7	switching	switch	VERB
fumecheng-11564	46	8	variable	variable	NOUN
fumecheng-11564	46	9	,	,	PUNCT
fumecheng-11564	46	10	the	the	DET
fumecheng-11564	46	11	sliding	slide	VERB
fumecheng-11564	46	12	hyper	hyper	ADJ
fumecheng-11564	46	13	-	-	ADJ
fumecheng-11564	46	14	surface	surface	ADJ
fumecheng-11564	46	15	n	n	NOUN
fumecheng-11564	46	16	kk	kk	INTJ
fumecheng-11564	47	1	n	n	CCONJ
fumecheng-11564	47	2	k	k	PROPN
fumecheng-11564	47	3	ss	ss	PROPN
fumecheng-11564	48	1	===	===	PROPN
fumecheng-11564	48	2	}	}	PUNCT
fumecheng-11564	48	3	0	0	NUM
fumecheng-11564	48	4	{	{	PUNCT
fumecheng-11564	48	5	xkx	xkx	NOUN
fumecheng-11564	48	6	(	(	PUNCT
fumecheng-11564	48	7	2	2	NUM
fumecheng-11564	48	8	)	)	PUNCT
fumecheng-11564	48	9	is	be	AUX
fumecheng-11564	48	10	determined	determine	VERB
fumecheng-11564	48	11	by	by	ADP
fumecheng-11564	48	12	choosing	choose	VERB
fumecheng-11564	48	13	the	the	DET
fumecheng-11564	48	14	gain	gain	NOUN
fumecheng-11564	48	15	matrix	matrix	NOUN
fumecheng-11564	48	16	of	of	ADP
fumecheng-11564	48	17	the	the	DET
fumecheng-11564	48	18	sliding	slide	VERB
fumecheng-11564	48	19	hyper	hyper	ADJ
fumecheng-11564	48	20	-	-	ADJ
fumecheng-11564	48	21	surface	surface	NOUN
fumecheng-11564	49	1	n	n	NOUN
fumecheng-11564	49	2	1	1	NUM
fumecheng-11564	49	3	k	k	VERB
fumecheng-11564	49	4	so	so	SCONJ
fumecheng-11564	49	5	that	that	SCONJ
fumecheng-11564	49	6	the	the	DET
fumecheng-11564	49	7	system	system	NOUN
fumecheng-11564	49	8	(	(	PUNCT
fumecheng-11564	49	9	1	1	X
fumecheng-11564	49	10	)	)	PUNCT
fumecheng-11564	49	11	is	be	AUX
fumecheng-11564	49	12	stable	stable	ADJ
fumecheng-11564	49	13	as	as	ADV
fumecheng-11564	49	14	long	long	ADV
fumecheng-11564	49	15	as	as	SCONJ
fumecheng-11564	49	16	xk	xk	PROPN
fumecheng-11564	49	17	remains	remain	VERB
fumecheng-11564	49	18	on	on	ADP
fumecheng-11564	49	19	s	s	PRON
fumecheng-11564	49	20	[	[	X
fumecheng-11564	49	21	14	14	NUM
fumecheng-11564	49	22	]	]	SYM
fumecheng-11564	49	23	.	.	PUNCT
fumecheng-11564	50	1	2.1	2.1	NUM
fumecheng-11564	50	2	.	.	PUNCT
fumecheng-11564	51	1	furuta	furuta	PROPN
fumecheng-11564	51	2	dtsmc	dtsmc	PROPN
fumecheng-11564	51	3	law	law	NOUN
fumecheng-11564	51	4	a	a	DET
fumecheng-11564	51	5	type	type	NOUN
fumecheng-11564	51	6	of	of	ADP
fumecheng-11564	51	7	dtsmc	dtsmc	NOUN
fumecheng-11564	51	8	system	system	NOUN
fumecheng-11564	51	9	is	be	AUX
fumecheng-11564	51	10	proposed	propose	VERB
fumecheng-11564	51	11	by	by	ADP
fumecheng-11564	51	12	k.	k.	PROPN
fumecheng-11564	51	13	furuta	furuta	PROPN
fumecheng-11564	51	14	in	in	ADP
fumecheng-11564	51	15	[	[	X
fumecheng-11564	51	16	14	14	NUM
fumecheng-11564	51	17	]	]	PUNCT
fumecheng-11564	51	18	,	,	PUNCT
fumecheng-11564	51	19	in	in	ADP
fumecheng-11564	51	20	which	which	PRON
fumecheng-11564	51	21	the	the	DET
fumecheng-11564	51	22	discrete	discrete	ADJ
fumecheng-11564	51	23	-	-	PUNCT
fumecheng-11564	51	24	time	time	NOUN
fumecheng-11564	51	25	control	control	NOUN
fumecheng-11564	51	26	law	law	NOUN
fumecheng-11564	51	27	for	for	ADP
fumecheng-11564	51	28	the	the	DET
fumecheng-11564	51	29	system	system	NOUN
fumecheng-11564	51	30	(	(	PUNCT
fumecheng-11564	51	31	1	1	NUM
fumecheng-11564	51	32	)	)	PUNCT
fumecheng-11564	51	33	,	,	PUNCT
fumecheng-11564	51	34	referred	refer	VERB
fumecheng-11564	51	35	to	to	ADP
fumecheng-11564	51	36	here	here	ADV
fumecheng-11564	51	37	as	as	ADP
fumecheng-11564	51	38	the	the	DET
fumecheng-11564	51	39	furuta	furuta	PROPN
fumecheng-11564	51	40	dtsmc	dtsmc	PROPN
fumecheng-11564	51	41	law	law	NOUN
fumecheng-11564	51	42	,	,	PUNCT
fumecheng-11564	51	43	is	be	AUX
fumecheng-11564	51	44	,	,	PUNCT
fumecheng-11564	52	1	d	d	PROPN
fumecheng-11564	52	2	k	k	PROPN
fumecheng-11564	52	3	eq	eq	NOUN
fumecheng-11564	52	4	kk	kk	PROPN
fumecheng-11564	52	5	uuu	uuu	PROPN
fumecheng-11564	53	1	+	+	PROPN
fumecheng-11564	53	2	=	=	SYM
fumecheng-11564	53	3	(	(	PUNCT
fumecheng-11564	53	4	3	3	NUM
fumecheng-11564	53	5	)	)	PUNCT
fumecheng-11564	53	6	where	where	SCONJ
fumecheng-11564	53	7	d	d	PROPN
fumecheng-11564	53	8	ku	ku	PROPN
fumecheng-11564	53	9	is	be	AUX
fumecheng-11564	53	10	discontinuous	discontinuous	ADJ
fumecheng-11564	53	11	control	control	NOUN
fumecheng-11564	53	12	input	input	NOUN
fumecheng-11564	53	13	and	and	CCONJ
fumecheng-11564	53	14	the	the	DET
fumecheng-11564	53	15	equivalent	equivalent	ADJ
fumecheng-11564	53	16	control	control	NOUN
fumecheng-11564	53	17	input	input	NOUN
fumecheng-11564	53	18	is	be	AUX
fumecheng-11564	53	19	eq	eq	ADP
fumecheng-11564	53	20	ku	ku	PROPN
fumecheng-11564	53	21	.	.	PUNCT
fumecheng-11564	54	1	imposing	impose	VERB
fumecheng-11564	54	2	sk	sk	NOUN
fumecheng-11564	55	1	=	=	SYM
fumecheng-11564	55	2	0	0	PROPN
fumecheng-11564	55	3	,	,	PUNCT
fumecheng-11564	55	4	the	the	DET
fumecheng-11564	55	5	control	control	NOUN
fumecheng-11564	55	6	law	law	NOUN
fumecheng-11564	55	7	to	to	PART
fumecheng-11564	55	8	keep	keep	VERB
fumecheng-11564	55	9	the	the	DET
fumecheng-11564	55	10	state	state	NOUN
fumecheng-11564	55	11	on	on	ADP
fumecheng-11564	55	12	(	(	PUNCT
fumecheng-11564	55	13	2	2	X
fumecheng-11564	55	14	)	)	PUNCT
fumecheng-11564	55	15	is	be	AUX
fumecheng-11564	55	16	given	give	VERB
fumecheng-11564	55	17	by	by	ADP
fumecheng-11564	55	18	,	,	PUNCT
fumecheng-11564	55	19	)	)	PUNCT
fumecheng-11564	55	20	(	(	PUNCT
fumecheng-11564	55	21	)	)	PUNCT
fumecheng-11564	55	22	(	(	PUNCT
fumecheng-11564	55	23	,	,	PUNCT
fumecheng-11564	55	24	11	11	NUM
fumecheng-11564	55	25	n	n	NUM
fumecheng-11564	55	26	eq	eq	NOUN
fumecheng-11564	55	27	keq	keq	PROPN
fumecheng-11564	55	28	eq	eq	PROPN
fumecheng-11564	55	29	ku	ku	PROPN
fumecheng-11564	55	30	−	−	PROPN
fumecheng-11564	55	31	−−=	−−=	PROPN
fumecheng-11564	55	32	=	=	PROPN
fumecheng-11564	55	33	iakbkf	iakbkf	PROPN
fumecheng-11564	55	34	xf	xf	PROPN
fumecheng-11564	55	35	(	(	PUNCT
fumecheng-11564	55	36	4	4	NUM
fumecheng-11564	55	37	)	)	PUNCT
fumecheng-11564	55	38	with	with	ADP
fumecheng-11564	55	39	i	i	PRON
fumecheng-11564	55	40	–	–	PUNCT
fumecheng-11564	55	41	the	the	DET
fumecheng-11564	55	42	identity	identity	NOUN
fumecheng-11564	55	43	matrix	matrix	NOUN
fumecheng-11564	55	44	of	of	ADP
fumecheng-11564	55	45	order	order	NOUN
fumecheng-11564	55	46	n.	n.	VERB
fumecheng-11564	55	47	the	the	DET
fumecheng-11564	55	48	discontinuous	discontinuous	ADJ
fumecheng-11564	55	49	control	control	NOUN
fumecheng-11564	55	50	law	law	NOUN
fumecheng-11564	55	51	is	be	AUX
fumecheng-11564	55	52	described	describe	VERB
fumecheng-11564	55	53	as	as	ADP
fumecheng-11564	55	54	.	.	PUNCT
fumecheng-11564	55	55	]	]	PUNCT
fumecheng-11564	55	56	...	...	PUNCT
fumecheng-11564	56	1	[	[	PUNCT
fumecheng-11564	56	2	,	,	PUNCT
fumecheng-11564	56	3	1	1	NUM
fumecheng-11564	56	4	1	1	NUM
fumecheng-11564	56	5	nt	not	PART
fumecheng-11564	56	6	nd	nd	ADV
fumecheng-11564	56	7	kd	kd	PROPN
fumecheng-11564	56	8	d	d	PROPN
fumecheng-11564	56	9	k	k	PROPN
fumecheng-11564	56	10	ff	ff	NUM
fumecheng-11564	56	11	u	u	PROPN
fumecheng-11564	56	12	=	=	PROPN
fumecheng-11564	56	13	=	=	PROPN
fumecheng-11564	56	14	f	f	PROPN
fumecheng-11564	56	15	xf	xf	PROPN
fumecheng-11564	56	16	(	(	PUNCT
fumecheng-11564	56	17	5	5	X
fumecheng-11564	56	18	)	)	PUNCT
fumecheng-11564	56	19	it	it	PRON
fumecheng-11564	56	20	is	be	AUX
fumecheng-11564	56	21	proved	prove	VERB
fumecheng-11564	56	22	in	in	ADP
fumecheng-11564	56	23	[	[	X
fumecheng-11564	56	24	14	14	NUM
fumecheng-11564	56	25	]	]	PUNCT
fumecheng-11564	56	26	that	that	SCONJ
fumecheng-11564	56	27	the	the	DET
fumecheng-11564	56	28	system	system	NOUN
fumecheng-11564	56	29	(	(	PUNCT
fumecheng-11564	56	30	1	1	X
fumecheng-11564	56	31	)	)	PUNCT
fumecheng-11564	56	32	controlled	control	VERB
fumecheng-11564	56	33	with	with	ADP
fumecheng-11564	56	34	the	the	DET
fumecheng-11564	56	35	control	control	NOUN
fumecheng-11564	56	36	law	law	NOUN
fumecheng-11564	56	37	in	in	ADP
fumecheng-11564	56	38	(	(	PUNCT
fumecheng-11564	56	39	3	3	X
fumecheng-11564	56	40	)	)	PUNCT
fumecheng-11564	56	41	is	be	AUX
fumecheng-11564	56	42	stable	stable	ADJ
fumecheng-11564	56	43	if	if	SCONJ
fumecheng-11564	56	44	the	the	DET
fumecheng-11564	56	45	absolute	absolute	ADJ
fumecheng-11564	56	46	value	value	NOUN
fumecheng-11564	56	47	of	of	ADP
fumecheng-11564	56	48	the	the	DET
fumecheng-11564	56	49	ith	ith	PROPN
fumecheng-11564	56	50	element	element	NOUN
fumecheng-11564	56	51	of	of	ADP
fumecheng-11564	56	52	fd	fd	PROPN
fumecheng-11564	56	53	,	,	PUNCT
fumecheng-11564	56	54	i.e.	i.e.	X
fumecheng-11564	56	55	fi	fi	NOUN
fumecheng-11564	56	56	,	,	PUNCT
fumecheng-11564	56	57	i=1	i=1	X
fumecheng-11564	56	58	…	…	SYM
fumecheng-11564	56	59	n	n	CCONJ
fumecheng-11564	56	60	,	,	PUNCT
fumecheng-11564	56	61	satisfies	satisfy	VERB
fumecheng-11564	56	62			NUM
fumecheng-11564	56	63			PROPN
fumecheng-11564	56	64			NUM
fumecheng-11564	56	65			NUM
fumecheng-11564	56	66			NOUN
fumecheng-11564	56	67	−	−	PROPN
fumecheng-11564	56	68			PUNCT
fumecheng-11564	57	1	−	−	NOUN
fumecheng-11564	57	2	=	=	SYM
fumecheng-11564	57	3	,	,	PUNCT
fumecheng-11564	57	4	)	)	PUNCT
fumecheng-11564	57	5	(	(	PUNCT
fumecheng-11564	57	6	if	if	SCONJ
fumecheng-11564	57	7	,	,	PUNCT
fumecheng-11564	57	8	)	)	PUNCT
fumecheng-11564	57	9	(	(	PUNCT
fumecheng-11564	57	10	if0	if0	PROPN
fumecheng-11564	57	11	,	,	PUNCT
fumecheng-11564	57	12	)	)	PUNCT
fumecheng-11564	57	13	(	(	PUNCT
fumecheng-11564	57	14	if	if	SCONJ
fumecheng-11564	57	15	,	,	PUNCT
fumecheng-11564	57	16	0	0	NUM
fumecheng-11564	57	17	,	,	PUNCT
fumecheng-11564	57	18	,	,	PUNCT
fumecheng-11564	57	19	0	0	NUM
fumecheng-11564	57	20	iikk	iikk	PROPN
fumecheng-11564	57	21	iikk	iikk	PROPN
fumecheng-11564	57	22	iikk	iikk	NOUN
fumecheng-11564	58	1	i	i	PRON
fumecheng-11564	58	2	xsf	xsf	NOUN
fumecheng-11564	59	1	xs	xs	PROPN
fumecheng-11564	59	2	xsf	xsf	PROPN
fumecheng-11564	59	3	f	f	PROPN
fumecheng-11564	60	1			NUM
fumecheng-11564	60	2			PROPN
fumecheng-11564	60	3			NUM
fumecheng-11564	60	4	bk	bk	NOUN
fumecheng-11564	60	5	bk	bk	PROPN
fumecheng-11564	60	6	bk	bk	NOUN
fumecheng-11564	60	7	(	(	PUNCT
fumecheng-11564	60	8	6	6	NUM
fumecheng-11564	60	9	)	)	PUNCT
fumecheng-11564	60	10	in	in	ADP
fumecheng-11564	60	11	which	which	PRON
fumecheng-11564	60	12	xk	xk	PROPN
fumecheng-11564	60	13	,	,	PUNCT
fumecheng-11564	60	14	i	i	PRON
fumecheng-11564	60	15	is	be	AUX
fumecheng-11564	60	16	the	the	DET
fumecheng-11564	60	17	ith	ith	PROPN
fumecheng-11564	60	18	element	element	NOUN
fumecheng-11564	60	19	of	of	ADP
fumecheng-11564	60	20	xk	xk	PROPN
fumecheng-11564	60	21	and	and	CCONJ
fumecheng-11564	60	22	i	i	NOUN
fumecheng-11564	60	23	is	be	AUX
fumecheng-11564	60	24	defined	define	VERB
fumecheng-11564	60	25	as	as	ADP
fumecheng-11564	60	26	,	,	PUNCT
fumecheng-11564	60	27	||)(||5.0	||)(||5.0	NOUN
fumecheng-11564	60	28	1	1	NUM
fumecheng-11564	60	29	,	,	PUNCT
fumecheng-11564	60	30	2	2	NUM
fumecheng-11564	60	31	,	,	PUNCT
fumecheng-11564	60	32	0	0	NUM
fumecheng-11564	60	33			NUM
fumecheng-11564	60	34	=	=	SYM
fumecheng-11564	60	35	=	=	NOUN
fumecheng-11564	60	36	n	n	PROPN
fumecheng-11564	60	37	j	j	PROPN
fumecheng-11564	60	38	jkiki	jkiki	PROPN
fumecheng-11564	60	39	xxf	xxf	PROPN
fumecheng-11564	60	40	bk	bk	PROPN
fumecheng-11564	60	41	(	(	PUNCT
fumecheng-11564	60	42	7	7	NUM
fumecheng-11564	60	43	)	)	PUNCT
fumecheng-11564	60	44	with	with	ADP
fumecheng-11564	60	45	the	the	DET
fumecheng-11564	60	46	amplitude	amplitude	NOUN
fumecheng-11564	60	47	of	of	ADP
fumecheng-11564	60	48	f0	f0	PROPN
fumecheng-11564	60	49	limited	limit	VERB
fumecheng-11564	60	50	by	by	ADP
fumecheng-11564	60	51	,	,	PUNCT
fumecheng-11564	60	52	)	)	PUNCT
fumecheng-11564	60	53	(	(	PUNCT
fumecheng-11564	60	54	2	2	NUM
fumecheng-11564	60	55	0	0	NUM
fumecheng-11564	60	56	1	1	NUM
fumecheng-11564	60	57	1	1	NUM
fumecheng-11564	60	58	0	0	NUM
fumecheng-11564	60	59			NOUN
fumecheng-11564	60	60	=	=	PUNCT
fumecheng-11564	60	61			PROPN
fumecheng-11564	60	62			NUM
fumecheng-11564	60	63	n	n	PRON
fumecheng-11564	60	64	j	j	PROPN
fumecheng-11564	61	1	jt	jt	PROPN
fumecheng-11564	61	2	f	f	PROPN
fumecheng-11564	61	3	bk	bk	PROPN
fumecheng-11564	61	4	(	(	PUNCT
fumecheng-11564	61	5	8)	8)	NUM
fumecheng-11564	61	6	4	4	NUM
fumecheng-11564	61	7	a.-i	a.-i	NOUN
fumecheng-11564	61	8	.	.	PUNCT
fumecheng-11564	62	1	borlea	borlea	PROPN
fumecheng-11564	62	2	,	,	PUNCT
fumecheng-11564	62	3	r.-e	r.-e	PROPN
fumecheng-11564	62	4	.	.	PUNCT
fumecheng-11564	63	1	precup	precup	PROPN
fumecheng-11564	63	2	,	,	PUNCT
fumecheng-11564	63	3	r.-c	r.-c	PROPN
fumecheng-11564	63	4	.	.	PUNCT
fumecheng-11564	64	1	roman	roman	PROPN
fumecheng-11564	64	2	where	where	SCONJ
fumecheng-11564	64	3	t1	t1	NOUN
fumecheng-11564	64	4	is	be	AUX
fumecheng-11564	64	5	the	the	DET
fumecheng-11564	64	6	first	first	ADJ
fumecheng-11564	64	7	column	column	NOUN
fumecheng-11564	64	8	of	of	ADP
fumecheng-11564	64	9	the	the	DET
fumecheng-11564	64	10	matrix	matrix	NOUN
fumecheng-11564	65	1	[	[	X
fumecheng-11564	65	2	t1	t1	NOUN
fumecheng-11564	65	3	t2	t2	PROPN
fumecheng-11564	65	4	…	…	PUNCT
fumecheng-11564	65	5	tn	tn	NOUN
fumecheng-11564	65	6	]	]	PUNCT
fumecheng-11564	65	7	in	in	ADP
fumecheng-11564	65	8	which	which	PRON
fumecheng-11564	65	9	t1i	t1i	PROPN
fumecheng-11564	65	10	is	be	AUX
fumecheng-11564	65	11	the	the	DET
fumecheng-11564	65	12	ith	ith	PROPN
fumecheng-11564	65	13	element	element	NOUN
fumecheng-11564	65	14	of	of	ADP
fumecheng-11564	65	15	t1	t1	PROPN
fumecheng-11564	65	16	satisfying	satisfy	VERB
fumecheng-11564	65	17	kt1=1	kt1=1	PROPN
fumecheng-11564	65	18	,	,	PUNCT
fumecheng-11564	65	19	kti=1	kti=1	INTJ
fumecheng-11564	65	20	,	,	PUNCT
fumecheng-11564	65	21	i=2	i=2	PROPN
fumecheng-11564	65	22	…	…	PUNCT
fumecheng-11564	65	23	n	n	CCONJ
fumecheng-11564	65	24	;	;	PUNCT
fumecheng-11564	65	25	furthermore	furthermore	ADV
fumecheng-11564	65	26	t1	t1	NOUN
fumecheng-11564	65	27	and	and	CCONJ
fumecheng-11564	65	28	ti	ti	NOUN
fumecheng-11564	65	29	,	,	PUNCT
fumecheng-11564	65	30	with	with	ADP
fumecheng-11564	65	31	i=2	i=2	PROPN
fumecheng-11564	65	32	…	…	X
fumecheng-11564	65	33	n	n	CCONJ
fumecheng-11564	65	34	,	,	PUNCT
fumecheng-11564	65	35	are	be	AUX
fumecheng-11564	65	36	linearly	linearly	ADV
fumecheng-11564	65	37	independent	independent	ADJ
fumecheng-11564	65	38	[	[	X
fumecheng-11564	65	39	14	14	NUM
fumecheng-11564	65	40	]	]	PUNCT
fumecheng-11564	65	41	.	.	PUNCT
fumecheng-11564	66	1	the	the	DET
fumecheng-11564	66	2	gain	gain	NOUN
fumecheng-11564	66	3	matrix	matrix	NOUN
fumecheng-11564	66	4	k	k	NOUN
fumecheng-11564	66	5	shall	shall	AUX
fumecheng-11564	66	6	be	be	AUX
fumecheng-11564	66	7	designed	design	VERB
fumecheng-11564	66	8	so	so	SCONJ
fumecheng-11564	66	9	that	that	SCONJ
fumecheng-11564	66	10	the	the	DET
fumecheng-11564	66	11	system	system	NOUN
fumecheng-11564	66	12	[	[	X
fumecheng-11564	66	13	14	14	NUM
fumecheng-11564	66	14	]	]	X
fumecheng-11564	66	15	kk	kk	PROPN
fumecheng-11564	66	16	xiakbkbax	xiakbkbax	PROPN
fumecheng-11564	66	17	−−=	−−=	PROPN
fumecheng-11564	66	18	−	−	PROPN
fumecheng-11564	66	19	+	+	NUM
fumecheng-11564	66	20	)	)	PUNCT
fumecheng-11564	66	21	]	]	PUNCT
fumecheng-11564	66	22	(	(	PUNCT
fumecheng-11564	66	23	)	)	PUNCT
fumecheng-11564	66	24	(	(	PUNCT
fumecheng-11564	66	25	[	[	PUNCT
fumecheng-11564	66	26	1	1	NUM
fumecheng-11564	66	27	1	1	NUM
fumecheng-11564	66	28	(	(	PUNCT
fumecheng-11564	66	29	9	9	NUM
fumecheng-11564	66	30	)	)	PUNCT
fumecheng-11564	66	31	is	be	AUX
fumecheng-11564	66	32	stable	stable	ADJ
fumecheng-11564	66	33	.	.	PUNCT
fumecheng-11564	67	1	the	the	DET
fumecheng-11564	67	2	performance	performance	NOUN
fumecheng-11564	67	3	specifications	specification	NOUN
fumecheng-11564	67	4	imposed	impose	VERB
fumecheng-11564	67	5	to	to	ADP
fumecheng-11564	67	6	the	the	DET
fumecheng-11564	67	7	control	control	NOUN
fumecheng-11564	67	8	system	system	NOUN
fumecheng-11564	67	9	are	be	AUX
fumecheng-11564	67	10	zero	zero	NUM
fumecheng-11564	67	11	stationary	stationary	ADJ
fumecheng-11564	67	12	control	control	NOUN
fumecheng-11564	67	13	with	with	ADP
fumecheng-11564	67	14	respect	respect	NOUN
fumecheng-11564	67	15	to	to	ADP
fumecheng-11564	67	16	constant	constant	ADJ
fumecheng-11564	67	17	reference	reference	NOUN
fumecheng-11564	67	18	inputs	input	NOUN
fumecheng-11564	67	19	and	and	CCONJ
fumecheng-11564	67	20	reasonable	reasonable	ADJ
fumecheng-11564	67	21	settling	settling	NOUN
fumecheng-11564	67	22	time	time	NOUN
fumecheng-11564	67	23	.	.	PUNCT
fumecheng-11564	68	1	the	the	DET
fumecheng-11564	68	2	guidelines	guideline	NOUN
fumecheng-11564	68	3	to	to	PART
fumecheng-11564	68	4	design	design	VERB
fumecheng-11564	68	5	the	the	DET
fumecheng-11564	68	6	furuta	furuta	ADJ
fumecheng-11564	68	7	dtsmc	dtsmc	NOUN
fumecheng-11564	68	8	law	law	NOUN
fumecheng-11564	68	9	such	such	ADJ
fumecheng-11564	68	10	that	that	PRON
fumecheng-11564	68	11	to	to	PART
fumecheng-11564	68	12	meet	meet	VERB
fumecheng-11564	68	13	these	these	DET
fumecheng-11564	68	14	performance	performance	NOUN
fumecheng-11564	68	15	specifications	specification	NOUN
fumecheng-11564	68	16	will	will	AUX
fumecheng-11564	68	17	be	be	AUX
fumecheng-11564	68	18	given	give	VERB
fumecheng-11564	68	19	in	in	ADP
fumecheng-11564	68	20	section	section	NOUN
fumecheng-11564	68	21	3.1	3.1	NUM
fumecheng-11564	68	22	.	.	PUNCT
fumecheng-11564	69	1	2.2	2.2	NUM
fumecheng-11564	69	2	.	.	PUNCT
fumecheng-11564	70	1	gao	gao	PROPN
fumecheng-11564	70	2	dtsmc	dtsmc	PROPN
fumecheng-11564	70	3	law	law	PROPN
fumecheng-11564	70	4	a	a	DET
fumecheng-11564	70	5	type	type	NOUN
fumecheng-11564	70	6	of	of	ADP
fumecheng-11564	70	7	smc	smc	PROPN
fumecheng-11564	70	8	system	system	NOUN
fumecheng-11564	70	9	is	be	AUX
fumecheng-11564	70	10	described	describe	VERB
fumecheng-11564	70	11	by	by	ADP
fumecheng-11564	70	12	w.-b	w.-b	PROPN
fumecheng-11564	70	13	.	.	PUNCT
fumecheng-11564	71	1	gao	gao	PROPN
fumecheng-11564	71	2	et	et	PROPN
fumecheng-11564	71	3	al	al	PROPN
fumecheng-11564	71	4	.	.	PUNCT
fumecheng-11564	72	1	in	in	ADP
fumecheng-11564	72	2	[	[	X
fumecheng-11564	72	3	15	15	NUM
fumecheng-11564	72	4	]	]	PUNCT
fumecheng-11564	72	5	,	,	PUNCT
fumecheng-11564	72	6	where	where	SCONJ
fumecheng-11564	72	7	the	the	DET
fumecheng-11564	72	8	dynamic	dynamic	ADJ
fumecheng-11564	72	9	behavior	behavior	NOUN
fumecheng-11564	72	10	of	of	ADP
fumecheng-11564	72	11	the	the	DET
fumecheng-11564	72	12	reaching	reach	VERB
fumecheng-11564	72	13	law	law	NOUN
fumecheng-11564	72	14	is	be	AUX
fumecheng-11564	72	15	as	as	SCONJ
fumecheng-11564	72	16	follows	follow	VERB
fumecheng-11564	72	17	:	:	PUNCT
fumecheng-11564	72	18	,	,	PUNCT
fumecheng-11564	72	19	)	)	PUNCT
fumecheng-11564	72	20	sgn(1	sgn(1	PROPN
fumecheng-11564	72	21	kskskk	kskskk	VERB
fumecheng-11564	72	22	ststqss	ststqss	ADJ
fumecheng-11564	72	23	−−=−+	−−=−+	NOUN
fumecheng-11564	72	24			PROPN
fumecheng-11564	72	25	(	(	PUNCT
fumecheng-11564	72	26	10	10	NUM
fumecheng-11564	72	27	)	)	PUNCT
fumecheng-11564	72	28	where	where	SCONJ
fumecheng-11564	72	29	ts	ts	ADV
fumecheng-11564	72	30	is	be	AUX
fumecheng-11564	72	31	the	the	DET
fumecheng-11564	72	32	sampling	sampling	NOUN
fumecheng-11564	72	33	period	period	NOUN
fumecheng-11564	72	34	,	,	PUNCT
fumecheng-11564	72	35	q	q	PUNCT
fumecheng-11564	72	36	is	be	AUX
fumecheng-11564	72	37	a	a	DET
fumecheng-11564	72	38	scalar	scalar	ADJ
fumecheng-11564	72	39	parameter	parameter	NOUN
fumecheng-11564	72	40	that	that	PRON
fumecheng-11564	72	41	fulfills	fulfill	VERB
fumecheng-11564	72	42	qts(0,1	qts(0,1	ADV
fumecheng-11564	72	43	)	)	PUNCT
fumecheng-11564	72	44	and	and	CCONJ
fumecheng-11564	72	45	>0	>0	NOUN
fumecheng-11564	72	46	is	be	AUX
fumecheng-11564	72	47	a	a	DET
fumecheng-11564	72	48	parameter	parameter	NOUN
fumecheng-11564	72	49	.	.	PUNCT
fumecheng-11564	73	1	solving	solve	VERB
fumecheng-11564	73	2	for	for	ADP
fumecheng-11564	73	3	uk	uk	PROPN
fumecheng-11564	73	4	the	the	DET
fumecheng-11564	73	5	equation	equation	NOUN
fumecheng-11564	73	6	obtained	obtain	VERB
fumecheng-11564	73	7	from	from	ADP
fumecheng-11564	73	8	(	(	PUNCT
fumecheng-11564	73	9	1	1	NUM
fumecheng-11564	73	10	)	)	PUNCT
fumecheng-11564	73	11	,	,	PUNCT
fumecheng-11564	73	12	(	(	PUNCT
fumecheng-11564	73	13	2	2	X
fumecheng-11564	73	14	)	)	PUNCT
fumecheng-11564	73	15	and	and	CCONJ
fumecheng-11564	73	16	(	(	PUNCT
fumecheng-11564	73	17	10	10	NUM
fumecheng-11564	73	18	)	)	PUNCT
fumecheng-11564	73	19	leads	lead	VERB
fumecheng-11564	73	20	to	to	ADP
fumecheng-11564	73	21	the	the	DET
fumecheng-11564	73	22	following	follow	VERB
fumecheng-11564	73	23	control	control	NOUN
fumecheng-11564	73	24	law	law	NOUN
fumecheng-11564	73	25	,	,	PUNCT
fumecheng-11564	73	26	referred	refer	VERB
fumecheng-11564	73	27	to	to	ADP
fumecheng-11564	73	28	here	here	ADV
fumecheng-11564	73	29	as	as	ADP
fumecheng-11564	73	30	the	the	DET
fumecheng-11564	73	31	gao	gao	PROPN
fumecheng-11564	73	32	dtsmc	dtsmc	NOUN
fumecheng-11564	73	33	law	law	NOUN
fumecheng-11564	74	1	[	[	X
fumecheng-11564	74	2	15	15	NUM
fumecheng-11564	74	3	]	]	NUM
fumecheng-11564	74	4	:	:	PUNCT
fumecheng-11564	74	5	)	)	PUNCT
fumecheng-11564	74	6	}	}	PUNCT
fumecheng-11564	74	7	.sgn	.sgn	PROPN
fumecheng-11564	74	8	(	(	PUNCT
fumecheng-11564	74	9	]	]	X
fumecheng-11564	74	10	)	)	PUNCT
fumecheng-11564	74	11	1	1	NUM
fumecheng-11564	74	12	(	(	PUNCT
fumecheng-11564	74	13	[	[	X
fumecheng-11564	74	14	{	{	PUNCT
fumecheng-11564	74	15	)	)	PUNCT
fumecheng-11564	74	16	(	(	PUNCT
fumecheng-11564	74	17	1	1	NUM
fumecheng-11564	74	18	ksksk	ksksk	NOUN
fumecheng-11564	74	19	ttqu	ttqu	NOUN
fumecheng-11564	74	20	xkxiak	xkxiak	PROPN
fumecheng-11564	74	21	bk	bk	PROPN
fumecheng-11564	74	22	+−−	+−−	DET
fumecheng-11564	74	23			PROPN
fumecheng-11564	74	24	−=	−=	ADJ
fumecheng-11564	74	25			PROPN
fumecheng-11564	74	26	(	(	PUNCT
fumecheng-11564	74	27	11	11	NUM
fumecheng-11564	74	28	)	)	PUNCT
fumecheng-11564	74	29	imposing	impose	VERB
fumecheng-11564	74	30	the	the	DET
fumecheng-11564	74	31	same	same	ADJ
fumecheng-11564	74	32	performance	performance	NOUN
fumecheng-11564	74	33	specifications	specification	NOUN
fumecheng-11564	74	34	as	as	ADP
fumecheng-11564	74	35	in	in	ADP
fumecheng-11564	74	36	section	section	NOUN
fumecheng-11564	74	37	3.1	3.1	NUM
fumecheng-11564	74	38	,	,	PUNCT
fumecheng-11564	74	39	the	the	DET
fumecheng-11564	74	40	guidelines	guideline	NOUN
fumecheng-11564	74	41	to	to	PART
fumecheng-11564	74	42	design	design	VERB
fumecheng-11564	74	43	the	the	DET
fumecheng-11564	74	44	gao	gao	PROPN
fumecheng-11564	74	45	dtsmc	dtsmc	NOUN
fumecheng-11564	74	46	law	law	NOUN
fumecheng-11564	74	47	will	will	AUX
fumecheng-11564	74	48	be	be	AUX
fumecheng-11564	74	49	presented	present	VERB
fumecheng-11564	74	50	in	in	ADP
fumecheng-11564	74	51	section	section	NOUN
fumecheng-11564	74	52	3.2	3.2	NUM
fumecheng-11564	74	53	.	.	PUNCT
fumecheng-11564	75	1	2.3	2.3	NUM
fumecheng-11564	75	2	.	.	PUNCT
fumecheng-11564	76	1	quasi	quasi	ADJ
fumecheng-11564	76	2	-	-	ADJ
fumecheng-11564	76	3	relay	relay	ADJ
fumecheng-11564	76	4	dtsmc	dtsmc	NOUN
fumecheng-11564	76	5	law	law	PROPN
fumecheng-11564	76	6	č	č	PROPN
fumecheng-11564	76	7	.	.	PUNCT
fumecheng-11564	76	8	milosavljević	milosavljević	PROPN
fumecheng-11564	76	9	describes	describe	VERB
fumecheng-11564	76	10	in	in	ADP
fumecheng-11564	76	11	detail	detail	NOUN
fumecheng-11564	76	12	in	in	ADP
fumecheng-11564	76	13	[	[	X
fumecheng-11564	76	14	16	16	NUM
fumecheng-11564	76	15	]	]	PUNCT
fumecheng-11564	76	16	the	the	DET
fumecheng-11564	76	17	quasi	quasi	ADJ
fumecheng-11564	76	18	-	-	ADJ
fumecheng-11564	76	19	relay	relay	ADJ
fumecheng-11564	76	20	control	control	NOUN
fumecheng-11564	76	21	law	law	NOUN
fumecheng-11564	76	22	for	for	ADP
fumecheng-11564	76	23	the	the	DET
fumecheng-11564	76	24	system	system	NOUN
fumecheng-11564	76	25	(	(	PUNCT
fumecheng-11564	76	26	1	1	NUM
fumecheng-11564	76	27	)	)	PUNCT
fumecheng-11564	76	28	,	,	PUNCT
fumecheng-11564	76	29	referred	refer	VERB
fumecheng-11564	76	30	to	to	ADP
fumecheng-11564	76	31	as	as	ADP
fumecheng-11564	76	32	the	the	DET
fumecheng-11564	76	33	quasi	quasi	ADJ
fumecheng-11564	76	34	-	-	ADJ
fumecheng-11564	76	35	relay	relay	ADJ
fumecheng-11564	76	36	dtsmc	dtsmc	NOUN
fumecheng-11564	76	37	law	law	NOUN
fumecheng-11564	76	38	,	,	PUNCT
fumecheng-11564	76	39	with	with	ADP
fumecheng-11564	76	40	the	the	DET
fumecheng-11564	76	41	expression	expression	NOUN
fumecheng-11564	76	42	,	,	PUNCT
fumecheng-11564	76	43	1),sgn	1),sgn	NUM
fumecheng-11564	76	44	(	(	PUNCT
fumecheng-11564	76	45	1	1	NUM
fumecheng-11564	76	46	,	,	PUNCT
fumecheng-11564	76	47	−	−	ADJ
fumecheng-11564	76	48			NOUN
fumecheng-11564	76	49			PRON
fumecheng-11564	76	50			PROPN
fumecheng-11564	76	51			PROPN
fumecheng-11564	76	52			NOUN
fumecheng-11564	76	53	−=	−=	NOUN
fumecheng-11564	76	54			X
fumecheng-11564	77	1	=	=	PUNCT
fumecheng-11564	77	2	nrsxu	nrsxu	ADV
fumecheng-11564	77	3	k	k	NOUN
fumecheng-11564	78	1	r	r	NOUN
fumecheng-11564	79	1	i	i	PRON
fumecheng-11564	79	2	ikik	ikik	VERB
fumecheng-11564	79	3			X
fumecheng-11564	79	4	(	(	PUNCT
fumecheng-11564	79	5	12	12	NUM
fumecheng-11564	79	6	)	)	PUNCT
fumecheng-11564	79	7	where	where	SCONJ
fumecheng-11564	79	8	i>1	i>1	NOUN
fumecheng-11564	79	9	are	be	AUX
fumecheng-11564	79	10	the	the	DET
fumecheng-11564	79	11	parameters	parameter	NOUN
fumecheng-11564	79	12	which	which	PRON
fumecheng-11564	79	13	must	must	AUX
fumecheng-11564	79	14	be	be	AUX
fumecheng-11564	79	15	chosen	choose	VERB
fumecheng-11564	79	16	by	by	ADP
fumecheng-11564	79	17	the	the	DET
fumecheng-11564	79	18	designer	designer	NOUN
fumecheng-11564	79	19	.	.	PUNCT
fumecheng-11564	80	1	the	the	DET
fumecheng-11564	80	2	general	general	ADJ
fumecheng-11564	80	3	condition	condition	NOUN
fumecheng-11564	80	4	of	of	ADP
fumecheng-11564	80	5	existence	existence	NOUN
fumecheng-11564	80	6	and	and	CCONJ
fumecheng-11564	80	7	achievement	achievement	NOUN
fumecheng-11564	80	8	of	of	ADP
fumecheng-11564	80	9	the	the	DET
fumecheng-11564	80	10	quasi	quasi	ADJ
fumecheng-11564	80	11	-	-	ADJ
fumecheng-11564	80	12	sliding	sliding	ADJ
fumecheng-11564	80	13	mode	mode	NOUN
fumecheng-11564	80	14	is	be	AUX
fumecheng-11564	80	15	[	[	X
fumecheng-11564	80	16	16	16	NUM
fumecheng-11564	80	17	]	]	PUNCT
fumecheng-11564	80	18	.0	.0	NUM
fumecheng-11564	80	19	,	,	PUNCT
fumecheng-11564	80	20	z	z	NOUN
fumecheng-11564	80	21	,	,	PUNCT
fumecheng-11564	80	22	||||	||||	X
fumecheng-11564	80	23	1	1	NUM
fumecheng-11564	80	24	+	+	ADJ
fumecheng-11564	80	25	kkss	kkss	X
fumecheng-11564	80	26	kk	kk	X
fumecheng-11564	80	27	(	(	PUNCT
fumecheng-11564	80	28	13	13	NUM
fumecheng-11564	80	29	)	)	PUNCT
fumecheng-11564	80	30	imposing	impose	VERB
fumecheng-11564	80	31	the	the	DET
fumecheng-11564	80	32	same	same	ADJ
fumecheng-11564	80	33	performance	performance	NOUN
fumecheng-11564	80	34	specifications	specification	NOUN
fumecheng-11564	80	35	as	as	ADP
fumecheng-11564	80	36	in	in	ADP
fumecheng-11564	80	37	section	section	NOUN
fumecheng-11564	80	38	3.1	3.1	NUM
fumecheng-11564	80	39	,	,	PUNCT
fumecheng-11564	80	40	the	the	DET
fumecheng-11564	80	41	guidelines	guideline	NOUN
fumecheng-11564	80	42	to	to	PART
fumecheng-11564	80	43	design	design	VERB
fumecheng-11564	80	44	the	the	DET
fumecheng-11564	80	45	quasi	quasi	ADJ
fumecheng-11564	80	46	-	-	ADJ
fumecheng-11564	80	47	relay	relay	ADJ
fumecheng-11564	80	48	dtsmc	dtsmc	NOUN
fumecheng-11564	80	49	law	law	NOUN
fumecheng-11564	80	50	will	will	AUX
fumecheng-11564	80	51	be	be	AUX
fumecheng-11564	80	52	specified	specify	VERB
fumecheng-11564	80	53	in	in	ADP
fumecheng-11564	80	54	section	section	NOUN
fumecheng-11564	80	55	3.3	3.3	NUM
fumecheng-11564	80	56	.	.	PUNCT
fumecheng-11564	81	1	discrete	discrete	ADJ
fumecheng-11564	81	2	-	-	PUNCT
fumecheng-11564	81	3	time	time	NOUN
fumecheng-11564	81	4	model	model	NOUN
fumecheng-11564	81	5	-	-	PUNCT
fumecheng-11564	81	6	based	base	VERB
fumecheng-11564	81	7	sliding	slide	VERB
fumecheng-11564	81	8	mode	mode	NOUN
fumecheng-11564	81	9	controllers	controller	NOUN
fumecheng-11564	81	10	for	for	ADP
fumecheng-11564	81	11	tower	tower	NOUN
fumecheng-11564	81	12	crane	crane	NOUN
fumecheng-11564	81	13	systems	system	NOUN
fumecheng-11564	81	14	5	5	NUM
fumecheng-11564	81	15	3	3	NUM
fumecheng-11564	81	16	.	.	PUNCT
fumecheng-11564	81	17	validation	validation	NOUN
fumecheng-11564	81	18	case	case	NOUN
fumecheng-11564	81	19	study	study	NOUN
fumecheng-11564	81	20	the	the	DET
fumecheng-11564	81	21	tcs	tcs	NOUN
fumecheng-11564	81	22	is	be	AUX
fumecheng-11564	81	23	presented	present	VERB
fumecheng-11564	81	24	in	in	ADP
fumecheng-11564	81	25	detail	detail	NOUN
fumecheng-11564	81	26	in	in	ADP
fumecheng-11564	81	27	[	[	X
fumecheng-11564	81	28	6	6	NUM
fumecheng-11564	81	29	]	]	PUNCT
fumecheng-11564	81	30	and	and	CCONJ
fumecheng-11564	82	1	[	[	X
fumecheng-11564	82	2	18	18	NUM
fumecheng-11564	82	3	]	]	X
fumecheng-11564	82	4	,	,	PUNCT
fumecheng-11564	82	5	as	as	SCONJ
fumecheng-11564	82	6	representative	representative	ADJ
fumecheng-11564	82	7	process	process	NOUN
fumecheng-11564	82	8	to	to	PART
fumecheng-11564	82	9	validate	validate	VERB
fumecheng-11564	82	10	various	various	ADJ
fumecheng-11564	82	11	controls	control	NOUN
fumecheng-11564	82	12	algorithms	algorithm	NOUN
fumecheng-11564	82	13	including	include	VERB
fumecheng-11564	82	14	those	those	PRON
fumecheng-11564	82	15	discussed	discuss	VERB
fumecheng-11564	82	16	in	in	ADP
fumecheng-11564	82	17	relation	relation	NOUN
fumecheng-11564	82	18	with	with	ADP
fumecheng-11564	82	19	this	this	DET
fumecheng-11564	82	20	process	process	NOUN
fumecheng-11564	82	21	.	.	PUNCT
fumecheng-11564	83	1	the	the	DET
fumecheng-11564	83	2	tcs	tcs	NOUN
fumecheng-11564	83	3	is	be	AUX
fumecheng-11564	83	4	a	a	DET
fumecheng-11564	83	5	nonlinear	nonlinear	ADJ
fumecheng-11564	83	6	electromechanical	electromechanical	ADJ
fumecheng-11564	83	7	system	system	NOUN
fumecheng-11564	83	8	with	with	ADP
fumecheng-11564	83	9	a	a	DET
fumecheng-11564	83	10	complex	complex	ADJ
fumecheng-11564	83	11	dynamic	dynamic	ADJ
fumecheng-11564	83	12	behavior	behavior	NOUN
fumecheng-11564	83	13	.	.	PUNCT
fumecheng-11564	84	1	the	the	DET
fumecheng-11564	84	2	system	system	NOUN
fumecheng-11564	84	3	illustrated	illustrate	VERB
fumecheng-11564	84	4	in	in	ADP
fumecheng-11564	84	5	fig	fig	NOUN
fumecheng-11564	84	6	.	.	PUNCT
fumecheng-11564	85	1	1	1	NUM
fumecheng-11564	85	2	has	have	VERB
fumecheng-11564	85	3	three	three	NUM
fumecheng-11564	85	4	controlled	control	VERB
fumecheng-11564	85	5	outputs	output	NOUN
fumecheng-11564	85	6	,	,	PUNCT
fumecheng-11564	85	7	namely	namely	ADV
fumecheng-11564	85	8	the	the	DET
fumecheng-11564	85	9	cart	cart	NOUN
fumecheng-11564	85	10	position	position	NOUN
fumecheng-11564	85	11	y1(m)=x3(m	y1(m)=x3(m	PROPN
fumecheng-11564	85	12	)	)	PUNCT
fumecheng-11564	85	13	,	,	PUNCT
fumecheng-11564	85	14	the	the	DET
fumecheng-11564	85	15	arm	arm	NOUN
fumecheng-11564	85	16	angular	angular	ADJ
fumecheng-11564	85	17	position	position	NOUN
fumecheng-11564	85	18	y2(rad)=x4(rad	y2(rad)=x4(rad	NOUN
fumecheng-11564	85	19	)	)	PUNCT
fumecheng-11564	85	20	and	and	CCONJ
fumecheng-11564	85	21	the	the	DET
fumecheng-11564	85	22	payload	payload	NOUN
fumecheng-11564	85	23	position	position	NOUN
fumecheng-11564	85	24	y3(m)=x9(m	y3(m)=x9(m	PROPN
fumecheng-11564	85	25	)	)	PUNCT
fumecheng-11564	85	26	.	.	PUNCT
fumecheng-11564	86	1	fig	fig	NOUN
fumecheng-11564	86	2	.	.	PUNCT
fumecheng-11564	87	1	1	1	NUM
fumecheng-11564	87	2	block	block	NOUN
fumecheng-11564	87	3	diagram	diagram	NOUN
fumecheng-11564	87	4	of	of	ADP
fumecheng-11564	87	5	principle	principle	NOUN
fumecheng-11564	87	6	of	of	ADP
fumecheng-11564	87	7	tower	tower	NOUN
fumecheng-11564	87	8	crane	crane	NOUN
fumecheng-11564	87	9	system	system	NOUN
fumecheng-11564	87	10	[	[	X
fumecheng-11564	87	11	6	6	NUM
fumecheng-11564	87	12	]	]	PUNCT
fumecheng-11564	87	13	.	.	PUNCT
fumecheng-11564	88	1	the	the	DET
fumecheng-11564	88	2	three	three	NUM
fumecheng-11564	88	3	actuators	actuator	NOUN
fumecheng-11564	88	4	shown	show	VERB
fumecheng-11564	88	5	in	in	ADP
fumecheng-11564	88	6	fig	fig	NOUN
fumecheng-11564	88	7	.	.	PUNCT
fumecheng-11564	88	8	1	1	NUM
fumecheng-11564	88	9	are	be	AUX
fumecheng-11564	88	10	direct	direct	ADJ
fumecheng-11564	88	11	current	current	ADJ
fumecheng-11564	88	12	(	(	PUNCT
fumecheng-11564	88	13	dc	dc	PROPN
fumecheng-11564	88	14	)	)	PUNCT
fumecheng-11564	88	15	motors	motor	NOUN
fumecheng-11564	88	16	,	,	PUNCT
fumecheng-11564	88	17	and	and	CCONJ
fumecheng-11564	88	18	pulse	pulse	NOUN
fumecheng-11564	88	19	width	width	ADJ
fumecheng-11564	88	20	modulation	modulation	NOUN
fumecheng-11564	88	21	(	(	PUNCT
fumecheng-11564	88	22	pwm	pwm	NOUN
fumecheng-11564	88	23	)	)	PUNCT
fumecheng-11564	88	24	is	be	AUX
fumecheng-11564	88	25	involved	involve	VERB
fumecheng-11564	88	26	.	.	PUNCT
fumecheng-11564	89	1	the	the	DET
fumecheng-11564	89	2	variable	variable	ADJ
fumecheng-11564	89	3	m1[−1	m1[−1	NOUN
fumecheng-11564	89	4	,	,	PUNCT
fumecheng-11564	89	5	1	1	NUM
fumecheng-11564	89	6	]	]	PUNCT
fumecheng-11564	89	7	is	be	AUX
fumecheng-11564	89	8	the	the	DET
fumecheng-11564	89	9	output	output	NOUN
fumecheng-11564	89	10	of	of	ADP
fumecheng-11564	89	11	the	the	DET
fumecheng-11564	89	12	saturation	saturation	NOUN
fumecheng-11564	89	13	and	and	CCONJ
fumecheng-11564	89	14	dead	dead	ADJ
fumecheng-11564	89	15	zone	zone	NOUN
fumecheng-11564	89	16	static	static	ADJ
fumecheng-11564	89	17	nonlinearity	nonlinearity	NOUN
fumecheng-11564	89	18	specific	specific	ADJ
fumecheng-11564	89	19	to	to	ADP
fumecheng-11564	89	20	the	the	DET
fumecheng-11564	89	21	first	first	ADJ
fumecheng-11564	89	22	actuator	actuator	NOUN
fumecheng-11564	89	23	:	:	PUNCT
fumecheng-11564	89	24			NUM
fumecheng-11564	89	25			NUM
fumecheng-11564	89	26			NUM
fumecheng-11564	89	27			NUM
fumecheng-11564	89	28			NOUN
fumecheng-11564	89	29			NUM
fumecheng-11564	90	1			NUM
fumecheng-11564	90	2			ADV
fumecheng-11564	90	3			NUM
fumecheng-11564	90	4	−−	−−	PROPN
fumecheng-11564	90	5	−	−	PROPN
fumecheng-11564	90	6	−−−+	−−−+	NOUN
fumecheng-11564	90	7	−−	−−	NUM
fumecheng-11564	90	8	=	=	NOUN
fumecheng-11564	90	9	,	,	PUNCT
fumecheng-11564	90	10	)	)	PUNCT
fumecheng-11564	90	11	(	(	PUNCT
fumecheng-11564	90	12	if,1	if,1	NOUN
fumecheng-11564	90	13	,	,	PUNCT
fumecheng-11564	90	14	)	)	PUNCT
fumecheng-11564	90	15	(	(	PUNCT
fumecheng-11564	90	16	if),/	if),/	NOUN
fumecheng-11564	90	17	(	(	PUNCT
fumecheng-11564	90	18	)	)	PUNCT
fumecheng-11564	90	19	)	)	PUNCT
fumecheng-11564	90	20	(	(	PUNCT
fumecheng-11564	90	21	(	(	PUNCT
fumecheng-11564	90	22	,	,	PUNCT
fumecheng-11564	90	23	|)(|	|)(|	ADV
fumecheng-11564	90	24	if,0	if,0	NOUN
fumecheng-11564	90	25	,	,	PUNCT
fumecheng-11564	90	26	)	)	PUNCT
fumecheng-11564	90	27	(	(	PUNCT
fumecheng-11564	90	28	if),/	if),/	NOUN
fumecheng-11564	90	29	(	(	PUNCT
fumecheng-11564	90	30	)	)	PUNCT
fumecheng-11564	90	31	)	)	PUNCT
fumecheng-11564	90	32	(	(	PUNCT
fumecheng-11564	90	33	(	(	PUNCT
fumecheng-11564	90	34	,	,	PUNCT
fumecheng-11564	90	35	)	)	PUNCT
fumecheng-11564	90	36	(	(	PUNCT
fumecheng-11564	90	37	if,1	if,1	NOUN
fumecheng-11564	90	38	)	)	PUNCT
fumecheng-11564	90	39	(	(	PUNCT
fumecheng-11564	90	40	11	11	NUM
fumecheng-11564	90	41	1111111	1111111	NUM
fumecheng-11564	90	42	111	111	NUM
fumecheng-11564	90	43	1111111	1111111	NUM
fumecheng-11564	90	44	11	11	NUM
fumecheng-11564	90	45	1	1	NUM
fumecheng-11564	90	46	b	b	PROPN
fumecheng-11564	91	1	baaba	baaba	PROPN
fumecheng-11564	92	1	ac	ac	PROPN
fumecheng-11564	93	1	cbcbc	cbcbc	PROPN
fumecheng-11564	94	1	b	b	PROPN
fumecheng-11564	94	2	utu	utu	PROPN
fumecheng-11564	94	3	utuuuuutu	utuuuuutu	PROPN
fumecheng-11564	94	4	utuu	utuu	ADV
fumecheng-11564	94	5	utuuuuutu	utuuuuutu	PROPN
fumecheng-11564	94	6	utu	utu	PROPN
fumecheng-11564	94	7	tm	tm	PROPN
fumecheng-11564	94	8	(	(	PUNCT
fumecheng-11564	94	9	14	14	NUM
fumecheng-11564	94	10	)	)	PUNCT
fumecheng-11564	94	11	where	where	SCONJ
fumecheng-11564	94	12	t	t	PROPN
fumecheng-11564	94	13	is	be	AUX
fumecheng-11564	94	14	the	the	DET
fumecheng-11564	94	15	continuous	continuous	ADJ
fumecheng-11564	94	16	time	time	NOUN
fumecheng-11564	94	17	argument	argument	NOUN
fumecheng-11564	94	18	,	,	PUNCT
fumecheng-11564	94	19	tℜ	tℜ	NOUN
fumecheng-11564	94	20	,	,	PUNCT
fumecheng-11564	94	21	t≥0	t≥0	NOUN
fumecheng-11564	94	22	,	,	PUNCT
fumecheng-11564	94	23	u1(%)[−100	u1(%)[−100	PROPN
fumecheng-11564	94	24	,	,	PUNCT
fumecheng-11564	94	25	100	100	NUM
fumecheng-11564	94	26	]	]	PUNCT
fumecheng-11564	94	27	and	and	CCONJ
fumecheng-11564	94	28	u1[−1	u1[−1	ADJ
fumecheng-11564	94	29	,	,	PUNCT
fumecheng-11564	94	30	1	1	NUM
fumecheng-11564	94	31	]	]	PUNCT
fumecheng-11564	94	32	is	be	AUX
fumecheng-11564	94	33	the	the	DET
fumecheng-11564	94	34	first	first	ADJ
fumecheng-11564	94	35	control	control	NOUN
fumecheng-11564	94	36	input	input	NOUN
fumecheng-11564	94	37	for	for	ADP
fumecheng-11564	94	38	cart	cart	NOUN
fumecheng-11564	94	39	position	position	NOUN
fumecheng-11564	94	40	control	control	NOUN
fumecheng-11564	94	41	,	,	PUNCT
fumecheng-11564	94	42	and	and	CCONJ
fumecheng-11564	94	43	the	the	DET
fumecheng-11564	94	44	values	value	NOUN
fumecheng-11564	94	45	of	of	ADP
fumecheng-11564	94	46	the	the	DET
fumecheng-11564	94	47	parameters	parameter	NOUN
fumecheng-11564	94	48	in	in	ADP
fumecheng-11564	94	49	(	(	PUNCT
fumecheng-11564	94	50	14	14	NUM
fumecheng-11564	94	51	)	)	PUNCT
fumecheng-11564	94	52	are	be	AUX
fumecheng-11564	94	53	[	[	X
fumecheng-11564	94	54	6	6	NUM
fumecheng-11564	94	55	]	]	SYM
fumecheng-11564	94	56	ua1=0.1925	ua1=0.1925	PROPN
fumecheng-11564	94	57	,	,	PUNCT
fumecheng-11564	94	58	ub1=1	ub1=1	NOUN
fumecheng-11564	94	59	and	and	CCONJ
fumecheng-11564	94	60	uc1=0.2	uc1=0.2	VERB
fumecheng-11564	94	61	.	.	PUNCT
fumecheng-11564	95	1	the	the	DET
fumecheng-11564	95	2	variable	variable	NOUN
fumecheng-11564	95	3	m2[−1	m2[−1	NOUN
fumecheng-11564	95	4	,	,	PUNCT
fumecheng-11564	95	5	1	1	NUM
fumecheng-11564	95	6	]	]	PUNCT
fumecheng-11564	95	7	is	be	AUX
fumecheng-11564	95	8	the	the	DET
fumecheng-11564	95	9	output	output	NOUN
fumecheng-11564	95	10	of	of	ADP
fumecheng-11564	95	11	the	the	DET
fumecheng-11564	95	12	saturation	saturation	NOUN
fumecheng-11564	95	13	and	and	CCONJ
fumecheng-11564	95	14	dead	dead	ADJ
fumecheng-11564	95	15	zone	zone	NOUN
fumecheng-11564	95	16	static	static	ADJ
fumecheng-11564	95	17	nonlinearity	nonlinearity	NOUN
fumecheng-11564	95	18	specific	specific	ADJ
fumecheng-11564	95	19	to	to	ADP
fumecheng-11564	95	20	the	the	DET
fumecheng-11564	95	21	second	second	ADJ
fumecheng-11564	95	22	actuator	actuator	NOUN
fumecheng-11564	95	23	:	:	PUNCT
fumecheng-11564	95	24			NUM
fumecheng-11564	95	25			NUM
fumecheng-11564	95	26			NUM
fumecheng-11564	95	27			NUM
fumecheng-11564	95	28			NOUN
fumecheng-11564	95	29			NUM
fumecheng-11564	96	1			NUM
fumecheng-11564	96	2			ADV
fumecheng-11564	96	3			NUM
fumecheng-11564	96	4	−−	−−	PROPN
fumecheng-11564	96	5	−	−	PROPN
fumecheng-11564	96	6	−−−+	−−−+	NOUN
fumecheng-11564	96	7	−−	−−	NUM
fumecheng-11564	96	8	=	=	NOUN
fumecheng-11564	96	9	,	,	PUNCT
fumecheng-11564	96	10	)	)	PUNCT
fumecheng-11564	96	11	(	(	PUNCT
fumecheng-11564	96	12	if,1	if,1	NOUN
fumecheng-11564	96	13	,	,	PUNCT
fumecheng-11564	96	14	)	)	PUNCT
fumecheng-11564	96	15	(	(	PUNCT
fumecheng-11564	96	16	if),/	if),/	NOUN
fumecheng-11564	96	17	(	(	PUNCT
fumecheng-11564	96	18	)	)	PUNCT
fumecheng-11564	96	19	)	)	PUNCT
fumecheng-11564	96	20	(	(	PUNCT
fumecheng-11564	96	21	(	(	PUNCT
fumecheng-11564	96	22	,	,	PUNCT
fumecheng-11564	96	23	|)(|	|)(|	ADV
fumecheng-11564	96	24	if,0	if,0	NOUN
fumecheng-11564	96	25	,	,	PUNCT
fumecheng-11564	96	26	)	)	PUNCT
fumecheng-11564	96	27	(	(	PUNCT
fumecheng-11564	96	28	if),/	if),/	NOUN
fumecheng-11564	96	29	(	(	PUNCT
fumecheng-11564	96	30	)	)	PUNCT
fumecheng-11564	96	31	)	)	PUNCT
fumecheng-11564	96	32	(	(	PUNCT
fumecheng-11564	96	33	(	(	PUNCT
fumecheng-11564	96	34	,	,	PUNCT
fumecheng-11564	96	35	)	)	PUNCT
fumecheng-11564	96	36	(	(	PUNCT
fumecheng-11564	96	37	if,1	if,1	NOUN
fumecheng-11564	96	38	)	)	PUNCT
fumecheng-11564	96	39	(	(	PUNCT
fumecheng-11564	96	40	22	22	NUM
fumecheng-11564	96	41	2222222	2222222	NUM
fumecheng-11564	96	42	222	222	NUM
fumecheng-11564	96	43	2222222	2222222	NUM
fumecheng-11564	96	44	22	22	NUM
fumecheng-11564	96	45	2	2	NUM
fumecheng-11564	96	46	b	b	NOUN
fumecheng-11564	96	47	baaba	baaba	NOUN
fumecheng-11564	96	48	ac	ac	PROPN
fumecheng-11564	97	1	cbcbc	cbcbc	PROPN
fumecheng-11564	97	2	b	b	PROPN
fumecheng-11564	97	3	utu	utu	PROPN
fumecheng-11564	97	4	utuuuuutu	utuuuuutu	PROPN
fumecheng-11564	97	5	utuu	utuu	ADV
fumecheng-11564	97	6	utuuuuutu	utuuuuutu	PROPN
fumecheng-11564	97	7	utu	utu	PROPN
fumecheng-11564	97	8	tm	tm	PROPN
fumecheng-11564	97	9	(	(	PUNCT
fumecheng-11564	97	10	15	15	NUM
fumecheng-11564	97	11	)	)	PUNCT
fumecheng-11564	97	12	where	where	SCONJ
fumecheng-11564	97	13	u2(%)[−100	u2(%)[−100	ADP
fumecheng-11564	97	14	,	,	PUNCT
fumecheng-11564	97	15	100	100	NUM
fumecheng-11564	97	16	]	]	PUNCT
fumecheng-11564	97	17	and	and	CCONJ
fumecheng-11564	97	18	next	next	ADJ
fumecheng-11564	97	19	u2[−1	u2[−1	ADJ
fumecheng-11564	97	20	,	,	PUNCT
fumecheng-11564	97	21	1	1	NUM
fumecheng-11564	97	22	]	]	PUNCT
fumecheng-11564	97	23	is	be	AUX
fumecheng-11564	97	24	the	the	DET
fumecheng-11564	97	25	second	second	ADJ
fumecheng-11564	97	26	control	control	NOUN
fumecheng-11564	97	27	input	input	NOUN
fumecheng-11564	97	28	for	for	ADP
fumecheng-11564	97	29	arm	arm	NOUN
fumecheng-11564	97	30	angular	angular	ADJ
fumecheng-11564	97	31	position	position	NOUN
fumecheng-11564	97	32	control	control	NOUN
fumecheng-11564	97	33	,	,	PUNCT
fumecheng-11564	97	34	the	the	DET
fumecheng-11564	97	35	values	value	NOUN
fumecheng-11564	97	36	of	of	ADP
fumecheng-11564	97	37	the	the	DET
fumecheng-11564	97	38	parameters	parameter	NOUN
fumecheng-11564	97	39	in	in	ADP
fumecheng-11564	97	40	(	(	PUNCT
fumecheng-11564	97	41	15	15	NUM
fumecheng-11564	97	42	)	)	PUNCT
fumecheng-11564	97	43	are	be	AUX
fumecheng-11564	97	44	[	[	X
fumecheng-11564	97	45	6	6	NUM
fumecheng-11564	97	46	]	]	X
fumecheng-11564	97	47	ua2=0.18	ua2=0.18	NOUN
fumecheng-11564	97	48	,	,	PUNCT
fumecheng-11564	97	49	ub2=1	ub2=1	ADJ
fumecheng-11564	97	50	and	and	CCONJ
fumecheng-11564	97	51	uc2=0.1538	uc2=0.1538	NOUN
fumecheng-11564	97	52	.	.	PUNCT
fumecheng-11564	98	1	the	the	DET
fumecheng-11564	98	2	variable	variable	ADJ
fumecheng-11564	98	3	m3[−1	m3[−1	NOUN
fumecheng-11564	98	4	,	,	PUNCT
fumecheng-11564	98	5	1	1	NUM
fumecheng-11564	98	6	]	]	PUNCT
fumecheng-11564	98	7	is	be	AUX
fumecheng-11564	98	8	the	the	DET
fumecheng-11564	98	9	output	output	NOUN
fumecheng-11564	98	10	of	of	ADP
fumecheng-11564	98	11	the	the	DET
fumecheng-11564	98	12	saturation	saturation	NOUN
fumecheng-11564	98	13	and	and	CCONJ
fumecheng-11564	98	14	dead	dead	ADJ
fumecheng-11564	98	15	zone	zone	NOUN
fumecheng-11564	98	16	static	static	ADJ
fumecheng-11564	98	17	nonlinearity	nonlinearity	NOUN
fumecheng-11564	98	18	specific	specific	ADJ
fumecheng-11564	98	19	to	to	ADP
fumecheng-11564	98	20	the	the	DET
fumecheng-11564	98	21	third	third	ADJ
fumecheng-11564	98	22	actuator	actuator	NOUN
fumecheng-11564	98	23	:	:	PUNCT
fumecheng-11564	98	24	6	6	NUM
fumecheng-11564	98	25	a.-i	a.-i	NOUN
fumecheng-11564	98	26	.	.	PUNCT
fumecheng-11564	99	1	borlea	borlea	PROPN
fumecheng-11564	99	2	,	,	PUNCT
fumecheng-11564	99	3	r.-e	r.-e	PROPN
fumecheng-11564	99	4	.	.	PUNCT
fumecheng-11564	100	1	precup	precup	PROPN
fumecheng-11564	100	2	,	,	PUNCT
fumecheng-11564	100	3	r.-c	r.-c	PROPN
fumecheng-11564	100	4	.	.	PUNCT
fumecheng-11564	101	1	roman	roman	ADJ
fumecheng-11564	101	2			NUM
fumecheng-11564	101	3			NUM
fumecheng-11564	101	4			NUM
fumecheng-11564	101	5			NUM
fumecheng-11564	101	6			NOUN
fumecheng-11564	102	1			NUM
fumecheng-11564	102	2			NUM
fumecheng-11564	102	3			ADV
fumecheng-11564	102	4			NUM
fumecheng-11564	102	5	−−	−−	PROPN
fumecheng-11564	102	6	−	−	PROPN
fumecheng-11564	102	7	−−−+	−−−+	NOUN
fumecheng-11564	102	8	−−	−−	NUM
fumecheng-11564	102	9	=	=	NOUN
fumecheng-11564	102	10	,	,	PUNCT
fumecheng-11564	102	11	)	)	PUNCT
fumecheng-11564	102	12	(	(	PUNCT
fumecheng-11564	102	13	if,1	if,1	NOUN
fumecheng-11564	102	14	,	,	PUNCT
fumecheng-11564	102	15	)	)	PUNCT
fumecheng-11564	102	16	(	(	PUNCT
fumecheng-11564	102	17	if),/	if),/	NOUN
fumecheng-11564	102	18	(	(	PUNCT
fumecheng-11564	102	19	)	)	PUNCT
fumecheng-11564	102	20	)	)	PUNCT
fumecheng-11564	102	21	(	(	PUNCT
fumecheng-11564	102	22	(	(	PUNCT
fumecheng-11564	102	23	,	,	PUNCT
fumecheng-11564	102	24	|)(|	|)(|	ADV
fumecheng-11564	102	25	if,0	if,0	NOUN
fumecheng-11564	102	26	,	,	PUNCT
fumecheng-11564	102	27	)	)	PUNCT
fumecheng-11564	102	28	(	(	PUNCT
fumecheng-11564	102	29	if),/	if),/	NOUN
fumecheng-11564	102	30	(	(	PUNCT
fumecheng-11564	102	31	)	)	PUNCT
fumecheng-11564	102	32	)	)	PUNCT
fumecheng-11564	102	33	(	(	PUNCT
fumecheng-11564	102	34	(	(	PUNCT
fumecheng-11564	102	35	,	,	PUNCT
fumecheng-11564	102	36	)	)	PUNCT
fumecheng-11564	102	37	(	(	PUNCT
fumecheng-11564	102	38	if,1	if,1	NOUN
fumecheng-11564	102	39	)	)	PUNCT
fumecheng-11564	102	40	(	(	PUNCT
fumecheng-11564	102	41	33	33	NUM
fumecheng-11564	102	42	3333333	3333333	NUM
fumecheng-11564	102	43	333	333	NUM
fumecheng-11564	102	44	3333333	3333333	NUM
fumecheng-11564	102	45	33	33	NUM
fumecheng-11564	102	46	3	3	NUM
fumecheng-11564	102	47	b	b	PROPN
fumecheng-11564	102	48	baaba	baaba	PROPN
fumecheng-11564	102	49	ac	ac	PROPN
fumecheng-11564	103	1	cbcbc	cbcbc	PROPN
fumecheng-11564	103	2	b	b	PROPN
fumecheng-11564	103	3	utu	utu	PROPN
fumecheng-11564	103	4	utuuuuutu	utuuuuutu	PROPN
fumecheng-11564	103	5	utuu	utuu	ADV
fumecheng-11564	103	6	utuuuuutu	utuuuuutu	PROPN
fumecheng-11564	103	7	utu	utu	PROPN
fumecheng-11564	103	8	tm	tm	PROPN
fumecheng-11564	103	9	(	(	PUNCT
fumecheng-11564	103	10	16	16	NUM
fumecheng-11564	103	11	)	)	PUNCT
fumecheng-11564	103	12	where	where	SCONJ
fumecheng-11564	103	13	u3(%)[−100	u3(%)[−100	NOUN
fumecheng-11564	103	14	,	,	PUNCT
fumecheng-11564	103	15	100	100	NUM
fumecheng-11564	103	16	]	]	PUNCT
fumecheng-11564	103	17	and	and	CCONJ
fumecheng-11564	103	18	next	next	PROPN
fumecheng-11564	103	19	u3[−1	u3[−1	PROPN
fumecheng-11564	103	20	,	,	PUNCT
fumecheng-11564	103	21	1	1	NUM
fumecheng-11564	103	22	]	]	PUNCT
fumecheng-11564	103	23	is	be	AUX
fumecheng-11564	103	24	the	the	DET
fumecheng-11564	103	25	third	third	ADJ
fumecheng-11564	103	26	control	control	NOUN
fumecheng-11564	103	27	input	input	NOUN
fumecheng-11564	103	28	for	for	ADP
fumecheng-11564	103	29	payload	payload	NOUN
fumecheng-11564	103	30	position	position	NOUN
fumecheng-11564	103	31	control	control	NOUN
fumecheng-11564	103	32	,	,	PUNCT
fumecheng-11564	104	1	the	the	DET
fumecheng-11564	104	2	values	value	NOUN
fumecheng-11564	104	3	of	of	ADP
fumecheng-11564	104	4	the	the	DET
fumecheng-11564	104	5	parameters	parameter	NOUN
fumecheng-11564	104	6	in	in	ADP
fumecheng-11564	104	7	(	(	PUNCT
fumecheng-11564	104	8	16	16	NUM
fumecheng-11564	104	9	)	)	PUNCT
fumecheng-11564	104	10	are	be	AUX
fumecheng-11564	104	11	[	[	X
fumecheng-11564	104	12	6	6	NUM
fumecheng-11564	104	13	]	]	PUNCT
fumecheng-11564	104	14	ua3=0.1	ua3=0.1	NUM
fumecheng-11564	104	15	,	,	PUNCT
fumecheng-11564	104	16	ub3=1	ub3=1	ADV
fumecheng-11564	104	17	and	and	CCONJ
fumecheng-11564	104	18	uc3=0.13	uc3=0.13	PROPN
fumecheng-11564	104	19	.	.	PUNCT
fumecheng-11564	105	1	the	the	DET
fumecheng-11564	105	2	nonlinear	nonlinear	ADJ
fumecheng-11564	105	3	state	state	NOUN
fumecheng-11564	105	4	-	-	PUNCT
fumecheng-11564	105	5	space	space	NOUN
fumecheng-11564	105	6	model	model	NOUN
fumecheng-11564	105	7	of	of	ADP
fumecheng-11564	105	8	the	the	DET
fumecheng-11564	105	9	tcs	tcs	NOUN
fumecheng-11564	105	10	is	be	AUX
fumecheng-11564	105	11	[	[	X
fumecheng-11564	105	12	18	18	NUM
fumecheng-11564	105	13	]	]	PUNCT
fumecheng-11564	105	14	,	,	PUNCT
fumecheng-11564	105	15	,	,	PUNCT
fumecheng-11564	105	16	,	,	PUNCT
fumecheng-11564	105	17	)	)	PUNCT
fumecheng-11564	105	18	,	,	PUNCT
fumecheng-11564	105	19	(	(	PUNCT
fumecheng-11564	105	20	,	,	PUNCT
fumecheng-11564	105	21	,	,	PUNCT
fumecheng-11564	105	22	1	1	NUM
fumecheng-11564	105	23	,	,	PUNCT
fumecheng-11564	105	24	1	1	NUM
fumecheng-11564	105	25	)	)	PUNCT
fumecheng-11564	105	26	,	,	PUNCT
fumecheng-11564	105	27	(	(	PUNCT
fumecheng-11564	105	28	)	)	PUNCT
fumecheng-11564	105	29	,	,	PUNCT
fumecheng-11564	105	30	(	(	PUNCT
fumecheng-11564	105	31	,	,	PUNCT
fumecheng-11564	105	32	,	,	PUNCT
fumecheng-11564	105	33	,	,	PUNCT
fumecheng-11564	105	34	,	,	PUNCT
fumecheng-11564	105	35	93	93	NUM
fumecheng-11564	105	36	42	42	NUM
fumecheng-11564	105	37	31	31	NUM
fumecheng-11564	105	38	1010	1010	NUM
fumecheng-11564	105	39	109	109	NUM
fumecheng-11564	105	40	2	2	NUM
fumecheng-11564	105	41	2	2	NUM
fumecheng-11564	105	42	2	2	NUM
fumecheng-11564	105	43	8	8	NUM
fumecheng-11564	105	44	2	2	NUM
fumecheng-11564	105	45	8	8	NUM
fumecheng-11564	105	46	1	1	NUM
fumecheng-11564	105	47	1	1	NUM
fumecheng-11564	105	48	1	1	NUM
fumecheng-11564	105	49	7	7	NUM
fumecheng-11564	105	50	1	1	NUM
fumecheng-11564	105	51	7	7	NUM
fumecheng-11564	105	52	66	66	NUM
fumecheng-11564	105	53	55	55	NUM
fumecheng-11564	105	54	84	84	NUM
fumecheng-11564	105	55	73	73	NUM
fumecheng-11564	105	56	62	62	NUM
fumecheng-11564	105	57	51	51	NUM
fumecheng-11564	106	1	xy	xy	INTJ
fumecheng-11564	106	2	xy	xy	PROPN
fumecheng-11564	106	3	xy	xy	PROPN
fumecheng-11564	107	1	fx	fx	PROPN
fumecheng-11564	108	1	xx	xx	NUM
fumecheng-11564	108	2	m	m	VERB
fumecheng-11564	108	3	t	t	NOUN
fumecheng-11564	109	1	k	k	X
fumecheng-11564	109	2	x	x	SYM
fumecheng-11564	109	3	t	t	NOUN
fumecheng-11564	109	4	x	x	X
fumecheng-11564	109	5	m	m	VERB
fumecheng-11564	109	6	t	t	NOUN
fumecheng-11564	109	7	k	k	X
fumecheng-11564	109	8	x	x	SYM
fumecheng-11564	109	9	t	t	NOUN
fumecheng-11564	109	10	x	x	PUNCT
fumecheng-11564	109	11	fx	fx	PROPN
fumecheng-11564	109	12	fx	fx	NOUN
fumecheng-11564	110	1	xx	xx	NUM
fumecheng-11564	110	2	xx	xx	NUM
fumecheng-11564	111	1	xx	xx	NUM
fumecheng-11564	111	2	xx	xx	NUM
fumecheng-11564	112	1	p	p	PRON
fumecheng-11564	112	2	p	p	NOUN
fumecheng-11564	112	3	=	=	PUNCT
fumecheng-11564	112	4	=	=	SYM
fumecheng-11564	112	5	=	=	PUNCT
fumecheng-11564	112	6	=	=	X
fumecheng-11564	112	7	=	=	SYM
fumecheng-11564	112	8	+	+	NOUN
fumecheng-11564	112	9	−=	−=	ADJ
fumecheng-11564	112	10	+	+	NOUN
fumecheng-11564	112	11	−=	−=	NOUN
fumecheng-11564	112	12	=	=	SYM
fumecheng-11564	112	13	=	=	NOUN
fumecheng-11564	112	14	=	=	PUNCT
fumecheng-11564	113	1	=	=	PUNCT
fumecheng-11564	113	2	=	=	PUNCT
fumecheng-11564	114	1	=	=	PUNCT
fumecheng-11564	114	2			ADP
fumecheng-11564	114	3			ADP
fumecheng-11564	114	4			ADJ
fumecheng-11564	114	5			NOUN
fumecheng-11564	114	6			NOUN
fumecheng-11564	114	7			NOUN
fumecheng-11564	114	8			ADP
fumecheng-11564	114	9			NOUN
fumecheng-11564	114	10			NOUN
fumecheng-11564	114	11			NOUN
fumecheng-11564	114	12			NOUN
fumecheng-11564	114	13			NOUN
fumecheng-11564	114	14	(	(	PUNCT
fumecheng-11564	114	15	17	17	NUM
fumecheng-11564	114	16	)	)	PUNCT
fumecheng-11564	114	17	in	in	ADP
fumecheng-11564	114	18	which	which	PRON
fumecheng-11564	114	19	the	the	DET
fumecheng-11564	114	20	expressions	expression	NOUN
fumecheng-11564	114	21	of	of	ADP
fumecheng-11564	114	22	the	the	DET
fumecheng-11564	114	23	nonlinear	nonlinear	ADJ
fumecheng-11564	114	24	functions	function	NOUN
fumecheng-11564	114	25	f5	f5	NOUN
fumecheng-11564	114	26	,	,	PUNCT
fumecheng-11564	114	27	f6	f6	PROPN
fumecheng-11564	114	28	and	and	CCONJ
fumecheng-11564	114	29	f10	f10	NOUN
fumecheng-11564	114	30	are	be	AUX
fumecheng-11564	114	31	)	)	PUNCT
fumecheng-11564	114	32	,	,	PUNCT
fumecheng-11564	114	33	sin2sin2cos2cos2	sin2sin2cos2cos2	NOUN
fumecheng-11564	114	34	sin4sinsin2sinsin2sinsin2	sin4sinsin2sinsin2sinsin2	PROPN
fumecheng-11564	114	35	cos4cossin2cos2sin2sin	cos4cossin2cos2sin2sin	PROPN
fumecheng-11564	114	36	coscos44	coscos44	PROPN
fumecheng-11564	114	37	(	(	PUNCT
fumecheng-11564	114	38	2	2	NUM
fumecheng-11564	114	39	1	1	NUM
fumecheng-11564	114	40	)	)	PUNCT
fumecheng-11564	114	41	,	,	PUNCT
fumecheng-11564	114	42	,	,	PUNCT
fumecheng-11564	114	43	,	,	PUNCT
fumecheng-11564	114	44	...	...	PUNCT
fumecheng-11564	114	45	,	,	PUNCT
fumecheng-11564	114	46	,	,	PUNCT
fumecheng-11564	114	47	,	,	PUNCT
fumecheng-11564	114	48	,	,	PUNCT
fumecheng-11564	114	49	(	(	PUNCT
fumecheng-11564	114	50	)	)	PUNCT
fumecheng-11564	114	51	(	(	PUNCT
fumecheng-11564	114	52	229	229	NUM
fumecheng-11564	114	53	2	2	NUM
fumecheng-11564	114	54	2	2	NUM
fumecheng-11564	114	55	2	2	NUM
fumecheng-11564	114	56	2	2	NUM
fumecheng-11564	114	57	98	98	NUM
fumecheng-11564	114	58	123	123	NUM
fumecheng-11564	114	59	2	2	NUM
fumecheng-11564	114	60	2	2	NUM
fumecheng-11564	114	61	1	1	NUM
fumecheng-11564	114	62	2	2	NUM
fumecheng-11564	114	63	83	83	NUM
fumecheng-11564	114	64	2108211	2108211	NUM
fumecheng-11564	114	65	1	1	NUM
fumecheng-11564	114	66	1	1	NUM
fumecheng-11564	114	67	21	21	NUM
fumecheng-11564	114	68	1	1	NUM
fumecheng-11564	114	69	7	7	NUM
fumecheng-11564	114	70	21	21	NUM
fumecheng-11564	114	71	2	2	NUM
fumecheng-11564	114	72	83	83	NUM
fumecheng-11564	114	73	187212	187212	NUM
fumecheng-11564	114	74	2	2	NUM
fumecheng-11564	114	75	19	19	NUM
fumecheng-11564	114	76	2	2	NUM
fumecheng-11564	114	77	819	819	NUM
fumecheng-11564	114	78	2	2	NUM
fumecheng-11564	114	79	6	6	NUM
fumecheng-11564	114	80	21	21	NUM
fumecheng-11564	114	81	2	2	NUM
fumecheng-11564	114	82	986105	986105	NUM
fumecheng-11564	114	83	9	9	NUM
fumecheng-11564	114	84	2110532155	2110532155	NUM
fumecheng-11564	114	85	xmx	xmx	NOUN
fumecheng-11564	115	1	t	t	PROPN
fumecheng-11564	115	2	k	k	NOUN
fumecheng-11564	116	1	x	x	PUNCT
fumecheng-11564	116	2	t	t	NOUN
fumecheng-11564	117	1	xx	xx	NUM
fumecheng-11564	117	2	xmx	xmx	PROPN
fumecheng-11564	118	1	t	t	PROPN
fumecheng-11564	118	2	k	k	NOUN
fumecheng-11564	119	1	x	x	SYM
fumecheng-11564	119	2	t	t	NOUN
fumecheng-11564	119	3	xx	xx	NUM
fumecheng-11564	119	4	xxxxxm	xxxxxm	PROPN
fumecheng-11564	119	5	t	t	PROPN
fumecheng-11564	120	1	k	k	PROPN
fumecheng-11564	121	1	xx	xx	NUM
fumecheng-11564	121	2	t	t	NOUN
fumecheng-11564	121	3	x	x	PUNCT
fumecheng-11564	121	4	xxxx	xxxx	PROPN
fumecheng-11564	121	5	xxxxxgxxxxxxx	xxxxxgxxxxxxx	PROPN
fumecheng-11564	122	1	xxxxxxx	xxxxxxx	PROPN
fumecheng-11564	123	1	x	x	PROPN
fumecheng-11564	123	2	mmxxxxxff	mmxxxxxff	PROPN
fumecheng-11564	123	3	pp	pp	PROPN
fumecheng-11564	123	4	p	p	PROPN
fumecheng-11564	123	5			PROPN
fumecheng-11564	123	6			ADP
fumecheng-11564	123	7	+	+	ADJ
fumecheng-11564	123	8	−−+	−−+	PROPN
fumecheng-11564	123	9	+	+	SYM
fumecheng-11564	123	10	−++	−++	ADJ
fumecheng-11564	123	11	−−+−	−−+−	NOUN
fumecheng-11564	123	12	+	+	PROPN
fumecheng-11564	123	13	−==	−==	PROPN
fumecheng-11564	123	14	(	(	PUNCT
fumecheng-11564	123	15	18	18	NUM
fumecheng-11564	123	16	)	)	PUNCT
fumecheng-11564	123	17	discrete	discrete	ADJ
fumecheng-11564	123	18	-	-	PUNCT
fumecheng-11564	123	19	time	time	NOUN
fumecheng-11564	123	20	model	model	NOUN
fumecheng-11564	123	21	-	-	PUNCT
fumecheng-11564	123	22	based	base	VERB
fumecheng-11564	123	23	sliding	slide	VERB
fumecheng-11564	123	24	mode	mode	NOUN
fumecheng-11564	123	25	controllers	controller	NOUN
fumecheng-11564	123	26	for	for	ADP
fumecheng-11564	123	27	tower	tower	NOUN
fumecheng-11564	123	28	crane	crane	NOUN
fumecheng-11564	123	29	systems	system	NOUN
fumecheng-11564	123	30	7	7	NUM
fumecheng-11564	123	31	)	)	PUNCT
fumecheng-11564	123	32	,	,	PUNCT
fumecheng-11564	123	33	cossin	cossin	NOUN
fumecheng-11564	123	34	cossincoscossincoscos	cossincoscossincosco	NOUN
fumecheng-11564	123	35	coscossin2sinsin2coscos2	coscossin2sinsin2coscos2	NOUN
fumecheng-11564	123	36	cos2	cos2	NOUN
fumecheng-11564	123	37	(	(	PUNCT
fumecheng-11564	123	38	cos	cos	PROPN
fumecheng-11564	123	39	1	1	NUM
fumecheng-11564	123	40	)	)	PUNCT
fumecheng-11564	123	41	,	,	PUNCT
fumecheng-11564	123	42	,	,	PUNCT
fumecheng-11564	123	43	,	,	PUNCT
fumecheng-11564	123	44	...	...	PUNCT
fumecheng-11564	123	45	,	,	PUNCT
fumecheng-11564	123	46	,	,	PUNCT
fumecheng-11564	123	47	,	,	PUNCT
fumecheng-11564	123	48	,	,	PUNCT
fumecheng-11564	123	49	(	(	PUNCT
fumecheng-11564	123	50	)	)	PUNCT
fumecheng-11564	123	51	(	(	PUNCT
fumecheng-11564	123	52	2129	2129	NUM
fumecheng-11564	123	53	2	2	NUM
fumecheng-11564	123	54	2	2	NUM
fumecheng-11564	123	55	21	21	NUM
fumecheng-11564	123	56	2	2	NUM
fumecheng-11564	123	57	98	98	NUM
fumecheng-11564	123	58	21	21	NUM
fumecheng-11564	123	59	1	1	NUM
fumecheng-11564	123	60	1	1	NUM
fumecheng-11564	123	61	2	2	NUM
fumecheng-11564	123	62	1	1	NUM
fumecheng-11564	123	63	7	7	NUM
fumecheng-11564	123	64	2219	2219	NUM
fumecheng-11564	123	65	2	2	NUM
fumecheng-11564	123	66	8	8	NUM
fumecheng-11564	123	67	2	2	NUM
fumecheng-11564	123	68	2	2	NUM
fumecheng-11564	123	69	83211082196521985	83211082196521985	NUM
fumecheng-11564	123	70	1106	1106	NUM
fumecheng-11564	123	71	19	19	NUM
fumecheng-11564	123	72	2110532166	2110532166	NUM
fumecheng-11564	123	73	xxmx	xxmx	PROPN
fumecheng-11564	124	1	t	t	PROPN
fumecheng-11564	124	2	k	k	PROPN
fumecheng-11564	125	1	xx	xx	NUM
fumecheng-11564	125	2	t	t	X
fumecheng-11564	125	3	xx	xx	NUM
fumecheng-11564	126	1	xm	xm	PROPN
fumecheng-11564	126	2	t	t	PROPN
fumecheng-11564	126	3	k	k	PROPN
fumecheng-11564	126	4	x	x	SYM
fumecheng-11564	126	5	t	t	PROPN
fumecheng-11564	126	6	x	x	PROPN
fumecheng-11564	126	7	xxxxx	xxxxx	PROPN
fumecheng-11564	126	8	xxxxxxxxgxxxxxxxxx	xxxxxxxxgxxxxxxxxx	PROPN
fumecheng-11564	126	9	xxx	xxx	PROPN
fumecheng-11564	127	1	xx	xx	NUM
fumecheng-11564	127	2	mmxxxxxff	mmxxxxxff	PROPN
fumecheng-11564	127	3	p	p	PROPN
fumecheng-11564	127	4	p	p	PROPN
fumecheng-11564	127	5			PART
fumecheng-11564	127	6			VERB
fumecheng-11564	127	7	−	−	NOUN
fumecheng-11564	127	8	+	+	ADJ
fumecheng-11564	127	9	+	+	ADJ
fumecheng-11564	127	10	−+	−+	PROPN
fumecheng-11564	127	11	−−−+−	−−−+−	NOUN
fumecheng-11564	127	12	−==	−==	NOUN
fumecheng-11564	127	13	(	(	PUNCT
fumecheng-11564	127	14	19	19	NUM
fumecheng-11564	127	15	)	)	PUNCT
fumecheng-11564	127	16	)	)	PUNCT
fumecheng-11564	127	17	,	,	PUNCT
fumecheng-11564	127	18	coscos)(cossin)(cossin	coscos)(cossin)(cossin	X
fumecheng-11564	127	19	)	)	PUNCT
fumecheng-11564	127	20	(	(	PUNCT
fumecheng-11564	127	21	sinsin2cossin2sincos2	sinsin2cossin2sincos2	X
fumecheng-11564	127	22	(	(	PUNCT
fumecheng-11564	127	23	coscos1	coscos1	PROPN
fumecheng-11564	127	24	1	1	NUM
fumecheng-11564	127	25	)	)	PUNCT
fumecheng-11564	127	26	,	,	PUNCT
fumecheng-11564	127	27	,	,	PUNCT
fumecheng-11564	127	28	,	,	PUNCT
fumecheng-11564	127	29	,	,	PUNCT
fumecheng-11564	127	30	...	...	PUNCT
fumecheng-11564	127	31	,	,	PUNCT
fumecheng-11564	127	32	,	,	PUNCT
fumecheng-11564	127	33	,	,	PUNCT
fumecheng-11564	127	34	,	,	PUNCT
fumecheng-11564	127	35	(	(	PUNCT
fumecheng-11564	127	36	)	)	PUNCT
fumecheng-11564	127	37	(	(	PUNCT
fumecheng-11564	127	38	33	33	NUM
fumecheng-11564	127	39	21	21	NUM
fumecheng-11564	127	40	2	2	NUM
fumecheng-11564	127	41	6	6	NUM
fumecheng-11564	127	42	2	2	NUM
fumecheng-11564	127	43	5921591269	5921591269	NUM
fumecheng-11564	127	44	219652110521106	219652110521106	NUM
fumecheng-11564	127	45	10	10	NUM
fumecheng-11564	127	46	21	21	NUM
fumecheng-11564	127	47	3211053211010	3211053211010	NUM
fumecheng-11564	127	48	l	l	NOUN
fumecheng-11564	127	49	p	p	X
fumecheng-11564	127	50	l	l	NOUN
fumecheng-11564	127	51	l	l	X
fumecheng-11564	127	52	m	m	VERB
fumecheng-11564	127	53	mk	mk	PROPN
fumecheng-11564	127	54	xxxxxxxfxxxfx	xxxxxxxfxxxfx	PROPN
fumecheng-11564	127	55	xxxxxxxxxxxxx	xxxxxxxxxxxxx	PROPN
fumecheng-11564	127	56	gx	gx	PROPN
fumecheng-11564	128	1	mxx	mxx	PROPN
fumecheng-11564	128	2	mmmxxxxxff	mmmxxxxxff	PROPN
fumecheng-11564	129	1	+	+	PROPN
fumecheng-11564	129	2	+	+	ADJ
fumecheng-11564	129	3	+	+	ADJ
fumecheng-11564	129	4	++	++	VERB
fumecheng-11564	129	5	−++	−++	ADP
fumecheng-11564	129	6	+	+	NUM
fumecheng-11564	129	7			NOUN
fumecheng-11564	129	8	−	−	NOUN
fumecheng-11564	130	1	+	+	CCONJ
fumecheng-11564	131	1	=	=	PUNCT
fumecheng-11564	131	2	=	=	NOUN
fumecheng-11564	131	3			NOUN
fumecheng-11564	131	4			NOUN
fumecheng-11564	131	5	(	(	PUNCT
fumecheng-11564	131	6	20	20	NUM
fumecheng-11564	131	7	)	)	PUNCT
fumecheng-11564	131	8	where	where	SCONJ
fumecheng-11564	131	9	,	,	PUNCT
fumecheng-11564	131	10	as	as	SCONJ
fumecheng-11564	131	11	specified	specify	VERB
fumecheng-11564	131	12	in	in	ADP
fumecheng-11564	131	13	[	[	X
fumecheng-11564	131	14	6	6	NUM
fumecheng-11564	131	15	]	]	PUNCT
fumecheng-11564	131	16	,	,	PUNCT
fumecheng-11564	131	17	kp1=0.188	kp1=0.188	PROPN
fumecheng-11564	131	18	m	m	PROPN
fumecheng-11564	131	19	/	/	SYM
fumecheng-11564	131	20	s	s	PROPN
fumecheng-11564	131	21	and	and	CCONJ
fumecheng-11564	131	22	kp2=0.871	kp2=0.871	PROPN
fumecheng-11564	131	23	rad	rad	PROPN
fumecheng-11564	131	24	/	/	SYM
fumecheng-11564	131	25	s	s	PART
fumecheng-11564	131	26	are	be	AUX
fumecheng-11564	131	27	gains	gain	NOUN
fumecheng-11564	131	28	of	of	ADP
fumecheng-11564	131	29	the	the	DET
fumecheng-11564	131	30	first	first	ADJ
fumecheng-11564	131	31	two	two	NUM
fumecheng-11564	131	32	dc	dc	PROPN
fumecheng-11564	131	33	motors	motors	PROPN
fumecheng-11564	131	34	,	,	PUNCT
fumecheng-11564	131	35	tς1=0.1	tς1=0.1	NOUN
fumecheng-11564	131	36	s	s	PART
fumecheng-11564	131	37	and	and	CCONJ
fumecheng-11564	131	38	tς2=0.1	tς2=0.1	NUM
fumecheng-11564	131	39	s	s	VERB
fumecheng-11564	131	40	are	be	AUX
fumecheng-11564	131	41	time	time	NOUN
fumecheng-11564	131	42	constants	constant	NOUN
fumecheng-11564	131	43	for	for	ADP
fumecheng-11564	131	44	the	the	DET
fumecheng-11564	131	45	first	first	ADJ
fumecheng-11564	131	46	two	two	NUM
fumecheng-11564	131	47	motors	motor	NOUN
fumecheng-11564	131	48	in	in	ADP
fumecheng-11564	131	49	which	which	PRON
fumecheng-11564	131	50	ml=0.33	ml=0.33	NOUN
fumecheng-11564	131	51	kg	kg	X
fumecheng-11564	131	52	is	be	AUX
fumecheng-11564	131	53	the	the	DET
fumecheng-11564	131	54	payload	payload	NOUN
fumecheng-11564	131	55	mass	mass	NOUN
fumecheng-11564	131	56	,	,	PUNCT
fumecheng-11564	131	57	μl=1600	μl=1600	NUM
fumecheng-11564	131	58	kg	kg	NOUN
fumecheng-11564	131	59	/	/	SYM
fumecheng-11564	131	60	s	s	PART
fumecheng-11564	131	61	is	be	AUX
fumecheng-11564	131	62	the	the	DET
fumecheng-11564	131	63	viscous	viscous	ADJ
fumecheng-11564	131	64	coefficient	coefficient	NOUN
fumecheng-11564	131	65	associated	associate	VERB
fumecheng-11564	131	66	with	with	ADP
fumecheng-11564	131	67	the	the	DET
fumecheng-11564	131	68	payload	payload	NOUN
fumecheng-11564	131	69	motion	motion	NOUN
fumecheng-11564	131	70	,	,	PUNCT
fumecheng-11564	131	71	g=9.81	g=9.81	PROPN
fumecheng-11564	131	72	m	m	PROPN
fumecheng-11564	131	73	/	/	SYM
fumecheng-11564	131	74	s2	s2	PROPN
fumecheng-11564	131	75	is	be	AUX
fumecheng-11564	131	76	the	the	DET
fumecheng-11564	131	77	gravitational	gravitational	ADJ
fumecheng-11564	131	78	acceleration	acceleration	NOUN
fumecheng-11564	131	79	,	,	PUNCT
fumecheng-11564	131	80	kp3=200	kp3=200	PROPN
fumecheng-11564	131	81	kg∙m	kg∙m	PROPN
fumecheng-11564	131	82	/	/	SYM
fumecheng-11564	131	83	s2	s2	PROPN
fumecheng-11564	131	84	is	be	AUX
fumecheng-11564	131	85	process	process	NOUN
fumecheng-11564	131	86	gain	gain	NOUN
fumecheng-11564	131	87	of	of	ADP
fumecheng-11564	131	88	the	the	DET
fumecheng-11564	131	89	third	third	ADJ
fumecheng-11564	131	90	dc	dc	PROPN
fumecheng-11564	131	91	motor	motor	NOUN
fumecheng-11564	131	92	,	,	PUNCT
fumecheng-11564	131	93	and	and	CCONJ
fumecheng-11564	131	94	zc(m	zc(m	NUM
fumecheng-11564	131	95	)	)	PUNCT
fumecheng-11564	131	96	is	be	AUX
fumecheng-11564	131	97	the	the	DET
fumecheng-11564	131	98	z	z	NOUN
fumecheng-11564	131	99	coordinate	coordinate	NOUN
fumecheng-11564	131	100	of	of	ADP
fumecheng-11564	131	101	the	the	DET
fumecheng-11564	131	102	payload	payload	NOUN
fumecheng-11564	131	103	.	.	PUNCT
fumecheng-11564	132	1	a	a	DET
fumecheng-11564	132	2	part	part	NOUN
fumecheng-11564	132	3	of	of	ADP
fumecheng-11564	132	4	the	the	DET
fumecheng-11564	132	5	model	model	NOUN
fumecheng-11564	132	6	described	describe	VERB
fumecheng-11564	132	7	in	in	ADP
fumecheng-11564	132	8	eq	eq	ADP
fumecheng-11564	132	9	.	.	PUNCT
fumecheng-11564	133	1	(	(	PUNCT
fumecheng-11564	133	2	17	17	NUM
fumecheng-11564	133	3	)	)	PUNCT
fumecheng-11564	133	4	is	be	AUX
fumecheng-11564	133	5	discretized	discretize	VERB
fumecheng-11564	133	6	and	and	CCONJ
fumecheng-11564	133	7	next	next	ADV
fumecheng-11564	133	8	extended	extend	VERB
fumecheng-11564	133	9	by	by	ADP
fumecheng-11564	133	10	adding	add	VERB
fumecheng-11564	133	11	the	the	DET
fumecheng-11564	133	12	discrete	discrete	ADJ
fumecheng-11564	133	13	-	-	PUNCT
fumecheng-11564	133	14	time	time	NOUN
fumecheng-11564	133	15	integral	integral	ADJ
fumecheng-11564	133	16	block	block	NOUN
fumecheng-11564	133	17	for	for	ADP
fumecheng-11564	133	18	zero	zero	NUM
fumecheng-11564	133	19	stationary	stationary	ADJ
fumecheng-11564	133	20	control	control	NOUN
fumecheng-11564	133	21	error	error	NOUN
fumecheng-11564	133	22	,	,	PUNCT
fumecheng-11564	133	23	and	and	CCONJ
fumecheng-11564	133	24	introducing	introduce	VERB
fumecheng-11564	133	25	a	a	DET
fumecheng-11564	133	26	new	new	ADJ
fumecheng-11564	133	27	state	state	NOUN
fumecheng-11564	133	28	of	of	ADP
fumecheng-11564	133	29	this	this	DET
fumecheng-11564	133	30	integral	integral	ADJ
fumecheng-11564	133	31	block	block	NOUN
fumecheng-11564	133	32	[	[	X
fumecheng-11564	133	33	19	19	NUM
fumecheng-11564	133	34	]	]	NUM
fumecheng-11564	133	35	:	:	PUNCT
fumecheng-11564	133	36	,	,	PUNCT
fumecheng-11564	133	37	)	)	PUNCT
fumecheng-11564	133	38	/1(,1	/1(,1	PROPN
fumecheng-11564	133	39	,	,	PUNCT
fumecheng-11564	133	40	kikrkr	kikrkr	PROPN
fumecheng-11564	133	41	etxx	etxx	VERB
fumecheng-11564	134	1	+	+	PROPN
fumecheng-11564	134	2	=	=	NOUN
fumecheng-11564	134	3	+	+	NUM
fumecheng-11564	134	4	(	(	PUNCT
fumecheng-11564	134	5	21	21	NUM
fumecheng-11564	134	6	)	)	PUNCT
fumecheng-11564	134	7	where	where	SCONJ
fumecheng-11564	134	8	the	the	DET
fumecheng-11564	134	9	error	error	NOUN
fumecheng-11564	134	10	is	be	AUX
fumecheng-11564	134	11	ek	ek	ADJ
fumecheng-11564	134	12	=	=	SYM
fumecheng-11564	134	13	rk−yk	rk−yk	ADJ
fumecheng-11564	134	14	,	,	PUNCT
fumecheng-11564	134	15	the	the	DET
fumecheng-11564	134	16	reference	reference	NOUN
fumecheng-11564	134	17	input	input	VERB
fumecheng-11564	134	18	rk	rk	NOUN
fumecheng-11564	134	19	and	and	CCONJ
fumecheng-11564	134	20	ti	ti	NOUN
fumecheng-11564	134	21	is	be	AUX
fumecheng-11564	134	22	the	the	DET
fumecheng-11564	134	23	integral	integral	ADJ
fumecheng-11564	134	24	time	time	NOUN
fumecheng-11564	134	25	constant	constant	ADJ
fumecheng-11564	134	26	(	(	PUNCT
fumecheng-11564	134	27	in	in	ADP
fumecheng-11564	134	28	continuous	continuous	ADJ
fumecheng-11564	134	29	time	time	NOUN
fumecheng-11564	134	30	)	)	PUNCT
fumecheng-11564	134	31	.	.	PUNCT
fumecheng-11564	135	1	this	this	DET
fumecheng-11564	135	2	extended	extended	ADJ
fumecheng-11564	135	3	model	model	NOUN
fumecheng-11564	135	4	will	will	AUX
fumecheng-11564	135	5	have	have	VERB
fumecheng-11564	135	6	the	the	DET
fumecheng-11564	135	7	extended	extended	ADJ
fumecheng-11564	135	8	state	state	NOUN
fumecheng-11564	135	9	vector	vector	NOUN
fumecheng-11564	135	10	:	:	PUNCT
fumecheng-11564	135	11	.	.	PUNCT
fumecheng-11564	135	12	]	]	PUNCT
fumecheng-11564	136	1	[	[	PUNCT
fumecheng-11564	136	2	t	t	NOUN
fumecheng-11564	136	3	r	r	NOUN
fumecheng-11564	136	4	t	t	NOUN
fumecheng-11564	136	5	e	e	NOUN
fumecheng-11564	136	6	xxx	xxx	NOUN
fumecheng-11564	136	7	=	=	SYM
fumecheng-11564	136	8	(	(	PUNCT
fumecheng-11564	136	9	22	22	NUM
fumecheng-11564	136	10	)	)	PUNCT
fumecheng-11564	136	11	using	use	VERB
fumecheng-11564	136	12	relations	relation	NOUN
fumecheng-11564	136	13	(	(	PUNCT
fumecheng-11564	136	14	17	17	NUM
fumecheng-11564	136	15	)	)	PUNCT
fumecheng-11564	136	16	and	and	CCONJ
fumecheng-11564	136	17	(	(	PUNCT
fumecheng-11564	136	18	22	22	NUM
fumecheng-11564	136	19	)	)	PUNCT
fumecheng-11564	136	20	leads	lead	VERB
fumecheng-11564	136	21	to	to	ADP
fumecheng-11564	136	22	the	the	DET
fumecheng-11564	136	23	state	state	NOUN
fumecheng-11564	136	24	vector	vector	NOUN
fumecheng-11564	136	25	for	for	ADP
fumecheng-11564	136	26	cart	cart	NOUN
fumecheng-11564	136	27	position	position	NOUN
fumecheng-11564	136	28	control	control	NOUN
fumecheng-11564	136	29	,	,	PUNCT
fumecheng-11564	136	30	]	]	PUNCT
fumecheng-11564	136	31	[	[	PUNCT
fumecheng-11564	136	32	,	,	PUNCT
fumecheng-11564	136	33	,	,	PUNCT
fumecheng-11564	136	34	7,3,1	7,3,1	NUM
fumecheng-11564	136	35	t	t	NOUN
fumecheng-11564	136	36	krkkke	krkkke	NOUN
fumecheng-11564	136	37	xxx	xxx	NOUN
fumecheng-11564	137	1	=	=	SYM
fumecheng-11564	137	2	x	x	X
fumecheng-11564	137	3	(	(	PUNCT
fumecheng-11564	137	4	23	23	NUM
fumecheng-11564	137	5	)	)	PUNCT
fumecheng-11564	137	6	for	for	ADP
fumecheng-11564	137	7	arm	arm	NOUN
fumecheng-11564	137	8	angular	angular	ADJ
fumecheng-11564	137	9	position	position	NOUN
fumecheng-11564	137	10	control	control	NOUN
fumecheng-11564	137	11	,	,	PUNCT
fumecheng-11564	137	12	]	]	PUNCT
fumecheng-11564	137	13	[	[	PUNCT
fumecheng-11564	137	14	,	,	PUNCT
fumecheng-11564	137	15	,	,	PUNCT
fumecheng-11564	137	16	8,4,2	8,4,2	NUM
fumecheng-11564	137	17	t	t	NOUN
fumecheng-11564	137	18	krkkke	krkkke	NOUN
fumecheng-11564	137	19	xxx	xxx	NOUN
fumecheng-11564	137	20	=	=	SYM
fumecheng-11564	137	21	x	x	X
fumecheng-11564	137	22	(	(	PUNCT
fumecheng-11564	137	23	24	24	NUM
fumecheng-11564	137	24	)	)	PUNCT
fumecheng-11564	137	25	and	and	CCONJ
fumecheng-11564	137	26	for	for	ADP
fumecheng-11564	137	27	payload	payload	NOUN
fumecheng-11564	137	28	position	position	NOUN
fumecheng-11564	137	29	control	control	NOUN
fumecheng-11564	137	30	.	.	PUNCT
fumecheng-11564	137	31	]	]	PUNCT
fumecheng-11564	138	1	[	[	PUNCT
fumecheng-11564	138	2	,	,	PUNCT
fumecheng-11564	138	3	,	,	PUNCT
fumecheng-11564	138	4	10,9,3	10,9,3	NUM
fumecheng-11564	138	5	t	t	NOUN
fumecheng-11564	138	6	krkkke	krkkke	NOUN
fumecheng-11564	138	7	xxx	xxx	NOUN
fumecheng-11564	138	8	=	=	NOUN
fumecheng-11564	138	9	x	x	X
fumecheng-11564	138	10	(	(	PUNCT
fumecheng-11564	138	11	25	25	NUM
fumecheng-11564	138	12	)	)	PUNCT
fumecheng-11564	138	13	the	the	DET
fumecheng-11564	138	14	gain	gain	NOUN
fumecheng-11564	138	15	matrix	matrix	NOUN
fumecheng-11564	138	16	k	k	NOUN
fumecheng-11564	138	17	is	be	AUX
fumecheng-11564	138	18	considered	consider	VERB
fumecheng-11564	138	19	to	to	PART
fumecheng-11564	138	20	have	have	VERB
fumecheng-11564	138	21	the	the	DET
fumecheng-11564	138	22	following	follow	VERB
fumecheng-11564	138	23	structure	structure	NOUN
fumecheng-11564	138	24	,	,	PUNCT
fumecheng-11564	138	25	where	where	SCONJ
fumecheng-11564	138	26	one	one	NUM
fumecheng-11564	138	27	subscript	subscript	NOUN
fumecheng-11564	138	28	will	will	AUX
fumecheng-11564	138	29	be	be	AUX
fumecheng-11564	138	30	inserted	insert	VERB
fumecheng-11564	138	31	in	in	ADP
fumecheng-11564	138	32	order	order	NOUN
fumecheng-11564	138	33	to	to	PART
fumecheng-11564	138	34	specify	specify	VERB
fumecheng-11564	138	35	one	one	NUM
fumecheng-11564	138	36	of	of	ADP
fumecheng-11564	138	37	the	the	DET
fumecheng-11564	138	38	three	three	NUM
fumecheng-11564	138	39	position	position	NOUN
fumecheng-11564	138	40	control	control	NOUN
fumecheng-11564	138	41	systems	system	NOUN
fumecheng-11564	138	42	:	:	PUNCT
fumecheng-11564	138	43	]	]	PUNCT
fumecheng-11564	138	44	.	.	PUNCT
fumecheng-11564	139	1	[	[	PUNCT
fumecheng-11564	139	2	21	21	NUM
fumecheng-11564	139	3	rkkk	rkkk	NOUN
fumecheng-11564	139	4	=	=	SYM
fumecheng-11564	139	5	k	k	X
fumecheng-11564	139	6	(	(	PUNCT
fumecheng-11564	139	7	26	26	NUM
fumecheng-11564	139	8	)	)	SYM
fumecheng-11564	139	9	8	8	NUM
fumecheng-11564	139	10	a.-i	a.-i	NOUN
fumecheng-11564	139	11	.	.	PUNCT
fumecheng-11564	140	1	borlea	borlea	PROPN
fumecheng-11564	140	2	,	,	PUNCT
fumecheng-11564	140	3	r.-e	r.-e	PROPN
fumecheng-11564	140	4	.	.	PUNCT
fumecheng-11564	141	1	precup	precup	PROPN
fumecheng-11564	141	2	,	,	PUNCT
fumecheng-11564	141	3	r.-c	r.-c	PROPN
fumecheng-11564	141	4	.	.	PUNCT
fumecheng-11564	142	1	roman	roman	ADJ
fumecheng-11564	142	2	three	three	NUM
fumecheng-11564	142	3	separate	separate	ADJ
fumecheng-11564	142	4	single	single	ADJ
fumecheng-11564	142	5	input	input	NOUN
fumecheng-11564	142	6	-	-	PUNCT
fumecheng-11564	142	7	single	single	ADJ
fumecheng-11564	142	8	output	output	NOUN
fumecheng-11564	142	9	(	(	PUNCT
fumecheng-11564	142	10	siso	siso	NOUN
fumecheng-11564	142	11	)	)	PUNCT
fumecheng-11564	142	12	control	control	NOUN
fumecheng-11564	142	13	systems	system	NOUN
fumecheng-11564	142	14	are	be	AUX
fumecheng-11564	142	15	considered	consider	VERB
fumecheng-11564	142	16	,	,	PUNCT
fumecheng-11564	142	17	namely	namely	ADV
fumecheng-11564	142	18	one	one	NUM
fumecheng-11564	142	19	for	for	ADP
fumecheng-11564	142	20	each	each	DET
fumecheng-11564	142	21	controlled	control	VERB
fumecheng-11564	142	22	output	output	NOUN
fumecheng-11564	142	23	y1	y1	NOUN
fumecheng-11564	142	24	,	,	PUNCT
fumecheng-11564	142	25	y2	y2	PROPN
fumecheng-11564	142	26	and	and	CCONJ
fumecheng-11564	142	27	y3	y3	NOUN
fumecheng-11564	142	28	.	.	PUNCT
fumecheng-11564	143	1	three	three	NUM
fumecheng-11564	143	2	discrete	discrete	ADJ
fumecheng-11564	143	3	-	-	PUNCT
fumecheng-11564	143	4	time	time	NOUN
fumecheng-11564	143	5	sliding	slide	VERB
fumecheng-11564	143	6	mode	mode	NOUN
fumecheng-11564	143	7	controllers	controller	NOUN
fumecheng-11564	143	8	discussed	discuss	VERB
fumecheng-11564	143	9	in	in	ADP
fumecheng-11564	143	10	section	section	NOUN
fumecheng-11564	143	11	2	2	NUM
fumecheng-11564	143	12	are	be	AUX
fumecheng-11564	143	13	design	design	NOUN
fumecheng-11564	143	14	for	for	ADP
fumecheng-11564	143	15	each	each	DET
fumecheng-11564	143	16	siso	siso	NOUN
fumecheng-11564	143	17	control	control	NOUN
fumecheng-11564	143	18	system	system	NOUN
fumecheng-11564	143	19	.	.	PUNCT
fumecheng-11564	144	1	the	the	DET
fumecheng-11564	144	2	unified	unified	ADJ
fumecheng-11564	144	3	siso	siso	NOUN
fumecheng-11564	144	4	control	control	NOUN
fumecheng-11564	144	5	system	system	NOUN
fumecheng-11564	144	6	structure	structure	NOUN
fumecheng-11564	144	7	is	be	AUX
fumecheng-11564	144	8	illustrated	illustrate	VERB
fumecheng-11564	144	9	in	in	ADP
fumecheng-11564	144	10	fig	fig	NOUN
fumecheng-11564	144	11	.	.	PUNCT
fumecheng-11564	145	1	2	2	NUM
fumecheng-11564	145	2	,	,	PUNCT
fumecheng-11564	145	3	where	where	SCONJ
fumecheng-11564	145	4	dtsmc	dtsmc	NOUN
fumecheng-11564	145	5	specifies	specify	VERB
fumecheng-11564	145	6	the	the	DET
fumecheng-11564	145	7	sliding	slide	VERB
fumecheng-11564	145	8	mode	mode	NOUN
fumecheng-11564	145	9	controller	controller	NOUN
fumecheng-11564	145	10	(	(	PUNCT
fumecheng-11564	145	11	position	position	NOUN
fumecheng-11564	145	12	)	)	PUNCT
fumecheng-11564	145	13	,	,	PUNCT
fumecheng-11564	145	14	dtsmc	dtsmc	VERB
fumecheng-11564	145	15			PROPN
fumecheng-11564	145	16	{	{	PUNCT
fumecheng-11564	145	17	furuta	furuta	PROPN
fumecheng-11564	145	18	dtsmc	dtsmc	PROPN
fumecheng-11564	145	19	law	law	NOUN
fumecheng-11564	145	20	,	,	PUNCT
fumecheng-11564	145	21	gao	gao	PROPN
fumecheng-11564	145	22	dtsmc	dtsmc	PROPN
fumecheng-11564	145	23	law	law	PROPN
fumecheng-11564	145	24	,	,	PUNCT
fumecheng-11564	145	25	quasi	quasi	ADJ
fumecheng-11564	145	26	-	-	ADJ
fumecheng-11564	145	27	relay	relay	ADJ
fumecheng-11564	145	28	dtsmc	dtsmc	NOUN
fumecheng-11564	145	29	law	law	NOUN
fumecheng-11564	145	30	}	}	PUNCT
fumecheng-11564	145	31	,	,	PUNCT
fumecheng-11564	146	1	m	m	VERB
fumecheng-11564	146	2			NOUN
fumecheng-11564	146	3	{	{	PUNCT
fumecheng-11564	146	4	1	1	NUM
fumecheng-11564	146	5	,	,	PUNCT
fumecheng-11564	146	6	2	2	NUM
fumecheng-11564	146	7	,	,	PUNCT
fumecheng-11564	146	8	3	3	NUM
fumecheng-11564	146	9	}	}	PUNCT
fumecheng-11564	146	10	indicates	indicate	VERB
fumecheng-11564	146	11	the	the	DET
fumecheng-11564	146	12	number	number	NOUN
fumecheng-11564	146	13	of	of	ADP
fumecheng-11564	146	14	the	the	DET
fumecheng-11564	146	15	controlled	control	VERB
fumecheng-11564	146	16	output	output	NOUN
fumecheng-11564	146	17	,	,	PUNCT
fumecheng-11564	146	18	which	which	PRON
fumecheng-11564	146	19	is	be	AUX
fumecheng-11564	146	20	also	also	ADV
fumecheng-11564	146	21	the	the	DET
fumecheng-11564	146	22	number	number	NOUN
fumecheng-11564	146	23	of	of	ADP
fumecheng-11564	146	24	the	the	DET
fumecheng-11564	146	25	control	control	NOUN
fumecheng-11564	146	26	system	system	NOUN
fumecheng-11564	146	27	,	,	PUNCT
fumecheng-11564	146	28	and	and	CCONJ
fumecheng-11564	146	29	dm	dm	PROPN
fumecheng-11564	146	30	is	be	AUX
fumecheng-11564	146	31	the	the	DET
fumecheng-11564	146	32	disturbance	disturbance	NOUN
fumecheng-11564	146	33	input	input	NOUN
fumecheng-11564	146	34	,	,	PUNCT
fumecheng-11564	146	35	not	not	PART
fumecheng-11564	146	36	considered	consider	VERB
fumecheng-11564	146	37	in	in	ADP
fumecheng-11564	146	38	the	the	DET
fumecheng-11564	146	39	model	model	NOUN
fumecheng-11564	146	40	(	(	PUNCT
fumecheng-11564	146	41	17	17	NUM
fumecheng-11564	146	42	)	)	PUNCT
fumecheng-11564	146	43	.	.	PUNCT
fumecheng-11564	147	1	fig	fig	NOUN
fumecheng-11564	147	2	.	.	PUNCT
fumecheng-11564	148	1	2	2	NUM
fumecheng-11564	148	2	unified	unified	ADJ
fumecheng-11564	148	3	siso	siso	NOUN
fumecheng-11564	148	4	structure	structure	NOUN
fumecheng-11564	148	5	of	of	ADP
fumecheng-11564	148	6	discrete	discrete	ADJ
fumecheng-11564	148	7	-	-	PUNCT
fumecheng-11564	148	8	time	time	NOUN
fumecheng-11564	148	9	model	model	NOUN
fumecheng-11564	148	10	-	-	PUNCT
fumecheng-11564	148	11	based	base	VERB
fumecheng-11564	148	12	sliding	sliding	ADJ
fumecheng-11564	148	13	mode	mode	NOUN
fumecheng-11564	148	14	control	control	NOUN
fumecheng-11564	148	15	system	system	NOUN
fumecheng-11564	148	16	.	.	PUNCT
fumecheng-11564	149	1	the	the	DET
fumecheng-11564	149	2	subscript	subscript	NOUN
fumecheng-11564	149	3	k	k	PROPN
fumecheng-11564	149	4	is	be	AUX
fumecheng-11564	149	5	omitted	omit	VERB
fumecheng-11564	149	6	for	for	ADP
fumecheng-11564	149	7	the	the	DET
fumecheng-11564	149	8	sake	sake	NOUN
fumecheng-11564	149	9	of	of	ADP
fumecheng-11564	149	10	simplicity	simplicity	NOUN
fumecheng-11564	149	11	.	.	PUNCT
fumecheng-11564	150	1	3.1	3.1	NUM
fumecheng-11564	150	2	.	.	PUNCT
fumecheng-11564	150	3	furuta	furuta	PROPN
fumecheng-11564	150	4	dtsmc	dtsmc	PROPN
fumecheng-11564	150	5	law	law	NOUN
fumecheng-11564	150	6	design	design	NOUN
fumecheng-11564	150	7	and	and	CCONJ
fumecheng-11564	150	8	implementation	implementation	NOUN
fumecheng-11564	150	9	summarizing	summarize	VERB
fumecheng-11564	150	10	the	the	DET
fumecheng-11564	150	11	information	information	NOUN
fumecheng-11564	150	12	given	give	VERB
fumecheng-11564	150	13	in	in	ADP
fumecheng-11564	150	14	the	the	DET
fumecheng-11564	150	15	previous	previous	ADJ
fumecheng-11564	150	16	sections	section	NOUN
fumecheng-11564	150	17	,	,	PUNCT
fumecheng-11564	150	18	the	the	DET
fumecheng-11564	150	19	guidelines	guideline	NOUN
fumecheng-11564	150	20	to	to	PART
fumecheng-11564	150	21	design	design	VERB
fumecheng-11564	150	22	the	the	DET
fumecheng-11564	150	23	furuta	furuta	ADJ
fumecheng-11564	150	24	dtsmc	dtsmc	NOUN
fumecheng-11564	150	25	law	law	NOUN
fumecheng-11564	150	26	consist	consist	NOUN
fumecheng-11564	150	27	of	of	ADP
fumecheng-11564	150	28	the	the	DET
fumecheng-11564	150	29	following	follow	VERB
fumecheng-11564	150	30	steps	step	NOUN
fumecheng-11564	150	31	:	:	PUNCT
fumecheng-11564	150	32	step	step	NOUN
fumecheng-11564	150	33	f1	f1	NOUN
fumecheng-11564	150	34	.	.	PUNCT
fumecheng-11564	151	1	set	set	VERB
fumecheng-11564	151	2	the	the	DET
fumecheng-11564	151	3	values	value	NOUN
fumecheng-11564	151	4	of	of	ADP
fumecheng-11564	151	5	ts	t	NOUN
fumecheng-11564	151	6	to	to	PART
fumecheng-11564	151	7	account	account	VERB
fumecheng-11564	151	8	for	for	ADP
fumecheng-11564	151	9	the	the	DET
fumecheng-11564	151	10	requirements	requirement	NOUN
fumecheng-11564	151	11	of	of	ADP
fumecheng-11564	151	12	quasi	quasi	ADJ
fumecheng-11564	151	13	-	-	ADJ
fumecheng-11564	151	14	continuous	continuous	ADJ
fumecheng-11564	151	15	digital	digital	ADJ
fumecheng-11564	151	16	control	control	NOUN
fumecheng-11564	151	17	and	and	CCONJ
fumecheng-11564	151	18	ti	ti	NOUN
fumecheng-11564	151	19	,	,	PUNCT
fumecheng-11564	151	20	which	which	PRON
fumecheng-11564	151	21	affects	affect	VERB
fumecheng-11564	151	22	the	the	DET
fumecheng-11564	151	23	overshoot	overshoot	NOUN
fumecheng-11564	151	24	and	and	CCONJ
fumecheng-11564	151	25	the	the	DET
fumecheng-11564	151	26	settling	settling	NOUN
fumecheng-11564	151	27	time	time	NOUN
fumecheng-11564	151	28	.	.	PUNCT
fumecheng-11564	152	1	step	step	NOUN
fumecheng-11564	152	2	f2	f2	PROPN
fumecheng-11564	152	3	.	.	PUNCT
fumecheng-11564	153	1	apply	apply	VERB
fumecheng-11564	153	2	eq	eq	ADP
fumecheng-11564	153	3	.	.	PUNCT
fumecheng-11564	154	1	(	(	PUNCT
fumecheng-11564	154	2	9	9	NUM
fumecheng-11564	154	3	)	)	PUNCT
fumecheng-11564	154	4	to	to	PART
fumecheng-11564	154	5	obtain	obtain	VERB
fumecheng-11564	154	6	the	the	DET
fumecheng-11564	154	7	expression	expression	NOUN
fumecheng-11564	154	8	of	of	ADP
fumecheng-11564	154	9	the	the	DET
fumecheng-11564	154	10	system	system	NOUN
fumecheng-11564	154	11	matrix	matrix	NOUN
fumecheng-11564	154	12	.	.	PUNCT
fumecheng-11564	155	1	use	use	VERB
fumecheng-11564	155	2	eqs	eqs	PROPN
fumecheng-11564	155	3	.	.	PUNCT
fumecheng-11564	156	1	(	(	PUNCT
fumecheng-11564	156	2	21	21	NUM
fumecheng-11564	156	3	)	)	PUNCT
fumecheng-11564	156	4	to	to	ADP
fumecheng-11564	156	5	(	(	PUNCT
fumecheng-11564	156	6	25	25	NUM
fumecheng-11564	156	7	)	)	PUNCT
fumecheng-11564	156	8	to	to	PART
fumecheng-11564	156	9	express	express	VERB
fumecheng-11564	156	10	the	the	DET
fumecheng-11564	156	11	expression	expression	NOUN
fumecheng-11564	156	12	of	of	ADP
fumecheng-11564	156	13	the	the	DET
fumecheng-11564	156	14	extended	extended	ADJ
fumecheng-11564	156	15	system	system	NOUN
fumecheng-11564	156	16	matrix	matrix	NOUN
fumecheng-11564	156	17	(	(	PUNCT
fumecheng-11564	156	18	with	with	ADP
fumecheng-11564	156	19	discrete	discrete	ADJ
fumecheng-11564	156	20	-	-	PUNCT
fumecheng-11564	156	21	time	time	NOUN
fumecheng-11564	156	22	integral	integral	ADJ
fumecheng-11564	156	23	block	block	NOUN
fumecheng-11564	156	24	)	)	PUNCT
fumecheng-11564	156	25	.	.	PUNCT
fumecheng-11564	157	1	step	step	NOUN
fumecheng-11564	157	2	f3	f3	PROPN
fumecheng-11564	157	3	.	.	PUNCT
fumecheng-11564	158	1	choose	choose	VERB
fumecheng-11564	158	2	k	k	PROPN
fumecheng-11564	158	3	so	so	SCONJ
fumecheng-11564	158	4	that	that	SCONJ
fumecheng-11564	158	5	the	the	DET
fumecheng-11564	158	6	system	system	NOUN
fumecheng-11564	158	7	described	describe	VERB
fumecheng-11564	158	8	by	by	ADP
fumecheng-11564	158	9	the	the	DET
fumecheng-11564	158	10	matrix	matrix	NOUN
fumecheng-11564	158	11	obtained	obtain	VERB
fumecheng-11564	158	12	at	at	ADP
fumecheng-11564	158	13	step	step	NOUN
fumecheng-11564	158	14	f2	f2	ADV
fumecheng-11564	158	15	is	be	AUX
fumecheng-11564	158	16	stable	stable	ADJ
fumecheng-11564	158	17	.	.	PUNCT
fumecheng-11564	159	1	pole	pole	NOUN
fumecheng-11564	159	2	placement	placement	NOUN
fumecheng-11564	159	3	can	can	AUX
fumecheng-11564	159	4	be	be	AUX
fumecheng-11564	159	5	applied	apply	VERB
fumecheng-11564	159	6	in	in	ADP
fumecheng-11564	159	7	this	this	DET
fumecheng-11564	159	8	regard	regard	NOUN
fumecheng-11564	159	9	.	.	PUNCT
fumecheng-11564	160	1	step	step	NOUN
fumecheng-11564	160	2	f4	f4	PROPN
fumecheng-11564	160	3	.	.	PUNCT
fumecheng-11564	160	4	apply	apply	VERB
fumecheng-11564	160	5	eq	eq	ADP
fumecheng-11564	160	6	.	.	PUNCT
fumecheng-11564	161	1	(	(	PUNCT
fumecheng-11564	161	2	8)	8)	NUM
fumecheng-11564	161	3	to	to	PART
fumecheng-11564	161	4	get	get	VERB
fumecheng-11564	161	5	the	the	DET
fumecheng-11564	161	6	upper	upper	ADJ
fumecheng-11564	161	7	bound	bound	NOUN
fumecheng-11564	161	8	of	of	ADP
fumecheng-11564	161	9	f0	f0	PROPN
fumecheng-11564	161	10	,	,	PUNCT
fumecheng-11564	161	11	and	and	CCONJ
fumecheng-11564	161	12	choose	choose	VERB
fumecheng-11564	161	13	a	a	DET
fumecheng-11564	161	14	value	value	NOUN
fumecheng-11564	161	15	which	which	PRON
fumecheng-11564	161	16	is	be	AUX
fumecheng-11564	161	17	between	between	ADP
fumecheng-11564	161	18	limits	limit	NOUN
fumecheng-11564	161	19	.	.	PUNCT
fumecheng-11564	162	1	these	these	DET
fumecheng-11564	162	2	steps	step	NOUN
fumecheng-11564	162	3	are	be	AUX
fumecheng-11564	162	4	exemplified	exemplify	VERB
fumecheng-11564	162	5	as	as	SCONJ
fumecheng-11564	162	6	follows	follow	VERB
fumecheng-11564	162	7	.	.	PUNCT
fumecheng-11564	163	1	for	for	ADP
fumecheng-11564	163	2	the	the	DET
fumecheng-11564	163	3	cart	cart	NOUN
fumecheng-11564	163	4	position	position	NOUN
fumecheng-11564	163	5	control	control	NOUN
fumecheng-11564	163	6	system	system	NOUN
fumecheng-11564	163	7	,	,	PUNCT
fumecheng-11564	163	8	the	the	DET
fumecheng-11564	163	9	sampling	sampling	NOUN
fumecheng-11564	163	10	period	period	NOUN
fumecheng-11564	163	11	and	and	CCONJ
fumecheng-11564	163	12	the	the	DET
fumecheng-11564	163	13	integral	integral	ADJ
fumecheng-11564	163	14	time	time	NOUN
fumecheng-11564	163	15	constant	constant	ADJ
fumecheng-11564	163	16	are	be	AUX
fumecheng-11564	163	17	chosen	choose	VERB
fumecheng-11564	163	18	as	as	ADP
fumecheng-11564	163	19	ts=0.01	ts=0.01	PROPN
fumecheng-11564	163	20	s	s	NOUN
fumecheng-11564	163	21	and	and	CCONJ
fumecheng-11564	163	22	ti=0.05	ti=0.05	PROPN
fumecheng-11564	163	23	s.	s.	PROPN
fumecheng-11564	163	24	the	the	DET
fumecheng-11564	163	25	expression	expression	NOUN
fumecheng-11564	163	26	of	of	ADP
fumecheng-11564	163	27	the	the	DET
fumecheng-11564	163	28	system	system	NOUN
fumecheng-11564	163	29	matrix	matrix	NOUN
fumecheng-11564	163	30	is	be	AUX
fumecheng-11564	163	31	obtained	obtain	VERB
fumecheng-11564	163	32	using	use	VERB
fumecheng-11564	163	33	(	(	PUNCT
fumecheng-11564	163	34	9	9	NUM
fumecheng-11564	163	35	)	)	PUNCT
fumecheng-11564	163	36	and	and	CCONJ
fumecheng-11564	163	37	(	(	PUNCT
fumecheng-11564	163	38	23	23	NUM
fumecheng-11564	163	39	)	)	PUNCT
fumecheng-11564	164	1	[	[	X
fumecheng-11564	164	2	20	20	NUM
fumecheng-11564	164	3	]	]	PUNCT
fumecheng-11564	164	4	.	.	PUNCT
fumecheng-11564	165	1	002000	002000	NUM
fumecheng-11564	165	2	//1/)2000(/	//1/)2000(/	PROPN
fumecheng-11564	165	3	010	010	NUM
fumecheng-11564	165	4	)	)	PUNCT
fumecheng-11564	165	5	(	(	PUNCT
fumecheng-11564	165	6	)	)	PUNCT
fumecheng-11564	165	7	(	(	PUNCT
fumecheng-11564	165	8	2212211	2212211	NUM
fumecheng-11564	165	9	1	1	NUM
fumecheng-11564	165	10	1	1	NUM
fumecheng-11564	165	11	11111	11111	NUM
fumecheng-11564	165	12			NOUN
fumecheng-11564	166	1			PROPN
fumecheng-11564	166	2			PROPN
fumecheng-11564	166	3			PROPN
fumecheng-11564	166	4			X
fumecheng-11564	166	5			NOUN
fumecheng-11564	166	6			NOUN
fumecheng-11564	166	7			NOUN
fumecheng-11564	166	8			VERB
fumecheng-11564	166	9			PROPN
fumecheng-11564	166	10	−	−	PROPN
fumecheng-11564	166	11	−+=−−=	−+=−−=	NOUN
fumecheng-11564	166	12	−	−	PROPN
fumecheng-11564	166	13	kkkkkkkk	kkkkkkkk	PROPN
fumecheng-11564	166	14	rreeeex	rreeeex	NOUN
fumecheng-11564	166	15	iakbkbaa	iakbkbaa	NOUN
fumecheng-11564	166	16	(	(	PUNCT
fumecheng-11564	166	17	27	27	NUM
fumecheng-11564	166	18	)	)	PUNCT
fumecheng-11564	166	19	a	a	DET
fumecheng-11564	166	20	set	set	NOUN
fumecheng-11564	166	21	of	of	ADP
fumecheng-11564	166	22	parameters	parameter	NOUN
fumecheng-11564	166	23	that	that	PRON
fumecheng-11564	166	24	guarantee	guarantee	VERB
fumecheng-11564	166	25	the	the	DET
fumecheng-11564	166	26	stability	stability	NOUN
fumecheng-11564	166	27	of	of	ADP
fumecheng-11564	166	28	the	the	DET
fumecheng-11564	166	29	system	system	NOUN
fumecheng-11564	166	30	with	with	ADP
fumecheng-11564	166	31	the	the	DET
fumecheng-11564	166	32	matrix	matrix	NOUN
fumecheng-11564	166	33	in	in	ADP
fumecheng-11564	166	34	eq	eq	PROPN
fumecheng-11564	166	35	.	.	PUNCT
fumecheng-11564	167	1	(	(	PUNCT
fumecheng-11564	167	2	27	27	NUM
fumecheng-11564	167	3	)	)	PUNCT
fumecheng-11564	167	4	is	be	AUX
fumecheng-11564	167	5	]	]	PUNCT
fumecheng-11564	167	6	.005.02.03[1	.005.02.03[1	PUNCT
fumecheng-11564	168	1	−=k	−=k	PUNCT
fumecheng-11564	168	2	(	(	PUNCT
fumecheng-11564	168	3	28	28	NUM
fumecheng-11564	168	4	)	)	PUNCT
fumecheng-11564	168	5	for	for	ADP
fumecheng-11564	168	6	the	the	DET
fumecheng-11564	168	7	upper	upper	ADJ
fumecheng-11564	168	8	amplitude	amplitude	NOUN
fumecheng-11564	168	9	of	of	ADP
fumecheng-11564	168	10	f0	f0	PROPN
fumecheng-11564	168	11	described	describe	VERB
fumecheng-11564	168	12	in	in	ADP
fumecheng-11564	168	13	eq	eq	ADP
fumecheng-11564	168	14	.	.	PUNCT
fumecheng-11564	169	1	(	(	PUNCT
fumecheng-11564	169	2	8)	8)	NUM
fumecheng-11564	169	3	,	,	PUNCT
fumecheng-11564	169	4	the	the	DET
fumecheng-11564	169	5	matrix	matrix	NOUN
fumecheng-11564	169	6	[	[	X
fumecheng-11564	169	7	t1	t1	NOUN
fumecheng-11564	169	8	t2	t2	PROPN
fumecheng-11564	169	9	t3	t3	PROPN
fumecheng-11564	169	10	]	]	PUNCT
fumecheng-11564	169	11	is	be	AUX
fumecheng-11564	169	12	set	set	VERB
fumecheng-11564	169	13	to	to	ADP
fumecheng-11564	169	14	[	[	X
fumecheng-11564	169	15	k–1	k–1	PROPN
fumecheng-11564	169	16	0	0	NUM
fumecheng-11564	169	17	0	0	NUM
fumecheng-11564	169	18	]	]	X
fumecheng-11564	169	19	;	;	PUNCT
fumecheng-11564	169	20	this	this	PRON
fumecheng-11564	169	21	gives	give	VERB
fumecheng-11564	169	22	0	0	PUNCT
fumecheng-11564	169	23	<	<	X
fumecheng-11564	169	24	f0	f0	X
fumecheng-11564	169	25	<	<	X
fumecheng-11564	169	26	15.92	15.92	NUM
fumecheng-11564	169	27	and	and	CCONJ
fumecheng-11564	169	28	the	the	DET
fumecheng-11564	169	29	value	value	NOUN
fumecheng-11564	169	30	is	be	AUX
fumecheng-11564	169	31	set	set	VERB
fumecheng-11564	169	32	to	to	ADP
fumecheng-11564	169	33	f0=1	f0=1	PROPN
fumecheng-11564	170	1	[	[	X
fumecheng-11564	170	2	20	20	NUM
fumecheng-11564	170	3	]	]	PUNCT
fumecheng-11564	170	4	.	.	PUNCT
fumecheng-11564	171	1	discrete	discrete	ADJ
fumecheng-11564	171	2	-	-	PUNCT
fumecheng-11564	171	3	time	time	NOUN
fumecheng-11564	171	4	model	model	NOUN
fumecheng-11564	171	5	-	-	PUNCT
fumecheng-11564	171	6	based	base	VERB
fumecheng-11564	171	7	sliding	slide	VERB
fumecheng-11564	171	8	mode	mode	NOUN
fumecheng-11564	171	9	controllers	controller	NOUN
fumecheng-11564	171	10	for	for	ADP
fumecheng-11564	171	11	tower	tower	NOUN
fumecheng-11564	171	12	crane	crane	NOUN
fumecheng-11564	171	13	systems	system	NOUN
fumecheng-11564	171	14	9	9	NUM
fumecheng-11564	171	15	the	the	DET
fumecheng-11564	171	16	cart	cart	NOUN
fumecheng-11564	171	17	position	position	NOUN
fumecheng-11564	171	18	reference	reference	NOUN
fumecheng-11564	171	19	input	input	NOUN
fumecheng-11564	171	20	trajectory	trajectory	NOUN
fumecheng-11564	171	21	is	be	AUX
fumecheng-11564	171	22	chosen	choose	VERB
fumecheng-11564	171	23	to	to	PART
fumecheng-11564	171	24	be	be	AUX
fumecheng-11564	171	25	the	the	DET
fumecheng-11564	171	26	same	same	ADJ
fumecheng-11564	171	27	as	as	ADP
fumecheng-11564	171	28	in	in	ADP
fumecheng-11564	171	29	[	[	X
fumecheng-11564	171	30	6	6	NUM
fumecheng-11564	171	31	]	]	PUNCT
fumecheng-11564	171	32	.	.	PUNCT
fumecheng-11564	172	1	the	the	DET
fumecheng-11564	172	2	experimental	experimental	ADJ
fumecheng-11564	172	3	results	result	NOUN
fumecheng-11564	172	4	obtained	obtain	VERB
fumecheng-11564	172	5	for	for	ADP
fumecheng-11564	172	6	the	the	DET
fumecheng-11564	172	7	control	control	NOUN
fumecheng-11564	172	8	system	system	NOUN
fumecheng-11564	172	9	with	with	ADP
fumecheng-11564	172	10	the	the	DET
fumecheng-11564	172	11	controller	controller	NOUN
fumecheng-11564	172	12	parameters	parameter	NOUN
fumecheng-11564	172	13	in	in	ADP
fumecheng-11564	172	14	eq	eq	ADP
fumecheng-11564	172	15	.	.	PUNCT
fumecheng-11564	173	1	(	(	PUNCT
fumecheng-11564	173	2	28	28	NUM
fumecheng-11564	173	3	)	)	PUNCT
fumecheng-11564	173	4	are	be	AUX
fumecheng-11564	173	5	illustrated	illustrate	VERB
fumecheng-11564	173	6	in	in	ADP
fumecheng-11564	173	7	fig	fig	NOUN
fumecheng-11564	173	8	.	.	PUNCT
fumecheng-11564	174	1	3	3	X
fumecheng-11564	174	2	.	.	X
fumecheng-11564	174	3	fig	fig	NOUN
fumecheng-11564	174	4	.	.	PUNCT
fumecheng-11564	175	1	3	3	NUM
fumecheng-11564	175	2	the	the	DET
fumecheng-11564	175	3	results	result	NOUN
fumecheng-11564	175	4	of	of	ADP
fumecheng-11564	175	5	cart	cart	NOUN
fumecheng-11564	175	6	position	position	NOUN
fumecheng-11564	175	7	control	control	NOUN
fumecheng-11564	175	8	system	system	NOUN
fumecheng-11564	175	9	with	with	ADP
fumecheng-11564	175	10	furuta	furuta	PROPN
fumecheng-11564	175	11	dtsmc	dtsmc	PROPN
fumecheng-11564	175	12	law	law	NOUN
fumecheng-11564	175	13	:	:	PUNCT
fumecheng-11564	175	14	(	(	PUNCT
fumecheng-11564	175	15	a	a	X
fumecheng-11564	175	16	)	)	PUNCT
fumecheng-11564	175	17	u1	u1	NOUN
fumecheng-11564	175	18	;	;	PUNCT
fumecheng-11564	175	19	(	(	PUNCT
fumecheng-11564	175	20	b	b	X
fumecheng-11564	175	21	)	)	PUNCT
fumecheng-11564	175	22	r1	r1	NOUN
fumecheng-11564	175	23	(	(	PUNCT
fumecheng-11564	175	24	black	black	NOUN
fumecheng-11564	175	25	)	)	PUNCT
fumecheng-11564	175	26	,	,	PUNCT
fumecheng-11564	175	27	y1	y1	INTJ
fumecheng-11564	175	28	(	(	PUNCT
fumecheng-11564	175	29	red	red	ADJ
fumecheng-11564	175	30	)	)	PUNCT
fumecheng-11564	175	31	.	.	PUNCT
fumecheng-11564	176	1	for	for	ADP
fumecheng-11564	176	2	the	the	DET
fumecheng-11564	176	3	arm	arm	NOUN
fumecheng-11564	176	4	angular	angular	ADJ
fumecheng-11564	176	5	position	position	NOUN
fumecheng-11564	176	6	control	control	NOUN
fumecheng-11564	176	7	system	system	NOUN
fumecheng-11564	176	8	,	,	PUNCT
fumecheng-11564	176	9	the	the	DET
fumecheng-11564	176	10	sampling	sampling	NOUN
fumecheng-11564	176	11	period	period	NOUN
fumecheng-11564	176	12	and	and	CCONJ
fumecheng-11564	176	13	the	the	DET
fumecheng-11564	176	14	integral	integral	ADJ
fumecheng-11564	176	15	time	time	NOUN
fumecheng-11564	176	16	constant	constant	ADJ
fumecheng-11564	176	17	are	be	AUX
fumecheng-11564	176	18	chosen	choose	VERB
fumecheng-11564	176	19	as	as	ADP
fumecheng-11564	176	20	ts=0.01	ts=0.01	PROPN
fumecheng-11564	176	21	s	s	NOUN
fumecheng-11564	176	22	and	and	CCONJ
fumecheng-11564	176	23	ti=0.012	ti=0.012	PROPN
fumecheng-11564	176	24	s.	s.	PROPN
fumecheng-11564	176	25	the	the	DET
fumecheng-11564	176	26	expression	expression	NOUN
fumecheng-11564	176	27	of	of	ADP
fumecheng-11564	176	28	the	the	DET
fumecheng-11564	176	29	system	system	NOUN
fumecheng-11564	176	30	matrix	matrix	NOUN
fumecheng-11564	176	31	is	be	AUX
fumecheng-11564	176	32	obtained	obtain	VERB
fumecheng-11564	176	33	using	use	VERB
fumecheng-11564	176	34	eqs	eqs	PROPN
fumecheng-11564	176	35	.	.	PUNCT
fumecheng-11564	177	1	(	(	PUNCT
fumecheng-11564	177	2	9	9	NUM
fumecheng-11564	177	3	)	)	PUNCT
fumecheng-11564	177	4	and	and	CCONJ
fumecheng-11564	177	5	(	(	PUNCT
fumecheng-11564	177	6	24	24	NUM
fumecheng-11564	177	7	)	)	PUNCT
fumecheng-11564	178	1	[	[	X
fumecheng-11564	178	2	20	20	NUM
fumecheng-11564	178	3	]	]	PUNCT
fumecheng-11564	178	4	.	.	PUNCT
fumecheng-11564	179	1	003/25000	003/25000	NUM
fumecheng-11564	179	2	//13/)25000(/	//13/)25000(/	NOUN
fumecheng-11564	180	1	010	010	NUM
fumecheng-11564	180	2	)	)	PUNCT
fumecheng-11564	180	3	(	(	PUNCT
fumecheng-11564	180	4	)	)	PUNCT
fumecheng-11564	180	5	(	(	PUNCT
fumecheng-11564	180	6	2212212	2212212	NUM
fumecheng-11564	180	7	1	1	NUM
fumecheng-11564	180	8	2	2	NUM
fumecheng-11564	180	9	22222	22222	NUM
fumecheng-11564	180	10			NOUN
fumecheng-11564	181	1			PROPN
fumecheng-11564	181	2			PROPN
fumecheng-11564	181	3			PROPN
fumecheng-11564	181	4			X
fumecheng-11564	181	5			NOUN
fumecheng-11564	181	6			NOUN
fumecheng-11564	181	7			NOUN
fumecheng-11564	181	8			VERB
fumecheng-11564	181	9			PROPN
fumecheng-11564	181	10	−	−	PROPN
fumecheng-11564	181	11	−+=−−=	−+=−−=	NOUN
fumecheng-11564	181	12	−	−	PROPN
fumecheng-11564	181	13	kkkkkkkk	kkkkkkkk	PROPN
fumecheng-11564	181	14	rreeeex	rreeeex	NOUN
fumecheng-11564	181	15	iakbkbaa	iakbkbaa	NOUN
fumecheng-11564	181	16	(	(	PUNCT
fumecheng-11564	181	17	29	29	NUM
fumecheng-11564	181	18	)	)	PUNCT
fumecheng-11564	181	19	a	a	DET
fumecheng-11564	181	20	set	set	NOUN
fumecheng-11564	181	21	of	of	ADP
fumecheng-11564	181	22	parameters	parameter	NOUN
fumecheng-11564	181	23	that	that	PRON
fumecheng-11564	181	24	guarantee	guarantee	VERB
fumecheng-11564	181	25	the	the	DET
fumecheng-11564	181	26	stability	stability	NOUN
fumecheng-11564	181	27	of	of	ADP
fumecheng-11564	181	28	the	the	DET
fumecheng-11564	181	29	system	system	NOUN
fumecheng-11564	181	30	with	with	ADP
fumecheng-11564	181	31	the	the	DET
fumecheng-11564	181	32	matrix	matrix	NOUN
fumecheng-11564	181	33	in	in	ADP
fumecheng-11564	181	34	(	(	PUNCT
fumecheng-11564	181	35	29	29	NUM
fumecheng-11564	181	36	)	)	PUNCT
fumecheng-11564	181	37	is	be	AUX
fumecheng-11564	181	38	]	]	PUNCT
fumecheng-11564	181	39	.0002.02.015.3[2	.0002.02.015.3[2	PUNCT
fumecheng-11564	182	1	−=k	−=k	INTJ
fumecheng-11564	182	2	(	(	PUNCT
fumecheng-11564	182	3	30	30	NUM
fumecheng-11564	182	4	)	)	PUNCT
fumecheng-11564	182	5	for	for	ADP
fumecheng-11564	182	6	the	the	DET
fumecheng-11564	182	7	upper	upper	ADJ
fumecheng-11564	182	8	amplitude	amplitude	NOUN
fumecheng-11564	182	9	of	of	ADP
fumecheng-11564	182	10	f0	f0	PROPN
fumecheng-11564	182	11	described	describe	VERB
fumecheng-11564	182	12	in	in	ADP
fumecheng-11564	182	13	eq	eq	ADP
fumecheng-11564	182	14	.	.	PUNCT
fumecheng-11564	183	1	(	(	PUNCT
fumecheng-11564	183	2	8)	8)	NUM
fumecheng-11564	183	3	,	,	PUNCT
fumecheng-11564	183	4	the	the	DET
fumecheng-11564	183	5	matrix	matrix	NOUN
fumecheng-11564	183	6	[	[	X
fumecheng-11564	183	7	t1	t1	NOUN
fumecheng-11564	183	8	t2	t2	PROPN
fumecheng-11564	183	9	t3	t3	PROPN
fumecheng-11564	183	10	]	]	PUNCT
fumecheng-11564	183	11	is	be	AUX
fumecheng-11564	183	12	set	set	VERB
fumecheng-11564	183	13	to	to	ADP
fumecheng-11564	183	14	[	[	X
fumecheng-11564	183	15	k–1	k–1	PROPN
fumecheng-11564	183	16	0	0	NUM
fumecheng-11564	183	17	0	0	NUM
fumecheng-11564	183	18	]	]	X
fumecheng-11564	183	19	;	;	PUNCT
fumecheng-11564	183	20	this	this	PRON
fumecheng-11564	183	21	gives	give	VERB
fumecheng-11564	183	22	0	0	PUNCT
fumecheng-11564	183	23	<	<	X
fumecheng-11564	183	24	f0	f0	X
fumecheng-11564	183	25	<	<	X
fumecheng-11564	183	26	3.63	3.63	NUM
fumecheng-11564	183	27	and	and	CCONJ
fumecheng-11564	183	28	the	the	DET
fumecheng-11564	183	29	value	value	NOUN
fumecheng-11564	183	30	is	be	AUX
fumecheng-11564	183	31	set	set	VERB
fumecheng-11564	183	32	to	to	ADP
fumecheng-11564	183	33	f0=3	f0=3	PROPN
fumecheng-11564	183	34	[	[	X
fumecheng-11564	183	35	20	20	NUM
fumecheng-11564	183	36	]	]	PUNCT
fumecheng-11564	183	37	.	.	PUNCT
fumecheng-11564	184	1	the	the	DET
fumecheng-11564	184	2	arm	arm	NOUN
fumecheng-11564	184	3	angular	angular	ADJ
fumecheng-11564	184	4	position	position	NOUN
fumecheng-11564	184	5	reference	reference	NOUN
fumecheng-11564	184	6	input	input	NOUN
fumecheng-11564	184	7	trajectory	trajectory	NOUN
fumecheng-11564	184	8	is	be	AUX
fumecheng-11564	184	9	chosen	choose	VERB
fumecheng-11564	184	10	to	to	PART
fumecheng-11564	184	11	be	be	AUX
fumecheng-11564	184	12	the	the	DET
fumecheng-11564	184	13	same	same	ADJ
fumecheng-11564	184	14	as	as	ADP
fumecheng-11564	184	15	in	in	ADP
fumecheng-11564	184	16	[	[	X
fumecheng-11564	184	17	6	6	NUM
fumecheng-11564	184	18	]	]	PUNCT
fumecheng-11564	184	19	.	.	PUNCT
fumecheng-11564	185	1	the	the	DET
fumecheng-11564	185	2	experimental	experimental	ADJ
fumecheng-11564	185	3	results	result	NOUN
fumecheng-11564	185	4	obtained	obtain	VERB
fumecheng-11564	185	5	for	for	ADP
fumecheng-11564	185	6	the	the	DET
fumecheng-11564	185	7	control	control	NOUN
fumecheng-11564	185	8	system	system	NOUN
fumecheng-11564	185	9	with	with	ADP
fumecheng-11564	185	10	the	the	DET
fumecheng-11564	185	11	controller	controller	NOUN
fumecheng-11564	185	12	parameters	parameter	NOUN
fumecheng-11564	185	13	in	in	ADP
fumecheng-11564	185	14	eq	eq	ADP
fumecheng-11564	185	15	.	.	PUNCT
fumecheng-11564	185	16	(	(	PUNCT
fumecheng-11564	185	17	30	30	NUM
fumecheng-11564	185	18	)	)	PUNCT
fumecheng-11564	185	19	are	be	AUX
fumecheng-11564	185	20	illustrated	illustrate	VERB
fumecheng-11564	185	21	in	in	ADP
fumecheng-11564	185	22	fig	fig	NOUN
fumecheng-11564	185	23	.	.	PUNCT
fumecheng-11564	186	1	4	4	NUM
fumecheng-11564	186	2	.	.	X
fumecheng-11564	186	3	10	10	NUM
fumecheng-11564	186	4	a.-i	a.-i	PROPN
fumecheng-11564	186	5	.	.	PUNCT
fumecheng-11564	187	1	borlea	borlea	PROPN
fumecheng-11564	187	2	,	,	PUNCT
fumecheng-11564	187	3	r.-e	r.-e	PROPN
fumecheng-11564	187	4	.	.	PUNCT
fumecheng-11564	188	1	precup	precup	PROPN
fumecheng-11564	188	2	,	,	PUNCT
fumecheng-11564	188	3	r.-c	r.-c	PROPN
fumecheng-11564	188	4	.	.	PUNCT
fumecheng-11564	189	1	roman	roman	ADJ
fumecheng-11564	189	2	fig	fig	PROPN
fumecheng-11564	189	3	.	.	PUNCT
fumecheng-11564	190	1	4	4	NUM
fumecheng-11564	190	2	the	the	DET
fumecheng-11564	190	3	results	result	NOUN
fumecheng-11564	190	4	of	of	ADP
fumecheng-11564	190	5	arm	arm	NOUN
fumecheng-11564	190	6	angular	angular	ADJ
fumecheng-11564	190	7	position	position	NOUN
fumecheng-11564	190	8	control	control	NOUN
fumecheng-11564	190	9	system	system	NOUN
fumecheng-11564	190	10	with	with	ADP
fumecheng-11564	190	11	furuta	furuta	PROPN
fumecheng-11564	190	12	dtsmc	dtsmc	PROPN
fumecheng-11564	190	13	law	law	NOUN
fumecheng-11564	190	14	:	:	PUNCT
fumecheng-11564	190	15	(	(	PUNCT
fumecheng-11564	190	16	a	a	X
fumecheng-11564	190	17	)	)	PUNCT
fumecheng-11564	190	18	u2	u2	NOUN
fumecheng-11564	190	19	;	;	PUNCT
fumecheng-11564	190	20	(	(	PUNCT
fumecheng-11564	190	21	b	b	X
fumecheng-11564	190	22	)	)	PUNCT
fumecheng-11564	190	23	r2	r2	NOUN
fumecheng-11564	190	24	(	(	PUNCT
fumecheng-11564	190	25	black	black	NOUN
fumecheng-11564	190	26	)	)	PUNCT
fumecheng-11564	190	27	,	,	PUNCT
fumecheng-11564	190	28	y2	y2	PROPN
fumecheng-11564	190	29	(	(	PUNCT
fumecheng-11564	190	30	red	red	PROPN
fumecheng-11564	190	31	)	)	PUNCT
fumecheng-11564	190	32	.	.	PUNCT
fumecheng-11564	191	1	for	for	ADP
fumecheng-11564	191	2	the	the	DET
fumecheng-11564	191	3	payload	payload	NOUN
fumecheng-11564	191	4	position	position	NOUN
fumecheng-11564	191	5	control	control	NOUN
fumecheng-11564	191	6	system	system	NOUN
fumecheng-11564	191	7	,	,	PUNCT
fumecheng-11564	191	8	the	the	DET
fumecheng-11564	191	9	sampling	sampling	NOUN
fumecheng-11564	191	10	period	period	NOUN
fumecheng-11564	191	11	and	and	CCONJ
fumecheng-11564	191	12	the	the	DET
fumecheng-11564	191	13	integral	integral	ADJ
fumecheng-11564	191	14	time	time	NOUN
fumecheng-11564	191	15	constant	constant	ADJ
fumecheng-11564	191	16	are	be	AUX
fumecheng-11564	191	17	chosen	choose	VERB
fumecheng-11564	191	18	as	as	ADP
fumecheng-11564	191	19	ts=0.01	ts=0.01	PROPN
fumecheng-11564	191	20	s	s	PART
fumecheng-11564	191	21	and	and	CCONJ
fumecheng-11564	191	22	ti=0.0001	ti=0.0001	PROPN
fumecheng-11564	191	23	s.	s.	PROPN
fumecheng-11564	191	24	the	the	DET
fumecheng-11564	191	25	expression	expression	NOUN
fumecheng-11564	191	26	of	of	ADP
fumecheng-11564	191	27	the	the	DET
fumecheng-11564	191	28	system	system	NOUN
fumecheng-11564	191	29	matrix	matrix	NOUN
fumecheng-11564	191	30	is	be	AUX
fumecheng-11564	191	31	obtained	obtain	VERB
fumecheng-11564	191	32	using	use	VERB
fumecheng-11564	191	33	eqs	eqs	PROPN
fumecheng-11564	191	34	.	.	PUNCT
fumecheng-11564	192	1	(	(	PUNCT
fumecheng-11564	192	2	9	9	NUM
fumecheng-11564	192	3	)	)	PUNCT
fumecheng-11564	192	4	and	and	CCONJ
fumecheng-11564	192	5	(	(	PUNCT
fumecheng-11564	192	6	25	25	NUM
fumecheng-11564	192	7	)	)	PUNCT
fumecheng-11564	193	1	[	[	X
fumecheng-11564	193	2	20	20	NUM
fumecheng-11564	193	3	]	]	PUNCT
fumecheng-11564	193	4	.	.	PUNCT
fumecheng-11564	194	1	001000000	001000000	NUM
fumecheng-11564	194	2	//1/)1000000(/	//1/)1000000(/	PROPN
fumecheng-11564	194	3	010	010	NUM
fumecheng-11564	194	4	)	)	PUNCT
fumecheng-11564	194	5	(	(	PUNCT
fumecheng-11564	194	6	)	)	PUNCT
fumecheng-11564	194	7	(	(	PUNCT
fumecheng-11564	194	8	2212213	2212213	NUM
fumecheng-11564	194	9	1	1	NUM
fumecheng-11564	194	10	3	3	NUM
fumecheng-11564	194	11	33333	33333	NUM
fumecheng-11564	194	12			NOUN
fumecheng-11564	195	1			PROPN
fumecheng-11564	195	2			PROPN
fumecheng-11564	195	3			PROPN
fumecheng-11564	195	4			X
fumecheng-11564	195	5			NOUN
fumecheng-11564	195	6			NOUN
fumecheng-11564	195	7			NOUN
fumecheng-11564	195	8			VERB
fumecheng-11564	195	9			PROPN
fumecheng-11564	195	10	−	−	PROPN
fumecheng-11564	195	11	−+=−−=	−+=−−=	NOUN
fumecheng-11564	195	12	−	−	PROPN
fumecheng-11564	195	13	kkkkkkkk	kkkkkkkk	PROPN
fumecheng-11564	195	14	rreeeex	rreeeex	NOUN
fumecheng-11564	195	15	iakbkbaa	iakbkbaa	NOUN
fumecheng-11564	195	16	(	(	PUNCT
fumecheng-11564	195	17	31	31	NUM
fumecheng-11564	195	18	)	)	PUNCT
fumecheng-11564	195	19	a	a	DET
fumecheng-11564	195	20	set	set	NOUN
fumecheng-11564	195	21	of	of	ADP
fumecheng-11564	195	22	parameters	parameter	NOUN
fumecheng-11564	195	23	that	that	PRON
fumecheng-11564	195	24	guarantee	guarantee	VERB
fumecheng-11564	195	25	the	the	DET
fumecheng-11564	195	26	stability	stability	NOUN
fumecheng-11564	195	27	of	of	ADP
fumecheng-11564	195	28	the	the	DET
fumecheng-11564	195	29	system	system	NOUN
fumecheng-11564	195	30	with	with	ADP
fumecheng-11564	195	31	the	the	DET
fumecheng-11564	195	32	matrix	matrix	NOUN
fumecheng-11564	195	33	in	in	ADP
fumecheng-11564	195	34	(	(	PUNCT
fumecheng-11564	195	35	29	29	NUM
fumecheng-11564	195	36	)	)	PUNCT
fumecheng-11564	195	37	is	be	AUX
fumecheng-11564	195	38	]	]	PUNCT
fumecheng-11564	195	39	.0011.00909.59[3	.0011.00909.59[3	X
fumecheng-11564	196	1	=	=	SYM
fumecheng-11564	196	2	k	k	X
fumecheng-11564	196	3	(	(	PUNCT
fumecheng-11564	196	4	32	32	NUM
fumecheng-11564	196	5	)	)	PUNCT
fumecheng-11564	196	6	for	for	ADP
fumecheng-11564	196	7	the	the	DET
fumecheng-11564	196	8	upper	upper	ADJ
fumecheng-11564	196	9	amplitude	amplitude	NOUN
fumecheng-11564	196	10	of	of	ADP
fumecheng-11564	196	11	f0	f0	PROPN
fumecheng-11564	196	12	described	describe	VERB
fumecheng-11564	196	13	in	in	ADP
fumecheng-11564	196	14	(	(	PUNCT
fumecheng-11564	196	15	8)	8)	NUM
fumecheng-11564	196	16	,	,	PUNCT
fumecheng-11564	196	17	the	the	DET
fumecheng-11564	196	18	matrix	matrix	NOUN
fumecheng-11564	196	19	[	[	X
fumecheng-11564	196	20	t1	t1	NOUN
fumecheng-11564	196	21	t2	t2	PROPN
fumecheng-11564	196	22	t3	t3	PROPN
fumecheng-11564	196	23	]	]	PUNCT
fumecheng-11564	196	24	is	be	AUX
fumecheng-11564	196	25	set	set	VERB
fumecheng-11564	196	26	to	to	ADP
fumecheng-11564	196	27	[	[	X
fumecheng-11564	196	28	k–1	k–1	PROPN
fumecheng-11564	196	29	0	0	NUM
fumecheng-11564	196	30	0	0	NUM
fumecheng-11564	196	31	]	]	X
fumecheng-11564	196	32	;	;	PUNCT
fumecheng-11564	196	33	this	this	PRON
fumecheng-11564	196	34	gives	give	VERB
fumecheng-11564	196	35	0	0	PUNCT
fumecheng-11564	196	36	<	<	X
fumecheng-11564	196	37	f0	f0	X
fumecheng-11564	196	38	<	<	X
fumecheng-11564	196	39	107.43	107.43	NUM
fumecheng-11564	196	40	and	and	CCONJ
fumecheng-11564	196	41	the	the	DET
fumecheng-11564	196	42	value	value	NOUN
fumecheng-11564	196	43	is	be	AUX
fumecheng-11564	196	44	set	set	VERB
fumecheng-11564	196	45	to	to	PART
fumecheng-11564	196	46	f0=106	f0=106	VERB
fumecheng-11564	197	1	[	[	X
fumecheng-11564	197	2	20	20	NUM
fumecheng-11564	197	3	]	]	PUNCT
fumecheng-11564	197	4	.	.	PUNCT
fumecheng-11564	198	1	the	the	DET
fumecheng-11564	198	2	payload	payload	NOUN
fumecheng-11564	198	3	position	position	NOUN
fumecheng-11564	198	4	reference	reference	NOUN
fumecheng-11564	198	5	input	input	NOUN
fumecheng-11564	198	6	trajectory	trajectory	NOUN
fumecheng-11564	198	7	is	be	AUX
fumecheng-11564	198	8	chosen	choose	VERB
fumecheng-11564	198	9	to	to	PART
fumecheng-11564	198	10	be	be	AUX
fumecheng-11564	198	11	the	the	DET
fumecheng-11564	198	12	same	same	ADJ
fumecheng-11564	198	13	as	as	ADP
fumecheng-11564	198	14	in	in	ADP
fumecheng-11564	198	15	[	[	X
fumecheng-11564	198	16	6	6	NUM
fumecheng-11564	198	17	]	]	PUNCT
fumecheng-11564	198	18	.	.	PUNCT
fumecheng-11564	199	1	the	the	DET
fumecheng-11564	199	2	experimental	experimental	ADJ
fumecheng-11564	199	3	results	result	NOUN
fumecheng-11564	199	4	obtained	obtain	VERB
fumecheng-11564	199	5	for	for	ADP
fumecheng-11564	199	6	the	the	DET
fumecheng-11564	199	7	control	control	NOUN
fumecheng-11564	199	8	system	system	NOUN
fumecheng-11564	199	9	with	with	ADP
fumecheng-11564	199	10	the	the	DET
fumecheng-11564	199	11	controller	controller	NOUN
fumecheng-11564	199	12	parameters	parameter	NOUN
fumecheng-11564	199	13	in	in	ADP
fumecheng-11564	199	14	eq	eq	ADP
fumecheng-11564	199	15	.	.	PUNCT
fumecheng-11564	200	1	(	(	PUNCT
fumecheng-11564	200	2	32	32	NUM
fumecheng-11564	200	3	)	)	PUNCT
fumecheng-11564	200	4	are	be	AUX
fumecheng-11564	200	5	illustrated	illustrate	VERB
fumecheng-11564	200	6	in	in	ADP
fumecheng-11564	200	7	fig	fig	NOUN
fumecheng-11564	200	8	.	.	PUNCT
fumecheng-11564	201	1	5	5	NUM
fumecheng-11564	201	2	.	.	X
fumecheng-11564	201	3	discrete	discrete	ADJ
fumecheng-11564	201	4	-	-	PUNCT
fumecheng-11564	201	5	time	time	NOUN
fumecheng-11564	201	6	model	model	NOUN
fumecheng-11564	201	7	-	-	PUNCT
fumecheng-11564	201	8	based	base	VERB
fumecheng-11564	201	9	sliding	slide	VERB
fumecheng-11564	201	10	mode	mode	NOUN
fumecheng-11564	201	11	controllers	controller	NOUN
fumecheng-11564	201	12	for	for	ADP
fumecheng-11564	201	13	tower	tower	NOUN
fumecheng-11564	201	14	crane	crane	NOUN
fumecheng-11564	201	15	systems	system	NOUN
fumecheng-11564	201	16	11	11	NUM
fumecheng-11564	201	17	fig	fig	NOUN
fumecheng-11564	201	18	.	.	PUNCT
fumecheng-11564	202	1	5	5	NUM
fumecheng-11564	202	2	the	the	DET
fumecheng-11564	202	3	results	result	NOUN
fumecheng-11564	202	4	of	of	ADP
fumecheng-11564	202	5	payload	payload	ADJ
fumecheng-11564	202	6	position	position	NOUN
fumecheng-11564	202	7	control	control	NOUN
fumecheng-11564	202	8	system	system	NOUN
fumecheng-11564	202	9	with	with	ADP
fumecheng-11564	202	10	furuta	furuta	PROPN
fumecheng-11564	202	11	dtsmc	dtsmc	PROPN
fumecheng-11564	202	12	law	law	NOUN
fumecheng-11564	202	13	:	:	PUNCT
fumecheng-11564	202	14	(	(	PUNCT
fumecheng-11564	202	15	a	a	X
fumecheng-11564	202	16	)	)	PUNCT
fumecheng-11564	202	17	u3	u3	NOUN
fumecheng-11564	202	18	;	;	PUNCT
fumecheng-11564	202	19	(	(	PUNCT
fumecheng-11564	202	20	b	b	X
fumecheng-11564	202	21	)	)	PUNCT
fumecheng-11564	202	22	r3	r3	PROPN
fumecheng-11564	202	23	(	(	PUNCT
fumecheng-11564	202	24	black	black	NOUN
fumecheng-11564	202	25	)	)	PUNCT
fumecheng-11564	202	26	,	,	PUNCT
fumecheng-11564	202	27	y3	y3	NOUN
fumecheng-11564	202	28	(	(	PUNCT
fumecheng-11564	202	29	red	red	PROPN
fumecheng-11564	202	30	)	)	PUNCT
fumecheng-11564	202	31	.	.	PUNCT
fumecheng-11564	203	1	3.2	3.2	NUM
fumecheng-11564	203	2	.	.	PUNCT
fumecheng-11564	204	1	gao	gao	PROPN
fumecheng-11564	204	2	dtsmc	dtsmc	PROPN
fumecheng-11564	204	3	law	law	NOUN
fumecheng-11564	204	4	design	design	NOUN
fumecheng-11564	204	5	and	and	CCONJ
fumecheng-11564	204	6	implementation	implementation	NOUN
fumecheng-11564	204	7	summarizing	summarize	VERB
fumecheng-11564	204	8	the	the	DET
fumecheng-11564	204	9	information	information	NOUN
fumecheng-11564	204	10	given	give	VERB
fumecheng-11564	204	11	in	in	ADP
fumecheng-11564	204	12	the	the	DET
fumecheng-11564	204	13	previous	previous	ADJ
fumecheng-11564	204	14	sections	section	NOUN
fumecheng-11564	204	15	,	,	PUNCT
fumecheng-11564	204	16	the	the	DET
fumecheng-11564	204	17	guidelines	guideline	NOUN
fumecheng-11564	204	18	to	to	PART
fumecheng-11564	204	19	design	design	VERB
fumecheng-11564	204	20	the	the	DET
fumecheng-11564	204	21	gao	gao	PROPN
fumecheng-11564	204	22	dtsmc	dtsmc	NOUN
fumecheng-11564	204	23	law	law	NOUN
fumecheng-11564	204	24	consist	consist	NOUN
fumecheng-11564	204	25	of	of	ADP
fumecheng-11564	204	26	the	the	DET
fumecheng-11564	204	27	following	follow	VERB
fumecheng-11564	204	28	steps	step	NOUN
fumecheng-11564	204	29	:	:	PUNCT
fumecheng-11564	204	30	step	step	NOUN
fumecheng-11564	204	31	g1	g1	PROPN
fumecheng-11564	204	32	.	.	PUNCT
fumecheng-11564	205	1	this	this	DET
fumecheng-11564	205	2	step	step	NOUN
fumecheng-11564	205	3	is	be	AUX
fumecheng-11564	205	4	identical	identical	ADJ
fumecheng-11564	205	5	to	to	PART
fumecheng-11564	205	6	step	step	VERB
fumecheng-11564	205	7	f1	f1	NOUN
fumecheng-11564	205	8	.	.	PUNCT
fumecheng-11564	206	1	step	step	NOUN
fumecheng-11564	206	2	g2	g2	PROPN
fumecheng-11564	206	3	.	.	PUNCT
fumecheng-11564	207	1	this	this	DET
fumecheng-11564	207	2	step	step	NOUN
fumecheng-11564	207	3	is	be	AUX
fumecheng-11564	207	4	identical	identical	ADJ
fumecheng-11564	207	5	to	to	PART
fumecheng-11564	207	6	step	step	VERB
fumecheng-11564	207	7	f2	f2	PROPN
fumecheng-11564	207	8	.	.	PUNCT
fumecheng-11564	208	1	step	step	NOUN
fumecheng-11564	208	2	g3	g3	PROPN
fumecheng-11564	208	3	.	.	PUNCT
fumecheng-11564	209	1	this	this	DET
fumecheng-11564	209	2	step	step	NOUN
fumecheng-11564	209	3	is	be	AUX
fumecheng-11564	209	4	identical	identical	ADJ
fumecheng-11564	209	5	to	to	PART
fumecheng-11564	209	6	step	step	VERB
fumecheng-11564	209	7	f3	f3	ADJ
fumecheng-11564	209	8	.	.	PUNCT
fumecheng-11564	210	1	step	step	NOUN
fumecheng-11564	210	2	g4	g4	NOUN
fumecheng-11564	210	3	.	.	PUNCT
fumecheng-11564	211	1	set	set	VERB
fumecheng-11564	211	2	q>0	q>0	PROPN
fumecheng-11564	211	3	to	to	PART
fumecheng-11564	211	4	fulfill	fulfill	VERB
fumecheng-11564	211	5	qts	qts	PROPN
fumecheng-11564	211	6	(	(	PUNCT
fumecheng-11564	211	7	0,1	0,1	NUM
fumecheng-11564	211	8	)	)	PUNCT
fumecheng-11564	211	9	,	,	PUNCT
fumecheng-11564	211	10	and	and	CCONJ
fumecheng-11564	211	11	>0	>0	INTJ
fumecheng-11564	211	12	.	.	PUNCT
fumecheng-11564	212	1	these	these	DET
fumecheng-11564	212	2	steps	step	NOUN
fumecheng-11564	212	3	are	be	AUX
fumecheng-11564	212	4	exemplified	exemplify	VERB
fumecheng-11564	212	5	as	as	SCONJ
fumecheng-11564	212	6	follows	follow	VERB
fumecheng-11564	212	7	.	.	PUNCT
fumecheng-11564	213	1	for	for	ADP
fumecheng-11564	213	2	the	the	DET
fumecheng-11564	213	3	cart	cart	NOUN
fumecheng-11564	213	4	position	position	NOUN
fumecheng-11564	213	5	control	control	NOUN
fumecheng-11564	213	6	system	system	NOUN
fumecheng-11564	213	7	,	,	PUNCT
fumecheng-11564	213	8	the	the	DET
fumecheng-11564	213	9	sampling	sampling	NOUN
fumecheng-11564	213	10	period	period	NOUN
fumecheng-11564	213	11	and	and	CCONJ
fumecheng-11564	213	12	the	the	DET
fumecheng-11564	213	13	integral	integral	ADJ
fumecheng-11564	213	14	time	time	NOUN
fumecheng-11564	213	15	constant	constant	ADJ
fumecheng-11564	213	16	are	be	AUX
fumecheng-11564	213	17	chosen	choose	VERB
fumecheng-11564	213	18	as	as	ADP
fumecheng-11564	213	19	ts=0.01	ts=0.01	PROPN
fumecheng-11564	213	20	s	s	PROPN
fumecheng-11564	213	21	and	and	CCONJ
fumecheng-11564	213	22	ti=0.2	ti=0.2	PROPN
fumecheng-11564	213	23	s.	s.	PROPN
fumecheng-11564	213	24	the	the	DET
fumecheng-11564	213	25	expression	expression	NOUN
fumecheng-11564	213	26	of	of	ADP
fumecheng-11564	213	27	the	the	DET
fumecheng-11564	213	28	system	system	NOUN
fumecheng-11564	213	29	matrix	matrix	NOUN
fumecheng-11564	213	30	specific	specific	ADJ
fumecheng-11564	213	31	to	to	ADP
fumecheng-11564	213	32	the	the	DET
fumecheng-11564	213	33	furuta	furuta	PROPN
fumecheng-11564	213	34	dtsmc	dtsmc	PROPN
fumecheng-11564	213	35	law	law	NOUN
fumecheng-11564	213	36	results	result	NOUN
fumecheng-11564	213	37	from	from	ADP
fumecheng-11564	213	38	eqs	eqs	PROPN
fumecheng-11564	213	39	.	.	PUNCT
fumecheng-11564	214	1	(	(	PUNCT
fumecheng-11564	214	2	9	9	NUM
fumecheng-11564	214	3	)	)	PUNCT
fumecheng-11564	214	4	and	and	CCONJ
fumecheng-11564	214	5	(	(	PUNCT
fumecheng-11564	214	6	23	23	NUM
fumecheng-11564	214	7	)	)	PUNCT
fumecheng-11564	215	1	[	[	X
fumecheng-11564	215	2	20	20	NUM
fumecheng-11564	215	3	]	]	PUNCT
fumecheng-11564	215	4	.	.	PUNCT
fumecheng-11564	216	1	00500	00500	NUM
fumecheng-11564	217	1	//1/)500(/	//1/)500(/	ADP
fumecheng-11564	217	2	010	010	NUM
fumecheng-11564	217	3	)	)	PUNCT
fumecheng-11564	217	4	(	(	PUNCT
fumecheng-11564	217	5	)	)	PUNCT
fumecheng-11564	217	6	(	(	PUNCT
fumecheng-11564	217	7	2212211	2212211	NUM
fumecheng-11564	217	8	1	1	NUM
fumecheng-11564	217	9	1	1	NUM
fumecheng-11564	217	10	11111	11111	NUM
fumecheng-11564	217	11			NOUN
fumecheng-11564	218	1			PROPN
fumecheng-11564	218	2			PROPN
fumecheng-11564	218	3			PROPN
fumecheng-11564	218	4			X
fumecheng-11564	218	5			NOUN
fumecheng-11564	218	6			NOUN
fumecheng-11564	218	7			NOUN
fumecheng-11564	218	8			VERB
fumecheng-11564	218	9			PROPN
fumecheng-11564	218	10	−	−	PROPN
fumecheng-11564	218	11	−+=−−=	−+=−−=	NOUN
fumecheng-11564	218	12	−	−	PROPN
fumecheng-11564	218	13	kkkkkkkk	kkkkkkkk	PROPN
fumecheng-11564	218	14	rreeeex	rreeeex	NOUN
fumecheng-11564	218	15	iakbkbaa	iakbkbaa	NOUN
fumecheng-11564	218	16	(	(	PUNCT
fumecheng-11564	218	17	33	33	NUM
fumecheng-11564	218	18	)	)	PUNCT
fumecheng-11564	218	19	a	a	DET
fumecheng-11564	218	20	set	set	NOUN
fumecheng-11564	218	21	of	of	ADP
fumecheng-11564	218	22	parameters	parameter	NOUN
fumecheng-11564	218	23	that	that	PRON
fumecheng-11564	218	24	guarantee	guarantee	VERB
fumecheng-11564	218	25	the	the	DET
fumecheng-11564	218	26	stability	stability	NOUN
fumecheng-11564	218	27	of	of	ADP
fumecheng-11564	218	28	the	the	DET
fumecheng-11564	218	29	system	system	NOUN
fumecheng-11564	218	30	with	with	ADP
fumecheng-11564	218	31	the	the	DET
fumecheng-11564	218	32	matrix	matrix	NOUN
fumecheng-11564	218	33	in	in	ADP
fumecheng-11564	218	34	(	(	PUNCT
fumecheng-11564	218	35	33	33	NUM
fumecheng-11564	218	36	)	)	PUNCT
fumecheng-11564	218	37	is	be	AUX
fumecheng-11564	218	38	]	]	PUNCT
fumecheng-11564	218	39	.0011.04.0825.0[1	.0011.04.0825.0[1	PUNCT
fumecheng-11564	219	1	−=k	−=k	PUNCT
fumecheng-11564	219	2	(	(	PUNCT
fumecheng-11564	219	3	34	34	NUM
fumecheng-11564	219	4	)	)	PUNCT
fumecheng-11564	219	5	the	the	DET
fumecheng-11564	219	6	other	other	ADJ
fumecheng-11564	219	7	parameters	parameter	NOUN
fumecheng-11564	219	8	of	of	ADP
fumecheng-11564	219	9	the	the	DET
fumecheng-11564	219	10	control	control	NOUN
fumecheng-11564	219	11	law	law	NOUN
fumecheng-11564	219	12	were	be	AUX
fumecheng-11564	219	13	set	set	VERB
fumecheng-11564	219	14	as	as	ADP
fumecheng-11564	219	15	q=99	q=99	NOUN
fumecheng-11564	219	16	such	such	ADJ
fumecheng-11564	219	17	that	that	DET
fumecheng-11564	219	18	qts(0,1	qts(0,1	NOUN
fumecheng-11564	219	19	)	)	PUNCT
fumecheng-11564	219	20	and	and	CCONJ
fumecheng-11564	219	21	=200	=200	NOUN
fumecheng-11564	220	1	[	[	X
fumecheng-11564	220	2	20	20	NUM
fumecheng-11564	220	3	]	]	PUNCT
fumecheng-11564	220	4	.	.	PUNCT
fumecheng-11564	221	1	12	12	NUM
fumecheng-11564	221	2	a.-i	a.-i	PROPN
fumecheng-11564	221	3	.	.	PUNCT
fumecheng-11564	222	1	borlea	borlea	PROPN
fumecheng-11564	222	2	,	,	PUNCT
fumecheng-11564	222	3	r.-e	r.-e	PROPN
fumecheng-11564	222	4	.	.	PUNCT
fumecheng-11564	223	1	precup	precup	PROPN
fumecheng-11564	223	2	,	,	PUNCT
fumecheng-11564	223	3	r.-c	r.-c	PROPN
fumecheng-11564	223	4	.	.	PUNCT
fumecheng-11564	224	1	roman	roman	PROPN
fumecheng-11564	224	2	using	use	VERB
fumecheng-11564	224	3	the	the	DET
fumecheng-11564	224	4	same	same	ADJ
fumecheng-11564	224	5	reference	reference	NOUN
fumecheng-11564	224	6	input	input	NOUN
fumecheng-11564	224	7	trajectory	trajectory	NOUN
fumecheng-11564	224	8	as	as	ADP
fumecheng-11564	224	9	in	in	ADP
fumecheng-11564	224	10	section	section	NOUN
fumecheng-11564	224	11	3.1	3.1	NUM
fumecheng-11564	224	12	and	and	CCONJ
fumecheng-11564	224	13	[	[	X
fumecheng-11564	224	14	6	6	NUM
fumecheng-11564	224	15	]	]	PUNCT
fumecheng-11564	224	16	,	,	PUNCT
fumecheng-11564	224	17	the	the	DET
fumecheng-11564	224	18	experimental	experimental	ADJ
fumecheng-11564	224	19	results	result	NOUN
fumecheng-11564	224	20	obtained	obtain	VERB
fumecheng-11564	224	21	for	for	ADP
fumecheng-11564	224	22	the	the	DET
fumecheng-11564	224	23	control	control	NOUN
fumecheng-11564	224	24	system	system	NOUN
fumecheng-11564	224	25	with	with	ADP
fumecheng-11564	224	26	the	the	DET
fumecheng-11564	224	27	controller	controller	NOUN
fumecheng-11564	224	28	parameters	parameter	NOUN
fumecheng-11564	224	29	in	in	ADP
fumecheng-11564	224	30	eq	eq	ADP
fumecheng-11564	224	31	.	.	PUNCT
fumecheng-11564	225	1	(	(	PUNCT
fumecheng-11564	225	2	34	34	NUM
fumecheng-11564	225	3	)	)	PUNCT
fumecheng-11564	225	4	are	be	AUX
fumecheng-11564	225	5	given	give	VERB
fumecheng-11564	225	6	in	in	ADP
fumecheng-11564	225	7	fig	fig	NOUN
fumecheng-11564	225	8	.	.	PUNCT
fumecheng-11564	226	1	6	6	NUM
fumecheng-11564	226	2	.	.	X
fumecheng-11564	226	3	for	for	ADP
fumecheng-11564	226	4	the	the	DET
fumecheng-11564	226	5	arm	arm	NOUN
fumecheng-11564	226	6	angular	angular	ADJ
fumecheng-11564	226	7	position	position	NOUN
fumecheng-11564	226	8	control	control	NOUN
fumecheng-11564	226	9	system	system	NOUN
fumecheng-11564	226	10	,	,	PUNCT
fumecheng-11564	226	11	the	the	DET
fumecheng-11564	226	12	sampling	sampling	NOUN
fumecheng-11564	226	13	period	period	NOUN
fumecheng-11564	226	14	and	and	CCONJ
fumecheng-11564	226	15	the	the	DET
fumecheng-11564	226	16	integral	integral	ADJ
fumecheng-11564	226	17	time	time	NOUN
fumecheng-11564	226	18	constant	constant	ADJ
fumecheng-11564	226	19	are	be	AUX
fumecheng-11564	226	20	chosen	choose	VERB
fumecheng-11564	226	21	as	as	ADP
fumecheng-11564	226	22	ts=0.01	ts=0.01	PROPN
fumecheng-11564	226	23	s	s	PROPN
fumecheng-11564	226	24	and	and	CCONJ
fumecheng-11564	226	25	ti=0.2	ti=0.2	PROPN
fumecheng-11564	226	26	s.	s.	PROPN
fumecheng-11564	226	27	the	the	DET
fumecheng-11564	226	28	expression	expression	NOUN
fumecheng-11564	226	29	of	of	ADP
fumecheng-11564	226	30	the	the	DET
fumecheng-11564	226	31	system	system	NOUN
fumecheng-11564	226	32	matrix	matrix	NOUN
fumecheng-11564	226	33	specific	specific	ADJ
fumecheng-11564	226	34	to	to	ADP
fumecheng-11564	226	35	the	the	DET
fumecheng-11564	226	36	furuta	furuta	PROPN
fumecheng-11564	226	37	dtsmc	dtsmc	PROPN
fumecheng-11564	226	38	law	law	NOUN
fumecheng-11564	226	39	results	result	NOUN
fumecheng-11564	226	40	from	from	ADP
fumecheng-11564	226	41	eqs	eqs	PROPN
fumecheng-11564	226	42	.	.	PUNCT
fumecheng-11564	227	1	(	(	PUNCT
fumecheng-11564	227	2	9	9	NUM
fumecheng-11564	227	3	)	)	PUNCT
fumecheng-11564	227	4	and	and	CCONJ
fumecheng-11564	227	5	(	(	PUNCT
fumecheng-11564	227	6	24	24	NUM
fumecheng-11564	227	7	)	)	PUNCT
fumecheng-11564	228	1	[	[	X
fumecheng-11564	228	2	20	20	NUM
fumecheng-11564	228	3	]	]	PUNCT
fumecheng-11564	228	4	.	.	PUNCT
fumecheng-11564	229	1	00500	00500	NUM
fumecheng-11564	230	1	//1/)500(/	//1/)500(/	ADP
fumecheng-11564	230	2	010	010	NUM
fumecheng-11564	230	3	)	)	PUNCT
fumecheng-11564	230	4	(	(	PUNCT
fumecheng-11564	230	5	)	)	PUNCT
fumecheng-11564	230	6	(	(	PUNCT
fumecheng-11564	230	7	2212212	2212212	NUM
fumecheng-11564	230	8	1	1	NUM
fumecheng-11564	230	9	2	2	NUM
fumecheng-11564	230	10	22222	22222	NUM
fumecheng-11564	230	11			NOUN
fumecheng-11564	231	1			PROPN
fumecheng-11564	231	2			PROPN
fumecheng-11564	231	3			PROPN
fumecheng-11564	231	4			X
fumecheng-11564	231	5			NOUN
fumecheng-11564	231	6			NOUN
fumecheng-11564	231	7			NOUN
fumecheng-11564	231	8			VERB
fumecheng-11564	231	9			PROPN
fumecheng-11564	231	10	−	−	PROPN
fumecheng-11564	231	11	−+=−−=	−+=−−=	NOUN
fumecheng-11564	231	12	−	−	PROPN
fumecheng-11564	231	13	kkkkkkkk	kkkkkkkk	PROPN
fumecheng-11564	231	14	rreeeex	rreeeex	NOUN
fumecheng-11564	231	15	iakbkbaa	iakbkbaa	NOUN
fumecheng-11564	231	16	(	(	PUNCT
fumecheng-11564	231	17	35	35	NUM
fumecheng-11564	231	18	)	)	PUNCT
fumecheng-11564	231	19	fig	fig	NOUN
fumecheng-11564	231	20	.	.	PUNCT
fumecheng-11564	232	1	6	6	NUM
fumecheng-11564	232	2	the	the	DET
fumecheng-11564	232	3	results	result	NOUN
fumecheng-11564	232	4	of	of	ADP
fumecheng-11564	232	5	cart	cart	NOUN
fumecheng-11564	232	6	position	position	NOUN
fumecheng-11564	232	7	control	control	NOUN
fumecheng-11564	232	8	system	system	NOUN
fumecheng-11564	232	9	with	with	ADP
fumecheng-11564	232	10	gao	gao	PROPN
fumecheng-11564	232	11	dtsmc	dtsmc	PROPN
fumecheng-11564	232	12	law	law	NOUN
fumecheng-11564	232	13	:	:	PUNCT
fumecheng-11564	232	14	(	(	PUNCT
fumecheng-11564	232	15	a	a	X
fumecheng-11564	232	16	)	)	PUNCT
fumecheng-11564	232	17	u1	u1	NOUN
fumecheng-11564	232	18	;	;	PUNCT
fumecheng-11564	232	19	(	(	PUNCT
fumecheng-11564	232	20	b	b	X
fumecheng-11564	232	21	)	)	PUNCT
fumecheng-11564	232	22	r1	r1	NOUN
fumecheng-11564	232	23	(	(	PUNCT
fumecheng-11564	232	24	black	black	NOUN
fumecheng-11564	232	25	)	)	PUNCT
fumecheng-11564	232	26	,	,	PUNCT
fumecheng-11564	232	27	y1	y1	INTJ
fumecheng-11564	232	28	(	(	PUNCT
fumecheng-11564	232	29	red	red	PROPN
fumecheng-11564	232	30	)	)	PUNCT
fumecheng-11564	232	31	.	.	PUNCT
fumecheng-11564	233	1	a	a	DET
fumecheng-11564	233	2	set	set	NOUN
fumecheng-11564	233	3	of	of	ADP
fumecheng-11564	233	4	parameters	parameter	NOUN
fumecheng-11564	233	5	that	that	PRON
fumecheng-11564	233	6	guarantee	guarantee	VERB
fumecheng-11564	233	7	the	the	DET
fumecheng-11564	233	8	stability	stability	NOUN
fumecheng-11564	233	9	of	of	ADP
fumecheng-11564	233	10	the	the	DET
fumecheng-11564	233	11	system	system	NOUN
fumecheng-11564	233	12	with	with	ADP
fumecheng-11564	233	13	the	the	DET
fumecheng-11564	233	14	matrix	matrix	NOUN
fumecheng-11564	233	15	in	in	ADP
fumecheng-11564	233	16	eq	eq	PROPN
fumecheng-11564	233	17	.	.	PUNCT
fumecheng-11564	234	1	(	(	PUNCT
fumecheng-11564	234	2	35	35	NUM
fumecheng-11564	234	3	)	)	PUNCT
fumecheng-11564	234	4	is	be	AUX
fumecheng-11564	234	5	]	]	PUNCT
fumecheng-11564	234	6	.0011.04.0825.0[2	.0011.04.0825.0[2	PUNCT
fumecheng-11564	235	1	−=k	−=k	INTJ
fumecheng-11564	235	2	(	(	PUNCT
fumecheng-11564	235	3	36	36	NUM
fumecheng-11564	235	4	)	)	PUNCT
fumecheng-11564	235	5	the	the	DET
fumecheng-11564	235	6	other	other	ADJ
fumecheng-11564	235	7	parameters	parameter	NOUN
fumecheng-11564	235	8	of	of	ADP
fumecheng-11564	235	9	the	the	DET
fumecheng-11564	235	10	control	control	NOUN
fumecheng-11564	235	11	law	law	NOUN
fumecheng-11564	235	12	were	be	AUX
fumecheng-11564	235	13	set	set	VERB
fumecheng-11564	235	14	as	as	ADP
fumecheng-11564	235	15	q=99	q=99	NOUN
fumecheng-11564	235	16	such	such	ADJ
fumecheng-11564	235	17	that	that	DET
fumecheng-11564	235	18	qts(0,1	qts(0,1	NOUN
fumecheng-11564	235	19	)	)	PUNCT
fumecheng-11564	235	20	and	and	CCONJ
fumecheng-11564	235	21	=500	=500	NOUN
fumecheng-11564	236	1	[	[	X
fumecheng-11564	236	2	20	20	NUM
fumecheng-11564	236	3	]	]	PUNCT
fumecheng-11564	236	4	.	.	PUNCT
fumecheng-11564	237	1	using	use	VERB
fumecheng-11564	237	2	the	the	DET
fumecheng-11564	237	3	same	same	ADJ
fumecheng-11564	237	4	reference	reference	NOUN
fumecheng-11564	237	5	input	input	NOUN
fumecheng-11564	237	6	trajectory	trajectory	NOUN
fumecheng-11564	237	7	as	as	ADP
fumecheng-11564	237	8	in	in	ADP
fumecheng-11564	237	9	section	section	NOUN
fumecheng-11564	237	10	3.2	3.2	NUM
fumecheng-11564	237	11	and	and	CCONJ
fumecheng-11564	237	12	[	[	X
fumecheng-11564	237	13	6	6	NUM
fumecheng-11564	237	14	]	]	PUNCT
fumecheng-11564	237	15	,	,	PUNCT
fumecheng-11564	237	16	the	the	DET
fumecheng-11564	237	17	experimental	experimental	ADJ
fumecheng-11564	237	18	results	result	NOUN
fumecheng-11564	237	19	obtained	obtain	VERB
fumecheng-11564	237	20	for	for	ADP
fumecheng-11564	237	21	the	the	DET
fumecheng-11564	237	22	control	control	NOUN
fumecheng-11564	237	23	system	system	NOUN
fumecheng-11564	237	24	with	with	ADP
fumecheng-11564	237	25	the	the	DET
fumecheng-11564	237	26	controller	controller	NOUN
fumecheng-11564	237	27	parameters	parameter	NOUN
fumecheng-11564	237	28	in	in	ADP
fumecheng-11564	237	29	eq	eq	ADP
fumecheng-11564	237	30	.	.	PUNCT
fumecheng-11564	238	1	(	(	PUNCT
fumecheng-11564	238	2	36	36	NUM
fumecheng-11564	238	3	)	)	PUNCT
fumecheng-11564	238	4	are	be	AUX
fumecheng-11564	238	5	given	give	VERB
fumecheng-11564	238	6	in	in	ADP
fumecheng-11564	238	7	fig	fig	NOUN
fumecheng-11564	238	8	.	.	PUNCT
fumecheng-11564	239	1	7	7	X
fumecheng-11564	239	2	.	.	X
fumecheng-11564	239	3	discrete	discrete	ADJ
fumecheng-11564	239	4	-	-	PUNCT
fumecheng-11564	239	5	time	time	NOUN
fumecheng-11564	239	6	model	model	NOUN
fumecheng-11564	239	7	-	-	PUNCT
fumecheng-11564	239	8	based	base	VERB
fumecheng-11564	239	9	sliding	slide	VERB
fumecheng-11564	239	10	mode	mode	NOUN
fumecheng-11564	239	11	controllers	controller	NOUN
fumecheng-11564	239	12	for	for	ADP
fumecheng-11564	239	13	tower	tower	NOUN
fumecheng-11564	239	14	crane	crane	NOUN
fumecheng-11564	239	15	systems	system	NOUN
fumecheng-11564	239	16	13	13	NUM
fumecheng-11564	239	17	fig	fig	NOUN
fumecheng-11564	239	18	.	.	PUNCT
fumecheng-11564	240	1	7	7	NUM
fumecheng-11564	241	1	the	the	DET
fumecheng-11564	241	2	results	result	NOUN
fumecheng-11564	241	3	of	of	ADP
fumecheng-11564	241	4	arm	arm	NOUN
fumecheng-11564	241	5	angular	angular	ADJ
fumecheng-11564	241	6	position	position	NOUN
fumecheng-11564	241	7	control	control	NOUN
fumecheng-11564	241	8	system	system	NOUN
fumecheng-11564	241	9	with	with	ADP
fumecheng-11564	241	10	gao	gao	PROPN
fumecheng-11564	241	11	dtsmc	dtsmc	PROPN
fumecheng-11564	241	12	law	law	NOUN
fumecheng-11564	241	13	:	:	PUNCT
fumecheng-11564	241	14	(	(	PUNCT
fumecheng-11564	241	15	a	a	X
fumecheng-11564	241	16	)	)	PUNCT
fumecheng-11564	241	17	u2	u2	NOUN
fumecheng-11564	241	18	;	;	PUNCT
fumecheng-11564	241	19	(	(	PUNCT
fumecheng-11564	241	20	b	b	X
fumecheng-11564	241	21	)	)	PUNCT
fumecheng-11564	241	22	r2	r2	NOUN
fumecheng-11564	241	23	(	(	PUNCT
fumecheng-11564	241	24	black	black	NOUN
fumecheng-11564	241	25	)	)	PUNCT
fumecheng-11564	241	26	,	,	PUNCT
fumecheng-11564	241	27	y2	y2	PROPN
fumecheng-11564	241	28	(	(	PUNCT
fumecheng-11564	241	29	red	red	PROPN
fumecheng-11564	241	30	)	)	PUNCT
fumecheng-11564	241	31	.	.	PUNCT
fumecheng-11564	242	1	for	for	ADP
fumecheng-11564	242	2	the	the	DET
fumecheng-11564	242	3	payload	payload	NOUN
fumecheng-11564	242	4	position	position	NOUN
fumecheng-11564	242	5	control	control	NOUN
fumecheng-11564	242	6	system	system	NOUN
fumecheng-11564	242	7	,	,	PUNCT
fumecheng-11564	242	8	the	the	DET
fumecheng-11564	242	9	sampling	sampling	NOUN
fumecheng-11564	242	10	period	period	NOUN
fumecheng-11564	242	11	and	and	CCONJ
fumecheng-11564	242	12	the	the	DET
fumecheng-11564	242	13	integral	integral	ADJ
fumecheng-11564	242	14	time	time	NOUN
fumecheng-11564	242	15	constant	constant	ADJ
fumecheng-11564	242	16	are	be	AUX
fumecheng-11564	242	17	chosen	choose	VERB
fumecheng-11564	242	18	as	as	ADP
fumecheng-11564	242	19	ts=0.01	ts=0.01	PROPN
fumecheng-11564	242	20	s	s	PART
fumecheng-11564	242	21	and	and	CCONJ
fumecheng-11564	242	22	ti=0.0025	ti=0.0025	ADJ
fumecheng-11564	242	23	s.	s.	PROPN
fumecheng-11564	242	24	the	the	DET
fumecheng-11564	242	25	expression	expression	NOUN
fumecheng-11564	242	26	of	of	ADP
fumecheng-11564	242	27	the	the	DET
fumecheng-11564	242	28	system	system	NOUN
fumecheng-11564	242	29	matrix	matrix	NOUN
fumecheng-11564	242	30	specific	specific	ADJ
fumecheng-11564	242	31	to	to	ADP
fumecheng-11564	242	32	the	the	DET
fumecheng-11564	242	33	furuta	furuta	PROPN
fumecheng-11564	242	34	dtsmc	dtsmc	PROPN
fumecheng-11564	242	35	law	law	NOUN
fumecheng-11564	242	36	results	result	NOUN
fumecheng-11564	242	37	from	from	ADP
fumecheng-11564	242	38	eqs	eqs	PROPN
fumecheng-11564	242	39	.	.	PUNCT
fumecheng-11564	243	1	(	(	PUNCT
fumecheng-11564	243	2	9	9	NUM
fumecheng-11564	243	3	)	)	PUNCT
fumecheng-11564	243	4	and	and	CCONJ
fumecheng-11564	243	5	(	(	PUNCT
fumecheng-11564	243	6	25	25	NUM
fumecheng-11564	243	7	)	)	PUNCT
fumecheng-11564	244	1	[	[	X
fumecheng-11564	244	2	20	20	NUM
fumecheng-11564	244	3	]	]	PUNCT
fumecheng-11564	244	4	.	.	PUNCT
fumecheng-11564	245	1	0079869184599999/1716871947673//141717986918/)5999996871947673(/	0079869184599999/1716871947673//141717986918/)5999996871947673(/	NOUN
fumecheng-11564	245	2	010	010	NUM
fumecheng-11564	245	3	)	)	PUNCT
fumecheng-11564	245	4	(	(	PUNCT
fumecheng-11564	245	5	)	)	PUNCT
fumecheng-11564	245	6	(	(	PUNCT
fumecheng-11564	245	7	221221	221221	NUM
fumecheng-11564	245	8	3	3	NUM
fumecheng-11564	245	9	1	1	NUM
fumecheng-11564	245	10	3	3	NUM
fumecheng-11564	245	11	33333	33333	NUM
fumecheng-11564	245	12			NOUN
fumecheng-11564	246	1			PROPN
fumecheng-11564	246	2			PROPN
fumecheng-11564	246	3			PROPN
fumecheng-11564	246	4			X
fumecheng-11564	246	5			NOUN
fumecheng-11564	246	6			NOUN
fumecheng-11564	246	7			NOUN
fumecheng-11564	246	8			NOUN
fumecheng-11564	246	9			PROPN
fumecheng-11564	246	10	−+=	−+=	X
fumecheng-11564	246	11	−−=	−−=	NOUN
fumecheng-11564	246	12	−	−	PROPN
fumecheng-11564	247	1	kkkkkkkk	kkkkkkkk	PROPN
fumecheng-11564	247	2	rr	rr	PROPN
fumecheng-11564	247	3	eeeex	eeeex	ADP
fumecheng-11564	247	4	iakbkbaa	iakbkbaa	PROPN
fumecheng-11564	247	5	(	(	PUNCT
fumecheng-11564	247	6	37	37	NUM
fumecheng-11564	247	7	)	)	PUNCT
fumecheng-11564	247	8	a	a	DET
fumecheng-11564	247	9	set	set	NOUN
fumecheng-11564	247	10	of	of	ADP
fumecheng-11564	247	11	parameters	parameter	NOUN
fumecheng-11564	247	12	that	that	PRON
fumecheng-11564	247	13	guarantee	guarantee	VERB
fumecheng-11564	247	14	the	the	DET
fumecheng-11564	247	15	stability	stability	NOUN
fumecheng-11564	247	16	of	of	ADP
fumecheng-11564	247	17	the	the	DET
fumecheng-11564	247	18	system	system	NOUN
fumecheng-11564	247	19	with	with	ADP
fumecheng-11564	247	20	the	the	DET
fumecheng-11564	247	21	matrix	matrix	NOUN
fumecheng-11564	247	22	in	in	ADP
fumecheng-11564	247	23	eq	eq	ADP
fumecheng-11564	247	24	.	.	PUNCT
fumecheng-11564	248	1	(	(	PUNCT
fumecheng-11564	248	2	37	37	NUM
fumecheng-11564	248	3	)	)	PUNCT
fumecheng-11564	248	4	is	be	AUX
fumecheng-11564	248	5	]	]	PUNCT
fumecheng-11564	248	6	.00130.092.61[3	.00130.092.61[3	ADP
fumecheng-11564	248	7	=	=	PRON
fumecheng-11564	248	8	k	k	X
fumecheng-11564	248	9	(	(	PUNCT
fumecheng-11564	248	10	38	38	NUM
fumecheng-11564	248	11	)	)	PUNCT
fumecheng-11564	248	12	the	the	DET
fumecheng-11564	248	13	other	other	ADJ
fumecheng-11564	248	14	parameters	parameter	NOUN
fumecheng-11564	248	15	of	of	ADP
fumecheng-11564	248	16	the	the	DET
fumecheng-11564	248	17	control	control	NOUN
fumecheng-11564	248	18	law	law	NOUN
fumecheng-11564	248	19	were	be	AUX
fumecheng-11564	248	20	set	set	VERB
fumecheng-11564	248	21	as	as	ADP
fumecheng-11564	248	22	q=99	q=99	NOUN
fumecheng-11564	248	23	such	such	ADJ
fumecheng-11564	248	24	that	that	DET
fumecheng-11564	248	25	qts(0,1	qts(0,1	NOUN
fumecheng-11564	248	26	)	)	PUNCT
fumecheng-11564	248	27	and	and	CCONJ
fumecheng-11564	248	28	=300	=300	NOUN
fumecheng-11564	249	1	[	[	X
fumecheng-11564	249	2	20	20	NUM
fumecheng-11564	249	3	]	]	PUNCT
fumecheng-11564	249	4	.	.	PUNCT
fumecheng-11564	250	1	using	use	VERB
fumecheng-11564	250	2	the	the	DET
fumecheng-11564	250	3	same	same	ADJ
fumecheng-11564	250	4	reference	reference	NOUN
fumecheng-11564	250	5	input	input	NOUN
fumecheng-11564	250	6	trajectory	trajectory	NOUN
fumecheng-11564	250	7	as	as	ADP
fumecheng-11564	250	8	in	in	ADP
fumecheng-11564	250	9	section	section	NOUN
fumecheng-11564	250	10	3.3	3.3	NUM
fumecheng-11564	250	11	and	and	CCONJ
fumecheng-11564	250	12	[	[	X
fumecheng-11564	250	13	6	6	NUM
fumecheng-11564	250	14	]	]	PUNCT
fumecheng-11564	250	15	,	,	PUNCT
fumecheng-11564	250	16	the	the	DET
fumecheng-11564	250	17	experimental	experimental	ADJ
fumecheng-11564	250	18	results	result	NOUN
fumecheng-11564	250	19	obtained	obtain	VERB
fumecheng-11564	250	20	for	for	ADP
fumecheng-11564	250	21	the	the	DET
fumecheng-11564	250	22	control	control	NOUN
fumecheng-11564	250	23	system	system	NOUN
fumecheng-11564	250	24	with	with	ADP
fumecheng-11564	250	25	the	the	DET
fumecheng-11564	250	26	controller	controller	NOUN
fumecheng-11564	250	27	parameters	parameter	NOUN
fumecheng-11564	250	28	in	in	ADP
fumecheng-11564	250	29	eq	eq	ADP
fumecheng-11564	250	30	.	.	PUNCT
fumecheng-11564	251	1	(	(	PUNCT
fumecheng-11564	251	2	38	38	NUM
fumecheng-11564	251	3	)	)	PUNCT
fumecheng-11564	251	4	are	be	AUX
fumecheng-11564	251	5	given	give	VERB
fumecheng-11564	251	6	in	in	ADP
fumecheng-11564	251	7	fig	fig	NOUN
fumecheng-11564	251	8	.	.	PUNCT
fumecheng-11564	252	1	8	8	NUM
fumecheng-11564	252	2	.	.	X
fumecheng-11564	252	3	14	14	NUM
fumecheng-11564	252	4	a.-i	a.-i	PROPN
fumecheng-11564	252	5	.	.	PUNCT
fumecheng-11564	253	1	borlea	borlea	PROPN
fumecheng-11564	253	2	,	,	PUNCT
fumecheng-11564	253	3	r.-e	r.-e	PROPN
fumecheng-11564	253	4	.	.	PUNCT
fumecheng-11564	254	1	precup	precup	PROPN
fumecheng-11564	254	2	,	,	PUNCT
fumecheng-11564	254	3	r.-c	r.-c	PROPN
fumecheng-11564	254	4	.	.	PUNCT
fumecheng-11564	255	1	roman	roman	ADJ
fumecheng-11564	255	2	fig	fig	PROPN
fumecheng-11564	255	3	.	.	PUNCT
fumecheng-11564	256	1	8	8	NUM
fumecheng-11564	256	2	the	the	DET
fumecheng-11564	256	3	results	result	NOUN
fumecheng-11564	256	4	of	of	ADP
fumecheng-11564	256	5	payload	payload	ADJ
fumecheng-11564	256	6	position	position	NOUN
fumecheng-11564	256	7	control	control	NOUN
fumecheng-11564	256	8	system	system	NOUN
fumecheng-11564	256	9	with	with	ADP
fumecheng-11564	256	10	gao	gao	PROPN
fumecheng-11564	256	11	dtsmc	dtsmc	PROPN
fumecheng-11564	256	12	law	law	NOUN
fumecheng-11564	256	13	:	:	PUNCT
fumecheng-11564	256	14	(	(	PUNCT
fumecheng-11564	256	15	a	a	X
fumecheng-11564	256	16	)	)	PUNCT
fumecheng-11564	256	17	u3	u3	NOUN
fumecheng-11564	256	18	;	;	PUNCT
fumecheng-11564	256	19	(	(	PUNCT
fumecheng-11564	256	20	b	b	X
fumecheng-11564	256	21	)	)	PUNCT
fumecheng-11564	256	22	r3	r3	PROPN
fumecheng-11564	256	23	(	(	PUNCT
fumecheng-11564	256	24	black	black	NOUN
fumecheng-11564	256	25	)	)	PUNCT
fumecheng-11564	256	26	,	,	PUNCT
fumecheng-11564	256	27	y3	y3	NOUN
fumecheng-11564	256	28	(	(	PUNCT
fumecheng-11564	256	29	red	red	PROPN
fumecheng-11564	256	30	)	)	PUNCT
fumecheng-11564	256	31	.	.	PUNCT
fumecheng-11564	257	1	3.3	3.3	NUM
fumecheng-11564	257	2	.	.	PUNCT
fumecheng-11564	258	1	quasi	quasi	ADJ
fumecheng-11564	258	2	-	-	ADJ
fumecheng-11564	258	3	relay	relay	ADJ
fumecheng-11564	258	4	dtsmc	dtsmc	NOUN
fumecheng-11564	258	5	law	law	NOUN
fumecheng-11564	258	6	design	design	NOUN
fumecheng-11564	258	7	and	and	CCONJ
fumecheng-11564	258	8	implementation	implementation	NOUN
fumecheng-11564	258	9	summarizing	summarize	VERB
fumecheng-11564	258	10	the	the	DET
fumecheng-11564	258	11	information	information	NOUN
fumecheng-11564	258	12	given	give	VERB
fumecheng-11564	258	13	in	in	ADP
fumecheng-11564	258	14	the	the	DET
fumecheng-11564	258	15	previous	previous	ADJ
fumecheng-11564	258	16	sections	section	NOUN
fumecheng-11564	258	17	,	,	PUNCT
fumecheng-11564	258	18	the	the	DET
fumecheng-11564	258	19	guidelines	guideline	NOUN
fumecheng-11564	258	20	to	to	PART
fumecheng-11564	258	21	design	design	VERB
fumecheng-11564	258	22	the	the	DET
fumecheng-11564	258	23	quasi	quasi	ADJ
fumecheng-11564	258	24	-	-	ADJ
fumecheng-11564	258	25	relay	relay	ADJ
fumecheng-11564	258	26	dtsmc	dtsmc	NOUN
fumecheng-11564	258	27	law	law	NOUN
fumecheng-11564	258	28	consist	consist	NOUN
fumecheng-11564	258	29	of	of	ADP
fumecheng-11564	258	30	the	the	DET
fumecheng-11564	258	31	following	follow	VERB
fumecheng-11564	258	32	steps	step	NOUN
fumecheng-11564	258	33	:	:	PUNCT
fumecheng-11564	258	34	step	step	NOUN
fumecheng-11564	258	35	m1	m1	NOUN
fumecheng-11564	258	36	.	.	PUNCT
fumecheng-11564	259	1	this	this	DET
fumecheng-11564	259	2	step	step	NOUN
fumecheng-11564	259	3	is	be	AUX
fumecheng-11564	259	4	identical	identical	ADJ
fumecheng-11564	259	5	to	to	PART
fumecheng-11564	259	6	step	step	VERB
fumecheng-11564	259	7	f1	f1	NOUN
fumecheng-11564	259	8	.	.	PUNCT
fumecheng-11564	260	1	step	step	NOUN
fumecheng-11564	260	2	m2	m2	PROPN
fumecheng-11564	260	3	.	.	PUNCT
fumecheng-11564	261	1	this	this	DET
fumecheng-11564	261	2	step	step	NOUN
fumecheng-11564	261	3	is	be	AUX
fumecheng-11564	261	4	identical	identical	ADJ
fumecheng-11564	261	5	to	to	PART
fumecheng-11564	261	6	step	step	VERB
fumecheng-11564	261	7	f2	f2	PROPN
fumecheng-11564	261	8	.	.	PUNCT
fumecheng-11564	262	1	step	step	NOUN
fumecheng-11564	262	2	m3	m3	PROPN
fumecheng-11564	262	3	.	.	PUNCT
fumecheng-11564	263	1	this	this	DET
fumecheng-11564	263	2	step	step	NOUN
fumecheng-11564	263	3	is	be	AUX
fumecheng-11564	263	4	identical	identical	ADJ
fumecheng-11564	263	5	to	to	PART
fumecheng-11564	263	6	step	step	VERB
fumecheng-11564	263	7	f3	f3	ADJ
fumecheng-11564	263	8	.	.	PUNCT
fumecheng-11564	264	1	step	step	PROPN
fumecheng-11564	264	2	m4	m4	PROPN
fumecheng-11564	264	3	.	.	PUNCT
fumecheng-11564	264	4	set	set	VERB
fumecheng-11564	264	5	the	the	DET
fumecheng-11564	264	6	values	value	NOUN
fumecheng-11564	264	7	of	of	ADP
fumecheng-11564	264	8	the	the	DET
fumecheng-11564	264	9	parameters	parameter	NOUN
fumecheng-11564	264	10	i>1	i>1	VERB
fumecheng-11564	264	11	.	.	PUNCT
fumecheng-11564	265	1	these	these	DET
fumecheng-11564	265	2	steps	step	NOUN
fumecheng-11564	265	3	are	be	AUX
fumecheng-11564	265	4	exemplified	exemplify	VERB
fumecheng-11564	265	5	as	as	SCONJ
fumecheng-11564	265	6	follows	follow	VERB
fumecheng-11564	265	7	.	.	PUNCT
fumecheng-11564	266	1	for	for	ADP
fumecheng-11564	266	2	the	the	DET
fumecheng-11564	266	3	cart	cart	NOUN
fumecheng-11564	266	4	position	position	NOUN
fumecheng-11564	266	5	control	control	NOUN
fumecheng-11564	266	6	system	system	NOUN
fumecheng-11564	266	7	,	,	PUNCT
fumecheng-11564	266	8	the	the	DET
fumecheng-11564	266	9	sampling	sampling	NOUN
fumecheng-11564	266	10	period	period	NOUN
fumecheng-11564	266	11	and	and	CCONJ
fumecheng-11564	266	12	the	the	DET
fumecheng-11564	266	13	integral	integral	ADJ
fumecheng-11564	266	14	time	time	NOUN
fumecheng-11564	266	15	constant	constant	ADJ
fumecheng-11564	266	16	are	be	AUX
fumecheng-11564	266	17	chosen	choose	VERB
fumecheng-11564	266	18	as	as	ADP
fumecheng-11564	266	19	ts=0.01	ts=0.01	PROPN
fumecheng-11564	266	20	s	s	PART
fumecheng-11564	266	21	and	and	CCONJ
fumecheng-11564	266	22	ti=0.25	ti=0.25	PROPN
fumecheng-11564	266	23	s.	s.	PROPN
fumecheng-11564	266	24	the	the	DET
fumecheng-11564	266	25	expression	expression	NOUN
fumecheng-11564	266	26	of	of	ADP
fumecheng-11564	266	27	the	the	DET
fumecheng-11564	266	28	system	system	NOUN
fumecheng-11564	266	29	matrix	matrix	NOUN
fumecheng-11564	266	30	specific	specific	ADJ
fumecheng-11564	266	31	to	to	ADP
fumecheng-11564	266	32	the	the	DET
fumecheng-11564	266	33	furuta	furuta	PROPN
fumecheng-11564	266	34	dtsmc	dtsmc	PROPN
fumecheng-11564	266	35	law	law	NOUN
fumecheng-11564	266	36	results	result	NOUN
fumecheng-11564	266	37	from	from	ADP
fumecheng-11564	266	38	eqs	eqs	PROPN
fumecheng-11564	266	39	.	.	PUNCT
fumecheng-11564	267	1	(	(	PUNCT
fumecheng-11564	267	2	9	9	NUM
fumecheng-11564	267	3	)	)	PUNCT
fumecheng-11564	267	4	and	and	CCONJ
fumecheng-11564	267	5	(	(	PUNCT
fumecheng-11564	267	6	23	23	NUM
fumecheng-11564	267	7	)	)	PUNCT
fumecheng-11564	268	1	[	[	X
fumecheng-11564	268	2	20	20	NUM
fumecheng-11564	268	3	]	]	PUNCT
fumecheng-11564	268	4	.	.	PUNCT
fumecheng-11564	269	1	00500	00500	NUM
fumecheng-11564	270	1	//1/)500(/	//1/)500(/	ADP
fumecheng-11564	270	2	010	010	NUM
fumecheng-11564	270	3	)	)	PUNCT
fumecheng-11564	270	4	(	(	PUNCT
fumecheng-11564	270	5	)	)	PUNCT
fumecheng-11564	270	6	(	(	PUNCT
fumecheng-11564	270	7	2212211	2212211	NUM
fumecheng-11564	270	8	1	1	NUM
fumecheng-11564	270	9	1	1	NUM
fumecheng-11564	270	10	11111	11111	NUM
fumecheng-11564	270	11			NOUN
fumecheng-11564	271	1			PROPN
fumecheng-11564	271	2			PROPN
fumecheng-11564	271	3			PROPN
fumecheng-11564	271	4			X
fumecheng-11564	271	5			NOUN
fumecheng-11564	271	6			NOUN
fumecheng-11564	271	7			NOUN
fumecheng-11564	271	8			VERB
fumecheng-11564	271	9			PROPN
fumecheng-11564	271	10	−	−	PROPN
fumecheng-11564	271	11	−+=−−=	−+=−−=	NOUN
fumecheng-11564	271	12	−	−	PROPN
fumecheng-11564	271	13	kkkkkkkk	kkkkkkkk	PROPN
fumecheng-11564	271	14	rreeeex	rreeeex	NOUN
fumecheng-11564	271	15	iakbkbaa	iakbkbaa	NOUN
fumecheng-11564	271	16	(	(	PUNCT
fumecheng-11564	271	17	39	39	NUM
fumecheng-11564	271	18	)	)	PUNCT
fumecheng-11564	271	19	a	a	DET
fumecheng-11564	271	20	set	set	NOUN
fumecheng-11564	271	21	of	of	ADP
fumecheng-11564	271	22	parameters	parameter	NOUN
fumecheng-11564	271	23	that	that	PRON
fumecheng-11564	271	24	guarantee	guarantee	VERB
fumecheng-11564	271	25	the	the	DET
fumecheng-11564	271	26	stability	stability	NOUN
fumecheng-11564	271	27	of	of	ADP
fumecheng-11564	271	28	the	the	DET
fumecheng-11564	271	29	system	system	NOUN
fumecheng-11564	271	30	with	with	ADP
fumecheng-11564	271	31	the	the	DET
fumecheng-11564	271	32	matrix	matrix	NOUN
fumecheng-11564	271	33	in	in	ADP
fumecheng-11564	271	34	(	(	PUNCT
fumecheng-11564	271	35	39	39	NUM
fumecheng-11564	271	36	)	)	PUNCT
fumecheng-11564	271	37	is	be	AUX
fumecheng-11564	271	38	]	]	PUNCT
fumecheng-11564	271	39	.001.04.09.0[1	.001.04.09.0[1	PUNCT
fumecheng-11564	272	1	−=k	−=k	INTJ
fumecheng-11564	272	2	(	(	PUNCT
fumecheng-11564	272	3	40	40	NUM
fumecheng-11564	272	4	)	)	PUNCT
fumecheng-11564	272	5	the	the	DET
fumecheng-11564	272	6	other	other	ADJ
fumecheng-11564	272	7	parameters	parameter	NOUN
fumecheng-11564	272	8	of	of	ADP
fumecheng-11564	272	9	the	the	DET
fumecheng-11564	272	10	control	control	NOUN
fumecheng-11564	272	11	law	law	NOUN
fumecheng-11564	272	12	were	be	AUX
fumecheng-11564	272	13	set	set	VERB
fumecheng-11564	272	14	as	as	ADP
fumecheng-11564	272	15	=[3	=[3	X
fumecheng-11564	272	16	1	1	NUM
fumecheng-11564	272	17	3	3	NUM
fumecheng-11564	272	18	]	]	PUNCT
fumecheng-11564	273	1	[	[	X
fumecheng-11564	273	2	20	20	NUM
fumecheng-11564	273	3	]	]	PUNCT
fumecheng-11564	273	4	.	.	PUNCT
fumecheng-11564	274	1	discrete	discrete	ADJ
fumecheng-11564	274	2	-	-	PUNCT
fumecheng-11564	274	3	time	time	NOUN
fumecheng-11564	274	4	model	model	NOUN
fumecheng-11564	274	5	-	-	PUNCT
fumecheng-11564	274	6	based	base	VERB
fumecheng-11564	274	7	sliding	slide	VERB
fumecheng-11564	274	8	mode	mode	NOUN
fumecheng-11564	274	9	controllers	controller	NOUN
fumecheng-11564	274	10	for	for	ADP
fumecheng-11564	274	11	tower	tower	NOUN
fumecheng-11564	274	12	crane	crane	NOUN
fumecheng-11564	274	13	systems	system	NOUN
fumecheng-11564	274	14	15	15	NUM
fumecheng-11564	274	15	using	use	VERB
fumecheng-11564	274	16	the	the	DET
fumecheng-11564	274	17	same	same	ADJ
fumecheng-11564	274	18	reference	reference	NOUN
fumecheng-11564	274	19	input	input	NOUN
fumecheng-11564	274	20	trajectory	trajectory	NOUN
fumecheng-11564	274	21	as	as	ADP
fumecheng-11564	274	22	in	in	ADP
fumecheng-11564	274	23	section	section	NOUN
fumecheng-11564	274	24	3.1	3.1	NUM
fumecheng-11564	274	25	and	and	CCONJ
fumecheng-11564	274	26	[	[	X
fumecheng-11564	274	27	6	6	NUM
fumecheng-11564	274	28	]	]	PUNCT
fumecheng-11564	274	29	,	,	PUNCT
fumecheng-11564	274	30	the	the	DET
fumecheng-11564	274	31	experimental	experimental	ADJ
fumecheng-11564	274	32	results	result	NOUN
fumecheng-11564	274	33	obtained	obtain	VERB
fumecheng-11564	274	34	for	for	ADP
fumecheng-11564	274	35	the	the	DET
fumecheng-11564	274	36	control	control	NOUN
fumecheng-11564	274	37	system	system	NOUN
fumecheng-11564	274	38	with	with	ADP
fumecheng-11564	274	39	the	the	DET
fumecheng-11564	274	40	controller	controller	NOUN
fumecheng-11564	274	41	parameters	parameter	NOUN
fumecheng-11564	274	42	in	in	ADP
fumecheng-11564	274	43	eq	eq	ADP
fumecheng-11564	274	44	.	.	PUNCT
fumecheng-11564	275	1	(	(	PUNCT
fumecheng-11564	275	2	40	40	NUM
fumecheng-11564	275	3	)	)	PUNCT
fumecheng-11564	275	4	are	be	AUX
fumecheng-11564	275	5	illustrated	illustrate	VERB
fumecheng-11564	275	6	in	in	ADP
fumecheng-11564	275	7	fig	fig	NOUN
fumecheng-11564	275	8	.	.	PUNCT
fumecheng-11564	276	1	9	9	X
fumecheng-11564	276	2	.	.	X
fumecheng-11564	276	3	fig	fig	NOUN
fumecheng-11564	276	4	.	.	PUNCT
fumecheng-11564	277	1	9	9	NUM
fumecheng-11564	277	2	the	the	DET
fumecheng-11564	277	3	results	result	NOUN
fumecheng-11564	277	4	of	of	ADP
fumecheng-11564	277	5	cart	cart	NOUN
fumecheng-11564	277	6	position	position	NOUN
fumecheng-11564	277	7	control	control	NOUN
fumecheng-11564	277	8	system	system	NOUN
fumecheng-11564	277	9	with	with	ADP
fumecheng-11564	277	10	quasi	quasi	ADJ
fumecheng-11564	277	11	-	-	ADJ
fumecheng-11564	277	12	relay	relay	ADJ
fumecheng-11564	277	13	dtsmc	dtsmc	NOUN
fumecheng-11564	277	14	law	law	NOUN
fumecheng-11564	277	15	:	:	PUNCT
fumecheng-11564	277	16	(	(	PUNCT
fumecheng-11564	277	17	a	a	X
fumecheng-11564	277	18	)	)	PUNCT
fumecheng-11564	277	19	u1	u1	NOUN
fumecheng-11564	277	20	;	;	PUNCT
fumecheng-11564	277	21	(	(	PUNCT
fumecheng-11564	277	22	b	b	X
fumecheng-11564	277	23	)	)	PUNCT
fumecheng-11564	277	24	r1	r1	NOUN
fumecheng-11564	277	25	(	(	PUNCT
fumecheng-11564	277	26	black	black	NOUN
fumecheng-11564	277	27	)	)	PUNCT
fumecheng-11564	277	28	,	,	PUNCT
fumecheng-11564	277	29	y1	y1	INTJ
fumecheng-11564	277	30	(	(	PUNCT
fumecheng-11564	277	31	red	red	ADJ
fumecheng-11564	277	32	)	)	PUNCT
fumecheng-11564	277	33	.	.	PUNCT
fumecheng-11564	278	1	for	for	ADP
fumecheng-11564	278	2	the	the	DET
fumecheng-11564	278	3	arm	arm	NOUN
fumecheng-11564	278	4	angular	angular	ADJ
fumecheng-11564	278	5	position	position	NOUN
fumecheng-11564	278	6	control	control	NOUN
fumecheng-11564	278	7	system	system	NOUN
fumecheng-11564	278	8	,	,	PUNCT
fumecheng-11564	278	9	the	the	DET
fumecheng-11564	278	10	sampling	sampling	NOUN
fumecheng-11564	278	11	period	period	NOUN
fumecheng-11564	278	12	and	and	CCONJ
fumecheng-11564	278	13	the	the	DET
fumecheng-11564	278	14	integral	integral	ADJ
fumecheng-11564	278	15	time	time	NOUN
fumecheng-11564	278	16	constant	constant	ADJ
fumecheng-11564	278	17	are	be	AUX
fumecheng-11564	278	18	chosen	choose	VERB
fumecheng-11564	278	19	as	as	ADP
fumecheng-11564	278	20	ts=0.01	ts=0.01	PROPN
fumecheng-11564	278	21	s	s	PART
fumecheng-11564	278	22	and	and	CCONJ
fumecheng-11564	278	23	ti=0.25	ti=0.25	PROPN
fumecheng-11564	278	24	s.	s.	PROPN
fumecheng-11564	278	25	the	the	DET
fumecheng-11564	278	26	expression	expression	NOUN
fumecheng-11564	278	27	of	of	ADP
fumecheng-11564	278	28	the	the	DET
fumecheng-11564	278	29	system	system	NOUN
fumecheng-11564	278	30	matrix	matrix	NOUN
fumecheng-11564	278	31	specific	specific	ADJ
fumecheng-11564	278	32	to	to	ADP
fumecheng-11564	278	33	the	the	DET
fumecheng-11564	278	34	furuta	furuta	PROPN
fumecheng-11564	278	35	dtsmc	dtsmc	PROPN
fumecheng-11564	278	36	law	law	NOUN
fumecheng-11564	278	37	results	result	NOUN
fumecheng-11564	278	38	from	from	ADP
fumecheng-11564	278	39	eqs	eqs	PROPN
fumecheng-11564	278	40	.	.	PUNCT
fumecheng-11564	279	1	(	(	PUNCT
fumecheng-11564	279	2	9	9	NUM
fumecheng-11564	279	3	)	)	PUNCT
fumecheng-11564	279	4	and	and	CCONJ
fumecheng-11564	279	5	(	(	PUNCT
fumecheng-11564	279	6	24	24	NUM
fumecheng-11564	279	7	)	)	PUNCT
fumecheng-11564	280	1	[	[	X
fumecheng-11564	280	2	20	20	NUM
fumecheng-11564	280	3	]	]	PUNCT
fumecheng-11564	280	4	.	.	PUNCT
fumecheng-11564	281	1	00400	00400	NUM
fumecheng-11564	281	2	//1/)400(/	//1/)400(/	NOUN
fumecheng-11564	281	3	010	010	NUM
fumecheng-11564	281	4	)	)	PUNCT
fumecheng-11564	281	5	(	(	PUNCT
fumecheng-11564	281	6	)	)	PUNCT
fumecheng-11564	281	7	(	(	PUNCT
fumecheng-11564	281	8	2212212	2212212	NUM
fumecheng-11564	281	9	1	1	NUM
fumecheng-11564	281	10	2	2	NUM
fumecheng-11564	281	11	22222	22222	NUM
fumecheng-11564	281	12			NOUN
fumecheng-11564	282	1			PROPN
fumecheng-11564	282	2			PROPN
fumecheng-11564	282	3			PROPN
fumecheng-11564	282	4			X
fumecheng-11564	282	5			NOUN
fumecheng-11564	282	6			NOUN
fumecheng-11564	282	7			NOUN
fumecheng-11564	282	8			VERB
fumecheng-11564	282	9			PROPN
fumecheng-11564	282	10	−	−	PROPN
fumecheng-11564	282	11	−+=−−=	−+=−−=	NOUN
fumecheng-11564	282	12	−	−	PROPN
fumecheng-11564	282	13	kkkkkkkk	kkkkkkkk	PROPN
fumecheng-11564	282	14	rreeeex	rreeeex	NOUN
fumecheng-11564	282	15	iakbkbaa	iakbkbaa	NOUN
fumecheng-11564	282	16	(	(	PUNCT
fumecheng-11564	282	17	41	41	NUM
fumecheng-11564	282	18	)	)	PUNCT
fumecheng-11564	282	19	a	a	DET
fumecheng-11564	282	20	set	set	NOUN
fumecheng-11564	282	21	of	of	ADP
fumecheng-11564	282	22	parameters	parameter	NOUN
fumecheng-11564	282	23	that	that	PRON
fumecheng-11564	282	24	guarantee	guarantee	VERB
fumecheng-11564	282	25	the	the	DET
fumecheng-11564	282	26	stability	stability	NOUN
fumecheng-11564	282	27	of	of	ADP
fumecheng-11564	282	28	the	the	DET
fumecheng-11564	282	29	system	system	NOUN
fumecheng-11564	282	30	with	with	ADP
fumecheng-11564	282	31	the	the	DET
fumecheng-11564	282	32	matrix	matrix	NOUN
fumecheng-11564	282	33	in	in	ADP
fumecheng-11564	282	34	eq	eq	PROPN
fumecheng-11564	282	35	.	.	PUNCT
fumecheng-11564	283	1	(	(	PUNCT
fumecheng-11564	283	2	41	41	NUM
fumecheng-11564	283	3	)	)	PUNCT
fumecheng-11564	283	4	is	be	AUX
fumecheng-11564	283	5	]	]	PUNCT
fumecheng-11564	283	6	.0011.03.083.0[2	.0011.03.083.0[2	PUNCT
fumecheng-11564	284	1	−=k	−=k	INTJ
fumecheng-11564	284	2	(	(	PUNCT
fumecheng-11564	284	3	42	42	NUM
fumecheng-11564	284	4	)	)	PUNCT
fumecheng-11564	284	5	the	the	DET
fumecheng-11564	284	6	other	other	ADJ
fumecheng-11564	284	7	parameters	parameter	NOUN
fumecheng-11564	284	8	of	of	ADP
fumecheng-11564	284	9	the	the	DET
fumecheng-11564	284	10	control	control	NOUN
fumecheng-11564	284	11	law	law	NOUN
fumecheng-11564	284	12	were	be	AUX
fumecheng-11564	284	13	set	set	VERB
fumecheng-11564	284	14	as	as	ADP
fumecheng-11564	284	15	=[3	=[3	X
fumecheng-11564	284	16	1	1	NUM
fumecheng-11564	284	17	3	3	NUM
fumecheng-11564	284	18	]	]	PUNCT
fumecheng-11564	285	1	[	[	X
fumecheng-11564	285	2	20	20	NUM
fumecheng-11564	285	3	]	]	PUNCT
fumecheng-11564	285	4	.	.	PUNCT
fumecheng-11564	286	1	using	use	VERB
fumecheng-11564	286	2	the	the	DET
fumecheng-11564	286	3	same	same	ADJ
fumecheng-11564	286	4	reference	reference	NOUN
fumecheng-11564	286	5	input	input	NOUN
fumecheng-11564	286	6	trajectory	trajectory	NOUN
fumecheng-11564	286	7	as	as	ADP
fumecheng-11564	286	8	in	in	ADP
fumecheng-11564	286	9	section	section	NOUN
fumecheng-11564	286	10	3.2	3.2	NUM
fumecheng-11564	286	11	and	and	CCONJ
fumecheng-11564	286	12	[	[	X
fumecheng-11564	286	13	6	6	NUM
fumecheng-11564	286	14	]	]	PUNCT
fumecheng-11564	286	15	,	,	PUNCT
fumecheng-11564	286	16	the	the	DET
fumecheng-11564	286	17	experimental	experimental	ADJ
fumecheng-11564	286	18	results	result	NOUN
fumecheng-11564	286	19	obtained	obtain	VERB
fumecheng-11564	286	20	for	for	ADP
fumecheng-11564	286	21	the	the	DET
fumecheng-11564	286	22	control	control	NOUN
fumecheng-11564	286	23	system	system	NOUN
fumecheng-11564	286	24	with	with	ADP
fumecheng-11564	286	25	the	the	DET
fumecheng-11564	286	26	controller	controller	NOUN
fumecheng-11564	286	27	parameters	parameter	NOUN
fumecheng-11564	286	28	in	in	ADP
fumecheng-11564	286	29	eq	eq	ADP
fumecheng-11564	286	30	.	.	PUNCT
fumecheng-11564	287	1	(	(	PUNCT
fumecheng-11564	287	2	42	42	NUM
fumecheng-11564	287	3	)	)	PUNCT
fumecheng-11564	287	4	are	be	AUX
fumecheng-11564	287	5	illustrated	illustrate	VERB
fumecheng-11564	287	6	in	in	ADP
fumecheng-11564	287	7	fig	fig	NOUN
fumecheng-11564	287	8	.	.	PUNCT
fumecheng-11564	288	1	10	10	NUM
fumecheng-11564	288	2	.	.	X
fumecheng-11564	288	3	16	16	NUM
fumecheng-11564	288	4	a.-i	a.-i	PROPN
fumecheng-11564	288	5	.	.	PUNCT
fumecheng-11564	289	1	borlea	borlea	PROPN
fumecheng-11564	289	2	,	,	PUNCT
fumecheng-11564	289	3	r.-e	r.-e	PROPN
fumecheng-11564	289	4	.	.	PUNCT
fumecheng-11564	290	1	precup	precup	PROPN
fumecheng-11564	290	2	,	,	PUNCT
fumecheng-11564	290	3	r.-c	r.-c	PROPN
fumecheng-11564	290	4	.	.	PUNCT
fumecheng-11564	291	1	roman	roman	ADJ
fumecheng-11564	291	2	fig	fig	PROPN
fumecheng-11564	291	3	.	.	PUNCT
fumecheng-11564	292	1	10	10	NUM
fumecheng-11564	292	2	the	the	DET
fumecheng-11564	292	3	results	result	NOUN
fumecheng-11564	292	4	of	of	ADP
fumecheng-11564	292	5	arm	arm	NOUN
fumecheng-11564	292	6	angular	angular	ADJ
fumecheng-11564	292	7	position	position	NOUN
fumecheng-11564	292	8	control	control	NOUN
fumecheng-11564	292	9	system	system	NOUN
fumecheng-11564	292	10	with	with	ADP
fumecheng-11564	292	11	quasi	quasi	ADJ
fumecheng-11564	292	12	-	-	ADJ
fumecheng-11564	292	13	relay	relay	ADJ
fumecheng-11564	292	14	dtsmc	dtsmc	NOUN
fumecheng-11564	292	15	law	law	NOUN
fumecheng-11564	292	16	:	:	PUNCT
fumecheng-11564	292	17	(	(	PUNCT
fumecheng-11564	292	18	a	a	X
fumecheng-11564	292	19	)	)	PUNCT
fumecheng-11564	292	20	u2	u2	NOUN
fumecheng-11564	292	21	;	;	PUNCT
fumecheng-11564	292	22	(	(	PUNCT
fumecheng-11564	292	23	b	b	X
fumecheng-11564	292	24	)	)	PUNCT
fumecheng-11564	292	25	r2	r2	NOUN
fumecheng-11564	292	26	(	(	PUNCT
fumecheng-11564	292	27	black	black	NOUN
fumecheng-11564	292	28	)	)	PUNCT
fumecheng-11564	292	29	,	,	PUNCT
fumecheng-11564	292	30	y2	y2	PROPN
fumecheng-11564	292	31	(	(	PUNCT
fumecheng-11564	292	32	red	red	PROPN
fumecheng-11564	292	33	)	)	PUNCT
fumecheng-11564	292	34	.	.	PUNCT
fumecheng-11564	293	1	for	for	ADP
fumecheng-11564	293	2	the	the	DET
fumecheng-11564	293	3	payload	payload	NOUN
fumecheng-11564	293	4	position	position	NOUN
fumecheng-11564	293	5	control	control	NOUN
fumecheng-11564	293	6	system	system	NOUN
fumecheng-11564	293	7	,	,	PUNCT
fumecheng-11564	293	8	the	the	DET
fumecheng-11564	293	9	sampling	sampling	NOUN
fumecheng-11564	293	10	period	period	NOUN
fumecheng-11564	293	11	and	and	CCONJ
fumecheng-11564	293	12	the	the	DET
fumecheng-11564	293	13	integral	integral	ADJ
fumecheng-11564	293	14	time	time	NOUN
fumecheng-11564	293	15	constant	constant	ADJ
fumecheng-11564	293	16	are	be	AUX
fumecheng-11564	293	17	chosen	choose	VERB
fumecheng-11564	293	18	as	as	ADP
fumecheng-11564	293	19	ts=0.01	ts=0.01	PROPN
fumecheng-11564	293	20	s	s	PART
fumecheng-11564	293	21	and	and	CCONJ
fumecheng-11564	293	22	ti=0.003	ti=0.003	PROPN
fumecheng-11564	293	23	s.	s.	PROPN
fumecheng-11564	293	24	the	the	DET
fumecheng-11564	293	25	expression	expression	NOUN
fumecheng-11564	293	26	of	of	ADP
fumecheng-11564	293	27	the	the	DET
fumecheng-11564	293	28	system	system	NOUN
fumecheng-11564	293	29	matrix	matrix	NOUN
fumecheng-11564	293	30	specific	specific	ADJ
fumecheng-11564	293	31	to	to	ADP
fumecheng-11564	293	32	the	the	DET
fumecheng-11564	293	33	furuta	furuta	PROPN
fumecheng-11564	293	34	dtsmc	dtsmc	PROPN
fumecheng-11564	293	35	law	law	NOUN
fumecheng-11564	293	36	results	result	NOUN
fumecheng-11564	293	37	from	from	ADP
fumecheng-11564	293	38	eqs	eqs	PROPN
fumecheng-11564	293	39	.	.	PUNCT
fumecheng-11564	294	1	(	(	PUNCT
fumecheng-11564	294	2	9	9	NUM
fumecheng-11564	294	3	)	)	PUNCT
fumecheng-11564	294	4	and	and	CCONJ
fumecheng-11564	294	5	(	(	PUNCT
fumecheng-11564	294	6	25	25	NUM
fumecheng-11564	294	7	)	)	PUNCT
fumecheng-11564	295	1	[	[	X
fumecheng-11564	295	2	20	20	NUM
fumecheng-11564	295	3	]	]	PUNCT
fumecheng-11564	295	4	.	.	PUNCT
fumecheng-11564	296	1	00100000/3//13/)100000(/	00100000/3//13/)100000(/	NOUN
fumecheng-11564	296	2	010	010	NUM
fumecheng-11564	296	3	)	)	PUNCT
fumecheng-11564	296	4	(	(	PUNCT
fumecheng-11564	296	5	)	)	PUNCT
fumecheng-11564	296	6	(	(	PUNCT
fumecheng-11564	296	7	221221	221221	NUM
fumecheng-11564	296	8	3	3	NUM
fumecheng-11564	296	9	1	1	NUM
fumecheng-11564	296	10	3	3	NUM
fumecheng-11564	296	11	33333	33333	NUM
fumecheng-11564	296	12			NOUN
fumecheng-11564	297	1			PROPN
fumecheng-11564	297	2			PROPN
fumecheng-11564	297	3			PROPN
fumecheng-11564	297	4			X
fumecheng-11564	297	5			NOUN
fumecheng-11564	297	6			NOUN
fumecheng-11564	297	7			NOUN
fumecheng-11564	297	8			NOUN
fumecheng-11564	297	9			PROPN
fumecheng-11564	297	10	−+=	−+=	X
fumecheng-11564	297	11	−−=	−−=	NOUN
fumecheng-11564	297	12	−	−	PROPN
fumecheng-11564	298	1	kkkkkkkk	kkkkkkkk	PROPN
fumecheng-11564	298	2	rr	rr	PROPN
fumecheng-11564	298	3	eeeex	eeeex	ADP
fumecheng-11564	298	4	iakbkbaa	iakbkbaa	PROPN
fumecheng-11564	298	5	(	(	PUNCT
fumecheng-11564	298	6	43	43	NUM
fumecheng-11564	298	7	)	)	PUNCT
fumecheng-11564	298	8	a	a	DET
fumecheng-11564	298	9	set	set	NOUN
fumecheng-11564	298	10	of	of	ADP
fumecheng-11564	298	11	parameters	parameter	NOUN
fumecheng-11564	298	12	that	that	PRON
fumecheng-11564	298	13	guarantee	guarantee	VERB
fumecheng-11564	298	14	the	the	DET
fumecheng-11564	298	15	stability	stability	NOUN
fumecheng-11564	298	16	of	of	ADP
fumecheng-11564	298	17	the	the	DET
fumecheng-11564	298	18	system	system	NOUN
fumecheng-11564	298	19	with	with	ADP
fumecheng-11564	298	20	the	the	DET
fumecheng-11564	298	21	matrix	matrix	NOUN
fumecheng-11564	298	22	in	in	ADP
fumecheng-11564	298	23	(	(	PUNCT
fumecheng-11564	298	24	43	43	NUM
fumecheng-11564	298	25	)	)	PUNCT
fumecheng-11564	298	26	is	be	AUX
fumecheng-11564	298	27	]	]	PUNCT
fumecheng-11564	298	28	.0003.01.07[3	.0003.01.07[3	X
fumecheng-11564	299	1	−=k	−=k	INTJ
fumecheng-11564	299	2	(	(	PUNCT
fumecheng-11564	299	3	44	44	NUM
fumecheng-11564	299	4	)	)	PUNCT
fumecheng-11564	299	5	the	the	DET
fumecheng-11564	299	6	other	other	ADJ
fumecheng-11564	299	7	parameters	parameter	NOUN
fumecheng-11564	299	8	of	of	ADP
fumecheng-11564	299	9	the	the	DET
fumecheng-11564	299	10	control	control	NOUN
fumecheng-11564	299	11	law	law	NOUN
fumecheng-11564	299	12	were	be	AUX
fumecheng-11564	299	13	set	set	VERB
fumecheng-11564	299	14	as	as	ADP
fumecheng-11564	299	15	=[50	=[50	PROPN
fumecheng-11564	299	16	25	25	NUM
fumecheng-11564	299	17	10	10	NUM
fumecheng-11564	299	18	]	]	PUNCT
fumecheng-11564	300	1	[	[	X
fumecheng-11564	300	2	20	20	NUM
fumecheng-11564	300	3	]	]	PUNCT
fumecheng-11564	300	4	.	.	PUNCT
fumecheng-11564	301	1	using	use	VERB
fumecheng-11564	301	2	the	the	DET
fumecheng-11564	301	3	same	same	ADJ
fumecheng-11564	301	4	reference	reference	NOUN
fumecheng-11564	301	5	input	input	NOUN
fumecheng-11564	301	6	trajectory	trajectory	NOUN
fumecheng-11564	301	7	as	as	ADP
fumecheng-11564	301	8	in	in	ADP
fumecheng-11564	301	9	section	section	NOUN
fumecheng-11564	301	10	3.3	3.3	NUM
fumecheng-11564	301	11	and	and	CCONJ
fumecheng-11564	301	12	[	[	X
fumecheng-11564	301	13	6	6	NUM
fumecheng-11564	301	14	]	]	PUNCT
fumecheng-11564	301	15	,	,	PUNCT
fumecheng-11564	301	16	the	the	DET
fumecheng-11564	301	17	experimental	experimental	ADJ
fumecheng-11564	301	18	results	result	NOUN
fumecheng-11564	301	19	obtained	obtain	VERB
fumecheng-11564	301	20	for	for	ADP
fumecheng-11564	301	21	the	the	DET
fumecheng-11564	301	22	control	control	NOUN
fumecheng-11564	301	23	system	system	NOUN
fumecheng-11564	301	24	with	with	ADP
fumecheng-11564	301	25	the	the	DET
fumecheng-11564	301	26	controller	controller	NOUN
fumecheng-11564	301	27	parameters	parameter	NOUN
fumecheng-11564	301	28	in	in	ADP
fumecheng-11564	301	29	eq	eq	ADP
fumecheng-11564	301	30	.	.	PUNCT
fumecheng-11564	302	1	(	(	PUNCT
fumecheng-11564	302	2	44	44	NUM
fumecheng-11564	302	3	)	)	PUNCT
fumecheng-11564	302	4	are	be	AUX
fumecheng-11564	302	5	illustrated	illustrate	VERB
fumecheng-11564	302	6	in	in	ADP
fumecheng-11564	302	7	fig	fig	NOUN
fumecheng-11564	302	8	.	.	PUNCT
fumecheng-11564	303	1	11	11	NUM
fumecheng-11564	303	2	.	.	X
fumecheng-11564	304	1	for	for	ADP
fumecheng-11564	304	2	a	a	DET
fumecheng-11564	304	3	fair	fair	ADJ
fumecheng-11564	304	4	comparison	comparison	NOUN
fumecheng-11564	304	5	of	of	ADP
fumecheng-11564	304	6	the	the	DET
fumecheng-11564	304	7	three	three	NUM
fumecheng-11564	304	8	dtsmc	dtsmc	NOUN
fumecheng-11564	304	9	laws	law	NOUN
fumecheng-11564	304	10	,	,	PUNCT
fumecheng-11564	304	11	it	it	PRON
fumecheng-11564	304	12	is	be	AUX
fumecheng-11564	304	13	accepted	accept	VERB
fumecheng-11564	304	14	that	that	SCONJ
fumecheng-11564	304	15	the	the	DET
fumecheng-11564	304	16	allowable	allowable	ADJ
fumecheng-11564	304	17	tolerance	tolerance	NOUN
fumecheng-11564	304	18	zone	zone	NOUN
fumecheng-11564	304	19	of	of	ADP
fumecheng-11564	304	20	the	the	DET
fumecheng-11564	304	21	controlled	control	VERB
fumecheng-11564	304	22	output	output	NOUN
fumecheng-11564	304	23	is	be	AUX
fumecheng-11564	304	24	of	of	ADP
fumecheng-11564	304	25			PROPN
fumecheng-11564	304	26	2	2	NUM
fumecheng-11564	304	27	%	%	NOUN
fumecheng-11564	304	28	yst	yst	NOUN
fumecheng-11564	304	29	,	,	PUNCT
fumecheng-11564	304	30	where	where	SCONJ
fumecheng-11564	304	31	yst	yst	PROPN
fumecheng-11564	304	32	is	be	AUX
fumecheng-11564	304	33	the	the	DET
fumecheng-11564	304	34	steady	steady	ADJ
fumecheng-11564	304	35	-	-	PUNCT
fumecheng-11564	304	36	state	state	NOUN
fumecheng-11564	304	37	value	value	NOUN
fumecheng-11564	304	38	of	of	ADP
fumecheng-11564	304	39	the	the	DET
fumecheng-11564	304	40	controlled	control	VERB
fumecheng-11564	304	41	output	output	NOUN
fumecheng-11564	304	42	.	.	PUNCT
fumecheng-11564	305	1	this	this	PRON
fumecheng-11564	305	2	is	be	AUX
fumecheng-11564	305	3	reflected	reflect	VERB
fumecheng-11564	305	4	in	in	ADP
fumecheng-11564	305	5	the	the	DET
fumecheng-11564	305	6	measurement	measurement	NOUN
fumecheng-11564	305	7	of	of	ADP
fumecheng-11564	305	8	the	the	DET
fumecheng-11564	305	9	values	value	NOUN
fumecheng-11564	305	10	of	of	ADP
fumecheng-11564	305	11	the	the	DET
fumecheng-11564	305	12	overshoot	overshoot	NOUN
fumecheng-11564	305	13	and	and	CCONJ
fumecheng-11564	305	14	the	the	DET
fumecheng-11564	305	15	settling	settling	NOUN
fumecheng-11564	305	16	time	time	NOUN
fumecheng-11564	305	17	.	.	PUNCT
fumecheng-11564	306	1	the	the	DET
fumecheng-11564	306	2	performance	performance	NOUN
fumecheng-11564	306	3	indices	indice	VERB
fumecheng-11564	306	4	overshoot	overshoot	NOUN
fumecheng-11564	306	5	,	,	PUNCT
fumecheng-11564	306	6	settling	settle	VERB
fumecheng-11564	306	7	time	time	NOUN
fumecheng-11564	306	8	and	and	CCONJ
fumecheng-11564	306	9	stationary	stationary	ADJ
fumecheng-11564	306	10	control	control	NOUN
fumecheng-11564	306	11	error	error	NOUN
fumecheng-11564	306	12	(	(	PUNCT
fumecheng-11564	306	13	or	or	CCONJ
fumecheng-11564	306	14	steady	steady	ADJ
fumecheng-11564	306	15	-	-	PUNCT
fumecheng-11564	306	16	state	state	NOUN
fumecheng-11564	306	17	value	value	NOUN
fumecheng-11564	306	18	of	of	ADP
fumecheng-11564	306	19	control	control	NOUN
fumecheng-11564	306	20	error	error	NOUN
fumecheng-11564	306	21	)	)	PUNCT
fumecheng-11564	306	22	are	be	AUX
fumecheng-11564	306	23	considered	consider	VERB
fumecheng-11564	306	24	in	in	ADP
fumecheng-11564	306	25	the	the	DET
fumecheng-11564	306	26	comparison	comparison	NOUN
fumecheng-11564	306	27	of	of	ADP
fumecheng-11564	306	28	the	the	DET
fumecheng-11564	306	29	control	control	NOUN
fumecheng-11564	306	30	discrete	discrete	ADJ
fumecheng-11564	306	31	-	-	PUNCT
fumecheng-11564	306	32	time	time	NOUN
fumecheng-11564	306	33	model	model	NOUN
fumecheng-11564	306	34	-	-	PUNCT
fumecheng-11564	306	35	based	base	VERB
fumecheng-11564	306	36	sliding	slide	VERB
fumecheng-11564	306	37	mode	mode	NOUN
fumecheng-11564	306	38	controllers	controller	NOUN
fumecheng-11564	306	39	for	for	ADP
fumecheng-11564	306	40	tower	tower	NOUN
fumecheng-11564	306	41	crane	crane	NOUN
fumecheng-11564	306	42	systems	system	NOUN
fumecheng-11564	306	43	17	17	NUM
fumecheng-11564	306	44	systems	system	NOUN
fumecheng-11564	306	45	with	with	ADP
fumecheng-11564	306	46	the	the	DET
fumecheng-11564	306	47	three	three	NUM
fumecheng-11564	306	48	dtsmc	dtsmc	NOUN
fumecheng-11564	306	49	laws	law	NOUN
fumecheng-11564	306	50	designed	design	VERB
fumecheng-11564	306	51	in	in	ADP
fumecheng-11564	306	52	this	this	DET
fumecheng-11564	306	53	paper	paper	NOUN
fumecheng-11564	306	54	.	.	PUNCT
fumecheng-11564	307	1	the	the	DET
fumecheng-11564	307	2	values	value	NOUN
fumecheng-11564	307	3	of	of	ADP
fumecheng-11564	307	4	these	these	DET
fumecheng-11564	307	5	performance	performance	NOUN
fumecheng-11564	307	6	indices	index	NOUN
fumecheng-11564	307	7	are	be	AUX
fumecheng-11564	307	8	synthesized	synthesize	VERB
fumecheng-11564	307	9	in	in	ADP
fumecheng-11564	307	10	table	table	NOUN
fumecheng-11564	307	11	1	1	NUM
fumecheng-11564	307	12	,	,	PUNCT
fumecheng-11564	307	13	table	table	NOUN
fumecheng-11564	307	14	2	2	NUM
fumecheng-11564	307	15	and	and	CCONJ
fumecheng-11564	307	16	table	table	NOUN
fumecheng-11564	307	17	3	3	NUM
fumecheng-11564	307	18	,	,	PUNCT
fumecheng-11564	307	19	obtained	obtain	VERB
fumecheng-11564	307	20	after	after	ADP
fumecheng-11564	307	21	three	three	NUM
fumecheng-11564	307	22	test	test	NOUN
fumecheng-11564	307	23	runs	run	NOUN
fumecheng-11564	307	24	for	for	ADP
fumecheng-11564	307	25	all	all	DET
fumecheng-11564	307	26	three	three	NUM
fumecheng-11564	307	27	control	control	NOUN
fumecheng-11564	307	28	systems	system	NOUN
fumecheng-11564	307	29	with	with	ADP
fumecheng-11564	307	30	dtsmc	dtsmc	NOUN
fumecheng-11564	307	31	laws	law	NOUN
fumecheng-11564	307	32	with	with	ADP
fumecheng-11564	307	33	extended	extended	ADJ
fumecheng-11564	307	34	state	state	NOUN
fumecheng-11564	307	35	vectors	vector	NOUN
fumecheng-11564	307	36	defined	define	VERB
fumecheng-11564	307	37	in	in	ADP
fumecheng-11564	307	38	eqs	eqs	PROPN
fumecheng-11564	307	39	.	.	PUNCT
fumecheng-11564	308	1	(	(	PUNCT
fumecheng-11564	308	2	23	23	NUM
fumecheng-11564	308	3	)	)	PUNCT
fumecheng-11564	308	4	,	,	PUNCT
fumecheng-11564	308	5	(	(	PUNCT
fumecheng-11564	308	6	24	24	NUM
fumecheng-11564	308	7	)	)	PUNCT
fumecheng-11564	308	8	and	and	CCONJ
fumecheng-11564	308	9	(	(	PUNCT
fumecheng-11564	308	10	25	25	NUM
fumecheng-11564	308	11	)	)	PUNCT
fumecheng-11564	308	12	,	,	PUNCT
fumecheng-11564	308	13	respectively	respectively	ADV
fumecheng-11564	308	14	.	.	PUNCT
fumecheng-11564	309	1	the	the	DET
fumecheng-11564	309	2	test	test	NOUN
fumecheng-11564	309	3	runs	run	NOUN
fumecheng-11564	309	4	are	be	AUX
fumecheng-11564	309	5	composed	compose	VERB
fumecheng-11564	309	6	by	by	ADP
fumecheng-11564	309	7	three	three	NUM
fumecheng-11564	309	8	step	step	NOUN
fumecheng-11564	309	9	signals	signal	NOUN
fumecheng-11564	309	10	,	,	PUNCT
fumecheng-11564	309	11	three	three	NUM
fumecheng-11564	309	12	step	step	NOUN
fumecheng-11564	309	13	signals	signal	NOUN
fumecheng-11564	309	14	,	,	PUNCT
fumecheng-11564	309	15	and	and	CCONJ
fumecheng-11564	309	16	four	four	NUM
fumecheng-11564	309	17	step	step	NOUN
fumecheng-11564	309	18	signals	signal	NOUN
fumecheng-11564	309	19	,	,	PUNCT
fumecheng-11564	309	20	respectively	respectively	ADV
fumecheng-11564	309	21	.	.	PUNCT
fumecheng-11564	310	1	fig	fig	NOUN
fumecheng-11564	310	2	.	.	PUNCT
fumecheng-11564	311	1	11	11	NUM
fumecheng-11564	311	2	the	the	DET
fumecheng-11564	311	3	results	result	NOUN
fumecheng-11564	311	4	of	of	ADP
fumecheng-11564	311	5	payload	payload	ADJ
fumecheng-11564	311	6	position	position	NOUN
fumecheng-11564	311	7	control	control	NOUN
fumecheng-11564	311	8	system	system	NOUN
fumecheng-11564	311	9	with	with	ADP
fumecheng-11564	311	10	quasi	quasi	ADJ
fumecheng-11564	311	11	-	-	ADJ
fumecheng-11564	311	12	relay	relay	ADJ
fumecheng-11564	311	13	dtsmc	dtsmc	NOUN
fumecheng-11564	311	14	law	law	NOUN
fumecheng-11564	311	15	:	:	PUNCT
fumecheng-11564	311	16	(	(	PUNCT
fumecheng-11564	311	17	a	a	X
fumecheng-11564	311	18	)	)	PUNCT
fumecheng-11564	311	19	u3	u3	NOUN
fumecheng-11564	311	20	;	;	PUNCT
fumecheng-11564	311	21	(	(	PUNCT
fumecheng-11564	311	22	b	b	X
fumecheng-11564	311	23	)	)	PUNCT
fumecheng-11564	311	24	r3	r3	PROPN
fumecheng-11564	311	25	(	(	PUNCT
fumecheng-11564	311	26	black	black	NOUN
fumecheng-11564	311	27	)	)	PUNCT
fumecheng-11564	311	28	,	,	PUNCT
fumecheng-11564	311	29	y3	y3	NOUN
fumecheng-11564	311	30	(	(	PUNCT
fumecheng-11564	311	31	red	red	ADJ
fumecheng-11564	311	32	)	)	PUNCT
fumecheng-11564	311	33	.	.	PUNCT
fumecheng-11564	312	1	table	table	NOUN
fumecheng-11564	312	2	1	1	NUM
fumecheng-11564	312	3	overshoot	overshoot	NOUN
fumecheng-11564	312	4	(	(	PUNCT
fumecheng-11564	312	5	%	%	INTJ
fumecheng-11564	312	6	)	)	PUNCT
fumecheng-11564	312	7	test	test	NOUN
fumecheng-11564	312	8	run	run	VERB
fumecheng-11564	312	9	step	step	NOUN
fumecheng-11564	312	10	quasi	quasi	NOUN
fumecheng-11564	312	11	-	-	ADJ
fumecheng-11564	312	12	relay	relay	ADJ
fumecheng-11564	312	13	furuta	furuta	NOUN
fumecheng-11564	312	14	gao	gao	PROPN
fumecheng-11564	312	15	cart	cart	NOUN
fumecheng-11564	312	16	position	position	NOUN
fumecheng-11564	312	17	1	1	NUM
fumecheng-11564	312	18	2	2	NUM
fumecheng-11564	312	19	3	3	NUM
fumecheng-11564	312	20	4	4	NUM
fumecheng-11564	312	21	0	0	NUM
fumecheng-11564	312	22	0	0	NUM
fumecheng-11564	312	23	0	0	NUM
fumecheng-11564	312	24	0	0	NUM
fumecheng-11564	312	25	0	0	NUM
fumecheng-11564	312	26	0	0	NUM
fumecheng-11564	312	27	0	0	NUM
fumecheng-11564	312	28	0	0	NUM
fumecheng-11564	312	29	0	0	NUM
fumecheng-11564	312	30	0	0	NUM
fumecheng-11564	312	31	0	0	NUM
fumecheng-11564	312	32	0	0	NUM
fumecheng-11564	312	33	x	x	SYM
fumecheng-11564	312	34	0	0	NUM
fumecheng-11564	312	35	0	0	NUM
fumecheng-11564	312	36	0	0	NUM
fumecheng-11564	312	37	arm	arm	NOUN
fumecheng-11564	312	38	angular	angular	ADJ
fumecheng-11564	312	39	position	position	NOUN
fumecheng-11564	312	40	1	1	NUM
fumecheng-11564	312	41	2	2	NUM
fumecheng-11564	312	42	3	3	NUM
fumecheng-11564	312	43	0	0	NUM
fumecheng-11564	312	44	0	0	NUM
fumecheng-11564	312	45	0	0	NUM
fumecheng-11564	312	46	0	0	NUM
fumecheng-11564	312	47	0	0	NUM
fumecheng-11564	312	48	0	0	NUM
fumecheng-11564	312	49	0	0	NUM
fumecheng-11564	312	50	0	0	NUM
fumecheng-11564	312	51	0	0	NUM
fumecheng-11564	312	52	x	x	SYM
fumecheng-11564	312	53	0	0	NUM
fumecheng-11564	312	54	0	0	NUM
fumecheng-11564	312	55	0	0	NUM
fumecheng-11564	312	56	payload	payload	NOUN
fumecheng-11564	312	57	position	position	NOUN
fumecheng-11564	312	58	1	1	NUM
fumecheng-11564	312	59	2	2	NUM
fumecheng-11564	312	60	3	3	NUM
fumecheng-11564	312	61	2.7	2.7	NUM
fumecheng-11564	312	62	0	0	NUM
fumecheng-11564	312	63	5	5	NUM
fumecheng-11564	312	64	3.5	3.5	NUM
fumecheng-11564	312	65	0	0	NUM
fumecheng-11564	312	66	0	0	NUM
fumecheng-11564	313	1	−	−	NOUN
fumecheng-11564	314	1	−	−	NUM
fumecheng-11564	314	2	0	0	NUM
fumecheng-11564	314	3	x	x	SYM
fumecheng-11564	314	4	2.6	2.6	NUM
fumecheng-11564	314	5	1.2	1.2	NUM
fumecheng-11564	314	6	−	−	NOUN
fumecheng-11564	314	7	x	x	X
fumecheng-11564	314	8	–	–	PUNCT
fumecheng-11564	314	9	average	average	ADJ
fumecheng-11564	314	10	value	value	NOUN
fumecheng-11564	314	11	of	of	ADP
fumecheng-11564	314	12	the	the	DET
fumecheng-11564	314	13	steps	step	NOUN
fumecheng-11564	314	14	which	which	PRON
fumecheng-11564	314	15	compose	compose	VERB
fumecheng-11564	314	16	the	the	DET
fumecheng-11564	314	17	reference	reference	NOUN
fumecheng-11564	314	18	signal	signal	VERB
fumecheng-11564	314	19	18	18	NUM
fumecheng-11564	314	20	a.-i	a.-i	NOUN
fumecheng-11564	314	21	.	.	PUNCT
fumecheng-11564	315	1	borlea	borlea	PROPN
fumecheng-11564	315	2	,	,	PUNCT
fumecheng-11564	315	3	r.-e	r.-e	PROPN
fumecheng-11564	315	4	.	.	PUNCT
fumecheng-11564	316	1	precup	precup	PROPN
fumecheng-11564	316	2	,	,	PUNCT
fumecheng-11564	316	3	r.-c	r.-c	PROPN
fumecheng-11564	316	4	.	.	PUNCT
fumecheng-11564	317	1	roman	roman	ADJ
fumecheng-11564	317	2	table	table	NOUN
fumecheng-11564	317	3	2	2	NUM
fumecheng-11564	317	4	settling	settling	NOUN
fumecheng-11564	317	5	time	time	NOUN
fumecheng-11564	317	6	(	(	PUNCT
fumecheng-11564	317	7	s	s	NOUN
fumecheng-11564	317	8	)	)	PUNCT
fumecheng-11564	317	9	test	test	NOUN
fumecheng-11564	317	10	run	run	VERB
fumecheng-11564	317	11	step	step	NOUN
fumecheng-11564	317	12	quasi	quasi	NOUN
fumecheng-11564	317	13	-	-	ADJ
fumecheng-11564	317	14	relay	relay	ADJ
fumecheng-11564	317	15	furuta	furuta	NOUN
fumecheng-11564	317	16	gao	gao	PROPN
fumecheng-11564	317	17	cart	cart	NOUN
fumecheng-11564	317	18	position	position	NOUN
fumecheng-11564	317	19	1	1	NUM
fumecheng-11564	317	20	2	2	NUM
fumecheng-11564	317	21	3	3	NUM
fumecheng-11564	317	22	4	4	NUM
fumecheng-11564	317	23	7.55	7.55	NUM
fumecheng-11564	317	24	6.2	6.2	NUM
fumecheng-11564	317	25	8.2	8.2	NUM
fumecheng-11564	317	26	6	6	NUM
fumecheng-11564	317	27	6.5	6.5	NUM
fumecheng-11564	317	28	7	7	NUM
fumecheng-11564	317	29	6	6	NUM
fumecheng-11564	317	30	8.6	8.6	NUM
fumecheng-11564	317	31	4.2	4.2	NUM
fumecheng-11564	317	32	3.5	3.5	NUM
fumecheng-11564	317	33	4.4	4.4	NUM
fumecheng-11564	317	34	4.5	4.5	NUM
fumecheng-11564	317	35	x	x	SYM
fumecheng-11564	317	36	6.987	6.987	NUM
fumecheng-11564	317	37	7.025	7.025	NUM
fumecheng-11564	317	38	4.15	4.15	NUM
fumecheng-11564	317	39	arm	arm	NOUN
fumecheng-11564	317	40	angular	angular	ADJ
fumecheng-11564	317	41	position	position	NOUN
fumecheng-11564	317	42	1	1	NUM
fumecheng-11564	317	43	2	2	NUM
fumecheng-11564	317	44	3	3	NUM
fumecheng-11564	317	45	7.4	7.4	NUM
fumecheng-11564	317	46	8.4	8.4	NUM
fumecheng-11564	317	47	6.6	6.6	NUM
fumecheng-11564	317	48	5.5	5.5	NUM
fumecheng-11564	317	49	6	6	NUM
fumecheng-11564	317	50	7.4	7.4	NUM
fumecheng-11564	317	51	5.4	5.4	NUM
fumecheng-11564	317	52	5.5	5.5	NUM
fumecheng-11564	317	53	6.5	6.5	NUM
fumecheng-11564	317	54	x	x	SYM
fumecheng-11564	317	55	7.467	7.467	NUM
fumecheng-11564	317	56	6.3	6.3	NUM
fumecheng-11564	317	57	5.8	5.8	NUM
fumecheng-11564	317	58	payload	payload	NOUN
fumecheng-11564	317	59	position	position	NOUN
fumecheng-11564	317	60	1	1	NUM
fumecheng-11564	317	61	2	2	NUM
fumecheng-11564	317	62	3	3	NUM
fumecheng-11564	317	63	4.8	4.8	NUM
fumecheng-11564	317	64	2.8	2.8	NUM
fumecheng-11564	317	65	5	5	NUM
fumecheng-11564	317	66	9.6	9.6	NUM
fumecheng-11564	317	67	7	7	NUM
fumecheng-11564	317	68	9.6	9.6	NUM
fumecheng-11564	317	69	−	−	NOUN
fumecheng-11564	317	70	−	−	NUM
fumecheng-11564	317	71	16	16	NUM
fumecheng-11564	318	1	x	x	SYM
fumecheng-11564	318	2	4.2	4.2	NUM
fumecheng-11564	318	3	8.733	8.733	NUM
fumecheng-11564	318	4	−	−	NOUN
fumecheng-11564	318	5	x	x	X
fumecheng-11564	318	6	–	–	PUNCT
fumecheng-11564	318	7	average	average	ADJ
fumecheng-11564	318	8	value	value	NOUN
fumecheng-11564	318	9	of	of	ADP
fumecheng-11564	318	10	the	the	DET
fumecheng-11564	318	11	steps	step	NOUN
fumecheng-11564	318	12	which	which	PRON
fumecheng-11564	318	13	compose	compose	VERB
fumecheng-11564	318	14	the	the	DET
fumecheng-11564	318	15	reference	reference	NOUN
fumecheng-11564	318	16	signal	signal	NOUN
fumecheng-11564	318	17	table	table	NOUN
fumecheng-11564	318	18	3	3	NUM
fumecheng-11564	318	19	stationary	stationary	ADJ
fumecheng-11564	318	20	control	control	NOUN
fumecheng-11564	318	21	error	error	NOUN
fumecheng-11564	318	22	(	(	PUNCT
fumecheng-11564	318	23	%	%	INTJ
fumecheng-11564	318	24	)	)	PUNCT
fumecheng-11564	318	25	cart	cart	NOUN
fumecheng-11564	318	26	position	position	NOUN
fumecheng-11564	318	27	step	step	NOUN
fumecheng-11564	318	28	quasi	quasi	NOUN
fumecheng-11564	318	29	-	-	ADJ
fumecheng-11564	318	30	relay	relay	ADJ
fumecheng-11564	318	31	furuta	furuta	NOUN
fumecheng-11564	318	32	gao	gao	PROPN
fumecheng-11564	318	33	arm	arm	PROPN
fumecheng-11564	318	34	angular	angular	ADJ
fumecheng-11564	318	35	position	position	NOUN
fumecheng-11564	318	36	1	1	NUM
fumecheng-11564	318	37	2	2	NUM
fumecheng-11564	318	38	3	3	NUM
fumecheng-11564	318	39	4	4	NUM
fumecheng-11564	318	40	1	1	NUM
fumecheng-11564	318	41	1.2	1.2	NUM
fumecheng-11564	318	42	0.6	0.6	NUM
fumecheng-11564	318	43	1.5	1.5	NUM
fumecheng-11564	318	44	0	0	NUM
fumecheng-11564	318	45	0.1	0.1	NUM
fumecheng-11564	318	46	0	0	NUM
fumecheng-11564	318	47	0	0	NUM
fumecheng-11564	318	48	0	0	NUM
fumecheng-11564	319	1	1.2	1.2	NUM
fumecheng-11564	319	2	0.1	0.1	NUM
fumecheng-11564	319	3	0	0	NUM
fumecheng-11564	319	4	x	x	SYM
fumecheng-11564	319	5	1	1	NUM
fumecheng-11564	319	6	0	0	NUM
fumecheng-11564	319	7	0.3	0.3	NUM
fumecheng-11564	319	8	payload	payload	NOUN
fumecheng-11564	319	9	position	position	NOUN
fumecheng-11564	319	10	1	1	NUM
fumecheng-11564	319	11	2	2	NUM
fumecheng-11564	319	12	3	3	NUM
fumecheng-11564	319	13	1.6	1.6	NUM
fumecheng-11564	319	14	0	0	NUM
fumecheng-11564	319	15	0.2	0.2	NUM
fumecheng-11564	319	16	0	0	NUM
fumecheng-11564	319	17	0	0	NUM
fumecheng-11564	319	18	0	0	NUM
fumecheng-11564	319	19	1.6	1.6	NUM
fumecheng-11564	319	20	0.8	0.8	NUM
fumecheng-11564	319	21	0	0	NUM
fumecheng-11564	319	22	x	x	SYM
fumecheng-11564	319	23	0.6	0.6	NUM
fumecheng-11564	319	24	0	0	NUM
fumecheng-11564	319	25	0.8	0.8	NUM
fumecheng-11564	319	26	1	1	NUM
fumecheng-11564	319	27	2	2	NUM
fumecheng-11564	319	28	3	3	NUM
fumecheng-11564	319	29	0.4	0.4	NUM
fumecheng-11564	319	30	0.3	0.3	NUM
fumecheng-11564	319	31	0	0	NUM
fumecheng-11564	319	32	0.1	0.1	NUM
fumecheng-11564	319	33	0	0	NUM
fumecheng-11564	319	34	0	0	NUM
fumecheng-11564	320	1	−	−	NOUN
fumecheng-11564	321	1	−	−	PROPN
fumecheng-11564	322	1	5.2	5.2	NUM
fumecheng-11564	322	2	x	x	SYM
fumecheng-11564	322	3	0.2	0.2	NUM
fumecheng-11564	322	4	0	0	NUM
fumecheng-11564	322	5	−	−	NOUN
fumecheng-11564	322	6	x	x	X
fumecheng-11564	322	7	–	–	PUNCT
fumecheng-11564	322	8	average	average	ADJ
fumecheng-11564	322	9	value	value	NOUN
fumecheng-11564	322	10	of	of	ADP
fumecheng-11564	322	11	the	the	DET
fumecheng-11564	322	12	steps	step	NOUN
fumecheng-11564	322	13	which	which	PRON
fumecheng-11564	322	14	compose	compose	VERB
fumecheng-11564	322	15	the	the	DET
fumecheng-11564	322	16	reference	reference	NOUN
fumecheng-11564	322	17	signal	signal	NOUN
fumecheng-11564	322	18	analyzing	analyze	VERB
fumecheng-11564	322	19	the	the	DET
fumecheng-11564	322	20	values	value	NOUN
fumecheng-11564	322	21	for	for	ADP
fumecheng-11564	322	22	the	the	DET
fumecheng-11564	322	23	overshoot	overshoot	NOUN
fumecheng-11564	322	24	in	in	ADP
fumecheng-11564	322	25	table	table	NOUN
fumecheng-11564	322	26	1	1	NUM
fumecheng-11564	322	27	reveals	reveal	VERB
fumecheng-11564	322	28	the	the	DET
fumecheng-11564	322	29	fact	fact	NOUN
fumecheng-11564	322	30	that	that	SCONJ
fumecheng-11564	322	31	the	the	DET
fumecheng-11564	322	32	smallest	small	ADJ
fumecheng-11564	322	33	average	average	ADJ
fumecheng-11564	322	34	value	value	NOUN
fumecheng-11564	322	35	is	be	AUX
fumecheng-11564	322	36	exhibited	exhibit	VERB
fumecheng-11564	322	37	by	by	ADP
fumecheng-11564	322	38	the	the	DET
fumecheng-11564	322	39	furuta	furuta	PROPN
fumecheng-11564	322	40	dtsmc	dtsmc	PROPN
fumecheng-11564	322	41	law	law	NOUN
fumecheng-11564	322	42	.	.	PUNCT
fumecheng-11564	323	1	in	in	ADP
fumecheng-11564	323	2	table	table	NOUN
fumecheng-11564	323	3	2	2	NUM
fumecheng-11564	323	4	,	,	PUNCT
fumecheng-11564	323	5	the	the	DET
fumecheng-11564	323	6	smallest	small	ADJ
fumecheng-11564	323	7	average	average	ADJ
fumecheng-11564	323	8	value	value	NOUN
fumecheng-11564	323	9	of	of	ADP
fumecheng-11564	323	10	the	the	DET
fumecheng-11564	323	11	settling	settling	NOUN
fumecheng-11564	323	12	time	time	NOUN
fumecheng-11564	323	13	is	be	AUX
fumecheng-11564	323	14	obtained	obtain	VERB
fumecheng-11564	323	15	by	by	ADP
fumecheng-11564	323	16	the	the	DET
fumecheng-11564	323	17	quasi	quasi	ADJ
fumecheng-11564	323	18	-	-	ADJ
fumecheng-11564	323	19	relay	relay	ADJ
fumecheng-11564	323	20	dtsmc	dtsmc	NOUN
fumecheng-11564	323	21	law	law	NOUN
fumecheng-11564	323	22	.	.	PUNCT
fumecheng-11564	324	1	table	table	NOUN
fumecheng-11564	324	2	3	3	NUM
fumecheng-11564	324	3	shows	show	VERB
fumecheng-11564	324	4	that	that	SCONJ
fumecheng-11564	324	5	the	the	DET
fumecheng-11564	324	6	furuta	furuta	PROPN
fumecheng-11564	324	7	dtsmc	dtsmc	PROPN
fumecheng-11564	324	8	law	law	NOUN
fumecheng-11564	324	9	exhibits	exhibit	VERB
fumecheng-11564	324	10	the	the	DET
fumecheng-11564	324	11	smallest	small	ADJ
fumecheng-11564	324	12	average	average	ADJ
fumecheng-11564	324	13	value	value	NOUN
fumecheng-11564	324	14	as	as	ADV
fumecheng-11564	324	15	far	far	ADV
fumecheng-11564	324	16	as	as	SCONJ
fumecheng-11564	324	17	the	the	DET
fumecheng-11564	324	18	stationary	stationary	ADJ
fumecheng-11564	324	19	control	control	NOUN
fumecheng-11564	324	20	error	error	NOUN
fumecheng-11564	324	21	is	be	AUX
fumecheng-11564	324	22	concerned	concern	VERB
fumecheng-11564	324	23	.	.	PUNCT
fumecheng-11564	325	1	in	in	ADP
fumecheng-11564	325	2	conclusion	conclusion	NOUN
fumecheng-11564	325	3	,	,	PUNCT
fumecheng-11564	325	4	having	have	VERB
fumecheng-11564	325	5	in	in	ADP
fumecheng-11564	325	6	mind	mind	NOUN
fumecheng-11564	325	7	all	all	DET
fumecheng-11564	325	8	three	three	NUM
fumecheng-11564	325	9	performance	performance	NOUN
fumecheng-11564	325	10	indices	index	NOUN
fumecheng-11564	325	11	discussed	discuss	VERB
fumecheng-11564	325	12	here	here	ADV
fumecheng-11564	325	13	,	,	PUNCT
fumecheng-11564	325	14	the	the	DET
fumecheng-11564	325	15	best	good	ADJ
fumecheng-11564	325	16	overall	overall	ADJ
fumecheng-11564	325	17	performance	performance	NOUN
fumecheng-11564	325	18	is	be	AUX
fumecheng-11564	325	19	ensured	ensure	VERB
fumecheng-11564	325	20	by	by	ADP
fumecheng-11564	325	21	the	the	DET
fumecheng-11564	325	22	furuta	furuta	PROPN
fumecheng-11564	325	23	dtsmc	dtsmc	PROPN
fumecheng-11564	325	24	law	law	NOUN
fumecheng-11564	325	25	,	,	PUNCT
fumecheng-11564	325	26	the	the	DET
fumecheng-11564	325	27	second	second	ADJ
fumecheng-11564	325	28	best	good	ADJ
fumecheng-11564	325	29	one	one	NUM
fumecheng-11564	325	30	is	be	AUX
fumecheng-11564	325	31	gao	gao	PROPN
fumecheng-11564	325	32	dtsmc	dtsmc	VERB
fumecheng-11564	325	33	low	low	ADV
fumecheng-11564	325	34	and	and	CCONJ
fumecheng-11564	325	35	on	on	ADP
fumecheng-11564	325	36	the	the	DET
fumecheng-11564	325	37	third	third	ADJ
fumecheng-11564	325	38	place	place	NOUN
fumecheng-11564	325	39	is	be	AUX
fumecheng-11564	325	40	quasi	quasi	ADJ
fumecheng-11564	325	41	-	-	ADJ
fumecheng-11564	325	42	relay	relay	ADJ
fumecheng-11564	325	43	dtscm	dtscm	NOUN
fumecheng-11564	325	44	low	low	ADJ
fumecheng-11564	325	45	.	.	PUNCT
fumecheng-11564	326	1	nevertheless	nevertheless	ADV
fumecheng-11564	326	2	,	,	PUNCT
fumecheng-11564	326	3	the	the	DET
fumecheng-11564	326	4	furuta	furuta	PROPN
fumecheng-11564	326	5	dtsmc	dtsmc	PROPN
fumecheng-11564	326	6	law	law	NOUN
fumecheng-11564	326	7	leads	lead	VERB
fumecheng-11564	326	8	to	to	ADP
fumecheng-11564	326	9	the	the	DET
fumecheng-11564	326	10	smallest	small	ADJ
fumecheng-11564	326	11	number	number	NOUN
fumecheng-11564	326	12	of	of	ADP
fumecheng-11564	326	13	switching	switching	NOUN
fumecheng-11564	326	14	of	of	ADP
fumecheng-11564	326	15	the	the	DET
fumecheng-11564	326	16	control	control	NOUN
fumecheng-11564	326	17	inputs	input	NOUN
fumecheng-11564	326	18	,	,	PUNCT
fumecheng-11564	326	19	thus	thus	ADV
fumecheng-11564	326	20	the	the	DET
fumecheng-11564	326	21	efforts	effort	NOUN
fumecheng-11564	326	22	at	at	ADP
fumecheng-11564	326	23	the	the	DET
fumecheng-11564	326	24	level	level	NOUN
fumecheng-11564	326	25	of	of	ADP
fumecheng-11564	326	26	actuators	actuator	NOUN
fumecheng-11564	326	27	(	(	PUNCT
fumecheng-11564	326	28	namely	namely	ADV
fumecheng-11564	326	29	,	,	PUNCT
fumecheng-11564	326	30	the	the	DET
fumecheng-11564	326	31	power	power	NOUN
fumecheng-11564	326	32	electronics	electronic	NOUN
fumecheng-11564	326	33	part	part	NOUN
fumecheng-11564	326	34	that	that	PRON
fumecheng-11564	326	35	produces	produce	VERB
fumecheng-11564	326	36	pwm	pwm	NOUN
fumecheng-11564	326	37	)	)	PUNCT
fumecheng-11564	326	38	.	.	PUNCT
fumecheng-11564	327	1	however	however	ADV
fumecheng-11564	327	2	,	,	PUNCT
fumecheng-11564	327	3	the	the	DET
fumecheng-11564	327	4	conclusions	conclusion	NOUN
fumecheng-11564	327	5	of	of	ADP
fumecheng-11564	327	6	the	the	DET
fumecheng-11564	327	7	comparison	comparison	NOUN
fumecheng-11564	327	8	can	can	AUX
fumecheng-11564	327	9	be	be	AUX
fumecheng-11564	327	10	different	different	ADJ
fumecheng-11564	327	11	if	if	SCONJ
fumecheng-11564	327	12	other	other	ADJ
fumecheng-11564	327	13	nonlinear	nonlinear	ADJ
fumecheng-11564	327	14	processes	process	NOUN
fumecheng-11564	327	15	are	be	AUX
fumecheng-11564	327	16	subjected	subject	VERB
fumecheng-11564	327	17	to	to	ADP
fumecheng-11564	327	18	sliding	slide	VERB
fumecheng-11564	327	19	mode	mode	NOUN
fumecheng-11564	327	20	control	control	NOUN
fumecheng-11564	327	21	,	,	PUNCT
fumecheng-11564	327	22	in	in	ADP
fumecheng-11564	327	23	various	various	ADJ
fumecheng-11564	327	24	fields	field	NOUN
fumecheng-11564	327	25	,	,	PUNCT
fumecheng-11564	327	26	including	include	VERB
fumecheng-11564	327	27	decision	decision	NOUN
fumecheng-11564	327	28	-	-	PUNCT
fumecheng-11564	327	29	making	making	NOUN
fumecheng-11564	327	30	[	[	X
fumecheng-11564	327	31	21	21	NUM
fumecheng-11564	327	32	]	]	PUNCT
fumecheng-11564	327	33	,	,	PUNCT
fumecheng-11564	327	34	man	man	NOUN
fumecheng-11564	327	35	-	-	PUNCT
fumecheng-11564	327	36	computer	computer	NOUN
fumecheng-11564	327	37	symbiosis	symbiosis	NOUN
fumecheng-11564	328	1	[	[	X
fumecheng-11564	328	2	22	22	NUM
fumecheng-11564	328	3	]	]	PUNCT
fumecheng-11564	328	4	,	,	PUNCT
fumecheng-11564	328	5	3d	3d	NUM
fumecheng-11564	328	6	printing	printing	NOUN
fumecheng-11564	328	7	objects	object	NOUN
fumecheng-11564	328	8	[	[	X
fumecheng-11564	328	9	23	23	NUM
fumecheng-11564	328	10	]	]	PUNCT
fumecheng-11564	328	11	,	,	PUNCT
fumecheng-11564	328	12	specific	specific	ADJ
fumecheng-11564	328	13	structures	structure	NOUN
fumecheng-11564	328	14	of	of	ADP
fumecheng-11564	328	15	fuzzy	fuzzy	ADJ
fumecheng-11564	328	16	discrete	discrete	ADJ
fumecheng-11564	328	17	-	-	PUNCT
fumecheng-11564	328	18	time	time	NOUN
fumecheng-11564	328	19	model	model	NOUN
fumecheng-11564	328	20	-	-	PUNCT
fumecheng-11564	328	21	based	base	VERB
fumecheng-11564	328	22	sliding	slide	VERB
fumecheng-11564	328	23	mode	mode	NOUN
fumecheng-11564	328	24	controllers	controller	NOUN
fumecheng-11564	328	25	for	for	ADP
fumecheng-11564	328	26	tower	tower	NOUN
fumecheng-11564	328	27	crane	crane	NOUN
fumecheng-11564	328	28	systems	system	NOUN
fumecheng-11564	328	29	19	19	NUM
fumecheng-11564	328	30	systems	system	NOUN
fumecheng-11564	328	31	[	[	X
fumecheng-11564	328	32	24	24	NUM
fumecheng-11564	328	33	]	]	PUNCT
fumecheng-11564	328	34	,	,	PUNCT
fumecheng-11564	328	35	[	[	X
fumecheng-11564	328	36	25	25	NUM
fumecheng-11564	328	37	]	]	PUNCT
fumecheng-11564	328	38	including	include	VERB
fumecheng-11564	328	39	those	those	PRON
fumecheng-11564	328	40	focused	focus	VERB
fumecheng-11564	328	41	on	on	ADP
fumecheng-11564	328	42	fuzzy	fuzzy	ADJ
fumecheng-11564	328	43	control	control	NOUN
fumecheng-11564	329	1	[	[	X
fumecheng-11564	329	2	26	26	NUM
fumecheng-11564	329	3	]	]	PUNCT
fumecheng-11564	329	4	,	,	PUNCT
fumecheng-11564	330	1	[	[	X
fumecheng-11564	330	2	27	27	NUM
fumecheng-11564	330	3	]	]	PUNCT
fumecheng-11564	330	4	,	,	PUNCT
fumecheng-11564	330	5	evolving	evolve	VERB
fumecheng-11564	330	6	controllers	controller	NOUN
fumecheng-11564	330	7	[	[	X
fumecheng-11564	330	8	28	28	NUM
fumecheng-11564	330	9	]	]	PUNCT
fumecheng-11564	330	10	and	and	CCONJ
fumecheng-11564	330	11	fuzzy	fuzzy	ADJ
fumecheng-11564	330	12	cognitive	cognitive	ADJ
fumecheng-11564	330	13	maps	map	NOUN
fumecheng-11564	331	1	[	[	X
fumecheng-11564	331	2	29	29	NUM
fumecheng-11564	331	3	]	]	PUNCT
fumecheng-11564	331	4	,	,	PUNCT
fumecheng-11564	331	5	vanets	vanet	NOUN
fumecheng-11564	331	6	[	[	X
fumecheng-11564	331	7	30	30	NUM
fumecheng-11564	331	8	]	]	PUNCT
fumecheng-11564	331	9	,	,	PUNCT
fumecheng-11564	331	10	quantum	quantum	NOUN
fumecheng-11564	331	11	computing	computing	NOUN
fumecheng-11564	332	1	[	[	X
fumecheng-11564	332	2	31	31	NUM
fumecheng-11564	332	3	]	]	PUNCT
fumecheng-11564	332	4	,	,	PUNCT
fumecheng-11564	332	5	and	and	CCONJ
fumecheng-11564	332	6	telesurgical	telesurgical	ADJ
fumecheng-11564	332	7	applications	application	NOUN
fumecheng-11564	332	8	[	[	X
fumecheng-11564	332	9	32	32	NUM
fumecheng-11564	332	10	]	]	PUNCT
fumecheng-11564	332	11	.	.	PUNCT
fumecheng-11564	333	1	disturbance	disturbance	NOUN
fumecheng-11564	333	2	inputs	input	NOUN
fumecheng-11564	333	3	were	be	AUX
fumecheng-11564	333	4	not	not	PART
fumecheng-11564	333	5	considered	consider	VERB
fumecheng-11564	333	6	(	(	PUNCT
fumecheng-11564	333	7	although	although	SCONJ
fumecheng-11564	333	8	the	the	DET
fumecheng-11564	333	9	role	role	NOUN
fumecheng-11564	333	10	of	of	ADP
fumecheng-11564	333	11	a	a	DET
fumecheng-11564	333	12	part	part	NOUN
fumecheng-11564	333	13	of	of	ADP
fumecheng-11564	333	14	possible	possible	ADJ
fumecheng-11564	333	15	disturbances	disturbance	NOUN
fumecheng-11564	333	16	is	be	AUX
fumecheng-11564	333	17	highlighted	highlight	VERB
fumecheng-11564	333	18	in	in	ADP
fumecheng-11564	333	19	fig	fig	NOUN
fumecheng-11564	333	20	.	.	PUNCT
fumecheng-11564	334	1	2	2	NUM
fumecheng-11564	334	2	)	)	PUNCT
fumecheng-11564	334	3	because	because	SCONJ
fumecheng-11564	334	4	the	the	DET
fumecheng-11564	334	5	integral	integral	ADJ
fumecheng-11564	334	6	block	block	NOUN
fumecheng-11564	334	7	described	describe	VERB
fumecheng-11564	334	8	in	in	ADP
fumecheng-11564	334	9	[	[	X
fumecheng-11564	334	10	21	21	NUM
fumecheng-11564	334	11	]	]	PUNCT
fumecheng-11564	334	12	ensures	ensure	VERB
fumecheng-11564	334	13	the	the	DET
fumecheng-11564	334	14	disturbance	disturbance	NOUN
fumecheng-11564	334	15	rejections	rejection	NOUN
fumecheng-11564	334	16	for	for	ADP
fumecheng-11564	334	17	certain	certain	ADJ
fumecheng-11564	334	18	types	type	NOUN
fumecheng-11564	334	19	of	of	ADP
fumecheng-11564	334	20	disturbances	disturbance	NOUN
fumecheng-11564	334	21	.	.	PUNCT
fumecheng-11564	335	1	it	it	PRON
fumecheng-11564	335	2	is	be	AUX
fumecheng-11564	335	3	not	not	PART
fumecheng-11564	335	4	guaranteed	guarantee	VERB
fumecheng-11564	335	5	that	that	SCONJ
fumecheng-11564	335	6	the	the	DET
fumecheng-11564	335	7	ranking	ranking	NOUN
fumecheng-11564	335	8	of	of	ADP
fumecheng-11564	335	9	the	the	DET
fumecheng-11564	335	10	sliding	slide	VERB
fumecheng-11564	335	11	mode	mode	NOUN
fumecheng-11564	335	12	controllers	controller	NOUN
fumecheng-11564	335	13	will	will	AUX
fumecheng-11564	335	14	be	be	AUX
fumecheng-11564	335	15	kept	keep	VERB
fumecheng-11564	335	16	after	after	ADP
fumecheng-11564	335	17	rejecting	reject	VERB
fumecheng-11564	335	18	the	the	DET
fumecheng-11564	335	19	disturbances	disturbance	NOUN
fumecheng-11564	335	20	.	.	PUNCT
fumecheng-11564	336	1	4	4	X
fumecheng-11564	336	2	.	.	X
fumecheng-11564	336	3	conclusions	conclusion	NOUN
fumecheng-11564	336	4	this	this	DET
fumecheng-11564	336	5	paper	paper	NOUN
fumecheng-11564	336	6	proposed	propose	VERB
fumecheng-11564	336	7	the	the	DET
fumecheng-11564	336	8	discrete	discrete	ADJ
fumecheng-11564	336	9	-	-	PUNCT
fumecheng-11564	336	10	time	time	NOUN
fumecheng-11564	336	11	model	model	NOUN
fumecheng-11564	336	12	-	-	PUNCT
fumecheng-11564	336	13	based	base	VERB
fumecheng-11564	336	14	sliding	slide	VERB
fumecheng-11564	336	15	mode	mode	NOUN
fumecheng-11564	336	16	control	control	NOUN
fumecheng-11564	336	17	of	of	ADP
fumecheng-11564	336	18	tower	tower	NOUN
fumecheng-11564	336	19	crane	crane	NOUN
fumecheng-11564	336	20	systems	system	NOUN
fumecheng-11564	336	21	.	.	PUNCT
fumecheng-11564	337	1	three	three	NUM
fumecheng-11564	337	2	popular	popular	ADJ
fumecheng-11564	337	3	control	control	NOUN
fumecheng-11564	337	4	discrete	discrete	ADJ
fumecheng-11564	337	5	-	-	PUNCT
fumecheng-11564	337	6	time	time	NOUN
fumecheng-11564	337	7	control	control	NOUN
fumecheng-11564	337	8	laws	law	NOUN
fumecheng-11564	337	9	were	be	AUX
fumecheng-11564	337	10	considered	consider	VERB
fumecheng-11564	337	11	and	and	CCONJ
fumecheng-11564	337	12	compared	compare	VERB
fumecheng-11564	337	13	systematically	systematically	ADV
fumecheng-11564	337	14	on	on	ADP
fumecheng-11564	337	15	the	the	DET
fumecheng-11564	337	16	basis	basis	NOUN
fumecheng-11564	337	17	of	of	ADP
fumecheng-11564	337	18	three	three	NUM
fumecheng-11564	337	19	performance	performance	NOUN
fumecheng-11564	337	20	indices	index	NOUN
fumecheng-11564	337	21	obtained	obtain	VERB
fumecheng-11564	337	22	after	after	ADP
fumecheng-11564	337	23	measurements	measurement	NOUN
fumecheng-11564	337	24	in	in	ADP
fumecheng-11564	337	25	a	a	DET
fumecheng-11564	337	26	specific	specific	ADJ
fumecheng-11564	337	27	dynamic	dynamic	ADJ
fumecheng-11564	337	28	regime	regime	NOUN
fumecheng-11564	337	29	applied	apply	VERB
fumecheng-11564	337	30	to	to	ADP
fumecheng-11564	337	31	the	the	DET
fumecheng-11564	337	32	laboratory	laboratory	NOUN
fumecheng-11564	337	33	equipment	equipment	NOUN
fumecheng-11564	337	34	.	.	PUNCT
fumecheng-11564	338	1	the	the	DET
fumecheng-11564	338	2	furuta	furuta	PROPN
fumecheng-11564	338	3	law	law	NOUN
fumecheng-11564	338	4	was	be	AUX
fumecheng-11564	338	5	applied	apply	VERB
fumecheng-11564	338	6	to	to	ADP
fumecheng-11564	338	7	all	all	DET
fumecheng-11564	338	8	three	three	NUM
fumecheng-11564	338	9	control	control	NOUN
fumecheng-11564	338	10	laws	law	NOUN
fumecheng-11564	338	11	to	to	PART
fumecheng-11564	338	12	design	design	VERB
fumecheng-11564	338	13	the	the	DET
fumecheng-11564	338	14	gain	gain	NOUN
fumecheng-11564	338	15	matrix	matrix	NOUN
fumecheng-11564	338	16	k	k	NOUN
fumecheng-11564	338	17	in	in	ADP
fumecheng-11564	338	18	the	the	DET
fumecheng-11564	338	19	conditions	condition	NOUN
fumecheng-11564	338	20	of	of	ADP
fumecheng-11564	338	21	the	the	DET
fumecheng-11564	338	22	application	application	NOUN
fumecheng-11564	338	23	of	of	ADP
fumecheng-11564	338	24	the	the	DET
fumecheng-11564	338	25	equivalent	equivalent	ADJ
fumecheng-11564	338	26	control	control	NOUN
fumecheng-11564	338	27	method	method	NOUN
fumecheng-11564	338	28	[	[	X
fumecheng-11564	338	29	2	2	NUM
fumecheng-11564	338	30	]	]	PUNCT
fumecheng-11564	338	31	.	.	PUNCT
fumecheng-11564	339	1	however	however	ADV
fumecheng-11564	339	2	,	,	PUNCT
fumecheng-11564	339	3	the	the	DET
fumecheng-11564	339	4	control	control	NOUN
fumecheng-11564	339	5	laws	law	NOUN
fumecheng-11564	339	6	are	be	AUX
fumecheng-11564	339	7	different	different	ADJ
fumecheng-11564	339	8	in	in	ADP
fumecheng-11564	339	9	terms	term	NOUN
fumecheng-11564	339	10	of	of	ADP
fumecheng-11564	339	11	different	different	ADJ
fumecheng-11564	339	12	ways	way	NOUN
fumecheng-11564	339	13	to	to	PART
fumecheng-11564	339	14	carry	carry	VERB
fumecheng-11564	339	15	out	out	ADP
fumecheng-11564	339	16	the	the	DET
fumecheng-11564	339	17	switching	switching	NOUN
fumecheng-11564	339	18	that	that	PRON
fumecheng-11564	339	19	modifies	modify	VERB
fumecheng-11564	339	20	the	the	DET
fumecheng-11564	339	21	control	control	NOUN
fumecheng-11564	339	22	system	system	NOUN
fumecheng-11564	339	23	structures	structure	NOUN
fumecheng-11564	339	24	making	make	VERB
fumecheng-11564	339	25	them	they	PRON
fumecheng-11564	339	26	belong	belong	VERB
fumecheng-11564	339	27	to	to	ADP
fumecheng-11564	339	28	the	the	DET
fumecheng-11564	339	29	general	general	ADJ
fumecheng-11564	339	30	class	class	NOUN
fumecheng-11564	339	31	of	of	ADP
fumecheng-11564	339	32	variable	variable	ADJ
fumecheng-11564	339	33	structure	structure	NOUN
fumecheng-11564	339	34	systems	system	NOUN
fumecheng-11564	339	35	.	.	PUNCT
fumecheng-11564	340	1	the	the	DET
fumecheng-11564	340	2	parameters	parameter	NOUN
fumecheng-11564	340	3	involved	involve	VERB
fumecheng-11564	340	4	in	in	ADP
fumecheng-11564	340	5	switching	switching	NOUN
fumecheng-11564	340	6	are	be	AUX
fumecheng-11564	340	7	also	also	ADV
fumecheng-11564	340	8	different	different	ADJ
fumecheng-11564	340	9	.	.	PUNCT
fumecheng-11564	341	1	this	this	DET
fumecheng-11564	341	2	flexibility	flexibility	NOUN
fumecheng-11564	341	3	is	be	AUX
fumecheng-11564	341	4	an	an	DET
fumecheng-11564	341	5	advantage	advantage	NOUN
fumecheng-11564	341	6	of	of	ADP
fumecheng-11564	341	7	the	the	DET
fumecheng-11564	341	8	control	control	NOUN
fumecheng-11564	341	9	laws	law	NOUN
fumecheng-11564	341	10	designed	design	VERB
fumecheng-11564	341	11	and	and	CCONJ
fumecheng-11564	341	12	implemented	implement	VERB
fumecheng-11564	341	13	in	in	ADP
fumecheng-11564	341	14	this	this	DET
fumecheng-11564	341	15	paper	paper	NOUN
fumecheng-11564	341	16	and	and	CCONJ
fumecheng-11564	341	17	also	also	ADV
fumecheng-11564	341	18	confirms	confirm	VERB
fumecheng-11564	341	19	the	the	DET
fumecheng-11564	341	20	degrees	degree	NOUN
fumecheng-11564	341	21	of	of	ADP
fumecheng-11564	341	22	freedom	freedom	NOUN
fumecheng-11564	341	23	offered	offer	VERB
fumecheng-11564	341	24	by	by	ADP
fumecheng-11564	341	25	sliding	slide	VERB
fumecheng-11564	341	26	mode	mode	NOUN
fumecheng-11564	341	27	control	control	NOUN
fumecheng-11564	341	28	,	,	PUNCT
fumecheng-11564	341	29	also	also	ADV
fumecheng-11564	341	30	showing	show	VERB
fumecheng-11564	341	31	certain	certain	ADJ
fumecheng-11564	341	32	robustness	robustness	NOUN
fumecheng-11564	341	33	.	.	PUNCT
fumecheng-11564	342	1	one	one	NUM
fumecheng-11564	342	2	of	of	ADP
fumecheng-11564	342	3	the	the	DET
fumecheng-11564	342	4	main	main	ADJ
fumecheng-11564	342	5	shortcomings	shortcoming	NOUN
fumecheng-11564	342	6	of	of	ADP
fumecheng-11564	342	7	these	these	DET
fumecheng-11564	342	8	control	control	NOUN
fumecheng-11564	342	9	laws	law	NOUN
fumecheng-11564	342	10	is	be	AUX
fumecheng-11564	342	11	the	the	DET
fumecheng-11564	342	12	heuristics	heuristic	NOUN
fumecheng-11564	342	13	in	in	ADP
fumecheng-11564	342	14	the	the	DET
fumecheng-11564	342	15	design	design	NOUN
fumecheng-11564	342	16	of	of	ADP
fumecheng-11564	342	17	the	the	DET
fumecheng-11564	342	18	controllers	controller	NOUN
fumecheng-11564	342	19	.	.	PUNCT
fumecheng-11564	343	1	another	another	DET
fumecheng-11564	343	2	shortcoming	shortcoming	NOUN
fumecheng-11564	343	3	is	be	AUX
fumecheng-11564	343	4	the	the	DET
fumecheng-11564	343	5	need	need	NOUN
fumecheng-11564	343	6	for	for	ADP
fumecheng-11564	343	7	certain	certain	ADJ
fumecheng-11564	343	8	initial	initial	ADJ
fumecheng-11564	343	9	information	information	NOUN
fumecheng-11564	343	10	on	on	ADP
fumecheng-11564	343	11	the	the	DET
fumecheng-11564	343	12	process	process	NOUN
fumecheng-11564	343	13	model	model	NOUN
fumecheng-11564	343	14	.	.	PUNCT
fumecheng-11564	344	1	future	future	ADJ
fumecheng-11564	344	2	research	research	NOUN
fumecheng-11564	344	3	will	will	AUX
fumecheng-11564	344	4	be	be	AUX
fumecheng-11564	344	5	focused	focus	VERB
fumecheng-11564	344	6	on	on	ADP
fumecheng-11564	344	7	mitigating	mitigate	VERB
fumecheng-11564	344	8	these	these	DET
fumecheng-11564	344	9	shortcomings	shortcoming	NOUN
fumecheng-11564	344	10	.	.	PUNCT
fumecheng-11564	345	1	first	first	ADV
fumecheng-11564	345	2	,	,	PUNCT
fumecheng-11564	345	3	the	the	DET
fumecheng-11564	345	4	optimal	optimal	ADJ
fumecheng-11564	345	5	tuning	tuning	NOUN
fumecheng-11564	345	6	of	of	ADP
fumecheng-11564	345	7	the	the	DET
fumecheng-11564	345	8	free	free	ADJ
fumecheng-11564	345	9	parameters	parameter	NOUN
fumecheng-11564	345	10	of	of	ADP
fumecheng-11564	345	11	the	the	DET
fumecheng-11564	345	12	sliding	slide	VERB
fumecheng-11564	345	13	mode	mode	NOUN
fumecheng-11564	345	14	controllers	controller	NOUN
fumecheng-11564	345	15	will	will	AUX
fumecheng-11564	345	16	be	be	AUX
fumecheng-11564	345	17	targeted	target	VERB
fumecheng-11564	345	18	.	.	PUNCT
fumecheng-11564	346	1	second	second	ADJ
fumecheng-11564	346	2	,	,	PUNCT
fumecheng-11564	346	3	the	the	DET
fumecheng-11564	346	4	design	design	NOUN
fumecheng-11564	346	5	of	of	ADP
fumecheng-11564	346	6	data	data	NOUN
fumecheng-11564	346	7	-	-	PUNCT
fumecheng-11564	346	8	driven	drive	VERB
fumecheng-11564	346	9	sliding	slide	VERB
fumecheng-11564	346	10	mode	mode	NOUN
fumecheng-11564	346	11	controllers	controller	NOUN
fumecheng-11564	346	12	will	will	AUX
fumecheng-11564	346	13	be	be	AUX
fumecheng-11564	346	14	carried	carry	VERB
fumecheng-11564	346	15	out	out	ADP
fumecheng-11564	346	16	starting	start	VERB
fumecheng-11564	346	17	with	with	ADP
fumecheng-11564	346	18	[	[	X
fumecheng-11564	346	19	6	6	NUM
fumecheng-11564	346	20	]	]	PUNCT
fumecheng-11564	346	21	and	and	CCONJ
fumecheng-11564	346	22	compared	compare	VERB
fumecheng-11564	346	23	to	to	ADP
fumecheng-11564	346	24	model	model	NOUN
fumecheng-11564	346	25	-	-	PUNCT
fumecheng-11564	346	26	based	base	VERB
fumecheng-11564	346	27	sliding	sliding	ADJ
fumecheng-11564	346	28	mode	mode	NOUN
fumecheng-11564	346	29	controllers	controller	NOUN
fumecheng-11564	346	30	.	.	PUNCT
fumecheng-11564	347	1	direct	direct	ADJ
fumecheng-11564	347	2	relations	relation	NOUN
fumecheng-11564	347	3	that	that	PRON
fumecheng-11564	347	4	involve	involve	VERB
fumecheng-11564	347	5	controller	controller	NOUN
fumecheng-11564	347	6	tuning	tune	VERB
fumecheng-11564	347	7	parameters	parameter	NOUN
fumecheng-11564	347	8	and	and	CCONJ
fumecheng-11564	347	9	control	control	NOUN
fumecheng-11564	347	10	system	system	NOUN
fumecheng-11564	347	11	performance	performance	NOUN
fumecheng-11564	347	12	indices	indice	VERB
fumecheng-11564	347	13	with	with	ADP
fumecheng-11564	347	14	respect	respect	NOUN
fumecheng-11564	347	15	to	to	ADP
fumecheng-11564	347	16	both	both	DET
fumecheng-11564	347	17	reference	reference	NOUN
fumecheng-11564	347	18	and	and	CCONJ
fumecheng-11564	347	19	disturbance	disturbance	NOUN
fumecheng-11564	347	20	inputs	input	NOUN
fumecheng-11564	347	21	will	will	AUX
fumecheng-11564	347	22	be	be	AUX
fumecheng-11564	347	23	attempted	attempt	VERB
fumecheng-11564	347	24	to	to	PART
fumecheng-11564	347	25	be	be	AUX
fumecheng-11564	347	26	derived	derive	VERB
fumecheng-11564	347	27	in	in	ADP
fumecheng-11564	347	28	all	all	DET
fumecheng-11564	347	29	controller	controller	NOUN
fumecheng-11564	347	30	designs	design	NOUN
fumecheng-11564	347	31	.	.	PUNCT
fumecheng-11564	348	1	acknowledgement	acknowledgement	NOUN
fumecheng-11564	348	2	:	:	PUNCT
fumecheng-11564	348	3	the	the	DET
fumecheng-11564	348	4	research	research	NOUN
fumecheng-11564	348	5	reported	report	VERB
fumecheng-11564	348	6	in	in	ADP
fumecheng-11564	348	7	this	this	DET
fumecheng-11564	348	8	paper	paper	NOUN
fumecheng-11564	348	9	was	be	AUX
fumecheng-11564	348	10	supported	support	VERB
fumecheng-11564	348	11	by	by	ADP
fumecheng-11564	348	12	a	a	DET
fumecheng-11564	348	13	grant	grant	NOUN
fumecheng-11564	348	14	of	of	ADP
fumecheng-11564	348	15	the	the	DET
fumecheng-11564	348	16	romanian	romanian	PROPN
fumecheng-11564	348	17	ministry	ministry	PROPN
fumecheng-11564	348	18	of	of	ADP
fumecheng-11564	348	19	education	education	PROPN
fumecheng-11564	348	20	and	and	CCONJ
fumecheng-11564	348	21	research	research	NOUN
fumecheng-11564	348	22	,	,	PUNCT
fumecheng-11564	348	23	cncs	cncs	PROPN
fumecheng-11564	348	24	uefiscdi	uefiscdi	NOUN
fumecheng-11564	348	25	,	,	PUNCT
fumecheng-11564	348	26	project	project	NOUN
fumecheng-11564	348	27	number	number	NOUN
fumecheng-11564	348	28	pn	pn	PROPN
fumecheng-11564	348	29	-	-	PUNCT
fumecheng-11564	348	30	iii	iii	NOUN
fumecheng-11564	348	31	-	-	PUNCT
fumecheng-11564	348	32	p4	p4	ADJ
fumecheng-11564	348	33	-	-	PUNCT
fumecheng-11564	348	34	id	id	NOUN
fumecheng-11564	348	35	-	-	PUNCT
fumecheng-11564	348	36	pce2020	pce2020	NOUN
fumecheng-11564	348	37	-	-	PUNCT
fumecheng-11564	348	38	0269	0269	NUM
fumecheng-11564	348	39	,	,	PUNCT
fumecheng-11564	348	40	within	within	ADP
fumecheng-11564	348	41	pncdi	pncdi	PROPN
fumecheng-11564	348	42	iii	iii	PROPN
fumecheng-11564	348	43	.	.	PUNCT
fumecheng-11564	348	44	references	reference	NOUN
fumecheng-11564	348	45	1	1	NUM
fumecheng-11564	348	46	.	.	PUNCT
fumecheng-11564	349	1	emelyanov	emelyanov	NOUN
fumecheng-11564	349	2	,	,	PUNCT
fumecheng-11564	349	3	s.v	s.v	PROPN
fumecheng-11564	349	4	.	.	PROPN
fumecheng-11564	349	5	,	,	PUNCT
fumecheng-11564	349	6	1967	1967	NUM
fumecheng-11564	349	7	,	,	PUNCT
fumecheng-11564	349	8	variable	variable	ADJ
fumecheng-11564	349	9	structure	structure	NOUN
fumecheng-11564	349	10	control	control	NOUN
fumecheng-11564	349	11	systems	system	NOUN
fumecheng-11564	349	12	.	.	PUNCT
fumecheng-11564	350	1	nauka	nauka	PROPN
fumecheng-11564	350	2	,	,	PUNCT
fumecheng-11564	350	3	moscow	moscow	PROPN
fumecheng-11564	350	4	.	.	PUNCT
fumecheng-11564	351	1	2	2	X
fumecheng-11564	351	2	.	.	X
fumecheng-11564	351	3	utkin	utkin	ADJ
fumecheng-11564	351	4	,	,	PUNCT
fumecheng-11564	351	5	v.i	v.i	PROPN
fumecheng-11564	351	6	.	.	PROPN
fumecheng-11564	351	7	,	,	PUNCT
fumecheng-11564	351	8	1977	1977	NUM
fumecheng-11564	351	9	,	,	PUNCT
fumecheng-11564	351	10	variable	variable	ADJ
fumecheng-11564	351	11	structure	structure	NOUN
fumecheng-11564	351	12	systems	system	NOUN
fumecheng-11564	351	13	with	with	ADP
fumecheng-11564	351	14	sliding	slide	VERB
fumecheng-11564	351	15	modes	mode	NOUN
fumecheng-11564	351	16	,	,	PUNCT
fumecheng-11564	351	17	ieee	ieee	NOUN
fumecheng-11564	351	18	transactions	transaction	NOUN
fumecheng-11564	351	19	on	on	ADP
fumecheng-11564	351	20	automatic	automatic	ADJ
fumecheng-11564	351	21	control	control	NOUN
fumecheng-11564	351	22	,	,	PUNCT
fumecheng-11564	351	23	22(2	22(2	NUM
fumecheng-11564	351	24	)	)	PUNCT
fumecheng-11564	351	25	,	,	PUNCT
fumecheng-11564	351	26	pp	pp	PROPN
fumecheng-11564	351	27	.	.	PUNCT
fumecheng-11564	352	1	212	212	NUM
fumecheng-11564	352	2	-	-	SYM
fumecheng-11564	352	3	222	222	NUM
fumecheng-11564	352	4	.	.	PUNCT
fumecheng-11564	353	1	3	3	NUM
fumecheng-11564	353	2	.	.	X
fumecheng-11564	353	3	yu	yu	PROPN
fumecheng-11564	353	4	,	,	PUNCT
fumecheng-11564	353	5	x.-h	x.-h	PROPN
fumecheng-11564	353	6	.	.	PUNCT
fumecheng-11564	353	7	,	,	PUNCT
fumecheng-11564	353	8	kaynak	kaynak	PROPN
fumecheng-11564	353	9	,	,	PUNCT
fumecheng-11564	353	10	o.	o.	NOUN
fumecheng-11564	353	11	,	,	PUNCT
fumecheng-11564	353	12	2009	2009	NUM
fumecheng-11564	353	13	,	,	PUNCT
fumecheng-11564	353	14	sliding	sliding	ADJ
fumecheng-11564	353	15	-	-	PUNCT
fumecheng-11564	353	16	mode	mode	NOUN
fumecheng-11564	353	17	control	control	NOUN
fumecheng-11564	353	18	with	with	ADP
fumecheng-11564	353	19	soft	soft	ADJ
fumecheng-11564	353	20	computing	computing	NOUN
fumecheng-11564	353	21	:	:	PUNCT
fumecheng-11564	353	22	a	a	DET
fumecheng-11564	353	23	survey	survey	NOUN
fumecheng-11564	353	24	,	,	PUNCT
fumecheng-11564	353	25	ieee	ieee	NOUN
fumecheng-11564	353	26	transactions	transaction	NOUN
fumecheng-11564	353	27	on	on	ADP
fumecheng-11564	353	28	industrial	industrial	ADJ
fumecheng-11564	353	29	electronics	electronic	NOUN
fumecheng-11564	353	30	,	,	PUNCT
fumecheng-11564	353	31	56(9	56(9	NOUN
fumecheng-11564	353	32	)	)	PUNCT
fumecheng-11564	353	33	,	,	PUNCT
fumecheng-11564	353	34	pp	pp	ADJ
fumecheng-11564	353	35	.	.	PUNCT
fumecheng-11564	354	1	3275	3275	NUM
fumecheng-11564	354	2	-	-	SYM
fumecheng-11564	354	3	3285	3285	NUM
fumecheng-11564	354	4	.	.	PUNCT
fumecheng-11564	355	1	4	4	X
fumecheng-11564	355	2	.	.	X
fumecheng-11564	355	3	young	young	PROPN
fumecheng-11564	355	4	,	,	PUNCT
fumecheng-11564	355	5	k.d	k.d	PROPN
fumecheng-11564	355	6	.	.	PROPN
fumecheng-11564	355	7	,	,	PUNCT
fumecheng-11564	355	8	utkin	utkin	PROPN
fumecheng-11564	355	9	,	,	PUNCT
fumecheng-11564	355	10	v.i	v.i	PROPN
fumecheng-11564	355	11	.	.	PROPN
fumecheng-11564	355	12	,	,	PUNCT
fumecheng-11564	355	13	ozguner	ozguner	NOUN
fumecheng-11564	355	14	,	,	PUNCT
fumecheng-11564	355	15	u.	u.	PROPN
fumecheng-11564	355	16	,	,	PUNCT
fumecheng-11564	355	17	1999	1999	NUM
fumecheng-11564	355	18	,	,	PUNCT
fumecheng-11564	355	19	a	a	DET
fumecheng-11564	355	20	control	control	NOUN
fumecheng-11564	355	21	engineer	engineer	NOUN
fumecheng-11564	355	22	’s	’s	PART
fumecheng-11564	355	23	guide	guide	NOUN
fumecheng-11564	355	24	to	to	ADP
fumecheng-11564	355	25	sliding	slide	VERB
fumecheng-11564	355	26	mode	mode	NOUN
fumecheng-11564	355	27	control	control	NOUN
fumecheng-11564	355	28	,	,	PUNCT
fumecheng-11564	355	29	ieee	ieee	NOUN
fumecheng-11564	355	30	transactions	transaction	NOUN
fumecheng-11564	355	31	on	on	ADP
fumecheng-11564	355	32	control	control	NOUN
fumecheng-11564	355	33	systems	system	NOUN
fumecheng-11564	355	34	technology	technology	NOUN
fumecheng-11564	355	35	,	,	PUNCT
fumecheng-11564	355	36	7(3	7(3	NUM
fumecheng-11564	355	37	)	)	PUNCT
fumecheng-11564	355	38	,	,	PUNCT
fumecheng-11564	355	39	pp	pp	ADP
fumecheng-11564	355	40	.	.	PUNCT
fumecheng-11564	356	1	328	328	NUM
fumecheng-11564	356	2	-	-	SYM
fumecheng-11564	356	3	342	342	NUM
fumecheng-11564	356	4	.	.	PUNCT
fumecheng-11564	357	1	5	5	NUM
fumecheng-11564	357	2	.	.	X
fumecheng-11564	357	3	aboserre	aboserre	PROPN
fumecheng-11564	357	4	,	,	PUNCT
fumecheng-11564	357	5	l.t	l.t	PROPN
fumecheng-11564	357	6	.	.	PROPN
fumecheng-11564	357	7	,	,	PUNCT
fumecheng-11564	357	8	el	el	PROPN
fumecheng-11564	357	9	-	-	PUNCT
fumecheng-11564	357	10	badawy	badawy	PROPN
fumecheng-11564	357	11	,	,	PUNCT
fumecheng-11564	357	12	a.a	a.a	PROPN
fumecheng-11564	357	13	.	.	PROPN
fumecheng-11564	357	14	,	,	PUNCT
fumecheng-11564	357	15	2020	2020	NUM
fumecheng-11564	357	16	,	,	PUNCT
fumecheng-11564	357	17	robust	robust	ADJ
fumecheng-11564	357	18	integral	integral	ADJ
fumecheng-11564	357	19	sliding	slide	VERB
fumecheng-11564	357	20	mode	mode	NOUN
fumecheng-11564	357	21	control	control	NOUN
fumecheng-11564	357	22	of	of	ADP
fumecheng-11564	357	23	tower	tower	NOUN
fumecheng-11564	357	24	cranes	crane	NOUN
fumecheng-11564	357	25	,	,	PUNCT
fumecheng-11564	357	26	journal	journal	NOUN
fumecheng-11564	357	27	of	of	ADP
fumecheng-11564	357	28	vibration	vibration	NOUN
fumecheng-11564	357	29	and	and	CCONJ
fumecheng-11564	357	30	control	control	NOUN
fumecheng-11564	357	31	,	,	PUNCT
fumecheng-11564	357	32	27(9	27(9	NOUN
fumecheng-11564	357	33	-	-	SYM
fumecheng-11564	357	34	10	10	NUM
fumecheng-11564	357	35	)	)	PUNCT
fumecheng-11564	357	36	,	,	PUNCT
fumecheng-11564	357	37	pp	pp	ADJ
fumecheng-11564	357	38	.	.	PUNCT
fumecheng-11564	358	1	1171	1171	NUM
fumecheng-11564	358	2	-	-	SYM
fumecheng-11564	358	3	1183	1183	NUM
fumecheng-11564	358	4	.	.	PUNCT
fumecheng-11564	359	1	6	6	NUM
fumecheng-11564	359	2	.	.	X
fumecheng-11564	359	3	precup	precup	PROPN
fumecheng-11564	359	4	,	,	PUNCT
fumecheng-11564	359	5	r.-e	r.-e	PROPN
fumecheng-11564	359	6	.	.	PUNCT
fumecheng-11564	359	7	,	,	PUNCT
fumecheng-11564	359	8	roman	roman	NOUN
fumecheng-11564	359	9	,	,	PUNCT
fumecheng-11564	359	10	r.-c	r.-c	PROPN
fumecheng-11564	359	11	.	.	PUNCT
fumecheng-11564	359	12	,	,	PUNCT
fumecheng-11564	359	13	safaei	safaei	PROPN
fumecheng-11564	359	14	,	,	PUNCT
fumecheng-11564	359	15	a.	a.	NOUN
fumecheng-11564	359	16	,	,	PUNCT
fumecheng-11564	359	17	2021	2021	NUM
fumecheng-11564	359	18	,	,	PUNCT
fumecheng-11564	359	19	data	data	NOUN
fumecheng-11564	359	20	-	-	PUNCT
fumecheng-11564	359	21	driven	drive	VERB
fumecheng-11564	359	22	model	model	NOUN
fumecheng-11564	359	23	-	-	PUNCT
fumecheng-11564	359	24	free	free	ADJ
fumecheng-11564	359	25	controllers	controller	NOUN
fumecheng-11564	359	26	,	,	PUNCT
fumecheng-11564	359	27	1st	1st	PROPN
fumecheng-11564	359	28	edition	edition	NOUN
fumecheng-11564	359	29	.	.	PUNCT
fumecheng-11564	360	1	crc	crc	PROPN
fumecheng-11564	360	2	press	press	PROPN
fumecheng-11564	360	3	,	,	PUNCT
fumecheng-11564	360	4	taylor	taylor	PROPN
fumecheng-11564	360	5	&	&	CCONJ
fumecheng-11564	360	6	francis	francis	PROPN
fumecheng-11564	360	7	,	,	PUNCT
fumecheng-11564	360	8	boca	boca	PROPN
fumecheng-11564	360	9	raton	raton	PROPN
fumecheng-11564	360	10	,	,	PUNCT
fumecheng-11564	360	11	fl	fl	PROPN
fumecheng-11564	360	12	.	.	PROPN
fumecheng-11564	360	13	20	20	NUM
fumecheng-11564	360	14	a.-i	a.-i	NOUN
fumecheng-11564	360	15	.	.	PUNCT
fumecheng-11564	361	1	borlea	borlea	PROPN
fumecheng-11564	361	2	,	,	PUNCT
fumecheng-11564	361	3	r.-e	r.-e	PROPN
fumecheng-11564	361	4	.	.	PUNCT
fumecheng-11564	362	1	precup	precup	PROPN
fumecheng-11564	362	2	,	,	PUNCT
fumecheng-11564	362	3	r.-c	r.-c	PROPN
fumecheng-11564	362	4	.	.	PUNCT
fumecheng-11564	363	1	roman	roman	PROPN
fumecheng-11564	363	2	7	7	NUM
fumecheng-11564	363	3	.	.	NUM
fumecheng-11564	364	1	xi	xi	PROPN
fumecheng-11564	364	2	,	,	PUNCT
fumecheng-11564	364	3	z.	z.	PROPN
fumecheng-11564	364	4	,	,	PUNCT
fumecheng-11564	364	5	hesketh	hesketh	PROPN
fumecheng-11564	364	6	,	,	PUNCT
fumecheng-11564	364	7	t.	t.	PROPN
fumecheng-11564	364	8	,	,	PUNCT
fumecheng-11564	364	9	2010	2010	NUM
fumecheng-11564	364	10	,	,	PUNCT
fumecheng-11564	364	11	discrete	discrete	ADJ
fumecheng-11564	364	12	time	time	NOUN
fumecheng-11564	364	13	integral	integral	ADJ
fumecheng-11564	364	14	sliding	slide	VERB
fumecheng-11564	364	15	mode	mode	NOUN
fumecheng-11564	364	16	control	control	NOUN
fumecheng-11564	364	17	for	for	ADP
fumecheng-11564	364	18	overhead	overhead	ADJ
fumecheng-11564	364	19	crane	crane	NOUN
fumecheng-11564	364	20	with	with	ADP
fumecheng-11564	364	21	uncertainties	uncertainty	NOUN
fumecheng-11564	364	22	,	,	PUNCT
fumecheng-11564	364	23	iet	iet	PROPN
fumecheng-11564	364	24	control	control	PROPN
fumecheng-11564	364	25	theory	theory	PROPN
fumecheng-11564	364	26	&	&	CCONJ
fumecheng-11564	364	27	applications	application	NOUN
fumecheng-11564	364	28	,	,	PUNCT
fumecheng-11564	364	29	4(10	4(10	NUM
fumecheng-11564	364	30	)	)	PUNCT
fumecheng-11564	364	31	,	,	PUNCT
fumecheng-11564	364	32	pp	pp	ADP
fumecheng-11564	364	33	.	.	PUNCT
fumecheng-11564	365	1	2071	2071	NUM
fumecheng-11564	365	2	-	-	SYM
fumecheng-11564	365	3	2081	2081	NUM
fumecheng-11564	365	4	.	.	PUNCT
fumecheng-11564	366	1	8	8	NUM
fumecheng-11564	366	2	.	.	X
fumecheng-11564	366	3	qian	qian	PROPN
fumecheng-11564	366	4	,	,	PUNCT
fumecheng-11564	366	5	d.-w	d.-w	PROPN
fumecheng-11564	366	6	.	.	PUNCT
fumecheng-11564	366	7	,	,	PUNCT
fumecheng-11564	366	8	yi	yi	PROPN
fumecheng-11564	366	9	,	,	PUNCT
fumecheng-11564	366	10	j.-q	j.-q	PROPN
fumecheng-11564	366	11	.	.	PROPN
fumecheng-11564	366	12	,	,	PUNCT
fumecheng-11564	366	13	2013	2013	NUM
fumecheng-11564	366	14	,	,	PUNCT
fumecheng-11564	366	15	design	design	NOUN
fumecheng-11564	366	16	of	of	ADP
fumecheng-11564	366	17	combining	combine	VERB
fumecheng-11564	366	18	sliding	slide	VERB
fumecheng-11564	366	19	mode	mode	NOUN
fumecheng-11564	366	20	controller	controller	NOUN
fumecheng-11564	366	21	for	for	ADP
fumecheng-11564	366	22	overhead	overhead	ADJ
fumecheng-11564	366	23	crane	crane	NOUN
fumecheng-11564	366	24	systems	system	NOUN
fumecheng-11564	366	25	,	,	PUNCT
fumecheng-11564	366	26	international	international	ADJ
fumecheng-11564	366	27	journal	journal	NOUN
fumecheng-11564	366	28	of	of	ADP
fumecheng-11564	366	29	control	control	NOUN
fumecheng-11564	366	30	and	and	CCONJ
fumecheng-11564	366	31	automation	automation	NOUN
fumecheng-11564	366	32	,	,	PUNCT
fumecheng-11564	366	33	6(1	6(1	NUM
fumecheng-11564	366	34	)	)	PUNCT
fumecheng-11564	366	35	,	,	PUNCT
fumecheng-11564	366	36	pp	pp	ADP
fumecheng-11564	366	37	.	.	PUNCT
fumecheng-11564	367	1	132	132	NUM
fumecheng-11564	367	2	-	-	SYM
fumecheng-11564	367	3	140	140	NUM
fumecheng-11564	367	4	.	.	NOUN
fumecheng-11564	368	1	9	9	NUM
fumecheng-11564	368	2	.	.	X
fumecheng-11564	368	3	bartolini	bartolini	NOUN
fumecheng-11564	368	4	,	,	PUNCT
fumecheng-11564	368	5	g.	g.	NOUN
fumecheng-11564	368	6	,	,	PUNCT
fumecheng-11564	368	7	orani	orani	NOUN
fumecheng-11564	368	8	,	,	PUNCT
fumecheng-11564	368	9	n.	n.	NOUN
fumecheng-11564	368	10	,	,	PUNCT
fumecheng-11564	368	11	pisano	pisano	PROPN
fumecheng-11564	368	12	,	,	PUNCT
fumecheng-11564	368	13	a.	a.	PROPN
fumecheng-11564	368	14	,	,	PUNCT
fumecheng-11564	368	15	usai	usai	PROPN
fumecheng-11564	368	16	,	,	PUNCT
fumecheng-11564	368	17	e.	e.	PROPN
fumecheng-11564	368	18	,	,	PUNCT
fumecheng-11564	368	19	2000	2000	NUM
fumecheng-11564	368	20	,	,	PUNCT
fumecheng-11564	368	21	load	load	NOUN
fumecheng-11564	368	22	swing	swing	NOUN
fumecheng-11564	368	23	damping	damp	VERB
fumecheng-11564	368	24	in	in	ADP
fumecheng-11564	368	25	overhead	overhead	ADJ
fumecheng-11564	368	26	cranes	crane	NOUN
fumecheng-11564	368	27	by	by	ADP
fumecheng-11564	368	28	sliding	slide	VERB
fumecheng-11564	368	29	mode	mode	NOUN
fumecheng-11564	368	30	technique	technique	NOUN
fumecheng-11564	368	31	,	,	PUNCT
fumecheng-11564	368	32	proc	proc	NOUN
fumecheng-11564	368	33	.	.	PUNCT
fumecheng-11564	369	1	39th	39th	ADJ
fumecheng-11564	369	2	ieee	ieee	NOUN
fumecheng-11564	369	3	conference	conference	NOUN
fumecheng-11564	369	4	on	on	ADP
fumecheng-11564	369	5	decision	decision	NOUN
fumecheng-11564	369	6	and	and	CCONJ
fumecheng-11564	369	7	control	control	NOUN
fumecheng-11564	369	8	,	,	PUNCT
fumecheng-11564	369	9	sydney	sydney	PROPN
fumecheng-11564	369	10	,	,	PUNCT
fumecheng-11564	369	11	nsw	nsw	PROPN
fumecheng-11564	369	12	,	,	PUNCT
fumecheng-11564	369	13	australia	australia	PROPN
fumecheng-11564	369	14	,	,	PUNCT
fumecheng-11564	369	15	vol	vol	NOUN
fumecheng-11564	369	16	.	.	PROPN
fumecheng-11564	369	17	2	2	NUM
fumecheng-11564	369	18	,	,	PUNCT
fumecheng-11564	369	19	pp	pp	ADJ
fumecheng-11564	369	20	.	.	PUNCT
fumecheng-11564	369	21	1697–1702	1697–1702	NUM
fumecheng-11564	369	22	.	.	PUNCT
fumecheng-11564	370	1	10	10	NUM
fumecheng-11564	370	2	.	.	PUNCT
fumecheng-11564	371	1	lee	lee	PROPN
fumecheng-11564	371	2	,	,	PUNCT
fumecheng-11564	371	3	l.-h	l.-h	PROPN
fumecheng-11564	371	4	.	.	PUNCT
fumecheng-11564	371	5	,	,	PUNCT
fumecheng-11564	371	6	huang	huang	PROPN
fumecheng-11564	371	7	,	,	PUNCT
fumecheng-11564	371	8	c.-h	c.-h	PROPN
fumecheng-11564	371	9	.	.	PROPN
fumecheng-11564	371	10	,	,	PUNCT
fumecheng-11564	371	11	ku	ku	PROPN
fumecheng-11564	371	12	,	,	PUNCT
fumecheng-11564	371	13	s.-c	s.-c	PROPN
fumecheng-11564	371	14	.	.	PROPN
fumecheng-11564	371	15	,	,	PUNCT
fumecheng-11564	371	16	yang	yang	PROPN
fumecheng-11564	371	17	,	,	PUNCT
fumecheng-11564	371	18	z.-h	z.-h	PROPN
fumecheng-11564	371	19	.	.	PUNCT
fumecheng-11564	371	20	,	,	PUNCT
fumecheng-11564	371	21	chang	chang	PROPN
fumecheng-11564	371	22	,	,	PUNCT
fumecheng-11564	371	23	c.-y	c.-y	NOUN
fumecheng-11564	371	24	.	.	PUNCT
fumecheng-11564	371	25	,	,	PUNCT
fumecheng-11564	371	26	2014	2014	NUM
fumecheng-11564	371	27	,	,	PUNCT
fumecheng-11564	371	28	efficient	efficient	ADJ
fumecheng-11564	371	29	visual	visual	ADJ
fumecheng-11564	371	30	feedback	feedback	NOUN
fumecheng-11564	371	31	method	method	NOUN
fumecheng-11564	371	32	to	to	PART
fumecheng-11564	371	33	control	control	VERB
fumecheng-11564	371	34	a	a	DET
fumecheng-11564	371	35	three	three	NUM
fumecheng-11564	371	36	-	-	PUNCT
fumecheng-11564	371	37	dimensional	dimensional	ADJ
fumecheng-11564	371	38	overhead	overhead	ADJ
fumecheng-11564	371	39	crane	crane	NOUN
fumecheng-11564	371	40	,	,	PUNCT
fumecheng-11564	371	41	ieee	ieee	NOUN
fumecheng-11564	371	42	transactions	transaction	NOUN
fumecheng-11564	371	43	on	on	ADP
fumecheng-11564	371	44	industrial	industrial	ADJ
fumecheng-11564	371	45	electronics	electronic	NOUN
fumecheng-11564	371	46	,	,	PUNCT
fumecheng-11564	371	47	61(8	61(8	NUM
fumecheng-11564	371	48	)	)	PUNCT
fumecheng-11564	371	49	,	,	PUNCT
fumecheng-11564	371	50	pp	pp	ADP
fumecheng-11564	371	51	.	.	PUNCT
fumecheng-11564	371	52	4073	4073	NUM
fumecheng-11564	371	53	-	-	SYM
fumecheng-11564	371	54	4083	4083	NUM
fumecheng-11564	371	55	.	.	PUNCT
fumecheng-11564	372	1	11	11	NUM
fumecheng-11564	372	2	.	.	X
fumecheng-11564	373	1	sun	sun	NOUN
fumecheng-11564	373	2	,	,	PUNCT
fumecheng-11564	373	3	n.	n.	NOUN
fumecheng-11564	373	4	,	,	PUNCT
fumecheng-11564	373	5	fang	fang	PROPN
fumecheng-11564	373	6	,	,	PUNCT
fumecheng-11564	373	7	y.-c	y.-c	PROPN
fumecheng-11564	373	8	.	.	PROPN
fumecheng-11564	373	9	,	,	PUNCT
fumecheng-11564	373	10	chen	chen	PROPN
fumecheng-11564	373	11	,	,	PUNCT
fumecheng-11564	373	12	h.	h.	PROPN
fumecheng-11564	373	13	,	,	PUNCT
fumecheng-11564	373	14	lu	lu	PROPN
fumecheng-11564	373	15	,	,	PUNCT
fumecheng-11564	373	16	b.	b.	PROPN
fumecheng-11564	373	17	,	,	PUNCT
fumecheng-11564	373	18	fu	fu	PROPN
fumecheng-11564	373	19	,	,	PUNCT
fumecheng-11564	373	20	y.-m	y.-m	NOUN
fumecheng-11564	373	21	.	.	PROPN
fumecheng-11564	373	22	,	,	PUNCT
fumecheng-11564	373	23	2016	2016	NUM
fumecheng-11564	373	24	,	,	PUNCT
fumecheng-11564	373	25	slew	slew	ADJ
fumecheng-11564	373	26	/	/	SYM
fumecheng-11564	373	27	translation	translation	NOUN
fumecheng-11564	373	28	positioning	positioning	NOUN
fumecheng-11564	373	29	and	and	CCONJ
fumecheng-11564	373	30	swing	swing	NOUN
fumecheng-11564	373	31	suppression	suppression	NOUN
fumecheng-11564	373	32	for	for	ADP
fumecheng-11564	373	33	4	4	NUM
fumecheng-11564	373	34	-	-	PUNCT
fumecheng-11564	373	35	dof	dof	NOUN
fumecheng-11564	373	36	tower	tower	NOUN
fumecheng-11564	373	37	cranes	crane	NOUN
fumecheng-11564	373	38	with	with	ADP
fumecheng-11564	373	39	parametric	parametric	ADJ
fumecheng-11564	373	40	uncertainties	uncertainty	NOUN
fumecheng-11564	373	41	:	:	PUNCT
fumecheng-11564	373	42	design	design	NOUN
fumecheng-11564	373	43	and	and	CCONJ
fumecheng-11564	373	44	hardware	hardware	NOUN
fumecheng-11564	373	45	experimentation	experimentation	NOUN
fumecheng-11564	373	46	,	,	PUNCT
fumecheng-11564	373	47	ieee	ieee	NOUN
fumecheng-11564	373	48	transactions	transaction	NOUN
fumecheng-11564	373	49	on	on	ADP
fumecheng-11564	373	50	industrial	industrial	ADJ
fumecheng-11564	373	51	electronics	electronic	NOUN
fumecheng-11564	373	52	,	,	PUNCT
fumecheng-11564	373	53	63(10	63(10	NOUN
fumecheng-11564	373	54	)	)	PUNCT
fumecheng-11564	373	55	,	,	PUNCT
fumecheng-11564	373	56	pp	pp	ADJ
fumecheng-11564	373	57	.	.	PUNCT
fumecheng-11564	373	58	6407	6407	NUM
fumecheng-11564	373	59	-	-	SYM
fumecheng-11564	373	60	6418	6418	NUM
fumecheng-11564	373	61	.	.	PUNCT
fumecheng-11564	374	1	12	12	NUM
fumecheng-11564	374	2	.	.	X
fumecheng-11564	375	1	le	le	PROPN
fumecheng-11564	375	2	,	,	PUNCT
fumecheng-11564	375	3	t.a	t.a	PROPN
fumecheng-11564	375	4	.	.	PROPN
fumecheng-11564	375	5	,	,	PUNCT
fumecheng-11564	375	6	dang	dang	PROPN
fumecheng-11564	375	7	,	,	PUNCT
fumecheng-11564	375	8	v.-h	v.-h	PROPN
fumecheng-11564	375	9	,	,	PUNCT
fumecheng-11564	375	10	ko	ko	PROPN
fumecheng-11564	375	11	,	,	PUNCT
fumecheng-11564	375	12	d.h	d.h	PROPN
fumecheng-11564	375	13	.	.	PROPN
fumecheng-11564	375	14	,	,	PUNCT
fumecheng-11564	375	15	an	an	DET
fumecheng-11564	375	16	,	,	PUNCT
fumecheng-11564	375	17	t.n	t.n	PROPN
fumecheng-11564	375	18	.	.	PROPN
fumecheng-11564	375	19	,	,	PUNCT
fumecheng-11564	375	20	lee	lee	PROPN
fumecheng-11564	375	21	,	,	PUNCT
fumecheng-11564	375	22	s.-g	s.-g	PROPN
fumecheng-11564	375	23	.	.	PROPN
fumecheng-11564	375	24	,	,	PUNCT
fumecheng-11564	375	25	2013	2013	NUM
fumecheng-11564	375	26	,	,	PUNCT
fumecheng-11564	375	27	nonlinear	nonlinear	ADJ
fumecheng-11564	375	28	controls	control	NOUN
fumecheng-11564	375	29	of	of	ADP
fumecheng-11564	375	30	a	a	DET
fumecheng-11564	375	31	rotating	rotate	VERB
fumecheng-11564	375	32	tower	tower	NOUN
fumecheng-11564	375	33	crane	crane	NOUN
fumecheng-11564	375	34	in	in	ADP
fumecheng-11564	375	35	conjunction	conjunction	NOUN
fumecheng-11564	375	36	with	with	ADP
fumecheng-11564	375	37	trolley	trolley	NOUN
fumecheng-11564	375	38	motion	motion	NOUN
fumecheng-11564	375	39	,	,	PUNCT
fumecheng-11564	375	40	proceedings	proceeding	NOUN
fumecheng-11564	375	41	of	of	ADP
fumecheng-11564	375	42	the	the	DET
fumecheng-11564	375	43	institution	institution	NOUN
fumecheng-11564	375	44	of	of	ADP
fumecheng-11564	375	45	mechanical	mechanical	ADJ
fumecheng-11564	375	46	engineers	engineer	NOUN
fumecheng-11564	375	47	,	,	PUNCT
fumecheng-11564	375	48	part	part	NOUN
fumecheng-11564	375	49	i	i	PRON
fumecheng-11564	375	50	:	:	PUNCT
fumecheng-11564	375	51	journal	journal	PROPN
fumecheng-11564	375	52	of	of	ADP
fumecheng-11564	375	53	systems	system	NOUN
fumecheng-11564	375	54	and	and	CCONJ
fumecheng-11564	375	55	control	control	PROPN
fumecheng-11564	375	56	engineering	engineering	NOUN
fumecheng-11564	375	57	,	,	PUNCT
fumecheng-11564	375	58	227(5	227(5	NUM
fumecheng-11564	375	59	)	)	PUNCT
fumecheng-11564	375	60	,	,	PUNCT
fumecheng-11564	375	61	pp	pp	ADP
fumecheng-11564	375	62	.	.	PUNCT
fumecheng-11564	376	1	451–460	451–460	NUM
fumecheng-11564	376	2	.	.	NOUN
fumecheng-11564	377	1	13	13	NUM
fumecheng-11564	377	2	.	.	X
fumecheng-11564	377	3	aboserre	aboserre	PROPN
fumecheng-11564	377	4	,	,	PUNCT
fumecheng-11564	377	5	l.t	l.t	PROPN
fumecheng-11564	377	6	.	.	PROPN
fumecheng-11564	377	7	,	,	PUNCT
fumecheng-11564	377	8	el	el	PROPN
fumecheng-11564	377	9	-	-	PUNCT
fumecheng-11564	377	10	badawy	badawy	PROPN
fumecheng-11564	377	11	,	,	PUNCT
fumecheng-11564	377	12	a.a	a.a	PROPN
fumecheng-11564	377	13	.	.	PROPN
fumecheng-11564	377	14	,	,	PUNCT
fumecheng-11564	377	15	2021	2021	NUM
fumecheng-11564	377	16	,	,	PUNCT
fumecheng-11564	377	17	robust	robust	ADJ
fumecheng-11564	377	18	integral	integral	ADJ
fumecheng-11564	377	19	sliding	slide	VERB
fumecheng-11564	377	20	mode	mode	NOUN
fumecheng-11564	377	21	control	control	NOUN
fumecheng-11564	377	22	of	of	ADP
fumecheng-11564	377	23	tower	tower	NOUN
fumecheng-11564	377	24	cranes	crane	NOUN
fumecheng-11564	377	25	,	,	PUNCT
fumecheng-11564	377	26	journal	journal	NOUN
fumecheng-11564	377	27	of	of	ADP
fumecheng-11564	377	28	vibration	vibration	NOUN
fumecheng-11564	377	29	and	and	CCONJ
fumecheng-11564	377	30	control	control	NOUN
fumecheng-11564	377	31	,	,	PUNCT
fumecheng-11564	377	32	27(9	27(9	NOUN
fumecheng-11564	377	33	-	-	SYM
fumecheng-11564	377	34	10	10	NUM
fumecheng-11564	377	35	)	)	PUNCT
fumecheng-11564	377	36	,	,	PUNCT
fumecheng-11564	377	37	pp	pp	ADJ
fumecheng-11564	377	38	.	.	PUNCT
fumecheng-11564	377	39	1171	1171	NUM
fumecheng-11564	377	40	-	-	SYM
fumecheng-11564	377	41	1183	1183	NUM
fumecheng-11564	377	42	.	.	PUNCT
fumecheng-11564	378	1	14	14	NUM
fumecheng-11564	378	2	.	.	PUNCT
fumecheng-11564	379	1	furuta	furuta	PROPN
fumecheng-11564	379	2	,	,	PUNCT
fumecheng-11564	379	3	k.	k.	PROPN
fumecheng-11564	379	4	,	,	PUNCT
fumecheng-11564	379	5	1990	1990	NUM
fumecheng-11564	379	6	,	,	PUNCT
fumecheng-11564	379	7	sliding	slide	VERB
fumecheng-11564	379	8	mode	mode	NOUN
fumecheng-11564	379	9	control	control	NOUN
fumecheng-11564	379	10	of	of	ADP
fumecheng-11564	379	11	a	a	DET
fumecheng-11564	379	12	discrete	discrete	ADJ
fumecheng-11564	379	13	system	system	NOUN
fumecheng-11564	379	14	,	,	PUNCT
fumecheng-11564	379	15	systems	system	NOUN
fumecheng-11564	379	16	&	&	CCONJ
fumecheng-11564	379	17	control	control	PROPN
fumecheng-11564	379	18	letters	letter	NOUN
fumecheng-11564	379	19	,	,	PUNCT
fumecheng-11564	379	20	14(2	14(2	NUM
fumecheng-11564	379	21	)	)	PUNCT
fumecheng-11564	379	22	,	,	PUNCT
fumecheng-11564	379	23	pp	pp	PROPN
fumecheng-11564	379	24	.	.	PUNCT
fumecheng-11564	380	1	145	145	NUM
fumecheng-11564	380	2	-	-	SYM
fumecheng-11564	380	3	152	152	NUM
fumecheng-11564	380	4	.	.	PUNCT
fumecheng-11564	381	1	15	15	NUM
fumecheng-11564	381	2	.	.	PUNCT
fumecheng-11564	382	1	gao	gao	PROPN
fumecheng-11564	382	2	,	,	PUNCT
fumecheng-11564	382	3	w.-b	w.-b	PROPN
fumecheng-11564	382	4	.	.	PROPN
fumecheng-11564	382	5	,	,	PUNCT
fumecheng-11564	382	6	wang	wang	PROPN
fumecheng-11564	382	7	,	,	PUNCT
fumecheng-11564	382	8	y.-f	y.-f	PROPN
fumecheng-11564	382	9	.	.	PUNCT
fumecheng-11564	382	10	,	,	PUNCT
fumecheng-11564	382	11	homaifa	homaifa	PROPN
fumecheng-11564	382	12	,	,	PUNCT
fumecheng-11564	382	13	a.	a.	NOUN
fumecheng-11564	382	14	,	,	PUNCT
fumecheng-11564	382	15	1995	1995	NUM
fumecheng-11564	382	16	,	,	PUNCT
fumecheng-11564	382	17	discrete	discrete	ADJ
fumecheng-11564	382	18	-	-	PUNCT
fumecheng-11564	382	19	time	time	NOUN
fumecheng-11564	382	20	variable	variable	ADJ
fumecheng-11564	382	21	structure	structure	NOUN
fumecheng-11564	382	22	control	control	NOUN
fumecheng-11564	382	23	systems	system	NOUN
fumecheng-11564	382	24	,	,	PUNCT
fumecheng-11564	382	25	ieee	ieee	NOUN
fumecheng-11564	382	26	transactions	transaction	NOUN
fumecheng-11564	382	27	on	on	ADP
fumecheng-11564	382	28	industrial	industrial	ADJ
fumecheng-11564	382	29	electronics	electronic	NOUN
fumecheng-11564	382	30	,	,	PUNCT
fumecheng-11564	382	31	42(2	42(2	NOUN
fumecheng-11564	382	32	)	)	PUNCT
fumecheng-11564	382	33	,	,	PUNCT
fumecheng-11564	382	34	pp	pp	PROPN
fumecheng-11564	382	35	.	.	PUNCT
fumecheng-11564	383	1	117	117	NUM
fumecheng-11564	383	2	-	-	SYM
fumecheng-11564	383	3	122	122	NUM
fumecheng-11564	383	4	.	.	PUNCT
fumecheng-11564	384	1	16	16	NUM
fumecheng-11564	384	2	.	.	PUNCT
fumecheng-11564	385	1	milosavljević	milosavljević	PROPN
fumecheng-11564	385	2	,	,	PUNCT
fumecheng-11564	385	3	č	č	PROPN
fumecheng-11564	385	4	.	.	PROPN
fumecheng-11564	385	5	,	,	PUNCT
fumecheng-11564	385	6	1985	1985	NUM
fumecheng-11564	385	7	,	,	PUNCT
fumecheng-11564	385	8	general	general	ADJ
fumecheng-11564	385	9	conditions	condition	NOUN
fumecheng-11564	385	10	for	for	ADP
fumecheng-11564	385	11	the	the	DET
fumecheng-11564	385	12	existence	existence	NOUN
fumecheng-11564	385	13	of	of	ADP
fumecheng-11564	385	14	a	a	DET
fumecheng-11564	385	15	quasisliding	quasislide	VERB
fumecheng-11564	385	16	mode	mode	NOUN
fumecheng-11564	385	17	on	on	ADP
fumecheng-11564	385	18	the	the	DET
fumecheng-11564	385	19	switching	switch	VERB
fumecheng-11564	385	20	hyperplane	hyperplane	NOUN
fumecheng-11564	385	21	in	in	ADP
fumecheng-11564	385	22	discrete	discrete	ADJ
fumecheng-11564	385	23	variable	variable	ADJ
fumecheng-11564	385	24	structure	structure	NOUN
fumecheng-11564	385	25	systems	system	NOUN
fumecheng-11564	385	26	,	,	PUNCT
fumecheng-11564	385	27	automation	automation	NOUN
fumecheng-11564	385	28	and	and	CCONJ
fumecheng-11564	385	29	remote	remote	ADJ
fumecheng-11564	385	30	control	control	NOUN
fumecheng-11564	385	31	,	,	PUNCT
fumecheng-11564	385	32	46(3	46(3	NOUN
fumecheng-11564	385	33	)	)	PUNCT
fumecheng-11564	385	34	,	,	PUNCT
fumecheng-11564	385	35	pp	pp	PROPN
fumecheng-11564	385	36	.	.	PUNCT
fumecheng-11564	386	1	307	307	NUM
fumecheng-11564	386	2	-	-	SYM
fumecheng-11564	386	3	314	314	NUM
fumecheng-11564	386	4	.	.	PUNCT
fumecheng-11564	387	1	17	17	NUM
fumecheng-11564	387	2	.	.	PUNCT
fumecheng-11564	388	1	spasić	spasić	PROPN
fumecheng-11564	388	2	,	,	PUNCT
fumecheng-11564	388	3	m.d	m.d	PROPN
fumecheng-11564	388	4	.	.	PROPN
fumecheng-11564	388	5	,	,	PUNCT
fumecheng-11564	388	6	2019	2019	NUM
fumecheng-11564	388	7	,	,	PUNCT
fumecheng-11564	388	8	model	model	NOUN
fumecheng-11564	388	9	predictive	predictive	PROPN
fumecheng-11564	388	10	control	control	NOUN
fumecheng-11564	388	11	based	base	VERB
fumecheng-11564	388	12	on	on	ADP
fumecheng-11564	388	13	sliding	slide	VERB
fumecheng-11564	388	14	mode	mode	NOUN
fumecheng-11564	388	15	control	control	NOUN
fumecheng-11564	388	16	,	,	PUNCT
fumecheng-11564	388	17	ph.d	ph.d	PROPN
fumecheng-11564	388	18	.	.	PUNCT
fumecheng-11564	389	1	thesis	thesis	NOUN
fumecheng-11564	389	2	,	,	PUNCT
fumecheng-11564	389	3	university	university	NOUN
fumecheng-11564	389	4	of	of	ADP
fumecheng-11564	389	5	niš	niš	PROPN
fumecheng-11564	389	6	,	,	PUNCT
fumecheng-11564	389	7	niš	niš	NOUN
fumecheng-11564	389	8	,	,	PUNCT
fumecheng-11564	389	9	serbia	serbia	PROPN
fumecheng-11564	389	10	.	.	PUNCT
fumecheng-11564	390	1	18	18	NUM
fumecheng-11564	390	2	.	.	PUNCT
fumecheng-11564	390	3	inteco	inteco	PROPN
fumecheng-11564	390	4	,	,	PUNCT
fumecheng-11564	390	5	2012	2012	NUM
fumecheng-11564	390	6	,	,	PUNCT
fumecheng-11564	390	7	tower	tower	NOUN
fumecheng-11564	390	8	crane	crane	NOUN
fumecheng-11564	390	9	,	,	PUNCT
fumecheng-11564	390	10	user	user	NOUN
fumecheng-11564	390	11	’s	’s	PART
fumecheng-11564	390	12	manual	manual	NOUN
fumecheng-11564	390	13	,	,	PUNCT
fumecheng-11564	390	14	inteco	inteco	PROPN
fumecheng-11564	390	15	ltd	ltd	PROPN
fumecheng-11564	390	16	,	,	PUNCT
fumecheng-11564	390	17	krakow	krakow	PROPN
fumecheng-11564	390	18	.	.	PUNCT
fumecheng-11564	391	1	19	19	NUM
fumecheng-11564	391	2	.	.	PUNCT
fumecheng-11564	391	3	buehler	buehler	PROPN
fumecheng-11564	391	4	,	,	PUNCT
fumecheng-11564	391	5	h.	h.	PROPN
fumecheng-11564	391	6	,	,	PUNCT
fumecheng-11564	391	7	1986	1986	NUM
fumecheng-11564	391	8	,	,	PUNCT
fumecheng-11564	391	9	reglage	reglage	NOUN
fumecheng-11564	391	10	par	par	PROPN
fumecheng-11564	391	11	mode	mode	PROPN
fumecheng-11564	391	12	de	de	X
fumecheng-11564	391	13	glissement	glissement	NOUN
fumecheng-11564	391	14	.	.	PUNCT
fumecheng-11564	392	1	presses	press	NOUN
fumecheng-11564	392	2	polytechniques	polytechnique	NOUN
fumecheng-11564	392	3	romandes	romandes	PROPN
fumecheng-11564	392	4	,	,	PUNCT
fumecheng-11564	392	5	lausanne	lausanne	PROPN
fumecheng-11564	392	6	.	.	PROPN
fumecheng-11564	393	1	20	20	NUM
fumecheng-11564	393	2	.	.	PUNCT
fumecheng-11564	394	1	borlea	borlea	PROPN
fumecheng-11564	394	2	,	,	PUNCT
fumecheng-11564	394	3	a.-i	a.-i	PROPN
fumecheng-11564	394	4	.	.	PROPN
fumecheng-11564	394	5	,	,	PUNCT
fumecheng-11564	394	6	2022	2022	NUM
fumecheng-11564	394	7	,	,	PUNCT
fumecheng-11564	394	8	sliding	slide	VERB
fumecheng-11564	394	9	mode	mode	NOUN
fumecheng-11564	394	10	controllers	controller	NOUN
fumecheng-11564	394	11	.	.	PUNCT
fumecheng-11564	395	1	validation	validation	NOUN
fumecheng-11564	395	2	on	on	ADP
fumecheng-11564	395	3	a	a	DET
fumecheng-11564	395	4	laboratory	laboratory	NOUN
fumecheng-11564	395	5	equipment	equipment	NOUN
fumecheng-11564	395	6	(	(	PUNCT
fumecheng-11564	395	7	in	in	ADP
fumecheng-11564	395	8	romanian	romanian	NOUN
fumecheng-11564	395	9	)	)	PUNCT
fumecheng-11564	395	10	,	,	PUNCT
fumecheng-11564	395	11	m.sc	m.sc	PROPN
fumecheng-11564	395	12	.	.	PUNCT
fumecheng-11564	396	1	thesis	thesis	PROPN
fumecheng-11564	396	2	,	,	PUNCT
fumecheng-11564	396	3	politehnica	politehnica	PROPN
fumecheng-11564	396	4	university	university	PROPN
fumecheng-11564	396	5	of	of	ADP
fumecheng-11564	396	6	timisoara	timisoara	PROPN
fumecheng-11564	396	7	,	,	PUNCT
fumecheng-11564	396	8	timisoara	timisoara	PROPN
fumecheng-11564	396	9	,	,	PUNCT
fumecheng-11564	396	10	romania	romania	PROPN
fumecheng-11564	396	11	.	.	PUNCT
fumecheng-11564	397	1	21	21	NUM
fumecheng-11564	397	2	.	.	PUNCT
fumecheng-11564	397	3	božanić	božanić	NOUN
fumecheng-11564	397	4	,	,	PUNCT
fumecheng-11564	397	5	d.	d.	PROPN
fumecheng-11564	397	6	,	,	PUNCT
fumecheng-11564	397	7	tešić	tešić	ADV
fumecheng-11564	397	8	,	,	PUNCT
fumecheng-11564	397	9	d.	d.	PROPN
fumecheng-11564	397	10	,	,	PUNCT
fumecheng-11564	397	11	marinković	marinković	PROPN
fumecheng-11564	397	12	,	,	PUNCT
fumecheng-11564	397	13	d.	d.	PROPN
fumecheng-11564	397	14	,	,	PUNCT
fumecheng-11564	397	15	milić	milić	NOUN
fumecheng-11564	397	16	,	,	PUNCT
fumecheng-11564	397	17	a.	a.	NOUN
fumecheng-11564	397	18	,	,	PUNCT
fumecheng-11564	397	19	2021	2021	NUM
fumecheng-11564	397	20	,	,	PUNCT
fumecheng-11564	397	21	modeling	modeling	NOUN
fumecheng-11564	397	22	of	of	ADP
fumecheng-11564	397	23	neuro	neuro	NOUN
fumecheng-11564	397	24	-	-	PUNCT
fumecheng-11564	397	25	fuzzy	fuzzy	ADJ
fumecheng-11564	397	26	system	system	NOUN
fumecheng-11564	397	27	as	as	ADP
fumecheng-11564	397	28	a	a	DET
fumecheng-11564	397	29	support	support	NOUN
fumecheng-11564	397	30	in	in	ADP
fumecheng-11564	397	31	decision	decision	NOUN
fumecheng-11564	397	32	-	-	PUNCT
fumecheng-11564	397	33	making	make	VERB
fumecheng-11564	397	34	processes	process	NOUN
fumecheng-11564	397	35	,	,	PUNCT
fumecheng-11564	397	36	reports	report	NOUN
fumecheng-11564	397	37	in	in	ADP
fumecheng-11564	397	38	mechanical	mechanical	ADJ
fumecheng-11564	397	39	engineering	engineering	NOUN
fumecheng-11564	397	40	,	,	PUNCT
fumecheng-11564	397	41	2(1	2(1	NUM
fumecheng-11564	397	42	)	)	PUNCT
fumecheng-11564	397	43	,	,	PUNCT
fumecheng-11564	397	44	pp	pp	PROPN
fumecheng-11564	397	45	.	.	PUNCT
fumecheng-11564	398	1	222	222	NUM
fumecheng-11564	398	2	-	-	SYM
fumecheng-11564	398	3	234	234	NUM
fumecheng-11564	398	4	.	.	PUNCT
fumecheng-11564	399	1	22	22	NUM
fumecheng-11564	399	2	.	.	PUNCT
fumecheng-11564	400	1	filip	filip	PROPN
fumecheng-11564	400	2	,	,	PUNCT
fumecheng-11564	400	3	f.g	f.g	PROPN
fumecheng-11564	400	4	.	.	PROPN
fumecheng-11564	400	5	,	,	PUNCT
fumecheng-11564	400	6	2021	2021	NUM
fumecheng-11564	400	7	,	,	PUNCT
fumecheng-11564	400	8	automation	automation	NOUN
fumecheng-11564	400	9	and	and	CCONJ
fumecheng-11564	400	10	computers	computer	NOUN
fumecheng-11564	400	11	and	and	CCONJ
fumecheng-11564	400	12	their	their	PRON
fumecheng-11564	400	13	contribution	contribution	NOUN
fumecheng-11564	400	14	to	to	ADP
fumecheng-11564	400	15	human	human	ADJ
fumecheng-11564	400	16	well	well	ADV
fumecheng-11564	400	17	-	-	PUNCT
fumecheng-11564	400	18	being	being	NOUN
fumecheng-11564	400	19	and	and	CCONJ
fumecheng-11564	400	20	resilience	resilience	NOUN
fumecheng-11564	400	21	,	,	PUNCT
fumecheng-11564	400	22	studies	study	NOUN
fumecheng-11564	400	23	in	in	ADP
fumecheng-11564	400	24	informatics	informatic	NOUN
fumecheng-11564	400	25	and	and	CCONJ
fumecheng-11564	400	26	control	control	NOUN
fumecheng-11564	400	27	,	,	PUNCT
fumecheng-11564	400	28	30(4	30(4	NUM
fumecheng-11564	400	29	)	)	PUNCT
fumecheng-11564	400	30	,	,	PUNCT
fumecheng-11564	400	31	pp	pp	ADJ
fumecheng-11564	400	32	.	.	PUNCT
fumecheng-11564	401	1	5	5	NUM
fumecheng-11564	401	2	-	-	SYM
fumecheng-11564	401	3	18	18	NUM
fumecheng-11564	401	4	.	.	PUNCT
fumecheng-11564	402	1	23	23	NUM
fumecheng-11564	402	2	.	.	PUNCT
fumecheng-11564	403	1	milićević	milićević	PROPN
fumecheng-11564	403	2	,	,	PUNCT
fumecheng-11564	403	3	i.	i.	PROPN
fumecheng-11564	403	4	,	,	PUNCT
fumecheng-11564	403	5	popović	popović	NOUN
fumecheng-11564	403	6	,	,	PUNCT
fumecheng-11564	403	7	m.	m.	NOUN
fumecheng-11564	403	8	,	,	PUNCT
fumecheng-11564	403	9	dučić	dučić	VERB
fumecheng-11564	403	10	,	,	PUNCT
fumecheng-11564	403	11	n.	n.	NOUN
fumecheng-11564	403	12	,	,	PUNCT
fumecheng-11564	403	13	vujičić	vujičić	ADJ
fumecheng-11564	403	14	,	,	PUNCT
fumecheng-11564	403	15	v.	v.	ADV
fumecheng-11564	403	16	,	,	PUNCT
fumecheng-11564	403	17	stepanić	stepanić	NOUN
fumecheng-11564	403	18	,	,	PUNCT
fumecheng-11564	403	19	p.	p.	NOUN
fumecheng-11564	403	20	,	,	PUNCT
fumecheng-11564	403	21	marinković	marinković	PROPN
fumecheng-11564	403	22	,	,	PUNCT
fumecheng-11564	403	23	d.	d.	PROPN
fumecheng-11564	403	24	,	,	PUNCT
fumecheng-11564	403	25	ćojbašić	ćojbašić	PROPN
fumecheng-11564	403	26	,	,	PUNCT
fumecheng-11564	403	27	ž	ž	PROPN
fumecheng-11564	403	28	.	.	PROPN
fumecheng-11564	403	29	,	,	PUNCT
fumecheng-11564	403	30	2022	2022	NUM
fumecheng-11564	403	31	,	,	PUNCT
fumecheng-11564	403	32	improving	improve	VERB
fumecheng-11564	403	33	the	the	DET
fumecheng-11564	403	34	mechanical	mechanical	ADJ
fumecheng-11564	403	35	characteristics	characteristic	NOUN
fumecheng-11564	403	36	of	of	ADP
fumecheng-11564	403	37	the	the	DET
fumecheng-11564	403	38	3d	3d	NOUN
fumecheng-11564	403	39	printing	printing	NOUN
fumecheng-11564	403	40	objects	object	NOUN
fumecheng-11564	403	41	using	use	VERB
fumecheng-11564	403	42	hybrid	hybrid	ADJ
fumecheng-11564	403	43	machine	machine	NOUN
fumecheng-11564	403	44	learning	learning	NOUN
fumecheng-11564	403	45	approach	approach	NOUN
fumecheng-11564	403	46	,	,	PUNCT
fumecheng-11564	403	47	facta	facta	PROPN
fumecheng-11564	403	48	universitatis	universitatis	PROPN
fumecheng-11564	403	49	-	-	PUNCT
fumecheng-11564	403	50	series	series	NOUN
fumecheng-11564	403	51	mechanical	mechanical	ADJ
fumecheng-11564	403	52	engineering	engineering	NOUN
fumecheng-11564	403	53	,	,	PUNCT
fumecheng-11564	403	54	doi	doi	NOUN
fumecheng-11564	403	55	:	:	PUNCT
fumecheng-11564	403	56	10.22190	10.22190	NUM
fumecheng-11564	403	57	/	/	SYM
fumecheng-11564	403	58	fume220429036	fume220429036	NOUN
fumecheng-11564	403	59	m.	m.	NOUN
fumecheng-11564	403	60	24	24	NUM
fumecheng-11564	403	61	.	.	PUNCT
fumecheng-11564	404	1	yapici	yapici	PROPN
fumecheng-11564	404	2	pehlivan	pehlivan	PROPN
fumecheng-11564	404	3	,	,	PUNCT
fumecheng-11564	404	4	n.	n.	PROPN
fumecheng-11564	404	5	,	,	PUNCT
fumecheng-11564	404	6	turksen	turksen	PROPN
fumecheng-11564	404	7	,	,	PUNCT
fumecheng-11564	404	8	i.b	i.b	PROPN
fumecheng-11564	404	9	.	.	PROPN
fumecheng-11564	404	10	,	,	PUNCT
fumecheng-11564	404	11	2021	2021	NUM
fumecheng-11564	404	12	,	,	PUNCT
fumecheng-11564	404	13	a	a	DET
fumecheng-11564	404	14	novel	novel	NOUN
fumecheng-11564	404	15	multiplicative	multiplicative	ADJ
fumecheng-11564	404	16	fuzzy	fuzzy	ADJ
fumecheng-11564	404	17	regression	regression	NOUN
fumecheng-11564	404	18	function	function	NOUN
fumecheng-11564	404	19	with	with	ADP
fumecheng-11564	404	20	a	a	DET
fumecheng-11564	404	21	multiplicative	multiplicative	ADJ
fumecheng-11564	404	22	fuzzy	fuzzy	ADJ
fumecheng-11564	404	23	clustering	clustering	ADJ
fumecheng-11564	404	24	algorithm	algorithm	NOUN
fumecheng-11564	404	25	,	,	PUNCT
fumecheng-11564	404	26	romanian	romanian	ADJ
fumecheng-11564	404	27	journal	journal	NOUN
fumecheng-11564	404	28	of	of	ADP
fumecheng-11564	404	29	information	information	NOUN
fumecheng-11564	404	30	science	science	NOUN
fumecheng-11564	404	31	and	and	CCONJ
fumecheng-11564	404	32	technology	technology	NOUN
fumecheng-11564	404	33	,	,	PUNCT
fumecheng-11564	404	34	24(1	24(1	NUM
fumecheng-11564	404	35	)	)	PUNCT
fumecheng-11564	404	36	,	,	PUNCT
fumecheng-11564	404	37	pp	pp	PROPN
fumecheng-11564	404	38	.	.	PUNCT
fumecheng-11564	405	1	79	79	NUM
fumecheng-11564	405	2	-	-	SYM
fumecheng-11564	405	3	98	98	NUM
fumecheng-11564	405	4	.	.	PUNCT
fumecheng-11564	406	1	25	25	NUM
fumecheng-11564	406	2	.	.	PUNCT
fumecheng-11564	407	1	kwak	kwak	PROPN
fumecheng-11564	407	2	,	,	PUNCT
fumecheng-11564	407	3	c.-j	c.-j	PROPN
fumecheng-11564	407	4	.	.	PROPN
fumecheng-11564	407	5	,	,	PUNCT
fumecheng-11564	407	6	ri	ri	PROPN
fumecheng-11564	407	7	,	,	PUNCT
fumecheng-11564	407	8	k.-c	k.-c	PROPN
fumecheng-11564	407	9	.	.	PUNCT
fumecheng-11564	407	10	,	,	PUNCT
fumecheng-11564	407	11	kwak	kwak	PROPN
fumecheng-11564	407	12	,	,	PUNCT
fumecheng-11564	407	13	s.-i	s.-i	PROPN
fumecheng-11564	407	14	.	.	PROPN
fumecheng-11564	407	15	,	,	PUNCT
fumecheng-11564	407	16	kim	kim	PROPN
fumecheng-11564	407	17	,	,	PUNCT
fumecheng-11564	407	18	k.-j	k.-j	PROPN
fumecheng-11564	407	19	.	.	PROPN
fumecheng-11564	407	20	,	,	PUNCT
fumecheng-11564	407	21	ryu	ryu	PROPN
fumecheng-11564	407	22	,	,	PUNCT
fumecheng-11564	407	23	u.-s	u.-s	PROPN
fumecheng-11564	407	24	.	.	PROPN
fumecheng-11564	407	25	,	,	PUNCT
fumecheng-11564	407	26	kwon	kwon	PROPN
fumecheng-11564	407	27	,	,	PUNCT
fumecheng-11564	407	28	o.-c	o.-c	PROPN
fumecheng-11564	407	29	.	.	PUNCT
fumecheng-11564	407	30	,	,	PUNCT
fumecheng-11564	407	31	kim	kim	PROPN
fumecheng-11564	407	32	,	,	PUNCT
fumecheng-11564	407	33	n.-h	n.-h	PROPN
fumecheng-11564	407	34	.	.	PROPN
fumecheng-11564	407	35	,	,	PUNCT
fumecheng-11564	407	36	2021	2021	NUM
fumecheng-11564	407	37	,	,	PUNCT
fumecheng-11564	407	38	fuzzy	fuzzy	ADJ
fumecheng-11564	407	39	modus	modus	VERB
fumecheng-11564	407	40	ponens	ponen	NOUN
fumecheng-11564	407	41	and	and	CCONJ
fumecheng-11564	407	42	tollens	tollen	NOUN
fumecheng-11564	407	43	based	base	VERB
fumecheng-11564	407	44	on	on	ADP
fumecheng-11564	407	45	moving	move	VERB
fumecheng-11564	407	46	distance	distance	NOUN
fumecheng-11564	407	47	in	in	ADP
fumecheng-11564	407	48	siso	siso	NOUN
fumecheng-11564	407	49	fuzzy	fuzzy	ADJ
fumecheng-11564	407	50	system	system	NOUN
fumecheng-11564	407	51	,	,	PUNCT
fumecheng-11564	407	52	romanian	romanian	ADJ
fumecheng-11564	407	53	journal	journal	NOUN
fumecheng-11564	407	54	of	of	ADP
fumecheng-11564	407	55	information	information	NOUN
fumecheng-11564	407	56	science	science	NOUN
fumecheng-11564	407	57	and	and	CCONJ
fumecheng-11564	407	58	technology	technology	NOUN
fumecheng-11564	407	59	,	,	PUNCT
fumecheng-11564	407	60	24(3	24(3	NUM
fumecheng-11564	407	61	)	)	PUNCT
fumecheng-11564	407	62	,	,	PUNCT
fumecheng-11564	407	63	pp	pp	ADP
fumecheng-11564	407	64	.	.	PUNCT
fumecheng-11564	408	1	257	257	NUM
fumecheng-11564	408	2	-	-	SYM
fumecheng-11564	408	3	283	283	NUM
fumecheng-11564	408	4	.	.	PUNCT
fumecheng-11564	409	1	26	26	NUM
fumecheng-11564	409	2	.	.	PUNCT
fumecheng-11564	410	1	precup	precup	PROPN
fumecheng-11564	410	2	,	,	PUNCT
fumecheng-11564	410	3	r.-e	r.-e	PROPN
fumecheng-11564	410	4	.	.	PUNCT
fumecheng-11564	410	5	,	,	PUNCT
fumecheng-11564	410	6	preitl	preitl	PROPN
fumecheng-11564	410	7	,	,	PUNCT
fumecheng-11564	410	8	s.	s.	PROPN
fumecheng-11564	410	9	,	,	PUNCT
fumecheng-11564	410	10	balas	balas	PROPN
fumecheng-11564	410	11	,	,	PUNCT
fumecheng-11564	410	12	m.	m.	NOUN
fumecheng-11564	410	13	,	,	PUNCT
fumecheng-11564	410	14	balas	balas	PROPN
fumecheng-11564	410	15	,	,	PUNCT
fumecheng-11564	410	16	v.	v.	PROPN
fumecheng-11564	410	17	,	,	PUNCT
fumecheng-11564	410	18	2004	2004	NUM
fumecheng-11564	410	19	,	,	PUNCT
fumecheng-11564	410	20	fuzzy	fuzzy	ADJ
fumecheng-11564	410	21	controllers	controller	NOUN
fumecheng-11564	410	22	for	for	ADP
fumecheng-11564	410	23	tire	tire	NOUN
fumecheng-11564	410	24	slip	slip	NOUN
fumecheng-11564	410	25	control	control	NOUN
fumecheng-11564	410	26	in	in	ADP
fumecheng-11564	410	27	anti	anti	ADJ
fumecheng-11564	410	28	-	-	ADJ
fumecheng-11564	410	29	lock	lock	ADJ
fumecheng-11564	410	30	braking	brake	VERB
fumecheng-11564	410	31	systems	system	NOUN
fumecheng-11564	410	32	,	,	PUNCT
fumecheng-11564	410	33	proc	proc	NOUN
fumecheng-11564	410	34	.	.	PUNCT
fumecheng-11564	411	1	2004	2004	NUM
fumecheng-11564	411	2	ieee	ieee	PROPN
fumecheng-11564	411	3	international	international	PROPN
fumecheng-11564	411	4	conference	conference	NOUN
fumecheng-11564	411	5	on	on	ADP
fumecheng-11564	411	6	fuzzy	fuzzy	ADJ
fumecheng-11564	411	7	systems	system	NOUN
fumecheng-11564	411	8	,	,	PUNCT
fumecheng-11564	411	9	budapest	budapest	PROPN
fumecheng-11564	411	10	,	,	PUNCT
fumecheng-11564	411	11	hungary	hungary	PROPN
fumecheng-11564	411	12	,	,	PUNCT
fumecheng-11564	411	13	vol	vol	NOUN
fumecheng-11564	411	14	.	.	PROPN
fumecheng-11564	412	1	3	3	NUM
fumecheng-11564	412	2	,	,	PUNCT
fumecheng-11564	412	3	pp	pp	ADJ
fumecheng-11564	412	4	.	.	PUNCT
fumecheng-11564	413	1	1317	1317	NUM
fumecheng-11564	413	2	-	-	SYM
fumecheng-11564	413	3	1322	1322	NUM
fumecheng-11564	413	4	.	.	PUNCT
fumecheng-11564	414	1	27	27	NUM
fumecheng-11564	414	2	.	.	PUNCT
fumecheng-11564	415	1	preitl	preitl	PROPN
fumecheng-11564	415	2	,	,	PUNCT
fumecheng-11564	415	3	z.	z.	PROPN
fumecheng-11564	415	4	,	,	PUNCT
fumecheng-11564	415	5	precup	precup	PROPN
fumecheng-11564	415	6	,	,	PUNCT
fumecheng-11564	415	7	r.-e	r.-e	PROPN
fumecheng-11564	415	8	.	.	PROPN
fumecheng-11564	415	9	,	,	PUNCT
fumecheng-11564	415	10	tar	tar	PROPN
fumecheng-11564	415	11	,	,	PUNCT
fumecheng-11564	415	12	j.k	j.k	PROPN
fumecheng-11564	415	13	.	.	PROPN
fumecheng-11564	415	14	,	,	PUNCT
fumecheng-11564	415	15	takács	takács	PROPN
fumecheng-11564	415	16	,	,	PUNCT
fumecheng-11564	415	17	m.	m.	NOUN
fumecheng-11564	415	18	,	,	PUNCT
fumecheng-11564	415	19	2006	2006	NUM
fumecheng-11564	415	20	,	,	PUNCT
fumecheng-11564	415	21	use	use	NOUN
fumecheng-11564	415	22	of	of	ADP
fumecheng-11564	415	23	multi	multi	ADJ
fumecheng-11564	415	24	-	-	ADJ
fumecheng-11564	415	25	parametric	parametric	ADJ
fumecheng-11564	415	26	quadratic	quadratic	ADJ
fumecheng-11564	415	27	programming	programming	NOUN
fumecheng-11564	415	28	in	in	ADP
fumecheng-11564	415	29	fuzzy	fuzzy	ADJ
fumecheng-11564	415	30	control	control	NOUN
fumecheng-11564	415	31	systems	system	NOUN
fumecheng-11564	415	32	,	,	PUNCT
fumecheng-11564	415	33	acta	acta	PROPN
fumecheng-11564	415	34	polytechnica	polytechnica	PROPN
fumecheng-11564	415	35	hungarica	hungarica	PROPN
fumecheng-11564	415	36	,	,	PUNCT
fumecheng-11564	415	37	3(3	3(3	NUM
fumecheng-11564	415	38	)	)	PUNCT
fumecheng-11564	415	39	,	,	PUNCT
fumecheng-11564	416	1	pp	pp	PROPN
fumecheng-11564	416	2	.	.	PUNCT
fumecheng-11564	417	1	29	29	NUM
fumecheng-11564	417	2	-	-	SYM
fumecheng-11564	417	3	43	43	NUM
fumecheng-11564	417	4	.	.	PUNCT
fumecheng-11564	418	1	28	28	NUM
fumecheng-11564	418	2	.	.	PUNCT
fumecheng-11564	419	1	škrjanc	škrjanc	PROPN
fumecheng-11564	419	2	,	,	PUNCT
fumecheng-11564	419	3	i.	i.	PROPN
fumecheng-11564	419	4	,	,	PUNCT
fumecheng-11564	419	5	blažič	blažič	PROPN
fumecheng-11564	419	6	,	,	PUNCT
fumecheng-11564	419	7	s.	s.	PROPN
fumecheng-11564	419	8	,	,	PUNCT
fumecheng-11564	419	9	angelov	angelov	NOUN
fumecheng-11564	419	10	,	,	PUNCT
fumecheng-11564	419	11	p.	p.	NOUN
fumecheng-11564	419	12	,	,	PUNCT
fumecheng-11564	419	13	2014	2014	NUM
fumecheng-11564	419	14	,	,	PUNCT
fumecheng-11564	419	15	robust	robust	ADJ
fumecheng-11564	419	16	evolving	evolve	VERB
fumecheng-11564	419	17	cloud	cloud	NOUN
fumecheng-11564	419	18	-	-	PUNCT
fumecheng-11564	419	19	based	base	VERB
fumecheng-11564	419	20	pid	pid	NOUN
fumecheng-11564	419	21	control	control	NOUN
fumecheng-11564	419	22	adjusted	adjust	VERB
fumecheng-11564	419	23	by	by	ADP
fumecheng-11564	419	24	gradient	gradient	NOUN
fumecheng-11564	419	25	learning	learning	NOUN
fumecheng-11564	419	26	method	method	NOUN
fumecheng-11564	419	27	,	,	PUNCT
fumecheng-11564	419	28	proc	proc	NOUN
fumecheng-11564	419	29	.	.	PROPN
fumecheng-11564	420	1	2014	2014	NUM
fumecheng-11564	420	2	ieee	ieee	NOUN
fumecheng-11564	420	3	conference	conference	NOUN
fumecheng-11564	420	4	on	on	ADP
fumecheng-11564	420	5	evolving	evolve	VERB
fumecheng-11564	420	6	and	and	CCONJ
fumecheng-11564	420	7	adaptive	adaptive	ADJ
fumecheng-11564	420	8	intelligent	intelligent	ADJ
fumecheng-11564	420	9	systems	system	NOUN
fumecheng-11564	420	10	,	,	PUNCT
fumecheng-11564	420	11	linz	linz	PROPN
fumecheng-11564	420	12	,	,	PUNCT
fumecheng-11564	420	13	austria	austria	PROPN
fumecheng-11564	420	14	,	,	PUNCT
fumecheng-11564	420	15	pp	pp	ADJ
fumecheng-11564	420	16	.	.	PUNCT
fumecheng-11564	421	1	1	1	NUM
fumecheng-11564	421	2	-	-	SYM
fumecheng-11564	421	3	6	6	NUM
fumecheng-11564	421	4	.	.	NOUN
fumecheng-11564	421	5	29	29	NUM
fumecheng-11564	421	6	.	.	PUNCT
fumecheng-11564	422	1	vaščák	vaščák	ADJ
fumecheng-11564	422	2	,	,	PUNCT
fumecheng-11564	422	3	j.	j.	PROPN
fumecheng-11564	422	4	,	,	PUNCT
fumecheng-11564	422	5	hvizdoš	hvizdoš	PROPN
fumecheng-11564	422	6	,	,	PUNCT
fumecheng-11564	422	7	j.	j.	PROPN
fumecheng-11564	422	8	,	,	PUNCT
fumecheng-11564	422	9	puheim	puheim	NOUN
fumecheng-11564	422	10	,	,	PUNCT
fumecheng-11564	422	11	m.	m.	NOUN
fumecheng-11564	422	12	,	,	PUNCT
fumecheng-11564	422	13	2016	2016	NUM
fumecheng-11564	422	14	,	,	PUNCT
fumecheng-11564	422	15	agent	agent	NOUN
fumecheng-11564	422	16	-	-	PUNCT
fumecheng-11564	422	17	based	base	VERB
fumecheng-11564	422	18	cloud	cloud	NOUN
fumecheng-11564	422	19	computing	computing	NOUN
fumecheng-11564	422	20	systems	system	NOUN
fumecheng-11564	422	21	for	for	ADP
fumecheng-11564	422	22	traffic	traffic	NOUN
fumecheng-11564	422	23	management	management	NOUN
fumecheng-11564	422	24	,	,	PUNCT
fumecheng-11564	422	25	proc	proc	NOUN
fumecheng-11564	422	26	.	.	PROPN
fumecheng-11564	423	1	2016	2016	NUM
fumecheng-11564	423	2	international	international	ADJ
fumecheng-11564	423	3	conference	conference	NOUN
fumecheng-11564	423	4	on	on	ADP
fumecheng-11564	423	5	intelligent	intelligent	ADJ
fumecheng-11564	423	6	networking	networking	NOUN
fumecheng-11564	423	7	and	and	CCONJ
fumecheng-11564	423	8	collaborative	collaborative	ADJ
fumecheng-11564	423	9	systems	system	NOUN
fumecheng-11564	423	10	,	,	PUNCT
fumecheng-11564	423	11	ostrava	ostrava	PROPN
fumecheng-11564	423	12	,	,	PUNCT
fumecheng-11564	423	13	czech	czech	PROPN
fumecheng-11564	423	14	republic	republic	NOUN
fumecheng-11564	423	15	,	,	PUNCT
fumecheng-11564	423	16	pp	pp	ADJ
fumecheng-11564	423	17	.	.	PUNCT
fumecheng-11564	424	1	73	73	NUM
fumecheng-11564	424	2	-	-	SYM
fumecheng-11564	424	3	79	79	NUM
fumecheng-11564	424	4	.	.	PUNCT
fumecheng-11564	425	1	30	30	NUM
fumecheng-11564	425	2	.	.	PUNCT
fumecheng-11564	426	1	boucetta	boucetta	NOUN
fumecheng-11564	426	2	,	,	PUNCT
fumecheng-11564	426	3	s.i	s.i	PROPN
fumecheng-11564	426	4	.	.	PROPN
fumecheng-11564	426	5	,	,	PUNCT
fumecheng-11564	426	6	johanyák	johanyák	PROPN
fumecheng-11564	426	7	,	,	PUNCT
fumecheng-11564	426	8	z.c	z.c	PROPN
fumecheng-11564	426	9	.	.	PROPN
fumecheng-11564	426	10	,	,	PUNCT
fumecheng-11564	426	11	pokorádi	pokorádi	PROPN
fumecheng-11564	426	12	,	,	PUNCT
fumecheng-11564	426	13	l.k	l.k	PROPN
fumecheng-11564	426	14	.	.	PROPN
fumecheng-11564	426	15	,	,	PUNCT
fumecheng-11564	426	16	2017	2017	NUM
fumecheng-11564	426	17	,	,	PUNCT
fumecheng-11564	426	18	survey	survey	NOUN
fumecheng-11564	426	19	on	on	ADP
fumecheng-11564	426	20	software	software	NOUN
fumecheng-11564	426	21	defined	define	VERB
fumecheng-11564	426	22	vanets	vanet	NOUN
fumecheng-11564	426	23	,	,	PUNCT
fumecheng-11564	426	24	gradus	gradus	PROPN
fumecheng-11564	426	25	,	,	PUNCT
fumecheng-11564	426	26	4(1	4(1	NOUN
fumecheng-11564	426	27	)	)	PUNCT
fumecheng-11564	426	28	,	,	PUNCT
fumecheng-11564	426	29	pp	pp	PROPN
fumecheng-11564	426	30	.	.	PUNCT
fumecheng-11564	427	1	272	272	NUM
fumecheng-11564	427	2	-	-	SYM
fumecheng-11564	427	3	283	283	NUM
fumecheng-11564	427	4	.	.	PUNCT
fumecheng-11564	428	1	31	31	NUM
fumecheng-11564	428	2	.	.	PUNCT
fumecheng-11564	429	1	osaba	osaba	PROPN
fumecheng-11564	429	2	,	,	PUNCT
fumecheng-11564	429	3	e.	e.	PROPN
fumecheng-11564	429	4	,	,	PUNCT
fumecheng-11564	429	5	villar	villar	PROPN
fumecheng-11564	429	6	-	-	PUNCT
fumecheng-11564	429	7	rodriguez	rodriguez	PROPN
fumecheng-11564	429	8	,	,	PUNCT
fumecheng-11564	429	9	e.	e.	PROPN
fumecheng-11564	429	10	,	,	PUNCT
fumecheng-11564	429	11	oregi	oregi	PROPN
fumecheng-11564	429	12	,	,	PUNCT
fumecheng-11564	429	13	i.	i.	PROPN
fumecheng-11564	429	14	,	,	PUNCT
fumecheng-11564	429	15	moreno	moreno	PROPN
fumecheng-11564	429	16	-	-	PUNCT
fumecheng-11564	429	17	fernandez	fernandez	PROPN
fumecheng-11564	429	18	-	-	PUNCT
fumecheng-11564	429	19	de	de	NOUN
fumecheng-11564	429	20	-	-	NOUN
fumecheng-11564	429	21	leceta	leceta	ADJ
fumecheng-11564	429	22	,	,	PUNCT
fumecheng-11564	429	23	a.	a.	NOUN
fumecheng-11564	429	24	,	,	PUNCT
fumecheng-11564	429	25	2021	2021	NUM
fumecheng-11564	429	26	,	,	PUNCT
fumecheng-11564	429	27	hybrid	hybrid	ADJ
fumecheng-11564	429	28	quantum	quantum	NOUN
fumecheng-11564	429	29	computing	computing	NOUN
fumecheng-11564	429	30	-	-	PUNCT
fumecheng-11564	429	31	tabu	tabu	NOUN
fumecheng-11564	429	32	search	search	NOUN
fumecheng-11564	429	33	algorithm	algorithm	NOUN
fumecheng-11564	429	34	for	for	ADP
fumecheng-11564	429	35	partitioning	partition	VERB
fumecheng-11564	429	36	problems	problem	NOUN
fumecheng-11564	429	37	:	:	PUNCT
fumecheng-11564	429	38	preliminary	preliminary	ADJ
fumecheng-11564	429	39	study	study	NOUN
fumecheng-11564	429	40	on	on	ADP
fumecheng-11564	429	41	the	the	DET
fumecheng-11564	429	42	traveling	travel	VERB
fumecheng-11564	429	43	salesman	salesman	NOUN
fumecheng-11564	429	44	problem	problem	NOUN
fumecheng-11564	429	45	,	,	PUNCT
fumecheng-11564	429	46	proc	proc	NOUN
fumecheng-11564	429	47	.	.	PROPN
fumecheng-11564	430	1	2021	2021	NUM
fumecheng-11564	430	2	ieee	ieee	PROPN
fumecheng-11564	430	3	congress	congress	PROPN
fumecheng-11564	430	4	on	on	ADP
fumecheng-11564	430	5	evolutionary	evolutionary	ADJ
fumecheng-11564	430	6	computation	computation	NOUN
fumecheng-11564	430	7	,	,	PUNCT
fumecheng-11564	430	8	kraków	kraków	PROPN
fumecheng-11564	430	9	,	,	PUNCT
fumecheng-11564	430	10	poland	poland	PROPN
fumecheng-11564	430	11	,	,	PUNCT
fumecheng-11564	430	12	pp	pp	ADP
fumecheng-11564	430	13	.	.	PUNCT
fumecheng-11564	431	1	351	351	NUM
fumecheng-11564	431	2	-	-	SYM
fumecheng-11564	431	3	358	358	NUM
fumecheng-11564	431	4	.	.	PUNCT
fumecheng-11564	432	1	32	32	NUM
fumecheng-11564	432	2	.	.	PUNCT
fumecheng-11564	433	1	precup	precup	PROPN
fumecheng-11564	433	2	,	,	PUNCT
fumecheng-11564	433	3	r.-e	r.-e	PROPN
fumecheng-11564	433	4	.	.	PUNCT
fumecheng-11564	433	5	,	,	PUNCT
fumecheng-11564	433	6	haidegger	haidegger	NOUN
fumecheng-11564	433	7	,	,	PUNCT
fumecheng-11564	433	8	t.	t.	PROPN
fumecheng-11564	433	9	,	,	PUNCT
fumecheng-11564	433	10	preitl	preitl	PROPN
fumecheng-11564	433	11	,	,	PUNCT
fumecheng-11564	433	12	s.	s.	PROPN
fumecheng-11564	433	13	,	,	PUNCT
fumecheng-11564	433	14	benyó	benyó	PROPN
fumecheng-11564	433	15	,	,	PUNCT
fumecheng-11564	433	16	b.	b.	PROPN
fumecheng-11564	433	17	,	,	PUNCT
fumecheng-11564	433	18	paul	paul	PROPN
fumecheng-11564	433	19	,	,	PUNCT
fumecheng-11564	433	20	a.s	a.s	PROPN
fumecheng-11564	433	21	.	.	PROPN
fumecheng-11564	433	22	,	,	PUNCT
fumecheng-11564	433	23	kovács	kovács	PROPN
fumecheng-11564	433	24	,	,	PUNCT
fumecheng-11564	433	25	l.	l.	PROPN
fumecheng-11564	433	26	,	,	PUNCT
fumecheng-11564	433	27	2012	2012	NUM
fumecheng-11564	433	28	,	,	PUNCT
fumecheng-11564	433	29	fuzzy	fuzzy	ADJ
fumecheng-11564	433	30	control	control	NOUN
fumecheng-11564	433	31	solution	solution	NOUN
fumecheng-11564	433	32	for	for	ADP
fumecheng-11564	433	33	telesurgical	telesurgical	ADJ
fumecheng-11564	433	34	applications	application	NOUN
fumecheng-11564	433	35	,	,	PUNCT
fumecheng-11564	433	36	applied	apply	VERB
fumecheng-11564	433	37	and	and	CCONJ
fumecheng-11564	433	38	computational	computational	ADJ
fumecheng-11564	433	39	mathematics	mathematic	NOUN
fumecheng-11564	433	40	,	,	PUNCT
fumecheng-11564	433	41	11(3	11(3	NUM
fumecheng-11564	433	42	)	)	PUNCT
fumecheng-11564	433	43	,	,	PUNCT
fumecheng-11564	433	44	pp	pp	ADP
fumecheng-11564	433	45	.	.	PUNCT
fumecheng-11564	434	1	378	378	NUM
fumecheng-11564	434	2	-	-	SYM
fumecheng-11564	434	3	397	397	NUM
fumecheng-11564	434	4	.	.	PUNCT