id	sid	tid	token	lemma	pos
fumecheng-13750	1	1	13750	13750	NUM
fumecheng-13750	1	2	facta	facta	PROPN
fumecheng-13750	1	3	universitatis	universitatis	PROPN
fumecheng-13750	1	4	series	series	NOUN
fumecheng-13750	1	5	:	:	PUNCT
fumecheng-13750	1	6	mechanical	mechanical	ADJ
fumecheng-13750	1	7	engineering	engineering	NOUN
fumecheng-13750	1	8	vol	vol	NOUN
fumecheng-13750	1	9	.	.	PROPN
fumecheng-13750	1	10	23	23	NUM
fumecheng-13750	1	11	,	,	PUNCT
fumecheng-13750	1	12	no	no	DET
fumecheng-13750	1	13	2	2	NUM
fumecheng-13750	1	14	,	,	PUNCT
fumecheng-13750	1	15	2025	2025	NUM
fumecheng-13750	1	16	,	,	PUNCT
fumecheng-13750	1	17	pp	pp	ADJ
fumecheng-13750	1	18	.	.	PUNCT
fumecheng-13750	2	1	183	183	NUM
fumecheng-13750	2	2	196	196	NUM
fumecheng-13750	2	3	https://doi.org/10.22190/fume250520021r	https://doi.org/10.22190/fume250520021r	CCONJ
fumecheng-13750	2	4	©	©	PROPN
fumecheng-13750	2	5	2025	2025	NUM
fumecheng-13750	2	6	by	by	ADP
fumecheng-13750	2	7	university	university	PROPN
fumecheng-13750	2	8	of	of	ADP
fumecheng-13750	2	9	niš	niš	PROPN
fumecheng-13750	2	10	,	,	PUNCT
fumecheng-13750	2	11	serbia	serbia	PROPN
fumecheng-13750	2	12	|	|	ADV
fumecheng-13750	2	13	creative	creative	ADJ
fumecheng-13750	2	14	commons	common	NOUN
fumecheng-13750	2	15	license	license	NOUN
fumecheng-13750	2	16	:	:	PUNCT
fumecheng-13750	2	17	cc	cc	VERB
fumecheng-13750	2	18	by	by	ADP
fumecheng-13750	2	19	-	-	PUNCT
fumecheng-13750	2	20	nc	nc	VERB
fumecheng-13750	2	21	-	-	PUNCT
fumecheng-13750	2	22	nd	nd	ADV
fumecheng-13750	2	23	original	original	ADJ
fumecheng-13750	2	24	scientific	scientific	NOUN
fumecheng-13750	2	25	paper	paper	VERB
fumecheng-13750	2	26	active	active	ADJ
fumecheng-13750	2	27	disturbance	disturbance	NOUN
fumecheng-13750	2	28	rejection	rejection	NOUN
fumecheng-13750	2	29	control	control	NOUN
fumecheng-13750	2	30	and	and	CCONJ
fumecheng-13750	2	31	model	model	NOUN
fumecheng-13750	2	32	-	-	PUNCT
fumecheng-13750	2	33	free	free	ADJ
fumecheng-13750	2	34	control	control	NOUN
fumecheng-13750	2	35	tuned	tune	VERB
fumecheng-13750	2	36	via	via	ADP
fumecheng-13750	2	37	fictitious	fictitious	ADJ
fumecheng-13750	2	38	reference	reference	NOUN
fumecheng-13750	2	39	iterative	iterative	NOUN
fumecheng-13750	2	40	tuning	tune	VERB
fumecheng-13750	2	41	raul	raul	NOUN
fumecheng-13750	2	42	-	-	PUNCT
fumecheng-13750	2	43	cristian	cristian	NOUN
fumecheng-13750	2	44	roman1	roman1	PROPN
fumecheng-13750	2	45	,	,	PUNCT
fumecheng-13750	2	46	radu	radu	PROPN
fumecheng-13750	2	47	-	-	PUNCT
fumecheng-13750	2	48	emil	emil	PROPN
fumecheng-13750	2	49	precup1,2	precup1,2	PROPN
fumecheng-13750	2	50	,	,	PUNCT
fumecheng-13750	2	51	emil	emil	PROPN
fumecheng-13750	2	52	m.	m.	PROPN
fumecheng-13750	2	53	petriu3	petriu3	PROPN
fumecheng-13750	3	1	1politehnica	1politehnica	NUM
fumecheng-13750	3	2	university	university	NOUN
fumecheng-13750	3	3	of	of	ADP
fumecheng-13750	3	4	timisoara	timisoara	PROPN
fumecheng-13750	3	5	,	,	PUNCT
fumecheng-13750	3	6	department	department	NOUN
fumecheng-13750	3	7	of	of	ADP
fumecheng-13750	3	8	automation	automation	NOUN
fumecheng-13750	3	9	and	and	CCONJ
fumecheng-13750	3	10	applied	apply	VERB
fumecheng-13750	3	11	informatics	informatic	NOUN
fumecheng-13750	3	12	,	,	PUNCT
fumecheng-13750	3	13	timisoara	timisoara	PROPN
fumecheng-13750	3	14	,	,	PUNCT
fumecheng-13750	3	15	romania	romania	PROPN
fumecheng-13750	3	16	2romanian	2romanian	NUM
fumecheng-13750	3	17	academy	academy	NOUN
fumecheng-13750	3	18	–	–	PUNCT
fumecheng-13750	3	19	timisoara	timisoara	ADJ
fumecheng-13750	3	20	branch	branch	NOUN
fumecheng-13750	3	21	,	,	PUNCT
fumecheng-13750	3	22	center	center	NOUN
fumecheng-13750	3	23	for	for	ADP
fumecheng-13750	3	24	fundamental	fundamental	ADJ
fumecheng-13750	3	25	and	and	CCONJ
fumecheng-13750	3	26	advanced	advanced	ADJ
fumecheng-13750	3	27	technical	technical	ADJ
fumecheng-13750	3	28	research	research	NOUN
fumecheng-13750	3	29	,	,	PUNCT
fumecheng-13750	3	30	timisoara	timisoara	PROPN
fumecheng-13750	3	31	,	,	PUNCT
fumecheng-13750	3	32	romania	romania	PROPN
fumecheng-13750	3	33	3university	3university	NUM
fumecheng-13750	3	34	of	of	ADP
fumecheng-13750	3	35	ottawa	ottawa	PROPN
fumecheng-13750	3	36	,	,	PUNCT
fumecheng-13750	3	37	school	school	NOUN
fumecheng-13750	3	38	of	of	ADP
fumecheng-13750	3	39	electrical	electrical	ADJ
fumecheng-13750	3	40	engineering	engineering	NOUN
fumecheng-13750	3	41	and	and	CCONJ
fumecheng-13750	3	42	computer	computer	NOUN
fumecheng-13750	3	43	science	science	NOUN
fumecheng-13750	3	44	,	,	PUNCT
fumecheng-13750	3	45	ottawa	ottawa	PROPN
fumecheng-13750	3	46	,	,	PUNCT
fumecheng-13750	3	47	canada	canada	PROPN
fumecheng-13750	3	48	orcid	orcid	PROPN
fumecheng-13750	3	49	ids	ids	PROPN
fumecheng-13750	3	50	:	:	PUNCT
fumecheng-13750	3	51	raul	raul	NOUN
fumecheng-13750	3	52	-	-	PUNCT
fumecheng-13750	3	53	cristian	cristian	ADJ
fumecheng-13750	3	54	roman	roman	ADJ
fumecheng-13750	3	55	https://orcid.org/0000-0003-2551-7842	https://orcid.org/0000-0003-2551-7842	NOUN
fumecheng-13750	3	56	radu	radu	PROPN
fumecheng-13750	3	57	-	-	PUNCT
fumecheng-13750	3	58	emil	emil	NOUN
fumecheng-13750	3	59	precup	precup	PROPN
fumecheng-13750	3	60	https://orcid.org/0000-0002-2060-7403	https://orcid.org/0000-0002-2060-7403	NOUN
fumecheng-13750	3	61	emil	emil	PROPN
fumecheng-13750	3	62	m.	m.	PROPN
fumecheng-13750	3	63	petriu	petriu	PROPN
fumecheng-13750	3	64	https://orcid.org/0009-0002-0548-8976	https://orcid.org/0009-0002-0548-8976	PROPN
fumecheng-13750	3	65	abstract	abstract	NOUN
fumecheng-13750	3	66	.	.	PUNCT
fumecheng-13750	4	1	this	this	DET
fumecheng-13750	4	2	paper	paper	NOUN
fumecheng-13750	4	3	presents	present	VERB
fumecheng-13750	4	4	a	a	DET
fumecheng-13750	4	5	comparative	comparative	ADJ
fumecheng-13750	4	6	analysis	analysis	NOUN
fumecheng-13750	4	7	of	of	ADP
fumecheng-13750	4	8	two	two	NUM
fumecheng-13750	4	9	data	data	NOUN
fumecheng-13750	4	10	-	-	PUNCT
fumecheng-13750	4	11	driven	drive	VERB
fumecheng-13750	4	12	algorithm	algorithm	NOUN
fumecheng-13750	4	13	combinations	combination	NOUN
fumecheng-13750	4	14	:	:	PUNCT
fumecheng-13750	4	15	the	the	DET
fumecheng-13750	4	16	first	first	ADJ
fumecheng-13750	4	17	-	-	PUNCT
fumecheng-13750	4	18	order	order	NOUN
fumecheng-13750	4	19	active	active	ADJ
fumecheng-13750	4	20	disturbance	disturbance	NOUN
fumecheng-13750	4	21	rejection	rejection	NOUN
fumecheng-13750	4	22	control	control	NOUN
fumecheng-13750	4	23	-	-	PUNCT
fumecheng-13750	4	24	fictitious	fictitious	ADJ
fumecheng-13750	4	25	reference	reference	NOUN
fumecheng-13750	4	26	iterative	iterative	NOUN
fumecheng-13750	4	27	tuning	tuning	NOUN
fumecheng-13750	4	28	(	(	PUNCT
fumecheng-13750	4	29	adrc	adrc	NOUN
fumecheng-13750	4	30	-	-	PUNCT
fumecheng-13750	4	31	frit	frit	NOUN
fumecheng-13750	4	32	)	)	PUNCT
fumecheng-13750	4	33	and	and	CCONJ
fumecheng-13750	4	34	the	the	DET
fumecheng-13750	4	35	first	first	ADJ
fumecheng-13750	4	36	-	-	PUNCT
fumecheng-13750	4	37	order	order	NOUN
fumecheng-13750	4	38	model	model	NOUN
fumecheng-13750	4	39	-	-	PUNCT
fumecheng-13750	4	40	free	free	ADJ
fumecheng-13750	4	41	control	control	NOUN
fumecheng-13750	4	42	-	-	PUNCT
fumecheng-13750	4	43	fictitious	fictitious	ADJ
fumecheng-13750	4	44	reference	reference	NOUN
fumecheng-13750	4	45	iterative	iterative	NOUN
fumecheng-13750	4	46	tuning	tuning	NOUN
fumecheng-13750	4	47	(	(	PUNCT
fumecheng-13750	4	48	mfc	mfc	NOUN
fumecheng-13750	4	49	-	-	PUNCT
fumecheng-13750	4	50	frit	frit	PROPN
fumecheng-13750	4	51	)	)	PUNCT
fumecheng-13750	4	52	.	.	PUNCT
fumecheng-13750	5	1	the	the	DET
fumecheng-13750	5	2	objective	objective	NOUN
fumecheng-13750	5	3	of	of	ADP
fumecheng-13750	5	4	both	both	DET
fumecheng-13750	5	5	data	data	NOUN
fumecheng-13750	5	6	-	-	PUNCT
fumecheng-13750	5	7	driven	drive	VERB
fumecheng-13750	5	8	combinations	combination	NOUN
fumecheng-13750	5	9	is	be	AUX
fumecheng-13750	5	10	to	to	PART
fumecheng-13750	5	11	ascertain	ascertain	VERB
fumecheng-13750	5	12	the	the	DET
fumecheng-13750	5	13	tunable	tunable	ADJ
fumecheng-13750	5	14	parameters	parameter	NOUN
fumecheng-13750	5	15	through	through	ADP
fumecheng-13750	5	16	the	the	DET
fumecheng-13750	5	17	resolution	resolution	NOUN
fumecheng-13750	5	18	of	of	ADP
fumecheng-13750	5	19	an	an	DET
fumecheng-13750	5	20	optimization	optimization	NOUN
fumecheng-13750	5	21	problem	problem	NOUN
fumecheng-13750	5	22	and	and	CCONJ
fumecheng-13750	5	23	to	to	PART
fumecheng-13750	5	24	streamline	streamline	VERB
fumecheng-13750	5	25	the	the	DET
fumecheng-13750	5	26	heuristic	heuristic	ADJ
fumecheng-13750	5	27	procedures	procedure	NOUN
fumecheng-13750	5	28	involved	involve	VERB
fumecheng-13750	5	29	.	.	PUNCT
fumecheng-13750	6	1	the	the	DET
fumecheng-13750	6	2	data	data	NOUN
fumecheng-13750	6	3	-	-	PUNCT
fumecheng-13750	6	4	driven	drive	VERB
fumecheng-13750	6	5	algorithms	algorithm	NOUN
fumecheng-13750	6	6	are	be	AUX
fumecheng-13750	6	7	empirically	empirically	ADV
fumecheng-13750	6	8	validated	validate	VERB
fumecheng-13750	6	9	through	through	ADP
fumecheng-13750	6	10	experimental	experimental	ADJ
fumecheng-13750	6	11	trials	trial	NOUN
fumecheng-13750	6	12	utilizing	utilize	VERB
fumecheng-13750	6	13	the	the	DET
fumecheng-13750	6	14	3d	3d	NUM
fumecheng-13750	6	15	laboratory	laboratory	NOUN
fumecheng-13750	6	16	equipment	equipment	NOUN
fumecheng-13750	6	17	in	in	ADP
fumecheng-13750	6	18	which	which	PRON
fumecheng-13750	6	19	the	the	DET
fumecheng-13750	6	20	x-	x-	PROPN
fumecheng-13750	6	21	,	,	PUNCT
fumecheng-13750	6	22	y-	y-	X
fumecheng-13750	6	23	,	,	PUNCT
fumecheng-13750	6	24	and	and	CCONJ
fumecheng-13750	6	25	z	z	NOUN
fumecheng-13750	6	26	-	-	PUNCT
fumecheng-13750	6	27	axes	axis	NOUN
fumecheng-13750	6	28	are	be	AUX
fumecheng-13750	6	29	controlled	control	VERB
fumecheng-13750	6	30	.	.	PUNCT
fumecheng-13750	7	1	key	key	ADJ
fumecheng-13750	7	2	words	word	NOUN
fumecheng-13750	7	3	:	:	PUNCT
fumecheng-13750	7	4	active	active	ADJ
fumecheng-13750	7	5	disturbance	disturbance	NOUN
fumecheng-13750	7	6	rejection	rejection	NOUN
fumecheng-13750	7	7	control	control	NOUN
fumecheng-13750	7	8	,	,	PUNCT
fumecheng-13750	7	9	model	model	NOUN
fumecheng-13750	7	10	-	-	PUNCT
fumecheng-13750	7	11	free	free	ADJ
fumecheng-13750	7	12	control	control	NOUN
fumecheng-13750	7	13	,	,	PUNCT
fumecheng-13750	7	14	fictitious	fictitious	ADJ
fumecheng-13750	7	15	reference	reference	NOUN
fumecheng-13750	7	16	iterative	iterative	NOUN
fumecheng-13750	7	17	control	control	NOUN
fumecheng-13750	7	18	,	,	PUNCT
fumecheng-13750	7	19	3d	3d	PROPN
fumecheng-13750	7	20	crane	crane	NOUN
fumecheng-13750	7	21	1	1	NUM
fumecheng-13750	7	22	.	.	PUNCT
fumecheng-13750	7	23	introduction	introduction	NOUN
fumecheng-13750	7	24	in	in	ADP
fumecheng-13750	7	25	recent	recent	ADJ
fumecheng-13750	7	26	years	year	NOUN
fumecheng-13750	7	27	,	,	PUNCT
fumecheng-13750	7	28	the	the	DET
fumecheng-13750	7	29	utilization	utilization	NOUN
fumecheng-13750	7	30	of	of	ADP
fumecheng-13750	7	31	data	data	NOUN
fumecheng-13750	7	32	-	-	PUNCT
fumecheng-13750	7	33	driven	drive	VERB
fumecheng-13750	7	34	algorithms	algorithm	NOUN
fumecheng-13750	7	35	[	[	X
fumecheng-13750	7	36	1	1	X
fumecheng-13750	7	37	]	]	PUNCT
fumecheng-13750	7	38	in	in	ADP
fumecheng-13750	7	39	the	the	DET
fumecheng-13750	7	40	control	control	NOUN
fumecheng-13750	7	41	domain	domain	NOUN
fumecheng-13750	7	42	has	have	AUX
fumecheng-13750	7	43	seen	see	VERB
fumecheng-13750	7	44	a	a	DET
fumecheng-13750	7	45	gradual	gradual	ADJ
fumecheng-13750	7	46	increase	increase	NOUN
fumecheng-13750	7	47	.	.	PUNCT
fumecheng-13750	8	1	within	within	ADP
fumecheng-13750	8	2	contemporary	contemporary	PROPN
fumecheng-13750	8	3	control	control	PROPN
fumecheng-13750	8	4	systems	systems	PROPN
fumecheng-13750	8	5	,	,	PUNCT
fumecheng-13750	8	6	data	datum	NOUN
fumecheng-13750	8	7	-	-	PUNCT
fumecheng-13750	8	8	driven	drive	VERB
fumecheng-13750	8	9	algorithms	algorithm	NOUN
fumecheng-13750	8	10	assume	assume	VERB
fumecheng-13750	8	11	an	an	DET
fumecheng-13750	8	12	increasingly	increasingly	ADV
fumecheng-13750	8	13	pivotal	pivotal	ADJ
fumecheng-13750	8	14	role	role	NOUN
fumecheng-13750	8	15	by	by	ADP
fumecheng-13750	8	16	using	use	VERB
fumecheng-13750	8	17	empirical	empirical	ADJ
fumecheng-13750	8	18	data	datum	NOUN
fumecheng-13750	8	19	to	to	PART
fumecheng-13750	8	20	design	design	NOUN
fumecheng-13750	8	21	controllers	controller	NOUN
fumecheng-13750	8	22	with	with	ADP
fumecheng-13750	8	23	minimal	minimal	ADJ
fumecheng-13750	8	24	reliance	reliance	NOUN
fumecheng-13750	8	25	on	on	ADP
fumecheng-13750	8	26	explicit	explicit	ADJ
fumecheng-13750	8	27	mathematical	mathematical	ADJ
fumecheng-13750	8	28	models	model	NOUN
fumecheng-13750	8	29	,	,	PUNCT
fumecheng-13750	8	30	which	which	PRON
fumecheng-13750	8	31	is	be	AUX
fumecheng-13750	8	32	important	important	ADJ
fumecheng-13750	8	33	in	in	ADP
fumecheng-13750	8	34	coping	cope	VERB
fumecheng-13750	8	35	with	with	ADP
fumecheng-13750	8	36	received	receive	VERB
fumecheng-13750	8	37	:	:	PUNCT
fumecheng-13750	8	38	may	may	AUX
fumecheng-13750	8	39	20	20	NUM
fumecheng-13750	8	40	,	,	PUNCT
fumecheng-13750	8	41	2025	2025	NUM
fumecheng-13750	8	42	/	/	SYM
fumecheng-13750	8	43	accepted	accept	VERB
fumecheng-13750	8	44	july	july	PROPN
fumecheng-13750	8	45	03	03	NUM
fumecheng-13750	8	46	,	,	PUNCT
fumecheng-13750	8	47	2025	2025	NUM
fumecheng-13750	8	48	corresponding	correspond	VERB
fumecheng-13750	8	49	author	author	NOUN
fumecheng-13750	8	50	:	:	PUNCT
fumecheng-13750	8	51	radu	radu	PROPN
fumecheng-13750	8	52	-	-	PUNCT
fumecheng-13750	8	53	emil	emil	PROPN
fumecheng-13750	8	54	precup	precup	PROPN
fumecheng-13750	8	55	politehnica	politehnica	PROPN
fumecheng-13750	8	56	university	university	PROPN
fumecheng-13750	8	57	of	of	ADP
fumecheng-13750	8	58	timisoara	timisoara	PROPN
fumecheng-13750	8	59	,	,	PUNCT
fumecheng-13750	8	60	department	department	NOUN
fumecheng-13750	8	61	of	of	ADP
fumecheng-13750	8	62	automation	automation	NOUN
fumecheng-13750	8	63	and	and	CCONJ
fumecheng-13750	8	64	applied	apply	VERB
fumecheng-13750	8	65	informatics	informatic	NOUN
fumecheng-13750	8	66	,	,	PUNCT
fumecheng-13750	8	67	bd	bd	PROPN
fumecheng-13750	8	68	.	.	PROPN
fumecheng-13750	8	69	v.	v.	PROPN
fumecheng-13750	8	70	parvan	parvan	PROPN
fumecheng-13750	8	71	2	2	NUM
fumecheng-13750	8	72	,	,	PUNCT
fumecheng-13750	8	73	300223	300223	NUM
fumecheng-13750	8	74	timisoara	timisoara	NOUN
fumecheng-13750	8	75	,	,	PUNCT
fumecheng-13750	8	76	romania	romania	PROPN
fumecheng-13750	8	77	romanian	romanian	PROPN
fumecheng-13750	8	78	academy	academy	PROPN
fumecheng-13750	8	79	–	–	PUNCT
fumecheng-13750	8	80	timisoara	timisoara	ADJ
fumecheng-13750	8	81	branch	branch	NOUN
fumecheng-13750	8	82	,	,	PUNCT
fumecheng-13750	8	83	center	center	NOUN
fumecheng-13750	8	84	for	for	ADP
fumecheng-13750	8	85	fundamental	fundamental	ADJ
fumecheng-13750	8	86	and	and	CCONJ
fumecheng-13750	8	87	advanced	advanced	ADJ
fumecheng-13750	8	88	technical	technical	ADJ
fumecheng-13750	8	89	research	research	NOUN
fumecheng-13750	8	90	,	,	PUNCT
fumecheng-13750	8	91	bd	bd	PROPN
fumecheng-13750	8	92	.	.	PROPN
fumecheng-13750	8	93	mihai	mihai	PROPN
fumecheng-13750	8	94	viteazu	viteazu	PROPN
fumecheng-13750	8	95	24	24	NUM
fumecheng-13750	8	96	,	,	PUNCT
fumecheng-13750	8	97	300223	300223	NUM
fumecheng-13750	8	98	timisoara	timisoara	NOUN
fumecheng-13750	8	99	,	,	PUNCT
fumecheng-13750	8	100	romania	romania	PROPN
fumecheng-13750	8	101	e	e	PROPN
fumecheng-13750	8	102	-	-	NOUN
fumecheng-13750	8	103	mail	mail	NOUN
fumecheng-13750	8	104	:	:	PUNCT
fumecheng-13750	8	105	radu.precup@upt.ro	radu.precup@upt.ro	NOUN
fumecheng-13750	8	106	https://orcid.org/0000-0003-2551-7842	https://orcid.org/0000-0003-2551-7842	ADJ
fumecheng-13750	8	107	https://orcid.org/0000-0002-2060-7403	https://orcid.org/0000-0002-2060-7403	NOUN
fumecheng-13750	8	108	https://orcid.org/0009-0002-0548-8976	https://orcid.org/0009-0002-0548-8976	ADP
fumecheng-13750	8	109	184	184	NUM
fumecheng-13750	8	110	r.-c	r.-c	PROPN
fumecheng-13750	8	111	.	.	PUNCT
fumecheng-13750	9	1	roman	roman	PROPN
fumecheng-13750	9	2	,	,	PUNCT
fumecheng-13750	9	3	r.-e	r.-e	PROPN
fumecheng-13750	9	4	.	.	PUNCT
fumecheng-13750	10	1	precup	precup	PROPN
fumecheng-13750	10	2	,	,	PUNCT
fumecheng-13750	10	3	e.	e.	PROPN
fumecheng-13750	10	4	m.	m.	PROPN
fumecheng-13750	10	5	petriu	petriu	PROPN
fumecheng-13750	10	6	complex	complex	ADJ
fumecheng-13750	10	7	processing	processing	NOUN
fumecheng-13750	10	8	including	include	VERB
fumecheng-13750	10	9	active	active	ADJ
fumecheng-13750	10	10	those	those	PRON
fumecheng-13750	10	11	involved	involve	VERB
fumecheng-13750	10	12	in	in	ADP
fumecheng-13750	10	13	active	active	ADJ
fumecheng-13750	10	14	structures	structure	NOUN
fumecheng-13750	10	15	[	[	X
fumecheng-13750	10	16	2	2	NUM
fumecheng-13750	10	17	]	]	PUNCT
fumecheng-13750	10	18	.	.	PUNCT
fumecheng-13750	11	1	rather	rather	ADV
fumecheng-13750	11	2	than	than	ADP
fumecheng-13750	11	3	designing	design	VERB
fumecheng-13750	11	4	precise	precise	ADJ
fumecheng-13750	11	5	system	system	NOUN
fumecheng-13750	11	6	equations	equation	NOUN
fumecheng-13750	11	7	,	,	PUNCT
fumecheng-13750	11	8	these	these	DET
fumecheng-13750	11	9	methodologies	methodology	NOUN
fumecheng-13750	11	10	derive	derive	VERB
fumecheng-13750	11	11	patterns	pattern	NOUN
fumecheng-13750	11	12	and	and	CCONJ
fumecheng-13750	11	13	dynamics	dynamic	NOUN
fumecheng-13750	11	14	directly	directly	ADV
fumecheng-13750	11	15	from	from	ADP
fumecheng-13750	11	16	input	input	NOUN
fumecheng-13750	11	17	-	-	PUNCT
fumecheng-13750	11	18	output	output	NOUN
fumecheng-13750	11	19	(	(	PUNCT
fumecheng-13750	11	20	i	i	NOUN
fumecheng-13750	11	21	/	/	SYM
fumecheng-13750	11	22	o	o	NOUN
fumecheng-13750	11	23	)	)	PUNCT
fumecheng-13750	11	24	data	datum	NOUN
fumecheng-13750	11	25	,	,	PUNCT
fumecheng-13750	11	26	thereby	thereby	ADV
fumecheng-13750	11	27	facilitating	facilitate	VERB
fumecheng-13750	11	28	adaptation	adaptation	NOUN
fumecheng-13750	11	29	to	to	ADP
fumecheng-13750	11	30	intricate	intricate	ADJ
fumecheng-13750	11	31	or	or	CCONJ
fumecheng-13750	11	32	uncertain	uncertain	ADJ
fumecheng-13750	11	33	environments	environment	NOUN
fumecheng-13750	11	34	.	.	PUNCT
fumecheng-13750	12	1	this	this	DET
fumecheng-13750	12	2	method	method	NOUN
fumecheng-13750	12	3	is	be	AUX
fumecheng-13750	12	4	particularly	particularly	ADV
fumecheng-13750	12	5	advantageous	advantageous	ADJ
fumecheng-13750	12	6	in	in	ADP
fumecheng-13750	12	7	contexts	context	NOUN
fumecheng-13750	12	8	where	where	SCONJ
fumecheng-13750	12	9	traditional	traditional	ADJ
fumecheng-13750	12	10	modeling	modeling	NOUN
fumecheng-13750	12	11	proves	prove	VERB
fumecheng-13750	12	12	impractical	impractical	ADJ
fumecheng-13750	12	13	due	due	ADJ
fumecheng-13750	12	14	to	to	ADP
fumecheng-13750	12	15	nonlinearities	nonlinearitie	NOUN
fumecheng-13750	12	16	,	,	PUNCT
fumecheng-13750	12	17	noise	noise	NOUN
fumecheng-13750	12	18	,	,	PUNCT
fumecheng-13750	12	19	or	or	CCONJ
fumecheng-13750	12	20	high	high	ADJ
fumecheng-13750	12	21	dimensionality	dimensionality	NOUN
fumecheng-13750	12	22	.	.	PUNCT
fumecheng-13750	13	1	by	by	ADP
fumecheng-13750	13	2	seamlessly	seamlessly	ADV
fumecheng-13750	13	3	integrating	integrate	VERB
fumecheng-13750	13	4	tools	tool	NOUN
fumecheng-13750	13	5	from	from	ADP
fumecheng-13750	13	6	machine	machine	NOUN
fumecheng-13750	13	7	learning	learning	NOUN
fumecheng-13750	13	8	and	and	CCONJ
fumecheng-13750	13	9	optimization	optimization	NOUN
fumecheng-13750	13	10	,	,	PUNCT
fumecheng-13750	13	11	data	data	NOUN
fumecheng-13750	13	12	-	-	PUNCT
fumecheng-13750	13	13	driven	drive	VERB
fumecheng-13750	13	14	control	control	NOUN
fumecheng-13750	13	15	delivers	deliver	VERB
fumecheng-13750	13	16	flexible	flexible	ADJ
fumecheng-13750	13	17	and	and	CCONJ
fumecheng-13750	13	18	robust	robust	ADJ
fumecheng-13750	13	19	solutions	solution	NOUN
fumecheng-13750	13	20	tailored	tailor	VERB
fumecheng-13750	13	21	to	to	ADP
fumecheng-13750	13	22	real	real	ADJ
fumecheng-13750	13	23	-	-	PUNCT
fumecheng-13750	13	24	world	world	NOUN
fumecheng-13750	13	25	applications	application	NOUN
fumecheng-13750	13	26	,	,	PUNCT
fumecheng-13750	13	27	including	include	VERB
fumecheng-13750	13	28	robotics	robotic	NOUN
fumecheng-13750	13	29	,	,	PUNCT
fumecheng-13750	13	30	energy	energy	NOUN
fumecheng-13750	13	31	systems	system	NOUN
fumecheng-13750	13	32	,	,	PUNCT
fumecheng-13750	13	33	and	and	CCONJ
fumecheng-13750	13	34	autonomous	autonomous	ADJ
fumecheng-13750	13	35	vehicles	vehicle	NOUN
fumecheng-13750	13	36	.	.	PUNCT
fumecheng-13750	14	1	according	accord	VERB
fumecheng-13750	14	2	to	to	ADP
fumecheng-13750	14	3	the	the	DET
fumecheng-13750	14	4	authors	author	NOUN
fumecheng-13750	14	5	,	,	PUNCT
fumecheng-13750	14	6	active	active	ADJ
fumecheng-13750	14	7	disturbance	disturbance	NOUN
fumecheng-13750	14	8	rejection	rejection	NOUN
fumecheng-13750	14	9	control	control	NOUN
fumecheng-13750	14	10	(	(	PUNCT
fumecheng-13750	14	11	adrc	adrc	NOUN
fumecheng-13750	14	12	)	)	PUNCT
fumecheng-13750	15	1	[	[	X
fumecheng-13750	15	2	1,3,4	1,3,4	NUM
fumecheng-13750	15	3	]	]	PUNCT
fumecheng-13750	15	4	,	,	PUNCT
fumecheng-13750	15	5	model	model	NOUN
fumecheng-13750	15	6	-	-	PUNCT
fumecheng-13750	15	7	free	free	ADJ
fumecheng-13750	15	8	control	control	NOUN
fumecheng-13750	15	9	(	(	PUNCT
fumecheng-13750	15	10	mfc	mfc	PROPN
fumecheng-13750	15	11	)	)	PUNCT
fumecheng-13750	16	1	[	[	X
fumecheng-13750	16	2	1,5,6	1,5,6	NUM
fumecheng-13750	16	3	]	]	X
fumecheng-13750	16	4	,	,	PUNCT
fumecheng-13750	16	5	model	model	NOUN
fumecheng-13750	16	6	-	-	PUNCT
fumecheng-13750	16	7	free	free	ADJ
fumecheng-13750	16	8	adaptive	adaptive	ADJ
fumecheng-13750	16	9	control	control	NOUN
fumecheng-13750	17	1	[	[	X
fumecheng-13750	17	2	1,7	1,7	NUM
fumecheng-13750	17	3	]	]	PUNCT
fumecheng-13750	17	4	,	,	PUNCT
fumecheng-13750	17	5	virtual	virtual	ADJ
fumecheng-13750	17	6	reference	reference	NOUN
fumecheng-13750	17	7	feedback	feedback	NOUN
fumecheng-13750	17	8	tuning	tune	VERB
fumecheng-13750	17	9	[	[	X
fumecheng-13750	17	10	1,8	1,8	NUM
fumecheng-13750	17	11	]	]	PUNCT
fumecheng-13750	17	12	,	,	PUNCT
fumecheng-13750	17	13	iterative	iterative	ADJ
fumecheng-13750	17	14	feedback	feedback	NOUN
fumecheng-13750	17	15	tuning	tune	VERB
fumecheng-13750	17	16	[	[	X
fumecheng-13750	17	17	1,9	1,9	NUM
fumecheng-13750	17	18	]	]	PUNCT
fumecheng-13750	17	19	,	,	PUNCT
fumecheng-13750	17	20	fictitious	fictitious	ADJ
fumecheng-13750	17	21	reference	reference	NOUN
fumecheng-13750	17	22	iterative	iterative	NOUN
fumecheng-13750	17	23	tuning	tuning	NOUN
fumecheng-13750	17	24	(	(	PUNCT
fumecheng-13750	17	25	frit	frit	NOUN
fumecheng-13750	17	26	)	)	PUNCT
fumecheng-13750	18	1	[	[	X
fumecheng-13750	18	2	1,10	1,10	NUM
fumecheng-13750	18	3	]	]	PUNCT
fumecheng-13750	18	4	,	,	PUNCT
fumecheng-13750	18	5	or	or	CCONJ
fumecheng-13750	18	6	iterative	iterative	NOUN
fumecheng-13750	18	7	learning	learning	NOUN
fumecheng-13750	18	8	control	control	NOUN
fumecheng-13750	18	9	[	[	X
fumecheng-13750	18	10	11,12	11,12	NUM
fumecheng-13750	18	11	]	]	PUNCT
fumecheng-13750	18	12	are	be	AUX
fumecheng-13750	18	13	among	among	ADP
fumecheng-13750	18	14	the	the	DET
fumecheng-13750	18	15	most	most	ADV
fumecheng-13750	18	16	frequently	frequently	ADV
fumecheng-13750	18	17	utilized	utilize	VERB
fumecheng-13750	18	18	data	data	NOUN
fumecheng-13750	18	19	-	-	PUNCT
fumecheng-13750	18	20	driven	drive	VERB
fumecheng-13750	18	21	algorithms	algorithm	NOUN
fumecheng-13750	18	22	.	.	PUNCT
fumecheng-13750	19	1	adrc	adrc	PROPN
fumecheng-13750	19	2	is	be	AUX
fumecheng-13750	19	3	a	a	DET
fumecheng-13750	19	4	feedback	feedback	NOUN
fumecheng-13750	19	5	control	control	NOUN
fumecheng-13750	19	6	strategy	strategy	NOUN
fumecheng-13750	19	7	designed	design	VERB
fumecheng-13750	19	8	to	to	PART
fumecheng-13750	19	9	handle	handle	VERB
fumecheng-13750	19	10	uncertainties	uncertainty	NOUN
fumecheng-13750	19	11	and	and	CCONJ
fumecheng-13750	19	12	external	external	ADJ
fumecheng-13750	19	13	disturbances	disturbance	NOUN
fumecheng-13750	19	14	without	without	ADP
fumecheng-13750	19	15	relying	rely	VERB
fumecheng-13750	19	16	on	on	ADP
fumecheng-13750	19	17	an	an	DET
fumecheng-13750	19	18	accurate	accurate	ADJ
fumecheng-13750	19	19	mathematical	mathematical	ADJ
fumecheng-13750	19	20	model	model	NOUN
fumecheng-13750	19	21	of	of	ADP
fumecheng-13750	19	22	the	the	DET
fumecheng-13750	19	23	process	process	NOUN
fumecheng-13750	19	24	.	.	PUNCT
fumecheng-13750	20	1	at	at	ADP
fumecheng-13750	20	2	its	its	PRON
fumecheng-13750	20	3	core	core	NOUN
fumecheng-13750	20	4	,	,	PUNCT
fumecheng-13750	20	5	adrc	adrc	PROPN
fumecheng-13750	20	6	augments	augment	VERB
fumecheng-13750	20	7	the	the	DET
fumecheng-13750	20	8	system	system	NOUN
fumecheng-13750	20	9	’s	’s	PART
fumecheng-13750	20	10	state	state	NOUN
fumecheng-13750	20	11	with	with	ADP
fumecheng-13750	20	12	an	an	DET
fumecheng-13750	20	13	estimated	estimate	VERB
fumecheng-13750	20	14	total	total	ADJ
fumecheng-13750	20	15	disturbance	disturbance	NOUN
fumecheng-13750	20	16	,	,	PUNCT
fumecheng-13750	20	17	which	which	PRON
fumecheng-13750	20	18	encompasses	encompass	VERB
fumecheng-13750	20	19	both	both	DET
fumecheng-13750	20	20	unknown	unknown	ADJ
fumecheng-13750	20	21	dynamics	dynamic	NOUN
fumecheng-13750	20	22	and	and	CCONJ
fumecheng-13750	20	23	external	external	ADJ
fumecheng-13750	20	24	inputs	input	NOUN
fumecheng-13750	20	25	.	.	PUNCT
fumecheng-13750	21	1	this	this	DET
fumecheng-13750	21	2	estimate	estimate	NOUN
fumecheng-13750	21	3	is	be	AUX
fumecheng-13750	21	4	updated	update	VERB
fumecheng-13750	21	5	in	in	ADP
fumecheng-13750	21	6	real	real	ADJ
fumecheng-13750	21	7	time	time	NOUN
fumecheng-13750	21	8	by	by	ADP
fumecheng-13750	21	9	an	an	DET
fumecheng-13750	21	10	observer	observer	NOUN
fumecheng-13750	21	11	and	and	CCONJ
fumecheng-13750	21	12	then	then	ADV
fumecheng-13750	21	13	actively	actively	ADV
fumecheng-13750	21	14	canceled	cancel	VERB
fumecheng-13750	21	15	in	in	ADP
fumecheng-13750	21	16	the	the	DET
fumecheng-13750	21	17	control	control	NOUN
fumecheng-13750	21	18	law	law	NOUN
fumecheng-13750	21	19	,	,	PUNCT
fumecheng-13750	21	20	resulting	result	VERB
fumecheng-13750	21	21	in	in	ADP
fumecheng-13750	21	22	improved	improved	ADJ
fumecheng-13750	21	23	robustness	robustness	NOUN
fumecheng-13750	21	24	and	and	CCONJ
fumecheng-13750	21	25	disturbance	disturbance	NOUN
fumecheng-13750	21	26	rejection	rejection	NOUN
fumecheng-13750	21	27	.	.	PUNCT
fumecheng-13750	22	1	usually	usually	ADV
fumecheng-13750	22	2	,	,	PUNCT
fumecheng-13750	22	3	due	due	ADP
fumecheng-13750	22	4	to	to	ADP
fumecheng-13750	22	5	its	its	PRON
fumecheng-13750	22	6	simplicity	simplicity	NOUN
fumecheng-13750	22	7	,	,	PUNCT
fumecheng-13750	22	8	the	the	DET
fumecheng-13750	22	9	extended	extended	ADJ
fumecheng-13750	22	10	state	state	NOUN
fumecheng-13750	22	11	observer	observer	NOUN
fumecheng-13750	22	12	(	(	PUNCT
fumecheng-13750	22	13	eso	eso	NOUN
fumecheng-13750	22	14	)	)	PUNCT
fumecheng-13750	22	15	is	be	AUX
fumecheng-13750	22	16	preferred	prefer	VERB
fumecheng-13750	22	17	.	.	PUNCT
fumecheng-13750	23	1	thanks	thank	NOUN
fumecheng-13750	23	2	to	to	ADP
fumecheng-13750	23	3	its	its	PRON
fumecheng-13750	23	4	model	model	ADJ
fumecheng-13750	23	5	-	-	ADJ
fumecheng-13750	23	6	agnostic	agnostic	ADJ
fumecheng-13750	23	7	design	design	NOUN
fumecheng-13750	23	8	and	and	CCONJ
fumecheng-13750	23	9	straightforward	straightforward	ADJ
fumecheng-13750	23	10	tuning	tuning	NOUN
fumecheng-13750	23	11	rules	rule	NOUN
fumecheng-13750	23	12	,	,	PUNCT
fumecheng-13750	23	13	adrc	adrc	PROPN
fumecheng-13750	23	14	has	have	AUX
fumecheng-13750	23	15	been	be	AUX
fumecheng-13750	23	16	successfully	successfully	ADV
fumecheng-13750	23	17	applied	apply	VERB
fumecheng-13750	23	18	in	in	ADP
fumecheng-13750	23	19	fields	field	NOUN
fumecheng-13750	23	20	ranging	range	VERB
fumecheng-13750	23	21	from	from	ADP
fumecheng-13750	23	22	robotics	robotic	NOUN
fumecheng-13750	23	23	to	to	AUX
fumecheng-13750	23	24	process	process	NOUN
fumecheng-13750	23	25	industries	industry	NOUN
fumecheng-13750	23	26	,	,	PUNCT
fumecheng-13750	23	27	where	where	SCONJ
fumecheng-13750	23	28	precise	precise	ADJ
fumecheng-13750	23	29	modeling	modeling	NOUN
fumecheng-13750	23	30	proves	prove	VERB
fumecheng-13750	23	31	challenging	challenging	ADJ
fumecheng-13750	23	32	.	.	PUNCT
fumecheng-13750	24	1	due	due	ADP
fumecheng-13750	24	2	to	to	ADP
fumecheng-13750	24	3	its	its	PRON
fumecheng-13750	24	4	model	model	ADJ
fumecheng-13750	24	5	-	-	PUNCT
fumecheng-13750	24	6	independent	independent	ADJ
fumecheng-13750	24	7	framework	framework	NOUN
fumecheng-13750	24	8	and	and	CCONJ
fumecheng-13750	24	9	straightforward	straightforward	ADJ
fumecheng-13750	24	10	tuning	tuning	NOUN
fumecheng-13750	24	11	guidelines	guideline	NOUN
fumecheng-13750	24	12	,	,	PUNCT
fumecheng-13750	24	13	adrc	adrc	PROPN
fumecheng-13750	24	14	has	have	AUX
fumecheng-13750	24	15	been	be	AUX
fumecheng-13750	24	16	proficiently	proficiently	ADV
fumecheng-13750	24	17	utilized	utilize	VERB
fumecheng-13750	24	18	across	across	ADP
fumecheng-13750	24	19	various	various	ADJ
fumecheng-13750	24	20	domains	domain	NOUN
fumecheng-13750	24	21	.	.	PUNCT
fumecheng-13750	25	1	in	in	ADP
fumecheng-13750	25	2	the	the	DET
fumecheng-13750	25	3	realm	realm	NOUN
fumecheng-13750	25	4	of	of	ADP
fumecheng-13750	25	5	tower	tower	NOUN
fumecheng-13750	25	6	crane	crane	NOUN
fumecheng-13750	25	7	systems	system	NOUN
fumecheng-13750	25	8	,	,	PUNCT
fumecheng-13750	25	9	as	as	SCONJ
fumecheng-13750	25	10	indicated	indicate	VERB
fumecheng-13750	25	11	in	in	ADP
fumecheng-13750	25	12	[	[	X
fumecheng-13750	25	13	3	3	NUM
fumecheng-13750	25	14	]	]	PUNCT
fumecheng-13750	25	15	,	,	PUNCT
fumecheng-13750	25	16	two	two	NUM
fumecheng-13750	25	17	configurations	configuration	NOUN
fumecheng-13750	25	18	of	of	ADP
fumecheng-13750	25	19	adrc	adrc	PROPN
fumecheng-13750	25	20	integrated	integrate	VERB
fumecheng-13750	25	21	with	with	ADP
fumecheng-13750	25	22	the	the	DET
fumecheng-13750	25	23	fuzzy	fuzzy	ADJ
fumecheng-13750	25	24	logic	logic	NOUN
fumecheng-13750	25	25	technique	technique	NOUN
fumecheng-13750	25	26	are	be	AUX
fumecheng-13750	25	27	proposed	propose	VERB
fumecheng-13750	25	28	,	,	PUNCT
fumecheng-13750	25	29	ensuring	ensure	VERB
fumecheng-13750	25	30	control	control	NOUN
fumecheng-13750	25	31	loop	loop	NOUN
fumecheng-13750	25	32	stability	stability	NOUN
fumecheng-13750	25	33	as	as	ADP
fumecheng-13750	25	34	per	per	ADP
fumecheng-13750	25	35	fuzzy	fuzzy	ADJ
fumecheng-13750	25	36	control	control	NOUN
fumecheng-13750	25	37	system	system	NOUN
fumecheng-13750	25	38	stability	stability	NOUN
fumecheng-13750	25	39	,	,	PUNCT
fumecheng-13750	25	40	with	with	SCONJ
fumecheng-13750	25	41	adrc	adrc	DET
fumecheng-13750	25	42	parameters	parameter	NOUN
fumecheng-13750	25	43	determined	determine	VERB
fumecheng-13750	25	44	through	through	ADP
fumecheng-13750	25	45	the	the	DET
fumecheng-13750	25	46	metaheuristic	metaheuristic	ADJ
fumecheng-13750	25	47	grey	grey	ADJ
fumecheng-13750	25	48	wolf	wolf	PROPN
fumecheng-13750	25	49	optimizer	optimizer	NOUN
fumecheng-13750	25	50	.	.	PUNCT
fumecheng-13750	26	1	in	in	ADP
fumecheng-13750	26	2	[	[	X
fumecheng-13750	26	3	13	13	NUM
fumecheng-13750	26	4	]	]	PUNCT
fumecheng-13750	26	5	,	,	PUNCT
fumecheng-13750	26	6	the	the	DET
fumecheng-13750	26	7	second	second	ADJ
fumecheng-13750	26	8	-	-	PUNCT
fumecheng-13750	26	9	order	order	NOUN
fumecheng-13750	26	10	adrc	adrc	NOUN
fumecheng-13750	26	11	is	be	AUX
fumecheng-13750	26	12	combined	combine	VERB
fumecheng-13750	26	13	with	with	ADP
fumecheng-13750	26	14	the	the	DET
fumecheng-13750	26	15	sliding	slide	VERB
fumecheng-13750	26	16	mode	mode	NOUN
fumecheng-13750	26	17	technique	technique	NOUN
fumecheng-13750	26	18	to	to	PART
fumecheng-13750	26	19	enhance	enhance	VERB
fumecheng-13750	26	20	control	control	NOUN
fumecheng-13750	26	21	loop	loop	NOUN
fumecheng-13750	26	22	performance	performance	NOUN
fumecheng-13750	26	23	,	,	PUNCT
fumecheng-13750	26	24	proposing	propose	VERB
fumecheng-13750	26	25	adrc	adrc	DET
fumecheng-13750	26	26	stability	stability	NOUN
fumecheng-13750	26	27	while	while	SCONJ
fumecheng-13750	26	28	optimal	optimal	ADJ
fumecheng-13750	26	29	controller	controller	NOUN
fumecheng-13750	26	30	parameters	parameter	NOUN
fumecheng-13750	26	31	are	be	AUX
fumecheng-13750	26	32	ascertained	ascertain	VERB
fumecheng-13750	26	33	via	via	ADP
fumecheng-13750	26	34	the	the	DET
fumecheng-13750	26	35	metaheuristic	metaheuristic	ADJ
fumecheng-13750	26	36	slime	slime	NOUN
fumecheng-13750	26	37	mould	mould	AUX
fumecheng-13750	26	38	algorithm	algorithm	NOUN
fumecheng-13750	26	39	(	(	PUNCT
fumecheng-13750	26	40	sma	sma	PROPN
fumecheng-13750	26	41	)	)	PUNCT
fumecheng-13750	26	42	with	with	ADP
fumecheng-13750	26	43	validation	validation	NOUN
fumecheng-13750	26	44	on	on	ADP
fumecheng-13750	26	45	tower	tower	NOUN
fumecheng-13750	26	46	crane	crane	NOUN
fumecheng-13750	26	47	systems	system	NOUN
fumecheng-13750	26	48	.	.	PUNCT
fumecheng-13750	27	1	according	accord	VERB
fumecheng-13750	27	2	to	to	ADP
fumecheng-13750	27	3	[	[	X
fumecheng-13750	27	4	14	14	NUM
fumecheng-13750	27	5	]	]	PUNCT
fumecheng-13750	27	6	,	,	PUNCT
fumecheng-13750	27	7	firstorder	firstorder	NOUN
fumecheng-13750	27	8	adrc	adrc	NOUN
fumecheng-13750	27	9	is	be	AUX
fumecheng-13750	27	10	mixed	mix	VERB
fumecheng-13750	27	11	with	with	ADP
fumecheng-13750	27	12	the	the	DET
fumecheng-13750	27	13	frit	frit	NOUN
fumecheng-13750	27	14	to	to	PART
fumecheng-13750	27	15	identify	identify	VERB
fumecheng-13750	27	16	optimal	optimal	ADJ
fumecheng-13750	27	17	tunable	tunable	ADJ
fumecheng-13750	27	18	parameters	parameter	NOUN
fumecheng-13750	27	19	using	use	VERB
fumecheng-13750	27	20	the	the	DET
fumecheng-13750	27	21	metaheuristic	metaheuristic	ADJ
fumecheng-13750	27	22	african	african	ADJ
fumecheng-13750	27	23	vultures	vultures	PROPN
fumecheng-13750	27	24	optimization	optimization	NOUN
fumecheng-13750	27	25	algorithm	algorithm	NOUN
fumecheng-13750	27	26	(	(	PUNCT
fumecheng-13750	27	27	avoa	avoa	PROPN
fumecheng-13750	27	28	)	)	PUNCT
fumecheng-13750	27	29	,	,	PUNCT
fumecheng-13750	27	30	accompanied	accompany	VERB
fumecheng-13750	27	31	by	by	ADP
fumecheng-13750	27	32	a	a	DET
fumecheng-13750	27	33	proposed	propose	VERB
fumecheng-13750	27	34	stability	stability	NOUN
fumecheng-13750	27	35	mechanism	mechanism	NOUN
fumecheng-13750	27	36	for	for	ADP
fumecheng-13750	27	37	adrc	adrc	NOUN
fumecheng-13750	27	38	,	,	PUNCT
fumecheng-13750	27	39	also	also	ADV
fumecheng-13750	27	40	validated	validate	VERB
fumecheng-13750	27	41	on	on	ADP
fumecheng-13750	27	42	tower	tower	NOUN
fumecheng-13750	27	43	crane	crane	NOUN
fumecheng-13750	27	44	systems	system	NOUN
fumecheng-13750	27	45	.	.	PUNCT
fumecheng-13750	28	1	for	for	ADP
fumecheng-13750	28	2	3d	3d	PROPN
fumecheng-13750	28	3	crane	crane	NOUN
fumecheng-13750	28	4	systems	system	NOUN
fumecheng-13750	28	5	in	in	ADP
fumecheng-13750	28	6	[	[	X
fumecheng-13750	28	7	15	15	NUM
fumecheng-13750	28	8	]	]	PUNCT
fumecheng-13750	28	9	,	,	PUNCT
fumecheng-13750	28	10	comparisons	comparison	NOUN
fumecheng-13750	28	11	are	be	AUX
fumecheng-13750	28	12	drawn	draw	VERB
fumecheng-13750	28	13	between	between	ADP
fumecheng-13750	28	14	the	the	DET
fumecheng-13750	28	15	first	first	ADJ
fumecheng-13750	28	16	and	and	CCONJ
fumecheng-13750	28	17	second	second	ADJ
fumecheng-13750	28	18	orders	order	NOUN
fumecheng-13750	28	19	of	of	ADP
fumecheng-13750	28	20	adrc	adrc	DET
fumecheng-13750	28	21	algorithms	algorithm	NOUN
fumecheng-13750	28	22	.	.	PUNCT
fumecheng-13750	29	1	direct	direct	ADJ
fumecheng-13750	29	2	current	current	ADJ
fumecheng-13750	29	3	(	(	PUNCT
fumecheng-13750	29	4	dc)-dc	dc)-dc	X
fumecheng-13750	29	5	buck	buck	NOUN
fumecheng-13750	29	6	converters	converter	NOUN
fumecheng-13750	29	7	in	in	ADP
fumecheng-13750	29	8	[	[	X
fumecheng-13750	29	9	16	16	NUM
fumecheng-13750	29	10	]	]	PUNCT
fumecheng-13750	29	11	feature	feature	VERB
fumecheng-13750	29	12	a	a	DET
fumecheng-13750	29	13	general	general	ADJ
fumecheng-13750	29	14	error	error	NOUN
fumecheng-13750	29	15	-	-	PUNCT
fumecheng-13750	29	16	based	base	VERB
fumecheng-13750	29	17	adrc	adrc	NOUN
fumecheng-13750	29	18	with	with	ADP
fumecheng-13750	29	19	a	a	DET
fumecheng-13750	29	20	stability	stability	NOUN
fumecheng-13750	29	21	mechanism	mechanism	NOUN
fumecheng-13750	29	22	founded	found	VERB
fumecheng-13750	29	23	on	on	ADP
fumecheng-13750	29	24	singular	singular	ADJ
fumecheng-13750	29	25	perturbation	perturbation	NOUN
fumecheng-13750	29	26	theory	theory	NOUN
fumecheng-13750	29	27	.	.	PUNCT
fumecheng-13750	30	1	in	in	ADP
fumecheng-13750	30	2	permanent	permanent	ADJ
fumecheng-13750	30	3	magnet	magnet	NOUN
fumecheng-13750	30	4	synchronous	synchronous	ADJ
fumecheng-13750	30	5	motors	motor	NOUN
fumecheng-13750	30	6	,	,	PUNCT
fumecheng-13750	30	7	as	as	SCONJ
fumecheng-13750	30	8	discussed	discuss	VERB
fumecheng-13750	30	9	in	in	ADP
fumecheng-13750	30	10	[	[	X
fumecheng-13750	30	11	17	17	NUM
fumecheng-13750	30	12	]	]	PUNCT
fumecheng-13750	30	13	,	,	PUNCT
fumecheng-13750	30	14	a	a	DET
fumecheng-13750	30	15	cascaded	cascade	VERB
fumecheng-13750	30	16	filter	filter	NOUN
fumecheng-13750	30	17	proportional	proportional	ADJ
fumecheng-13750	30	18	-	-	PUNCT
fumecheng-13750	30	19	integralderivative	integralderivative	ADJ
fumecheng-13750	30	20	(	(	PUNCT
fumecheng-13750	30	21	pid	pid	NOUN
fumecheng-13750	30	22	)	)	PUNCT
fumecheng-13750	30	23	paradigm	paradigm	NOUN
fumecheng-13750	30	24	is	be	AUX
fumecheng-13750	30	25	employed	employ	VERB
fumecheng-13750	30	26	for	for	ADP
fumecheng-13750	30	27	error	error	NOUN
fumecheng-13750	30	28	-	-	PUNCT
fumecheng-13750	30	29	based	base	VERB
fumecheng-13750	30	30	adrc	adrc	NOUN
fumecheng-13750	30	31	,	,	PUNCT
fumecheng-13750	30	32	with	with	ADP
fumecheng-13750	30	33	system	system	NOUN
fumecheng-13750	30	34	robustness	robustness	NOUN
fumecheng-13750	30	35	characterized	characterize	VERB
fumecheng-13750	30	36	in	in	ADP
fumecheng-13750	30	37	terms	term	NOUN
fumecheng-13750	30	38	of	of	ADP
fumecheng-13750	30	39	stability	stability	NOUN
fumecheng-13750	30	40	margins	margin	NOUN
fumecheng-13750	30	41	.	.	PUNCT
fumecheng-13750	31	1	in	in	ADP
fumecheng-13750	31	2	piezo	piezo	ADJ
fumecheng-13750	31	3	-	-	ADJ
fumecheng-13750	31	4	actuated	actuate	VERB
fumecheng-13750	31	5	beams	beam	NOUN
fumecheng-13750	31	6	,	,	PUNCT
fumecheng-13750	31	7	as	as	SCONJ
fumecheng-13750	31	8	described	describe	VERB
fumecheng-13750	31	9	in	in	ADP
fumecheng-13750	31	10	[	[	X
fumecheng-13750	31	11	18	18	NUM
fumecheng-13750	31	12	]	]	PUNCT
fumecheng-13750	31	13	,	,	PUNCT
fumecheng-13750	31	14	adrc	adrc	PROPN
fumecheng-13750	31	15	is	be	AUX
fumecheng-13750	31	16	utilized	utilize	VERB
fumecheng-13750	31	17	to	to	PART
fumecheng-13750	31	18	estimate	estimate	VERB
fumecheng-13750	31	19	and	and	CCONJ
fumecheng-13750	31	20	compensate	compensate	VERB
fumecheng-13750	31	21	for	for	ADP
fumecheng-13750	31	22	total	total	ADJ
fumecheng-13750	31	23	disturbances	disturbance	NOUN
fumecheng-13750	31	24	,	,	PUNCT
fumecheng-13750	31	25	with	with	ADP
fumecheng-13750	31	26	design	design	NOUN
fumecheng-13750	31	27	based	base	VERB
fumecheng-13750	31	28	on	on	ADP
fumecheng-13750	31	29	the	the	DET
fumecheng-13750	31	30	governing	govern	VERB
fumecheng-13750	31	31	equation	equation	NOUN
fumecheng-13750	31	32	.	.	PUNCT
fumecheng-13750	32	1	for	for	ADP
fumecheng-13750	32	2	gimbal	gimbal	ADJ
fumecheng-13750	32	3	mechanisms	mechanism	NOUN
fumecheng-13750	32	4	,	,	PUNCT
fumecheng-13750	32	5	[	[	X
fumecheng-13750	32	6	19	19	NUM
fumecheng-13750	32	7	]	]	PUNCT
fumecheng-13750	32	8	proposes	propose	VERB
fumecheng-13750	32	9	a	a	DET
fumecheng-13750	32	10	first	first	ADJ
fumecheng-13750	32	11	-	-	PUNCT
fumecheng-13750	32	12	order	order	NOUN
fumecheng-13750	32	13	adrc	adrc	PROPN
fumecheng-13750	32	14	algorithm	algorithm	NOUN
fumecheng-13750	32	15	alongside	alongside	ADP
fumecheng-13750	32	16	a	a	DET
fumecheng-13750	32	17	stability	stability	NOUN
fumecheng-13750	32	18	mechanism	mechanism	NOUN
fumecheng-13750	32	19	.	.	PUNCT
fumecheng-13750	33	1	the	the	DET
fumecheng-13750	33	2	application	application	NOUN
fumecheng-13750	33	3	of	of	ADP
fumecheng-13750	33	4	adrc	adrc	NOUN
fumecheng-13750	33	5	to	to	PART
fumecheng-13750	33	6	rotary	rotary	VERB
fumecheng-13750	33	7	dc	dc	PROPN
fumecheng-13750	33	8	motors	motor	NOUN
fumecheng-13750	33	9	,	,	PUNCT
fumecheng-13750	33	10	as	as	SCONJ
fumecheng-13750	33	11	stated	state	VERB
fumecheng-13750	33	12	in	in	ADP
fumecheng-13750	33	13	[	[	X
fumecheng-13750	33	14	20	20	NUM
fumecheng-13750	33	15	]	]	PUNCT
fumecheng-13750	33	16	,	,	PUNCT
fumecheng-13750	33	17	involves	involve	VERB
fumecheng-13750	33	18	the	the	DET
fumecheng-13750	33	19	use	use	NOUN
fumecheng-13750	33	20	of	of	ADP
fumecheng-13750	33	21	an	an	DET
fumecheng-13750	33	22	anti	anti	ADJ
fumecheng-13750	33	23	-	-	ADJ
fumecheng-13750	33	24	windup	windup	ADJ
fumecheng-13750	33	25	strategy	strategy	NOUN
fumecheng-13750	33	26	and	and	CCONJ
fumecheng-13750	33	27	hurwitz	hurwitz	PROPN
fumecheng-13750	33	28	polynomials	polynomial	NOUN
fumecheng-13750	33	29	.	.	PUNCT
fumecheng-13750	34	1	across	across	ADP
fumecheng-13750	34	2	all	all	DET
fumecheng-13750	34	3	these	these	DET
fumecheng-13750	34	4	systems	system	NOUN
fumecheng-13750	34	5	,	,	PUNCT
fumecheng-13750	34	6	the	the	DET
fumecheng-13750	34	7	precise	precise	ADJ
fumecheng-13750	34	8	modeling	modeling	NOUN
fumecheng-13750	34	9	remains	remain	VERB
fumecheng-13750	34	10	a	a	DET
fumecheng-13750	34	11	considerable	considerable	ADJ
fumecheng-13750	34	12	challenge	challenge	NOUN
fumecheng-13750	34	13	.	.	PUNCT
fumecheng-13750	35	1	mfc	mfc	NOUN
fumecheng-13750	35	2	,	,	PUNCT
fumecheng-13750	35	3	often	often	ADV
fumecheng-13750	35	4	associated	associate	VERB
fumecheng-13750	35	5	with	with	ADP
fumecheng-13750	35	6	the	the	DET
fumecheng-13750	35	7	concept	concept	NOUN
fumecheng-13750	35	8	of	of	ADP
fumecheng-13750	35	9	intelligent	intelligent	ADJ
fumecheng-13750	35	10	pid	pid	NOUN
fumecheng-13750	35	11	controllers	controller	NOUN
fumecheng-13750	35	12	,	,	PUNCT
fumecheng-13750	35	13	presents	present	VERB
fumecheng-13750	35	14	a	a	DET
fumecheng-13750	35	15	viable	viable	ADJ
fumecheng-13750	35	16	alternative	alternative	NOUN
fumecheng-13750	35	17	to	to	ADP
fumecheng-13750	35	18	traditional	traditional	ADJ
fumecheng-13750	35	19	model	model	NOUN
fumecheng-13750	35	20	-	-	PUNCT
fumecheng-13750	35	21	based	base	VERB
fumecheng-13750	35	22	control	control	NOUN
fumecheng-13750	35	23	methodologies	methodology	NOUN
fumecheng-13750	35	24	.	.	PUNCT
fumecheng-13750	36	1	instead	instead	ADV
fumecheng-13750	36	2	of	of	ADP
fumecheng-13750	36	3	relying	rely	VERB
fumecheng-13750	36	4	on	on	ADP
fumecheng-13750	36	5	a	a	DET
fumecheng-13750	36	6	detailed	detailed	ADJ
fumecheng-13750	36	7	mathematical	mathematical	ADJ
fumecheng-13750	36	8	representation	representation	NOUN
fumecheng-13750	36	9	of	of	ADP
fumecheng-13750	36	10	the	the	DET
fumecheng-13750	36	11	system	system	NOUN
fumecheng-13750	36	12	,	,	PUNCT
fumecheng-13750	36	13	mfc	mfc	PROPN
fumecheng-13750	36	14	builds	build	VERB
fumecheng-13750	36	15	on	on	ADP
fumecheng-13750	36	16	simplified	simplified	ADJ
fumecheng-13750	36	17	local	local	ADJ
fumecheng-13750	36	18	models	model	NOUN
fumecheng-13750	36	19	based	base	VERB
fumecheng-13750	36	20	on	on	ADP
fumecheng-13750	36	21	real	real	ADJ
fumecheng-13750	36	22	-	-	PUNCT
fumecheng-13750	36	23	time	time	NOUN
fumecheng-13750	36	24	data	datum	NOUN
fumecheng-13750	36	25	.	.	PUNCT
fumecheng-13750	37	1	this	this	DET
fumecheng-13750	37	2	approach	approach	NOUN
fumecheng-13750	37	3	allows	allow	VERB
fumecheng-13750	37	4	the	the	DET
fumecheng-13750	37	5	controller	controller	NOUN
fumecheng-13750	37	6	based	base	VERB
fumecheng-13750	37	7	on	on	ADP
fumecheng-13750	37	8	mfc	mfc	PROPN
fumecheng-13750	37	9	to	to	PART
fumecheng-13750	37	10	adapt	adapt	VERB
fumecheng-13750	37	11	to	to	ADP
fumecheng-13750	37	12	active	active	ADJ
fumecheng-13750	37	13	disturbance	disturbance	NOUN
fumecheng-13750	37	14	rejection	rejection	NOUN
fumecheng-13750	37	15	control	control	NOUN
fumecheng-13750	37	16	and	and	CCONJ
fumecheng-13750	37	17	model	model	NOUN
fumecheng-13750	37	18	-	-	PUNCT
fumecheng-13750	37	19	free	free	ADJ
fumecheng-13750	37	20	control	control	NOUN
fumecheng-13750	37	21	185	185	NUM
fumecheng-13750	37	22	system	system	NOUN
fumecheng-13750	37	23	dynamics	dynamic	NOUN
fumecheng-13750	37	24	and	and	CCONJ
fumecheng-13750	37	25	external	external	ADJ
fumecheng-13750	37	26	disturbances	disturbance	NOUN
fumecheng-13750	37	27	in	in	ADP
fumecheng-13750	37	28	the	the	DET
fumecheng-13750	37	29	absence	absence	NOUN
fumecheng-13750	37	30	of	of	ADP
fumecheng-13750	37	31	preliminary	preliminary	ADJ
fumecheng-13750	37	32	identification	identification	NOUN
fumecheng-13750	37	33	procedures	procedure	NOUN
fumecheng-13750	37	34	,	,	PUNCT
fumecheng-13750	37	35	making	make	VERB
fumecheng-13750	37	36	it	it	PRON
fumecheng-13750	37	37	especially	especially	ADV
fumecheng-13750	37	38	valuable	valuable	ADJ
fumecheng-13750	37	39	for	for	ADP
fumecheng-13750	37	40	complex	complex	ADJ
fumecheng-13750	37	41	or	or	CCONJ
fumecheng-13750	37	42	poorly	poorly	ADV
fumecheng-13750	37	43	understood	understand	VERB
fumecheng-13750	37	44	processes	process	NOUN
fumecheng-13750	37	45	.	.	PUNCT
fumecheng-13750	38	1	in	in	ADP
fumecheng-13750	38	2	recent	recent	ADJ
fumecheng-13750	38	3	years	year	NOUN
fumecheng-13750	38	4	,	,	PUNCT
fumecheng-13750	38	5	mfc	mfc	PROPN
fumecheng-13750	38	6	has	have	AUX
fumecheng-13750	38	7	been	be	AUX
fumecheng-13750	38	8	rigorously	rigorously	ADV
fumecheng-13750	38	9	improved	improve	VERB
fumecheng-13750	38	10	and	and	CCONJ
fumecheng-13750	38	11	validated	validate	VERB
fumecheng-13750	38	12	across	across	ADP
fumecheng-13750	38	13	various	various	ADJ
fumecheng-13750	38	14	demanding	demand	VERB
fumecheng-13750	38	15	applications	application	NOUN
fumecheng-13750	38	16	,	,	PUNCT
fumecheng-13750	38	17	from	from	ADP
fumecheng-13750	38	18	robotics	robotic	NOUN
fumecheng-13750	38	19	to	to	PART
fumecheng-13750	38	20	process	process	VERB
fumecheng-13750	38	21	industries	industry	NOUN
fumecheng-13750	38	22	,	,	PUNCT
fumecheng-13750	38	23	demonstrating	demonstrate	VERB
fumecheng-13750	38	24	its	its	PRON
fumecheng-13750	38	25	adaptability	adaptability	NOUN
fumecheng-13750	38	26	and	and	CCONJ
fumecheng-13750	38	27	efficacy	efficacy	NOUN
fumecheng-13750	38	28	in	in	ADP
fumecheng-13750	38	29	practical	practical	ADJ
fumecheng-13750	38	30	environments	environment	NOUN
fumecheng-13750	38	31	.	.	PUNCT
fumecheng-13750	39	1	in	in	ADP
fumecheng-13750	39	2	[	[	X
fumecheng-13750	39	3	5	5	NUM
fumecheng-13750	39	4	]	]	PUNCT
fumecheng-13750	39	5	,	,	PUNCT
fumecheng-13750	39	6	the	the	DET
fumecheng-13750	39	7	discrete	discrete	ADJ
fumecheng-13750	39	8	-	-	PUNCT
fumecheng-13750	39	9	time	time	NOUN
fumecheng-13750	39	10	mfc	mfc	PROPN
fumecheng-13750	39	11	algorithm	algorithm	NOUN
fumecheng-13750	39	12	is	be	AUX
fumecheng-13750	39	13	employed	employ	VERB
fumecheng-13750	39	14	,	,	PUNCT
fumecheng-13750	39	15	wherein	wherein	SCONJ
fumecheng-13750	39	16	the	the	DET
fumecheng-13750	39	17	parameters	parameter	NOUN
fumecheng-13750	39	18	of	of	ADP
fumecheng-13750	39	19	ipid	ipid	ADJ
fumecheng-13750	39	20	controllers	controller	NOUN
fumecheng-13750	39	21	are	be	AUX
fumecheng-13750	39	22	optimally	optimally	ADV
fumecheng-13750	39	23	determined	determine	VERB
fumecheng-13750	39	24	utilizing	utilize	VERB
fumecheng-13750	39	25	frit	frit	NOUN
fumecheng-13750	39	26	via	via	ADP
fumecheng-13750	39	27	the	the	DET
fumecheng-13750	39	28	metaheuristic	metaheuristic	ADJ
fumecheng-13750	39	29	avoa	avoa	NOUN
fumecheng-13750	39	30	,	,	PUNCT
fumecheng-13750	39	31	subsequently	subsequently	ADV
fumecheng-13750	39	32	validated	validate	VERB
fumecheng-13750	39	33	through	through	ADP
fumecheng-13750	39	34	experimental	experimental	ADJ
fumecheng-13750	39	35	trials	trial	NOUN
fumecheng-13750	39	36	on	on	ADP
fumecheng-13750	39	37	tower	tower	NOUN
fumecheng-13750	39	38	crane	crane	NOUN
fumecheng-13750	39	39	systems	system	NOUN
fumecheng-13750	39	40	.	.	PUNCT
fumecheng-13750	40	1	in	in	ADP
fumecheng-13750	40	2	[	[	X
fumecheng-13750	40	3	21	21	NUM
fumecheng-13750	40	4	]	]	PUNCT
fumecheng-13750	40	5	,	,	PUNCT
fumecheng-13750	40	6	the	the	DET
fumecheng-13750	40	7	mfc	mfc	PROPN
fumecheng-13750	40	8	is	be	AUX
fumecheng-13750	40	9	implemented	implement	VERB
fumecheng-13750	40	10	in	in	ADP
fumecheng-13750	40	11	advanced	advanced	ADJ
fumecheng-13750	40	12	processes	process	NOUN
fumecheng-13750	40	13	,	,	PUNCT
fumecheng-13750	40	14	including	include	VERB
fumecheng-13750	40	15	the	the	DET
fumecheng-13750	40	16	quanser	quanser	PROPN
fumecheng-13750	40	17	aero	aero	PROPN
fumecheng-13750	40	18	.	.	PUNCT
fumecheng-13750	41	1	in	in	ADP
fumecheng-13750	41	2	[	[	X
fumecheng-13750	41	3	22	22	NUM
fumecheng-13750	41	4	]	]	PUNCT
fumecheng-13750	41	5	,	,	PUNCT
fumecheng-13750	41	6	the	the	DET
fumecheng-13750	41	7	mfc	mfc	PROPN
fumecheng-13750	41	8	is	be	AUX
fumecheng-13750	41	9	validated	validate	VERB
fumecheng-13750	41	10	across	across	ADP
fumecheng-13750	41	11	various	various	ADJ
fumecheng-13750	41	12	scenarios	scenario	NOUN
fumecheng-13750	41	13	on	on	ADP
fumecheng-13750	41	14	wendling	wendle	VERB
fumecheng-13750	41	15	’s	’s	PART
fumecheng-13750	41	16	model	model	NOUN
fumecheng-13750	41	17	.	.	PUNCT
fumecheng-13750	42	1	in	in	ADP
fumecheng-13750	42	2	[	[	X
fumecheng-13750	42	3	23	23	NUM
fumecheng-13750	42	4	]	]	PUNCT
fumecheng-13750	42	5	,	,	PUNCT
fumecheng-13750	42	6	mfc	mfc	PROPN
fumecheng-13750	42	7	is	be	AUX
fumecheng-13750	42	8	experimentally	experimentally	ADV
fumecheng-13750	42	9	applied	apply	VERB
fumecheng-13750	42	10	to	to	ADP
fumecheng-13750	42	11	cloud	cloud	NOUN
fumecheng-13750	42	12	and	and	CCONJ
fumecheng-13750	42	13	high	high	ADJ
fumecheng-13750	42	14	-	-	PUNCT
fumecheng-13750	42	15	performance	performance	NOUN
fumecheng-13750	42	16	computing	computing	NOUN
fumecheng-13750	42	17	systems	system	NOUN
fumecheng-13750	42	18	.	.	PUNCT
fumecheng-13750	43	1	in	in	ADP
fumecheng-13750	43	2	[	[	X
fumecheng-13750	43	3	24	24	NUM
fumecheng-13750	43	4	]	]	PUNCT
fumecheng-13750	43	5	,	,	PUNCT
fumecheng-13750	43	6	mfc	mfc	PROPN
fumecheng-13750	43	7	is	be	AUX
fumecheng-13750	43	8	utilized	utilize	VERB
fumecheng-13750	43	9	to	to	PART
fumecheng-13750	43	10	manage	manage	VERB
fumecheng-13750	43	11	processes	process	NOUN
fumecheng-13750	43	12	involving	involve	VERB
fumecheng-13750	43	13	shape	shape	NOUN
fumecheng-13750	43	14	memory	memory	NOUN
fumecheng-13750	43	15	alloys	alloy	NOUN
fumecheng-13750	43	16	,	,	PUNCT
fumecheng-13750	43	17	specifically	specifically	ADV
fumecheng-13750	43	18	controlling	control	VERB
fumecheng-13750	43	19	a	a	DET
fumecheng-13750	43	20	shape	shape	NOUN
fumecheng-13750	43	21	memory	memory	NOUN
fumecheng-13750	43	22	alloy	alloy	NOUN
fumecheng-13750	43	23	spring	spring	NOUN
fumecheng-13750	43	24	-	-	PUNCT
fumecheng-13750	43	25	based	base	VERB
fumecheng-13750	43	26	actuator	actuator	NOUN
fumecheng-13750	43	27	initially	initially	ADV
fumecheng-13750	43	28	.	.	PUNCT
fumecheng-13750	44	1	in	in	ADP
fumecheng-13750	44	2	[	[	X
fumecheng-13750	44	3	25	25	NUM
fumecheng-13750	44	4	]	]	PUNCT
fumecheng-13750	44	5	,	,	PUNCT
fumecheng-13750	44	6	the	the	DET
fumecheng-13750	44	7	application	application	NOUN
fumecheng-13750	44	8	of	of	ADP
fumecheng-13750	44	9	mfc	mfc	PROPN
fumecheng-13750	44	10	,	,	PUNCT
fumecheng-13750	44	11	timedelay	timedelay	PROPN
fumecheng-13750	44	12	estimation	estimation	PROPN
fumecheng-13750	44	13	mfc	mfc	PROPN
fumecheng-13750	44	14	,	,	PUNCT
fumecheng-13750	44	15	and	and	CCONJ
fumecheng-13750	44	16	backstepping	backstepping	NOUN
fumecheng-13750	44	17	-	-	PUNCT
fumecheng-13750	44	18	based	base	VERB
fumecheng-13750	44	19	mfc	mfc	NOUN
fumecheng-13750	44	20	is	be	AUX
fumecheng-13750	44	21	demonstrated	demonstrate	VERB
fumecheng-13750	44	22	in	in	ADP
fumecheng-13750	44	23	coupled	couple	VERB
fumecheng-13750	44	24	mechatronic	mechatronic	ADJ
fumecheng-13750	44	25	systems	system	NOUN
fumecheng-13750	44	26	for	for	ADP
fumecheng-13750	44	27	controlling	control	VERB
fumecheng-13750	44	28	2	2	NUM
fumecheng-13750	44	29	-	-	PUNCT
fumecheng-13750	44	30	dof	dof	NOUN
fumecheng-13750	44	31	and	and	CCONJ
fumecheng-13750	44	32	3	3	NUM
fumecheng-13750	44	33	-	-	PUNCT
fumecheng-13750	44	34	dof	dof	ADJ
fumecheng-13750	44	35	robotic	robotic	ADJ
fumecheng-13750	44	36	manipulators	manipulator	NOUN
fumecheng-13750	44	37	.	.	PUNCT
fumecheng-13750	45	1	in	in	ADP
fumecheng-13750	45	2	[	[	X
fumecheng-13750	45	3	26	26	NUM
fumecheng-13750	45	4	]	]	PUNCT
fumecheng-13750	45	5	,	,	PUNCT
fumecheng-13750	45	6	mfc	mfc	PROPN
fumecheng-13750	45	7	,	,	PUNCT
fumecheng-13750	45	8	in	in	ADP
fumecheng-13750	45	9	combination	combination	NOUN
fumecheng-13750	45	10	with	with	ADP
fumecheng-13750	45	11	flatness	flatness	NOUN
fumecheng-13750	45	12	-	-	PUNCT
fumecheng-13750	45	13	based	base	VERB
fumecheng-13750	45	14	control	control	NOUN
fumecheng-13750	45	15	,	,	PUNCT
fumecheng-13750	45	16	is	be	AUX
fumecheng-13750	45	17	employed	employ	VERB
fumecheng-13750	45	18	for	for	ADP
fumecheng-13750	45	19	the	the	DET
fumecheng-13750	45	20	management	management	NOUN
fumecheng-13750	45	21	of	of	ADP
fumecheng-13750	45	22	unmanned	unmanned	ADJ
fumecheng-13750	45	23	surface	surface	NOUN
fumecheng-13750	45	24	vehicles	vehicle	NOUN
fumecheng-13750	45	25	.	.	PUNCT
fumecheng-13750	46	1	in	in	ADP
fumecheng-13750	46	2	[	[	X
fumecheng-13750	46	3	27	27	NUM
fumecheng-13750	46	4	]	]	PUNCT
fumecheng-13750	46	5	,	,	PUNCT
fumecheng-13750	46	6	mfc	mfc	PROPN
fumecheng-13750	46	7	is	be	AUX
fumecheng-13750	46	8	applied	apply	VERB
fumecheng-13750	46	9	to	to	ADP
fumecheng-13750	46	10	the	the	DET
fumecheng-13750	46	11	control	control	NOUN
fumecheng-13750	46	12	of	of	ADP
fumecheng-13750	46	13	a	a	DET
fumecheng-13750	46	14	prosthetic	prosthetic	ADJ
fumecheng-13750	46	15	hand	hand	NOUN
fumecheng-13750	46	16	.	.	PUNCT
fumecheng-13750	47	1	in	in	ADP
fumecheng-13750	47	2	[	[	X
fumecheng-13750	47	3	28	28	NUM
fumecheng-13750	47	4	]	]	PUNCT
fumecheng-13750	47	5	,	,	PUNCT
fumecheng-13750	47	6	mfc	mfc	PROPN
fumecheng-13750	47	7	,	,	PUNCT
fumecheng-13750	47	8	coupled	couple	VERB
fumecheng-13750	47	9	with	with	ADP
fumecheng-13750	47	10	a	a	DET
fumecheng-13750	47	11	fuzzy	fuzzy	ADJ
fumecheng-13750	47	12	technique	technique	NOUN
fumecheng-13750	47	13	,	,	PUNCT
fumecheng-13750	47	14	is	be	AUX
fumecheng-13750	47	15	utilized	utilize	VERB
fumecheng-13750	47	16	to	to	PART
fumecheng-13750	47	17	control	control	VERB
fumecheng-13750	47	18	a	a	DET
fumecheng-13750	47	19	twin	twin	ADJ
fumecheng-13750	47	20	rotor	rotor	NOUN
fumecheng-13750	47	21	aerodynamic	aerodynamic	ADJ
fumecheng-13750	47	22	system	system	NOUN
fumecheng-13750	47	23	.	.	PUNCT
fumecheng-13750	48	1	in	in	ADP
fumecheng-13750	48	2	all	all	DET
fumecheng-13750	48	3	these	these	DET
fumecheng-13750	48	4	applications	application	NOUN
fumecheng-13750	48	5	,	,	PUNCT
fumecheng-13750	48	6	mfc	mfc	PROPN
fumecheng-13750	48	7	proves	prove	VERB
fumecheng-13750	48	8	to	to	PART
fumecheng-13750	48	9	be	be	AUX
fumecheng-13750	48	10	highly	highly	ADV
fumecheng-13750	48	11	beneficial	beneficial	ADJ
fumecheng-13750	48	12	due	due	ADP
fumecheng-13750	48	13	to	to	ADP
fumecheng-13750	48	14	the	the	DET
fumecheng-13750	48	15	complexity	complexity	NOUN
fumecheng-13750	48	16	and	and	CCONJ
fumecheng-13750	48	17	the	the	DET
fumecheng-13750	48	18	challenge	challenge	NOUN
fumecheng-13750	48	19	in	in	ADP
fumecheng-13750	48	20	determining	determine	VERB
fumecheng-13750	48	21	precise	precise	ADJ
fumecheng-13750	48	22	mathematical	mathematical	ADJ
fumecheng-13750	48	23	models	model	NOUN
fumecheng-13750	48	24	for	for	ADP
fumecheng-13750	48	25	these	these	DET
fumecheng-13750	48	26	processes	process	NOUN
fumecheng-13750	48	27	.	.	PUNCT
fumecheng-13750	49	1	frit	frit	PROPN
fumecheng-13750	49	2	constitutes	constitute	VERB
fumecheng-13750	49	3	a	a	DET
fumecheng-13750	49	4	data	data	NOUN
fumecheng-13750	49	5	-	-	PUNCT
fumecheng-13750	49	6	driven	drive	VERB
fumecheng-13750	49	7	iterative	iterative	NOUN
fumecheng-13750	49	8	technique	technique	NOUN
fumecheng-13750	49	9	devised	devise	VERB
fumecheng-13750	49	10	for	for	ADP
fumecheng-13750	49	11	the	the	DET
fumecheng-13750	49	12	optimization	optimization	NOUN
fumecheng-13750	49	13	of	of	ADP
fumecheng-13750	49	14	controllers	controller	NOUN
fumecheng-13750	49	15	,	,	PUNCT
fumecheng-13750	49	16	obviating	obviate	VERB
fumecheng-13750	49	17	the	the	DET
fumecheng-13750	49	18	necessity	necessity	NOUN
fumecheng-13750	49	19	for	for	ADP
fumecheng-13750	49	20	an	an	DET
fumecheng-13750	49	21	explicit	explicit	ADJ
fumecheng-13750	49	22	process	process	NOUN
fumecheng-13750	49	23	model	model	NOUN
fumecheng-13750	49	24	.	.	PUNCT
fumecheng-13750	50	1	the	the	DET
fumecheng-13750	50	2	principal	principal	ADJ
fumecheng-13750	50	3	concept	concept	NOUN
fumecheng-13750	50	4	involves	involve	VERB
fumecheng-13750	50	5	constructing	construct	VERB
fumecheng-13750	50	6	a	a	DET
fumecheng-13750	50	7	reference	reference	NOUN
fumecheng-13750	50	8	signal	signal	NOUN
fumecheng-13750	50	9	,	,	PUNCT
fumecheng-13750	50	10	designated	designate	VERB
fumecheng-13750	50	11	as	as	ADP
fumecheng-13750	50	12	the	the	DET
fumecheng-13750	50	13	fictitious	fictitious	ADJ
fumecheng-13750	50	14	reference	reference	NOUN
fumecheng-13750	50	15	,	,	PUNCT
fumecheng-13750	50	16	which	which	PRON
fumecheng-13750	50	17	,	,	PUNCT
fumecheng-13750	50	18	if	if	SCONJ
fumecheng-13750	50	19	pursued	pursue	VERB
fumecheng-13750	50	20	by	by	ADP
fumecheng-13750	50	21	the	the	DET
fumecheng-13750	50	22	system	system	NOUN
fumecheng-13750	50	23	,	,	PUNCT
fumecheng-13750	50	24	would	would	AUX
fumecheng-13750	50	25	produce	produce	VERB
fumecheng-13750	50	26	an	an	DET
fumecheng-13750	50	27	identical	identical	ADJ
fumecheng-13750	50	28	measured	measured	ADJ
fumecheng-13750	50	29	output	output	NOUN
fumecheng-13750	50	30	.	.	PUNCT
fumecheng-13750	51	1	through	through	ADP
fumecheng-13750	51	2	the	the	DET
fumecheng-13750	51	3	iterative	iterative	NOUN
fumecheng-13750	51	4	minimization	minimization	NOUN
fumecheng-13750	51	5	of	of	ADP
fumecheng-13750	51	6	the	the	DET
fumecheng-13750	51	7	error	error	NOUN
fumecheng-13750	51	8	between	between	ADP
fumecheng-13750	51	9	the	the	DET
fumecheng-13750	51	10	actual	actual	ADJ
fumecheng-13750	51	11	and	and	CCONJ
fumecheng-13750	51	12	desired	desire	VERB
fumecheng-13750	51	13	behaviors	behavior	NOUN
fumecheng-13750	51	14	,	,	PUNCT
fumecheng-13750	51	15	frit	frit	PROPN
fumecheng-13750	51	16	facilitates	facilitate	VERB
fumecheng-13750	51	17	the	the	DET
fumecheng-13750	51	18	direct	direct	ADJ
fumecheng-13750	51	19	adjustment	adjustment	NOUN
fumecheng-13750	51	20	of	of	ADP
fumecheng-13750	51	21	controller	controller	NOUN
fumecheng-13750	51	22	parameters	parameter	NOUN
fumecheng-13750	51	23	utilizing	utilize	VERB
fumecheng-13750	51	24	solely	solely	ADV
fumecheng-13750	51	25	experimental	experimental	ADJ
fumecheng-13750	51	26	data	datum	NOUN
fumecheng-13750	51	27	,	,	PUNCT
fumecheng-13750	51	28	rendering	render	VERB
fumecheng-13750	51	29	it	it	PRON
fumecheng-13750	51	30	particularly	particularly	ADV
fumecheng-13750	51	31	suitable	suitable	ADJ
fumecheng-13750	51	32	for	for	ADP
fumecheng-13750	51	33	systems	system	NOUN
fumecheng-13750	51	34	where	where	SCONJ
fumecheng-13750	51	35	modeling	modeling	NOUN
fumecheng-13750	51	36	is	be	AUX
fumecheng-13750	51	37	challenging	challenge	VERB
fumecheng-13750	51	38	or	or	CCONJ
fumecheng-13750	51	39	unreliable	unreliable	ADJ
fumecheng-13750	51	40	.	.	PUNCT
fumecheng-13750	52	1	analogous	analogous	ADJ
fumecheng-13750	52	2	to	to	ADP
fumecheng-13750	52	3	adrc	adrc	PROPN
fumecheng-13750	52	4	and	and	CCONJ
fumecheng-13750	52	5	mfc	mfc	PROPN
fumecheng-13750	52	6	,	,	PUNCT
fumecheng-13750	52	7	frit	frit	PROPN
fumecheng-13750	52	8	has	have	AUX
fumecheng-13750	52	9	been	be	AUX
fumecheng-13750	52	10	substantiated	substantiate	VERB
fumecheng-13750	52	11	across	across	ADP
fumecheng-13750	52	12	a	a	DET
fumecheng-13750	52	13	diverse	diverse	ADJ
fumecheng-13750	52	14	array	array	NOUN
fumecheng-13750	52	15	of	of	ADP
fumecheng-13750	52	16	applications	application	NOUN
fumecheng-13750	52	17	,	,	PUNCT
fumecheng-13750	52	18	encompassing	encompass	VERB
fumecheng-13750	52	19	robotics	robotic	NOUN
fumecheng-13750	52	20	and	and	CCONJ
fumecheng-13750	52	21	process	process	NOUN
fumecheng-13750	52	22	industries	industry	NOUN
fumecheng-13750	52	23	,	,	PUNCT
fumecheng-13750	52	24	thereby	thereby	ADV
fumecheng-13750	52	25	exhibiting	exhibit	VERB
fumecheng-13750	52	26	its	its	PRON
fumecheng-13750	52	27	versatility	versatility	NOUN
fumecheng-13750	52	28	and	and	CCONJ
fumecheng-13750	52	29	effectiveness	effectiveness	NOUN
fumecheng-13750	52	30	within	within	ADP
fumecheng-13750	52	31	practical	practical	ADJ
fumecheng-13750	52	32	settings	setting	NOUN
fumecheng-13750	52	33	.	.	PUNCT
fumecheng-13750	53	1	in	in	ADP
fumecheng-13750	53	2	[	[	X
fumecheng-13750	53	3	29	29	NUM
fumecheng-13750	53	4	]	]	PUNCT
fumecheng-13750	53	5	,	,	PUNCT
fumecheng-13750	53	6	an	an	DET
fumecheng-13750	53	7	enhancement	enhancement	NOUN
fumecheng-13750	53	8	of	of	ADP
fumecheng-13750	53	9	frit	frit	NOUN
fumecheng-13750	53	10	through	through	ADP
fumecheng-13750	53	11	pseudo	pseudo	NOUN
fumecheng-13750	53	12	-	-	NOUN
fumecheng-13750	53	13	linearization	linearization	NOUN
fumecheng-13750	53	14	has	have	AUX
fumecheng-13750	53	15	been	be	AUX
fumecheng-13750	53	16	implemented	implement	VERB
fumecheng-13750	53	17	on	on	ADP
fumecheng-13750	53	18	asymmetric	asymmetric	ADJ
fumecheng-13750	53	19	bouc	bouc	PROPN
fumecheng-13750	53	20	-	-	PUNCT
fumecheng-13750	53	21	wen	wen	PROPN
fumecheng-13750	53	22	systems	system	NOUN
fumecheng-13750	53	23	.	.	PUNCT
fumecheng-13750	54	1	according	accord	VERB
fumecheng-13750	54	2	to	to	ADP
fumecheng-13750	54	3	[	[	X
fumecheng-13750	54	4	30	30	NUM
fumecheng-13750	54	5	]	]	PUNCT
fumecheng-13750	54	6	,	,	PUNCT
fumecheng-13750	54	7	frit	frit	PROPN
fumecheng-13750	54	8	is	be	AUX
fumecheng-13750	54	9	applied	apply	VERB
fumecheng-13750	54	10	to	to	ADP
fumecheng-13750	54	11	the	the	DET
fumecheng-13750	54	12	control	control	NOUN
fumecheng-13750	54	13	of	of	ADP
fumecheng-13750	54	14	hydraulic	hydraulic	ADJ
fumecheng-13750	54	15	systems	system	NOUN
fumecheng-13750	54	16	and	and	CCONJ
fumecheng-13750	54	17	necessitates	necessitate	VERB
fumecheng-13750	54	18	an	an	DET
fumecheng-13750	54	19	offline	offline	ADJ
fumecheng-13750	54	20	database	database	NOUN
fumecheng-13750	54	21	for	for	ADP
fumecheng-13750	54	22	the	the	DET
fumecheng-13750	54	23	storage	storage	NOUN
fumecheng-13750	54	24	of	of	ADP
fumecheng-13750	54	25	historical	historical	ADJ
fumecheng-13750	54	26	process	process	NOUN
fumecheng-13750	54	27	data	datum	NOUN
fumecheng-13750	54	28	.	.	PUNCT
fumecheng-13750	55	1	the	the	DET
fumecheng-13750	55	2	study	study	NOUN
fumecheng-13750	55	3	in	in	ADP
fumecheng-13750	55	4	[	[	X
fumecheng-13750	55	5	31	31	NUM
fumecheng-13750	55	6	]	]	PUNCT
fumecheng-13750	55	7	demonstrates	demonstrate	VERB
fumecheng-13750	55	8	the	the	DET
fumecheng-13750	55	9	utilization	utilization	NOUN
fumecheng-13750	55	10	of	of	ADP
fumecheng-13750	55	11	frit	frit	NOUN
fumecheng-13750	55	12	to	to	PART
fumecheng-13750	55	13	calibrate	calibrate	VERB
fumecheng-13750	55	14	the	the	DET
fumecheng-13750	55	15	parameters	parameter	NOUN
fumecheng-13750	55	16	of	of	ADP
fumecheng-13750	55	17	a	a	DET
fumecheng-13750	55	18	fractionaland	fractionaland	NOUN
fumecheng-13750	55	19	integer	integer	NOUN
fumecheng-13750	55	20	-	-	PUNCT
fumecheng-13750	55	21	order	order	NOUN
fumecheng-13750	55	22	pid	pid	NOUN
fumecheng-13750	55	23	controller	controller	NOUN
fumecheng-13750	55	24	relevant	relevant	ADJ
fumecheng-13750	55	25	to	to	ADP
fumecheng-13750	55	26	a	a	DET
fumecheng-13750	55	27	benchmark	benchmark	NOUN
fumecheng-13750	55	28	problem	problem	NOUN
fumecheng-13750	55	29	encompassing	encompass	VERB
fumecheng-13750	55	30	both	both	DET
fumecheng-13750	55	31	scenarios	scenario	NOUN
fumecheng-13750	55	32	with	with	ADP
fumecheng-13750	55	33	and	and	CCONJ
fumecheng-13750	55	34	without	without	ADP
fumecheng-13750	55	35	time	time	NOUN
fumecheng-13750	55	36	delay	delay	NOUN
fumecheng-13750	55	37	,	,	PUNCT
fumecheng-13750	55	38	specifically	specifically	ADV
fumecheng-13750	55	39	within	within	ADP
fumecheng-13750	55	40	a	a	DET
fumecheng-13750	55	41	flexible	flexible	ADJ
fumecheng-13750	55	42	transmission	transmission	NOUN
fumecheng-13750	55	43	model	model	NOUN
fumecheng-13750	55	44	.	.	PUNCT
fumecheng-13750	56	1	in	in	ADP
fumecheng-13750	56	2	[	[	X
fumecheng-13750	56	3	32	32	NUM
fumecheng-13750	56	4	]	]	PUNCT
fumecheng-13750	56	5	,	,	PUNCT
fumecheng-13750	56	6	frit	frit	PROPN
fumecheng-13750	56	7	was	be	AUX
fumecheng-13750	56	8	employed	employ	VERB
fumecheng-13750	56	9	to	to	PART
fumecheng-13750	56	10	manage	manage	VERB
fumecheng-13750	56	11	the	the	DET
fumecheng-13750	56	12	cart	cart	NOUN
fumecheng-13750	56	13	position	position	NOUN
fumecheng-13750	56	14	within	within	ADP
fumecheng-13750	56	15	a	a	DET
fumecheng-13750	56	16	pendulum	pendulum	NOUN
fumecheng-13750	56	17	cart	cart	NOUN
fumecheng-13750	56	18	system	system	NOUN
fumecheng-13750	56	19	.	.	PUNCT
fumecheng-13750	57	1	as	as	SCONJ
fumecheng-13750	57	2	observed	observe	VERB
fumecheng-13750	57	3	in	in	ADP
fumecheng-13750	57	4	[	[	X
fumecheng-13750	57	5	33	33	NUM
fumecheng-13750	57	6	]	]	PUNCT
fumecheng-13750	57	7	,	,	PUNCT
fumecheng-13750	57	8	frit	frit	PROPN
fumecheng-13750	57	9	is	be	AUX
fumecheng-13750	57	10	leveraged	leverage	VERB
fumecheng-13750	57	11	for	for	ADP
fumecheng-13750	57	12	the	the	DET
fumecheng-13750	57	13	design	design	NOUN
fumecheng-13750	57	14	of	of	ADP
fumecheng-13750	57	15	controller	controller	NOUN
fumecheng-13750	57	16	parameters	parameter	NOUN
fumecheng-13750	57	17	in	in	ADP
fumecheng-13750	57	18	applications	application	NOUN
fumecheng-13750	57	19	concerning	concern	VERB
fumecheng-13750	57	20	a	a	DET
fumecheng-13750	57	21	switched	switch	VERB
fumecheng-13750	57	22	reluctance	reluctance	NOUN
fumecheng-13750	57	23	generator	generator	NOUN
fumecheng-13750	57	24	,	,	PUNCT
fumecheng-13750	57	25	ball	ball	NOUN
fumecheng-13750	57	26	screw	screw	NOUN
fumecheng-13750	57	27	positioning	positioning	NOUN
fumecheng-13750	57	28	,	,	PUNCT
fumecheng-13750	57	29	two	two	NUM
fumecheng-13750	57	30	-	-	PUNCT
fumecheng-13750	57	31	mass	mass	NOUN
fumecheng-13750	57	32	resonance	resonance	NOUN
fumecheng-13750	57	33	,	,	PUNCT
fumecheng-13750	57	34	and	and	CCONJ
fumecheng-13750	57	35	switched	switch	VERB
fumecheng-13750	57	36	reluctance	reluctance	NOUN
fumecheng-13750	57	37	motor	motor	NOUN
fumecheng-13750	57	38	systems	system	NOUN
fumecheng-13750	57	39	.	.	PUNCT
fumecheng-13750	58	1	across	across	ADP
fumecheng-13750	58	2	these	these	DET
fumecheng-13750	58	3	applications	application	NOUN
fumecheng-13750	58	4	,	,	PUNCT
fumecheng-13750	58	5	frit	frit	NOUN
fumecheng-13750	58	6	effectively	effectively	ADV
fumecheng-13750	58	7	manages	manage	VERB
fumecheng-13750	58	8	the	the	DET
fumecheng-13750	58	9	feedback	feedback	NOUN
fumecheng-13750	58	10	loop	loop	NOUN
fumecheng-13750	58	11	even	even	ADV
fumecheng-13750	58	12	when	when	SCONJ
fumecheng-13750	58	13	confronted	confront	VERB
fumecheng-13750	58	14	with	with	ADP
fumecheng-13750	58	15	nonlinear	nonlinear	ADJ
fumecheng-13750	58	16	processes	process	NOUN
fumecheng-13750	58	17	.	.	PUNCT
fumecheng-13750	59	1	the	the	DET
fumecheng-13750	59	2	present	present	ADJ
fumecheng-13750	59	3	paper	paper	NOUN
fumecheng-13750	59	4	seeks	seek	VERB
fumecheng-13750	59	5	to	to	PART
fumecheng-13750	59	6	build	build	VERB
fumecheng-13750	59	7	upon	upon	SCONJ
fumecheng-13750	59	8	and	and	CCONJ
fumecheng-13750	59	9	synthesize	synthesize	VERB
fumecheng-13750	59	10	the	the	DET
fumecheng-13750	59	11	authors	author	NOUN
fumecheng-13750	59	12	’	'	PUNCT
fumecheng-13750	59	13	prior	prior	ADJ
fumecheng-13750	59	14	work	work	NOUN
fumecheng-13750	59	15	involving	involve	VERB
fumecheng-13750	59	16	the	the	DET
fumecheng-13750	59	17	integration	integration	NOUN
fumecheng-13750	59	18	of	of	ADP
fumecheng-13750	59	19	adrc	adrc	PROPN
fumecheng-13750	59	20	and	and	CCONJ
fumecheng-13750	59	21	mfc	mfc	PROPN
fumecheng-13750	59	22	with	with	ADP
fumecheng-13750	59	23	frit	frit	PROPN
fumecheng-13750	59	24	.	.	PUNCT
fumecheng-13750	60	1	initially	initially	ADV
fumecheng-13750	60	2	,	,	PUNCT
fumecheng-13750	60	3	as	as	SCONJ
fumecheng-13750	60	4	indicated	indicate	VERB
fumecheng-13750	60	5	in	in	ADP
fumecheng-13750	60	6	[	[	X
fumecheng-13750	60	7	5	5	NUM
fumecheng-13750	60	8	]	]	PUNCT
fumecheng-13750	60	9	,	,	PUNCT
fumecheng-13750	60	10	the	the	DET
fumecheng-13750	60	11	discrete	discrete	ADJ
fumecheng-13750	60	12	-	-	PUNCT
fumecheng-13750	60	13	time	time	NOUN
fumecheng-13750	60	14	variant	variant	NOUN
fumecheng-13750	60	15	of	of	ADP
fumecheng-13750	60	16	the	the	DET
fumecheng-13750	60	17	first	first	ADJ
fumecheng-13750	60	18	-	-	PUNCT
fumecheng-13750	60	19	order	order	NOUN
fumecheng-13750	60	20	mfc	mfc	NOUN
fumecheng-13750	60	21	,	,	PUNCT
fumecheng-13750	60	22	incorporating	incorporate	VERB
fumecheng-13750	60	23	a	a	DET
fumecheng-13750	60	24	pid	pid	NOUN
fumecheng-13750	60	25	component	component	NOUN
fumecheng-13750	60	26	,	,	PUNCT
fumecheng-13750	60	27	was	be	AUX
fumecheng-13750	60	28	integrated	integrate	VERB
fumecheng-13750	60	29	with	with	ADP
fumecheng-13750	60	30	frit	frit	NOUN
fumecheng-13750	60	31	,	,	PUNCT
fumecheng-13750	60	32	with	with	ADP
fumecheng-13750	60	33	the	the	DET
fumecheng-13750	60	34	optimal	optimal	ADJ
fumecheng-13750	60	35	controller	controller	NOUN
fumecheng-13750	60	36	parameters	parameter	NOUN
fumecheng-13750	60	37	being	be	AUX
fumecheng-13750	60	38	computed	compute	VERB
fumecheng-13750	60	39	via	via	ADP
fumecheng-13750	60	40	avoa	avoa	NOUN
fumecheng-13750	60	41	.	.	PUNCT
fumecheng-13750	61	1	subsequently	subsequently	ADV
fumecheng-13750	61	2	,	,	PUNCT
fumecheng-13750	61	3	[	[	X
fumecheng-13750	61	4	34	34	NUM
fumecheng-13750	61	5	]	]	PUNCT
fumecheng-13750	61	6	describes	describe	VERB
fumecheng-13750	61	7	the	the	DET
fumecheng-13750	61	8	blending	blending	NOUN
fumecheng-13750	61	9	of	of	ADP
fumecheng-13750	61	10	the	the	DET
fumecheng-13750	61	11	continuous	continuous	ADJ
fumecheng-13750	61	12	-	-	PUNCT
fumecheng-13750	61	13	time	time	NOUN
fumecheng-13750	61	14	variant	variant	NOUN
fumecheng-13750	61	15	of	of	ADP
fumecheng-13750	61	16	the	the	DET
fumecheng-13750	61	17	first	first	ADJ
fumecheng-13750	61	18	-	-	PUNCT
fumecheng-13750	61	19	order	order	NOUN
fumecheng-13750	61	20	mfc	mfc	NOUN
fumecheng-13750	61	21	with	with	ADP
fumecheng-13750	61	22	a	a	DET
fumecheng-13750	61	23	pi	pi	NOUN
fumecheng-13750	61	24	component	component	NOUN
fumecheng-13750	61	25	with	with	ADP
fumecheng-13750	61	26	frit	frit	NOUN
fumecheng-13750	61	27	,	,	PUNCT
fumecheng-13750	61	28	with	with	ADP
fumecheng-13750	61	29	tuning	tune	VERB
fumecheng-13750	61	30	via	via	ADP
fumecheng-13750	61	31	sma	sma	NOUN
fumecheng-13750	61	32	for	for	ADP
fumecheng-13750	61	33	optimal	optimal	ADJ
fumecheng-13750	61	34	parameters	parameter	NOUN
fumecheng-13750	61	35	.	.	PUNCT
fumecheng-13750	62	1	furthermore	furthermore	ADV
fumecheng-13750	62	2	,	,	PUNCT
fumecheng-13750	62	3	in	in	ADP
fumecheng-13750	62	4	[	[	X
fumecheng-13750	62	5	35	35	NUM
fumecheng-13750	62	6	]	]	X
fumecheng-13750	62	7	,	,	PUNCT
fumecheng-13750	62	8	a	a	DET
fumecheng-13750	62	9	discrete	discrete	ADJ
fumecheng-13750	62	10	-	-	PUNCT
fumecheng-13750	62	11	time	time	NOUN
fumecheng-13750	62	12	,	,	PUNCT
fumecheng-13750	62	13	secondorder	secondorder	ADJ
fumecheng-13750	62	14	version	version	NOUN
fumecheng-13750	62	15	of	of	ADP
fumecheng-13750	62	16	the	the	DET
fumecheng-13750	62	17	mfc	mfc	PROPN
fumecheng-13750	62	18	algorithm	algorithm	NOUN
fumecheng-13750	62	19	with	with	ADP
fumecheng-13750	62	20	a	a	DET
fumecheng-13750	62	21	p	p	NOUN
fumecheng-13750	62	22	component	component	NOUN
fumecheng-13750	62	23	is	be	AUX
fumecheng-13750	62	24	combined	combine	VERB
fumecheng-13750	62	25	with	with	ADP
fumecheng-13750	62	26	frit	frit	NOUN
fumecheng-13750	62	27	,	,	PUNCT
fumecheng-13750	62	28	with	with	ADP
fumecheng-13750	62	29	optimal	optimal	ADJ
fumecheng-13750	62	30	parameter	parameter	NOUN
fumecheng-13750	62	31	settings	setting	NOUN
fumecheng-13750	62	32	adjusted	adjust	VERB
fumecheng-13750	62	33	using	use	VERB
fumecheng-13750	62	34	sma	sma	NOUN
fumecheng-13750	62	35	.	.	PUNCT
fumecheng-13750	63	1	additionally	additionally	ADV
fumecheng-13750	63	2	,	,	PUNCT
fumecheng-13750	63	3	[	[	X
fumecheng-13750	63	4	14	14	NUM
fumecheng-13750	63	5	]	]	PUNCT
fumecheng-13750	63	6	details	detail	NOUN
fumecheng-13750	63	7	the	the	DET
fumecheng-13750	63	8	integration	integration	NOUN
fumecheng-13750	63	9	of	of	ADP
fumecheng-13750	63	10	the	the	DET
fumecheng-13750	63	11	186	186	NUM
fumecheng-13750	63	12	r.-c	r.-c	NOUN
fumecheng-13750	63	13	.	.	PUNCT
fumecheng-13750	64	1	roman	roman	PROPN
fumecheng-13750	64	2	,	,	PUNCT
fumecheng-13750	64	3	r.-e	r.-e	PROPN
fumecheng-13750	64	4	.	.	PUNCT
fumecheng-13750	65	1	precup	precup	PROPN
fumecheng-13750	65	2	,	,	PUNCT
fumecheng-13750	65	3	e.	e.	PROPN
fumecheng-13750	65	4	m.	m.	PROPN
fumecheng-13750	65	5	petriu	petriu	PROPN
fumecheng-13750	65	6	first	first	ADJ
fumecheng-13750	65	7	-	-	PUNCT
fumecheng-13750	65	8	order	order	NOUN
fumecheng-13750	65	9	continuous	continuous	ADJ
fumecheng-13750	65	10	-	-	PUNCT
fumecheng-13750	65	11	time	time	NOUN
fumecheng-13750	65	12	adrc	adrc	NOUN
fumecheng-13750	65	13	with	with	ADP
fumecheng-13750	65	14	frit	frit	NOUN
fumecheng-13750	65	15	,	,	PUNCT
fumecheng-13750	65	16	where	where	SCONJ
fumecheng-13750	65	17	parameters	parameter	NOUN
fumecheng-13750	65	18	were	be	AUX
fumecheng-13750	65	19	optimized	optimize	VERB
fumecheng-13750	65	20	utilizing	utilize	VERB
fumecheng-13750	65	21	the	the	DET
fumecheng-13750	65	22	gauss	gauss	PROPN
fumecheng-13750	65	23	-	-	PUNCT
fumecheng-13750	65	24	newton	newton	PROPN
fumecheng-13750	65	25	algorithm	algorithm	NOUN
fumecheng-13750	65	26	.	.	PUNCT
fumecheng-13750	66	1	each	each	PRON
fumecheng-13750	66	2	of	of	ADP
fumecheng-13750	66	3	these	these	DET
fumecheng-13750	66	4	algorithm	algorithm	NOUN
fumecheng-13750	66	5	integrations	integration	NOUN
fumecheng-13750	66	6	underwent	undergo	VERB
fumecheng-13750	66	7	experimental	experimental	ADJ
fumecheng-13750	66	8	validation	validation	NOUN
fumecheng-13750	66	9	using	use	VERB
fumecheng-13750	66	10	tower	tower	NOUN
fumecheng-13750	66	11	crane	crane	NOUN
fumecheng-13750	66	12	systems	system	NOUN
fumecheng-13750	66	13	.	.	PUNCT
fumecheng-13750	67	1	accordingly	accordingly	ADV
fumecheng-13750	67	2	,	,	PUNCT
fumecheng-13750	67	3	in	in	ADP
fumecheng-13750	67	4	the	the	DET
fumecheng-13750	67	5	current	current	ADJ
fumecheng-13750	67	6	paper	paper	NOUN
fumecheng-13750	67	7	,	,	PUNCT
fumecheng-13750	67	8	the	the	DET
fumecheng-13750	67	9	authors	author	NOUN
fumecheng-13750	67	10	integrate	integrate	VERB
fumecheng-13750	67	11	the	the	DET
fumecheng-13750	67	12	continuous	continuous	ADJ
fumecheng-13750	67	13	-	-	PUNCT
fumecheng-13750	67	14	time	time	NOUN
fumecheng-13750	67	15	first	first	ADJ
fumecheng-13750	67	16	-	-	PUNCT
fumecheng-13750	67	17	order	order	NOUN
fumecheng-13750	67	18	mfc	mfc	NOUN
fumecheng-13750	67	19	with	with	ADP
fumecheng-13750	67	20	a	a	DET
fumecheng-13750	67	21	p	p	NOUN
fumecheng-13750	67	22	component	component	NOUN
fumecheng-13750	67	23	and	and	CCONJ
fumecheng-13750	67	24	the	the	DET
fumecheng-13750	67	25	continuous	continuous	ADJ
fumecheng-13750	67	26	-	-	PUNCT
fumecheng-13750	67	27	time	time	NOUN
fumecheng-13750	67	28	firstorder	firstorder	NOUN
fumecheng-13750	67	29	adrc	adrc	NOUN
fumecheng-13750	67	30	algorithms	algorithm	NOUN
fumecheng-13750	67	31	with	with	ADP
fumecheng-13750	67	32	frit	frit	NOUN
fumecheng-13750	67	33	,	,	PUNCT
fumecheng-13750	67	34	resulting	result	VERB
fumecheng-13750	67	35	in	in	ADP
fumecheng-13750	67	36	the	the	DET
fumecheng-13750	67	37	adrc	adrc	NOUN
fumecheng-13750	67	38	-	-	PUNCT
fumecheng-13750	67	39	frit	frit	NOUN
fumecheng-13750	67	40	and	and	CCONJ
fumecheng-13750	67	41	mfc	mfc	PROPN
fumecheng-13750	67	42	-	-	PUNCT
fumecheng-13750	67	43	frit	frit	NOUN
fumecheng-13750	67	44	algorithms	algorithm	NOUN
fumecheng-13750	67	45	.	.	PUNCT
fumecheng-13750	68	1	both	both	DET
fumecheng-13750	68	2	algorithms	algorithm	NOUN
fumecheng-13750	68	3	comprise	comprise	VERB
fumecheng-13750	68	4	one	one	NUM
fumecheng-13750	68	5	user	user	NOUN
fumecheng-13750	68	6	-	-	PUNCT
fumecheng-13750	68	7	selected	select	VERB
fumecheng-13750	68	8	parameter	parameter	NOUN
fumecheng-13750	68	9	and	and	CCONJ
fumecheng-13750	68	10	one	one	NUM
fumecheng-13750	68	11	tunable	tunable	NOUN
fumecheng-13750	68	12	parameter	parameter	NOUN
fumecheng-13750	68	13	whose	whose	DET
fumecheng-13750	68	14	optimal	optimal	ADJ
fumecheng-13750	68	15	values	value	NOUN
fumecheng-13750	68	16	will	will	AUX
fumecheng-13750	68	17	be	be	AUX
fumecheng-13750	68	18	ascertained	ascertain	VERB
fumecheng-13750	68	19	through	through	ADP
fumecheng-13750	68	20	frit	frit	NOUN
fumecheng-13750	68	21	using	use	VERB
fumecheng-13750	68	22	the	the	DET
fumecheng-13750	68	23	newton	newton	PROPN
fumecheng-13750	68	24	–	–	PUNCT
fumecheng-13750	68	25	raphson	raphson	NOUN
fumecheng-13750	68	26	method	method	NOUN
fumecheng-13750	68	27	.	.	PUNCT
fumecheng-13750	69	1	stability	stability	NOUN
fumecheng-13750	69	2	mechanisms	mechanism	NOUN
fumecheng-13750	69	3	have	have	AUX
fumecheng-13750	69	4	been	be	AUX
fumecheng-13750	69	5	proposed	propose	VERB
fumecheng-13750	69	6	for	for	ADP
fumecheng-13750	69	7	both	both	CCONJ
fumecheng-13750	69	8	adrc	adrc	PRON
fumecheng-13750	69	9	and	and	CCONJ
fumecheng-13750	69	10	mfc	mfc	PROPN
fumecheng-13750	69	11	algorithms	algorithm	NOUN
fumecheng-13750	69	12	,	,	PUNCT
fumecheng-13750	69	13	and	and	CCONJ
fumecheng-13750	69	14	stability	stability	NOUN
fumecheng-13750	69	15	is	be	AUX
fumecheng-13750	69	16	implicitly	implicitly	ADV
fumecheng-13750	69	17	guaranteed	guarantee	VERB
fumecheng-13750	69	18	for	for	ADP
fumecheng-13750	69	19	the	the	DET
fumecheng-13750	69	20	adrc	adrc	NOUN
fumecheng-13750	69	21	-	-	PUNCT
fumecheng-13750	69	22	frit	frit	PROPN
fumecheng-13750	69	23	and	and	CCONJ
fumecheng-13750	69	24	mfc	mfc	PROPN
fumecheng-13750	69	25	-	-	PUNCT
fumecheng-13750	69	26	frit	frit	NOUN
fumecheng-13750	69	27	algorithms	algorithm	NOUN
fumecheng-13750	69	28	.	.	PUNCT
fumecheng-13750	70	1	the	the	DET
fumecheng-13750	70	2	efficacy	efficacy	NOUN
fumecheng-13750	70	3	of	of	ADP
fumecheng-13750	70	4	these	these	DET
fumecheng-13750	70	5	algorithms	algorithm	NOUN
fumecheng-13750	70	6	is	be	AUX
fumecheng-13750	70	7	demonstrated	demonstrate	VERB
fumecheng-13750	70	8	through	through	ADP
fumecheng-13750	70	9	experiments	experiment	NOUN
fumecheng-13750	70	10	performed	perform	VERB
fumecheng-13750	70	11	using	use	VERB
fumecheng-13750	70	12	the	the	DET
fumecheng-13750	70	13	3d	3d	PROPN
fumecheng-13750	70	14	crane	crane	NOUN
fumecheng-13750	70	15	laboratory	laboratory	NOUN
fumecheng-13750	70	16	device	device	NOUN
fumecheng-13750	70	17	[	[	X
fumecheng-13750	70	18	36	36	NUM
fumecheng-13750	70	19	]	]	PUNCT
fumecheng-13750	70	20	,	,	PUNCT
fumecheng-13750	70	21	involving	involve	VERB
fumecheng-13750	70	22	the	the	DET
fumecheng-13750	70	23	control	control	NOUN
fumecheng-13750	70	24	of	of	ADP
fumecheng-13750	70	25	the	the	DET
fumecheng-13750	70	26	x-	x-	PROPN
fumecheng-13750	70	27	,	,	PUNCT
fumecheng-13750	70	28	y-	y-	X
fumecheng-13750	70	29	,	,	PUNCT
fumecheng-13750	70	30	and	and	CCONJ
fumecheng-13750	70	31	z	z	NOUN
fumecheng-13750	70	32	-	-	PUNCT
fumecheng-13750	70	33	axes	axis	NOUN
fumecheng-13750	70	34	.	.	PUNCT
fumecheng-13750	71	1	metaheuristic	metaheuristic	ADJ
fumecheng-13750	71	2	algorithms	algorithm	NOUN
fumecheng-13750	71	3	such	such	ADJ
fumecheng-13750	71	4	as	as	ADP
fumecheng-13750	71	5	avoa	avoa	NOUN
fumecheng-13750	71	6	and	and	CCONJ
fumecheng-13750	71	7	sma	sma	PROPN
fumecheng-13750	71	8	,	,	PUNCT
fumecheng-13750	71	9	employed	employ	VERB
fumecheng-13750	71	10	in	in	ADP
fumecheng-13750	71	11	solving	solve	VERB
fumecheng-13750	71	12	optimization	optimization	NOUN
fumecheng-13750	71	13	problems	problem	NOUN
fumecheng-13750	71	14	for	for	ADP
fumecheng-13750	71	15	the	the	DET
fumecheng-13750	71	16	algorithms	algorithm	NOUN
fumecheng-13750	71	17	listed	list	VERB
fumecheng-13750	71	18	below	below	ADV
fumecheng-13750	71	19	,	,	PUNCT
fumecheng-13750	71	20	operate	operate	VERB
fumecheng-13750	71	21	on	on	ADP
fumecheng-13750	71	22	the	the	DET
fumecheng-13750	71	23	same	same	ADJ
fumecheng-13750	71	24	principles	principle	NOUN
fumecheng-13750	71	25	as	as	ADP
fumecheng-13750	71	26	the	the	DET
fumecheng-13750	71	27	metaheuristic	metaheuristic	ADJ
fumecheng-13750	71	28	baso	baso	PROPN
fumecheng-13750	71	29	or	or	CCONJ
fumecheng-13750	71	30	aso	aso	NOUN
fumecheng-13750	71	31	as	as	SCONJ
fumecheng-13750	71	32	detailed	detailed	ADJ
fumecheng-13750	71	33	in	in	ADP
fumecheng-13750	71	34	[	[	X
fumecheng-13750	71	35	37	37	NUM
fumecheng-13750	71	36	]	]	PUNCT
fumecheng-13750	71	37	.	.	PUNCT
fumecheng-13750	72	1	although	although	SCONJ
fumecheng-13750	72	2	the	the	DET
fumecheng-13750	72	3	exact	exact	ADJ
fumecheng-13750	72	4	identification	identification	NOUN
fumecheng-13750	72	5	of	of	ADP
fumecheng-13750	72	6	the	the	DET
fumecheng-13750	72	7	3d	3d	PROPN
fumecheng-13750	72	8	crane	crane	NOUN
fumecheng-13750	72	9	system	system	NOUN
fumecheng-13750	72	10	constitutes	constitute	VERB
fumecheng-13750	72	11	a	a	DET
fumecheng-13750	72	12	labor	labor	NOUN
fumecheng-13750	72	13	-	-	PUNCT
fumecheng-13750	72	14	intensive	intensive	ADJ
fumecheng-13750	72	15	endeavor	endeavor	NOUN
fumecheng-13750	72	16	,	,	PUNCT
fumecheng-13750	72	17	it	it	PRON
fumecheng-13750	72	18	can	can	AUX
fumecheng-13750	72	19	be	be	AUX
fumecheng-13750	72	20	achieved	achieve	VERB
fumecheng-13750	72	21	,	,	PUNCT
fumecheng-13750	72	22	for	for	ADP
fumecheng-13750	72	23	instance	instance	NOUN
fumecheng-13750	72	24	,	,	PUNCT
fumecheng-13750	72	25	through	through	ADP
fumecheng-13750	72	26	the	the	DET
fumecheng-13750	72	27	application	application	NOUN
fumecheng-13750	72	28	of	of	ADP
fumecheng-13750	72	29	dimension	dimension	NOUN
fumecheng-13750	72	30	reduction	reduction	NOUN
fumecheng-13750	72	31	via	via	ADP
fumecheng-13750	72	32	unsupervised	unsupervised	ADJ
fumecheng-13750	72	33	learning	learning	NOUN
fumecheng-13750	73	1	[	[	X
fumecheng-13750	73	2	38	38	NUM
fumecheng-13750	73	3	]	]	PUNCT
fumecheng-13750	73	4	.	.	PUNCT
fumecheng-13750	74	1	the	the	DET
fumecheng-13750	74	2	ensuing	ensue	VERB
fumecheng-13750	74	3	sections	section	NOUN
fumecheng-13750	74	4	of	of	ADP
fumecheng-13750	74	5	this	this	DET
fumecheng-13750	74	6	manuscript	manuscript	NOUN
fumecheng-13750	74	7	are	be	AUX
fumecheng-13750	74	8	systematically	systematically	ADV
fumecheng-13750	74	9	arranged	arrange	VERB
fumecheng-13750	74	10	as	as	SCONJ
fumecheng-13750	74	11	follows	follow	VERB
fumecheng-13750	74	12	:	:	PUNCT
fumecheng-13750	74	13	section	section	NOUN
fumecheng-13750	74	14	2	2	NUM
fumecheng-13750	74	15	provides	provide	VERB
fumecheng-13750	74	16	a	a	DET
fumecheng-13750	74	17	comprehensive	comprehensive	ADJ
fumecheng-13750	74	18	elucidation	elucidation	NOUN
fumecheng-13750	74	19	of	of	ADP
fumecheng-13750	74	20	the	the	DET
fumecheng-13750	74	21	adrc	adrc	NOUN
fumecheng-13750	74	22	-	-	PUNCT
fumecheng-13750	74	23	frit	frit	PROPN
fumecheng-13750	74	24	and	and	CCONJ
fumecheng-13750	74	25	mfc	mfc	PROPN
fumecheng-13750	74	26	-	-	PUNCT
fumecheng-13750	74	27	frit	frit	PROPN
fumecheng-13750	74	28	algorithms	algorithm	NOUN
fumecheng-13750	74	29	.	.	PUNCT
fumecheng-13750	75	1	section	section	NOUN
fumecheng-13750	75	2	3	3	NUM
fumecheng-13750	75	3	delivers	deliver	VERB
fumecheng-13750	75	4	a	a	DET
fumecheng-13750	75	5	succinct	succinct	ADJ
fumecheng-13750	75	6	description	description	NOUN
fumecheng-13750	75	7	of	of	ADP
fumecheng-13750	75	8	the	the	DET
fumecheng-13750	75	9	3d	3d	PROPN
fumecheng-13750	75	10	crane	crane	NOUN
fumecheng-13750	75	11	.	.	PUNCT
fumecheng-13750	76	1	section	section	NOUN
fumecheng-13750	76	2	4	4	NUM
fumecheng-13750	76	3	presents	present	VERB
fumecheng-13750	76	4	a	a	DET
fumecheng-13750	76	5	detailed	detailed	ADJ
fumecheng-13750	76	6	exposition	exposition	NOUN
fumecheng-13750	76	7	of	of	ADP
fumecheng-13750	76	8	the	the	DET
fumecheng-13750	76	9	experimental	experimental	ADJ
fumecheng-13750	76	10	results	result	NOUN
fumecheng-13750	76	11	in	in	ADP
fumecheng-13750	76	12	conjunction	conjunction	NOUN
fumecheng-13750	76	13	with	with	ADP
fumecheng-13750	76	14	a	a	DET
fumecheng-13750	76	15	critical	critical	ADJ
fumecheng-13750	76	16	analysis	analysis	NOUN
fumecheng-13750	76	17	.	.	PUNCT
fumecheng-13750	77	1	section	section	NOUN
fumecheng-13750	77	2	5	5	NUM
fumecheng-13750	77	3	underscores	underscore	VERB
fumecheng-13750	77	4	the	the	DET
fumecheng-13750	77	5	conclusions	conclusion	NOUN
fumecheng-13750	77	6	.	.	PUNCT
fumecheng-13750	78	1	2	2	X
fumecheng-13750	78	2	.	.	X
fumecheng-13750	78	3	the	the	DET
fumecheng-13750	78	4	data	data	NOUN
fumecheng-13750	78	5	-	-	PUNCT
fumecheng-13750	78	6	driven	drive	VERB
fumecheng-13750	78	7	algorithms	algorithm	NOUN
fumecheng-13750	78	8	mix	mix	VERB
fumecheng-13750	78	9	2.1	2.1	NUM
fumecheng-13750	78	10	.	.	PUNCT
fumecheng-13750	79	1	the	the	DET
fumecheng-13750	79	2	frit	frit	NOUN
fumecheng-13750	79	3	algorithms	algorithm	VERB
fumecheng-13750	79	4	the	the	DET
fumecheng-13750	79	5	integration	integration	NOUN
fumecheng-13750	79	6	of	of	ADP
fumecheng-13750	79	7	continuous	continuous	ADJ
fumecheng-13750	79	8	-	-	PUNCT
fumecheng-13750	79	9	time	time	NOUN
fumecheng-13750	79	10	first	first	ADJ
fumecheng-13750	79	11	-	-	PUNCT
fumecheng-13750	79	12	order	order	NOUN
fumecheng-13750	79	13	adrc	adrc	NOUN
fumecheng-13750	79	14	and	and	CCONJ
fumecheng-13750	79	15	mfc	mfc	PROPN
fumecheng-13750	79	16	with	with	ADP
fumecheng-13750	79	17	frit	frit	PROPN
fumecheng-13750	79	18	is	be	AUX
fumecheng-13750	79	19	advocated	advocate	VERB
fumecheng-13750	79	20	to	to	PART
fumecheng-13750	79	21	ascertain	ascertain	VERB
fumecheng-13750	79	22	the	the	DET
fumecheng-13750	79	23	optimal	optimal	ADJ
fumecheng-13750	79	24	parameters	parameter	NOUN
fumecheng-13750	79	25	of	of	ADP
fumecheng-13750	79	26	the	the	DET
fumecheng-13750	79	27	adrc	adrc	PROPN
fumecheng-13750	79	28	and	and	CCONJ
fumecheng-13750	79	29	mfc	mfc	PROPN
fumecheng-13750	79	30	algorithms	algorithm	NOUN
fumecheng-13750	79	31	and	and	CCONJ
fumecheng-13750	79	32	to	to	PART
fumecheng-13750	79	33	enhance	enhance	VERB
fumecheng-13750	79	34	the	the	DET
fumecheng-13750	79	35	overall	overall	ADJ
fumecheng-13750	79	36	efficacy	efficacy	NOUN
fumecheng-13750	79	37	of	of	ADP
fumecheng-13750	79	38	the	the	DET
fumecheng-13750	79	39	control	control	NOUN
fumecheng-13750	79	40	system	system	NOUN
fumecheng-13750	79	41	architecture	architecture	NOUN
fumecheng-13750	79	42	.	.	PUNCT
fumecheng-13750	80	1	to	to	PART
fumecheng-13750	80	2	achieve	achieve	VERB
fumecheng-13750	80	3	this	this	DET
fumecheng-13750	80	4	objective	objective	NOUN
fumecheng-13750	80	5	,	,	PUNCT
fumecheng-13750	80	6	it	it	PRON
fumecheng-13750	80	7	is	be	AUX
fumecheng-13750	80	8	requisite	requisite	ADJ
fumecheng-13750	80	9	to	to	PART
fumecheng-13750	80	10	conduct	conduct	VERB
fumecheng-13750	80	11	an	an	DET
fumecheng-13750	80	12	initial	initial	ADJ
fumecheng-13750	80	13	closed	closed	ADJ
fumecheng-13750	80	14	-	-	PUNCT
fumecheng-13750	80	15	loop	loop	NOUN
fumecheng-13750	80	16	experiment	experiment	NOUN
fumecheng-13750	80	17	of	of	ADP
fumecheng-13750	80	18	the	the	DET
fumecheng-13750	80	19	control	control	NOUN
fumecheng-13750	80	20	system	system	NOUN
fumecheng-13750	80	21	incorporating	incorporate	VERB
fumecheng-13750	80	22	the	the	DET
fumecheng-13750	80	23	adrc	adrc	ADJ
fumecheng-13750	80	24	algorithm	algorithm	NOUN
fumecheng-13750	80	25	.	.	PUNCT
fumecheng-13750	81	1	adrc	adrc	ADJ
fumecheng-13750	81	2	-	-	PUNCT
fumecheng-13750	81	3	frit	frit	PROPN
fumecheng-13750	81	4	and	and	CCONJ
fumecheng-13750	81	5	mfc	mfc	PROPN
fumecheng-13750	81	6	-	-	PUNCT
fumecheng-13750	81	7	frit	frit	PROPN
fumecheng-13750	81	8	utilize	utilize	VERB
fumecheng-13750	81	9	the	the	DET
fumecheng-13750	81	10	i	i	PROPN
fumecheng-13750	81	11	/	/	SYM
fumecheng-13750	81	12	o	o	PROPN
fumecheng-13750	81	13	data	datum	NOUN
fumecheng-13750	81	14	to	to	PART
fumecheng-13750	81	15	resolve	resolve	VERB
fumecheng-13750	81	16	the	the	DET
fumecheng-13750	81	17	optimization	optimization	NOUN
fumecheng-13750	81	18	problem	problem	NOUN
fumecheng-13750	81	19	via	via	ADP
fumecheng-13750	81	20	the	the	DET
fumecheng-13750	81	21	newton	newton	PROPN
fumecheng-13750	81	22	–	–	PUNCT
fumecheng-13750	81	23	raphson	raphson	NOUN
fumecheng-13750	81	24	method	method	NOUN
fumecheng-13750	81	25	,	,	PUNCT
fumecheng-13750	81	26	)	)	PUNCT
fumecheng-13750	81	27	]	]	PUNCT
fumecheng-13750	81	28	,	,	PUNCT
fumecheng-13750	81	29	(	(	PUNCT
fumecheng-13750	81	30	~	~	NOUN
fumecheng-13750	81	31	)	)	PUNCT
fumecheng-13750	81	32	,	,	PUNCT
fumecheng-13750	81	33	(	(	PUNCT
fumecheng-13750	81	34	[	[	PUNCT
fumecheng-13750	81	35	1	1	NUM
fumecheng-13750	81	36	)	)	PUNCT
fumecheng-13750	81	37	(	(	PUNCT
fumecheng-13750	81	38	)	)	PUNCT
fumecheng-13750	81	39	,	,	PUNCT
fumecheng-13750	81	40	(	(	PUNCT
fumecheng-13750	81	41	minarg	minarg	NOUN
fumecheng-13750	81	42	0	0	NUM
fumecheng-13750	81	43	2)0	2)0	NUM
fumecheng-13750	81	44	(	(	PUNCT
fumecheng-13750	81	45	0	0	NUM
fumecheng-13750	81	46	*	*	PUNCT
fumecheng-13750	81	47	dttyty	dttyty	NOUN
fumecheng-13750	82	1	t	t	PROPN
fumecheng-13750	82	2	jj	jj	PROPN
fumecheng-13750	82	3	ht	ht	PROPN
fumecheng-13750	82	4	h	h	NOUN
fumecheng-13750	82	5			PUNCT
fumecheng-13750	83	1	−==	−==	PROPN
fumecheng-13750	83	2			PROPN
fumecheng-13750	83	3			PRON
fumecheng-13750	83	4	(	(	PUNCT
fumecheng-13750	83	5	1	1	NUM
fumecheng-13750	83	6	)	)	PUNCT
fumecheng-13750	83	7	where	where	SCONJ
fumecheng-13750	83	8	,	,	PUNCT
fumecheng-13750	83	9	in	in	ADP
fumecheng-13750	83	10	this	this	DET
fumecheng-13750	83	11	context	context	NOUN
fumecheng-13750	83	12	,	,	PUNCT
fumecheng-13750	83	13	κ	κ	NOUN
fumecheng-13750	83	14	*	*	VERB
fumecheng-13750	83	15	denotes	denote	VERB
fumecheng-13750	83	16	the	the	DET
fumecheng-13750	83	17	optimal	optimal	ADJ
fumecheng-13750	83	18	parameter	parameter	NOUN
fumecheng-13750	83	19	either	either	PRON
fumecheng-13750	83	20	of	of	ADP
fumecheng-13750	83	21	the	the	DET
fumecheng-13750	83	22	adrc	adrc	NOUN
fumecheng-13750	83	23	-	-	PUNCT
fumecheng-13750	83	24	frit	frit	NOUN
fumecheng-13750	83	25	or	or	CCONJ
fumecheng-13750	83	26	the	the	DET
fumecheng-13750	83	27	mfc	mfc	PROPN
fumecheng-13750	83	28	-	-	PUNCT
fumecheng-13750	83	29	frit	frit	NOUN
fumecheng-13750	83	30	algorithm	algorithm	NOUN
fumecheng-13750	83	31	as	as	SCONJ
fumecheng-13750	83	32	it	it	PRON
fumecheng-13750	83	33	pertains	pertain	VERB
fumecheng-13750	83	34	to	to	PART
fumecheng-13750	83	35	κ	κ	PRON
fumecheng-13750	83	36	,	,	PUNCT
fumecheng-13750	83	37	depending	depend	VERB
fumecheng-13750	83	38	on	on	ADP
fumecheng-13750	83	39	the	the	DET
fumecheng-13750	83	40	practitioner	practitioner	NOUN
fumecheng-13750	83	41	’s	’s	PART
fumecheng-13750	83	42	choice	choice	NOUN
fumecheng-13750	83	43	.	.	PUNCT
fumecheng-13750	84	1	the	the	DET
fumecheng-13750	84	2	initial	initial	ADJ
fumecheng-13750	84	3	parameter	parameter	NOUN
fumecheng-13750	84	4	of	of	ADP
fumecheng-13750	84	5	these	these	DET
fumecheng-13750	84	6	algorithms	algorithm	NOUN
fumecheng-13750	84	7	is	be	AUX
fumecheng-13750	84	8	represented	represent	VERB
fumecheng-13750	84	9	by	by	ADP
fumecheng-13750	84	10	κ(0	κ(0	PROPN
fumecheng-13750	84	11	)	)	PUNCT
fumecheng-13750	84	12	,	,	PUNCT
fumecheng-13750	84	13	with	with	ADP
fumecheng-13750	84	14	the	the	DET
fumecheng-13750	84	15	superscript	superscript	PROPN
fumecheng-13750	84	16	(	(	PUNCT
fumecheng-13750	84	17	0	0	NUM
fumecheng-13750	84	18	)	)	PUNCT
fumecheng-13750	84	19	satisfying	satisfy	VERB
fumecheng-13750	84	20	its	its	PRON
fumecheng-13750	84	21	initial	initial	ADJ
fumecheng-13750	84	22	value	value	NOUN
fumecheng-13750	84	23	.	.	PUNCT
fumecheng-13750	85	1	the	the	DET
fumecheng-13750	85	2	cost	cost	NOUN
fumecheng-13750	85	3	function	function	NOUN
fumecheng-13750	85	4	associated	associate	VERB
fumecheng-13750	85	5	with	with	ADP
fumecheng-13750	85	6	the	the	DET
fumecheng-13750	85	7	adrc	adrc	NOUN
fumecheng-13750	85	8	-	-	PUNCT
fumecheng-13750	85	9	frit	frit	PROPN
fumecheng-13750	85	10	or	or	CCONJ
fumecheng-13750	85	11	mfc	mfc	PROPN
fumecheng-13750	85	12	-	-	PUNCT
fumecheng-13750	85	13	frit	frit	NOUN
fumecheng-13750	85	14	algorithm	algorithm	NOUN
fumecheng-13750	85	15	is	be	AUX
fumecheng-13750	85	16	denoted	denote	VERB
fumecheng-13750	85	17	by	by	ADP
fumecheng-13750	85	18	jκ	jκ	PROPN
fumecheng-13750	85	19	.	.	PUNCT
fumecheng-13750	85	20	notation	notation	PROPN
fumecheng-13750	85	21	th	th	PROPN
fumecheng-13750	85	22	is	be	AUX
fumecheng-13750	85	23	used	use	VERB
fumecheng-13750	85	24	to	to	PART
fumecheng-13750	85	25	specify	specify	VERB
fumecheng-13750	85	26	the	the	DET
fumecheng-13750	85	27	duration	duration	NOUN
fumecheng-13750	85	28	of	of	ADP
fumecheng-13750	85	29	the	the	DET
fumecheng-13750	85	30	experimental	experimental	ADJ
fumecheng-13750	85	31	timeframe	timeframe	NOUN
fumecheng-13750	85	32	.	.	PUNCT
fumecheng-13750	86	1	furthermore	furthermore	ADV
fumecheng-13750	86	2	,	,	PUNCT
fumecheng-13750	86	3	y0(t	y0(t	PROPN
fumecheng-13750	86	4	,	,	PUNCT
fumecheng-13750	86	5	κ(0	κ(0	PROPN
fumecheng-13750	86	6	)	)	PUNCT
fumecheng-13750	86	7	)	)	PUNCT
fumecheng-13750	86	8	retains	retain	VERB
fumecheng-13750	86	9	the	the	DET
fumecheng-13750	86	10	output	output	NOUN
fumecheng-13750	86	11	data	datum	NOUN
fumecheng-13750	86	12	obtained	obtain	VERB
fumecheng-13750	86	13	post	post	NOUN
fumecheng-13750	86	14	the	the	DET
fumecheng-13750	86	15	initial	initial	ADJ
fumecheng-13750	86	16	experiment	experiment	NOUN
fumecheng-13750	86	17	.	.	PUNCT
fumecheng-13750	87	1	the	the	DET
fumecheng-13750	87	2	fictitious	fictitious	ADJ
fumecheng-13750	87	3	reference	reference	NOUN
fumecheng-13750	87	4	model	model	NOUN
fumecheng-13750	87	5	output	output	NOUN
fumecheng-13750	87	6	ỹk(t	ỹk(t	X
fumecheng-13750	87	7	,	,	PUNCT
fumecheng-13750	87	8	k	k	NOUN
fumecheng-13750	87	9	)	)	PUNCT
fumecheng-13750	87	10	is	be	AUX
fumecheng-13750	87	11	determined	determine	VERB
fumecheng-13750	87	12	through	through	ADP
fumecheng-13750	87	13	offline	offline	ADJ
fumecheng-13750	87	14	computation	computation	NOUN
fumecheng-13750	87	15	,	,	PUNCT
fumecheng-13750	87	16	given	give	VERB
fumecheng-13750	87	17	the	the	DET
fumecheng-13750	87	18	understanding	understanding	NOUN
fumecheng-13750	87	19	that	that	SCONJ
fumecheng-13750	87	20	[	[	X
fumecheng-13750	87	21	10,14,15,34,35	10,14,15,34,35	NOUN
fumecheng-13750	87	22	]	]	PUNCT
fumecheng-13750	87	23	)	)	PUNCT
fumecheng-13750	87	24	}	}	PUNCT
fumecheng-13750	87	25	,	,	PUNCT
fumecheng-13750	87	26	,	,	PUNCT
fumecheng-13750	87	27	(	(	PUNCT
fumecheng-13750	87	28	~)({),(~	~)({),(~	PROPN
fumecheng-13750	87	29	1	1	NUM
fumecheng-13750	87	30	=	=	ADV
fumecheng-13750	87	31	−	−	ADP
fumecheng-13750	87	32			NUM
fumecheng-13750	87	33	srsμlty	srsμlty	NOUN
fumecheng-13750	87	34	(	(	PUNCT
fumecheng-13750	87	35	2	2	NUM
fumecheng-13750	87	36	)	)	PUNCT
fumecheng-13750	87	37	active	active	ADJ
fumecheng-13750	87	38	disturbance	disturbance	NOUN
fumecheng-13750	87	39	rejection	rejection	NOUN
fumecheng-13750	87	40	control	control	NOUN
fumecheng-13750	87	41	and	and	CCONJ
fumecheng-13750	87	42	model	model	NOUN
fumecheng-13750	87	43	-	-	PUNCT
fumecheng-13750	87	44	free	free	ADJ
fumecheng-13750	87	45	control	control	NOUN
fumecheng-13750	87	46	187	187	NUM
fumecheng-13750	87	47	where	where	SCONJ
fumecheng-13750	87	48	the	the	DET
fumecheng-13750	87	49	notation	notation	NOUN
fumecheng-13750	87	50	l–1	l–1	PROPN
fumecheng-13750	87	51	is	be	AUX
fumecheng-13750	87	52	utilized	utilize	VERB
fumecheng-13750	87	53	to	to	PART
fumecheng-13750	87	54	represent	represent	VERB
fumecheng-13750	87	55	the	the	DET
fumecheng-13750	87	56	inverse	inverse	ADJ
fumecheng-13750	87	57	laplace	laplace	NOUN
fumecheng-13750	87	58	transform	transform	NOUN
fumecheng-13750	87	59	.	.	PUNCT
fumecheng-13750	88	1	the	the	DET
fumecheng-13750	88	2	reference	reference	NOUN
fumecheng-13750	88	3	model	model	NOUN
fumecheng-13750	88	4	transfer	transfer	NOUN
fumecheng-13750	88	5	function	function	NOUN
fumecheng-13750	88	6	,	,	PUNCT
fumecheng-13750	88	7	denoted	denote	VERB
fumecheng-13750	88	8	as	as	ADP
fumecheng-13750	88	9	m(s	m(s	PROPN
fumecheng-13750	88	10	)	)	PUNCT
fumecheng-13750	88	11	,	,	PUNCT
fumecheng-13750	88	12	is	be	AUX
fumecheng-13750	88	13	determined	determine	VERB
fumecheng-13750	88	14	by	by	ADP
fumecheng-13750	88	15	the	the	DET
fumecheng-13750	88	16	designer	designer	NOUN
fumecheng-13750	88	17	to	to	PART
fumecheng-13750	88	18	yield	yield	VERB
fumecheng-13750	88	19	an	an	DET
fumecheng-13750	88	20	output	output	NOUN
fumecheng-13750	88	21	response	response	NOUN
fumecheng-13750	88	22	that	that	PRON
fumecheng-13750	88	23	meets	meet	VERB
fumecheng-13750	88	24	the	the	DET
fumecheng-13750	88	25	performance	performance	NOUN
fumecheng-13750	88	26	specifications	specification	NOUN
fumecheng-13750	88	27	of	of	ADP
fumecheng-13750	88	28	the	the	DET
fumecheng-13750	88	29	control	control	NOUN
fumecheng-13750	88	30	system	system	NOUN
fumecheng-13750	88	31	,	,	PUNCT
fumecheng-13750	88	32	and	and	CCONJ
fumecheng-13750	88	33	r(̃t	r(̃t	PROPN
fumecheng-13750	88	34	,	,	PUNCT
fumecheng-13750	88	35	κ	κ	NOUN
fumecheng-13750	88	36	)	)	PUNCT
fumecheng-13750	88	37	is	be	AUX
fumecheng-13750	88	38	the	the	DET
fumecheng-13750	88	39	fictitious	fictitious	ADJ
fumecheng-13750	88	40	reference	reference	NOUN
fumecheng-13750	88	41	input	input	NOUN
fumecheng-13750	88	42	,	,	PUNCT
fumecheng-13750	88	43	also	also	ADV
fumecheng-13750	88	44	referred	refer	VERB
fumecheng-13750	88	45	to	to	ADP
fumecheng-13750	88	46	as	as	ADP
fumecheng-13750	88	47	the	the	DET
fumecheng-13750	88	48	virtual	virtual	ADJ
fumecheng-13750	88	49	set	set	NOUN
fumecheng-13750	88	50	-	-	PUNCT
fumecheng-13750	88	51	point	point	NOUN
fumecheng-13750	88	52	)	)	PUNCT
fumecheng-13750	88	53	}	}	PUNCT
fumecheng-13750	88	54	,	,	PUNCT
fumecheng-13750	88	55	,	,	PUNCT
fumecheng-13750	88	56	(	(	PUNCT
fumecheng-13750	88	57	/),({),(),(~	/),({),(),(~	NUM
fumecheng-13750	88	58	)	)	PUNCT
fumecheng-13750	88	59	0	0	NUM
fumecheng-13750	89	1	(	(	PUNCT
fumecheng-13750	89	2	0	0	NUM
fumecheng-13750	89	3	1)0	1)0	NUM
fumecheng-13750	89	4	(	(	PUNCT
fumecheng-13750	89	5	0	0	NUM
fumecheng-13750	90	1	+=	+=	NOUN
fumecheng-13750	90	2	−	−	PROPN
fumecheng-13750	90	3	scsultytr	scsultytr	PROPN
fumecheng-13750	90	4	(	(	PUNCT
fumecheng-13750	90	5	3	3	NUM
fumecheng-13750	90	6	)	)	PUNCT
fumecheng-13750	90	7	r(̃t	r(̃t	PROPN
fumecheng-13750	90	8	,	,	PUNCT
fumecheng-13750	90	9	κ	κ	NOUN
fumecheng-13750	90	10	)	)	PUNCT
fumecheng-13750	90	11	constitutes	constitute	VERB
fumecheng-13750	90	12	a	a	DET
fumecheng-13750	90	13	modified	modified	ADJ
fumecheng-13750	90	14	version	version	NOUN
fumecheng-13750	90	15	of	of	ADP
fumecheng-13750	90	16	the	the	DET
fumecheng-13750	90	17	fictitious	fictitious	ADJ
fumecheng-13750	90	18	reference	reference	NOUN
fumecheng-13750	90	19	input	input	NOUN
fumecheng-13750	90	20	as	as	SCONJ
fumecheng-13750	90	21	presented	present	VERB
fumecheng-13750	90	22	in	in	ADP
fumecheng-13750	90	23	[	[	X
fumecheng-13750	90	24	9	9	NUM
fumecheng-13750	90	25	]	]	PUNCT
fumecheng-13750	90	26	for	for	ADP
fumecheng-13750	90	27	continuous	continuous	ADJ
fumecheng-13750	90	28	-	-	PUNCT
fumecheng-13750	90	29	time	time	NOUN
fumecheng-13750	90	30	systems	system	NOUN
fumecheng-13750	90	31	and	and	CCONJ
fumecheng-13750	90	32	corresponds	correspond	VERB
fumecheng-13750	90	33	to	to	ADP
fumecheng-13750	90	34	the	the	DET
fumecheng-13750	90	35	improved	improve	VERB
fumecheng-13750	90	36	virtual	virtual	ADJ
fumecheng-13750	90	37	set	set	NOUN
fumecheng-13750	90	38	-	-	PUNCT
fumecheng-13750	90	39	point	point	NOUN
fumecheng-13750	90	40	for	for	ADP
fumecheng-13750	90	41	continuoustime	continuoustime	ADJ
fumecheng-13750	90	42	systems	system	NOUN
fumecheng-13750	90	43	outlined	outline	VERB
fumecheng-13750	90	44	in	in	ADP
fumecheng-13750	90	45	[	[	X
fumecheng-13750	90	46	14	14	NUM
fumecheng-13750	90	47	]	]	PUNCT
fumecheng-13750	90	48	and	and	CCONJ
fumecheng-13750	90	49	[	[	X
fumecheng-13750	90	50	34	34	NUM
fumecheng-13750	90	51	]	]	PUNCT
fumecheng-13750	90	52	,	,	PUNCT
fumecheng-13750	90	53	and	and	CCONJ
fumecheng-13750	90	54	for	for	ADP
fumecheng-13750	90	55	discrete	discrete	ADJ
fumecheng-13750	90	56	-	-	PUNCT
fumecheng-13750	90	57	time	time	NOUN
fumecheng-13750	90	58	systems	system	NOUN
fumecheng-13750	90	59	in	in	ADP
fumecheng-13750	90	60	[	[	X
fumecheng-13750	90	61	6	6	NUM
fumecheng-13750	90	62	]	]	PUNCT
fumecheng-13750	90	63	and	and	CCONJ
fumecheng-13750	90	64	[	[	X
fumecheng-13750	90	65	35	35	NUM
fumecheng-13750	90	66	]	]	PUNCT
fumecheng-13750	90	67	.	.	PUNCT
fumecheng-13750	91	1	the	the	DET
fumecheng-13750	91	2	term	term	NOUN
fumecheng-13750	91	3	u0(s	u0(s	PROPN
fumecheng-13750	91	4	,	,	PUNCT
fumecheng-13750	91	5	κ(0	κ(0	PROPN
fumecheng-13750	91	6	)	)	PUNCT
fumecheng-13750	91	7	)	)	PUNCT
fumecheng-13750	91	8	denotes	denote	VERB
fumecheng-13750	91	9	the	the	DET
fumecheng-13750	91	10	input	input	NOUN
fumecheng-13750	91	11	data	datum	NOUN
fumecheng-13750	91	12	,	,	PUNCT
fumecheng-13750	91	13	which	which	PRON
fumecheng-13750	91	14	is	be	AUX
fumecheng-13750	91	15	obtained	obtain	VERB
fumecheng-13750	91	16	using	use	VERB
fumecheng-13750	91	17	the	the	DET
fumecheng-13750	91	18	laplace	laplace	NOUN
fumecheng-13750	91	19	transform	transform	NOUN
fumecheng-13750	91	20	and	and	CCONJ
fumecheng-13750	91	21	gathered	gather	VERB
fumecheng-13750	91	22	from	from	ADP
fumecheng-13750	91	23	the	the	DET
fumecheng-13750	91	24	initial	initial	ADJ
fumecheng-13750	91	25	closed	closed	ADJ
fumecheng-13750	91	26	-	-	PUNCT
fumecheng-13750	91	27	loop	loop	NOUN
fumecheng-13750	91	28	experiment	experiment	NOUN
fumecheng-13750	91	29	,	,	PUNCT
fumecheng-13750	91	30	while	while	SCONJ
fumecheng-13750	91	31	c(s	c(	NOUN
fumecheng-13750	91	32	,	,	PUNCT
fumecheng-13750	91	33	κ(0	κ(0	NOUN
fumecheng-13750	91	34	)	)	PUNCT
fumecheng-13750	91	35	)	)	PUNCT
fumecheng-13750	92	1	represents	represent	VERB
fumecheng-13750	92	2	the	the	DET
fumecheng-13750	92	3	transfer	transfer	NOUN
fumecheng-13750	92	4	function	function	NOUN
fumecheng-13750	92	5	of	of	ADP
fumecheng-13750	92	6	the	the	DET
fumecheng-13750	92	7	proportional	proportional	ADJ
fumecheng-13750	92	8	component	component	NOUN
fumecheng-13750	92	9	within	within	ADP
fumecheng-13750	92	10	the	the	DET
fumecheng-13750	92	11	adrc	adrc	PROPN
fumecheng-13750	92	12	or	or	CCONJ
fumecheng-13750	92	13	mfc	mfc	PROPN
fumecheng-13750	92	14	algorithm	algorithm	NOUN
fumecheng-13750	93	1	[	[	X
fumecheng-13750	93	2	10,14,15,34,35	10,14,15,34,35	X
fumecheng-13750	93	3	]	]	PUNCT
fumecheng-13750	93	4	.	.	PUNCT
fumecheng-13750	93	5	)	)	PUNCT
fumecheng-13750	93	6	,	,	PUNCT
fumecheng-13750	93	7	(	(	PUNCT
fumecheng-13750	93	8	)	)	PUNCT
fumecheng-13750	93	9	0	0	NUM
fumecheng-13750	93	10	(	(	PUNCT
fumecheng-13750	93	11	=sc	=sc	X
fumecheng-13750	93	12	(	(	PUNCT
fumecheng-13750	93	13	4	4	NUM
fumecheng-13750	93	14	)	)	PUNCT
fumecheng-13750	93	15	to	to	PART
fumecheng-13750	93	16	determine	determine	VERB
fumecheng-13750	93	17	the	the	DET
fumecheng-13750	93	18	value	value	NOUN
fumecheng-13750	93	19	of	of	ADP
fumecheng-13750	93	20	gain	gain	NOUN
fumecheng-13750	93	21	κ	κ	NOUN
fumecheng-13750	93	22	using	use	VERB
fumecheng-13750	93	23	the	the	DET
fumecheng-13750	93	24	newton	newton	PROPN
fumecheng-13750	93	25	-	-	PUNCT
fumecheng-13750	93	26	raphson	raphson	NOUN
fumecheng-13750	93	27	method	method	NOUN
fumecheng-13750	94	1	[	[	X
fumecheng-13750	94	2	39	39	NUM
fumecheng-13750	94	3	]	]	PUNCT
fumecheng-13750	94	4	by	by	ADP
fumecheng-13750	94	5	computing	compute	VERB
fumecheng-13750	94	6	the	the	DET
fumecheng-13750	94	7	first	first	ADJ
fumecheng-13750	94	8	and	and	CCONJ
fumecheng-13750	94	9	the	the	DET
fumecheng-13750	94	10	second	second	ADJ
fumecheng-13750	94	11	derivative	derivative	NOUN
fumecheng-13750	94	12	of	of	ADP
fumecheng-13750	94	13	jκ(κ	jκ(κ	NOUN
fumecheng-13750	94	14	)	)	PUNCT
fumecheng-13750	94	15	,	,	PUNCT
fumecheng-13750	94	16	i.e.	i.e.	X
fumecheng-13750	94	17	,	,	PUNCT
fumecheng-13750	94	18	∂jκ/∂(κ(i	∂jκ/∂(κ(i	ADJ
fumecheng-13750	94	19	)	)	PUNCT
fumecheng-13750	94	20	)	)	PUNCT
fumecheng-13750	94	21	and	and	CCONJ
fumecheng-13750	94	22	∂2jκ/∂(κ(i))2	∂2jκ/∂(κ(i))2	PROPN
fumecheng-13750	94	23	,	,	PUNCT
fumecheng-13750	94	24	and	and	CCONJ
fumecheng-13750	94	25	the	the	DET
fumecheng-13750	94	26	solution	solution	NOUN
fumecheng-13750	94	27	is	be	AUX
fumecheng-13750	94	28	updated	update	VERB
fumecheng-13750	94	29	knowing	know	VERB
fumecheng-13750	95	1	that	that	SCONJ
fumecheng-13750	95	2	,	,	PUNCT
fumecheng-13750	95	3	)	)	PUNCT
fumecheng-13750	95	4	(	(	PUNCT
fumecheng-13750	95	5	)	)	PUNCT
fumecheng-13750	95	6	(	(	PUNCT
fumecheng-13750	95	7	2	2	NUM
fumecheng-13750	95	8	1	1	NUM
fumecheng-13750	95	9	2	2	NUM
fumecheng-13750	95	10	)	)	PUNCT
fumecheng-13750	95	11	(	(	PUNCT
fumecheng-13750	95	12	2	2	NUM
fumecheng-13750	95	13	)	)	PUNCT
fumecheng-13750	95	14	(	(	PUNCT
fumecheng-13750	95	15	)	)	PUNCT
fumecheng-13750	95	16	1	1	NUM
fumecheng-13750	95	17	(	(	PUNCT
fumecheng-13750	95	18	ii	ii	PROPN
fumecheng-13750	95	19	ii	ii	PROPN
fumecheng-13750	95	20	jj	jj	PROPN
fumecheng-13750	96	1			PROPN
fumecheng-13750	96	2			PROPN
fumecheng-13750	96	3			NOUN
fumecheng-13750	96	4			PROPN
fumecheng-13750	96	5			PROPN
fumecheng-13750	96	6			PROPN
fumecheng-13750	96	7			PROPN
fumecheng-13750	96	8			NOUN
fumecheng-13750	97	1			ADP
fumecheng-13750	97	2			PROPN
fumecheng-13750	97	3	−=	−=	NUM
fumecheng-13750	97	4			NUM
fumecheng-13750	97	5	−	−	PROPN
fumecheng-13750	98	1	+	+	NUM
fumecheng-13750	98	2	(	(	PUNCT
fumecheng-13750	98	3	5	5	NUM
fumecheng-13750	98	4	)	)	PUNCT
fumecheng-13750	98	5	where	where	SCONJ
fumecheng-13750	98	6	i	i	PRON
fumecheng-13750	98	7	is	be	AUX
fumecheng-13750	98	8	the	the	DET
fumecheng-13750	98	9	index	index	NOUN
fumecheng-13750	98	10	of	of	ADP
fumecheng-13750	98	11	the	the	DET
fumecheng-13750	98	12	current	current	ADJ
fumecheng-13750	98	13	iteration	iteration	NOUN
fumecheng-13750	98	14	,	,	PUNCT
fumecheng-13750	98	15	j	j	NOUN
fumecheng-13750	98	16	’	'	PUNCT
fumecheng-13750	98	17	κ	κ	PROPN
fumecheng-13750	98	18	and	and	CCONJ
fumecheng-13750	98	19	j	j	PROPN
fumecheng-13750	98	20	”	"	PUNCT
fumecheng-13750	98	21	κ	κ	PROPN
fumecheng-13750	98	22	are	be	AUX
fumecheng-13750	98	23	the	the	DET
fumecheng-13750	98	24	first	first	ADJ
fumecheng-13750	98	25	and	and	CCONJ
fumecheng-13750	98	26	the	the	DET
fumecheng-13750	98	27	second	second	ADJ
fumecheng-13750	98	28	derivative	derivative	NOUN
fumecheng-13750	98	29	of	of	ADP
fumecheng-13750	98	30	jκ(κ	jκ(κ	NOUN
fumecheng-13750	98	31	)	)	PUNCT
fumecheng-13750	98	32	.	.	PUNCT
fumecheng-13750	99	1	as	as	SCONJ
fumecheng-13750	99	2	indicated	indicate	VERB
fumecheng-13750	99	3	by	by	ADP
fumecheng-13750	99	4	[	[	X
fumecheng-13750	99	5	10	10	NUM
fumecheng-13750	99	6	]	]	PUNCT
fumecheng-13750	99	7	,	,	PUNCT
fumecheng-13750	99	8	the	the	DET
fumecheng-13750	99	9	adrc	adrc	ADJ
fumecheng-13750	99	10	-	-	PUNCT
fumecheng-13750	99	11	frit	frit	NOUN
fumecheng-13750	99	12	algorithm	algorithm	NOUN
fumecheng-13750	99	13	identifies	identify	VERB
fumecheng-13750	99	14	the	the	DET
fumecheng-13750	99	15	i	i	PROPN
fumecheng-13750	99	16	/	/	SYM
fumecheng-13750	99	17	o	o	PROPN
fumecheng-13750	99	18	data	data	NOUN
fumecheng-13750	99	19	-	-	PUNCT
fumecheng-13750	99	20	pair	pair	NOUN
fumecheng-13750	99	21	(	(	PUNCT
fumecheng-13750	99	22	u0(t	u0(t	ADJ
fumecheng-13750	99	23	,	,	PUNCT
fumecheng-13750	99	24	κ(0	κ(0	PROPN
fumecheng-13750	99	25	)	)	PUNCT
fumecheng-13750	99	26	)	)	PUNCT
fumecheng-13750	99	27	,	,	PUNCT
fumecheng-13750	99	28	y0(t	y0(t	PROPN
fumecheng-13750	99	29	,	,	PUNCT
fumecheng-13750	99	30	κ(0	κ(0	PROPN
fumecheng-13750	99	31	)	)	PUNCT
fumecheng-13750	99	32	)	)	PUNCT
fumecheng-13750	99	33	)	)	PUNCT
fumecheng-13750	99	34	as	as	ADP
fumecheng-13750	99	35	non	non	ADJ
fumecheng-13750	99	36	-	-	ADJ
fumecheng-13750	99	37	trivial	trivial	ADJ
fumecheng-13750	99	38	,	,	PUNCT
fumecheng-13750	99	39	thereby	thereby	ADV
fumecheng-13750	99	40	[	[	X
fumecheng-13750	99	41	10,14,15,34,35	10,14,15,34,35	X
fumecheng-13750	99	42	]	]	X
fumecheng-13750	99	43	.),(~lim)),(~),((lim	.),(~lim)),(~),((lim	PUNCT
fumecheng-13750	99	44	0	0	NUM
fumecheng-13750	100	1	2	2	NUM
fumecheng-13750	100	2	0	0	NUM
fumecheng-13750	100	3	2	2	NUM
fumecheng-13750	100	4	*	*	PUNCT
fumecheng-13750	100	5	*	*	PUNCT
fumecheng-13750	100	6			ADJ
fumecheng-13750	100	7	=−	=−	NOUN
fumecheng-13750	100	8	→→	→→	PROPN
fumecheng-13750	100	9	hh	hh	VERB
fumecheng-13750	100	10	tt	tt	PROPN
fumecheng-13750	100	11	dttedttyty	dttedttyty	NOUN
fumecheng-13750	100	12	(	(	PUNCT
fumecheng-13750	100	13	6	6	NUM
fumecheng-13750	100	14	)	)	PUNCT
fumecheng-13750	100	15	2.2	2.2	NUM
fumecheng-13750	100	16	.	.	PUNCT
fumecheng-13750	101	1	the	the	DET
fumecheng-13750	101	2	adrc	adrc	NOUN
fumecheng-13750	101	3	-	-	PUNCT
fumecheng-13750	101	4	frit	frit	NOUN
fumecheng-13750	101	5	algorithms	algorithms	NOUN
fumecheng-13750	101	6	the	the	DET
fumecheng-13750	101	7	adrc	adrc	PROPN
fumecheng-13750	101	8	algorithm	algorithm	NOUN
fumecheng-13750	101	9	is	be	AUX
fumecheng-13750	101	10	designed	design	VERB
fumecheng-13750	101	11	for	for	ADP
fumecheng-13750	101	12	a	a	DET
fumecheng-13750	101	13	continuous	continuous	ADJ
fumecheng-13750	101	14	-	-	PUNCT
fumecheng-13750	101	15	time	time	NOUN
fumecheng-13750	101	16	low	low	ADJ
fumecheng-13750	101	17	-	-	PUNCT
fumecheng-13750	101	18	pass	pass	NOUN
fumecheng-13750	101	19	filter	filter	NOUN
fumecheng-13750	101	20	process	process	NOUN
fumecheng-13750	101	21	)	)	PUNCT
fumecheng-13750	101	22	,	,	PUNCT
fumecheng-13750	101	23	(	(	PUNCT
fumecheng-13750	101	24	)	)	PUNCT
fumecheng-13750	101	25	(	(	PUNCT
fumecheng-13750	101	26	)	)	PUNCT
fumecheng-13750	101	27	(	(	PUNCT
fumecheng-13750	101	28	tutyty	tutyty	ADJ
fumecheng-13750	101	29	=+	=+	NOUN
fumecheng-13750	101	30			NOUN
fumecheng-13750	101	31	(	(	PUNCT
fumecheng-13750	101	32	7	7	NUM
fumecheng-13750	101	33	)	)	PUNCT
fumecheng-13750	101	34	where	where	SCONJ
fumecheng-13750	101	35	t	t	PROPN
fumecheng-13750	101	36	is	be	AUX
fumecheng-13750	101	37	the	the	DET
fumecheng-13750	101	38	time	time	NOUN
fumecheng-13750	101	39	variable	variable	NOUN
fumecheng-13750	101	40	,	,	PUNCT
fumecheng-13750	101	41	κ	κ	PROPN
fumecheng-13750	101	42	is	be	AUX
fumecheng-13750	101	43	a	a	DET
fumecheng-13750	101	44	member	member	NOUN
fumecheng-13750	101	45	of	of	ADP
fumecheng-13750	101	46	the	the	DET
fumecheng-13750	101	47	real	real	ADJ
fumecheng-13750	101	48	numbers	number	NOUN
fumecheng-13750	101	49	set	set	VERB
fumecheng-13750	101	50	r	r	NOUN
fumecheng-13750	101	51	,	,	PUNCT
fumecheng-13750	101	52	represents	represent	VERB
fumecheng-13750	101	53	the	the	DET
fumecheng-13750	101	54	process	process	NOUN
fumecheng-13750	101	55	gain	gain	NOUN
fumecheng-13750	101	56	,	,	PUNCT
fumecheng-13750	101	57	and	and	CCONJ
fumecheng-13750	101	58	τ	τ	X
fumecheng-13750	101	59	,	,	PUNCT
fumecheng-13750	101	60	also	also	ADV
fumecheng-13750	101	61	within	within	ADP
fumecheng-13750	101	62	r	r	NOUN
fumecheng-13750	101	63	,	,	PUNCT
fumecheng-13750	101	64	signifies	signify	VERB
fumecheng-13750	101	65	the	the	DET
fumecheng-13750	101	66	process	process	NOUN
fumecheng-13750	101	67	’s	’s	PART
fumecheng-13750	101	68	time	time	NOUN
fumecheng-13750	101	69	constant	constant	ADJ
fumecheng-13750	101	70	.	.	PUNCT
fumecheng-13750	102	1	the	the	DET
fumecheng-13750	102	2	algorithm	algorithm	NOUN
fumecheng-13750	102	3	’s	’s	PART
fumecheng-13750	102	4	capacity	capacity	NOUN
fumecheng-13750	102	5	to	to	PART
fumecheng-13750	102	6	operate	operate	VERB
fumecheng-13750	102	7	with	with	ADP
fumecheng-13750	102	8	τ	τ	PROPN
fumecheng-13750	102	9	values	value	NOUN
fumecheng-13750	102	10	less	less	ADJ
fumecheng-13750	102	11	than	than	ADP
fumecheng-13750	102	12	zero	zero	NUM
fumecheng-13750	102	13	enables	enable	VERB
fumecheng-13750	102	14	it	it	PRON
fumecheng-13750	102	15	to	to	PART
fumecheng-13750	102	16	manage	manage	VERB
fumecheng-13750	102	17	unstable	unstable	ADJ
fumecheng-13750	102	18	processes	process	NOUN
fumecheng-13750	102	19	effectively	effectively	ADV
fumecheng-13750	102	20	.	.	PUNCT
fumecheng-13750	103	1	here	here	ADV
fumecheng-13750	103	2	,	,	PUNCT
fumecheng-13750	103	3	u(t	u(t	PROPN
fumecheng-13750	103	4	)	)	PUNCT
fumecheng-13750	103	5	,	,	PUNCT
fumecheng-13750	103	6	a	a	DET
fumecheng-13750	103	7	real	real	ADV
fumecheng-13750	103	8	-	-	PUNCT
fumecheng-13750	103	9	valued	value	VERB
fumecheng-13750	103	10	function	function	NOUN
fumecheng-13750	103	11	,	,	PUNCT
fumecheng-13750	103	12	denotes	denote	VERB
fumecheng-13750	103	13	the	the	DET
fumecheng-13750	103	14	control	control	NOUN
fumecheng-13750	103	15	input	input	NOUN
fumecheng-13750	103	16	,	,	PUNCT
fumecheng-13750	103	17	while	while	SCONJ
fumecheng-13750	103	18	y(t	y(t	PROPN
fumecheng-13750	103	19	)	)	PUNCT
fumecheng-13750	103	20	,	,	PUNCT
fumecheng-13750	103	21	also	also	ADV
fumecheng-13750	103	22	a	a	DET
fumecheng-13750	103	23	real	real	ADV
fumecheng-13750	103	24	-	-	PUNCT
fumecheng-13750	103	25	valued	value	VERB
fumecheng-13750	103	26	function	function	NOUN
fumecheng-13750	103	27	,	,	PUNCT
fumecheng-13750	103	28	indicates	indicate	VERB
fumecheng-13750	103	29	the	the	DET
fumecheng-13750	103	30	controlled	control	VERB
fumecheng-13750	103	31	output	output	NOUN
fumecheng-13750	103	32	.	.	PUNCT
fumecheng-13750	104	1	the	the	DET
fumecheng-13750	104	2	revised	revise	VERB
fumecheng-13750	104	3	process	process	NOUN
fumecheng-13750	104	4	model	model	NOUN
fumecheng-13750	104	5	is	be	AUX
fumecheng-13750	104	6	derived	derive	VERB
fumecheng-13750	104	7	by	by	ADP
fumecheng-13750	104	8	incorporating	incorporate	VERB
fumecheng-13750	104	9	the	the	DET
fumecheng-13750	104	10	expression	expression	NOUN
fumecheng-13750	104	11	b	b	NOUN
fumecheng-13750	104	12	=	=	SYM
fumecheng-13750	104	13	b0	b0	NOUN
fumecheng-13750	104	14	+	+	CCONJ
fumecheng-13750	104	15	δb	δb	NOUN
fumecheng-13750	104	16	,	,	PUNCT
fumecheng-13750	104	17	where	where	SCONJ
fumecheng-13750	104	18	b0	b0	NOUN
fumecheng-13750	104	19	serves	serve	VERB
fumecheng-13750	104	20	as	as	ADP
fumecheng-13750	104	21	an	an	DET
fumecheng-13750	104	22	estimator	estimator	NOUN
fumecheng-13750	104	23	of	of	ADP
fumecheng-13750	104	24	the	the	DET
fumecheng-13750	104	25	value	value	NOUN
fumecheng-13750	104	26	of	of	ADP
fumecheng-13750	104	27	b	b	PROPN
fumecheng-13750	104	28			NOUN
fumecheng-13750	104	29	r	r	NOUN
fumecheng-13750	104	30	,	,	PUNCT
fumecheng-13750	104	31	and	and	CCONJ
fumecheng-13750	104	32	δb	δb	NOUN
fumecheng-13750	104	33	accounts	account	NOUN
fumecheng-13750	104	34	for	for	ADP
fumecheng-13750	104	35	the	the	DET
fumecheng-13750	104	36	parametric	parametric	ADJ
fumecheng-13750	104	37	uncertainty	uncertainty	NOUN
fumecheng-13750	104	38	or	or	CCONJ
fumecheng-13750	104	39	variation	variation	NOUN
fumecheng-13750	104	40	in	in	ADP
fumecheng-13750	104	41	the	the	DET
fumecheng-13750	104	42	gain	gain	NOUN
fumecheng-13750	104	43	parameter	parameter	NOUN
fumecheng-13750	104	44	κ	κ	PROPN
fumecheng-13750	104	45	of	of	ADP
fumecheng-13750	104	46	the	the	DET
fumecheng-13750	104	47	system	system	NOUN
fumecheng-13750	104	48	[	[	X
fumecheng-13750	104	49	13–15	13–15	NUM
fumecheng-13750	104	50	]	]	PUNCT
fumecheng-13750	104	51	)	)	PUNCT
fumecheng-13750	104	52	.()()()/1()()/1	.()()()/1()()/1	PROPN
fumecheng-13750	104	53	(	(	PUNCT
fumecheng-13750	104	54	)	)	PUNCT
fumecheng-13750	104	55	(	(	PUNCT
fumecheng-13750	104	56	0	0	NUM
fumecheng-13750	104	57	tubbttyty	tubbttyty	NOUN
fumecheng-13750	104	58	+	+	PROPN
fumecheng-13750	104	59	++−=	++−=	PROPN
fumecheng-13750	104	60			NOUN
fumecheng-13750	104	61	(	(	PUNCT
fumecheng-13750	104	62	8)	8)	NUM
fumecheng-13750	104	63	in	in	ADP
fumecheng-13750	104	64	(	(	PUNCT
fumecheng-13750	104	65	8)	8)	NUM
fumecheng-13750	104	66	,	,	PUNCT
fumecheng-13750	104	67	the	the	DET
fumecheng-13750	104	68	effect	effect	NOUN
fumecheng-13750	104	69	of	of	ADP
fumecheng-13750	104	70	the	the	DET
fumecheng-13750	104	71	disturbance	disturbance	NOUN
fumecheng-13750	104	72	δ(t	δ(t	PROPN
fumecheng-13750	104	73	)	)	PUNCT
fumecheng-13750	104	74	is	be	AUX
fumecheng-13750	104	75	evident	evident	ADJ
fumecheng-13750	104	76	,	,	PUNCT
fumecheng-13750	104	77	as	as	SCONJ
fumecheng-13750	104	78	the	the	DET
fumecheng-13750	104	79	adrc	adrc	PROPN
fumecheng-13750	104	80	algorithm	algorithm	NOUN
fumecheng-13750	104	81	mitigates	mitigate	VERB
fumecheng-13750	104	82	disturbance	disturbance	NOUN
fumecheng-13750	104	83	influences	influence	NOUN
fumecheng-13750	104	84	via	via	ADP
fumecheng-13750	104	85	an	an	DET
fumecheng-13750	104	86	eso	eso	NOUN
fumecheng-13750	104	87	,	,	PUNCT
fumecheng-13750	104	88	specifically	specifically	ADV
fumecheng-13750	104	89	a	a	DET
fumecheng-13750	104	90	luenberger	luenberg	ADJ
fumecheng-13750	104	91	observer	observer	NOUN
fumecheng-13750	104	92	.	.	PUNCT
fumecheng-13750	105	1	conversely	conversely	ADV
fumecheng-13750	105	2	,	,	PUNCT
fumecheng-13750	105	3	in	in	ADP
fumecheng-13750	105	4	(	(	PUNCT
fumecheng-13750	105	5	7	7	NUM
fumecheng-13750	105	6	)	)	PUNCT
fumecheng-13750	105	7	,	,	PUNCT
fumecheng-13750	105	8	188	188	NUM
fumecheng-13750	105	9	r.-c	r.-c	NOUN
fumecheng-13750	105	10	.	.	PUNCT
fumecheng-13750	106	1	roman	roman	NOUN
fumecheng-13750	106	2	,	,	PUNCT
fumecheng-13750	106	3	r.-e	r.-e	PROPN
fumecheng-13750	106	4	.	.	PUNCT
fumecheng-13750	107	1	precup	precup	PROPN
fumecheng-13750	107	2	,	,	PUNCT
fumecheng-13750	107	3	e.	e.	PROPN
fumecheng-13750	107	4	m.	m.	PROPN
fumecheng-13750	107	5	petriu	petriu	PROPN
fumecheng-13750	107	6	this	this	DET
fumecheng-13750	107	7	disturbance	disturbance	NOUN
fumecheng-13750	107	8	is	be	AUX
fumecheng-13750	107	9	excluded	exclude	VERB
fumecheng-13750	107	10	to	to	PART
fumecheng-13750	107	11	maintain	maintain	VERB
fumecheng-13750	107	12	a	a	DET
fumecheng-13750	107	13	simplified	simplified	ADJ
fumecheng-13750	107	14	representation	representation	NOUN
fumecheng-13750	107	15	of	of	ADP
fumecheng-13750	107	16	the	the	DET
fumecheng-13750	107	17	nominal	nominal	ADJ
fumecheng-13750	107	18	system	system	NOUN
fumecheng-13750	107	19	model	model	NOUN
fumecheng-13750	107	20	.	.	PUNCT
fumecheng-13750	108	1	the	the	DET
fumecheng-13750	108	2	term	term	NOUN
fumecheng-13750	108	3	that	that	PRON
fumecheng-13750	108	4	gathers	gather	VERB
fumecheng-13750	108	5	all	all	DET
fumecheng-13750	108	6	the	the	DET
fumecheng-13750	108	7	unknowns	unknown	NOUN
fumecheng-13750	108	8	of	of	ADP
fumecheng-13750	108	9	the	the	DET
fumecheng-13750	108	10	process	process	NOUN
fumecheng-13750	108	11	is	be	AUX
fumecheng-13750	108	12	the	the	DET
fumecheng-13750	108	13	generalized	generalized	ADJ
fumecheng-13750	108	14	disturbance	disturbance	NOUN
fumecheng-13750	108	15	term	term	NOUN
fumecheng-13750	108	16	of	of	ADP
fumecheng-13750	108	17	the	the	DET
fumecheng-13750	108	18	adrc	adrc	ADJ
fumecheng-13750	108	19	algorithm	algorithm	NOUN
fumecheng-13750	108	20	is	be	AUX
fumecheng-13750	108	21	)	)	PUNCT
fumecheng-13750	108	22	,	,	PUNCT
fumecheng-13750	108	23	(	(	PUNCT
fumecheng-13750	108	24	)	)	PUNCT
fumecheng-13750	108	25	(	(	PUNCT
fumecheng-13750	108	26	)	)	PUNCT
fumecheng-13750	108	27	/1()()/1	/1()()/1	PROPN
fumecheng-13750	108	28	(	(	PUNCT
fumecheng-13750	108	29	)	)	PUNCT
fumecheng-13750	108	30	(	(	PUNCT
fumecheng-13750	108	31	tubttytf	tubttytf	PROPN
fumecheng-13750	108	32	++−=	++−=	VERB
fumecheng-13750	108	33			NUM
fumecheng-13750	108	34	(	(	PUNCT
fumecheng-13750	108	35	9	9	NUM
fumecheng-13750	108	36	)	)	PUNCT
fumecheng-13750	108	37	where	where	SCONJ
fumecheng-13750	108	38	function	function	NOUN
fumecheng-13750	108	39	f(t	f(t	PROPN
fumecheng-13750	108	40	)	)	PUNCT
fumecheng-13750	108	41	within	within	ADP
fumecheng-13750	108	42	r	r	NOUN
fumecheng-13750	108	43	is	be	AUX
fumecheng-13750	108	44	contingent	contingent	ADJ
fumecheng-13750	108	45	upon	upon	SCONJ
fumecheng-13750	108	46	the	the	DET
fumecheng-13750	108	47	known	know	VERB
fumecheng-13750	108	48	output	output	NOUN
fumecheng-13750	108	49	y(t	y(t	PROPN
fumecheng-13750	108	50	)	)	PUNCT
fumecheng-13750	108	51	,	,	PUNCT
fumecheng-13750	108	52	in	in	ADP
fumecheng-13750	108	53	contrast	contrast	NOUN
fumecheng-13750	108	54	with	with	ADP
fumecheng-13750	108	55	the	the	DET
fumecheng-13750	108	56	unidentified	unidentified	ADJ
fumecheng-13750	108	57	disturbances	disturbance	NOUN
fumecheng-13750	108	58	δ(t	δ(t	NOUN
fumecheng-13750	108	59	)	)	PUNCT
fumecheng-13750	108	60	and	and	CCONJ
fumecheng-13750	108	61	the	the	DET
fumecheng-13750	108	62	modeling	modeling	NOUN
fumecheng-13750	108	63	error	error	NOUN
fumecheng-13750	108	64	δb	δb	NOUN
fumecheng-13750	108	65	,	,	PUNCT
fumecheng-13750	108	66	both	both	PRON
fumecheng-13750	108	67	of	of	ADP
fumecheng-13750	108	68	which	which	PRON
fumecheng-13750	108	69	affect	affect	VERB
fumecheng-13750	108	70	the	the	DET
fumecheng-13750	108	71	dynamics	dynamic	NOUN
fumecheng-13750	108	72	of	of	ADP
fumecheng-13750	108	73	the	the	DET
fumecheng-13750	108	74	system	system	NOUN
fumecheng-13750	108	75	.	.	PUNCT
fumecheng-13750	109	1	within	within	ADP
fumecheng-13750	109	2	the	the	DET
fumecheng-13750	109	3	context	context	NOUN
fumecheng-13750	109	4	of	of	ADP
fumecheng-13750	109	5	the	the	DET
fumecheng-13750	109	6	eso	eso	NOUN
fumecheng-13750	109	7	in	in	ADP
fumecheng-13750	109	8	adrc	adrc	NOUN
fumecheng-13750	109	9	,	,	PUNCT
fumecheng-13750	109	10	y(t	y(t	NUM
fumecheng-13750	109	11	)	)	PUNCT
fumecheng-13750	109	12	is	be	AUX
fumecheng-13750	109	13	not	not	PART
fumecheng-13750	109	14	directly	directly	ADV
fumecheng-13750	109	15	observable	observable	ADJ
fumecheng-13750	109	16	and	and	CCONJ
fumecheng-13750	109	17	is	be	AUX
fumecheng-13750	109	18	instead	instead	ADV
fumecheng-13750	109	19	approximated	approximate	VERB
fumecheng-13750	109	20	,	,	PUNCT
fumecheng-13750	109	21	thus	thus	ADV
fumecheng-13750	109	22	included	include	VERB
fumecheng-13750	109	23	in	in	ADP
fumecheng-13750	109	24	f(t	f(t	NOUN
fumecheng-13750	109	25	)	)	PUNCT
fumecheng-13750	109	26	together	together	ADV
fumecheng-13750	109	27	with	with	ADP
fumecheng-13750	109	28	the	the	DET
fumecheng-13750	109	29	unknown	unknown	ADJ
fumecheng-13750	109	30	disturbances	disturbance	NOUN
fumecheng-13750	109	31	δ(t	δ(t	NOUN
fumecheng-13750	109	32	)	)	PUNCT
fumecheng-13750	109	33	and	and	CCONJ
fumecheng-13750	109	34	the	the	DET
fumecheng-13750	109	35	modeling	modeling	NOUN
fumecheng-13750	109	36	error	error	NOUN
fumecheng-13750	109	37	δb	δb	NOUN
fumecheng-13750	109	38	.	.	PUNCT
fumecheng-13750	109	39	upon	upon	SCONJ
fumecheng-13750	109	40	integrating	integrate	VERB
fumecheng-13750	109	41	the	the	DET
fumecheng-13750	109	42	disturbance	disturbance	NOUN
fumecheng-13750	109	43	term	term	NOUN
fumecheng-13750	109	44	from	from	ADP
fumecheng-13750	109	45	(	(	PUNCT
fumecheng-13750	109	46	8)	8)	NUM
fumecheng-13750	109	47	into	into	ADP
fumecheng-13750	109	48	the	the	DET
fumecheng-13750	109	49	firstorder	firstorder	NOUN
fumecheng-13750	109	50	low	low	ADJ
fumecheng-13750	109	51	-	-	PUNCT
fumecheng-13750	109	52	pass	pass	NOUN
fumecheng-13750	109	53	filter	filter	NOUN
fumecheng-13750	109	54	denoted	denote	VERB
fumecheng-13750	109	55	as	as	ADP
fumecheng-13750	109	56	(	(	PUNCT
fumecheng-13750	109	57	7	7	NUM
fumecheng-13750	109	58	)	)	PUNCT
fumecheng-13750	109	59	,	,	PUNCT
fumecheng-13750	109	60	the	the	DET
fumecheng-13750	109	61	resulting	result	VERB
fumecheng-13750	109	62	process	process	NOUN
fumecheng-13750	109	63	model	model	NOUN
fumecheng-13750	109	64	transforms	transform	VERB
fumecheng-13750	109	65	into	into	ADP
fumecheng-13750	109	66	a	a	DET
fumecheng-13750	109	67	perturbed	perturb	VERB
fumecheng-13750	109	68	integrator	integrator	NOUN
fumecheng-13750	109	69	[	[	X
fumecheng-13750	109	70	13–15	13–15	NUM
fumecheng-13750	109	71	]	]	PUNCT
fumecheng-13750	109	72	)	)	PUNCT
fumecheng-13750	109	73	.	.	PUNCT
fumecheng-13750	110	1	(	(	PUNCT
fumecheng-13750	110	2	)	)	PUNCT
fumecheng-13750	110	3	(	(	PUNCT
fumecheng-13750	110	4	)	)	PUNCT
fumecheng-13750	110	5	(	(	PUNCT
fumecheng-13750	110	6	0	0	NUM
fumecheng-13750	110	7	tubtfty	tubtfty	VERB
fumecheng-13750	111	1	+	+	NOUN
fumecheng-13750	112	1	=	=	NOUN
fumecheng-13750	112	2			NOUN
fumecheng-13750	112	3	(	(	PUNCT
fumecheng-13750	112	4	10	10	NUM
fumecheng-13750	112	5	)	)	PUNCT
fumecheng-13750	112	6	employing	employ	VERB
fumecheng-13750	112	7	the	the	DET
fumecheng-13750	112	8	notations	notation	NOUN
fumecheng-13750	112	9	z1(t	z1(t	NUM
fumecheng-13750	112	10	)	)	PUNCT
fumecheng-13750	112	11	=	=	SYM
fumecheng-13750	112	12	y(t	y(t	PROPN
fumecheng-13750	112	13	)	)	PUNCT
fumecheng-13750	112	14	and	and	CCONJ
fumecheng-13750	112	15	z2(t	z2(t	NUM
fumecheng-13750	112	16	)	)	PUNCT
fumecheng-13750	112	17	=	=	PUNCT
fumecheng-13750	112	18	f(t	f(t	NOUN
fumecheng-13750	112	19	)	)	PUNCT
fumecheng-13750	112	20	within	within	ADP
fumecheng-13750	112	21	expression	expression	NOUN
fumecheng-13750	112	22	(	(	PUNCT
fumecheng-13750	112	23	10	10	NUM
fumecheng-13750	112	24	)	)	PUNCT
fumecheng-13750	112	25	,	,	PUNCT
fumecheng-13750	112	26	the	the	DET
fumecheng-13750	112	27	statespace	statespace	NOUN
fumecheng-13750	112	28	representation	representation	NOUN
fumecheng-13750	112	29	of	of	ADP
fumecheng-13750	112	30	the	the	DET
fumecheng-13750	112	31	perturbed	perturb	VERB
fumecheng-13750	112	32	integrator	integrator	NOUN
fumecheng-13750	112	33	model	model	NOUN
fumecheng-13750	112	34	is	be	AUX
fumecheng-13750	112	35	)	)	PUNCT
fumecheng-13750	112	36	,	,	PUNCT
fumecheng-13750	112	37	(	(	PUNCT
fumecheng-13750	112	38	)	)	PUNCT
fumecheng-13750	112	39	0	0	NUM
fumecheng-13750	112	40	1	1	NUM
fumecheng-13750	112	41	(	(	PUNCT
fumecheng-13750	112	42	)	)	PUNCT
fumecheng-13750	112	43	(	(	PUNCT
fumecheng-13750	112	44	)	)	PUNCT
fumecheng-13750	112	45	,	,	PUNCT
fumecheng-13750	112	46	(	(	PUNCT
fumecheng-13750	112	47	1	1	NUM
fumecheng-13750	112	48	0	0	NUM
fumecheng-13750	112	49	)	)	PUNCT
fumecheng-13750	112	50	(	(	PUNCT
fumecheng-13750	112	51	0	0	NUM
fumecheng-13750	112	52	)	)	PUNCT
fumecheng-13750	112	53	(	(	PUNCT
fumecheng-13750	112	54	00	00	NUM
fumecheng-13750	112	55	10	10	NUM
fumecheng-13750	112	56	)	)	PUNCT
fumecheng-13750	112	57	(	(	PUNCT
fumecheng-13750	112	58	)	)	PUNCT
fumecheng-13750	112	59	(	(	PUNCT
fumecheng-13750	112	60	0	0	NUM
fumecheng-13750	112	61	2	2	NUM
fumecheng-13750	112	62	1	1	NUM
fumecheng-13750	112	63	tty	tty	NOUN
fumecheng-13750	112	64	tftu	tftu	PROPN
fumecheng-13750	112	65	b	b	PROPN
fumecheng-13750	113	1	t	t	NOUN
fumecheng-13750	113	2	tz	tz	NOUN
fumecheng-13750	113	3	tz	tz	PROPN
fumecheng-13750	113	4	z	z	PROPN
fumecheng-13750	113	5	z	z	NOUN
fumecheng-13750	113	6	=	=	SYM
fumecheng-13750	113	7			NOUN
fumecheng-13750	113	8			NOUN
fumecheng-13750	113	9			PROPN
fumecheng-13750	113	10			NOUN
fumecheng-13750	113	11			PROPN
fumecheng-13750	113	12			NOUN
fumecheng-13750	114	1	+	+	PROPN
fumecheng-13750	114	2			NOUN
fumecheng-13750	114	3			NOUN
fumecheng-13750	114	4			PROPN
fumecheng-13750	114	5			NOUN
fumecheng-13750	114	6			PROPN
fumecheng-13750	114	7			NOUN
fumecheng-13750	115	1	+	+	PROPN
fumecheng-13750	115	2			NOUN
fumecheng-13750	115	3			NOUN
fumecheng-13750	115	4			PROPN
fumecheng-13750	115	5			NOUN
fumecheng-13750	115	6			PROPN
fumecheng-13750	115	7			NOUN
fumecheng-13750	115	8	=	=	SYM
fumecheng-13750	115	9			NOUN
fumecheng-13750	115	10			NOUN
fumecheng-13750	115	11			PROPN
fumecheng-13750	115	12			NOUN
fumecheng-13750	115	13			PROPN
fumecheng-13750	115	14			NOUN
fumecheng-13750	115	15			NOUN
fumecheng-13750	115	16			NOUN
fumecheng-13750	115	17			NOUN
fumecheng-13750	115	18	(	(	PUNCT
fumecheng-13750	115	19	11	11	NUM
fumecheng-13750	115	20	)	)	PUNCT
fumecheng-13750	115	21	where	where	SCONJ
fumecheng-13750	115	22	z(t	z(t	NOUN
fumecheng-13750	115	23	)	)	PUNCT
fumecheng-13750	116	1	=	=	PUNCT
fumecheng-13750	117	1	[	[	X
fumecheng-13750	117	2	z1(t	z1(t	ADJ
fumecheng-13750	117	3	)	)	PUNCT
fumecheng-13750	117	4	z2(t)]t	z2(t)]t	NOUN
fumecheng-13750	117	5	,	,	PUNCT
fumecheng-13750	117	6	with	with	ADP
fumecheng-13750	117	7	t	t	NOUN
fumecheng-13750	117	8	representing	represent	VERB
fumecheng-13750	117	9	matrix	matrix	NOUN
fumecheng-13750	117	10	transposition	transposition	NOUN
fumecheng-13750	117	11	,	,	PUNCT
fumecheng-13750	117	12	the	the	DET
fumecheng-13750	117	13	third	third	ADJ
fumecheng-13750	117	14	term	term	NOUN
fumecheng-13750	117	15	in	in	ADP
fumecheng-13750	117	16	the	the	DET
fumecheng-13750	117	17	right	right	ADJ
fumecheng-13750	117	18	-	-	PUNCT
fumecheng-13750	117	19	hand	hand	NOUN
fumecheng-13750	117	20	side	side	NOUN
fumecheng-13750	117	21	of	of	ADP
fumecheng-13750	117	22	(	(	PUNCT
fumecheng-13750	117	23	11	11	NUM
fumecheng-13750	117	24	)	)	PUNCT
fumecheng-13750	117	25	can	can	AUX
fumecheng-13750	117	26	be	be	AUX
fumecheng-13750	117	27	deemed	deem	VERB
fumecheng-13750	117	28	negligible	negligible	ADJ
fumecheng-13750	117	29	since	since	SCONJ
fumecheng-13750	117	30	the	the	DET
fumecheng-13750	117	31	eso	eso	NOUN
fumecheng-13750	117	32	,	,	PUNCT
fumecheng-13750	117	33	as	as	SCONJ
fumecheng-13750	117	34	introduced	introduce	VERB
fumecheng-13750	117	35	later	later	ADV
fumecheng-13750	117	36	in	in	ADP
fumecheng-13750	117	37	the	the	DET
fumecheng-13750	117	38	discourse	discourse	NOUN
fumecheng-13750	117	39	,	,	PUNCT
fumecheng-13750	117	40	can	can	AUX
fumecheng-13750	117	41	estimate	estimate	VERB
fumecheng-13750	117	42	and	and	CCONJ
fumecheng-13750	117	43	compensate	compensate	VERB
fumecheng-13750	117	44	for	for	ADP
fumecheng-13750	117	45	disturbances	disturbance	NOUN
fumecheng-13750	117	46	.	.	PUNCT
fumecheng-13750	118	1	the	the	DET
fumecheng-13750	118	2	adrc	adrc	PROPN
fumecheng-13750	118	3	algorithm	algorithm	NOUN
fumecheng-13750	118	4	does	do	AUX
fumecheng-13750	118	5	not	not	PART
fumecheng-13750	118	6	necessitate	necessitate	ADJ
fumecheng-13750	118	7	explicit	explicit	ADJ
fumecheng-13750	118	8	disturbance	disturbance	NOUN
fumecheng-13750	118	9	modeling	modeling	NOUN
fumecheng-13750	118	10	,	,	PUNCT
fumecheng-13750	118	11	as	as	SCONJ
fumecheng-13750	118	12	the	the	DET
fumecheng-13750	118	13	observer	observer	NOUN
fumecheng-13750	118	14	performs	perform	VERB
fumecheng-13750	118	15	real	real	ADJ
fumecheng-13750	118	16	-	-	PUNCT
fumecheng-13750	118	17	time	time	NOUN
fumecheng-13750	118	18	estimation	estimation	NOUN
fumecheng-13750	118	19	and	and	CCONJ
fumecheng-13750	118	20	mitigation	mitigation	NOUN
fumecheng-13750	118	21	of	of	ADP
fumecheng-13750	118	22	disturbances	disturbance	NOUN
fumecheng-13750	118	23	.	.	PUNCT
fumecheng-13750	119	1	consequently	consequently	ADV
fumecheng-13750	119	2	,	,	PUNCT
fumecheng-13750	119	3	the	the	DET
fumecheng-13750	119	4	system	system	NOUN
fumecheng-13750	119	5	can	can	AUX
fumecheng-13750	119	6	concentrate	concentrate	VERB
fumecheng-13750	119	7	on	on	ADP
fumecheng-13750	119	8	its	its	PRON
fumecheng-13750	119	9	primary	primary	ADJ
fumecheng-13750	119	10	dynamics	dynamic	NOUN
fumecheng-13750	119	11	while	while	SCONJ
fumecheng-13750	119	12	the	the	DET
fumecheng-13750	119	13	eso	eso	NOUN
fumecheng-13750	119	14	addresses	address	NOUN
fumecheng-13750	119	15	disturbances	disturbance	NOUN
fumecheng-13750	119	16	.	.	PUNCT
fumecheng-13750	120	1	within	within	ADP
fumecheng-13750	120	2	the	the	DET
fumecheng-13750	120	3	context	context	NOUN
fumecheng-13750	120	4	of	of	ADP
fumecheng-13750	120	5	the	the	DET
fumecheng-13750	120	6	eso	eso	NOUN
fumecheng-13750	120	7	is	be	AUX
fumecheng-13750	120	8	employed	employ	VERB
fumecheng-13750	120	9	to	to	PART
fumecheng-13750	120	10	estimate	estimate	VERB
fumecheng-13750	120	11	the	the	DET
fumecheng-13750	120	12	output	output	NOUN
fumecheng-13750	120	13	of	of	ADP
fumecheng-13750	120	14	the	the	DET
fumecheng-13750	120	15	system	system	NOUN
fumecheng-13750	120	16	rather	rather	ADV
fumecheng-13750	120	17	than	than	ADP
fumecheng-13750	120	18	the	the	DET
fumecheng-13750	120	19	disturbance	disturbance	NOUN
fumecheng-13750	120	20	itself	itself	PRON
fumecheng-13750	120	21	.	.	PUNCT
fumecheng-13750	121	1	this	this	PRON
fumecheng-13750	121	2	arises	arise	VERB
fumecheng-13750	121	3	because	because	SCONJ
fumecheng-13750	121	4	,	,	PUNCT
fumecheng-13750	121	5	in	in	ADP
fumecheng-13750	121	6	the	the	DET
fumecheng-13750	121	7	framework	framework	NOUN
fumecheng-13750	121	8	of	of	ADP
fumecheng-13750	121	9	adrc	adrc	NOUN
fumecheng-13750	121	10	,	,	PUNCT
fumecheng-13750	121	11	the	the	DET
fumecheng-13750	121	12	observer	observer	NOUN
fumecheng-13750	121	13	is	be	AUX
fumecheng-13750	121	14	designed	design	VERB
fumecheng-13750	121	15	to	to	PART
fumecheng-13750	121	16	estimate	estimate	VERB
fumecheng-13750	121	17	the	the	DET
fumecheng-13750	121	18	system	system	NOUN
fumecheng-13750	121	19	output	output	NOUN
fumecheng-13750	121	20	directly	directly	ADV
fumecheng-13750	121	21	.	.	PUNCT
fumecheng-13750	122	1	at	at	ADP
fumecheng-13750	122	2	the	the	DET
fumecheng-13750	122	3	same	same	ADJ
fumecheng-13750	122	4	time	time	NOUN
fumecheng-13750	122	5	,	,	PUNCT
fumecheng-13750	122	6	the	the	DET
fumecheng-13750	122	7	disturbance	disturbance	NOUN
fumecheng-13750	122	8	is	be	AUX
fumecheng-13750	122	9	inferred	infer	VERB
fumecheng-13750	122	10	indirectly	indirectly	ADV
fumecheng-13750	122	11	as	as	ADP
fumecheng-13750	122	12	a	a	DET
fumecheng-13750	122	13	component	component	NOUN
fumecheng-13750	122	14	of	of	ADP
fumecheng-13750	122	15	the	the	DET
fumecheng-13750	122	16	total	total	ADJ
fumecheng-13750	122	17	disturbance	disturbance	NOUN
fumecheng-13750	122	18	.	.	PUNCT
fumecheng-13750	123	1	this	this	PRON
fumecheng-13750	123	2	is	be	AUX
fumecheng-13750	123	3	achieved	achieve	VERB
fumecheng-13750	123	4	by	by	ADP
fumecheng-13750	123	5	analyzing	analyze	VERB
fumecheng-13750	123	6	the	the	DET
fumecheng-13750	123	7	discrepancy	discrepancy	NOUN
fumecheng-13750	123	8	between	between	ADP
fumecheng-13750	123	9	the	the	DET
fumecheng-13750	123	10	observed	observed	ADJ
fumecheng-13750	123	11	output	output	NOUN
fumecheng-13750	123	12	and	and	CCONJ
fumecheng-13750	123	13	the	the	DET
fumecheng-13750	123	14	estimated	estimate	VERB
fumecheng-13750	123	15	output	output	NOUN
fumecheng-13750	123	16	y(t	y(t	PUNCT
fumecheng-13750	123	17	)	)	PUNCT
fumecheng-13750	124	1	=	=	PUNCT
fumecheng-13750	124	2	ẑ1(t	ẑ1(t	X
fumecheng-13750	124	3	)	)	PUNCT
fumecheng-13750	124	4	.	.	PUNCT
fumecheng-13750	125	1	subsequently	subsequently	ADV
fumecheng-13750	125	2	,	,	PUNCT
fumecheng-13750	125	3	upon	upon	SCONJ
fumecheng-13750	125	4	substituting	substitute	VERB
fumecheng-13750	125	5	ẑ1(t	ẑ1(t	ADP
fumecheng-13750	125	6	)	)	PUNCT
fumecheng-13750	125	7	with	with	ADP
fumecheng-13750	125	8	ŷ1(t	ŷ1(t	PROPN
fumecheng-13750	125	9	)	)	PUNCT
fumecheng-13750	125	10	,	,	PUNCT
fumecheng-13750	125	11	the	the	DET
fumecheng-13750	125	12	model	model	NOUN
fumecheng-13750	125	13	for	for	ADP
fumecheng-13750	125	14	the	the	DET
fumecheng-13750	125	15	eso	eso	NOUN
fumecheng-13750	125	16	is	be	AUX
fumecheng-13750	125	17	adjusted	adjust	VERB
fumecheng-13750	125	18	accordingly	accordingly	ADV
fumecheng-13750	125	19	[	[	X
fumecheng-13750	125	20	13–15	13–15	NUM
fumecheng-13750	125	21	]	]	X
fumecheng-13750	125	22			PROPN
fumecheng-13750	125	23			PROPN
fumecheng-13750	125	24			PROPN
fumecheng-13750	125	25	)	)	PUNCT
fumecheng-13750	125	26	,	,	PUNCT
fumecheng-13750	125	27	(	(	PUNCT
fumecheng-13750	125	28	ˆ	ˆ	X
fumecheng-13750	125	29	)	)	PUNCT
fumecheng-13750	125	30	0	0	NUM
fumecheng-13750	125	31	1()(ˆ	1()(ˆ	NUM
fumecheng-13750	125	32	)	)	PUNCT
fumecheng-13750	125	33	,	,	PUNCT
fumecheng-13750	125	34	(	(	PUNCT
fumecheng-13750	125	35	)	)	PUNCT
fumecheng-13750	125	36	(	(	PUNCT
fumecheng-13750	125	37	0	0	NUM
fumecheng-13750	125	38	)	)	PUNCT
fumecheng-13750	125	39	(	(	PUNCT
fumecheng-13750	125	40	ˆ	ˆ	NOUN
fumecheng-13750	125	41	0	0	NUM
fumecheng-13750	125	42	1	1	NUM
fumecheng-13750	125	43	)	)	PUNCT
fumecheng-13750	125	44	(	(	PUNCT
fumecheng-13750	125	45	ˆ	ˆ	NOUN
fumecheng-13750	125	46	)	)	PUNCT
fumecheng-13750	125	47	(	(	PUNCT
fumecheng-13750	125	48	ˆ	ˆ	ADV
fumecheng-13750	125	49	2	2	NUM
fumecheng-13750	125	50	10	10	NUM
fumecheng-13750	125	51	2	2	NUM
fumecheng-13750	125	52	1	1	NUM
fumecheng-13750	125	53	)	)	PUNCT
fumecheng-13750	125	54	(	(	PUNCT
fumecheng-13750	125	55	ˆ	ˆ	ADV
fumecheng-13750	125	56	2	2	NUM
fumecheng-13750	125	57	1	1	NUM
fumecheng-13750	125	58	tty	tty	NOUN
fumecheng-13750	125	59	ty	ty	NOUN
fumecheng-13750	125	60	l	l	NOUN
fumecheng-13750	125	61	l	l	X
fumecheng-13750	126	1	tu	tu	PROPN
fumecheng-13750	126	2	b	b	PROPN
fumecheng-13750	126	3	t	t	PROPN
fumecheng-13750	126	4	l	l	NOUN
fumecheng-13750	126	5	l	l	NOUN
fumecheng-13750	127	1	tz	tz	NOUN
fumecheng-13750	127	2	tz	tz	PROPN
fumecheng-13750	127	3	t	t	PROPN
fumecheng-13750	127	4	z	z	PROPN
fumecheng-13750	127	5	z	z	NOUN
fumecheng-13750	127	6	c	c	NOUN
fumecheng-13750	127	7	lblca	lblca	NOUN
fumecheng-13750	128	1	z	z	NOUN
fumecheng-13750	129	1	=	=	SYM
fumecheng-13750	130	1			NOUN
fumecheng-13750	130	2			NOUN
fumecheng-13750	130	3			PROPN
fumecheng-13750	130	4			NOUN
fumecheng-13750	130	5			PROPN
fumecheng-13750	130	6			NOUN
fumecheng-13750	131	1	+	+	PROPN
fumecheng-13750	131	2			NOUN
fumecheng-13750	131	3			NOUN
fumecheng-13750	131	4			PROPN
fumecheng-13750	131	5			NOUN
fumecheng-13750	131	6			PROPN
fumecheng-13750	131	7			NOUN
fumecheng-13750	132	1	+	+	PROPN
fumecheng-13750	132	2			NOUN
fumecheng-13750	132	3			NOUN
fumecheng-13750	132	4			PROPN
fumecheng-13750	132	5			PROPN
fumecheng-13750	132	6			PROPN
fumecheng-13750	132	7			NOUN
fumecheng-13750	132	8	−	−	NOUN
fumecheng-13750	132	9	−	−	PROPN
fumecheng-13750	133	1	=	=	SYM
fumecheng-13750	133	2			PROPN
fumecheng-13750	133	3			PROPN
fumecheng-13750	133	4			NOUN
fumecheng-13750	133	5			NOUN
fumecheng-13750	134	1			PROPN
fumecheng-13750	134	2			PROPN
fumecheng-13750	135	1			PROPN
fumecheng-13750	135	2			NOUN
fumecheng-13750	135	3	−	−	NOUN
fumecheng-13750	135	4			ADJ
fumecheng-13750	135	5			NOUN
fumecheng-13750	135	6			NOUN
fumecheng-13750	135	7			NOUN
fumecheng-13750	135	8	(	(	PUNCT
fumecheng-13750	135	9	12	12	NUM
fumecheng-13750	135	10	)	)	PUNCT
fumecheng-13750	135	11	where	where	SCONJ
fumecheng-13750	135	12	the	the	DET
fumecheng-13750	135	13	eso	eso	NOUN
fumecheng-13750	135	14	gain	gain	NOUN
fumecheng-13750	135	15	matrices	matrix	NOUN
fumecheng-13750	135	16	are	be	AUX
fumecheng-13750	135	17	a	a	DET
fumecheng-13750	135	18			NOUN
fumecheng-13750	135	19	r2x2	r2x2	PROPN
fumecheng-13750	135	20	,	,	PUNCT
fumecheng-13750	135	21	b	b	PROPN
fumecheng-13750	135	22			NOUN
fumecheng-13750	135	23	r2x1	r2x1	NOUN
fumecheng-13750	135	24	,	,	PUNCT
fumecheng-13750	135	25	and	and	CCONJ
fumecheng-13750	135	26	c	c	X
fumecheng-13750	135	27			NOUN
fumecheng-13750	135	28	r1x2	r1x2	NOUN
fumecheng-13750	135	29	,	,	PUNCT
fumecheng-13750	135	30	while	while	SCONJ
fumecheng-13750	135	31	l	l	NOUN
fumecheng-13750	135	32	=	=	PUNCT
fumecheng-13750	136	1	[	[	X
fumecheng-13750	136	2	l1	l1	PROPN
fumecheng-13750	136	3	l2]t	l2]t	X
fumecheng-13750	136	4	exerts	exert	VERB
fumecheng-13750	136	5	an	an	DET
fumecheng-13750	136	6	influence	influence	NOUN
fumecheng-13750	136	7	on	on	ADP
fumecheng-13750	136	8	the	the	DET
fumecheng-13750	136	9	spectrum	spectrum	NOUN
fumecheng-13750	136	10	of	of	ADP
fumecheng-13750	136	11	matrix	matrix	NOUN
fumecheng-13750	136	12	(	(	PUNCT
fumecheng-13750	136	13	a	a	DET
fumecheng-13750	136	14	–	–	PUNCT
fumecheng-13750	136	15	lc	lc	NOUN
fumecheng-13750	136	16	)	)	PUNCT
fumecheng-13750	136	17	,	,	PUNCT
fumecheng-13750	136	18	and	and	CCONJ
fumecheng-13750	136	19	ẑ(t	ẑ(t	PROPN
fumecheng-13750	136	20	)	)	PUNCT
fumecheng-13750	136	21	is	be	AUX
fumecheng-13750	136	22	the	the	DET
fumecheng-13750	136	23	estimate	estimate	NOUN
fumecheng-13750	136	24	of	of	ADP
fumecheng-13750	136	25	z(t	z(t	NOUN
fumecheng-13750	136	26	)	)	PUNCT
fumecheng-13750	136	27	.	.	PUNCT
fumecheng-13750	137	1	the	the	DET
fumecheng-13750	137	2	eigenvalues	eigenvalue	NOUN
fumecheng-13750	137	3	of	of	ADP
fumecheng-13750	137	4	the	the	DET
fumecheng-13750	137	5	matrix	matrix	NOUN
fumecheng-13750	137	6	(	(	PUNCT
fumecheng-13750	137	7	a	a	DET
fumecheng-13750	137	8	–	–	PUNCT
fumecheng-13750	137	9	lc	lc	NOUN
fumecheng-13750	137	10	)	)	PUNCT
fumecheng-13750	137	11	are	be	AUX
fumecheng-13750	137	12	required	require	VERB
fumecheng-13750	137	13	to	to	PART
fumecheng-13750	137	14	reside	reside	VERB
fumecheng-13750	137	15	in	in	ADP
fumecheng-13750	137	16	the	the	DET
fumecheng-13750	137	17	left	left	ADJ
fumecheng-13750	137	18	half	half	ADJ
fumecheng-13750	137	19	-	-	PUNCT
fumecheng-13750	137	20	plane	plane	NOUN
fumecheng-13750	137	21	because	because	SCONJ
fumecheng-13750	137	22	their	their	PRON
fumecheng-13750	137	23	positions	position	NOUN
fumecheng-13750	137	24	influence	influence	VERB
fumecheng-13750	137	25	the	the	DET
fumecheng-13750	137	26	behavior	behavior	NOUN
fumecheng-13750	137	27	of	of	ADP
fumecheng-13750	137	28	the	the	DET
fumecheng-13750	137	29	control	control	NOUN
fumecheng-13750	137	30	system	system	NOUN
fumecheng-13750	137	31	.	.	PUNCT
fumecheng-13750	138	1	within	within	ADP
fumecheng-13750	138	2	this	this	DET
fumecheng-13750	138	3	context	context	NOUN
fumecheng-13750	138	4	,	,	PUNCT
fumecheng-13750	138	5	the	the	DET
fumecheng-13750	138	6	feasible	feasible	ADJ
fumecheng-13750	138	7	domain	domain	NOUN
fumecheng-13750	138	8	is	be	AUX
fumecheng-13750	138	9	denoted	denote	VERB
fumecheng-13750	138	10	as	as	ADP
fumecheng-13750	138	11	dl	dl	PROPN
fumecheng-13750	138	12	.	.	PROPN
fumecheng-13750	138	13	here	here	ADV
fumecheng-13750	138	14	,	,	PUNCT
fumecheng-13750	138	15	y(t	y(t	PROPN
fumecheng-13750	138	16	)	)	PUNCT
fumecheng-13750	138	17	represents	represent	VERB
fumecheng-13750	138	18	the	the	DET
fumecheng-13750	138	19	controlled	control	VERB
fumecheng-13750	138	20	output	output	NOUN
fumecheng-13750	138	21	obtained	obtain	VERB
fumecheng-13750	138	22	from	from	ADP
fumecheng-13750	138	23	an	an	DET
fumecheng-13750	138	24	initial	initial	ADJ
fumecheng-13750	138	25	open	open	ADJ
fumecheng-13750	138	26	-	-	PUNCT
fumecheng-13750	138	27	loop	loop	NOUN
fumecheng-13750	138	28	experiment	experiment	NOUN
fumecheng-13750	138	29	,	,	PUNCT
fumecheng-13750	138	30	and	and	CCONJ
fumecheng-13750	139	1	ẑ1(t	ẑ1(t	X
fumecheng-13750	139	2	)	)	PUNCT
fumecheng-13750	139	3	=	=	SYM
fumecheng-13750	139	4	y(t	y(t	PROPN
fumecheng-13750	139	5	)	)	PUNCT
fumecheng-13750	139	6	,	,	PUNCT
fumecheng-13750	139	7	which	which	PRON
fumecheng-13750	139	8	is	be	AUX
fumecheng-13750	139	9	the	the	DET
fumecheng-13750	139	10	primary	primary	ADJ
fumecheng-13750	139	11	output	output	NOUN
fumecheng-13750	139	12	produced	produce	VERB
fumecheng-13750	139	13	by	by	ADP
fumecheng-13750	139	14	the	the	DET
fumecheng-13750	139	15	active	active	ADJ
fumecheng-13750	139	16	disturbance	disturbance	NOUN
fumecheng-13750	139	17	rejection	rejection	NOUN
fumecheng-13750	139	18	control	control	NOUN
fumecheng-13750	139	19	and	and	CCONJ
fumecheng-13750	139	20	model	model	NOUN
fumecheng-13750	139	21	-	-	PUNCT
fumecheng-13750	139	22	free	free	ADJ
fumecheng-13750	139	23	control	control	NOUN
fumecheng-13750	139	24	189	189	NUM
fumecheng-13750	139	25	observer	observer	NOUN
fumecheng-13750	139	26	estimating	estimate	VERB
fumecheng-13750	139	27	y(t	y(t	PROPN
fumecheng-13750	139	28	)	)	PUNCT
fumecheng-13750	139	29	.	.	PUNCT
fumecheng-13750	140	1	the	the	DET
fumecheng-13750	140	2	initial	initial	ADJ
fumecheng-13750	140	3	open	open	ADJ
fumecheng-13750	140	4	-	-	PUNCT
fumecheng-13750	140	5	loop	loop	NOUN
fumecheng-13750	140	6	experiment	experiment	NOUN
fumecheng-13750	140	7	is	be	AUX
fumecheng-13750	140	8	executed	execute	VERB
fumecheng-13750	140	9	under	under	ADP
fumecheng-13750	140	10	a	a	DET
fumecheng-13750	140	11	dynamic	dynamic	ADJ
fumecheng-13750	140	12	regime	regime	NOUN
fumecheng-13750	140	13	that	that	PRON
fumecheng-13750	140	14	is	be	AUX
fumecheng-13750	140	15	congruent	congruent	ADJ
fumecheng-13750	140	16	with	with	ADP
fumecheng-13750	140	17	the	the	DET
fumecheng-13750	140	18	closed	closed	ADJ
fumecheng-13750	140	19	-	-	PUNCT
fumecheng-13750	140	20	loop	loop	NOUN
fumecheng-13750	140	21	control	control	NOUN
fumecheng-13750	140	22	system	system	NOUN
fumecheng-13750	140	23	’s	’s	PART
fumecheng-13750	140	24	operating	operating	NOUN
fumecheng-13750	140	25	conditions	condition	NOUN
fumecheng-13750	140	26	.	.	PUNCT
fumecheng-13750	141	1	furthermore	furthermore	ADV
fumecheng-13750	141	2	,	,	PUNCT
fumecheng-13750	141	3	the	the	DET
fumecheng-13750	141	4	input	input	NOUN
fumecheng-13750	141	5	signal	signal	NOUN
fumecheng-13750	141	6	applied	apply	VERB
fumecheng-13750	141	7	to	to	ADP
fumecheng-13750	141	8	the	the	DET
fumecheng-13750	141	9	open	open	ADJ
fumecheng-13750	141	10	-	-	PUNCT
fumecheng-13750	141	11	loop	loop	NOUN
fumecheng-13750	141	12	experiment	experiment	NOUN
fumecheng-13750	141	13	must	must	AUX
fumecheng-13750	141	14	be	be	AUX
fumecheng-13750	141	15	rich	rich	ADJ
fumecheng-13750	141	16	in	in	ADP
fumecheng-13750	141	17	frequency	frequency	NOUN
fumecheng-13750	141	18	content	content	NOUN
fumecheng-13750	141	19	.	.	PUNCT
fumecheng-13750	142	1	the	the	DET
fumecheng-13750	142	2	characteristic	characteristic	ADJ
fumecheng-13750	142	3	polynomial	polynomial	NOUN
fumecheng-13750	142	4	associated	associate	VERB
fumecheng-13750	142	5	with	with	ADP
fumecheng-13750	142	6	the	the	DET
fumecheng-13750	142	7	eso	eso	NOUN
fumecheng-13750	142	8	’s	’s	PART
fumecheng-13750	142	9	dynamic	dynamic	ADJ
fumecheng-13750	142	10	model	model	NOUN
fumecheng-13750	142	11	is	be	AUX
fumecheng-13750	142	12	[	[	X
fumecheng-13750	142	13	14	14	NUM
fumecheng-13750	142	14	]	]	PUNCT
fumecheng-13750	142	15	.	.	PUNCT
fumecheng-13750	142	16	)	)	PUNCT
fumecheng-13750	143	1	(	(	PUNCT
fumecheng-13750	143	2	21	21	NUM
fumecheng-13750	143	3	2	2	NUM
fumecheng-13750	143	4	lslss	lslss	NOUN
fumecheng-13750	143	5	+	+	PROPN
fumecheng-13750	143	6	+	+	NOUN
fumecheng-13750	143	7	=	=	ADJ
fumecheng-13750	143	8			NOUN
fumecheng-13750	143	9	(	(	PUNCT
fumecheng-13750	143	10	13	13	NUM
fumecheng-13750	143	11	)	)	PUNCT
fumecheng-13750	143	12	the	the	DET
fumecheng-13750	143	13	stability	stability	NOUN
fumecheng-13750	143	14	of	of	ADP
fumecheng-13750	143	15	the	the	DET
fumecheng-13750	143	16	eso	eso	NOUN
fumecheng-13750	143	17	is	be	AUX
fumecheng-13750	143	18	guaranteed	guarantee	VERB
fumecheng-13750	143	19	by	by	ADP
fumecheng-13750	143	20	enforcing	enforce	VERB
fumecheng-13750	143	21	the	the	DET
fumecheng-13750	143	22	characteristic	characteristic	ADJ
fumecheng-13750	143	23	polynomial	polynomial	NOUN
fumecheng-13750	143	24	in	in	ADP
fumecheng-13750	143	25	(	(	PUNCT
fumecheng-13750	143	26	13	13	NUM
fumecheng-13750	143	27	)	)	PUNCT
fumecheng-13750	143	28	to	to	PART
fumecheng-13750	143	29	satisfy	satisfy	VERB
fumecheng-13750	143	30	hurwitz	hurwitz	PROPN
fumecheng-13750	143	31	conditions	condition	NOUN
fumecheng-13750	143	32	,	,	PUNCT
fumecheng-13750	143	33	thereby	thereby	ADV
fumecheng-13750	143	34	resulting	result	VERB
fumecheng-13750	143	35	in	in	ADP
fumecheng-13750	143	36	the	the	DET
fumecheng-13750	143	37	establishment	establishment	NOUN
fumecheng-13750	143	38	of	of	ADP
fumecheng-13750	143	39	constraints	constraint	NOUN
fumecheng-13750	143	40	for	for	ADP
fumecheng-13750	143	41	determining	determine	VERB
fumecheng-13750	143	42	the	the	DET
fumecheng-13750	143	43	elements	element	NOUN
fumecheng-13750	143	44	of	of	ADP
fumecheng-13750	143	45	l	l	NOUN
fumecheng-13750	143	46	}	}	PUNCT
fumecheng-13750	143	47	.0	.0	NUM
fumecheng-13750	143	48	,	,	PUNCT
fumecheng-13750	143	49	0|	0|	NUM
fumecheng-13750	143	50	]	]	X
fumecheng-13750	143	51	{	{	PUNCT
fumecheng-13750	143	52	[	[	PUNCT
fumecheng-13750	143	53	21	21	NUM
fumecheng-13750	143	54	2	2	NUM
fumecheng-13750	143	55	21	21	NUM
fumecheng-13750	143	56	=	=	NUM
fumecheng-13750	143	57	lllld	lllld	NOUN
fumecheng-13750	143	58	t	t	X
fumecheng-13750	143	59	rl	rl	X
fumecheng-13750	143	60	(	(	PUNCT
fumecheng-13750	143	61	14	14	NUM
fumecheng-13750	143	62	)	)	PUNCT
fumecheng-13750	143	63	the	the	DET
fumecheng-13750	143	64	control	control	NOUN
fumecheng-13750	143	65	strategy	strategy	NOUN
fumecheng-13750	143	66	formulated	formulate	VERB
fumecheng-13750	143	67	for	for	ADP
fumecheng-13750	143	68	the	the	DET
fumecheng-13750	143	69	adrc	adrc	ADJ
fumecheng-13750	143	70	algorithm	algorithm	NOUN
fumecheng-13750	143	71	is	be	AUX
fumecheng-13750	143	72	(	(	PUNCT
fumecheng-13750	143	73	)	)	PUNCT
fumecheng-13750	143	74	,	,	PUNCT
fumecheng-13750	143	75	)	)	PUNCT
fumecheng-13750	143	76	(	(	PUNCT
fumecheng-13750	143	77	ˆ)(ˆ	ˆ)(ˆ	NOUN
fumecheng-13750	143	78	1	1	NUM
fumecheng-13750	143	79	)	)	PUNCT
fumecheng-13750	143	80	(	(	PUNCT
fumecheng-13750	143	81	ˆ))(ˆ	ˆ))(ˆ	NOUN
fumecheng-13750	143	82	)	)	PUNCT
fumecheng-13750	143	83	(	(	PUNCT
fumecheng-13750	143	84	(	(	PUNCT
fumecheng-13750	143	85	1	1	X
fumecheng-13750	143	86	)	)	PUNCT
fumecheng-13750	143	87	(	(	PUNCT
fumecheng-13750	143	88	2	2	NUM
fumecheng-13750	143	89	0	0	NUM
fumecheng-13750	143	90	2	2	NUM
fumecheng-13750	143	91	)	)	PUNCT
fumecheng-13750	143	92	(	(	PUNCT
fumecheng-13750	143	93	ˆ	ˆ	ADV
fumecheng-13750	143	94	1	1	NUM
fumecheng-13750	143	95	0	0	NUM
fumecheng-13750	143	96	tzte	tzte	NOUN
fumecheng-13750	143	97	b	b	PROPN
fumecheng-13750	143	98	tztztr	tztztr	PROPN
fumecheng-13750	143	99	b	b	PROPN
fumecheng-13750	143	100	tu	tu	PROPN
fumecheng-13750	143	101	te	te	PROPN
fumecheng-13750	143	102	−=	−=	PROPN
fumecheng-13750	143	103			PROPN
fumecheng-13750	143	104			PROPN
fumecheng-13750	143	105			NOUN
fumecheng-13750	144	1			PROPN
fumecheng-13750	144	2			PROPN
fumecheng-13750	144	3			PROPN
fumecheng-13750	145	1			PROPN
fumecheng-13750	145	2			NOUN
fumecheng-13750	145	3	−−=	−−=	PROPN
fumecheng-13750	145	4			NOUN
fumecheng-13750	145	5	(	(	PUNCT
fumecheng-13750	145	6	15	15	NUM
fumecheng-13750	145	7	)	)	PUNCT
fumecheng-13750	145	8	where	where	SCONJ
fumecheng-13750	145	9	ê(t	ê(t	PROPN
fumecheng-13750	145	10	)	)	PUNCT
fumecheng-13750	145	11	represents	represent	VERB
fumecheng-13750	145	12	the	the	DET
fumecheng-13750	145	13	estimated	estimate	VERB
fumecheng-13750	145	14	control	control	NOUN
fumecheng-13750	145	15	error	error	NOUN
fumecheng-13750	145	16	,	,	PUNCT
fumecheng-13750	145	17	and	and	CCONJ
fumecheng-13750	145	18	e(t	e(t	NOUN
fumecheng-13750	145	19	)	)	PUNCT
fumecheng-13750	145	20	=	=	SYM
fumecheng-13750	145	21	r(t	r(t	NOUN
fumecheng-13750	145	22	)	)	PUNCT
fumecheng-13750	145	23	–	–	PUNCT
fumecheng-13750	145	24	z1(t	z1(t	NUM
fumecheng-13750	145	25	)	)	PUNCT
fumecheng-13750	145	26	=	=	SYM
fumecheng-13750	145	27	r(t	r(t	NOUN
fumecheng-13750	145	28	)	)	PUNCT
fumecheng-13750	145	29	–	–	PUNCT
fumecheng-13750	145	30	y(t	y(t	NUM
fumecheng-13750	145	31	)	)	PUNCT
fumecheng-13750	145	32	denotes	denote	VERB
fumecheng-13750	145	33	the	the	DET
fumecheng-13750	145	34	control	control	NOUN
fumecheng-13750	145	35	error	error	NOUN
fumecheng-13750	145	36	,	,	PUNCT
fumecheng-13750	145	37	r(t	r(t	NOUN
fumecheng-13750	145	38	)	)	PUNCT
fumecheng-13750	145	39	is	be	AUX
fumecheng-13750	145	40	the	the	DET
fumecheng-13750	145	41	reference	reference	NOUN
fumecheng-13750	145	42	input	input	NOUN
fumecheng-13750	145	43	(	(	PUNCT
fumecheng-13750	145	44	set	set	NOUN
fumecheng-13750	145	45	-	-	PUNCT
fumecheng-13750	145	46	point	point	NOUN
fumecheng-13750	145	47	)	)	PUNCT
fumecheng-13750	145	48	,	,	PUNCT
fumecheng-13750	145	49	and	and	CCONJ
fumecheng-13750	145	50	κ	κ	PROPN
fumecheng-13750	145	51	is	be	AUX
fumecheng-13750	145	52	the	the	DET
fumecheng-13750	145	53	adrc	adrc	NOUN
fumecheng-13750	145	54	’s	’s	PART
fumecheng-13750	145	55	gain	gain	NOUN
fumecheng-13750	145	56	.	.	PUNCT
fumecheng-13750	146	1	the	the	DET
fumecheng-13750	146	2	stability	stability	NOUN
fumecheng-13750	146	3	of	of	ADP
fumecheng-13750	146	4	the	the	DET
fumecheng-13750	146	5	control	control	NOUN
fumecheng-13750	146	6	system	system	NOUN
fumecheng-13750	146	7	with	with	ADP
fumecheng-13750	146	8	the	the	DET
fumecheng-13750	146	9	adrc	adrc	ADJ
fumecheng-13750	146	10	algorithm	algorithm	NOUN
fumecheng-13750	146	11	and	and	CCONJ
fumecheng-13750	146	12	eso	eso	NOUN
fumecheng-13750	146	13	,	,	PUNCT
fumecheng-13750	146	14	denoted	denote	VERB
fumecheng-13750	146	15	as	as	ADP
fumecheng-13750	146	16	kadrc	kadrc	PROPN
fumecheng-13750	146	17	=	=	PUNCT
fumecheng-13750	147	1	[	[	X
fumecheng-13750	147	2	κ	κ	X
fumecheng-13750	147	3	l1	l1	PROPN
fumecheng-13750	147	4	l2]t	l2]t	PROPN
fumecheng-13750	147	5	,	,	PUNCT
fumecheng-13750	147	6	is	be	AUX
fumecheng-13750	147	7	ensured	ensure	VERB
fumecheng-13750	147	8	by	by	ADP
fumecheng-13750	147	9	theorem	theorem	ADJ
fumecheng-13750	147	10	1	1	NUM
fumecheng-13750	147	11	[	[	X
fumecheng-13750	147	12	14	14	NUM
fumecheng-13750	147	13	]	]	PUNCT
fumecheng-13750	147	14	with	with	ADP
fumecheng-13750	147	15	the	the	DET
fumecheng-13750	147	16	proof	proof	NOUN
fumecheng-13750	147	17	given	give	VERB
fumecheng-13750	147	18	in	in	ADP
fumecheng-13750	147	19	[	[	X
fumecheng-13750	147	20	40	40	NUM
fumecheng-13750	147	21	]	]	PUNCT
fumecheng-13750	147	22	.	.	PUNCT
fumecheng-13750	148	1	theorem	theorem	NOUN
fumecheng-13750	148	2	1	1	NUM
fumecheng-13750	148	3	.	.	X
fumecheng-13750	148	4	taking	take	VERB
fumecheng-13750	148	5	into	into	ADP
fumecheng-13750	148	6	account	account	NOUN
fumecheng-13750	148	7	the	the	DET
fumecheng-13750	148	8	disturbed	disturbed	ADJ
fumecheng-13750	148	9	integrator	integrator	NOUN
fumecheng-13750	148	10	model	model	NOUN
fumecheng-13750	148	11	(	(	PUNCT
fumecheng-13750	148	12	10	10	NUM
fumecheng-13750	148	13	)	)	PUNCT
fumecheng-13750	148	14	alongside	alongside	ADP
fumecheng-13750	148	15	the	the	DET
fumecheng-13750	148	16	disturbance	disturbance	NOUN
fumecheng-13750	148	17	term	term	NOUN
fumecheng-13750	148	18	(	(	PUNCT
fumecheng-13750	148	19	9	9	NUM
fumecheng-13750	148	20	)	)	PUNCT
fumecheng-13750	148	21	,	,	PUNCT
fumecheng-13750	148	22	in	in	ADP
fumecheng-13750	148	23	conjunction	conjunction	NOUN
fumecheng-13750	148	24	with	with	ADP
fumecheng-13750	148	25	the	the	DET
fumecheng-13750	148	26	eso	eso	NOUN
fumecheng-13750	148	27	dynamic	dynamic	ADJ
fumecheng-13750	148	28	model	model	NOUN
fumecheng-13750	148	29	(	(	PUNCT
fumecheng-13750	148	30	12	12	NUM
fumecheng-13750	148	31	)	)	PUNCT
fumecheng-13750	148	32	,	,	PUNCT
fumecheng-13750	148	33	the	the	DET
fumecheng-13750	148	34	adrc	adrc	PROPN
fumecheng-13750	148	35	control	control	NOUN
fumecheng-13750	148	36	system	system	NOUN
fumecheng-13750	148	37	employing	employ	VERB
fumecheng-13750	148	38	the	the	DET
fumecheng-13750	148	39	control	control	NOUN
fumecheng-13750	148	40	law	law	NOUN
fumecheng-13750	148	41	(	(	PUNCT
fumecheng-13750	148	42	15	15	NUM
fumecheng-13750	148	43	)	)	PUNCT
fumecheng-13750	148	44	is	be	AUX
fumecheng-13750	148	45	stable	stable	ADJ
fumecheng-13750	148	46	if	if	SCONJ
fumecheng-13750	148	47	and	and	CCONJ
fumecheng-13750	148	48	only	only	ADV
fumecheng-13750	148	49	if	if	SCONJ
fumecheng-13750	148	50	}	}	PUNCT
fumecheng-13750	148	51	.0]/	.0]/	NUM
fumecheng-13750	148	52	)	)	PUNCT
fumecheng-13750	148	53	(	(	PUNCT
fumecheng-13750	148	54	)	)	PUNCT
fumecheng-13750	148	55	(	(	PUNCT
fumecheng-13750	148	56	1	1	NUM
fumecheng-13750	148	57	/	/	SYM
fumecheng-13750	148	58	)	)	PUNCT
fumecheng-13750	148	59	(	(	PUNCT
fumecheng-13750	148	60	1	1	X
fumecheng-13750	148	61	)	)	PUNCT
fumecheng-13750	148	62	(	(	PUNCT
fumecheng-13750	148	63	1	1	NUM
fumecheng-13750	148	64	[	[	X
fumecheng-13750	148	65	/	/	SYM
fumecheng-13750	148	66	,	,	PUNCT
fumecheng-13750	148	67	0/	0/	NUM
fumecheng-13750	148	68	)	)	PUNCT
fumecheng-13750	148	69	(	(	PUNCT
fumecheng-13750	148	70	)	)	PUNCT
fumecheng-13750	148	71	(	(	PUNCT
fumecheng-13750	148	72	1	1	NUM
fumecheng-13750	148	73	/	/	SYM
fumecheng-13750	148	74	)	)	PUNCT
fumecheng-13750	148	75	(	(	PUNCT
fumecheng-13750	148	76	1	1	X
fumecheng-13750	148	77	)	)	PUNCT
fumecheng-13750	148	78	(	(	PUNCT
fumecheng-13750	148	79	1	1	NUM
fumecheng-13750	148	80	,	,	PUNCT
fumecheng-13750	148	81	0/	0/	NUM
fumecheng-13750	148	82	,	,	PUNCT
fumecheng-13750	148	83	0/	0/	NUM
fumecheng-13750	148	84	)	)	PUNCT
fumecheng-13750	148	85	(	(	PUNCT
fumecheng-13750	148	86	)	)	PUNCT
fumecheng-13750	148	87	(	(	PUNCT
fumecheng-13750	148	88	1	1	NUM
fumecheng-13750	148	89	,	,	PUNCT
fumecheng-13750	148	90	0	0	NUM
fumecheng-13750	148	91	1	1	NUM
fumecheng-13750	148	92	,	,	PUNCT
fumecheng-13750	148	93	0	0	NUM
fumecheng-13750	148	94	,	,	PUNCT
fumecheng-13750	148	95	0|	0|	NUM
fumecheng-13750	148	96	)	)	PUNCT
fumecheng-13750	148	97	{	{	PUNCT
fumecheng-13750	148	98	(	(	PUNCT
fumecheng-13750	148	99	,	,	PUNCT
fumecheng-13750	148	100	021	021	NUM
fumecheng-13750	148	101	2	2	NUM
fumecheng-13750	148	102	11	11	NUM
fumecheng-13750	148	103	22	22	NUM
fumecheng-13750	148	104	10211202	10211202	NUM
fumecheng-13750	148	105	021	021	NUM
fumecheng-13750	148	106	2	2	NUM
fumecheng-13750	148	107	11	11	NUM
fumecheng-13750	148	108	22	22	NUM
fumecheng-13750	148	109	102112	102112	NUM
fumecheng-13750	148	110	00211	00211	NUM
fumecheng-13750	148	111	12111adrc	12111adrc	NUM
fumecheng-13750	148	112	3	3	NUM
fumecheng-13750	148	113	adrcadrc	adrcadrc	PROPN
fumecheng-13750	148	114	++++	++++	PROPN
fumecheng-13750	148	115			PROPN
fumecheng-13750	149	1	+	+	PROPN
fumecheng-13750	149	2	+	+	ADJ
fumecheng-13750	149	3			NUM
fumecheng-13750	149	4			NOUN
fumecheng-13750	149	5	+	+	PROPN
fumecheng-13750	149	6	+	+	ADJ
fumecheng-13750	149	7			NUM
fumecheng-13750	149	8			NOUN
fumecheng-13750	149	9			NUM
fumecheng-13750	149	10	++++	++++	NOUN
fumecheng-13750	149	11			PROPN
fumecheng-13750	150	1	+	+	PROPN
fumecheng-13750	150	2	+	+	ADJ
fumecheng-13750	150	3			NUM
fumecheng-13750	150	4			NOUN
fumecheng-13750	150	5	+	+	PROPN
fumecheng-13750	150	6	+	+	ADJ
fumecheng-13750	150	7			ADJ
fumecheng-13750	150	8			PROPN
fumecheng-13750	150	9	+++	+++	PROPN
fumecheng-13750	150	10			PROPN
fumecheng-13750	151	1			PROPN
fumecheng-13750	151	2			VERB
fumecheng-13750	152	1	+	+	PROPN
fumecheng-13750	152	2	+	+	ADJ
fumecheng-13750	152	3	=	=	ADJ
fumecheng-13750	152	4	bblllllbblllbbl	bblllllbblllbbl	PROPN
fumecheng-13750	152	5	bblllllbblll	bblllllbblll	PROPN
fumecheng-13750	152	6	bbbblll	bbbblll	VERB
fumecheng-13750	152	7	llllldd	llllldd	PROPN
fumecheng-13750	152	8	t	t	PROPN
fumecheng-13750	152	9	rk	rk	PROPN
fumecheng-13750	152	10	(	(	PUNCT
fumecheng-13750	152	11	16	16	NUM
fumecheng-13750	152	12	)	)	PUNCT
fumecheng-13750	152	13	in	in	ADP
fumecheng-13750	152	14	designing	design	VERB
fumecheng-13750	152	15	the	the	DET
fumecheng-13750	152	16	adrc	adrc	ADJ
fumecheng-13750	152	17	-	-	PUNCT
fumecheng-13750	152	18	frit	frit	NOUN
fumecheng-13750	152	19	algorithm	algorithm	NOUN
fumecheng-13750	152	20	,	,	PUNCT
fumecheng-13750	152	21	theoretical	theoretical	ADJ
fumecheng-13750	152	22	considerations	consideration	NOUN
fumecheng-13750	152	23	from	from	ADP
fumecheng-13750	152	24	the	the	DET
fumecheng-13750	152	25	current	current	ADJ
fumecheng-13750	152	26	subsection	subsection	NOUN
fumecheng-13750	152	27	,	,	PUNCT
fumecheng-13750	152	28	as	as	ADV
fumecheng-13750	152	29	well	well	ADV
fumecheng-13750	152	30	as	as	ADP
fumecheng-13750	152	31	those	those	PRON
fumecheng-13750	152	32	of	of	ADP
fumecheng-13750	152	33	frit	frit	NOUN
fumecheng-13750	152	34	in	in	ADP
fumecheng-13750	152	35	subsection	subsection	NOUN
fumecheng-13750	152	36	2.1	2.1	NUM
fumecheng-13750	152	37	,	,	PUNCT
fumecheng-13750	152	38	are	be	AUX
fumecheng-13750	152	39	meticulously	meticulously	ADV
fumecheng-13750	152	40	incorporated	incorporate	VERB
fumecheng-13750	152	41	.	.	PUNCT
fumecheng-13750	153	1	in	in	ADP
fumecheng-13750	153	2	the	the	DET
fumecheng-13750	153	3	context	context	NOUN
fumecheng-13750	153	4	of	of	ADP
fumecheng-13750	153	5	adrc	adrc	NOUN
fumecheng-13750	153	6	-	-	PUNCT
fumecheng-13750	153	7	frit	frit	NOUN
fumecheng-13750	153	8	,	,	PUNCT
fumecheng-13750	153	9	for	for	ADP
fumecheng-13750	153	10	the	the	DET
fumecheng-13750	153	11	initial	initial	ADJ
fumecheng-13750	153	12	experiment	experiment	NOUN
fumecheng-13750	153	13	,	,	PUNCT
fumecheng-13750	153	14	the	the	DET
fumecheng-13750	153	15	practitioner	practitioner	NOUN
fumecheng-13750	153	16	should	should	AUX
fumecheng-13750	153	17	set	set	VERB
fumecheng-13750	153	18	a	a	DET
fumecheng-13750	153	19	value	value	NOUN
fumecheng-13750	153	20	of	of	ADP
fumecheng-13750	153	21	κ	κ	NOUN
fumecheng-13750	153	22	,	,	PUNCT
fumecheng-13750	153	23	and	and	CCONJ
fumecheng-13750	153	24	therefore	therefore	ADV
fumecheng-13750	153	25	,	,	PUNCT
fumecheng-13750	153	26	the	the	DET
fumecheng-13750	153	27	domain	domain	NOUN
fumecheng-13750	153	28	(	(	PUNCT
fumecheng-13750	153	29	16	16	NUM
fumecheng-13750	153	30	)	)	PUNCT
fumecheng-13750	153	31	will	will	AUX
fumecheng-13750	153	32	be	be	AUX
fumecheng-13750	153	33	reduced	reduce	VERB
fumecheng-13750	153	34	to	to	ADP
fumecheng-13750	153	35	dl(k	dl(k	NUM
fumecheng-13750	153	36	)	)	PUNCT
fumecheng-13750	154	1	=	=	PRON
fumecheng-13750	154	2	{	{	PUNCT
fumecheng-13750	154	3	[	[	X
fumecheng-13750	154	4	l1	l1	PROPN
fumecheng-13750	154	5	l2]t	l2]t	PROPN
fumecheng-13750	154	6			NOUN
fumecheng-13750	154	7	r2	r2	NOUN
fumecheng-13750	155	1	|	|	PROPN
fumecheng-13750	156	1	[	[	X
fumecheng-13750	156	2	k	k	PROPN
fumecheng-13750	156	3	l1	l1	PROPN
fumecheng-13750	156	4	l2]t	l2]t	PROPN
fumecheng-13750	156	5			NOUN
fumecheng-13750	156	6	dadrc	dadrc	NOUN
fumecheng-13750	156	7	}	}	PUNCT
fumecheng-13750	156	8	.	.	PUNCT
fumecheng-13750	157	1	controller	controller	NOUN
fumecheng-13750	157	2	tuning	tune	VERB
fumecheng-13750	157	3	heuristics	heuristic	NOUN
fumecheng-13750	157	4	can	can	AUX
fumecheng-13750	157	5	be	be	AUX
fumecheng-13750	157	6	minimized	minimize	VERB
fumecheng-13750	157	7	by	by	ADP
fumecheng-13750	157	8	setting	set	VERB
fumecheng-13750	157	9	matrix	matrix	NOUN
fumecheng-13750	157	10	l	l	NOUN
fumecheng-13750	158	1	=	=	PUNCT
fumecheng-13750	159	1	[	[	X
fumecheng-13750	159	2	l1	l1	PROPN
fumecheng-13750	159	3	l2]t	l2]t	PUNCT
fumecheng-13750	159	4	as	as	ADP
fumecheng-13750	159	5	the	the	DET
fumecheng-13750	159	6	solution	solution	NOUN
fumecheng-13750	159	7	l	l	NOUN
fumecheng-13750	159	8	*	*	PUNCT
fumecheng-13750	160	1	=	=	PUNCT
fumecheng-13750	161	1	[	[	PUNCT
fumecheng-13750	161	2	*	*	PUNCT
fumecheng-13750	161	3	1l	1l	NUM
fumecheng-13750	161	4	*	*	PUNCT
fumecheng-13750	161	5	2l	2l	NOUN
fumecheng-13750	161	6	]	]	X
fumecheng-13750	161	7	t	t	NOUN
fumecheng-13750	161	8	to	to	ADP
fumecheng-13750	161	9	the	the	DET
fumecheng-13750	161	10	optimization	optimization	NOUN
fumecheng-13750	161	11	problem	problem	NOUN
fumecheng-13750	161	12	[	[	X
fumecheng-13750	161	13	14	14	NUM
fumecheng-13750	161	14	]	]	PUNCT
fumecheng-13750	161	15	.	.	PUNCT
fumecheng-13750	161	16	)	)	PUNCT
fumecheng-13750	161	17	)	)	PUNCT
fumecheng-13750	161	18	,	,	PUNCT
fumecheng-13750	161	19	(	(	PUNCT
fumecheng-13750	161	20	(	(	PUNCT
fumecheng-13750	161	21	1	1	NUM
fumecheng-13750	161	22	)	)	PUNCT
fumecheng-13750	161	23	(	(	PUNCT
fumecheng-13750	161	24	)	)	PUNCT
fumecheng-13750	161	25	,	,	PUNCT
fumecheng-13750	161	26	(	(	PUNCT
fumecheng-13750	161	27	minarg	minarg	NOUN
fumecheng-13750	161	28	0	0	NUM
fumecheng-13750	161	29	2	2	NUM
fumecheng-13750	161	30	)	)	PUNCT
fumecheng-13750	161	31	(	(	PUNCT
fumecheng-13750	161	32	*	*	NUM
fumecheng-13750	161	33	1	1	NUM
fumecheng-13750	161	34	==	==	NOUN
fumecheng-13750	161	35			NOUN
fumecheng-13750	161	36	ht	ht	PROPN
fumecheng-13750	161	37	h	h	NOUN
fumecheng-13750	162	1	kd	kd	PROPN
fumecheng-13750	162	2	dtte	dtte	PROPN
fumecheng-13750	162	3	t	t	PROPN
fumecheng-13750	162	4	jj	jj	PROPN
fumecheng-13750	162	5	llll	llll	PROPN
fumecheng-13750	162	6	ll	ll	AUX
fumecheng-13750	162	7	l	l	PROPN
fumecheng-13750	162	8	l	l	NOUN
fumecheng-13750	162	9	(	(	PUNCT
fumecheng-13750	162	10	17	17	NUM
fumecheng-13750	162	11	)	)	PUNCT
fumecheng-13750	162	12	the	the	DET
fumecheng-13750	162	13	subsequent	subsequent	ADJ
fumecheng-13750	162	14	implementation	implementation	NOUN
fumecheng-13750	162	15	of	of	ADP
fumecheng-13750	162	16	adrc	adrc	NOUN
fumecheng-13750	162	17	-	-	PUNCT
fumecheng-13750	162	18	frit	frit	NOUN
fumecheng-13750	162	19	is	be	AUX
fumecheng-13750	162	20	realized	realize	VERB
fumecheng-13750	162	21	by	by	ADP
fumecheng-13750	162	22	adhering	adhere	VERB
fumecheng-13750	162	23	to	to	ADP
fumecheng-13750	162	24	the	the	DET
fumecheng-13750	162	25	steps	step	NOUN
fumecheng-13750	162	26	outlined	outline	VERB
fumecheng-13750	162	27	below	below	ADV
fumecheng-13750	162	28	:	:	PUNCT
fumecheng-13750	162	29	step	step	VERB
fumecheng-13750	162	30	1.1	1.1	NUM
fumecheng-13750	162	31	.	.	PUNCT
fumecheng-13750	163	1	the	the	DET
fumecheng-13750	163	2	designer	designer	NOUN
fumecheng-13750	163	3	defines	define	VERB
fumecheng-13750	163	4	the	the	DET
fumecheng-13750	163	5	initial	initial	ADJ
fumecheng-13750	163	6	conditions	condition	NOUN
fumecheng-13750	163	7	of	of	ADP
fumecheng-13750	163	8	the	the	DET
fumecheng-13750	163	9	open	open	ADJ
fumecheng-13750	163	10	-	-	PUNCT
fumecheng-13750	163	11	loop	loop	NOUN
fumecheng-13750	163	12	experiment	experiment	NOUN
fumecheng-13750	163	13	.	.	PUNCT
fumecheng-13750	164	1	190	190	NUM
fumecheng-13750	164	2	r.-c	r.-c	PROPN
fumecheng-13750	164	3	.	.	PUNCT
fumecheng-13750	165	1	roman	roman	PROPN
fumecheng-13750	165	2	,	,	PUNCT
fumecheng-13750	165	3	r.-e	r.-e	PROPN
fumecheng-13750	165	4	.	.	PUNCT
fumecheng-13750	166	1	precup	precup	PROPN
fumecheng-13750	166	2	,	,	PUNCT
fumecheng-13750	166	3	e.	e.	PROPN
fumecheng-13750	166	4	m.	m.	PROPN
fumecheng-13750	166	5	petriu	petriu	PROPN
fumecheng-13750	166	6	step	step	VERB
fumecheng-13750	166	7	1.2	1.2	NUM
fumecheng-13750	166	8	.	.	PUNCT
fumecheng-13750	167	1	the	the	DET
fumecheng-13750	167	2	designer	designer	NOUN
fumecheng-13750	167	3	must	must	AUX
fumecheng-13750	167	4	assign	assign	VERB
fumecheng-13750	167	5	a	a	DET
fumecheng-13750	167	6	value	value	NOUN
fumecheng-13750	167	7	other	other	ADJ
fumecheng-13750	167	8	than	than	ADP
fumecheng-13750	167	9	zero	zero	NUM
fumecheng-13750	167	10	to	to	ADP
fumecheng-13750	167	11	the	the	DET
fumecheng-13750	167	12	estimated	estimate	VERB
fumecheng-13750	167	13	coefficient	coefficient	NOUN
fumecheng-13750	167	14	of	of	ADP
fumecheng-13750	167	15	the	the	DET
fumecheng-13750	167	16	control	control	NOUN
fumecheng-13750	167	17	input	input	NOUN
fumecheng-13750	167	18	,	,	PUNCT
fumecheng-13750	167	19	denoted	denote	VERB
fumecheng-13750	167	20	as	as	ADP
fumecheng-13750	167	21	b0	b0	NOUN
fumecheng-13750	167	22	.	.	PUNCT
fumecheng-13750	168	1	additionally	additionally	ADV
fumecheng-13750	168	2	,	,	PUNCT
fumecheng-13750	168	3	the	the	DET
fumecheng-13750	168	4	designer	designer	NOUN
fumecheng-13750	168	5	should	should	AUX
fumecheng-13750	168	6	establish	establish	VERB
fumecheng-13750	168	7	an	an	DET
fumecheng-13750	168	8	appropriate	appropriate	ADJ
fumecheng-13750	168	9	value	value	NOUN
fumecheng-13750	168	10	for	for	ADP
fumecheng-13750	168	11	κ	κ	PROPN
fumecheng-13750	168	12	,	,	PUNCT
fumecheng-13750	168	13	which	which	PRON
fumecheng-13750	168	14	represents	represent	VERB
fumecheng-13750	168	15	the	the	DET
fumecheng-13750	168	16	gain	gain	NOUN
fumecheng-13750	168	17	of	of	ADP
fumecheng-13750	168	18	the	the	DET
fumecheng-13750	168	19	adrc	adrc	ADJ
fumecheng-13750	168	20	algorithm	algorithm	NOUN
fumecheng-13750	168	21	(	(	PUNCT
fumecheng-13750	168	22	or	or	CCONJ
fumecheng-13750	168	23	controller	controller	NOUN
fumecheng-13750	168	24	gain	gain	NOUN
fumecheng-13750	168	25	)	)	PUNCT
fumecheng-13750	168	26	,	,	PUNCT
fumecheng-13750	168	27	specifically	specifically	ADV
fumecheng-13750	168	28	κ(0	κ(0	PROPN
fumecheng-13750	168	29	)	)	PUNCT
fumecheng-13750	168	30	,	,	PUNCT
fumecheng-13750	168	31	as	as	ADP
fumecheng-13750	168	32	the	the	DET
fumecheng-13750	168	33	initial	initial	ADJ
fumecheng-13750	168	34	parameter	parameter	NOUN
fumecheng-13750	168	35	of	of	ADP
fumecheng-13750	168	36	the	the	DET
fumecheng-13750	168	37	adrc	adrc	ADJ
fumecheng-13750	168	38	-	-	PUNCT
fumecheng-13750	168	39	frit	frit	NOUN
fumecheng-13750	168	40	algorithm	algorithm	NOUN
fumecheng-13750	168	41	.	.	PUNCT
fumecheng-13750	169	1	step	step	NOUN
fumecheng-13750	169	2	1.3	1.3	NUM
fumecheng-13750	169	3	.	.	PUNCT
fumecheng-13750	170	1	in	in	ADP
fumecheng-13750	170	2	the	the	DET
fumecheng-13750	170	3	dynamic	dynamic	ADJ
fumecheng-13750	170	4	regime	regime	NOUN
fumecheng-13750	170	5	and	and	CCONJ
fumecheng-13750	170	6	context	context	NOUN
fumecheng-13750	170	7	tailored	tailor	VERB
fumecheng-13750	170	8	to	to	ADP
fumecheng-13750	170	9	the	the	DET
fumecheng-13750	170	10	optimization	optimization	NOUN
fumecheng-13750	170	11	problem	problem	NOUN
fumecheng-13750	170	12	given	give	VERB
fumecheng-13750	170	13	in	in	ADP
fumecheng-13750	170	14	(	(	PUNCT
fumecheng-13750	170	15	17	17	NUM
fumecheng-13750	170	16	)	)	PUNCT
fumecheng-13750	170	17	,	,	PUNCT
fumecheng-13750	170	18	constrained	constrain	VERB
fumecheng-13750	170	19	by	by	ADP
fumecheng-13750	170	20	(	(	PUNCT
fumecheng-13750	170	21	16	16	NUM
fumecheng-13750	170	22	)	)	PUNCT
fumecheng-13750	170	23	,	,	PUNCT
fumecheng-13750	170	24	the	the	DET
fumecheng-13750	170	25	optimization	optimization	NOUN
fumecheng-13750	170	26	problem	problem	NOUN
fumecheng-13750	170	27	stated	state	VERB
fumecheng-13750	170	28	in	in	ADP
fumecheng-13750	170	29	equation	equation	NOUN
fumecheng-13750	170	30	(	(	PUNCT
fumecheng-13750	170	31	17	17	NUM
fumecheng-13750	170	32	)	)	PUNCT
fumecheng-13750	170	33	is	be	AUX
fumecheng-13750	170	34	solved	solve	VERB
fumecheng-13750	170	35	using	use	VERB
fumecheng-13750	170	36	the	the	DET
fumecheng-13750	170	37	newton	newton	PROPN
fumecheng-13750	170	38	-	-	PUNCT
fumecheng-13750	170	39	raphson	raphson	PROPN
fumecheng-13750	170	40	method	method	NOUN
fumecheng-13750	170	41	to	to	PART
fumecheng-13750	170	42	determine	determine	VERB
fumecheng-13750	170	43	the	the	DET
fumecheng-13750	170	44	optimal	optimal	ADJ
fumecheng-13750	170	45	eso	eso	NOUN
fumecheng-13750	170	46	parameter	parameter	NOUN
fumecheng-13750	170	47	vector	vector	NOUN
fumecheng-13750	170	48	,	,	PUNCT
fumecheng-13750	170	49	l	l	NOUN
fumecheng-13750	170	50	*	*	PUNCT
fumecheng-13750	171	1	=	=	PUNCT
fumecheng-13750	171	2	[	[	PUNCT
fumecheng-13750	171	3	*	*	PUNCT
fumecheng-13750	171	4	1l	1l	NUM
fumecheng-13750	171	5	*	*	PUNCT
fumecheng-13750	171	6	2l	2l	NOUN
fumecheng-13750	171	7	]	]	PUNCT
fumecheng-13750	171	8	t.	t.	NOUN
fumecheng-13750	171	9	step	step	NOUN
fumecheng-13750	171	10	1.4	1.4	NUM
fumecheng-13750	171	11	.	.	PUNCT
fumecheng-13750	172	1	the	the	DET
fumecheng-13750	172	2	adrc	adrc	PROPN
fumecheng-13750	172	3	algorithm	algorithm	NOUN
fumecheng-13750	172	4	is	be	AUX
fumecheng-13750	172	5	validated	validate	VERB
fumecheng-13750	172	6	in	in	ADP
fumecheng-13750	172	7	a	a	DET
fumecheng-13750	172	8	closed	closed	ADJ
fumecheng-13750	172	9	-	-	PUNCT
fumecheng-13750	172	10	loop	loop	NOUN
fumecheng-13750	172	11	control	control	NOUN
fumecheng-13750	172	12	experiment	experiment	NOUN
fumecheng-13750	172	13	.	.	PUNCT
fumecheng-13750	173	1	this	this	PRON
fumecheng-13750	173	2	coincides	coincide	VERB
fumecheng-13750	173	3	with	with	ADP
fumecheng-13750	173	4	the	the	DET
fumecheng-13750	173	5	adrc	adrc	ADJ
fumecheng-13750	173	6	-	-	PUNCT
fumecheng-13750	173	7	frit	frit	NOUN
fumecheng-13750	173	8	initial	initial	ADJ
fumecheng-13750	173	9	experiment	experiment	NOUN
fumecheng-13750	173	10	.	.	PUNCT
fumecheng-13750	174	1	step	step	NOUN
fumecheng-13750	174	2	1.5	1.5	NUM
fumecheng-13750	174	3	.	.	PUNCT
fumecheng-13750	175	1	a	a	DET
fumecheng-13750	175	2	reference	reference	NOUN
fumecheng-13750	175	3	model	model	NOUN
fumecheng-13750	175	4	m(s	m(s	PROPN
fumecheng-13750	175	5	)	)	PUNCT
fumecheng-13750	175	6	is	be	AUX
fumecheng-13750	175	7	set	set	VERB
fumecheng-13750	175	8	to	to	PART
fumecheng-13750	175	9	ensure	ensure	VERB
fumecheng-13750	175	10	the	the	DET
fumecheng-13750	175	11	output	output	NOUN
fumecheng-13750	175	12	meets	meet	VERB
fumecheng-13750	175	13	the	the	DET
fumecheng-13750	175	14	control	control	NOUN
fumecheng-13750	175	15	system	system	NOUN
fumecheng-13750	175	16	’s	’s	PART
fumecheng-13750	175	17	performance	performance	NOUN
fumecheng-13750	175	18	criteria	criterion	NOUN
fumecheng-13750	175	19	.	.	PUNCT
fumecheng-13750	176	1	step	step	NOUN
fumecheng-13750	176	2	1.6	1.6	NUM
fumecheng-13750	176	3	.	.	PUNCT
fumecheng-13750	177	1	to	to	PART
fumecheng-13750	177	2	determine	determine	VERB
fumecheng-13750	177	3	the	the	DET
fumecheng-13750	177	4	fictitious	fictitious	ADJ
fumecheng-13750	177	5	reference	reference	NOUN
fumecheng-13750	177	6	r(̃t	r(̃t	NOUN
fumecheng-13750	177	7	,	,	PUNCT
fumecheng-13750	177	8	k	k	NOUN
fumecheng-13750	177	9	)	)	PUNCT
fumecheng-13750	177	10	accordance	accordance	NOUN
fumecheng-13750	177	11	with	with	ADP
fumecheng-13750	177	12	(	(	PUNCT
fumecheng-13750	177	13	3	3	NUM
fumecheng-13750	177	14	)	)	PUNCT
fumecheng-13750	177	15	,	,	PUNCT
fumecheng-13750	177	16	the	the	DET
fumecheng-13750	177	17	i	i	PROPN
fumecheng-13750	177	18	/	/	SYM
fumecheng-13750	177	19	o	o	NOUN
fumecheng-13750	177	20	data	datum	NOUN
fumecheng-13750	177	21	pair	pair	NOUN
fumecheng-13750	177	22	(	(	PUNCT
fumecheng-13750	177	23	u0(t	u0(t	ADJ
fumecheng-13750	177	24	,	,	PUNCT
fumecheng-13750	177	25	κ(0	κ(0	PROPN
fumecheng-13750	177	26	)	)	PUNCT
fumecheng-13750	177	27	)	)	PUNCT
fumecheng-13750	177	28	,	,	PUNCT
fumecheng-13750	177	29	y0(t	y0(t	PROPN
fumecheng-13750	177	30	,	,	PUNCT
fumecheng-13750	177	31	κ(0	κ(0	PROPN
fumecheng-13750	177	32	)	)	PUNCT
fumecheng-13750	177	33	)	)	PUNCT
fumecheng-13750	177	34	)	)	PUNCT
fumecheng-13750	177	35	is	be	AUX
fumecheng-13750	177	36	acquired	acquire	VERB
fumecheng-13750	177	37	.	.	PUNCT
fumecheng-13750	178	1	next	next	ADV
fumecheng-13750	178	2	,	,	PUNCT
fumecheng-13750	178	3	the	the	DET
fumecheng-13750	178	4	fictitious	fictitious	ADJ
fumecheng-13750	178	5	reference	reference	NOUN
fumecheng-13750	178	6	model	model	NOUN
fumecheng-13750	178	7	output	output	NOUN
fumecheng-13750	178	8	ỹk(t	ỹk(t	X
fumecheng-13750	178	9	,	,	PUNCT
fumecheng-13750	178	10	k	k	NOUN
fumecheng-13750	178	11	)	)	PUNCT
fumecheng-13750	178	12	is	be	AUX
fumecheng-13750	178	13	derived	derive	VERB
fumecheng-13750	178	14	in	in	ADP
fumecheng-13750	178	15	accordance	accordance	NOUN
fumecheng-13750	178	16	with	with	ADP
fumecheng-13750	178	17	(	(	PUNCT
fumecheng-13750	178	18	2	2	NUM
fumecheng-13750	178	19	)	)	PUNCT
fumecheng-13750	178	20	.	.	PUNCT
fumecheng-13750	179	1	step	step	NOUN
fumecheng-13750	179	2	1.7	1.7	NUM
fumecheng-13750	179	3	.	.	PUNCT
fumecheng-13750	180	1	to	to	PART
fumecheng-13750	180	2	calculate	calculate	VERB
fumecheng-13750	180	3	the	the	DET
fumecheng-13750	180	4	optimal	optimal	ADJ
fumecheng-13750	180	5	parameter	parameter	NOUN
fumecheng-13750	180	6	k	k	PROPN
fumecheng-13750	180	7	*	*	PROPN
fumecheng-13750	180	8	for	for	ADP
fumecheng-13750	180	9	the	the	DET
fumecheng-13750	180	10	adrc	adrc	ADJ
fumecheng-13750	180	11	-	-	PUNCT
fumecheng-13750	180	12	frit	frit	NOUN
fumecheng-13750	180	13	algorithm	algorithm	NOUN
fumecheng-13750	180	14	,	,	PUNCT
fumecheng-13750	180	15	the	the	DET
fumecheng-13750	180	16	control	control	NOUN
fumecheng-13750	180	17	error	error	NOUN
fumecheng-13750	180	18	from	from	ADP
fumecheng-13750	180	19	the	the	DET
fumecheng-13750	180	20	previous	previous	ADJ
fumecheng-13750	180	21	experiment	experiment	NOUN
fumecheng-13750	180	22	is	be	AUX
fumecheng-13750	180	23	used	use	VERB
fumecheng-13750	180	24	as	as	ADP
fumecheng-13750	180	25	the	the	DET
fumecheng-13750	180	26	benchmark	benchmark	ADJ
fumecheng-13750	180	27	input	input	NOUN
fumecheng-13750	180	28	in	in	ADP
fumecheng-13750	180	29	the	the	DET
fumecheng-13750	180	30	gradient	gradient	NOUN
fumecheng-13750	180	31	experiment	experiment	NOUN
fumecheng-13750	180	32	.	.	PUNCT
fumecheng-13750	181	1	this	this	PRON
fumecheng-13750	181	2	is	be	AUX
fumecheng-13750	181	3	carried	carry	VERB
fumecheng-13750	181	4	out	out	ADP
fumecheng-13750	181	5	with	with	ADP
fumecheng-13750	181	6	(	(	PUNCT
fumecheng-13750	181	7	5	5	NUM
fumecheng-13750	181	8	)	)	PUNCT
fumecheng-13750	181	9	,	,	PUNCT
fumecheng-13750	181	10	applying	apply	VERB
fumecheng-13750	181	11	the	the	DET
fumecheng-13750	181	12	newton	newton	PROPN
fumecheng-13750	181	13	-	-	PUNCT
fumecheng-13750	181	14	raphson	raphson	PROPN
fumecheng-13750	181	15	method	method	NOUN
fumecheng-13750	181	16	to	to	PART
fumecheng-13750	181	17	solve	solve	VERB
fumecheng-13750	181	18	the	the	DET
fumecheng-13750	181	19	optimization	optimization	NOUN
fumecheng-13750	181	20	challenge	challenge	NOUN
fumecheng-13750	181	21	outlined	outline	VERB
fumecheng-13750	181	22	in	in	ADP
fumecheng-13750	181	23	equation	equation	NOUN
fumecheng-13750	181	24	(	(	PUNCT
fumecheng-13750	181	25	1	1	NUM
fumecheng-13750	181	26	)	)	PUNCT
fumecheng-13750	181	27	.	.	PUNCT
fumecheng-13750	182	1	step	step	NOUN
fumecheng-13750	182	2	1.8	1.8	NUM
fumecheng-13750	182	3	.	.	PUNCT
fumecheng-13750	183	1	an	an	DET
fumecheng-13750	183	2	experiment	experiment	NOUN
fumecheng-13750	183	3	with	with	ADP
fumecheng-13750	183	4	the	the	DET
fumecheng-13750	183	5	control	control	NOUN
fumecheng-13750	183	6	system	system	NOUN
fumecheng-13750	183	7	’s	’s	PART
fumecheng-13750	183	8	closed	closed	ADJ
fumecheng-13750	183	9	-	-	PUNCT
fumecheng-13750	183	10	loop	loop	NOUN
fumecheng-13750	183	11	structure	structure	NOUN
fumecheng-13750	183	12	,	,	PUNCT
fumecheng-13750	183	13	employing	employ	VERB
fumecheng-13750	183	14	the	the	DET
fumecheng-13750	183	15	adrc	adrc	ADJ
fumecheng-13750	183	16	algorithm	algorithm	NOUN
fumecheng-13750	183	17	with	with	ADP
fumecheng-13750	183	18	parameter	parameter	NOUN
fumecheng-13750	183	19	k	k	PROPN
fumecheng-13750	183	20	*	*	PUNCT
fumecheng-13750	183	21	optimally	optimally	ADV
fumecheng-13750	183	22	determined	determine	VERB
fumecheng-13750	183	23	via	via	ADP
fumecheng-13750	183	24	frit	frit	NOUN
fumecheng-13750	183	25	,	,	PUNCT
fumecheng-13750	183	26	is	be	AUX
fumecheng-13750	183	27	conducted	conduct	VERB
fumecheng-13750	183	28	.	.	PUNCT
fumecheng-13750	184	1	the	the	DET
fumecheng-13750	184	2	procedures	procedure	NOUN
fumecheng-13750	184	3	outlined	outline	VERB
fumecheng-13750	184	4	in	in	ADP
fumecheng-13750	184	5	steps	step	NOUN
fumecheng-13750	184	6	2.6	2.6	NUM
fumecheng-13750	184	7	-	-	SYM
fumecheng-13750	184	8	2.8	2.8	NUM
fumecheng-13750	184	9	are	be	AUX
fumecheng-13750	184	10	repeated	repeat	VERB
fumecheng-13750	184	11	numerous	numerous	ADJ
fumecheng-13750	184	12	times	time	NOUN
fumecheng-13750	184	13	to	to	PART
fumecheng-13750	184	14	improve	improve	VERB
fumecheng-13750	184	15	the	the	DET
fumecheng-13750	184	16	overall	overall	ADJ
fumecheng-13750	184	17	efficacy	efficacy	NOUN
fumecheng-13750	184	18	of	of	ADP
fumecheng-13750	184	19	the	the	DET
fumecheng-13750	184	20	control	control	NOUN
fumecheng-13750	184	21	system	system	NOUN
fumecheng-13750	184	22	.	.	PUNCT
fumecheng-13750	185	1	the	the	DET
fumecheng-13750	185	2	input	input	NOUN
fumecheng-13750	185	3	/	/	SYM
fumecheng-13750	185	4	output	output	NOUN
fumecheng-13750	185	5	data	datum	NOUN
fumecheng-13750	185	6	collected	collect	VERB
fumecheng-13750	185	7	upon	upon	SCONJ
fumecheng-13750	185	8	the	the	DET
fumecheng-13750	185	9	completion	completion	NOUN
fumecheng-13750	185	10	of	of	ADP
fumecheng-13750	185	11	step	step	NOUN
fumecheng-13750	185	12	2.8	2.8	NUM
fumecheng-13750	185	13	is	be	AUX
fumecheng-13750	185	14	subsequently	subsequently	ADV
fumecheng-13750	185	15	employed	employ	VERB
fumecheng-13750	185	16	in	in	ADP
fumecheng-13750	185	17	step	step	NOUN
fumecheng-13750	185	18	2.6	2.6	NUM
fumecheng-13750	185	19	for	for	ADP
fumecheng-13750	185	20	a	a	DET
fumecheng-13750	185	21	new	new	ADJ
fumecheng-13750	185	22	iteration	iteration	NOUN
fumecheng-13750	185	23	.	.	PUNCT
fumecheng-13750	186	1	2.3	2.3	NUM
fumecheng-13750	186	2	.	.	PUNCT
fumecheng-13750	187	1	the	the	DET
fumecheng-13750	187	2	mfc	mfc	PROPN
fumecheng-13750	187	3	-	-	PUNCT
fumecheng-13750	187	4	frit	frit	PROPN
fumecheng-13750	187	5	algorithms	algorithms	NOUN
fumecheng-13750	187	6	the	the	DET
fumecheng-13750	187	7	mfc	mfc	PROPN
fumecheng-13750	187	8	algorithms	algorithm	NOUN
fumecheng-13750	187	9	incorporating	incorporate	VERB
fumecheng-13750	187	10	a	a	DET
fumecheng-13750	187	11	p	p	NOUN
fumecheng-13750	187	12	component	component	NOUN
fumecheng-13750	187	13	,	,	PUNCT
fumecheng-13750	187	14	commonly	commonly	ADV
fumecheng-13750	187	15	identified	identify	VERB
fumecheng-13750	187	16	in	in	ADP
fumecheng-13750	187	17	contemporary	contemporary	ADJ
fumecheng-13750	187	18	research	research	NOUN
fumecheng-13750	187	19	as	as	ADP
fumecheng-13750	187	20	the	the	DET
fumecheng-13750	187	21	ip	ip	NOUN
fumecheng-13750	187	22	controller	controller	NOUN
fumecheng-13750	187	23	,	,	PUNCT
fumecheng-13750	187	24	are	be	AUX
fumecheng-13750	187	25	designed	design	VERB
fumecheng-13750	187	26	based	base	VERB
fumecheng-13750	187	27	on	on	ADP
fumecheng-13750	187	28	the	the	DET
fumecheng-13750	187	29	first	first	ADJ
fumecheng-13750	187	30	-	-	PUNCT
fumecheng-13750	187	31	order	order	NOUN
fumecheng-13750	187	32	local	local	ADJ
fumecheng-13750	187	33	process	process	NOUN
fumecheng-13750	187	34	model	model	NOUN
fumecheng-13750	187	35	similar	similar	ADJ
fumecheng-13750	187	36	to	to	ADP
fumecheng-13750	187	37	(	(	PUNCT
fumecheng-13750	187	38	7	7	NUM
fumecheng-13750	187	39	)	)	PUNCT
fumecheng-13750	188	1	[	[	X
fumecheng-13750	188	2	1,5,6,21–23,34,35	1,5,6,21–23,34,35	NOUN
fumecheng-13750	188	3	]	]	PUNCT
fumecheng-13750	188	4	)	)	PUNCT
fumecheng-13750	188	5	,	,	PUNCT
fumecheng-13750	188	6	(	(	PUNCT
fumecheng-13750	188	7	)	)	PUNCT
fumecheng-13750	188	8	(	(	PUNCT
fumecheng-13750	188	9	)	)	PUNCT
fumecheng-13750	188	10	(	(	PUNCT
fumecheng-13750	188	11	tutfty	tutfty	NOUN
fumecheng-13750	188	12	+=	+=	NOUN
fumecheng-13750	188	13	(	(	PUNCT
fumecheng-13750	188	14	18	18	NUM
fumecheng-13750	188	15	)	)	PUNCT
fumecheng-13750	188	16	where	where	SCONJ
fumecheng-13750	188	17	f(t	f(t	NOUN
fumecheng-13750	188	18	)	)	PUNCT
fumecheng-13750	188	19	represents	represent	VERB
fumecheng-13750	188	20	unmodeled	unmodeled	ADJ
fumecheng-13750	188	21	dynamics	dynamic	NOUN
fumecheng-13750	188	22	and	and	CCONJ
fumecheng-13750	188	23	disturbances	disturbance	NOUN
fumecheng-13750	188	24	,	,	PUNCT
fumecheng-13750	188	25	u(t	u(t	NOUN
fumecheng-13750	188	26	)	)	PUNCT
fumecheng-13750	188	27	and	and	CCONJ
fumecheng-13750	188	28	y(t	y(t	NUM
fumecheng-13750	188	29	)	)	PUNCT
fumecheng-13750	188	30	have	have	VERB
fumecheng-13750	188	31	the	the	DET
fumecheng-13750	188	32	same	same	ADJ
fumecheng-13750	188	33	significance	significance	NOUN
fumecheng-13750	188	34	as	as	ADP
fumecheng-13750	188	35	in	in	ADP
fumecheng-13750	188	36	the	the	DET
fumecheng-13750	188	37	adrc	adrc	ADJ
fumecheng-13750	188	38	case	case	NOUN
fumecheng-13750	188	39	,	,	PUNCT
fumecheng-13750	188	40	while	while	SCONJ
fumecheng-13750	188	41	α	α	PRON
fumecheng-13750	188	42	>	>	X
fumecheng-13750	188	43	0	0	PUNCT
fumecheng-13750	188	44	for	for	ADP
fumecheng-13750	188	45	balancing	balance	VERB
fumecheng-13750	188	46	ẏ(t	ẏ(t	PROPN
fumecheng-13750	188	47	)	)	PUNCT
fumecheng-13750	188	48	and	and	CCONJ
fumecheng-13750	188	49	αu(t	αu(t	NUM
fumecheng-13750	188	50	)	)	PUNCT
fumecheng-13750	188	51	.	.	PUNCT
fumecheng-13750	189	1	the	the	DET
fumecheng-13750	189	2	mfc	mfc	PROPN
fumecheng-13750	189	3	algorithm	algorithm	PROPN
fumecheng-13750	189	4	is	be	AUX
fumecheng-13750	189	5	predicated	predicate	VERB
fumecheng-13750	189	6	upon	upon	SCONJ
fumecheng-13750	189	7	the	the	DET
fumecheng-13750	189	8	subsequent	subsequent	ADJ
fumecheng-13750	189	9	specific	specific	ADJ
fumecheng-13750	189	10	control	control	NOUN
fumecheng-13750	189	11	law	law	NOUN
fumecheng-13750	189	12	,	,	PUNCT
fumecheng-13750	189	13	/)]()()(ˆ	/)]()()(ˆ	PROPN
fumecheng-13750	190	1	[	[	X
fumecheng-13750	190	2	)	)	PUNCT
fumecheng-13750	190	3	(	(	PUNCT
fumecheng-13750	190	4	tetrtftu	tetrtftu	X
fumecheng-13750	190	5	+−−=	+−−=	ADP
fumecheng-13750	190	6			NOUN
fumecheng-13750	190	7	(	(	PUNCT
fumecheng-13750	190	8	19	19	NUM
fumecheng-13750	190	9	)	)	PUNCT
fumecheng-13750	190	10	where	where	SCONJ
fumecheng-13750	190	11	,	,	PUNCT
fumecheng-13750	190	12	in	in	ADP
fumecheng-13750	190	13	the	the	DET
fumecheng-13750	190	14	context	context	NOUN
fumecheng-13750	190	15	of	of	ADP
fumecheng-13750	190	16	the	the	DET
fumecheng-13750	190	17	mfc	mfc	PROPN
fumecheng-13750	190	18	algorithm	algorithm	NOUN
fumecheng-13750	190	19	,	,	PUNCT
fumecheng-13750	190	20	κ	κ	PROPN
fumecheng-13750	190	21	represents	represent	VERB
fumecheng-13750	190	22	the	the	DET
fumecheng-13750	190	23	proportional	proportional	ADJ
fumecheng-13750	190	24	constant	constant	ADJ
fumecheng-13750	190	25	,	,	PUNCT
fumecheng-13750	190	26	specifically	specifically	ADV
fumecheng-13750	190	27	the	the	DET
fumecheng-13750	190	28	gain	gain	NOUN
fumecheng-13750	190	29	associated	associate	VERB
fumecheng-13750	190	30	with	with	ADP
fumecheng-13750	190	31	the	the	DET
fumecheng-13750	190	32	p	p	PROPN
fumecheng-13750	190	33	component	component	NOUN
fumecheng-13750	190	34	of	of	ADP
fumecheng-13750	190	35	the	the	DET
fumecheng-13750	190	36	mfc	mfc	PROPN
fumecheng-13750	190	37	algorithm	algorithm	NOUN
fumecheng-13750	190	38	.	.	PUNCT
fumecheng-13750	190	39	)	)	PUNCT
fumecheng-13750	191	1	(	(	PUNCT
fumecheng-13750	191	2	ˆ	ˆ	NOUN
fumecheng-13750	191	3	tf	tf	PROPN
fumecheng-13750	191	4	denotes	denote	VERB
fumecheng-13750	191	5	the	the	DET
fumecheng-13750	191	6	estimation	estimation	NOUN
fumecheng-13750	191	7	of	of	ADP
fumecheng-13750	191	8	f(t	f(t	PROPN
fumecheng-13750	191	9	)	)	PUNCT
fumecheng-13750	191	10	derived	derive	VERB
fumecheng-13750	191	11	from	from	ADP
fumecheng-13750	191	12	the	the	DET
fumecheng-13750	191	13	i	i	PROPN
fumecheng-13750	191	14	/	/	SYM
fumecheng-13750	191	15	o	o	NOUN
fumecheng-13750	191	16	data	datum	NOUN
fumecheng-13750	191	17	of	of	ADP
fumecheng-13750	191	18	u(t	u(t	NOUN
fumecheng-13750	191	19	)	)	PUNCT
fumecheng-13750	191	20	and	and	CCONJ
fumecheng-13750	191	21	y(t	y(t	NUM
fumecheng-13750	191	22	)	)	PUNCT
fumecheng-13750	191	23	.	.	PUNCT
fumecheng-13750	192	1	furthermore	furthermore	ADV
fumecheng-13750	192	2	,	,	PUNCT
fumecheng-13750	192	3	r(t	r(t	NOUN
fumecheng-13750	192	4	)	)	PUNCT
fumecheng-13750	192	5	holds	hold	VERB
fumecheng-13750	192	6	an	an	DET
fumecheng-13750	192	7	equivalent	equivalent	ADJ
fumecheng-13750	192	8	significance	significance	NOUN
fumecheng-13750	192	9	as	as	SCONJ
fumecheng-13750	192	10	observed	observe	VERB
fumecheng-13750	192	11	within	within	ADP
fumecheng-13750	192	12	the	the	DET
fumecheng-13750	192	13	framework	framework	NOUN
fumecheng-13750	192	14	of	of	ADP
fumecheng-13750	192	15	the	the	DET
fumecheng-13750	192	16	adrc	adrc	ADJ
fumecheng-13750	192	17	algorithm	algorithm	NOUN
fumecheng-13750	192	18	,	,	PUNCT
fumecheng-13750	192	19	and	and	CCONJ
fumecheng-13750	192	20	its	its	PRON
fumecheng-13750	192	21	first	first	ADJ
fumecheng-13750	192	22	-	-	PUNCT
fumecheng-13750	192	23	order	order	NOUN
fumecheng-13750	192	24	derivative	derivative	NOUN
fumecheng-13750	192	25	is	be	AUX
fumecheng-13750	192	26	estimated	estimate	VERB
fumecheng-13750	192	27	through	through	ADP
fumecheng-13750	192	28	the	the	DET
fumecheng-13750	192	29	utilization	utilization	NOUN
fumecheng-13750	192	30	of	of	ADP
fumecheng-13750	192	31	a	a	DET
fumecheng-13750	192	32	derivative	derivative	ADJ
fumecheng-13750	192	33	plus	plus	CCONJ
fumecheng-13750	192	34	low	low	ADJ
fumecheng-13750	192	35	-	-	PUNCT
fumecheng-13750	192	36	pass	pass	NOUN
fumecheng-13750	192	37	filter	filter	NOUN
fumecheng-13750	192	38	,	,	PUNCT
fumecheng-13750	192	39	characterized	characterize	VERB
fumecheng-13750	192	40	by	by	ADP
fumecheng-13750	192	41	[	[	X
fumecheng-13750	192	42	1,5,6,21–23,34,35	1,5,6,21–23,34,35	NOUN
fumecheng-13750	192	43	]	]	PUNCT
fumecheng-13750	192	44	)	)	PUNCT
fumecheng-13750	192	45	,	,	PUNCT
fumecheng-13750	192	46	1/	1/	NUM
fumecheng-13750	192	47	(	(	PUNCT
fumecheng-13750	192	48	)	)	PUNCT
fumecheng-13750	192	49	(	(	PUNCT
fumecheng-13750	192	50	stssh	stssh	NOUN
fumecheng-13750	192	51	ff	ff	PROPN
fumecheng-13750	192	52	+	+	NOUN
fumecheng-13750	192	53	=	=	X
fumecheng-13750	192	54	(	(	PUNCT
fumecheng-13750	192	55	20	20	NUM
fumecheng-13750	192	56	)	)	PUNCT
fumecheng-13750	192	57	active	active	ADJ
fumecheng-13750	192	58	disturbance	disturbance	NOUN
fumecheng-13750	192	59	rejection	rejection	NOUN
fumecheng-13750	192	60	control	control	NOUN
fumecheng-13750	192	61	and	and	CCONJ
fumecheng-13750	192	62	model	model	NOUN
fumecheng-13750	192	63	-	-	PUNCT
fumecheng-13750	192	64	free	free	ADJ
fumecheng-13750	192	65	control	control	NOUN
fumecheng-13750	192	66	191	191	NUM
fumecheng-13750	192	67	where	where	SCONJ
fumecheng-13750	192	68	the	the	DET
fumecheng-13750	192	69	time	time	NOUN
fumecheng-13750	192	70	constant	constant	ADJ
fumecheng-13750	192	71	of	of	ADP
fumecheng-13750	192	72	the	the	DET
fumecheng-13750	192	73	first	first	ADJ
fumecheng-13750	192	74	-	-	PUNCT
fumecheng-13750	192	75	order	order	NOUN
fumecheng-13750	192	76	derivative	derivative	ADJ
fumecheng-13750	192	77	filter	filter	NOUN
fumecheng-13750	192	78	,	,	PUNCT
fumecheng-13750	192	79	denoted	denote	VERB
fumecheng-13750	192	80	as	as	ADP
fumecheng-13750	192	81	tf	tf	PROPN
fumecheng-13750	192	82	,	,	PUNCT
fumecheng-13750	192	83	ought	ought	AUX
fumecheng-13750	192	84	to	to	PART
fumecheng-13750	192	85	be	be	AUX
fumecheng-13750	192	86	selected	select	VERB
fumecheng-13750	192	87	by	by	ADP
fumecheng-13750	192	88	the	the	DET
fumecheng-13750	192	89	practitioner	practitioner	NOUN
fumecheng-13750	192	90	as	as	ADP
fumecheng-13750	192	91	a	a	DET
fumecheng-13750	192	92	small	small	ADJ
fumecheng-13750	192	93	positive	positive	ADJ
fumecheng-13750	192	94	value	value	NOUN
fumecheng-13750	192	95	to	to	PART
fumecheng-13750	192	96	ensure	ensure	VERB
fumecheng-13750	192	97	precise	precise	ADJ
fumecheng-13750	192	98	estimation	estimation	NOUN
fumecheng-13750	192	99	of	of	ADP
fumecheng-13750	192	100	derivatives	derivative	NOUN
fumecheng-13750	192	101	.	.	PUNCT
fumecheng-13750	193	1	the	the	DET
fumecheng-13750	193	2	signals	signal	NOUN
fumecheng-13750	193	3	processed	process	VERB
fumecheng-13750	193	4	through	through	ADP
fumecheng-13750	193	5	hf(s	hf(	NOUN
fumecheng-13750	193	6	)	)	PUNCT
fumecheng-13750	193	7	in	in	ADP
fumecheng-13750	193	8	(	(	PUNCT
fumecheng-13750	193	9	20	20	NUM
fumecheng-13750	193	10	)	)	PUNCT
fumecheng-13750	193	11	,	,	PUNCT
fumecheng-13750	193	12	represented	represent	VERB
fumecheng-13750	193	13	as	as	ADP
fumecheng-13750	193	14	ṙ(t	ṙ(t	NOUN
fumecheng-13750	193	15	)	)	PUNCT
fumecheng-13750	193	16	and	and	CCONJ
fumecheng-13750	193	17	ẏ(t	ẏ(t	PROPN
fumecheng-13750	193	18	)	)	PUNCT
fumecheng-13750	193	19	,	,	PUNCT
fumecheng-13750	193	20	will	will	AUX
fumecheng-13750	193	21	henceforth	henceforth	ADV
fumecheng-13750	193	22	be	be	AUX
fumecheng-13750	193	23	referred	refer	VERB
fumecheng-13750	193	24	to	to	ADP
fumecheng-13750	193	25	as	as	ADP
fumecheng-13750	193	26	)	)	PUNCT
fumecheng-13750	193	27	(	(	PUNCT
fumecheng-13750	193	28	ˆ	ˆ	NUM
fumecheng-13750	193	29	tr	tr	PROPN
fumecheng-13750	193	30	and	and	CCONJ
fumecheng-13750	193	31	)	)	PUNCT
fumecheng-13750	193	32	(	(	PUNCT
fumecheng-13750	193	33	ˆ	ˆ	X
fumecheng-13750	193	34	ty	ty	NOUN
fumecheng-13750	193	35	,	,	PUNCT
fumecheng-13750	193	36	respectively	respectively	ADV
fumecheng-13750	193	37	.	.	PUNCT
fumecheng-13750	194	1	additionally	additionally	ADV
fumecheng-13750	194	2	,	,	PUNCT
fumecheng-13750	194	3	e(t	e(t	NOUN
fumecheng-13750	194	4	)	)	PUNCT
fumecheng-13750	194	5	maintains	maintain	VERB
fumecheng-13750	194	6	the	the	DET
fumecheng-13750	194	7	same	same	ADJ
fumecheng-13750	194	8	definition	definition	NOUN
fumecheng-13750	194	9	as	as	SCONJ
fumecheng-13750	194	10	it	it	PRON
fumecheng-13750	194	11	does	do	VERB
fumecheng-13750	194	12	within	within	ADP
fumecheng-13750	194	13	the	the	DET
fumecheng-13750	194	14	framework	framework	NOUN
fumecheng-13750	194	15	of	of	ADP
fumecheng-13750	194	16	the	the	DET
fumecheng-13750	194	17	adrc	adrc	ADJ
fumecheng-13750	194	18	algorithm	algorithm	NOUN
fumecheng-13750	194	19	.	.	PUNCT
fumecheng-13750	195	1	the	the	DET
fumecheng-13750	195	2	derivation	derivation	NOUN
fumecheng-13750	195	3	of	of	ADP
fumecheng-13750	195	4	)	)	PUNCT
fumecheng-13750	195	5	(	(	PUNCT
fumecheng-13750	195	6	ˆ	ˆ	NOUN
fumecheng-13750	195	7	tf	tf	PROPN
fumecheng-13750	195	8	is	be	AUX
fumecheng-13750	195	9	based	base	VERB
fumecheng-13750	195	10	on	on	ADP
fumecheng-13750	195	11	the	the	DET
fumecheng-13750	195	12	first	first	ADJ
fumecheng-13750	195	13	-	-	PUNCT
fumecheng-13750	195	14	order	order	NOUN
fumecheng-13750	195	15	local	local	ADJ
fumecheng-13750	195	16	process	process	NOUN
fumecheng-13750	195	17	model	model	NOUN
fumecheng-13750	195	18	equation	equation	NOUN
fumecheng-13750	195	19	given	give	VERB
fumecheng-13750	195	20	in	in	ADP
fumecheng-13750	195	21	(	(	PUNCT
fumecheng-13750	195	22	18	18	NUM
fumecheng-13750	195	23	)	)	PUNCT
fumecheng-13750	195	24	,	,	PUNCT
fumecheng-13750	195	25	which	which	PRON
fumecheng-13750	195	26	is	be	AUX
fumecheng-13750	195	27	transformed	transform	VERB
fumecheng-13750	195	28	as	as	SCONJ
fumecheng-13750	195	29	follows	follow	VERB
fumecheng-13750	195	30	:	:	PUNCT
fumecheng-13750	195	31	)	)	PUNCT
fumecheng-13750	195	32	.	.	PUNCT
fumecheng-13750	196	1	(	(	PUNCT
fumecheng-13750	196	2	)	)	PUNCT
fumecheng-13750	196	3	(	(	PUNCT
fumecheng-13750	196	4	ˆ)(ˆ	ˆ)(ˆ	PROPN
fumecheng-13750	196	5	tutytf	tutytf	PROPN
fumecheng-13750	196	6	−=	−=	PRON
fumecheng-13750	196	7			NOUN
fumecheng-13750	196	8	(	(	PUNCT
fumecheng-13750	196	9	21	21	NUM
fumecheng-13750	196	10	)	)	PUNCT
fumecheng-13750	196	11	the	the	DET
fumecheng-13750	196	12	stability	stability	NOUN
fumecheng-13750	196	13	of	of	ADP
fumecheng-13750	196	14	a	a	DET
fumecheng-13750	196	15	control	control	NOUN
fumecheng-13750	196	16	system	system	NOUN
fumecheng-13750	196	17	utilizing	utilize	VERB
fumecheng-13750	196	18	the	the	DET
fumecheng-13750	196	19	mfc	mfc	PROPN
fumecheng-13750	196	20	algorithm	algorithm	NOUN
fumecheng-13750	196	21	is	be	AUX
fumecheng-13750	196	22	guaranteed	guarantee	VERB
fumecheng-13750	196	23	if	if	SCONJ
fumecheng-13750	196	24	the	the	DET
fumecheng-13750	196	25	characteristic	characteristic	ADJ
fumecheng-13750	196	26	polynomial	polynomial	NOUN
fumecheng-13750	196	27	,	,	PUNCT
fumecheng-13750	196	28	obtained	obtain	VERB
fumecheng-13750	196	29	by	by	ADP
fumecheng-13750	196	30	substituting	substitute	VERB
fumecheng-13750	196	31	the	the	DET
fumecheng-13750	196	32	control	control	NOUN
fumecheng-13750	196	33	law	law	NOUN
fumecheng-13750	196	34	from	from	ADP
fumecheng-13750	196	35	equation	equation	NOUN
fumecheng-13750	196	36	(	(	PUNCT
fumecheng-13750	196	37	19	19	NUM
fumecheng-13750	196	38	)	)	PUNCT
fumecheng-13750	196	39	into	into	ADP
fumecheng-13750	196	40	the	the	DET
fumecheng-13750	196	41	local	local	ADJ
fumecheng-13750	196	42	process	process	NOUN
fumecheng-13750	196	43	model	model	NOUN
fumecheng-13750	196	44	delineated	delineate	VERB
fumecheng-13750	196	45	in	in	ADP
fumecheng-13750	196	46	equation	equation	NOUN
fumecheng-13750	196	47	(	(	PUNCT
fumecheng-13750	196	48	18	18	NUM
fumecheng-13750	196	49	)	)	PUNCT
fumecheng-13750	196	50	,	,	PUNCT
fumecheng-13750	196	51	0	0	NUM
fumecheng-13750	196	52	)	)	PUNCT
fumecheng-13750	196	53	(	(	PUNCT
fumecheng-13750	196	54	)	)	PUNCT
fumecheng-13750	196	55	(	(	PUNCT
fumecheng-13750	196	56	=	=	X
fumecheng-13750	196	57	−	−	PROPN
fumecheng-13750	196	58	tete	tete	NOUN
fumecheng-13750	196	59	(	(	PUNCT
fumecheng-13750	196	60	22	22	NUM
fumecheng-13750	196	61	)	)	PUNCT
fumecheng-13750	196	62	exhibits	exhibit	VERB
fumecheng-13750	196	63	roots	root	NOUN
fumecheng-13750	196	64	situated	situate	VERB
fumecheng-13750	196	65	within	within	ADP
fumecheng-13750	196	66	the	the	DET
fumecheng-13750	196	67	left	left	ADJ
fumecheng-13750	196	68	half	half	ADJ
fumecheng-13750	196	69	-	-	PUNCT
fumecheng-13750	196	70	plane	plane	NOUN
fumecheng-13750	196	71	;	;	PUNCT
fumecheng-13750	196	72	therefore	therefore	ADV
fumecheng-13750	196	73	,	,	PUNCT
fumecheng-13750	196	74	κ	κ	X
fumecheng-13750	196	75	<	<	X
fumecheng-13750	196	76	0	0	NUM
fumecheng-13750	196	77	,	,	PUNCT
fumecheng-13750	196	78	and	and	CCONJ
fumecheng-13750	196	79	the	the	DET
fumecheng-13750	196	80	estimation	estimation	NOUN
fumecheng-13750	196	81	error	error	NOUN
fumecheng-13750	196	82	denotes	denote	NOUN
fumecheng-13750	196	83	)	)	PUNCT
fumecheng-13750	196	84	(	(	PUNCT
fumecheng-13750	196	85	ˆ	ˆ	NOUN
fumecheng-13750	196	86	)	)	PUNCT
fumecheng-13750	196	87	(	(	PUNCT
fumecheng-13750	196	88	)	)	PUNCT
fumecheng-13750	196	89	(	(	PUNCT
fumecheng-13750	196	90	tftft	tftft	PROPN
fumecheng-13750	196	91	−=	−=	NOUN
fumecheng-13750	196	92	is	be	AUX
fumecheng-13750	196	93	assumed	assume	VERB
fumecheng-13750	196	94	to	to	PART
fumecheng-13750	196	95	be	be	AUX
fumecheng-13750	196	96	zero	zero	NUM
fumecheng-13750	196	97	,	,	PUNCT
fumecheng-13750	196	98	and	and	CCONJ
fumecheng-13750	196	99	ė(t	ė(t	NUM
fumecheng-13750	196	100	)	)	PUNCT
fumecheng-13750	196	101	=	=	SYM
fumecheng-13750	196	102	ṙ(t	ṙ(t	NOUN
fumecheng-13750	196	103	)	)	PUNCT
fumecheng-13750	196	104	–	–	PUNCT
fumecheng-13750	196	105	ẏ(t	ẏ(t	PROPN
fumecheng-13750	196	106	)	)	PUNCT
fumecheng-13750	196	107	.	.	PUNCT
fumecheng-13750	197	1	the	the	DET
fumecheng-13750	197	2	stability	stability	NOUN
fumecheng-13750	197	3	of	of	ADP
fumecheng-13750	197	4	the	the	DET
fumecheng-13750	197	5	control	control	NOUN
fumecheng-13750	197	6	system	system	NOUN
fumecheng-13750	197	7	with	with	ADP
fumecheng-13750	197	8	the	the	DET
fumecheng-13750	197	9	mfc	mfc	PROPN
fumecheng-13750	197	10	algorithm	algorithm	PROPN
fumecheng-13750	197	11	kmfc	kmfc	NOUN
fumecheng-13750	197	12	=	=	PUNCT
fumecheng-13750	197	13	κ	κ	NOUN
fumecheng-13750	197	14	is	be	AUX
fumecheng-13750	197	15	ensured	ensure	VERB
fumecheng-13750	197	16	by	by	ADP
fumecheng-13750	197	17	theorem	theorem	NOUN
fumecheng-13750	197	18	2	2	NUM
fumecheng-13750	197	19	,	,	PUNCT
fumecheng-13750	197	20	with	with	ADP
fumecheng-13750	197	21	the	the	DET
fumecheng-13750	197	22	proof	proof	NOUN
fumecheng-13750	197	23	taken	take	VERB
fumecheng-13750	197	24	from	from	ADP
fumecheng-13750	197	25	[	[	X
fumecheng-13750	197	26	41	41	NUM
fumecheng-13750	197	27	]	]	PUNCT
fumecheng-13750	197	28	.	.	PUNCT
fumecheng-13750	198	1	theorem	theorem	NOUN
fumecheng-13750	198	2	2	2	NUM
fumecheng-13750	198	3	.	.	PUNCT
fumecheng-13750	198	4	considering	consider	VERB
fumecheng-13750	198	5	the	the	DET
fumecheng-13750	198	6	first	first	ADJ
fumecheng-13750	198	7	-	-	PUNCT
fumecheng-13750	198	8	order	order	NOUN
fumecheng-13750	198	9	local	local	ADJ
fumecheng-13750	198	10	process	process	NOUN
fumecheng-13750	198	11	model	model	NOUN
fumecheng-13750	198	12	as	as	SCONJ
fumecheng-13750	198	13	detailed	detailed	ADJ
fumecheng-13750	198	14	in	in	ADP
fumecheng-13750	198	15	(	(	PUNCT
fumecheng-13750	198	16	18	18	NUM
fumecheng-13750	198	17	)	)	PUNCT
fumecheng-13750	198	18	alongside	alongside	ADP
fumecheng-13750	198	19	the	the	DET
fumecheng-13750	198	20	control	control	NOUN
fumecheng-13750	198	21	law	law	NOUN
fumecheng-13750	198	22	delineated	delineate	VERB
fumecheng-13750	198	23	in	in	ADP
fumecheng-13750	198	24	(	(	PUNCT
fumecheng-13750	198	25	19	19	NUM
fumecheng-13750	198	26	)	)	PUNCT
fumecheng-13750	198	27	,	,	PUNCT
fumecheng-13750	198	28	as	as	ADV
fumecheng-13750	198	29	well	well	ADV
fumecheng-13750	198	30	as	as	ADP
fumecheng-13750	198	31	the	the	DET
fumecheng-13750	198	32	unmodeled	unmodeled	ADJ
fumecheng-13750	198	33	dynamics	dynamic	NOUN
fumecheng-13750	198	34	and	and	CCONJ
fumecheng-13750	198	35	disturbances	disturbance	NOUN
fumecheng-13750	198	36	specified	specify	VERB
fumecheng-13750	198	37	in	in	ADP
fumecheng-13750	198	38	(	(	PUNCT
fumecheng-13750	198	39	21	21	NUM
fumecheng-13750	198	40	)	)	PUNCT
fumecheng-13750	198	41	,	,	PUNCT
fumecheng-13750	198	42	assuming	assume	VERB
fumecheng-13750	198	43	δ(t	δ(t	NOUN
fumecheng-13750	198	44	)	)	PUNCT
fumecheng-13750	198	45	equals	equal	VERB
fumecheng-13750	198	46	zero	zero	NUM
fumecheng-13750	198	47	,	,	PUNCT
fumecheng-13750	198	48	and	and	CCONJ
fumecheng-13750	198	49	evaluating	evaluate	VERB
fumecheng-13750	198	50	the	the	DET
fumecheng-13750	198	51	characteristic	characteristic	ADJ
fumecheng-13750	198	52	polynomial	polynomial	NOUN
fumecheng-13750	198	53	of	of	ADP
fumecheng-13750	198	54	the	the	DET
fumecheng-13750	198	55	error	error	NOUN
fumecheng-13750	198	56	dynamics	dynamic	NOUN
fumecheng-13750	198	57	presented	present	VERB
fumecheng-13750	198	58	in	in	ADP
fumecheng-13750	198	59	(	(	PUNCT
fumecheng-13750	198	60	22	22	NUM
fumecheng-13750	198	61	)	)	PUNCT
fumecheng-13750	198	62	,	,	PUNCT
fumecheng-13750	198	63	the	the	DET
fumecheng-13750	198	64	stability	stability	NOUN
fumecheng-13750	198	65	of	of	ADP
fumecheng-13750	198	66	the	the	DET
fumecheng-13750	198	67	control	control	NOUN
fumecheng-13750	198	68	system	system	NOUN
fumecheng-13750	198	69	is	be	AUX
fumecheng-13750	198	70	ensured	ensure	VERB
fumecheng-13750	198	71	if	if	SCONJ
fumecheng-13750	198	72	the	the	DET
fumecheng-13750	198	73	roots	root	NOUN
fumecheng-13750	198	74	of	of	ADP
fumecheng-13750	198	75	(	(	PUNCT
fumecheng-13750	198	76	22	22	NUM
fumecheng-13750	198	77	)	)	PUNCT
fumecheng-13750	198	78	reside	reside	VERB
fumecheng-13750	198	79	in	in	ADP
fumecheng-13750	198	80	the	the	DET
fumecheng-13750	198	81	left	left	ADJ
fumecheng-13750	198	82	half	half	ADJ
fumecheng-13750	198	83	-	-	PUNCT
fumecheng-13750	198	84	plane	plane	NOUN
fumecheng-13750	198	85	.	.	PUNCT
fumecheng-13750	199	1	therefore	therefore	ADV
fumecheng-13750	199	2	,	,	PUNCT
fumecheng-13750	199	3	the	the	DET
fumecheng-13750	199	4	mfc	mfc	PROPN
fumecheng-13750	199	5	control	control	PROPN
fumecheng-13750	199	6	system	system	NOUN
fumecheng-13750	199	7	employing	employ	VERB
fumecheng-13750	199	8	the	the	DET
fumecheng-13750	199	9	control	control	NOUN
fumecheng-13750	199	10	law	law	NOUN
fumecheng-13750	199	11	(	(	PUNCT
fumecheng-13750	199	12	19	19	NUM
fumecheng-13750	199	13	)	)	PUNCT
fumecheng-13750	199	14	is	be	AUX
fumecheng-13750	199	15	stable	stable	ADJ
fumecheng-13750	199	16	if	if	SCONJ
fumecheng-13750	199	17	and	and	CCONJ
fumecheng-13750	199	18	only	only	ADV
fumecheng-13750	199	19	if	if	SCONJ
fumecheng-13750	199	20	}	}	PUNCT
fumecheng-13750	199	21	.0|{,k	.0|{,k	PUNCT
fumecheng-13750	199	22	mfcmfcmfc	mfcmfcmfc	NOUN
fumecheng-13750	199	23	=	=	X
fumecheng-13750	199	24	dd	dd	NOUN
fumecheng-13750	199	25	r	r	NOUN
fumecheng-13750	199	26	(	(	PUNCT
fumecheng-13750	199	27	23	23	NUM
fumecheng-13750	199	28	)	)	PUNCT
fumecheng-13750	199	29	the	the	DET
fumecheng-13750	199	30	subsequent	subsequent	ADJ
fumecheng-13750	199	31	implementation	implementation	NOUN
fumecheng-13750	199	32	of	of	ADP
fumecheng-13750	199	33	mfc	mfc	PROPN
fumecheng-13750	199	34	-	-	PUNCT
fumecheng-13750	199	35	frit	frit	PROPN
fumecheng-13750	199	36	is	be	AUX
fumecheng-13750	199	37	realized	realize	VERB
fumecheng-13750	199	38	by	by	ADP
fumecheng-13750	199	39	crossing	cross	VERB
fumecheng-13750	199	40	to	to	ADP
fumecheng-13750	199	41	the	the	DET
fumecheng-13750	199	42	outlined	outline	VERB
fumecheng-13750	199	43	steps	step	NOUN
fumecheng-13750	199	44	:	:	PUNCT
fumecheng-13750	199	45	step	step	NOUN
fumecheng-13750	199	46	2.1	2.1	NUM
fumecheng-13750	199	47	.	.	PUNCT
fumecheng-13750	200	1	the	the	DET
fumecheng-13750	200	2	designer	designer	NOUN
fumecheng-13750	200	3	defines	define	VERB
fumecheng-13750	200	4	the	the	DET
fumecheng-13750	200	5	initial	initial	ADJ
fumecheng-13750	200	6	conditions	condition	NOUN
fumecheng-13750	200	7	of	of	ADP
fumecheng-13750	200	8	the	the	DET
fumecheng-13750	200	9	closed	closed	ADJ
fumecheng-13750	200	10	-	-	PUNCT
fumecheng-13750	200	11	loop	loop	NOUN
fumecheng-13750	200	12	experiment	experiment	NOUN
fumecheng-13750	200	13	.	.	PUNCT
fumecheng-13750	201	1	step	step	NOUN
fumecheng-13750	201	2	2.2	2.2	NUM
fumecheng-13750	201	3	.	.	PUNCT
fumecheng-13750	202	1	the	the	DET
fumecheng-13750	202	2	designer	designer	NOUN
fumecheng-13750	202	3	must	must	AUX
fumecheng-13750	202	4	assign	assign	VERB
fumecheng-13750	202	5	a	a	DET
fumecheng-13750	202	6	value	value	NOUN
fumecheng-13750	202	7	other	other	ADJ
fumecheng-13750	202	8	than	than	ADP
fumecheng-13750	202	9	zero	zero	NUM
fumecheng-13750	202	10	to	to	ADP
fumecheng-13750	202	11	α	α	PRON
fumecheng-13750	202	12	.	.	PUNCT
fumecheng-13750	203	1	additionally	additionally	ADV
fumecheng-13750	203	2	,	,	PUNCT
fumecheng-13750	203	3	the	the	DET
fumecheng-13750	203	4	designer	designer	NOUN
fumecheng-13750	203	5	should	should	AUX
fumecheng-13750	203	6	establish	establish	VERB
fumecheng-13750	203	7	an	an	DET
fumecheng-13750	203	8	appropriate	appropriate	ADJ
fumecheng-13750	203	9	value	value	NOUN
fumecheng-13750	203	10	for	for	ADP
fumecheng-13750	203	11	κ	κ	PROPN
fumecheng-13750	203	12	,	,	PUNCT
fumecheng-13750	203	13	which	which	PRON
fumecheng-13750	203	14	represents	represent	VERB
fumecheng-13750	203	15	the	the	DET
fumecheng-13750	203	16	gain	gain	NOUN
fumecheng-13750	203	17	of	of	ADP
fumecheng-13750	203	18	the	the	DET
fumecheng-13750	203	19	mfc	mfc	PROPN
fumecheng-13750	203	20	algorithm	algorithm	NOUN
fumecheng-13750	203	21	(	(	PUNCT
fumecheng-13750	203	22	or	or	CCONJ
fumecheng-13750	203	23	controller	controller	NOUN
fumecheng-13750	203	24	gain	gain	NOUN
fumecheng-13750	203	25	)	)	PUNCT
fumecheng-13750	203	26	,	,	PUNCT
fumecheng-13750	203	27	specifically	specifically	ADV
fumecheng-13750	203	28	κ(0	κ(0	PROPN
fumecheng-13750	203	29	)	)	PUNCT
fumecheng-13750	203	30	,	,	PUNCT
fumecheng-13750	203	31	as	as	ADP
fumecheng-13750	203	32	the	the	DET
fumecheng-13750	203	33	initial	initial	ADJ
fumecheng-13750	203	34	parameter	parameter	NOUN
fumecheng-13750	203	35	of	of	ADP
fumecheng-13750	203	36	the	the	DET
fumecheng-13750	203	37	mfc	mfc	PROPN
fumecheng-13750	203	38	-	-	PUNCT
fumecheng-13750	203	39	frit	frit	NOUN
fumecheng-13750	203	40	algorithm	algorithm	NOUN
fumecheng-13750	203	41	.	.	PUNCT
fumecheng-13750	204	1	step	step	NOUN
fumecheng-13750	204	2	2.3	2.3	NUM
fumecheng-13750	204	3	.	.	PUNCT
fumecheng-13750	205	1	the	the	DET
fumecheng-13750	205	2	designer	designer	NOUN
fumecheng-13750	205	3	should	should	AUX
fumecheng-13750	205	4	establish	establish	VERB
fumecheng-13750	205	5	the	the	DET
fumecheng-13750	205	6	derivative	derivative	ADJ
fumecheng-13750	205	7	plus	plus	CCONJ
fumecheng-13750	205	8	low	low	ADJ
fumecheng-13750	205	9	-	-	PUNCT
fumecheng-13750	205	10	pass	pass	NOUN
fumecheng-13750	205	11	filter	filter	NOUN
fumecheng-13750	205	12	in	in	ADP
fumecheng-13750	205	13	(	(	PUNCT
fumecheng-13750	205	14	20	20	NUM
fumecheng-13750	205	15	)	)	PUNCT
fumecheng-13750	205	16	by	by	ADP
fumecheng-13750	205	17	setting	set	VERB
fumecheng-13750	205	18	a	a	DET
fumecheng-13750	205	19	small	small	ADJ
fumecheng-13750	205	20	positive	positive	ADJ
fumecheng-13750	205	21	value	value	NOUN
fumecheng-13750	205	22	for	for	ADP
fumecheng-13750	205	23	tf	tf	PROPN
fumecheng-13750	205	24	.	.	PUNCT
fumecheng-13750	205	25	step	step	NOUN
fumecheng-13750	205	26	2.4	2.4	NUM
fumecheng-13750	205	27	.	.	PUNCT
fumecheng-13750	206	1	the	the	DET
fumecheng-13750	206	2	mfc	mfc	PROPN
fumecheng-13750	206	3	algorithm	algorithm	PROPN
fumecheng-13750	206	4	is	be	AUX
fumecheng-13750	206	5	validated	validate	VERB
fumecheng-13750	206	6	in	in	ADP
fumecheng-13750	206	7	a	a	DET
fumecheng-13750	206	8	closed	closed	ADJ
fumecheng-13750	206	9	-	-	PUNCT
fumecheng-13750	206	10	loop	loop	NOUN
fumecheng-13750	206	11	control	control	NOUN
fumecheng-13750	206	12	experiment	experiment	NOUN
fumecheng-13750	206	13	.	.	PUNCT
fumecheng-13750	207	1	this	this	PRON
fumecheng-13750	207	2	coincides	coincide	VERB
fumecheng-13750	207	3	with	with	ADP
fumecheng-13750	207	4	the	the	DET
fumecheng-13750	207	5	mfc	mfc	PROPN
fumecheng-13750	207	6	-	-	PUNCT
fumecheng-13750	207	7	frit	frit	PROPN
fumecheng-13750	207	8	initial	initial	ADJ
fumecheng-13750	207	9	experiment	experiment	NOUN
fumecheng-13750	207	10	.	.	PUNCT
fumecheng-13750	208	1	steps	step	NOUN
fumecheng-13750	208	2	2.5	2.5	NUM
fumecheng-13750	208	3	to	to	PART
fumecheng-13750	208	4	2.8	2.8	NUM
fumecheng-13750	208	5	are	be	AUX
fumecheng-13750	208	6	identical	identical	ADJ
fumecheng-13750	208	7	to	to	ADP
fumecheng-13750	208	8	steps	step	NOUN
fumecheng-13750	208	9	1.5	1.5	NUM
fumecheng-13750	208	10	to	to	ADP
fumecheng-13750	208	11	1.8	1.8	NUM
fumecheng-13750	208	12	,	,	PUNCT
fumecheng-13750	208	13	as	as	SCONJ
fumecheng-13750	208	14	is	be	AUX
fumecheng-13750	208	15	the	the	DET
fumecheng-13750	208	16	case	case	NOUN
fumecheng-13750	208	17	with	with	ADP
fumecheng-13750	208	18	the	the	DET
fumecheng-13750	208	19	adrc	adrc	ADJ
fumecheng-13750	208	20	algorithm	algorithm	NOUN
fumecheng-13750	208	21	,	,	PUNCT
fumecheng-13750	208	22	and	and	CCONJ
fumecheng-13750	208	23	are	be	AUX
fumecheng-13750	208	24	applied	apply	VERB
fumecheng-13750	208	25	for	for	ADP
fumecheng-13750	208	26	the	the	DET
fumecheng-13750	208	27	case	case	NOUN
fumecheng-13750	208	28	of	of	ADP
fumecheng-13750	208	29	the	the	DET
fumecheng-13750	208	30	mfc	mfc	PROPN
fumecheng-13750	208	31	algorithm	algorithm	NOUN
fumecheng-13750	208	32	.	.	PUNCT
fumecheng-13750	209	1	therefore	therefore	ADV
fumecheng-13750	209	2	,	,	PUNCT
fumecheng-13750	209	3	the	the	DET
fumecheng-13750	209	4	procedures	procedure	NOUN
fumecheng-13750	209	5	outlined	outline	VERB
fumecheng-13750	209	6	in	in	ADP
fumecheng-13750	209	7	steps	step	NOUN
fumecheng-13750	209	8	2.6	2.6	NUM
fumecheng-13750	209	9	-	-	SYM
fumecheng-13750	209	10	2.8	2.8	NUM
fumecheng-13750	209	11	are	be	AUX
fumecheng-13750	209	12	repeated	repeat	VERB
fumecheng-13750	209	13	numerous	numerous	ADJ
fumecheng-13750	209	14	times	time	NOUN
fumecheng-13750	209	15	to	to	PART
fumecheng-13750	209	16	improve	improve	VERB
fumecheng-13750	209	17	the	the	DET
fumecheng-13750	209	18	overall	overall	ADJ
fumecheng-13750	209	19	efficacy	efficacy	NOUN
fumecheng-13750	209	20	of	of	ADP
fumecheng-13750	209	21	the	the	DET
fumecheng-13750	209	22	control	control	NOUN
fumecheng-13750	209	23	system	system	NOUN
fumecheng-13750	209	24	.	.	PUNCT
fumecheng-13750	210	1	the	the	DET
fumecheng-13750	210	2	input	input	NOUN
fumecheng-13750	210	3	/	/	SYM
fumecheng-13750	210	4	output	output	NOUN
fumecheng-13750	210	5	data	datum	NOUN
fumecheng-13750	210	6	collected	collect	VERB
fumecheng-13750	210	7	upon	upon	SCONJ
fumecheng-13750	210	8	the	the	DET
fumecheng-13750	210	9	completion	completion	NOUN
fumecheng-13750	210	10	of	of	ADP
fumecheng-13750	210	11	step	step	NOUN
fumecheng-13750	210	12	2.8	2.8	NUM
fumecheng-13750	210	13	is	be	AUX
fumecheng-13750	210	14	subsequently	subsequently	ADV
fumecheng-13750	210	15	employed	employ	VERB
fumecheng-13750	210	16	in	in	ADP
fumecheng-13750	210	17	step	step	NOUN
fumecheng-13750	210	18	2.6	2.6	NUM
fumecheng-13750	210	19	for	for	ADP
fumecheng-13750	210	20	a	a	DET
fumecheng-13750	210	21	new	new	ADJ
fumecheng-13750	210	22	iteration	iteration	NOUN
fumecheng-13750	210	23	.	.	PUNCT
fumecheng-13750	211	1	the	the	DET
fumecheng-13750	211	2	block	block	NOUN
fumecheng-13750	211	3	diagrams	diagram	NOUN
fumecheng-13750	211	4	of	of	ADP
fumecheng-13750	211	5	the	the	DET
fumecheng-13750	211	6	adrc	adrc	NOUN
fumecheng-13750	211	7	-	-	PUNCT
fumecheng-13750	211	8	frit	frit	PROPN
fumecheng-13750	211	9	and	and	CCONJ
fumecheng-13750	211	10	mfc	mfc	PROPN
fumecheng-13750	211	11	-	-	PUNCT
fumecheng-13750	211	12	frit	frit	NOUN
fumecheng-13750	211	13	algorithms	algorithm	NOUN
fumecheng-13750	211	14	are	be	AUX
fumecheng-13750	211	15	depicted	depict	VERB
fumecheng-13750	211	16	in	in	ADP
fumecheng-13750	211	17	fig	fig	NOUN
fumecheng-13750	211	18	.	.	PUNCT
fumecheng-13750	212	1	1	1	NUM
fumecheng-13750	212	2	a	a	NOUN
fumecheng-13750	212	3	)	)	PUNCT
fumecheng-13750	212	4	and	and	CCONJ
fumecheng-13750	212	5	b	b	X
fumecheng-13750	212	6	)	)	PUNCT
fumecheng-13750	212	7	,	,	PUNCT
fumecheng-13750	212	8	respectively	respectively	ADV
fumecheng-13750	212	9	.	.	PUNCT
fumecheng-13750	213	1	192	192	NUM
fumecheng-13750	213	2	r.-c	r.-c	NOUN
fumecheng-13750	213	3	.	.	PUNCT
fumecheng-13750	214	1	roman	roman	PROPN
fumecheng-13750	214	2	,	,	PUNCT
fumecheng-13750	214	3	r.-e	r.-e	PROPN
fumecheng-13750	214	4	.	.	PUNCT
fumecheng-13750	215	1	precup	precup	PROPN
fumecheng-13750	215	2	,	,	PUNCT
fumecheng-13750	215	3	e.	e.	PROPN
fumecheng-13750	215	4	m.	m.	PROPN
fumecheng-13750	215	5	petriu	petriu	PROPN
fumecheng-13750	215	6	fig	fig	PROPN
fumecheng-13750	215	7	.	.	PUNCT
fumecheng-13750	215	8	1	1	NUM
fumecheng-13750	215	9	the	the	DET
fumecheng-13750	215	10	block	block	NOUN
fumecheng-13750	215	11	diagrams	diagram	NOUN
fumecheng-13750	215	12	of	of	ADP
fumecheng-13750	215	13	the	the	DET
fumecheng-13750	215	14	adrc	adrc	NOUN
fumecheng-13750	215	15	-	-	PUNCT
fumecheng-13750	215	16	frit	frit	NOUN
fumecheng-13750	215	17	in	in	ADP
fumecheng-13750	215	18	a	a	PRON
fumecheng-13750	215	19	)	)	PUNCT
fumecheng-13750	215	20	and	and	CCONJ
fumecheng-13750	215	21	mfc	mfc	PROPN
fumecheng-13750	215	22	-	-	PUNCT
fumecheng-13750	215	23	frit	frit	PROPN
fumecheng-13750	215	24	in	in	ADP
fumecheng-13750	215	25	b	b	NOUN
fumecheng-13750	215	26	)	)	PUNCT
fumecheng-13750	215	27	.	.	PUNCT
fumecheng-13750	216	1	3	3	X
fumecheng-13750	216	2	.	.	X
fumecheng-13750	216	3	the	the	DET
fumecheng-13750	216	4	3d	3d	PROPN
fumecheng-13750	216	5	crane	crane	NOUN
fumecheng-13750	216	6	the	the	DET
fumecheng-13750	216	7	validation	validation	NOUN
fumecheng-13750	216	8	of	of	ADP
fumecheng-13750	216	9	the	the	DET
fumecheng-13750	216	10	continuous	continuous	ADJ
fumecheng-13750	216	11	-	-	PUNCT
fumecheng-13750	216	12	time	time	NOUN
fumecheng-13750	216	13	first	first	ADJ
fumecheng-13750	216	14	-	-	PUNCT
fumecheng-13750	216	15	order	order	NOUN
fumecheng-13750	216	16	adrc	adrc	NOUN
fumecheng-13750	216	17	-	-	PUNCT
fumecheng-13750	216	18	frit	frit	PROPN
fumecheng-13750	216	19	and	and	CCONJ
fumecheng-13750	216	20	mfc	mfc	PROPN
fumecheng-13750	216	21	-	-	PUNCT
fumecheng-13750	216	22	frit	frit	PROPN
fumecheng-13750	216	23	is	be	AUX
fumecheng-13750	216	24	performed	perform	VERB
fumecheng-13750	216	25	with	with	ADP
fumecheng-13750	216	26	experimental	experimental	ADJ
fumecheng-13750	216	27	setups	setup	NOUN
fumecheng-13750	216	28	involving	involve	VERB
fumecheng-13750	216	29	the	the	DET
fumecheng-13750	216	30	3d	3d	PROPN
fumecheng-13750	216	31	crane	crane	NOUN
fumecheng-13750	216	32	laboratory	laboratory	NOUN
fumecheng-13750	216	33	equipment	equipment	NOUN
fumecheng-13750	216	34	,	,	PUNCT
fumecheng-13750	216	35	where	where	SCONJ
fumecheng-13750	216	36	control	control	NOUN
fumecheng-13750	216	37	is	be	AUX
fumecheng-13750	216	38	applied	apply	VERB
fumecheng-13750	216	39	to	to	ADP
fumecheng-13750	216	40	the	the	DET
fumecheng-13750	216	41	x-	x-	PROPN
fumecheng-13750	216	42	,	,	PUNCT
fumecheng-13750	216	43	y-	y-	X
fumecheng-13750	216	44	,	,	PUNCT
fumecheng-13750	216	45	and	and	CCONJ
fumecheng-13750	216	46	z	z	NOUN
fumecheng-13750	216	47	-	-	PUNCT
fumecheng-13750	216	48	axes	axis	NOUN
fumecheng-13750	216	49	.	.	PUNCT
fumecheng-13750	217	1	details	detail	NOUN
fumecheng-13750	217	2	of	of	ADP
fumecheng-13750	217	3	the	the	DET
fumecheng-13750	217	4	laboratory	laboratory	NOUN
fumecheng-13750	217	5	configuration	configuration	NOUN
fumecheng-13750	217	6	and	and	CCONJ
fumecheng-13750	217	7	the	the	DET
fumecheng-13750	217	8	mathematical	mathematical	ADJ
fumecheng-13750	217	9	model	model	NOUN
fumecheng-13750	217	10	,	,	PUNCT
fumecheng-13750	217	11	highlighting	highlight	VERB
fumecheng-13750	217	12	the	the	DET
fumecheng-13750	217	13	complex	complex	ADJ
fumecheng-13750	217	14	dynamics	dynamic	NOUN
fumecheng-13750	217	15	due	due	ADJ
fumecheng-13750	217	16	to	to	ADP
fumecheng-13750	217	17	nonlinearity	nonlinearity	NOUN
fumecheng-13750	217	18	,	,	PUNCT
fumecheng-13750	217	19	are	be	AUX
fumecheng-13750	217	20	recorded	record	VERB
fumecheng-13750	217	21	in	in	ADP
fumecheng-13750	217	22	[	[	X
fumecheng-13750	217	23	36	36	NUM
fumecheng-13750	217	24	]	]	PUNCT
fumecheng-13750	217	25	.	.	PUNCT
fumecheng-13750	218	1	the	the	DET
fumecheng-13750	218	2	3d	3d	PROPN
fumecheng-13750	218	3	crane	crane	NOUN
fumecheng-13750	218	4	is	be	AUX
fumecheng-13750	218	5	operated	operate	VERB
fumecheng-13750	218	6	using	use	VERB
fumecheng-13750	218	7	three	three	NUM
fumecheng-13750	218	8	control	control	NOUN
fumecheng-13750	218	9	inputs	input	NOUN
fumecheng-13750	218	10	ui	ui	PROPN
fumecheng-13750	219	1			PROPN
fumecheng-13750	219	2	[	[	X
fumecheng-13750	219	3	–	–	PUNCT
fumecheng-13750	219	4	1	1	NUM
fumecheng-13750	219	5	,	,	PUNCT
fumecheng-13750	219	6	1	1	NUM
fumecheng-13750	219	7	]	]	PUNCT
fumecheng-13750	219	8	,	,	PUNCT
fumecheng-13750	219	9	i	i	PRON
fumecheng-13750	219	10			NOUN
fumecheng-13750	219	11	{	{	PUNCT
fumecheng-13750	219	12	1	1	NUM
fumecheng-13750	219	13	,	,	PUNCT
fumecheng-13750	219	14	2	2	NUM
fumecheng-13750	219	15	,	,	PUNCT
fumecheng-13750	219	16	3	3	NUM
fumecheng-13750	219	17	}	}	PUNCT
fumecheng-13750	219	18	,	,	PUNCT
fumecheng-13750	219	19	which	which	PRON
fumecheng-13750	219	20	modulate	modulate	VERB
fumecheng-13750	219	21	the	the	DET
fumecheng-13750	219	22	duty	duty	NOUN
fumecheng-13750	219	23	cycles	cycle	NOUN
fumecheng-13750	219	24	of	of	ADP
fumecheng-13750	219	25	pulse	pulse	NOUN
fumecheng-13750	219	26	width	width	NOUN
fumecheng-13750	219	27	to	to	PART
fumecheng-13750	219	28	control	control	VERB
fumecheng-13750	219	29	the	the	DET
fumecheng-13750	219	30	dc	dc	PROPN
fumecheng-13750	219	31	motors	motors	PROPN
fumecheng-13750	219	32	,	,	PUNCT
fumecheng-13750	219	33	thereby	thereby	ADV
fumecheng-13750	219	34	actuating	actuate	VERB
fumecheng-13750	219	35	the	the	DET
fumecheng-13750	219	36	x-	x-	PROPN
fumecheng-13750	219	37	,	,	PUNCT
fumecheng-13750	219	38	y-	y-	X
fumecheng-13750	219	39	,	,	PUNCT
fumecheng-13750	219	40	and	and	CCONJ
fumecheng-13750	219	41	z	z	NOUN
fumecheng-13750	219	42	-	-	PUNCT
fumecheng-13750	219	43	axes	axis	NOUN
fumecheng-13750	219	44	.	.	PUNCT
fumecheng-13750	220	1	specifically	specifically	ADV
fumecheng-13750	220	2	,	,	PUNCT
fumecheng-13750	220	3	x1(m	x1(m	X
fumecheng-13750	220	4	)	)	PUNCT
fumecheng-13750	220	5	=	=	SYM
fumecheng-13750	220	6	y1(m	y1(m	PROPN
fumecheng-13750	220	7	)	)	PUNCT
fumecheng-13750	220	8	denotes	denote	VERB
fumecheng-13750	220	9	the	the	DET
fumecheng-13750	220	10	cart	cart	NOUN
fumecheng-13750	220	11	’s	’s	PART
fumecheng-13750	220	12	position	position	NOUN
fumecheng-13750	220	13	along	along	ADP
fumecheng-13750	220	14	the	the	DET
fumecheng-13750	220	15	x	x	NOUN
fumecheng-13750	220	16	-	-	NOUN
fumecheng-13750	220	17	axis	axis	ADJ
fumecheng-13750	220	18	,	,	PUNCT
fumecheng-13750	220	19	x3(m	x3(m	PROPN
fumecheng-13750	220	20	)	)	PUNCT
fumecheng-13750	220	21	=	=	SYM
fumecheng-13750	221	1	y2(m	y2(m	NOUN
fumecheng-13750	221	2	)	)	PUNCT
fumecheng-13750	221	3	corresponds	correspond	VERB
fumecheng-13750	221	4	to	to	ADP
fumecheng-13750	221	5	its	its	PRON
fumecheng-13750	221	6	position	position	NOUN
fumecheng-13750	221	7	along	along	ADP
fumecheng-13750	221	8	the	the	DET
fumecheng-13750	221	9	y	y	NOUN
fumecheng-13750	221	10	-	-	PUNCT
fumecheng-13750	221	11	axis	axis	NOUN
fumecheng-13750	221	12	,	,	PUNCT
fumecheng-13750	221	13	and	and	CCONJ
fumecheng-13750	221	14	x9(m	x9(m	NUM
fumecheng-13750	221	15	)	)	PUNCT
fumecheng-13750	222	1	=	=	SYM
fumecheng-13750	222	2	y3(m	y3(m	PROPN
fumecheng-13750	222	3	)	)	PUNCT
fumecheng-13750	222	4	represents	represent	VERB
fumecheng-13750	222	5	the	the	DET
fumecheng-13750	222	6	payload	payload	NOUN
fumecheng-13750	222	7	’s	’s	PART
fumecheng-13750	222	8	position	position	NOUN
fumecheng-13750	222	9	along	along	ADP
fumecheng-13750	222	10	the	the	DET
fumecheng-13750	222	11	z	z	NOUN
fumecheng-13750	222	12	-	-	PUNCT
fumecheng-13750	222	13	axis	axis	NOUN
fumecheng-13750	222	14	.	.	PUNCT
fumecheng-13750	223	1	4	4	X
fumecheng-13750	223	2	.	.	X
fumecheng-13750	223	3	the	the	DET
fumecheng-13750	223	4	setup	setup	NOUN
fumecheng-13750	223	5	and	and	CCONJ
fumecheng-13750	223	6	results	result	NOUN
fumecheng-13750	223	7	to	to	PART
fumecheng-13750	223	8	have	have	VERB
fumecheng-13750	223	9	a	a	DET
fumecheng-13750	223	10	fair	fair	ADJ
fumecheng-13750	223	11	comparison	comparison	NOUN
fumecheng-13750	223	12	of	of	ADP
fumecheng-13750	223	13	the	the	DET
fumecheng-13750	223	14	adrc	adrc	NOUN
fumecheng-13750	223	15	-	-	PUNCT
fumecheng-13750	223	16	frit	frit	PROPN
fumecheng-13750	223	17	and	and	CCONJ
fumecheng-13750	223	18	mfc	mfc	PROPN
fumecheng-13750	223	19	-	-	PUNCT
fumecheng-13750	223	20	frit	frit	NOUN
fumecheng-13750	223	21	algorithms	algorithm	NOUN
fumecheng-13750	223	22	,	,	PUNCT
fumecheng-13750	223	23	both	both	PRON
fumecheng-13750	223	24	are	be	AUX
fumecheng-13750	223	25	validated	validate	VERB
fumecheng-13750	223	26	using	use	VERB
fumecheng-13750	223	27	experiments	experiment	NOUN
fumecheng-13750	223	28	considering	consider	VERB
fumecheng-13750	223	29	the	the	DET
fumecheng-13750	223	30	same	same	ADJ
fumecheng-13750	223	31	set	set	NOUN
fumecheng-13750	223	32	-	-	PUNCT
fumecheng-13750	223	33	up	up	NOUN
fumecheng-13750	223	34	,	,	PUNCT
fumecheng-13750	223	35	i.e.	i.e.	X
fumecheng-13750	223	36	,	,	PUNCT
fumecheng-13750	223	37	70	70	NUM
fumecheng-13750	223	38	s	s	NOUN
fumecheng-13750	223	39	as	as	ADP
fumecheng-13750	223	40	time	time	NOUN
fumecheng-13750	223	41	horizon	horizon	NOUN
fumecheng-13750	223	42	,	,	PUNCT
fumecheng-13750	223	43	and	and	CCONJ
fumecheng-13750	223	44	the	the	DET
fumecheng-13750	223	45	reference	reference	NOUN
fumecheng-13750	223	46	inputs	input	NOUN
fumecheng-13750	223	47	(	(	PUNCT
fumecheng-13750	223	48	set	set	NOUN
fumecheng-13750	223	49	-	-	PUNCT
fumecheng-13750	223	50	point	point	NOUN
fumecheng-13750	223	51	)	)	PUNCT
fumecheng-13750	223	52	are	be	AUX
fumecheng-13750	223	53	)	)	PUNCT
fumecheng-13750	223	54	(	(	PUNCT
fumecheng-13750	223	55	tri	tri	PROPN
fumecheng-13750	223	56	obtained	obtain	VERB
fumecheng-13750	223	57	as	as	ADP
fumecheng-13750	223	58	the	the	DET
fumecheng-13750	223	59	signals	signal	NOUN
fumecheng-13750	223	60	)	)	PUNCT
fumecheng-13750	223	61	(	(	PUNCT
fumecheng-13750	223	62	ti	ti	PROPN
fumecheng-13750	223	63	filtered	filter	VERB
fumecheng-13750	223	64	through	through	ADP
fumecheng-13750	223	65	}	}	PUNCT
fumecheng-13750	223	66	3,2,1	3,2,1	NUM
fumecheng-13750	223	67	{	{	PUNCT
fumecheng-13750	223	68	)	)	PUNCT
fumecheng-13750	223	69	,	,	PUNCT
fumecheng-13750	223	70	(	(	PUNCT
fumecheng-13750	223	71	1	1	NUM
fumecheng-13750	223	72	ish	ish	ADJ
fumecheng-13750	223	73	r	r	NOUN
fumecheng-13750	223	74	:	:	PUNCT
fumecheng-13750	223	75	]	]	X
fumecheng-13750	223	76	,	,	PUNCT
fumecheng-13750	223	77	70,45(if0],45,30(if05.0],30,15(if1.0],15,0[0	70,45(if0],45,30(if05.0],30,15(if1.0],15,0[0	NUM
fumecheng-13750	223	78	)	)	PUNCT
fumecheng-13750	223	79	(	(	PUNCT
fumecheng-13750	223	80	]	]	X
fumecheng-13750	223	81	,	,	PUNCT
fumecheng-13750	223	82	70,40(if0],40,25(if15.0],25,5(if15.0],5,0[0	70,40(if0],40,25(if15.0],25,5(if15.0],5,0[0	NOUN
fumecheng-13750	223	83	)	)	PUNCT
fumecheng-13750	223	84	(	(	PUNCT
fumecheng-13750	223	85	]	]	X
fumecheng-13750	223	86	,	,	PUNCT
fumecheng-13750	223	87	70,50(if0],50,35(if05.0],35,20(if1.0],20,0[15.0	70,50(if0],50,35(if05.0],35,20(if1.0],20,0[15.0	NOUN
fumecheng-13750	223	88	)	)	PUNCT
fumecheng-13750	223	89	(	(	PUNCT
fumecheng-13750	223	90	3	3	NUM
fumecheng-13750	223	91	2	2	NUM
fumecheng-13750	223	92	1	1	NUM
fumecheng-13750	223	93	−=	−=	NUM
fumecheng-13750	223	94	−=	−=	NUM
fumecheng-13750	223	95	−=	−=	PUNCT
fumecheng-13750	223	96	ttttift	ttttift	NOUN
fumecheng-13750	223	97	ttttift	ttttift	NOUN
fumecheng-13750	223	98	ttttift	ttttift	NOUN
fumecheng-13750	223	99			NOUN
fumecheng-13750	223	100			NOUN
fumecheng-13750	223	101			NOUN
fumecheng-13750	223	102	(	(	PUNCT
fumecheng-13750	223	103	24	24	NUM
fumecheng-13750	223	104	)	)	PUNCT
fumecheng-13750	223	105	)	)	PUNCT
fumecheng-13750	223	106	.3.01/(1)(),21.01/(1)(),2.01/(1	.3.01/(1)(),21.01/(1)(),2.01/(1	PUNCT
fumecheng-13750	223	107	)	)	PUNCT
fumecheng-13750	223	108	(	(	PUNCT
fumecheng-13750	223	109	321	321	NUM
fumecheng-13750	223	110	sshsshssh	sshsshssh	NOUN
fumecheng-13750	223	111	rrr	rrr	NOUN
fumecheng-13750	223	112	+	+	NOUN
fumecheng-13750	223	113	=	=	ADJ
fumecheng-13750	223	114	+	+	ADJ
fumecheng-13750	223	115	=	=	ADJ
fumecheng-13750	223	116	+	+	NOUN
fumecheng-13750	223	117	=	=	X
fumecheng-13750	223	118	(	(	PUNCT
fumecheng-13750	223	119	25	25	NUM
fumecheng-13750	223	120	)	)	PUNCT
fumecheng-13750	223	121	the	the	DET
fumecheng-13750	223	122	effectiveness	effectiveness	NOUN
fumecheng-13750	223	123	of	of	ADP
fumecheng-13750	223	124	the	the	DET
fumecheng-13750	223	125	data	data	NOUN
fumecheng-13750	223	126	-	-	PUNCT
fumecheng-13750	223	127	driven	drive	VERB
fumecheng-13750	223	128	algorithms	algorithm	NOUN
fumecheng-13750	223	129	shall	shall	AUX
fumecheng-13750	223	130	be	be	AUX
fumecheng-13750	223	131	evaluated	evaluate	VERB
fumecheng-13750	223	132	utilizing	utilize	VERB
fumecheng-13750	223	133	the	the	DET
fumecheng-13750	223	134	forthcoming	forthcoming	ADJ
fumecheng-13750	223	135	performance	performance	NOUN
fumecheng-13750	223	136	index	index	NOUN
fumecheng-13750	223	137	:	:	PUNCT
fumecheng-13750	223	138			PUNCT
fumecheng-13750	224	1			PROPN
fumecheng-13750	224	2	++=	++=	VERB
fumecheng-13750	224	3	ht	ht	PROPN
fumecheng-13750	224	4	h	h	PROPN
fumecheng-13750	224	5	ue	ue	PROPN
fumecheng-13750	224	6	dttetete	dttetete	PROPN
fumecheng-13750	224	7	t	t	PROPN
fumecheng-13750	224	8	kj	kj	NOUN
fumecheng-13750	224	9	0	0	NUM
fumecheng-13750	224	10	3	3	NUM
fumecheng-13750	224	11	2	2	NUM
fumecheng-13750	224	12	32	32	NUM
fumecheng-13750	224	13	2	2	NUM
fumecheng-13750	224	14	21	21	NUM
fumecheng-13750	224	15	2	2	NUM
fumecheng-13750	224	16	1	1	NUM
fumecheng-13750	224	17	,	,	PUNCT
fumecheng-13750	224	18	,	,	PUNCT
fumecheng-13750	224	19	)	)	PUNCT
fumecheng-13750	224	20	]	]	PUNCT
fumecheng-13750	224	21	,	,	PUNCT
fumecheng-13750	224	22	(	(	PUNCT
fumecheng-13750	224	23	)	)	PUNCT
fumecheng-13750	224	24	,	,	PUNCT
fumecheng-13750	224	25	(	(	PUNCT
fumecheng-13750	224	26	)	)	PUNCT
fumecheng-13750	224	27	,	,	PUNCT
fumecheng-13750	224	28	(	(	PUNCT
fumecheng-13750	224	29	[	[	PUNCT
fumecheng-13750	224	30	1	1	NUM
fumecheng-13750	224	31	)	)	PUNCT
fumecheng-13750	224	32	(	(	PUNCT
fumecheng-13750	224	33	(	(	PUNCT
fumecheng-13750	224	34	26	26	NUM
fumecheng-13750	224	35	)	)	PUNCT
fumecheng-13750	224	36	where	where	SCONJ
fumecheng-13750	224	37	the	the	DET
fumecheng-13750	224	38	time	time	NOUN
fumecheng-13750	224	39	horizon	horizon	PROPN
fumecheng-13750	224	40	is	be	AUX
fumecheng-13750	224	41	th	th	X
fumecheng-13750	224	42	=	=	SYM
fumecheng-13750	224	43	70	70	NUM
fumecheng-13750	224	44	s	s	NOUN
fumecheng-13750	224	45	,	,	PUNCT
fumecheng-13750	224	46	the	the	DET
fumecheng-13750	224	47	subscript	subscript	NOUN
fumecheng-13750	224	48	◊	◊	PROPN
fumecheng-13750	224	49	represents	represent	VERB
fumecheng-13750	224	50	one	one	NUM
fumecheng-13750	224	51	of	of	ADP
fumecheng-13750	224	52	the	the	DET
fumecheng-13750	224	53	following	following	NOUN
fumecheng-13750	224	54	:	:	PUNCT
fumecheng-13750	224	55	adrc	adrc	ADJ
fumecheng-13750	224	56	,	,	PUNCT
fumecheng-13750	224	57	adrc	adrc	NOUN
fumecheng-13750	224	58	-	-	PUNCT
fumecheng-13750	224	59	frit	frit	NOUN
fumecheng-13750	224	60	,	,	PUNCT
fumecheng-13750	224	61	mfc	mfc	PROPN
fumecheng-13750	224	62	,	,	PUNCT
fumecheng-13750	224	63	mfc	mfc	PROPN
fumecheng-13750	224	64	-	-	PUNCT
fumecheng-13750	224	65	frit	frit	PROPN
fumecheng-13750	224	66	,	,	PUNCT
fumecheng-13750	224	67	each	each	PRON
fumecheng-13750	224	68	of	of	ADP
fumecheng-13750	224	69	which	which	PRON
fumecheng-13750	224	70	corresponds	correspond	VERB
fumecheng-13750	224	71	to	to	ADP
fumecheng-13750	224	72	the	the	DET
fumecheng-13750	224	73	data	data	NOUN
fumecheng-13750	224	74	-	-	PUNCT
fumecheng-13750	224	75	driven	drive	VERB
fumecheng-13750	224	76	algorithms	algorithm	NOUN
fumecheng-13750	224	77	active	active	ADJ
fumecheng-13750	224	78	disturbance	disturbance	NOUN
fumecheng-13750	224	79	rejection	rejection	NOUN
fumecheng-13750	224	80	control	control	NOUN
fumecheng-13750	224	81	and	and	CCONJ
fumecheng-13750	224	82	model	model	NOUN
fumecheng-13750	224	83	-	-	PUNCT
fumecheng-13750	224	84	free	free	ADJ
fumecheng-13750	224	85	control	control	NOUN
fumecheng-13750	224	86	193	193	NUM
fumecheng-13750	224	87	discussed	discuss	VERB
fumecheng-13750	224	88	within	within	ADP
fumecheng-13750	224	89	this	this	DET
fumecheng-13750	224	90	paper	paper	NOUN
fumecheng-13750	224	91	.	.	PUNCT
fumecheng-13750	225	1	additionally	additionally	ADV
fumecheng-13750	225	2	,	,	PUNCT
fumecheng-13750	225	3	the	the	DET
fumecheng-13750	225	4	subscripts	subscript	NOUN
fumecheng-13750	225	5	1	1	NUM
fumecheng-13750	225	6	,	,	PUNCT
fumecheng-13750	225	7	2	2	NUM
fumecheng-13750	225	8	,	,	PUNCT
fumecheng-13750	225	9	and	and	CCONJ
fumecheng-13750	225	10	3	3	NUM
fumecheng-13750	225	11	denote	denote	VERB
fumecheng-13750	225	12	the	the	DET
fumecheng-13750	225	13	parameters	parameter	NOUN
fumecheng-13750	225	14	corresponding	correspond	VERB
fumecheng-13750	225	15	to	to	ADP
fumecheng-13750	225	16	the	the	DET
fumecheng-13750	225	17	x-	x-	PROPN
fumecheng-13750	225	18	,	,	PUNCT
fumecheng-13750	225	19	y-	y-	X
fumecheng-13750	225	20	,	,	PUNCT
fumecheng-13750	225	21	and	and	CCONJ
fumecheng-13750	225	22	z	z	NOUN
fumecheng-13750	225	23	-	-	PUNCT
fumecheng-13750	225	24	axes	axis	NOUN
fumecheng-13750	225	25	,	,	PUNCT
fumecheng-13750	225	26	respectively	respectively	ADV
fumecheng-13750	225	27	.	.	PUNCT
fumecheng-13750	226	1	according	accord	VERB
fumecheng-13750	226	2	to	to	ADP
fumecheng-13750	226	3	steps	step	NOUN
fumecheng-13750	226	4	1.1	1.1	NUM
fumecheng-13750	226	5	to	to	ADP
fumecheng-13750	226	6	1.4	1.4	NUM
fumecheng-13750	226	7	,	,	PUNCT
fumecheng-13750	226	8	the	the	DET
fumecheng-13750	226	9	adrc	adrc	ADJ
fumecheng-13750	226	10	algorithms	algorithm	NOUN
fumecheng-13750	226	11	are	be	AUX
fumecheng-13750	226	12	designed	design	VERB
fumecheng-13750	226	13	by	by	ADP
fumecheng-13750	226	14	considering	consider	VERB
fumecheng-13750	226	15	the	the	DET
fumecheng-13750	226	16	open	open	ADJ
fumecheng-13750	226	17	-	-	PUNCT
fumecheng-13750	226	18	loop	loop	NOUN
fumecheng-13750	226	19	experiment	experiment	NOUN
fumecheng-13750	226	20	a	a	DET
fumecheng-13750	226	21	signal	signal	NOUN
fumecheng-13750	226	22	rich	rich	ADJ
fumecheng-13750	226	23	in	in	ADP
fumecheng-13750	226	24	frequency	frequency	NOUN
fumecheng-13750	226	25	content	content	NOUN
fumecheng-13750	226	26	(	(	PUNCT
fumecheng-13750	226	27	step	step	NOUN
fumecheng-13750	226	28	1.1	1.1	NUM
fumecheng-13750	226	29	)	)	PUNCT
fumecheng-13750	226	30	.	.	PUNCT
fumecheng-13750	227	1	next	next	ADV
fumecheng-13750	227	2	,	,	PUNCT
fumecheng-13750	227	3	the	the	DET
fumecheng-13750	227	4	practitioner	practitioner	NOUN
fumecheng-13750	227	5	assigns	assign	VERB
fumecheng-13750	227	6	the	the	DET
fumecheng-13750	227	7	values	value	NOUN
fumecheng-13750	227	8	of	of	ADP
fumecheng-13750	227	9	b0	b0	NOUN
fumecheng-13750	227	10	=	=	SYM
fumecheng-13750	227	11	1	1	NUM
fumecheng-13750	227	12	and	and	CCONJ
fumecheng-13750	227	13	κ	κ	NOUN
fumecheng-13750	227	14	,	,	PUNCT
fumecheng-13750	227	15	which	which	PRON
fumecheng-13750	227	16	will	will	AUX
fumecheng-13750	227	17	later	later	ADV
fumecheng-13750	227	18	be	be	AUX
fumecheng-13750	227	19	employed	employ	VERB
fumecheng-13750	227	20	as	as	ADP
fumecheng-13750	227	21	κ(0	κ(0	PROPN
fumecheng-13750	227	22	)	)	PUNCT
fumecheng-13750	227	23	in	in	ADP
fumecheng-13750	227	24	the	the	DET
fumecheng-13750	227	25	adrc	adrc	NOUN
fumecheng-13750	227	26	-	-	PUNCT
fumecheng-13750	227	27	frit	frit	NOUN
fumecheng-13750	227	28	(	(	PUNCT
fumecheng-13750	227	29	step	step	NOUN
fumecheng-13750	227	30	1.2	1.2	NUM
fumecheng-13750	227	31	)	)	PUNCT
fumecheng-13750	227	32	,	,	PUNCT
fumecheng-13750	227	33	obtaining	obtain	VERB
fumecheng-13750	227	34	κadrc1	κadrc1	NOUN
fumecheng-13750	228	1	=	=	SYM
fumecheng-13750	228	2	1.3432	1.3432	NUM
fumecheng-13750	228	3	,	,	PUNCT
fumecheng-13750	228	4	κadrc2	κadrc2	NOUN
fumecheng-13750	228	5	=	=	SYM
fumecheng-13750	228	6	1.3541	1.3541	NUM
fumecheng-13750	228	7	,	,	PUNCT
fumecheng-13750	228	8	and	and	CCONJ
fumecheng-13750	228	9	κadrc3	κadrc3	NOUN
fumecheng-13750	229	1	=	=	SYM
fumecheng-13750	229	2	1.4135	1.4135	NUM
fumecheng-13750	229	3	.	.	PUNCT
fumecheng-13750	230	1	by	by	ADP
fumecheng-13750	230	2	solving	solve	VERB
fumecheng-13750	230	3	the	the	DET
fumecheng-13750	230	4	optimization	optimization	NOUN
fumecheng-13750	230	5	problem	problem	NOUN
fumecheng-13750	230	6	in	in	ADP
fumecheng-13750	230	7	(	(	PUNCT
fumecheng-13750	230	8	17	17	NUM
fumecheng-13750	230	9	)	)	PUNCT
fumecheng-13750	230	10	in	in	ADP
fumecheng-13750	230	11	terms	term	NOUN
fumecheng-13750	230	12	of	of	ADP
fumecheng-13750	230	13	(	(	PUNCT
fumecheng-13750	230	14	16	16	NUM
fumecheng-13750	230	15	)	)	PUNCT
fumecheng-13750	230	16	using	use	VERB
fumecheng-13750	230	17	the	the	DET
fumecheng-13750	230	18	newton	newton	PROPN
fumecheng-13750	230	19	-	-	PUNCT
fumecheng-13750	230	20	raphson	raphson	PROPN
fumecheng-13750	230	21	method	method	NOUN
fumecheng-13750	230	22	,	,	PUNCT
fumecheng-13750	230	23	the	the	DET
fumecheng-13750	230	24	optimal	optimal	ADJ
fumecheng-13750	230	25	parameters	parameter	NOUN
fumecheng-13750	230	26	of	of	ADP
fumecheng-13750	230	27	eso	eso	NOUN
fumecheng-13750	230	28	are	be	AUX
fumecheng-13750	230	29	(	(	PUNCT
fumecheng-13750	230	30	step	step	NOUN
fumecheng-13750	230	31	1.3	1.3	NUM
fumecheng-13750	230	32	)	)	PUNCT
fumecheng-13750	230	33	l1	l1	PROPN
fumecheng-13750	230	34	*	*	PUNCT
fumecheng-13750	231	1	=	=	PUNCT
fumecheng-13750	232	1	[	[	X
fumecheng-13750	232	2	192.1	192.1	NUM
fumecheng-13750	232	3	9224.1]t	9224.1]t	PROPN
fumecheng-13750	232	4	,	,	PUNCT
fumecheng-13750	232	5	l2	l2	NOUN
fumecheng-13750	232	6	*	*	PUNCT
fumecheng-13750	233	1	=	=	PUNCT
fumecheng-13750	234	1	[	[	X
fumecheng-13750	234	2	146.8	146.8	NUM
fumecheng-13750	234	3	5388.3]t	5388.3]t	PROPN
fumecheng-13750	234	4	,	,	PUNCT
fumecheng-13750	234	5	l3	l3	X
fumecheng-13750	234	6	*	*	PUNCT
fumecheng-13750	235	1	=	=	PUNCT
fumecheng-13750	236	1	[	[	X
fumecheng-13750	236	2	172.4	172.4	NUM
fumecheng-13750	236	3	7416.7]t	7416.7]t	NUM
fumecheng-13750	236	4	.	.	PUNCT
fumecheng-13750	237	1	the	the	DET
fumecheng-13750	237	2	validation	validation	NOUN
fumecheng-13750	237	3	of	of	ADP
fumecheng-13750	237	4	the	the	DET
fumecheng-13750	237	5	closed	closed	ADJ
fumecheng-13750	237	6	-	-	PUNCT
fumecheng-13750	237	7	loop	loop	NOUN
fumecheng-13750	237	8	adrc	adrc	NOUN
fumecheng-13750	237	9	algorithm	algorithm	NOUN
fumecheng-13750	237	10	coincides	coincide	VERB
fumecheng-13750	237	11	with	with	ADP
fumecheng-13750	237	12	the	the	DET
fumecheng-13750	237	13	initial	initial	ADJ
fumecheng-13750	237	14	experiment	experiment	NOUN
fumecheng-13750	237	15	of	of	ADP
fumecheng-13750	237	16	the	the	DET
fumecheng-13750	237	17	adrc	adrc	ADJ
fumecheng-13750	237	18	-	-	PUNCT
fumecheng-13750	237	19	frit	frit	NOUN
fumecheng-13750	237	20	algorithm	algorithm	NOUN
fumecheng-13750	237	21	,	,	PUNCT
fumecheng-13750	237	22	considering	consider	VERB
fumecheng-13750	237	23	the	the	DET
fumecheng-13750	237	24	reference	reference	NOUN
fumecheng-13750	237	25	inputs	input	NOUN
fumecheng-13750	237	26	(	(	PUNCT
fumecheng-13750	237	27	set	set	NOUN
fumecheng-13750	237	28	-	-	PUNCT
fumecheng-13750	237	29	point	point	NOUN
fumecheng-13750	237	30	)	)	PUNCT
fumecheng-13750	237	31	described	describe	VERB
fumecheng-13750	237	32	above	above	ADV
fumecheng-13750	237	33	for	for	ADP
fumecheng-13750	237	34	the	the	DET
fumecheng-13750	237	35	closed	closed	ADJ
fumecheng-13750	237	36	-	-	PUNCT
fumecheng-13750	237	37	loop	loop	NOUN
fumecheng-13750	237	38	experiments	experiment	NOUN
fumecheng-13750	237	39	(	(	PUNCT
fumecheng-13750	237	40	step	step	NOUN
fumecheng-13750	237	41	1.4	1.4	NUM
fumecheng-13750	237	42	)	)	PUNCT
fumecheng-13750	237	43	.	.	PUNCT
fumecheng-13750	238	1	in	in	ADP
fumecheng-13750	238	2	the	the	DET
fumecheng-13750	238	3	next	next	ADJ
fumecheng-13750	238	4	phase	phase	NOUN
fumecheng-13750	238	5	,	,	PUNCT
fumecheng-13750	238	6	the	the	DET
fumecheng-13750	238	7	designer	designer	NOUN
fumecheng-13750	238	8	sets	set	VERB
fumecheng-13750	238	9	the	the	DET
fumecheng-13750	238	10	reference	reference	NOUN
fumecheng-13750	238	11	model	model	NOUN
fumecheng-13750	238	12	m(s	m(s	PROPN
fumecheng-13750	238	13	)	)	PUNCT
fumecheng-13750	238	14	chosen	choose	VERB
fumecheng-13750	238	15	to	to	PART
fumecheng-13750	238	16	meet	meet	VERB
fumecheng-13750	238	17	the	the	DET
fumecheng-13750	238	18	control	control	NOUN
fumecheng-13750	238	19	system	system	NOUN
fumecheng-13750	238	20	performance	performance	NOUN
fumecheng-13750	238	21	criteria	criterion	NOUN
fumecheng-13750	238	22	,	,	PUNCT
fumecheng-13750	238	23	and	and	CCONJ
fumecheng-13750	238	24	in	in	ADP
fumecheng-13750	238	25	this	this	DET
fumecheng-13750	238	26	case	case	NOUN
fumecheng-13750	238	27	,	,	PUNCT
fumecheng-13750	238	28	m(s	m(s	PROPN
fumecheng-13750	238	29	)	)	PUNCT
fumecheng-13750	238	30	is	be	AUX
fumecheng-13750	238	31	hr(s	hr(	NOUN
fumecheng-13750	238	32	)	)	PUNCT
fumecheng-13750	238	33	as	as	SCONJ
fumecheng-13750	238	34	given	give	VERB
fumecheng-13750	238	35	in	in	ADP
fumecheng-13750	238	36	(	(	PUNCT
fumecheng-13750	238	37	25	25	NUM
fumecheng-13750	238	38	)	)	PUNCT
fumecheng-13750	238	39	(	(	PUNCT
fumecheng-13750	238	40	step	step	NOUN
fumecheng-13750	238	41	1.5	1.5	NUM
fumecheng-13750	238	42	)	)	PUNCT
fumecheng-13750	238	43	.	.	PUNCT
fumecheng-13750	239	1	with	with	ADP
fumecheng-13750	239	2	the	the	DET
fumecheng-13750	239	3	i	i	PROPN
fumecheng-13750	239	4	/	/	SYM
fumecheng-13750	239	5	o	o	NOUN
fumecheng-13750	239	6	data	datum	NOUN
fumecheng-13750	239	7	collected	collect	VERB
fumecheng-13750	239	8	in	in	ADP
fumecheng-13750	239	9	step	step	NOUN
fumecheng-13750	239	10	1.4	1.4	NUM
fumecheng-13750	239	11	,	,	PUNCT
fumecheng-13750	239	12	the	the	DET
fumecheng-13750	239	13	fictitious	fictitious	ADJ
fumecheng-13750	239	14	reference	reference	NOUN
fumecheng-13750	239	15	r(̃t	r(̃t	NOUN
fumecheng-13750	239	16	,	,	PUNCT
fumecheng-13750	239	17	κ	κ	NOUN
fumecheng-13750	239	18	)	)	PUNCT
fumecheng-13750	239	19	and	and	CCONJ
fumecheng-13750	239	20	fictitious	fictitious	ADJ
fumecheng-13750	239	21	reference	reference	NOUN
fumecheng-13750	239	22	model	model	NOUN
fumecheng-13750	239	23	output	output	NOUN
fumecheng-13750	239	24	ỹk(t	ỹk(t	X
fumecheng-13750	239	25	,	,	PUNCT
fumecheng-13750	239	26	k	k	NOUN
fumecheng-13750	239	27	)	)	PUNCT
fumecheng-13750	239	28	are	be	AUX
fumecheng-13750	239	29	computed	compute	VERB
fumecheng-13750	239	30	in	in	ADP
fumecheng-13750	239	31	terms	term	NOUN
fumecheng-13750	239	32	of	of	ADP
fumecheng-13750	239	33	(	(	PUNCT
fumecheng-13750	239	34	3	3	NUM
fumecheng-13750	239	35	)	)	PUNCT
fumecheng-13750	239	36	and	and	CCONJ
fumecheng-13750	239	37	(	(	PUNCT
fumecheng-13750	239	38	2	2	X
fumecheng-13750	239	39	)	)	PUNCT
fumecheng-13750	239	40	(	(	PUNCT
fumecheng-13750	239	41	step	step	NOUN
fumecheng-13750	239	42	1.6	1.6	NUM
fumecheng-13750	239	43	)	)	PUNCT
fumecheng-13750	239	44	.	.	PUNCT
fumecheng-13750	240	1	the	the	DET
fumecheng-13750	240	2	optimal	optimal	ADJ
fumecheng-13750	240	3	parameter	parameter	NOUN
fumecheng-13750	240	4	κ	κ	NOUN
fumecheng-13750	240	5	*	*	PROPN
fumecheng-13750	240	6	of	of	ADP
fumecheng-13750	240	7	the	the	DET
fumecheng-13750	240	8	adrc	adrc	ADJ
fumecheng-13750	240	9	-	-	PUNCT
fumecheng-13750	240	10	frit	frit	NOUN
fumecheng-13750	240	11	algorithm	algorithm	NOUN
fumecheng-13750	240	12	is	be	AUX
fumecheng-13750	240	13	determined	determine	VERB
fumecheng-13750	240	14	after	after	ADP
fumecheng-13750	240	15	ten	ten	NUM
fumecheng-13750	240	16	iterations	iteration	NOUN
fumecheng-13750	240	17	by	by	ADP
fumecheng-13750	240	18	solving	solve	VERB
fumecheng-13750	240	19	(	(	PUNCT
fumecheng-13750	240	20	1	1	X
fumecheng-13750	240	21	)	)	PUNCT
fumecheng-13750	240	22	using	use	VERB
fumecheng-13750	240	23	the	the	DET
fumecheng-13750	240	24	newton	newton	PROPN
fumecheng-13750	240	25	–	–	PUNCT
fumecheng-13750	240	26	raphson	raphson	NOUN
fumecheng-13750	240	27	method	method	NOUN
fumecheng-13750	240	28	and	and	CCONJ
fumecheng-13750	240	29	obtaining	obtain	VERB
fumecheng-13750	240	30	(	(	PUNCT
fumecheng-13750	240	31	steps	step	NOUN
fumecheng-13750	240	32	1.7	1.7	NUM
fumecheng-13750	240	33	and	and	CCONJ
fumecheng-13750	240	34	1.8	1.8	NUM
fumecheng-13750	240	35	)	)	PUNCT
fumecheng-13750	240	36	κ	κ	NOUN
fumecheng-13750	240	37	*	*	NOUN
fumecheng-13750	240	38	adrc	adrc	NOUN
fumecheng-13750	240	39	-	-	PUNCT
fumecheng-13750	240	40	frit1	frit1	NOUN
fumecheng-13750	241	1	=	=	NOUN
fumecheng-13750	241	2	5.8716	5.8716	NUM
fumecheng-13750	241	3	,	,	PUNCT
fumecheng-13750	241	4	κ	κ	NOUN
fumecheng-13750	241	5	*	*	NOUN
fumecheng-13750	241	6	adrc	adrc	ADJ
fumecheng-13750	241	7	-	-	PUNCT
fumecheng-13750	241	8	frit2	frit2	NOUN
fumecheng-13750	241	9	=	=	SYM
fumecheng-13750	241	10	4.8671	4.8671	NUM
fumecheng-13750	241	11	,	,	PUNCT
fumecheng-13750	241	12	κ	κ	NOUN
fumecheng-13750	241	13	*	*	NOUN
fumecheng-13750	241	14	adrc	adrc	ADJ
fumecheng-13750	241	15	-	-	PUNCT
fumecheng-13750	241	16	frit3	frit3	NOUN
fumecheng-13750	241	17	=	=	SYM
fumecheng-13750	241	18	3.3211	3.3211	NUM
fumecheng-13750	241	19	.	.	PUNCT
fumecheng-13750	242	1	according	accord	VERB
fumecheng-13750	242	2	to	to	ADP
fumecheng-13750	242	3	steps	step	NOUN
fumecheng-13750	242	4	2.1	2.1	NUM
fumecheng-13750	242	5	to	to	ADP
fumecheng-13750	242	6	2.4	2.4	NUM
fumecheng-13750	242	7	,	,	PUNCT
fumecheng-13750	242	8	the	the	DET
fumecheng-13750	242	9	mfc	mfc	PROPN
fumecheng-13750	242	10	algorithms	algorithm	NOUN
fumecheng-13750	242	11	are	be	AUX
fumecheng-13750	242	12	designed	design	VERB
fumecheng-13750	242	13	by	by	ADP
fumecheng-13750	242	14	considering	consider	VERB
fumecheng-13750	242	15	the	the	DET
fumecheng-13750	242	16	closed	close	VERB
fumecheng-13750	242	17	-	-	PUNCT
fumecheng-13750	242	18	loop	loop	NOUN
fumecheng-13750	242	19	experiment	experiment	NOUN
fumecheng-13750	242	20	,	,	PUNCT
fumecheng-13750	242	21	with	with	ADP
fumecheng-13750	242	22	the	the	DET
fumecheng-13750	242	23	same	same	ADJ
fumecheng-13750	242	24	reference	reference	NOUN
fumecheng-13750	242	25	inputs	input	NOUN
fumecheng-13750	242	26	as	as	ADP
fumecheng-13750	242	27	above	above	ADV
fumecheng-13750	242	28	(	(	PUNCT
fumecheng-13750	242	29	step	step	NOUN
fumecheng-13750	242	30	2.1	2.1	NUM
fumecheng-13750	242	31	)	)	PUNCT
fumecheng-13750	242	32	.	.	PUNCT
fumecheng-13750	243	1	next	next	ADV
fumecheng-13750	243	2	,	,	PUNCT
fumecheng-13750	243	3	the	the	DET
fumecheng-13750	243	4	practitioner	practitioner	NOUN
fumecheng-13750	243	5	assigns	assign	VERB
fumecheng-13750	243	6	the	the	DET
fumecheng-13750	243	7	values	value	NOUN
fumecheng-13750	243	8	of	of	ADP
fumecheng-13750	243	9	α	α	NOUN
fumecheng-13750	243	10	=	=	SYM
fumecheng-13750	243	11	1	1	NUM
fumecheng-13750	243	12	and	and	CCONJ
fumecheng-13750	243	13	κ	κ	NOUN
fumecheng-13750	243	14	,	,	PUNCT
fumecheng-13750	243	15	later	later	ADV
fumecheng-13750	243	16	used	use	VERB
fumecheng-13750	243	17	as	as	ADP
fumecheng-13750	243	18	κ(0	κ(0	PROPN
fumecheng-13750	243	19	)	)	PUNCT
fumecheng-13750	243	20	in	in	ADP
fumecheng-13750	243	21	the	the	DET
fumecheng-13750	243	22	mfc	mfc	PROPN
fumecheng-13750	243	23	-	-	PUNCT
fumecheng-13750	243	24	frit	frit	NOUN
fumecheng-13750	243	25	algorithm	algorithm	NOUN
fumecheng-13750	243	26	(	(	PUNCT
fumecheng-13750	243	27	step	step	NOUN
fumecheng-13750	243	28	2.2	2.2	NUM
fumecheng-13750	243	29	)	)	PUNCT
fumecheng-13750	243	30	,	,	PUNCT
fumecheng-13750	243	31	obtaining	obtain	VERB
fumecheng-13750	243	32	κmfc1	κmfc1	PROPN
fumecheng-13750	244	1	=	=	SYM
fumecheng-13750	244	2	–	–	PUNCT
fumecheng-13750	244	3	22.9093	22.9093	NUM
fumecheng-13750	244	4	,	,	PUNCT
fumecheng-13750	244	5	κmfc2	κmfc2	NOUN
fumecheng-13750	244	6	=	=	SYM
fumecheng-13750	244	7	–	–	PUNCT
fumecheng-13750	244	8	21.0261	21.0261	NUM
fumecheng-13750	244	9	,	,	PUNCT
fumecheng-13750	244	10	and	and	CCONJ
fumecheng-13750	244	11	κmfc3	κmfc3	NOUN
fumecheng-13750	245	1	=	=	PROPN
fumecheng-13750	245	2	–	–	PUNCT
fumecheng-13750	245	3	29.0214	29.0214	NUM
fumecheng-13750	245	4	.	.	PUNCT
fumecheng-13750	246	1	the	the	DET
fumecheng-13750	246	2	designer	designer	NOUN
fumecheng-13750	246	3	establishes	establish	VERB
fumecheng-13750	246	4	that	that	SCONJ
fumecheng-13750	246	5	tf	tf	PROPN
fumecheng-13750	246	6	=	=	SYM
fumecheng-13750	246	7	0.001	0.001	NUM
fumecheng-13750	246	8	for	for	ADP
fumecheng-13750	246	9	the	the	DET
fumecheng-13750	246	10	low	low	ADJ
fumecheng-13750	246	11	-	-	PUNCT
fumecheng-13750	246	12	pass	pass	NOUN
fumecheng-13750	246	13	filter	filter	NOUN
fumecheng-13750	246	14	in	in	ADP
fumecheng-13750	246	15	(	(	PUNCT
fumecheng-13750	246	16	20	20	NUM
fumecheng-13750	246	17	)	)	PUNCT
fumecheng-13750	246	18	(	(	PUNCT
fumecheng-13750	246	19	step	step	NOUN
fumecheng-13750	246	20	2.3	2.3	NUM
fumecheng-13750	246	21	)	)	PUNCT
fumecheng-13750	246	22	.	.	PUNCT
fumecheng-13750	247	1	the	the	DET
fumecheng-13750	247	2	validation	validation	NOUN
fumecheng-13750	247	3	of	of	ADP
fumecheng-13750	247	4	the	the	DET
fumecheng-13750	247	5	closed	closed	ADJ
fumecheng-13750	247	6	-	-	PUNCT
fumecheng-13750	247	7	loop	loop	NOUN
fumecheng-13750	247	8	mfc	mfc	PROPN
fumecheng-13750	247	9	algorithm	algorithm	PROPN
fumecheng-13750	247	10	coincides	coincide	VERB
fumecheng-13750	247	11	with	with	ADP
fumecheng-13750	247	12	the	the	DET
fumecheng-13750	247	13	initial	initial	ADJ
fumecheng-13750	247	14	experiment	experiment	NOUN
fumecheng-13750	247	15	of	of	ADP
fumecheng-13750	247	16	the	the	DET
fumecheng-13750	247	17	mfc	mfc	PROPN
fumecheng-13750	247	18	-	-	PUNCT
fumecheng-13750	247	19	frit	frit	NOUN
fumecheng-13750	247	20	algorithm	algorithm	NOUN
fumecheng-13750	247	21	(	(	PUNCT
fumecheng-13750	247	22	step	step	NOUN
fumecheng-13750	247	23	2.4	2.4	NUM
fumecheng-13750	247	24	)	)	PUNCT
fumecheng-13750	247	25	.	.	PUNCT
fumecheng-13750	248	1	in	in	ADP
fumecheng-13750	248	2	the	the	DET
fumecheng-13750	248	3	next	next	ADJ
fumecheng-13750	248	4	phase	phase	NOUN
fumecheng-13750	248	5	,	,	PUNCT
fumecheng-13750	248	6	the	the	DET
fumecheng-13750	248	7	designer	designer	NOUN
fumecheng-13750	248	8	uses	use	VERB
fumecheng-13750	248	9	the	the	DET
fumecheng-13750	248	10	same	same	ADJ
fumecheng-13750	248	11	reference	reference	NOUN
fumecheng-13750	248	12	model	model	NOUN
fumecheng-13750	248	13	m(s	m(s	PROPN
fumecheng-13750	248	14	)	)	PUNCT
fumecheng-13750	248	15	as	as	ADP
fumecheng-13750	248	16	in	in	ADP
fumecheng-13750	248	17	the	the	DET
fumecheng-13750	248	18	adrc	adrc	NOUN
fumecheng-13750	248	19	-	-	PUNCT
fumecheng-13750	248	20	frit	frit	NOUN
fumecheng-13750	248	21	chosen	choose	VERB
fumecheng-13750	248	22	to	to	PART
fumecheng-13750	248	23	meet	meet	VERB
fumecheng-13750	248	24	the	the	DET
fumecheng-13750	248	25	control	control	NOUN
fumecheng-13750	248	26	system	system	NOUN
fumecheng-13750	248	27	performance	performance	NOUN
fumecheng-13750	248	28	(	(	PUNCT
fumecheng-13750	248	29	step	step	NOUN
fumecheng-13750	248	30	2.5	2.5	NUM
fumecheng-13750	248	31	)	)	PUNCT
fumecheng-13750	248	32	.	.	PUNCT
fumecheng-13750	249	1	with	with	ADP
fumecheng-13750	249	2	the	the	DET
fumecheng-13750	249	3	i	i	PROPN
fumecheng-13750	249	4	/	/	SYM
fumecheng-13750	249	5	o	o	NOUN
fumecheng-13750	249	6	data	datum	NOUN
fumecheng-13750	249	7	collected	collect	VERB
fumecheng-13750	249	8	in	in	ADP
fumecheng-13750	249	9	step	step	NOUN
fumecheng-13750	249	10	2.4	2.4	NUM
fumecheng-13750	249	11	,	,	PUNCT
fumecheng-13750	249	12	the	the	DET
fumecheng-13750	249	13	fictitious	fictitious	ADJ
fumecheng-13750	249	14	reference	reference	NOUN
fumecheng-13750	249	15	r(̃t	r(̃t	NOUN
fumecheng-13750	249	16	,	,	PUNCT
fumecheng-13750	249	17	κ	κ	NOUN
fumecheng-13750	249	18	)	)	PUNCT
fumecheng-13750	249	19	and	and	CCONJ
fumecheng-13750	249	20	fictitious	fictitious	ADJ
fumecheng-13750	249	21	reference	reference	NOUN
fumecheng-13750	249	22	model	model	NOUN
fumecheng-13750	249	23	output	output	NOUN
fumecheng-13750	249	24	ỹk(t	ỹk(t	X
fumecheng-13750	249	25	,	,	PUNCT
fumecheng-13750	249	26	k	k	NOUN
fumecheng-13750	249	27	)	)	PUNCT
fumecheng-13750	249	28	are	be	AUX
fumecheng-13750	249	29	computed	compute	VERB
fumecheng-13750	249	30	in	in	ADP
fumecheng-13750	249	31	terms	term	NOUN
fumecheng-13750	249	32	of	of	ADP
fumecheng-13750	249	33	(	(	PUNCT
fumecheng-13750	249	34	3	3	NUM
fumecheng-13750	249	35	)	)	PUNCT
fumecheng-13750	249	36	and	and	CCONJ
fumecheng-13750	249	37	(	(	PUNCT
fumecheng-13750	249	38	2	2	X
fumecheng-13750	249	39	)	)	PUNCT
fumecheng-13750	249	40	(	(	PUNCT
fumecheng-13750	249	41	step	step	NOUN
fumecheng-13750	249	42	2.6	2.6	NUM
fumecheng-13750	249	43	)	)	PUNCT
fumecheng-13750	249	44	.	.	PUNCT
fumecheng-13750	250	1	the	the	DET
fumecheng-13750	250	2	optimal	optimal	ADJ
fumecheng-13750	250	3	parameter	parameter	NOUN
fumecheng-13750	250	4	κ	κ	NOUN
fumecheng-13750	250	5	*	*	PROPN
fumecheng-13750	250	6	of	of	ADP
fumecheng-13750	250	7	the	the	DET
fumecheng-13750	250	8	mfc	mfc	PROPN
fumecheng-13750	250	9	-	-	PUNCT
fumecheng-13750	250	10	frit	frit	NOUN
fumecheng-13750	250	11	algorithm	algorithm	NOUN
fumecheng-13750	250	12	is	be	AUX
fumecheng-13750	250	13	determined	determine	VERB
fumecheng-13750	250	14	after	after	ADP
fumecheng-13750	250	15	ten	ten	NUM
fumecheng-13750	250	16	iterations	iteration	NOUN
fumecheng-13750	250	17	by	by	ADP
fumecheng-13750	250	18	solving	solve	VERB
fumecheng-13750	250	19	(	(	PUNCT
fumecheng-13750	250	20	1	1	X
fumecheng-13750	250	21	)	)	PUNCT
fumecheng-13750	250	22	using	use	VERB
fumecheng-13750	250	23	the	the	DET
fumecheng-13750	250	24	newton	newton	PROPN
fumecheng-13750	250	25	–	–	PUNCT
fumecheng-13750	250	26	raphson	raphson	NOUN
fumecheng-13750	250	27	method	method	NOUN
fumecheng-13750	250	28	and	and	CCONJ
fumecheng-13750	250	29	obtaining	obtain	VERB
fumecheng-13750	250	30	(	(	PUNCT
fumecheng-13750	250	31	steps	step	NOUN
fumecheng-13750	250	32	2.7	2.7	NUM
fumecheng-13750	250	33	and	and	CCONJ
fumecheng-13750	250	34	2.8	2.8	NUM
fumecheng-13750	250	35	)	)	PUNCT
fumecheng-13750	250	36	κ	κ	PROPN
fumecheng-13750	250	37	*	*	PUNCT
fumecheng-13750	250	38	mfc	mfc	PROPN
fumecheng-13750	250	39	-	-	PUNCT
fumecheng-13750	250	40	frit1	frit1	PROPN
fumecheng-13750	251	1	=	=	X
fumecheng-13750	251	2	–	–	PUNCT
fumecheng-13750	251	3	33.9101	33.9101	NUM
fumecheng-13750	251	4	,	,	PUNCT
fumecheng-13750	251	5	κ	κ	NOUN
fumecheng-13750	251	6	*	*	NOUN
fumecheng-13750	251	7	mfcfrit2	mfcfrit2	NOUN
fumecheng-13750	251	8	=	=	SYM
fumecheng-13750	251	9	–	–	PUNCT
fumecheng-13750	251	10	31.0199	31.0199	NUM
fumecheng-13750	251	11	,	,	PUNCT
fumecheng-13750	251	12	κ	κ	PROPN
fumecheng-13750	251	13	*	*	X
fumecheng-13750	251	14	mfc	mfc	PROPN
fumecheng-13750	251	15	-	-	PUNCT
fumecheng-13750	251	16	frit3	frit3	NOUN
fumecheng-13750	251	17	=	=	PUNCT
fumecheng-13750	251	18	–	–	PUNCT
fumecheng-13750	251	19	49.0200	49.0200	NUM
fumecheng-13750	251	20	.	.	PUNCT
fumecheng-13750	252	1	the	the	DET
fumecheng-13750	252	2	outcomes	outcome	NOUN
fumecheng-13750	252	3	of	of	ADP
fumecheng-13750	252	4	the	the	DET
fumecheng-13750	252	5	real	real	ADJ
fumecheng-13750	252	6	-	-	PUNCT
fumecheng-13750	252	7	time	time	NOUN
fumecheng-13750	252	8	experiments	experiment	NOUN
fumecheng-13750	252	9	are	be	AUX
fumecheng-13750	252	10	illustrated	illustrate	VERB
fumecheng-13750	252	11	in	in	ADP
fumecheng-13750	252	12	figs	fig	NOUN
fumecheng-13750	252	13	.	.	PUNCT
fumecheng-13750	253	1	1	1	NUM
fumecheng-13750	253	2	-	-	SYM
fumecheng-13750	253	3	3	3	NUM
fumecheng-13750	253	4	within	within	ADP
fumecheng-13750	253	5	the	the	DET
fumecheng-13750	253	6	supplementary	supplementary	ADJ
fumecheng-13750	253	7	material	material	NOUN
fumecheng-13750	253	8	in	in	ADP
fumecheng-13750	253	9	[	[	X
fumecheng-13750	253	10	42	42	NUM
fumecheng-13750	253	11	]	]	PUNCT
fumecheng-13750	253	12	,	,	PUNCT
fumecheng-13750	253	13	as	as	ADV
fumecheng-13750	253	14	well	well	ADV
fumecheng-13750	253	15	as	as	ADP
fumecheng-13750	253	16	in	in	ADP
fumecheng-13750	253	17	table	table	NOUN
fumecheng-13750	253	18	2	2	NUM
fumecheng-13750	253	19	.	.	PUNCT
fumecheng-13750	254	1	these	these	DET
fumecheng-13750	254	2	outcomes	outcome	NOUN
fumecheng-13750	254	3	represent	represent	VERB
fumecheng-13750	254	4	the	the	DET
fumecheng-13750	254	5	averages	average	NOUN
fumecheng-13750	254	6	of	of	ADP
fumecheng-13750	254	7	ten	ten	NUM
fumecheng-13750	254	8	distinct	distinct	ADJ
fumecheng-13750	254	9	sets	set	NOUN
fumecheng-13750	254	10	of	of	ADP
fumecheng-13750	254	11	real	real	ADJ
fumecheng-13750	254	12	-	-	PUNCT
fumecheng-13750	254	13	time	time	NOUN
fumecheng-13750	254	14	experiments	experiment	NOUN
fumecheng-13750	254	15	conducted	conduct	VERB
fumecheng-13750	254	16	to	to	PART
fumecheng-13750	254	17	mitigate	mitigate	VERB
fumecheng-13750	254	18	random	random	ADJ
fumecheng-13750	254	19	disturbances	disturbance	NOUN
fumecheng-13750	254	20	that	that	PRON
fumecheng-13750	254	21	may	may	AUX
fumecheng-13750	254	22	arise	arise	VERB
fumecheng-13750	254	23	during	during	ADP
fumecheng-13750	254	24	an	an	DET
fumecheng-13750	254	25	experiment	experiment	NOUN
fumecheng-13750	254	26	.	.	PUNCT
fumecheng-13750	255	1	no	no	DET
fumecheng-13750	255	2	additive	additive	ADJ
fumecheng-13750	255	3	disturbances	disturbance	NOUN
fumecheng-13750	255	4	were	be	AUX
fumecheng-13750	255	5	introduced	introduce	VERB
fumecheng-13750	255	6	in	in	ADP
fumecheng-13750	255	7	the	the	DET
fumecheng-13750	255	8	real	real	ADJ
fumecheng-13750	255	9	-	-	PUNCT
fumecheng-13750	255	10	time	time	NOUN
fumecheng-13750	255	11	experiments	experiment	NOUN
fumecheng-13750	255	12	.	.	PUNCT
fumecheng-13750	256	1	the	the	DET
fumecheng-13750	256	2	experimental	experimental	ADJ
fumecheng-13750	256	3	data	datum	NOUN
fumecheng-13750	256	4	distinctly	distinctly	ADV
fumecheng-13750	256	5	indicate	indicate	VERB
fumecheng-13750	256	6	that	that	SCONJ
fumecheng-13750	256	7	adrc	adrc	PROPN
fumecheng-13750	256	8	and	and	CCONJ
fumecheng-13750	256	9	mfc	mfc	PROPN
fumecheng-13750	256	10	exhibit	exhibit	PROPN
fumecheng-13750	256	11	equivalent	equivalent	ADJ
fumecheng-13750	256	12	performance	performance	NOUN
fumecheng-13750	256	13	in	in	ADP
fumecheng-13750	256	14	the	the	DET
fumecheng-13750	256	15	initial	initial	ADJ
fumecheng-13750	256	16	experiment	experiment	NOUN
fumecheng-13750	256	17	.	.	PUNCT
fumecheng-13750	257	1	subsequent	subsequent	ADJ
fumecheng-13750	257	2	to	to	ADP
fumecheng-13750	257	3	determining	determine	VERB
fumecheng-13750	257	4	the	the	DET
fumecheng-13750	257	5	optimal	optimal	ADJ
fumecheng-13750	257	6	parameters	parameter	NOUN
fumecheng-13750	257	7	with	with	ADP
fumecheng-13750	257	8	frit	frit	NOUN
fumecheng-13750	257	9	,	,	PUNCT
fumecheng-13750	257	10	the	the	DET
fumecheng-13750	257	11	experimental	experimental	ADJ
fumecheng-13750	257	12	results	result	NOUN
fumecheng-13750	257	13	derived	derive	VERB
fumecheng-13750	257	14	from	from	ADP
fumecheng-13750	257	15	adrc	adrc	NOUN
fumecheng-13750	257	16	-	-	PUNCT
fumecheng-13750	257	17	frit	frit	NOUN
fumecheng-13750	257	18	and	and	CCONJ
fumecheng-13750	257	19	mfc	mfc	PROPN
fumecheng-13750	257	20	-	-	PUNCT
fumecheng-13750	257	21	frit	frit	NOUN
fumecheng-13750	257	22	surpass	surpass	NOUN
fumecheng-13750	257	23	those	those	PRON
fumecheng-13750	257	24	of	of	ADP
fumecheng-13750	257	25	the	the	DET
fumecheng-13750	257	26	initial	initial	ADJ
fumecheng-13750	257	27	closed	closed	ADJ
fumecheng-13750	257	28	-	-	PUNCT
fumecheng-13750	257	29	loop	loop	NOUN
fumecheng-13750	257	30	experiments	experiment	NOUN
fumecheng-13750	257	31	.	.	PUNCT
fumecheng-13750	258	1	moreover	moreover	ADV
fumecheng-13750	258	2	,	,	PUNCT
fumecheng-13750	258	3	similar	similar	ADJ
fumecheng-13750	258	4	to	to	ADP
fumecheng-13750	258	5	the	the	DET
fumecheng-13750	258	6	initial	initial	ADJ
fumecheng-13750	258	7	closed	closed	ADJ
fumecheng-13750	258	8	-	-	PUNCT
fumecheng-13750	258	9	loop	loop	NOUN
fumecheng-13750	258	10	experiment	experiment	NOUN
fumecheng-13750	258	11	,	,	PUNCT
fumecheng-13750	258	12	adrc	adrc	NOUN
fumecheng-13750	258	13	-	-	PUNCT
fumecheng-13750	258	14	frit	frit	PROPN
fumecheng-13750	258	15	and	and	CCONJ
fumecheng-13750	258	16	mfc	mfc	PROPN
fumecheng-13750	258	17	-	-	PUNCT
fumecheng-13750	258	18	frit	frit	PROPN
fumecheng-13750	258	19	perform	perform	NOUN
fumecheng-13750	258	20	equivalently	equivalently	ADV
fumecheng-13750	258	21	.	.	PUNCT
fumecheng-13750	259	1	however	however	ADV
fumecheng-13750	259	2	,	,	PUNCT
fumecheng-13750	259	3	concerning	concern	VERB
fumecheng-13750	259	4	the	the	DET
fumecheng-13750	259	5	3d	3d	PROPN
fumecheng-13750	259	6	crane	crane	NOUN
fumecheng-13750	259	7	equipment	equipment	NOUN
fumecheng-13750	259	8	,	,	PUNCT
fumecheng-13750	259	9	mfc	mfc	PROPN
fumecheng-13750	259	10	and	and	CCONJ
fumecheng-13750	259	11	mfc	mfc	PROPN
fumecheng-13750	259	12	-	-	PUNCT
fumecheng-13750	259	13	frit	frit	PROPN
fumecheng-13750	259	14	demonstrate	demonstrate	VERB
fumecheng-13750	259	15	slightly	slightly	ADV
fumecheng-13750	259	16	superior	superior	ADJ
fumecheng-13750	259	17	performance	performance	NOUN
fumecheng-13750	259	18	.	.	PUNCT
fumecheng-13750	260	1	however	however	ADV
fumecheng-13750	260	2	,	,	PUNCT
fumecheng-13750	260	3	these	these	DET
fumecheng-13750	260	4	conclusions	conclusion	NOUN
fumecheng-13750	260	5	might	might	AUX
fumecheng-13750	260	6	be	be	AUX
fumecheng-13750	260	7	different	different	ADJ
fumecheng-13750	260	8	if	if	SCONJ
fumecheng-13750	260	9	combinations	combination	NOUN
fumecheng-13750	260	10	of	of	ADP
fumecheng-13750	260	11	data	data	NOUN
fumecheng-13750	260	12	-	-	PUNCT
fumecheng-13750	260	13	driven	drive	VERB
fumecheng-13750	260	14	control	control	NOUN
fumecheng-13750	260	15	with	with	ADP
fumecheng-13750	260	16	model	model	NOUN
fumecheng-13750	260	17	-	-	PUNCT
fumecheng-13750	260	18	based	base	VERB
fumecheng-13750	260	19	control	control	NOUN
fumecheng-13750	260	20	including	include	VERB
fumecheng-13750	260	21	fuzzy	fuzzy	ADJ
fumecheng-13750	260	22	control	control	NOUN
fumecheng-13750	260	23	[	[	X
fumecheng-13750	260	24	4,12,28,43	4,12,28,43	NUM
fumecheng-13750	260	25	]	]	X
fumecheng-13750	260	26	,	,	PUNCT
fumecheng-13750	260	27	[	[	X
fumecheng-13750	260	28	42	42	NUM
fumecheng-13750	260	29	]	]	PUNCT
fumecheng-13750	260	30	,	,	PUNCT
fumecheng-13750	260	31	and	and	CCONJ
fumecheng-13750	260	32	sliding	slide	VERB
fumecheng-13750	260	33	mode	mode	NOUN
fumecheng-13750	260	34	control	control	NOUN
fumecheng-13750	261	1	[	[	X
fumecheng-13750	261	2	44,45	44,45	X
fumecheng-13750	261	3	]	]	X
fumecheng-13750	261	4	.	.	PUNCT
fumecheng-13750	262	1	194	194	NUM
fumecheng-13750	262	2	r.-c	r.-c	PROPN
fumecheng-13750	262	3	.	.	PUNCT
fumecheng-13750	263	1	roman	roman	PROPN
fumecheng-13750	263	2	,	,	PUNCT
fumecheng-13750	263	3	r.-e	r.-e	PROPN
fumecheng-13750	263	4	.	.	PUNCT
fumecheng-13750	264	1	precup	precup	PROPN
fumecheng-13750	264	2	,	,	PUNCT
fumecheng-13750	264	3	e.	e.	PROPN
fumecheng-13750	264	4	m.	m.	PROPN
fumecheng-13750	264	5	petriu	petriu	PROPN
fumecheng-13750	264	6	table	table	NOUN
fumecheng-13750	264	7	1	1	NUM
fumecheng-13750	264	8	the	the	DET
fumecheng-13750	264	9	average	average	NOUN
fumecheng-13750	264	10	and	and	CCONJ
fumecheng-13750	264	11	the	the	DET
fumecheng-13750	264	12	variance	variance	NOUN
fumecheng-13750	264	13	of	of	ADP
fumecheng-13750	264	14	the	the	DET
fumecheng-13750	264	15	performance	performance	NOUN
fumecheng-13750	264	16	index	index	NOUN
fumecheng-13750	264	17	in	in	ADP
fumecheng-13750	264	18	(	(	PUNCT
fumecheng-13750	264	19	27	27	NUM
fumecheng-13750	264	20	)	)	PUNCT
fumecheng-13750	264	21	adrc	adrc	DET
fumecheng-13750	264	22	adrc	adrc	PROPN
fumecheng-13750	264	23	-	-	PUNCT
fumecheng-13750	264	24	frit	frit	PROPN
fumecheng-13750	264	25	mfc	mfc	PROPN
fumecheng-13750	264	26	mfc	mfc	PROPN
fumecheng-13750	264	27	-	-	PUNCT
fumecheng-13750	264	28	frit	frit	PROPN
fumecheng-13750	264	29	average	average	NOUN
fumecheng-13750	264	30	of	of	ADP
fumecheng-13750	264	31	je	je	PROPN
fumecheng-13750	264	32	,	,	PUNCT
fumecheng-13750	264	33	u	u	PROPN
fumecheng-13750	264	34	9.8043∙10–4	9.8043∙10–4	PROPN
fumecheng-13750	264	35	3.5911∙10–4	3.5911∙10–4	PROPN
fumecheng-13750	264	36	5.9425∙10–4	5.9425∙10–4	NUM
fumecheng-13750	264	37	3.3567∙10–4	3.3567∙10–4	NUM
fumecheng-13750	264	38	variance	variance	NOUN
fumecheng-13750	264	39	of	of	ADP
fumecheng-13750	264	40	je	je	PROPN
fumecheng-13750	264	41	,	,	PUNCT
fumecheng-13750	264	42	u	u	PROPN
fumecheng-13750	264	43	1.9881∙10–11	1.9881∙10–11	NUM
fumecheng-13750	264	44	2.0014∙10–11	2.0014∙10–11	NUM
fumecheng-13750	264	45	2.1015∙10–11	2.1015∙10–11	NUM
fumecheng-13750	264	46	1.9988∙10–11	1.9988∙10–11	NUM
fumecheng-13750	264	47	5	5	NUM
fumecheng-13750	264	48	.	.	PUNCT
fumecheng-13750	264	49	conclusions	conclusion	NOUN
fumecheng-13750	264	50	this	this	DET
fumecheng-13750	264	51	paper	paper	NOUN
fumecheng-13750	264	52	aims	aim	VERB
fumecheng-13750	264	53	to	to	PART
fumecheng-13750	264	54	conduct	conduct	VERB
fumecheng-13750	264	55	a	a	DET
fumecheng-13750	264	56	comparative	comparative	ADJ
fumecheng-13750	264	57	analysis	analysis	NOUN
fumecheng-13750	264	58	of	of	ADP
fumecheng-13750	264	59	two	two	NUM
fumecheng-13750	264	60	data	data	NOUN
fumecheng-13750	264	61	-	-	PUNCT
fumecheng-13750	264	62	driven	drive	VERB
fumecheng-13750	264	63	integrations	integration	NOUN
fumecheng-13750	264	64	,	,	PUNCT
fumecheng-13750	264	65	specifically	specifically	ADV
fumecheng-13750	264	66	the	the	DET
fumecheng-13750	264	67	first	first	ADJ
fumecheng-13750	264	68	-	-	PUNCT
fumecheng-13750	264	69	order	order	NOUN
fumecheng-13750	264	70	continuous	continuous	ADJ
fumecheng-13750	264	71	-	-	PUNCT
fumecheng-13750	264	72	time	time	NOUN
fumecheng-13750	264	73	adrc	adrc	NOUN
fumecheng-13750	264	74	-	-	PUNCT
fumecheng-13750	264	75	frit	frit	PROPN
fumecheng-13750	264	76	and	and	CCONJ
fumecheng-13750	264	77	mfc	mfc	PROPN
fumecheng-13750	264	78	-	-	PUNCT
fumecheng-13750	264	79	frit	frit	NOUN
fumecheng-13750	264	80	algorithms	algorithm	NOUN
fumecheng-13750	264	81	,	,	PUNCT
fumecheng-13750	264	82	as	as	SCONJ
fumecheng-13750	264	83	validated	validate	VERB
fumecheng-13750	264	84	through	through	ADP
fumecheng-13750	264	85	experimental	experimental	ADJ
fumecheng-13750	264	86	testing	testing	NOUN
fumecheng-13750	264	87	on	on	ADP
fumecheng-13750	264	88	3d	3d	PROPN
fumecheng-13750	264	89	crane	crane	NOUN
fumecheng-13750	264	90	laboratory	laboratory	NOUN
fumecheng-13750	264	91	equipment	equipment	NOUN
fumecheng-13750	264	92	.	.	PUNCT
fumecheng-13750	265	1	the	the	DET
fumecheng-13750	265	2	innovative	innovative	ADJ
fumecheng-13750	265	3	aspects	aspect	NOUN
fumecheng-13750	265	4	of	of	ADP
fumecheng-13750	265	5	this	this	DET
fumecheng-13750	265	6	study	study	NOUN
fumecheng-13750	265	7	include	include	VERB
fumecheng-13750	265	8	the	the	DET
fumecheng-13750	265	9	integration	integration	NOUN
fumecheng-13750	265	10	of	of	ADP
fumecheng-13750	265	11	the	the	DET
fumecheng-13750	265	12	first	first	ADJ
fumecheng-13750	265	13	-	-	PUNCT
fumecheng-13750	265	14	order	order	NOUN
fumecheng-13750	265	15	continuous	continuous	ADJ
fumecheng-13750	265	16	-	-	PUNCT
fumecheng-13750	265	17	time	time	NOUN
fumecheng-13750	265	18	adrc	adrc	NOUN
fumecheng-13750	265	19	and	and	CCONJ
fumecheng-13750	265	20	mfc	mfc	PROPN
fumecheng-13750	265	21	with	with	ADP
fumecheng-13750	265	22	frit	frit	PROPN
fumecheng-13750	265	23	,	,	PUNCT
fumecheng-13750	265	24	the	the	DET
fumecheng-13750	265	25	determination	determination	NOUN
fumecheng-13750	265	26	of	of	ADP
fumecheng-13750	265	27	optimal	optimal	ADJ
fumecheng-13750	265	28	parameters	parameter	NOUN
fumecheng-13750	265	29	for	for	ADP
fumecheng-13750	265	30	adrc	adrc	PROPN
fumecheng-13750	265	31	and	and	CCONJ
fumecheng-13750	265	32	mfc	mfc	PROPN
fumecheng-13750	265	33	using	use	VERB
fumecheng-13750	265	34	frit	frit	NOUN
fumecheng-13750	265	35	by	by	ADP
fumecheng-13750	265	36	resolving	resolve	VERB
fumecheng-13750	265	37	the	the	DET
fumecheng-13750	265	38	optimization	optimization	NOUN
fumecheng-13750	265	39	problem	problem	NOUN
fumecheng-13750	265	40	in	in	ADP
fumecheng-13750	265	41	(	(	PUNCT
fumecheng-13750	265	42	1	1	NUM
fumecheng-13750	265	43	)	)	PUNCT
fumecheng-13750	265	44	via	via	ADP
fumecheng-13750	265	45	the	the	DET
fumecheng-13750	265	46	newton	newton	PROPN
fumecheng-13750	265	47	–	–	PUNCT
fumecheng-13750	265	48	raphson	raphson	NOUN
fumecheng-13750	265	49	method	method	NOUN
fumecheng-13750	265	50	,	,	PUNCT
fumecheng-13750	265	51	and	and	CCONJ
fumecheng-13750	265	52	the	the	DET
fumecheng-13750	265	53	validation	validation	NOUN
fumecheng-13750	265	54	of	of	ADP
fumecheng-13750	265	55	the	the	DET
fumecheng-13750	265	56	first	first	ADJ
fumecheng-13750	265	57	-	-	PUNCT
fumecheng-13750	265	58	order	order	NOUN
fumecheng-13750	265	59	continuous	continuous	ADJ
fumecheng-13750	265	60	-	-	PUNCT
fumecheng-13750	265	61	time	time	NOUN
fumecheng-13750	265	62	adrc	adrc	NOUN
fumecheng-13750	265	63	,	,	PUNCT
fumecheng-13750	265	64	adrc	adrc	NOUN
fumecheng-13750	265	65	-	-	PUNCT
fumecheng-13750	265	66	frit	frit	NOUN
fumecheng-13750	265	67	,	,	PUNCT
fumecheng-13750	265	68	mfc	mfc	PROPN
fumecheng-13750	265	69	,	,	PUNCT
fumecheng-13750	265	70	and	and	CCONJ
fumecheng-13750	265	71	mfc	mfc	PROPN
fumecheng-13750	265	72	-	-	PUNCT
fumecheng-13750	265	73	frit	frit	NOUN
fumecheng-13750	265	74	algorithms	algorithm	NOUN
fumecheng-13750	265	75	on	on	ADP
fumecheng-13750	265	76	the	the	DET
fumecheng-13750	265	77	3d	3d	PROPN
fumecheng-13750	265	78	crane	crane	NOUN
fumecheng-13750	265	79	system	system	NOUN
fumecheng-13750	265	80	.	.	PUNCT
fumecheng-13750	266	1	future	future	ADJ
fumecheng-13750	266	2	research	research	NOUN
fumecheng-13750	266	3	will	will	AUX
fumecheng-13750	266	4	concentrate	concentrate	VERB
fumecheng-13750	266	5	on	on	ADP
fumecheng-13750	266	6	validating	validate	VERB
fumecheng-13750	266	7	the	the	DET
fumecheng-13750	266	8	proposed	propose	VERB
fumecheng-13750	266	9	data	data	NOUN
fumecheng-13750	266	10	-	-	PUNCT
fumecheng-13750	266	11	driven	drive	VERB
fumecheng-13750	266	12	algorithms	algorithm	NOUN
fumecheng-13750	266	13	presented	present	VERB
fumecheng-13750	266	14	in	in	ADP
fumecheng-13750	266	15	this	this	DET
fumecheng-13750	266	16	paper	paper	NOUN
fumecheng-13750	266	17	on	on	ADP
fumecheng-13750	266	18	other	other	ADJ
fumecheng-13750	266	19	real	real	ADJ
fumecheng-13750	266	20	-	-	PUNCT
fumecheng-13750	266	21	time	time	NOUN
fumecheng-13750	266	22	devices	device	NOUN
fumecheng-13750	266	23	,	,	PUNCT
fumecheng-13750	266	24	as	as	ADV
fumecheng-13750	266	25	well	well	ADV
fumecheng-13750	266	26	as	as	ADP
fumecheng-13750	266	27	on	on	ADP
fumecheng-13750	266	28	the	the	DET
fumecheng-13750	266	29	integration	integration	NOUN
fumecheng-13750	266	30	and	and	CCONJ
fumecheng-13750	266	31	enhancement	enhancement	NOUN
fumecheng-13750	266	32	of	of	ADP
fumecheng-13750	266	33	data	data	NOUN
fumecheng-13750	266	34	-	-	PUNCT
fumecheng-13750	266	35	driven	drive	VERB
fumecheng-13750	266	36	algorithms	algorithm	NOUN
fumecheng-13750	266	37	such	such	ADJ
fumecheng-13750	266	38	as	as	ADP
fumecheng-13750	266	39	adrc	adrc	PROPN
fumecheng-13750	266	40	,	,	PUNCT
fumecheng-13750	266	41	mfc	mfc	PROPN
fumecheng-13750	266	42	,	,	PUNCT
fumecheng-13750	266	43	or	or	CCONJ
fumecheng-13750	266	44	frit	frit	NOUN
fumecheng-13750	266	45	.	.	PUNCT
fumecheng-13750	267	1	acknowledgement	acknowledgement	NOUN
fumecheng-13750	267	2	:	:	PUNCT
fumecheng-13750	267	3	this	this	DET
fumecheng-13750	267	4	work	work	NOUN
fumecheng-13750	267	5	was	be	AUX
fumecheng-13750	267	6	supported	support	VERB
fumecheng-13750	267	7	by	by	ADP
fumecheng-13750	267	8	a	a	DET
fumecheng-13750	267	9	grant	grant	NOUN
fumecheng-13750	267	10	of	of	ADP
fumecheng-13750	267	11	the	the	DET
fumecheng-13750	267	12	ministry	ministry	PROPN
fumecheng-13750	267	13	of	of	ADP
fumecheng-13750	267	14	research	research	PROPN
fumecheng-13750	267	15	,	,	PUNCT
fumecheng-13750	267	16	innovation	innovation	NOUN
fumecheng-13750	267	17	and	and	CCONJ
fumecheng-13750	267	18	digitization	digitization	NOUN
fumecheng-13750	267	19	,	,	PUNCT
fumecheng-13750	267	20	cncs	cncs	PROPN
fumecheng-13750	267	21	/	/	SYM
fumecheng-13750	267	22	cccdi	cccdi	NOUN
fumecheng-13750	267	23	uefiscdi	uefiscdi	NOUN
fumecheng-13750	267	24	,	,	PUNCT
fumecheng-13750	267	25	project	project	NOUN
fumecheng-13750	267	26	number	number	NOUN
fumecheng-13750	267	27	eranet	eranet	NOUN
fumecheng-13750	267	28	-	-	PUNCT
fumecheng-13750	267	29	enuac	enuac	NOUN
fumecheng-13750	267	30	-	-	PUNCT
fumecheng-13750	267	31	e	e	NOUN
fumecheng-13750	267	32	-	-	NOUN
fumecheng-13750	267	33	mats	mat	NOUN
fumecheng-13750	267	34	,	,	PUNCT
fumecheng-13750	267	35	within	within	ADP
fumecheng-13750	267	36	pncdi	pncdi	NOUN
fumecheng-13750	267	37	iv	iv	NOUN
fumecheng-13750	267	38	,	,	PUNCT
fumecheng-13750	267	39	and	and	CCONJ
fumecheng-13750	267	40	the	the	DET
fumecheng-13750	267	41	nserc	nserc	NOUN
fumecheng-13750	267	42	of	of	ADP
fumecheng-13750	267	43	canada	canada	PROPN
fumecheng-13750	267	44	.	.	PUNCT
fumecheng-13750	268	1	references	reference	NOUN
fumecheng-13750	268	2	1	1	NUM
fumecheng-13750	268	3	.	.	PUNCT
fumecheng-13750	269	1	precup	precup	PROPN
fumecheng-13750	269	2	,	,	PUNCT
fumecheng-13750	269	3	r.-e	r.-e	PROPN
fumecheng-13750	269	4	.	.	PUNCT
fumecheng-13750	269	5	,	,	PUNCT
fumecheng-13750	269	6	roman	roman	NOUN
fumecheng-13750	269	7	,	,	PUNCT
fumecheng-13750	269	8	r.-c	r.-c	PROPN
fumecheng-13750	269	9	.	.	PUNCT
fumecheng-13750	269	10	,	,	PUNCT
fumecheng-13750	269	11	safaei	safaei	PROPN
fumecheng-13750	269	12	,	,	PUNCT
fumecheng-13750	269	13	a.	a.	NOUN
fumecheng-13750	269	14	,	,	PUNCT
fumecheng-13750	269	15	2021	2021	NUM
fumecheng-13750	269	16	,	,	PUNCT
fumecheng-13750	269	17	data	data	NOUN
fumecheng-13750	269	18	-	-	PUNCT
fumecheng-13750	269	19	driven	drive	VERB
fumecheng-13750	269	20	model	model	NOUN
fumecheng-13750	269	21	-	-	PUNCT
fumecheng-13750	269	22	free	free	ADJ
fumecheng-13750	269	23	controllers	controller	NOUN
fumecheng-13750	269	24	,	,	PUNCT
fumecheng-13750	269	25	1st	1st	ADJ
fumecheng-13750	269	26	edition	edition	NOUN
fumecheng-13750	269	27	,	,	PUNCT
fumecheng-13750	269	28	crc	crc	NOUN
fumecheng-13750	269	29	press	press	PROPN
fumecheng-13750	269	30	,	,	PUNCT
fumecheng-13750	269	31	taylor	taylor	PROPN
fumecheng-13750	269	32	&	&	CCONJ
fumecheng-13750	269	33	francis	francis	PROPN
fumecheng-13750	269	34	,	,	PUNCT
fumecheng-13750	269	35	boca	boca	PROPN
fumecheng-13750	269	36	raton	raton	PROPN
fumecheng-13750	269	37	,	,	PUNCT
fumecheng-13750	269	38	fl	fl	PROPN
fumecheng-13750	269	39	,	,	PUNCT
fumecheng-13750	269	40	usa	usa	PROPN
fumecheng-13750	269	41	.	.	PROPN
fumecheng-13750	269	42	2	2	NUM
fumecheng-13750	269	43	.	.	X
fumecheng-13750	269	44	milić	milić	NOUN
fumecheng-13750	269	45	,	,	PUNCT
fumecheng-13750	269	46	p.	p.	NOUN
fumecheng-13750	269	47	,	,	PUNCT
fumecheng-13750	269	48	marinković	marinković	PROPN
fumecheng-13750	269	49	,	,	PUNCT
fumecheng-13750	269	50	d.	d.	PROPN
fumecheng-13750	269	51	,	,	PUNCT
fumecheng-13750	269	52	klinge	klinge	PROPN
fumecheng-13750	269	53	,	,	PUNCT
fumecheng-13750	269	54	s.	s.	PROPN
fumecheng-13750	269	55	,	,	PUNCT
fumecheng-13750	269	56	ćojbašić	ćojbašić	PROPN
fumecheng-13750	269	57	,	,	PUNCT
fumecheng-13750	269	58	ž	ž	PROPN
fumecheng-13750	269	59	.	.	PROPN
fumecheng-13750	269	60	,	,	PUNCT
fumecheng-13750	269	61	2023	2023	NUM
fumecheng-13750	269	62	,	,	PUNCT
fumecheng-13750	269	63	reissner	reissner	NOUN
fumecheng-13750	269	64	-	-	PUNCT
fumecheng-13750	269	65	mindlin	mindlin	NOUN
fumecheng-13750	269	66	based	base	VERB
fumecheng-13750	269	67	isogeometric	isogeometric	ADJ
fumecheng-13750	269	68	finite	finite	PROPN
fumecheng-13750	269	69	element	element	NOUN
fumecheng-13750	269	70	formulation	formulation	NOUN
fumecheng-13750	269	71	for	for	ADP
fumecheng-13750	269	72	piezoelectric	piezoelectric	ADJ
fumecheng-13750	269	73	active	active	ADJ
fumecheng-13750	269	74	laminated	laminated	ADJ
fumecheng-13750	269	75	shells	shell	NOUN
fumecheng-13750	269	76	,	,	PUNCT
fumecheng-13750	269	77	tehnički	tehnički	PROPN
fumecheng-13750	269	78	vjesnik	vjesnik	PROPN
fumecheng-13750	269	79	,	,	PUNCT
fumecheng-13750	269	80	30(2	30(2	NUM
fumecheng-13750	269	81	)	)	PUNCT
fumecheng-13750	269	82	,	,	PUNCT
fumecheng-13750	269	83	pp	pp	PROPN
fumecheng-13750	269	84	.	.	PUNCT
fumecheng-13750	270	1	416	416	NUM
fumecheng-13750	270	2	-	-	SYM
fumecheng-13750	270	3	425	425	NUM
fumecheng-13750	270	4	.	.	PUNCT
fumecheng-13750	271	1	3	3	NUM
fumecheng-13750	271	2	.	.	PUNCT
fumecheng-13750	271	3	z.	z.	PROPN
fumecheng-13750	271	4	gao	gao	PROPN
fumecheng-13750	271	5	,	,	PUNCT
fumecheng-13750	271	6	2006	2006	NUM
fumecheng-13750	271	7	,	,	PUNCT
fumecheng-13750	271	8	active	active	ADJ
fumecheng-13750	271	9	disturbance	disturbance	NOUN
fumecheng-13750	271	10	rejection	rejection	NOUN
fumecheng-13750	271	11	control	control	NOUN
fumecheng-13750	271	12	:	:	PUNCT
fumecheng-13750	271	13	a	a	DET
fumecheng-13750	271	14	paradigm	paradigm	NOUN
fumecheng-13750	271	15	shift	shift	NOUN
fumecheng-13750	271	16	in	in	ADP
fumecheng-13750	271	17	feedback	feedback	NOUN
fumecheng-13750	271	18	control	control	NOUN
fumecheng-13750	271	19	system	system	NOUN
fumecheng-13750	271	20	design	design	NOUN
fumecheng-13750	271	21	,	,	PUNCT
fumecheng-13750	271	22	proc	proc	NOUN
fumecheng-13750	271	23	.	.	PUNCT
fumecheng-13750	271	24	2006	2006	NUM
fumecheng-13750	271	25	american	american	PROPN
fumecheng-13750	271	26	control	control	PROPN
fumecheng-13750	271	27	conference	conference	PROPN
fumecheng-13750	271	28	,	,	PUNCT
fumecheng-13750	271	29	minneapolis	minneapolis	PROPN
fumecheng-13750	271	30	,	,	PUNCT
fumecheng-13750	271	31	mn	mn	PROPN
fumecheng-13750	271	32	,	,	PUNCT
fumecheng-13750	271	33	usa	usa	PROPN
fumecheng-13750	271	34	,	,	PUNCT
fumecheng-13750	271	35	pp	pp	NOUN
fumecheng-13750	271	36	.	.	PUNCT
fumecheng-13750	271	37	2399–2405	2399–2405	NUM
fumecheng-13750	271	38	.	.	PUNCT
fumecheng-13750	272	1	4	4	X
fumecheng-13750	272	2	.	.	X
fumecheng-13750	272	3	roman	roman	NOUN
fumecheng-13750	272	4	,	,	PUNCT
fumecheng-13750	272	5	r.-c	r.-c	PROPN
fumecheng-13750	272	6	.	.	PUNCT
fumecheng-13750	272	7	,	,	PUNCT
fumecheng-13750	272	8	precup	precup	PROPN
fumecheng-13750	272	9	,	,	PUNCT
fumecheng-13750	272	10	r.-e	r.-e	PROPN
fumecheng-13750	272	11	.	.	PUNCT
fumecheng-13750	272	12	,	,	PUNCT
fumecheng-13750	272	13	petriu	petriu	PROPN
fumecheng-13750	272	14	,	,	PUNCT
fumecheng-13750	272	15	e.	e.	PROPN
fumecheng-13750	272	16	m.	m.	PROPN
fumecheng-13750	272	17	,	,	PUNCT
fumecheng-13750	272	18	2021	2021	NUM
fumecheng-13750	272	19	,	,	PUNCT
fumecheng-13750	272	20	hybrid	hybrid	ADJ
fumecheng-13750	272	21	data	data	NOUN
fumecheng-13750	272	22	-	-	PUNCT
fumecheng-13750	272	23	driven	drive	VERB
fumecheng-13750	272	24	fuzzy	fuzzy	ADJ
fumecheng-13750	272	25	active	active	ADJ
fumecheng-13750	272	26	disturbance	disturbance	NOUN
fumecheng-13750	272	27	rejection	rejection	NOUN
fumecheng-13750	272	28	control	control	NOUN
fumecheng-13750	272	29	for	for	ADP
fumecheng-13750	272	30	tower	tower	NOUN
fumecheng-13750	272	31	crane	crane	NOUN
fumecheng-13750	272	32	systems	system	NOUN
fumecheng-13750	272	33	,	,	PUNCT
fumecheng-13750	272	34	european	european	PROPN
fumecheng-13750	272	35	journal	journal	PROPN
fumecheng-13750	272	36	of	of	ADP
fumecheng-13750	272	37	control	control	PROPN
fumecheng-13750	272	38	,	,	PUNCT
fumecheng-13750	272	39	58	58	NUM
fumecheng-13750	272	40	,	,	PUNCT
fumecheng-13750	272	41	pp	pp	ADJ
fumecheng-13750	272	42	.	.	PUNCT
fumecheng-13750	273	1	373	373	NUM
fumecheng-13750	273	2	-	-	SYM
fumecheng-13750	273	3	387	387	NUM
fumecheng-13750	273	4	.	.	NOUN
fumecheng-13750	273	5	5	5	NUM
fumecheng-13750	273	6	.	.	X
fumecheng-13750	273	7	fliess	fliess	NOUN
fumecheng-13750	273	8	,	,	PUNCT
fumecheng-13750	273	9	m.	m.	NOUN
fumecheng-13750	273	10	,	,	PUNCT
fumecheng-13750	273	11	join	join	NOUN
fumecheng-13750	273	12	,	,	PUNCT
fumecheng-13750	273	13	c.	c.	PROPN
fumecheng-13750	273	14	,	,	PUNCT
fumecheng-13750	273	15	2013	2013	NUM
fumecheng-13750	273	16	,	,	PUNCT
fumecheng-13750	273	17	model	model	NOUN
fumecheng-13750	273	18	-	-	PUNCT
fumecheng-13750	273	19	free	free	ADJ
fumecheng-13750	273	20	control	control	NOUN
fumecheng-13750	273	21	,	,	PUNCT
fumecheng-13750	273	22	international	international	ADJ
fumecheng-13750	273	23	journal	journal	NOUN
fumecheng-13750	273	24	of	of	ADP
fumecheng-13750	273	25	control	control	NOUN
fumecheng-13750	273	26	,	,	PUNCT
fumecheng-13750	273	27	86(12	86(12	NUM
fumecheng-13750	273	28	)	)	PUNCT
fumecheng-13750	273	29	,	,	PUNCT
fumecheng-13750	273	30	pp	pp	PROPN
fumecheng-13750	273	31	.	.	PUNCT
fumecheng-13750	273	32	2228–2252	2228–2252	NUM
fumecheng-13750	273	33	.	.	NOUN
fumecheng-13750	274	1	6	6	NUM
fumecheng-13750	274	2	.	.	X
fumecheng-13750	274	3	roman	roman	NOUN
fumecheng-13750	274	4	,	,	PUNCT
fumecheng-13750	274	5	r.-c	r.-c	PROPN
fumecheng-13750	274	6	.	.	PUNCT
fumecheng-13750	274	7	,	,	PUNCT
fumecheng-13750	274	8	precup	precup	PROPN
fumecheng-13750	274	9	,	,	PUNCT
fumecheng-13750	274	10	r.-e	r.-e	PROPN
fumecheng-13750	274	11	.	.	PUNCT
fumecheng-13750	274	12	,	,	PUNCT
fumecheng-13750	275	1	petriu	petriu	PROPN
fumecheng-13750	275	2	,	,	PUNCT
fumecheng-13750	275	3	e.	e.	PROPN
fumecheng-13750	275	4	m.	m.	PROPN
fumecheng-13750	275	5	,	,	PUNCT
fumecheng-13750	275	6	muntyan	muntyan	NOUN
fumecheng-13750	275	7	,	,	PUNCT
fumecheng-13750	275	8	m.	m.	NOUN
fumecheng-13750	275	9	,	,	PUNCT
fumecheng-13750	275	10	2023	2023	NUM
fumecheng-13750	275	11	,	,	PUNCT
fumecheng-13750	275	12	fictitious	fictitious	ADJ
fumecheng-13750	275	13	reference	reference	NOUN
fumecheng-13750	275	14	iterative	iterative	NOUN
fumecheng-13750	275	15	tuning	tuning	NOUN
fumecheng-13750	275	16	of	of	ADP
fumecheng-13750	275	17	discrete	discrete	ADJ
fumecheng-13750	275	18	-	-	PUNCT
fumecheng-13750	275	19	time	time	NOUN
fumecheng-13750	275	20	model	model	NOUN
fumecheng-13750	275	21	-	-	PUNCT
fumecheng-13750	275	22	free	free	ADJ
fumecheng-13750	275	23	control	control	NOUN
fumecheng-13750	275	24	for	for	ADP
fumecheng-13750	275	25	tower	tower	NOUN
fumecheng-13750	275	26	crane	crane	NOUN
fumecheng-13750	275	27	systems	system	NOUN
fumecheng-13750	275	28	,	,	PUNCT
fumecheng-13750	275	29	studies	study	NOUN
fumecheng-13750	275	30	in	in	ADP
fumecheng-13750	275	31	informatics	informatic	NOUN
fumecheng-13750	275	32	and	and	CCONJ
fumecheng-13750	275	33	control	control	NOUN
fumecheng-13750	275	34	,	,	PUNCT
fumecheng-13750	275	35	32(1	32(1	NUM
fumecheng-13750	275	36	)	)	PUNCT
fumecheng-13750	275	37	,	,	PUNCT
fumecheng-13750	276	1	pp	pp	ADP
fumecheng-13750	276	2	.	.	PUNCT
fumecheng-13750	277	1	5	5	NUM
fumecheng-13750	277	2	-	-	SYM
fumecheng-13750	277	3	14	14	NUM
fumecheng-13750	277	4	.	.	PUNCT
fumecheng-13750	278	1	7	7	X
fumecheng-13750	278	2	.	.	X
fumecheng-13750	278	3	liu	liu	PROPN
fumecheng-13750	278	4	,	,	PUNCT
fumecheng-13750	278	5	s.	s.	PROPN
fumecheng-13750	278	6	,	,	PUNCT
fumecheng-13750	278	7	lin	lin	PROPN
fumecheng-13750	278	8	,	,	PUNCT
fumecheng-13750	278	9	g.	g.	PROPN
fumecheng-13750	278	10	,	,	PUNCT
fumecheng-13750	278	11	ji	ji	PROPN
fumecheng-13750	278	12	,	,	PUNCT
fumecheng-13750	278	13	h.	h.	PROPN
fumecheng-13750	278	14	,	,	PUNCT
fumecheng-13750	278	15	jin	jin	PROPN
fumecheng-13750	278	16	,	,	PUNCT
fumecheng-13750	278	17	s.	s.	PROPN
fumecheng-13750	278	18	,	,	PUNCT
fumecheng-13750	278	19	hou	hou	PROPN
fumecheng-13750	278	20	,	,	PUNCT
fumecheng-13750	278	21	z.	z.	PROPN
fumecheng-13750	278	22	,	,	PUNCT
fumecheng-13750	278	23	2025	2025	NUM
fumecheng-13750	278	24	,	,	PUNCT
fumecheng-13750	278	25	a	a	DET
fumecheng-13750	278	26	novel	novel	NOUN
fumecheng-13750	278	27	enhanced	enhance	VERB
fumecheng-13750	278	28	data	data	NOUN
fumecheng-13750	278	29	-	-	PUNCT
fumecheng-13750	278	30	driven	drive	VERB
fumecheng-13750	278	31	model	model	NOUN
fumecheng-13750	278	32	-	-	PUNCT
fumecheng-13750	278	33	free	free	ADJ
fumecheng-13750	278	34	adaptive	adaptive	ADJ
fumecheng-13750	278	35	control	control	NOUN
fumecheng-13750	278	36	scheme	scheme	NOUN
fumecheng-13750	278	37	for	for	ADP
fumecheng-13750	278	38	path	path	NOUN
fumecheng-13750	278	39	tracking	tracking	NOUN
fumecheng-13750	278	40	of	of	ADP
fumecheng-13750	278	41	autonomous	autonomous	ADJ
fumecheng-13750	278	42	vehicles	vehicle	NOUN
fumecheng-13750	278	43	,	,	PUNCT
fumecheng-13750	278	44	ieee	ieee	NOUN
fumecheng-13750	278	45	transactions	transaction	NOUN
fumecheng-13750	278	46	on	on	ADP
fumecheng-13750	278	47	intelligent	intelligent	ADJ
fumecheng-13750	278	48	transportation	transportation	NOUN
fumecheng-13750	278	49	systems	system	NOUN
fumecheng-13750	278	50	,	,	PUNCT
fumecheng-13750	278	51	26(1	26(1	NUM
fumecheng-13750	278	52	)	)	PUNCT
fumecheng-13750	278	53	,	,	PUNCT
fumecheng-13750	278	54	pp	pp	PROPN
fumecheng-13750	278	55	.	.	PUNCT
fumecheng-13750	279	1	579	579	NUM
fumecheng-13750	279	2	-	-	SYM
fumecheng-13750	279	3	590	590	NUM
fumecheng-13750	279	4	.	.	NOUN
fumecheng-13750	280	1	8	8	NUM
fumecheng-13750	280	2	.	.	PUNCT
fumecheng-13750	280	3	formentin	formentin	PROPN
fumecheng-13750	280	4	,	,	PUNCT
fumecheng-13750	280	5	s.	s.	PROPN
fumecheng-13750	280	6	,	,	PUNCT
fumecheng-13750	280	7	campi	campi	PROPN
fumecheng-13750	280	8	,	,	PUNCT
fumecheng-13750	280	9	m.	m.	PROPN
fumecheng-13750	280	10	c.	c.	PROPN
fumecheng-13750	280	11	,	,	PUNCT
fumecheng-13750	280	12	carè	carè	NOUN
fumecheng-13750	280	13	,	,	PUNCT
fumecheng-13750	280	14	a.	a.	NOUN
fumecheng-13750	280	15	,	,	PUNCT
fumecheng-13750	280	16	savaresi	savaresi	PROPN
fumecheng-13750	280	17	,	,	PUNCT
fumecheng-13750	280	18	s.	s.	PROPN
fumecheng-13750	280	19	m.	m.	PROPN
fumecheng-13750	280	20	,	,	PUNCT
fumecheng-13750	280	21	2019	2019	NUM
fumecheng-13750	280	22	,	,	PUNCT
fumecheng-13750	280	23	deterministic	deterministic	ADJ
fumecheng-13750	280	24	continuous	continuous	ADJ
fumecheng-13750	280	25	-	-	PUNCT
fumecheng-13750	280	26	time	time	NOUN
fumecheng-13750	280	27	virtual	virtual	ADJ
fumecheng-13750	280	28	reference	reference	NOUN
fumecheng-13750	280	29	feedback	feedback	NOUN
fumecheng-13750	280	30	tuning	tuning	NOUN
fumecheng-13750	280	31	(	(	PUNCT
fumecheng-13750	280	32	vrft	vrft	NOUN
fumecheng-13750	280	33	)	)	PUNCT
fumecheng-13750	280	34	with	with	ADP
fumecheng-13750	280	35	application	application	NOUN
fumecheng-13750	280	36	to	to	ADP
fumecheng-13750	280	37	pid	pid	NOUN
fumecheng-13750	280	38	design	design	NOUN
fumecheng-13750	280	39	,	,	PUNCT
fumecheng-13750	280	40	systems	systems	PROPN
fumecheng-13750	280	41	&	&	CCONJ
fumecheng-13750	280	42	control	control	PROPN
fumecheng-13750	280	43	letters	letter	NOUN
fumecheng-13750	280	44	,	,	PUNCT
fumecheng-13750	280	45	127	127	NUM
fumecheng-13750	280	46	,	,	PUNCT
fumecheng-13750	280	47	pp	pp	ADJ
fumecheng-13750	280	48	.	.	PUNCT
fumecheng-13750	281	1	25	25	NUM
fumecheng-13750	281	2	-	-	SYM
fumecheng-13750	281	3	34	34	NUM
fumecheng-13750	281	4	.	.	NOUN
fumecheng-13750	282	1	9	9	NUM
fumecheng-13750	282	2	.	.	X
fumecheng-13750	282	3	hjalmarsson	hjalmarsson	PROPN
fumecheng-13750	282	4	,	,	PUNCT
fumecheng-13750	282	5	h.	h.	PROPN
fumecheng-13750	282	6	,	,	PUNCT
fumecheng-13750	282	7	2002	2002	NUM
fumecheng-13750	282	8	,	,	PUNCT
fumecheng-13750	282	9	iterative	iterative	ADJ
fumecheng-13750	282	10	feedback	feedback	NOUN
fumecheng-13750	282	11	tuning	tuning	NOUN
fumecheng-13750	282	12	,	,	PUNCT
fumecheng-13750	282	13	international	international	ADJ
fumecheng-13750	282	14	journal	journal	NOUN
fumecheng-13750	282	15	of	of	ADP
fumecheng-13750	282	16	adaptive	adaptive	ADJ
fumecheng-13750	282	17	control	control	NOUN
fumecheng-13750	282	18	and	and	CCONJ
fumecheng-13750	282	19	signal	signal	PROPN
fumecheng-13750	282	20	processing	processing	NOUN
fumecheng-13750	282	21	,	,	PUNCT
fumecheng-13750	282	22	16(5	16(5	NUM
fumecheng-13750	282	23	)	)	PUNCT
fumecheng-13750	282	24	,	,	PUNCT
fumecheng-13750	282	25	pp	pp	ADP
fumecheng-13750	282	26	.	.	PUNCT
fumecheng-13750	283	1	373	373	NUM
fumecheng-13750	283	2	-	-	SYM
fumecheng-13750	283	3	395	395	NUM
fumecheng-13750	283	4	.	.	NOUN
fumecheng-13750	284	1	10	10	NUM
fumecheng-13750	284	2	.	.	X
fumecheng-13750	284	3	soma	soma	PROPN
fumecheng-13750	284	4	,	,	PUNCT
fumecheng-13750	284	5	s.	s.	PROPN
fumecheng-13750	284	6	,	,	PUNCT
fumecheng-13750	284	7	kaneko	kaneko	PROPN
fumecheng-13750	284	8	,	,	PUNCT
fumecheng-13750	284	9	o.	o.	PROPN
fumecheng-13750	284	10	,	,	PUNCT
fumecheng-13750	284	11	fujii	fujii	PROPN
fumecheng-13750	284	12	,	,	PUNCT
fumecheng-13750	284	13	2004	2004	NUM
fumecheng-13750	284	14	,	,	PUNCT
fumecheng-13750	284	15	a	a	DET
fumecheng-13750	284	16	new	new	ADJ
fumecheng-13750	284	17	method	method	NOUN
fumecheng-13750	284	18	of	of	ADP
fumecheng-13750	284	19	controller	controller	NOUN
fumecheng-13750	284	20	parameter	parameter	NOUN
fumecheng-13750	284	21	tuning	tuning	NOUN
fumecheng-13750	284	22	based	base	VERB
fumecheng-13750	284	23	on	on	ADP
fumecheng-13750	284	24	input	input	NOUN
fumecheng-13750	284	25	-	-	PUNCT
fumecheng-13750	284	26	output	output	NOUN
fumecheng-13750	284	27	data	datum	NOUN
fumecheng-13750	284	28	–	–	PUNCT
fumecheng-13750	284	29	fictitious	fictitious	ADJ
fumecheng-13750	284	30	reference	reference	NOUN
fumecheng-13750	284	31	iterative	iterative	NOUN
fumecheng-13750	284	32	tuning	tuning	NOUN
fumecheng-13750	284	33	(	(	PUNCT
fumecheng-13750	284	34	frit	frit	NOUN
fumecheng-13750	284	35	)	)	PUNCT
fumecheng-13750	284	36	,	,	PUNCT
fumecheng-13750	284	37	ifac	ifac	NOUN
fumecheng-13750	284	38	proceedings	proceeding	NOUN
fumecheng-13750	284	39	volumes	volume	NOUN
fumecheng-13750	284	40	37(12	37(12	NUM
fumecheng-13750	284	41	)	)	PUNCT
fumecheng-13750	284	42	,	,	PUNCT
fumecheng-13750	284	43	pp	pp	ADP
fumecheng-13750	284	44	.	.	PUNCT
fumecheng-13750	285	1	798	798	NUM
fumecheng-13750	285	2	-	-	SYM
fumecheng-13750	285	3	794	794	NUM
fumecheng-13750	285	4	.	.	PUNCT
fumecheng-13750	286	1	11	11	NUM
fumecheng-13750	286	2	.	.	PUNCT
fumecheng-13750	287	1	bristow	bristow	PROPN
fumecheng-13750	287	2	,	,	PUNCT
fumecheng-13750	287	3	d.a	d.a	PROPN
fumecheng-13750	287	4	.	.	PROPN
fumecheng-13750	287	5	,	,	PUNCT
fumecheng-13750	287	6	tharayil	tharayil	NOUN
fumecheng-13750	287	7	,	,	PUNCT
fumecheng-13750	287	8	m.	m.	NOUN
fumecheng-13750	287	9	,	,	PUNCT
fumecheng-13750	287	10	alleyne	alleyne	PROPN
fumecheng-13750	287	11	,	,	PUNCT
fumecheng-13750	287	12	a.g	a.g	PROPN
fumecheng-13750	287	13	.	.	PROPN
fumecheng-13750	287	14	,	,	PUNCT
fumecheng-13750	287	15	2006	2006	NUM
fumecheng-13750	287	16	,	,	PUNCT
fumecheng-13750	287	17	a	a	DET
fumecheng-13750	287	18	survey	survey	NOUN
fumecheng-13750	287	19	of	of	ADP
fumecheng-13750	287	20	iterative	iterative	NOUN
fumecheng-13750	287	21	learning	learning	NOUN
fumecheng-13750	287	22	control	control	NOUN
fumecheng-13750	287	23	,	,	PUNCT
fumecheng-13750	287	24	ieee	ieee	NOUN
fumecheng-13750	287	25	control	control	PROPN
fumecheng-13750	287	26	systems	systems	PROPN
fumecheng-13750	287	27	magazine	magazine	PROPN
fumecheng-13750	287	28	,	,	PUNCT
fumecheng-13750	287	29	26(3	26(3	NUM
fumecheng-13750	287	30	)	)	PUNCT
fumecheng-13750	287	31	,	,	PUNCT
fumecheng-13750	287	32	pp	pp	ADP
fumecheng-13750	287	33	.	.	PUNCT
fumecheng-13750	288	1	96	96	NUM
fumecheng-13750	288	2	-	-	SYM
fumecheng-13750	288	3	114	114	NUM
fumecheng-13750	288	4	.	.	PUNCT
fumecheng-13750	289	1	12	12	NUM
fumecheng-13750	289	2	.	.	PUNCT
fumecheng-13750	290	1	precup	precup	PROPN
fumecheng-13750	290	2	,	,	PUNCT
fumecheng-13750	290	3	r.-e	r.-e	PROPN
fumecheng-13750	290	4	.	.	PUNCT
fumecheng-13750	290	5	,	,	PUNCT
fumecheng-13750	290	6	roman	roman	NOUN
fumecheng-13750	290	7	,	,	PUNCT
fumecheng-13750	290	8	r.-c	r.-c	PROPN
fumecheng-13750	290	9	.	.	PROPN
fumecheng-13750	290	10	,	,	PUNCT
fumecheng-13750	290	11	hedrea	hedrea	PROPN
fumecheng-13750	290	12	,	,	PUNCT
fumecheng-13750	290	13	e.-l	e.-l	PROPN
fumecheng-13750	290	14	.	.	PUNCT
fumecheng-13750	290	15	,	,	PUNCT
fumecheng-13750	290	16	petriu	petriu	PROPN
fumecheng-13750	290	17	,	,	PUNCT
fumecheng-13750	290	18	e.	e.	PROPN
fumecheng-13750	290	19	m.	m.	PROPN
fumecheng-13750	290	20	,	,	PUNCT
fumecheng-13750	290	21	bojan	bojan	PROPN
fumecheng-13750	290	22	-	-	PUNCT
fumecheng-13750	290	23	dragos	drago	NOUN
fumecheng-13750	290	24	,	,	PUNCT
fumecheng-13750	290	25	c.-a	c.-a	PROPN
fumecheng-13750	290	26	.	.	PROPN
fumecheng-13750	290	27	,	,	PUNCT
fumecheng-13750	290	28	szedlak	szedlak	NOUN
fumecheng-13750	290	29	-	-	PUNCT
fumecheng-13750	290	30	stinean	stinean	ADJ
fumecheng-13750	290	31	,	,	PUNCT
fumecheng-13750	290	32	a.-i	a.-i	PROPN
fumecheng-13750	290	33	.	.	PROPN
fumecheng-13750	290	34	,	,	PUNCT
fumecheng-13750	290	35	2024	2024	NUM
fumecheng-13750	290	36	,	,	PUNCT
fumecheng-13750	290	37	metaheuristic	metaheuristic	ADJ
fumecheng-13750	290	38	-	-	PUNCT
fumecheng-13750	290	39	based	base	VERB
fumecheng-13750	290	40	tuning	tuning	NOUN
fumecheng-13750	290	41	of	of	ADP
fumecheng-13750	290	42	proportional	proportional	ADJ
fumecheng-13750	290	43	-	-	PUNCT
fumecheng-13750	290	44	derivative	derivative	ADJ
fumecheng-13750	290	45	learning	learning	NOUN
fumecheng-13750	290	46	rules	rule	NOUN
fumecheng-13750	290	47	for	for	ADP
fumecheng-13750	290	48	proportional	proportional	ADJ
fumecheng-13750	290	49	-	-	PUNCT
fumecheng-13750	290	50	integral	integral	ADJ
fumecheng-13750	290	51	fuzzy	fuzzy	ADJ
fumecheng-13750	290	52	controllers	controller	NOUN
fumecheng-13750	290	53	in	in	ADP
fumecheng-13750	290	54	tower	tower	NOUN
fumecheng-13750	290	55	crane	crane	NOUN
fumecheng-13750	290	56	system	system	NOUN
fumecheng-13750	290	57	payload	payload	NOUN
fumecheng-13750	290	58	position	position	NOUN
fumecheng-13750	290	59	control	control	NOUN
fumecheng-13750	290	60	,	,	PUNCT
fumecheng-13750	290	61	facta	facta	PROPN
fumecheng-13750	290	62	universitatis	universitatis	PROPN
fumecheng-13750	290	63	-	-	PUNCT
fumecheng-13750	290	64	series	series	NOUN
fumecheng-13750	290	65	mechanical	mechanical	ADJ
fumecheng-13750	290	66	engineering	engineering	NOUN
fumecheng-13750	290	67	,	,	PUNCT
fumecheng-13750	290	68	22(4	22(4	NUM
fumecheng-13750	290	69	)	)	PUNCT
fumecheng-13750	290	70	,	,	PUNCT
fumecheng-13750	290	71	pp	pp	PROPN
fumecheng-13750	290	72	.	.	PUNCT
fumecheng-13750	291	1	567	567	NUM
fumecheng-13750	291	2	-	-	SYM
fumecheng-13750	291	3	582	582	NUM
fumecheng-13750	291	4	.	.	PUNCT
fumecheng-13750	292	1	active	active	ADJ
fumecheng-13750	292	2	disturbance	disturbance	NOUN
fumecheng-13750	292	3	rejection	rejection	NOUN
fumecheng-13750	292	4	control	control	NOUN
fumecheng-13750	292	5	and	and	CCONJ
fumecheng-13750	292	6	model	model	NOUN
fumecheng-13750	292	7	-	-	PUNCT
fumecheng-13750	292	8	free	free	ADJ
fumecheng-13750	292	9	control	control	NOUN
fumecheng-13750	292	10	195	195	NUM
fumecheng-13750	292	11	13	13	NUM
fumecheng-13750	292	12	.	.	PUNCT
fumecheng-13750	293	1	roman	roman	NOUN
fumecheng-13750	293	2	,	,	PUNCT
fumecheng-13750	293	3	r.-c	r.-c	PROPN
fumecheng-13750	293	4	.	.	PUNCT
fumecheng-13750	293	5	,	,	PUNCT
fumecheng-13750	293	6	precup	precup	PROPN
fumecheng-13750	293	7	,	,	PUNCT
fumecheng-13750	293	8	r.-e	r.-e	PROPN
fumecheng-13750	293	9	.	.	PUNCT
fumecheng-13750	293	10	,	,	PUNCT
fumecheng-13750	293	11	petriu	petriu	PROPN
fumecheng-13750	293	12	,	,	PUNCT
fumecheng-13750	293	13	e.	e.	PROPN
fumecheng-13750	293	14	m.	m.	PROPN
fumecheng-13750	293	15	,	,	PUNCT
fumecheng-13750	293	16	borlea	borlea	PROPN
fumecheng-13750	293	17	,	,	PUNCT
fumecheng-13750	293	18	a.-i	a.-i	PROPN
fumecheng-13750	293	19	.	.	PROPN
fumecheng-13750	293	20	,	,	PUNCT
fumecheng-13750	293	21	2024	2024	NUM
fumecheng-13750	293	22	,	,	PUNCT
fumecheng-13750	293	23	hybrid	hybrid	ADJ
fumecheng-13750	293	24	data	data	NOUN
fumecheng-13750	293	25	-	-	PUNCT
fumecheng-13750	293	26	driven	drive	VERB
fumecheng-13750	293	27	active	active	ADJ
fumecheng-13750	293	28	disturbance	disturbance	NOUN
fumecheng-13750	293	29	rejection	rejection	NOUN
fumecheng-13750	293	30	sliding	slide	VERB
fumecheng-13750	293	31	mode	mode	NOUN
fumecheng-13750	293	32	control	control	NOUN
fumecheng-13750	293	33	with	with	ADP
fumecheng-13750	293	34	tower	tower	NOUN
fumecheng-13750	293	35	crane	crane	NOUN
fumecheng-13750	293	36	systems	system	NOUN
fumecheng-13750	293	37	validation	validation	NOUN
fumecheng-13750	293	38	,	,	PUNCT
fumecheng-13750	293	39	romanian	romanian	ADJ
fumecheng-13750	293	40	journal	journal	NOUN
fumecheng-13750	293	41	of	of	ADP
fumecheng-13750	293	42	information	information	NOUN
fumecheng-13750	293	43	science	science	NOUN
fumecheng-13750	293	44	and	and	CCONJ
fumecheng-13750	293	45	technology	technology	NOUN
fumecheng-13750	293	46	,	,	PUNCT
fumecheng-13750	293	47	27(1	27(1	NUM
fumecheng-13750	293	48	)	)	PUNCT
fumecheng-13750	293	49	,	,	PUNCT
fumecheng-13750	293	50	pp	pp	ADP
fumecheng-13750	293	51	.	.	PUNCT
fumecheng-13750	294	1	3	3	NUM
fumecheng-13750	294	2	-	-	SYM
fumecheng-13750	294	3	17	17	NUM
fumecheng-13750	294	4	.	.	PUNCT
fumecheng-13750	295	1	14	14	NUM
fumecheng-13750	295	2	.	.	X
fumecheng-13750	296	1	roman	roman	NOUN
fumecheng-13750	296	2	,	,	PUNCT
fumecheng-13750	296	3	r.-c	r.-c	PROPN
fumecheng-13750	296	4	.	.	PUNCT
fumecheng-13750	296	5	,	,	PUNCT
fumecheng-13750	296	6	precup	precup	PROPN
fumecheng-13750	296	7	,	,	PUNCT
fumecheng-13750	296	8	r.-e	r.-e	PROPN
fumecheng-13750	296	9	.	.	PUNCT
fumecheng-13750	296	10	,	,	PUNCT
fumecheng-13750	296	11	stebel	stebel	NOUN
fumecheng-13750	296	12	,	,	PUNCT
fumecheng-13750	296	13	k.	k.	PROPN
fumecheng-13750	296	14	,	,	PUNCT
fumecheng-13750	296	15	madonski	madonski	PROPN
fumecheng-13750	296	16	,	,	PUNCT
fumecheng-13750	296	17	r.	r.	PROPN
fumecheng-13750	296	18	,	,	PUNCT
fumecheng-13750	296	19	2025	2025	NUM
fumecheng-13750	296	20	,	,	PUNCT
fumecheng-13750	296	21	active	active	ADJ
fumecheng-13750	296	22	disturbance	disturbance	NOUN
fumecheng-13750	296	23	rejection	rejection	NOUN
fumecheng-13750	296	24	control	control	NOUN
fumecheng-13750	296	25	tuned	tune	VERB
fumecheng-13750	296	26	by	by	ADP
fumecheng-13750	296	27	fictitious	fictitious	ADJ
fumecheng-13750	296	28	reference	reference	NOUN
fumecheng-13750	296	29	iterative	iterative	NOUN
fumecheng-13750	296	30	tuning	tuning	NOUN
fumecheng-13750	296	31	for	for	ADP
fumecheng-13750	296	32	tower	tower	NOUN
fumecheng-13750	296	33	crane	crane	NOUN
fumecheng-13750	296	34	systems	system	NOUN
fumecheng-13750	296	35	,	,	PUNCT
fumecheng-13750	296	36	proc	proc	NOUN
fumecheng-13750	296	37	.	.	PUNCT
fumecheng-13750	297	1	23rd	23rd	ADJ
fumecheng-13750	297	2	european	european	PROPN
fumecheng-13750	297	3	control	control	PROPN
fumecheng-13750	297	4	conference	conference	PROPN
fumecheng-13750	297	5	(	(	PUNCT
fumecheng-13750	297	6	ecc	ecc	PROPN
fumecheng-13750	297	7	)	)	PUNCT
fumecheng-13750	297	8	,	,	PUNCT
fumecheng-13750	297	9	thessaloniki	thessaloniki	PROPN
fumecheng-13750	297	10	,	,	PUNCT
fumecheng-13750	297	11	greece	greece	PROPN
fumecheng-13750	297	12	,	,	PUNCT
fumecheng-13750	297	13	pp	pp	ADJ
fumecheng-13750	297	14	.	.	PUNCT
fumecheng-13750	298	1	1	1	NUM
fumecheng-13750	298	2	-	-	SYM
fumecheng-13750	298	3	8	8	NUM
fumecheng-13750	298	4	.	.	NOUN
fumecheng-13750	298	5	15	15	NUM
fumecheng-13750	298	6	.	.	X
fumecheng-13750	299	1	roman	roman	NOUN
fumecheng-13750	299	2	,	,	PUNCT
fumecheng-13750	299	3	r.-c	r.-c	PROPN
fumecheng-13750	299	4	.	.	PUNCT
fumecheng-13750	299	5	,	,	PUNCT
fumecheng-13750	299	6	precup	precup	PROPN
fumecheng-13750	299	7	,	,	PUNCT
fumecheng-13750	299	8	r.-e	r.-e	PROPN
fumecheng-13750	299	9	.	.	PUNCT
fumecheng-13750	299	10	,	,	PUNCT
fumecheng-13750	299	11	petriu	petriu	PROPN
fumecheng-13750	299	12	,	,	PUNCT
fumecheng-13750	299	13	e.	e.	PROPN
fumecheng-13750	299	14	m.	m.	PROPN
fumecheng-13750	299	15	,	,	PUNCT
fumecheng-13750	299	16	2024	2024	NUM
fumecheng-13750	299	17	,	,	PUNCT
fumecheng-13750	299	18	active	active	ADJ
fumecheng-13750	299	19	disturbance	disturbance	NOUN
fumecheng-13750	299	20	rejection	rejection	NOUN
fumecheng-13750	299	21	control	control	NOUN
fumecheng-13750	299	22	for	for	ADP
fumecheng-13750	299	23	3d	3d	PROPN
fumecheng-13750	299	24	crane	crane	NOUN
fumecheng-13750	299	25	systems	system	NOUN
fumecheng-13750	299	26	,	,	PUNCT
fumecheng-13750	299	27	procedia	procedia	NOUN
fumecheng-13750	299	28	computer	computer	NOUN
fumecheng-13750	299	29	science	science	NOUN
fumecheng-13750	299	30	,	,	PUNCT
fumecheng-13750	299	31	242	242	NUM
fumecheng-13750	299	32	,	,	PUNCT
fumecheng-13750	299	33	pp	pp	ADJ
fumecheng-13750	299	34	.	.	PUNCT
fumecheng-13750	300	1	976	976	NUM
fumecheng-13750	300	2	-	-	SYM
fumecheng-13750	300	3	983	983	NUM
fumecheng-13750	300	4	.	.	PUNCT
fumecheng-13750	301	1	16	16	NUM
fumecheng-13750	301	2	.	.	PUNCT
fumecheng-13750	302	1	madonski	madonski	PROPN
fumecheng-13750	302	2	,	,	PUNCT
fumecheng-13750	302	3	r.	r.	PROPN
fumecheng-13750	302	4	,	,	PUNCT
fumecheng-13750	302	5	shao	shao	PROPN
fumecheng-13750	302	6	,	,	PUNCT
fumecheng-13750	302	7	s.	s.	PROPN
fumecheng-13750	302	8	,	,	PUNCT
fumecheng-13750	302	9	zhang	zhang	PROPN
fumecheng-13750	302	10	,	,	PUNCT
fumecheng-13750	302	11	h.	h.	PROPN
fumecheng-13750	302	12	,	,	PUNCT
fumecheng-13750	302	13	gao	gao	PROPN
fumecheng-13750	302	14	,	,	PUNCT
fumecheng-13750	302	15	z.	z.	PROPN
fumecheng-13750	302	16	,	,	PUNCT
fumecheng-13750	302	17	yang	yang	PROPN
fumecheng-13750	302	18	,	,	PUNCT
fumecheng-13750	302	19	j.	j.	PROPN
fumecheng-13750	302	20	,	,	PUNCT
fumecheng-13750	302	21	li	li	PROPN
fumecheng-13750	302	22	,	,	PUNCT
fumecheng-13750	302	23	s.	s.	PROPN
fumecheng-13750	302	24	,	,	PUNCT
fumecheng-13750	302	25	2019	2019	NUM
fumecheng-13750	302	26	,	,	PUNCT
fumecheng-13750	302	27	general	general	ADJ
fumecheng-13750	302	28	error	error	NOUN
fumecheng-13750	302	29	-	-	PUNCT
fumecheng-13750	302	30	based	base	VERB
fumecheng-13750	302	31	active	active	ADJ
fumecheng-13750	302	32	disturbance	disturbance	NOUN
fumecheng-13750	302	33	rejection	rejection	NOUN
fumecheng-13750	302	34	control	control	NOUN
fumecheng-13750	302	35	for	for	ADP
fumecheng-13750	302	36	swift	swift	ADJ
fumecheng-13750	302	37	industrial	industrial	ADJ
fumecheng-13750	302	38	implementations	implementation	NOUN
fumecheng-13750	302	39	,	,	PUNCT
fumecheng-13750	302	40	control	control	NOUN
fumecheng-13750	302	41	engineering	engineering	NOUN
fumecheng-13750	302	42	practice	practice	NOUN
fumecheng-13750	302	43	,	,	PUNCT
fumecheng-13750	302	44	84	84	NUM
fumecheng-13750	302	45	,	,	PUNCT
fumecheng-13750	302	46	pp	pp	ADJ
fumecheng-13750	302	47	.	.	PUNCT
fumecheng-13750	303	1	218	218	NUM
fumecheng-13750	303	2	-	-	SYM
fumecheng-13750	303	3	229	229	NUM
fumecheng-13750	303	4	.	.	PUNCT
fumecheng-13750	304	1	17	17	NUM
fumecheng-13750	304	2	.	.	PUNCT
fumecheng-13750	305	1	cao	cao	PROPN
fumecheng-13750	305	2	,	,	PUNCT
fumecheng-13750	305	3	m.	m.	NOUN
fumecheng-13750	305	4	,	,	PUNCT
fumecheng-13750	305	5	yang	yang	PROPN
fumecheng-13750	305	6	,	,	PUNCT
fumecheng-13750	305	7	j.	j.	PROPN
fumecheng-13750	305	8	,	,	PUNCT
fumecheng-13750	305	9	li	li	PROPN
fumecheng-13750	305	10	,	,	PUNCT
fumecheng-13750	305	11	s.	s.	PROPN
fumecheng-13750	305	12	,	,	PUNCT
fumecheng-13750	305	13	madonski	madonski	PROPN
fumecheng-13750	305	14	,	,	PUNCT
fumecheng-13750	305	15	r.	r.	PROPN
fumecheng-13750	305	16	,	,	PUNCT
fumecheng-13750	305	17	xue	xue	PROPN
fumecheng-13750	305	18	,	,	PUNCT
fumecheng-13750	305	19	w.	w.	PROPN
fumecheng-13750	305	20	,	,	PUNCT
fumecheng-13750	305	21	2025	2025	NUM
fumecheng-13750	305	22	,	,	PUNCT
fumecheng-13750	305	23	cascaded	cascade	VERB
fumecheng-13750	305	24	filter	filter	NOUN
fumecheng-13750	305	25	pid	pid	NOUN
fumecheng-13750	305	26	paradigm	paradigm	NOUN
fumecheng-13750	305	27	for	for	ADP
fumecheng-13750	305	28	error	error	NOUN
fumecheng-13750	305	29	-	-	PUNCT
fumecheng-13750	305	30	based	base	VERB
fumecheng-13750	305	31	active	active	ADJ
fumecheng-13750	305	32	disturbance	disturbance	NOUN
fumecheng-13750	305	33	rejection	rejection	NOUN
fumecheng-13750	305	34	control	control	NOUN
fumecheng-13750	305	35	:	:	PUNCT
fumecheng-13750	305	36	equivalence	equivalence	NOUN
fumecheng-13750	305	37	,	,	PUNCT
fumecheng-13750	305	38	design	design	NOUN
fumecheng-13750	305	39	,	,	PUNCT
fumecheng-13750	305	40	and	and	CCONJ
fumecheng-13750	305	41	implementation	implementation	NOUN
fumecheng-13750	305	42	guidelines	guideline	NOUN
fumecheng-13750	305	43	,	,	PUNCT
fumecheng-13750	305	44	ieee	ieee	NOUN
fumecheng-13750	305	45	transactions	transaction	NOUN
fumecheng-13750	305	46	on	on	ADP
fumecheng-13750	305	47	industrial	industrial	ADJ
fumecheng-13750	305	48	electronics	electronic	NOUN
fumecheng-13750	305	49	,	,	PUNCT
fumecheng-13750	305	50	doi	doi	NOUN
fumecheng-13750	305	51	:	:	PUNCT
fumecheng-13750	305	52	10.1109	10.1109	NUM
fumecheng-13750	305	53	/	/	SYM
fumecheng-13750	305	54	tie.2025.3559950	tie.2025.3559950	NUM
fumecheng-13750	305	55	,	,	PUNCT
fumecheng-13750	305	56	pp	pp	ADJ
fumecheng-13750	305	57	.	.	PUNCT
fumecheng-13750	306	1	1	1	NUM
fumecheng-13750	306	2	-	-	SYM
fumecheng-13750	306	3	11	11	NUM
fumecheng-13750	306	4	.	.	PUNCT
fumecheng-13750	307	1	18	18	NUM
fumecheng-13750	307	2	.	.	X
fumecheng-13750	308	1	sun	sun	NOUN
fumecheng-13750	308	2	,	,	PUNCT
fumecheng-13750	308	3	x.	x.	NOUN
fumecheng-13750	308	4	g.	g.	PROPN
fumecheng-13750	308	5	,	,	PUNCT
fumecheng-13750	308	6	chi	chi	PROPN
fumecheng-13750	308	7	,	,	PUNCT
fumecheng-13750	308	8	w.	w.	PROPN
fumecheng-13750	308	9	c.	c.	PROPN
fumecheng-13750	308	10	,	,	PUNCT
fumecheng-13750	308	11	wang	wang	PROPN
fumecheng-13750	308	12	,	,	PUNCT
fumecheng-13750	308	13	y.	y.	PROPN
fumecheng-13750	308	14	q.	q.	PROPN
fumecheng-13750	308	15	,	,	PUNCT
fumecheng-13750	308	16	2024	2024	NUM
fumecheng-13750	308	17	,	,	PUNCT
fumecheng-13750	308	18	linear	linear	VERB
fumecheng-13750	308	19	active	active	ADJ
fumecheng-13750	308	20	disturbance	disturbance	NOUN
fumecheng-13750	308	21	rejection	rejection	NOUN
fumecheng-13750	308	22	control	control	NOUN
fumecheng-13750	308	23	algorithm	algorithm	NOUN
fumecheng-13750	308	24	for	for	ADP
fumecheng-13750	308	25	active	active	ADJ
fumecheng-13750	308	26	vibration	vibration	NOUN
fumecheng-13750	308	27	control	control	NOUN
fumecheng-13750	308	28	of	of	ADP
fumecheng-13750	308	29	piezo	piezo	ADJ
fumecheng-13750	308	30	-	-	ADJ
fumecheng-13750	308	31	actuated	actuate	VERB
fumecheng-13750	308	32	beams	beam	NOUN
fumecheng-13750	308	33	:	:	PUNCT
fumecheng-13750	308	34	theoretical	theoretical	ADJ
fumecheng-13750	308	35	and	and	CCONJ
fumecheng-13750	308	36	experimental	experimental	ADJ
fumecheng-13750	308	37	studies	study	NOUN
fumecheng-13750	308	38	,	,	PUNCT
fumecheng-13750	308	39	thin	thin	ADJ
fumecheng-13750	308	40	-	-	PUNCT
fumecheng-13750	308	41	walled	walled	ADJ
fumecheng-13750	308	42	structures	structure	NOUN
fumecheng-13750	308	43	,	,	PUNCT
fumecheng-13750	308	44	199	199	NUM
fumecheng-13750	308	45	,	,	PUNCT
fumecheng-13750	308	46	paper	paper	NOUN
fumecheng-13750	308	47	111782	111782	NUM
fumecheng-13750	308	48	.	.	PUNCT
fumecheng-13750	309	1	19	19	NUM
fumecheng-13750	309	2	.	.	X
fumecheng-13750	309	3	ahi	ahi	PROPN
fumecheng-13750	309	4	,	,	PUNCT
fumecheng-13750	309	5	b.	b.	PROPN
fumecheng-13750	309	6	,	,	PUNCT
fumecheng-13750	309	7	nobakhti	nobakhti	NOUN
fumecheng-13750	309	8	,	,	PUNCT
fumecheng-13750	309	9	a.	a.	NOUN
fumecheng-13750	309	10	,	,	PUNCT
fumecheng-13750	309	11	2018	2018	NUM
fumecheng-13750	309	12	,	,	PUNCT
fumecheng-13750	309	13	hardware	hardware	NOUN
fumecheng-13750	309	14	implementation	implementation	NOUN
fumecheng-13750	309	15	of	of	ADP
fumecheng-13750	309	16	an	an	DET
fumecheng-13750	309	17	adrc	adrc	ADJ
fumecheng-13750	309	18	controller	controller	NOUN
fumecheng-13750	309	19	on	on	ADP
fumecheng-13750	309	20	a	a	DET
fumecheng-13750	309	21	gimbal	gimbal	ADJ
fumecheng-13750	309	22	mechanism	mechanism	NOUN
fumecheng-13750	309	23	,	,	PUNCT
fumecheng-13750	309	24	ieee	ieee	NOUN
fumecheng-13750	309	25	transactions	transaction	NOUN
fumecheng-13750	309	26	on	on	ADP
fumecheng-13750	309	27	control	control	NOUN
fumecheng-13750	309	28	systems	system	NOUN
fumecheng-13750	309	29	technology	technology	NOUN
fumecheng-13750	309	30	,	,	PUNCT
fumecheng-13750	309	31	26(6	26(6	NUM
fumecheng-13750	309	32	)	)	PUNCT
fumecheng-13750	309	33	,	,	PUNCT
fumecheng-13750	309	34	pp	pp	ADJ
fumecheng-13750	309	35	.	.	PUNCT
fumecheng-13750	310	1	2268	2268	NUM
fumecheng-13750	310	2	-	-	SYM
fumecheng-13750	310	3	2275	2275	NUM
fumecheng-13750	310	4	.	.	PUNCT
fumecheng-13750	311	1	20	20	NUM
fumecheng-13750	311	2	.	.	X
fumecheng-13750	311	3	ahi	ahi	PROPN
fumecheng-13750	311	4	,	,	PUNCT
fumecheng-13750	311	5	b.	b.	PROPN
fumecheng-13750	311	6	,	,	PUNCT
fumecheng-13750	311	7	haeri	haeri	PROPN
fumecheng-13750	311	8	,	,	PUNCT
fumecheng-13750	311	9	m.	m.	NOUN
fumecheng-13750	311	10	,	,	PUNCT
fumecheng-13750	311	11	2018	2018	NUM
fumecheng-13750	311	12	,	,	PUNCT
fumecheng-13750	311	13	linear	linear	VERB
fumecheng-13750	311	14	active	active	ADJ
fumecheng-13750	311	15	disturbance	disturbance	NOUN
fumecheng-13750	311	16	rejection	rejection	NOUN
fumecheng-13750	311	17	control	control	NOUN
fumecheng-13750	311	18	from	from	ADP
fumecheng-13750	311	19	the	the	DET
fumecheng-13750	311	20	practical	practical	ADJ
fumecheng-13750	311	21	aspects	aspect	NOUN
fumecheng-13750	311	22	,	,	PUNCT
fumecheng-13750	311	23	ieee	ieee	NOUN
fumecheng-13750	311	24	/	/	SYM
fumecheng-13750	311	25	asme	asme	PROPN
fumecheng-13750	311	26	transactions	transaction	NOUN
fumecheng-13750	311	27	on	on	ADP
fumecheng-13750	311	28	mechatronics	mechatronic	NOUN
fumecheng-13750	311	29	,	,	PUNCT
fumecheng-13750	311	30	23(6	23(6	NUM
fumecheng-13750	311	31	)	)	PUNCT
fumecheng-13750	311	32	,	,	PUNCT
fumecheng-13750	311	33	pp	pp	PROPN
fumecheng-13750	311	34	.	.	PUNCT
fumecheng-13750	312	1	2909–2919	2909–2919	NUM
fumecheng-13750	312	2	.	.	PUNCT
fumecheng-13750	313	1	21	21	NUM
fumecheng-13750	313	2	.	.	PUNCT
fumecheng-13750	314	1	fliess	fliess	NOUN
fumecheng-13750	314	2	,	,	PUNCT
fumecheng-13750	314	3	m.	m.	NOUN
fumecheng-13750	314	4	,	,	PUNCT
fumecheng-13750	314	5	join	join	NOUN
fumecheng-13750	314	6	,	,	PUNCT
fumecheng-13750	314	7	c.	c.	PROPN
fumecheng-13750	314	8	,	,	PUNCT
fumecheng-13750	314	9	2012	2012	NUM
fumecheng-13750	314	10	,	,	PUNCT
fumecheng-13750	314	11	an	an	DET
fumecheng-13750	314	12	alternative	alternative	NOUN
fumecheng-13750	314	13	to	to	ADP
fumecheng-13750	314	14	proportional‐integral	proportional‐integral	ADJ
fumecheng-13750	314	15	and	and	CCONJ
fumecheng-13750	314	16	proportional‐integral‐derivative	proportional‐integral‐derivative	ADJ
fumecheng-13750	314	17	regulators	regulator	NOUN
fumecheng-13750	314	18	:	:	PUNCT
fumecheng-13750	314	19	intelligent	intelligent	ADJ
fumecheng-13750	314	20	proportional‐derivative	proportional‐derivative	ADJ
fumecheng-13750	314	21	regulators	regulator	NOUN
fumecheng-13750	314	22	,	,	PUNCT
fumecheng-13750	314	23	international	international	ADJ
fumecheng-13750	314	24	journal	journal	NOUN
fumecheng-13750	314	25	of	of	ADP
fumecheng-13750	314	26	robust	robust	ADJ
fumecheng-13750	314	27	and	and	CCONJ
fumecheng-13750	314	28	nonlinear	nonlinear	ADJ
fumecheng-13750	314	29	control	control	NOUN
fumecheng-13750	314	30	,	,	PUNCT
fumecheng-13750	314	31	32(18	32(18	NUM
fumecheng-13750	314	32	)	)	PUNCT
fumecheng-13750	314	33	,	,	PUNCT
fumecheng-13750	314	34	pp	pp	PROPN
fumecheng-13750	314	35	.	.	PUNCT
fumecheng-13750	314	36	9512–9524	9512–9524	NUM
fumecheng-13750	314	37	.	.	PUNCT
fumecheng-13750	315	1	22	22	NUM
fumecheng-13750	315	2	.	.	PUNCT
fumecheng-13750	316	1	join	join	PROPN
fumecheng-13750	316	2	,	,	PUNCT
fumecheng-13750	316	3	c.	c.	PROPN
fumecheng-13750	316	4	,	,	PUNCT
fumecheng-13750	316	5	jovellar	jovellar	PROPN
fumecheng-13750	316	6	,	,	PUNCT
fumecheng-13750	316	7	d.	d.	PROPN
fumecheng-13750	316	8	b.	b.	PROPN
fumecheng-13750	316	9	,	,	PUNCT
fumecheng-13750	316	10	delaleau	delaleau	PROPN
fumecheng-13750	316	11	,	,	PUNCT
fumecheng-13750	316	12	e.	e.	PROPN
fumecheng-13750	316	13	,	,	PUNCT
fumecheng-13750	316	14	fliess	fliess	NOUN
fumecheng-13750	316	15	,	,	PUNCT
fumecheng-13750	316	16	m.	m.	NOUN
fumecheng-13750	316	17	,	,	PUNCT
fumecheng-13750	316	18	2024	2024	NUM
fumecheng-13750	316	19	,	,	PUNCT
fumecheng-13750	316	20	detection	detection	NOUN
fumecheng-13750	316	21	and	and	CCONJ
fumecheng-13750	316	22	suppression	suppression	NOUN
fumecheng-13750	316	23	of	of	ADP
fumecheng-13750	316	24	epileptiform	epileptiform	PROPN
fumecheng-13750	316	25	seizures	seizure	NOUN
fumecheng-13750	316	26	via	via	ADP
fumecheng-13750	316	27	model	model	NOUN
fumecheng-13750	316	28	-	-	PUNCT
fumecheng-13750	316	29	free	free	ADJ
fumecheng-13750	316	30	control	control	NOUN
fumecheng-13750	316	31	and	and	CCONJ
fumecheng-13750	316	32	derivatives	derivative	NOUN
fumecheng-13750	316	33	in	in	ADP
fumecheng-13750	316	34	a	a	DET
fumecheng-13750	316	35	noisy	noisy	ADJ
fumecheng-13750	316	36	environment	environment	NOUN
fumecheng-13750	316	37	,	,	PUNCT
fumecheng-13750	316	38	proc	proc	NOUN
fumecheng-13750	316	39	.	.	PUNCT
fumecheng-13750	317	1	ieee	ieee	PROPN
fumecheng-13750	317	2	12th	12th	PROPN
fumecheng-13750	317	3	international	international	ADJ
fumecheng-13750	317	4	conference	conference	NOUN
fumecheng-13750	317	5	on	on	ADP
fumecheng-13750	317	6	systems	system	NOUN
fumecheng-13750	317	7	and	and	CCONJ
fumecheng-13750	317	8	control	control	NOUN
fumecheng-13750	317	9	,	,	PUNCT
fumecheng-13750	317	10	batna	batna	PROPN
fumecheng-13750	317	11	,	,	PUNCT
fumecheng-13750	317	12	algeria	algeria	PROPN
fumecheng-13750	317	13	,	,	PUNCT
fumecheng-13750	317	14	pp	pp	ADJ
fumecheng-13750	317	15	.	.	PUNCT
fumecheng-13750	318	1	1	1	NUM
fumecheng-13750	318	2	-	-	SYM
fumecheng-13750	318	3	6	6	NUM
fumecheng-13750	318	4	.	.	NOUN
fumecheng-13750	318	5	23	23	NUM
fumecheng-13750	318	6	.	.	PUNCT
fumecheng-13750	319	1	guilloteau	guilloteau	NOUN
fumecheng-13750	319	2	,	,	PUNCT
fumecheng-13750	319	3	q.	q.	PROPN
fumecheng-13750	319	4	,	,	PUNCT
fumecheng-13750	319	5	robu	robu	PROPN
fumecheng-13750	319	6	,	,	PUNCT
fumecheng-13750	319	7	b.	b.	PROPN
fumecheng-13750	319	8	,	,	PUNCT
fumecheng-13750	319	9	join	join	PROPN
fumecheng-13750	319	10	,	,	PUNCT
fumecheng-13750	319	11	c.	c.	NOUN
fumecheng-13750	319	12	,	,	PUNCT
fumecheng-13750	319	13	fliess	fliess	NOUN
fumecheng-13750	319	14	,	,	PUNCT
fumecheng-13750	319	15	m.	m.	NOUN
fumecheng-13750	319	16	,	,	PUNCT
fumecheng-13750	319	17	rutten	rutten	PROPN
fumecheng-13750	319	18	,	,	PUNCT
fumecheng-13750	319	19	e.	e.	PROPN
fumecheng-13750	319	20	,	,	PUNCT
fumecheng-13750	319	21	richard	richard	PROPN
fumecheng-13750	319	22	,	,	PUNCT
fumecheng-13750	319	23	o.	o.	NOUN
fumecheng-13750	319	24	,	,	PUNCT
fumecheng-13750	319	25	2022	2022	NUM
fumecheng-13750	319	26	,	,	PUNCT
fumecheng-13750	319	27	model	model	NOUN
fumecheng-13750	319	28	-	-	PUNCT
fumecheng-13750	319	29	free	free	ADJ
fumecheng-13750	319	30	control	control	NOUN
fumecheng-13750	319	31	for	for	ADP
fumecheng-13750	319	32	resource	resource	NOUN
fumecheng-13750	319	33	harvesting	harvesting	NOUN
fumecheng-13750	319	34	in	in	ADP
fumecheng-13750	319	35	computing	computing	NOUN
fumecheng-13750	319	36	grids	grid	NOUN
fumecheng-13750	319	37	,	,	PUNCT
fumecheng-13750	319	38	proc	proc	NOUN
fumecheng-13750	319	39	.	.	PUNCT
fumecheng-13750	320	1	2022	2022	NUM
fumecheng-13750	320	2	6th	6th	ADJ
fumecheng-13750	320	3	ieee	ieee	NOUN
fumecheng-13750	320	4	conference	conference	NOUN
fumecheng-13750	320	5	on	on	ADP
fumecheng-13750	320	6	control	control	NOUN
fumecheng-13750	320	7	technology	technology	NOUN
fumecheng-13750	320	8	and	and	CCONJ
fumecheng-13750	320	9	applications	application	NOUN
fumecheng-13750	320	10	,	,	PUNCT
fumecheng-13750	320	11	trieste	trieste	PROPN
fumecheng-13750	320	12	,	,	PUNCT
fumecheng-13750	320	13	italy	italy	PROPN
fumecheng-13750	320	14	,	,	PUNCT
fumecheng-13750	320	15	pp	pp	X
fumecheng-13750	320	16	.	.	PUNCT
fumecheng-13750	321	1	1	1	NUM
fumecheng-13750	321	2	-	-	SYM
fumecheng-13750	321	3	7	7	NUM
fumecheng-13750	321	4	.	.	NUM
fumecheng-13750	321	5	24	24	NUM
fumecheng-13750	321	6	.	.	PUNCT
fumecheng-13750	322	1	gedouin	gedouin	PROPN
fumecheng-13750	322	2	,	,	PUNCT
fumecheng-13750	322	3	p.-a	p.-a	PROPN
fumecheng-13750	322	4	.	.	PUNCT
fumecheng-13750	322	5	,	,	PUNCT
fumecheng-13750	322	6	delaleau	delaleau	PROPN
fumecheng-13750	322	7	,	,	PUNCT
fumecheng-13750	322	8	e.	e.	PROPN
fumecheng-13750	322	9	,	,	PUNCT
fumecheng-13750	322	10	bourgeot	bourgeot	PROPN
fumecheng-13750	322	11	,	,	PUNCT
fumecheng-13750	322	12	j.-m	j.-m	PROPN
fumecheng-13750	322	13	.	.	PUNCT
fumecheng-13750	322	14	,	,	PUNCT
fumecheng-13750	322	15	join	join	PROPN
fumecheng-13750	322	16	,	,	PUNCT
fumecheng-13750	322	17	c.	c.	PROPN
fumecheng-13750	322	18	,	,	PUNCT
fumecheng-13750	322	19	chirani	chirani	PROPN
fumecheng-13750	322	20	,	,	PUNCT
fumecheng-13750	322	21	s.	s.	PROPN
fumecheng-13750	322	22	a.	a.	PROPN
fumecheng-13750	322	23	,	,	PUNCT
fumecheng-13750	322	24	calloch	calloch	PROPN
fumecheng-13750	322	25	,	,	PUNCT
fumecheng-13750	322	26	s.	s.	PROPN
fumecheng-13750	322	27	,	,	PUNCT
fumecheng-13750	322	28	2011	2011	NUM
fumecheng-13750	322	29	,	,	PUNCT
fumecheng-13750	322	30	experimental	experimental	ADJ
fumecheng-13750	322	31	comparison	comparison	NOUN
fumecheng-13750	322	32	of	of	ADP
fumecheng-13750	322	33	classical	classical	ADJ
fumecheng-13750	322	34	pid	pid	NOUN
fumecheng-13750	322	35	and	and	CCONJ
fumecheng-13750	322	36	model	model	ADV
fumecheng-13750	322	37	-	-	PUNCT
fumecheng-13750	322	38	free	free	ADJ
fumecheng-13750	322	39	control	control	NOUN
fumecheng-13750	322	40	:	:	PUNCT
fumecheng-13750	322	41	position	position	NOUN
fumecheng-13750	322	42	control	control	NOUN
fumecheng-13750	322	43	of	of	ADP
fumecheng-13750	322	44	a	a	DET
fumecheng-13750	322	45	shape	shape	NOUN
fumecheng-13750	322	46	memory	memory	NOUN
fumecheng-13750	322	47	alloy	alloy	NOUN
fumecheng-13750	322	48	active	active	ADJ
fumecheng-13750	322	49	spring	spring	NOUN
fumecheng-13750	322	50	,	,	PUNCT
fumecheng-13750	322	51	control	control	NOUN
fumecheng-13750	322	52	engineering	engineering	NOUN
fumecheng-13750	322	53	practice	practice	NOUN
fumecheng-13750	322	54	,	,	PUNCT
fumecheng-13750	322	55	19(5	19(5	NUM
fumecheng-13750	322	56	)	)	PUNCT
fumecheng-13750	322	57	,	,	PUNCT
fumecheng-13750	322	58	pp	pp	PROPN
fumecheng-13750	322	59	.	.	PUNCT
fumecheng-13750	323	1	433	433	NUM
fumecheng-13750	323	2	-	-	SYM
fumecheng-13750	323	3	441	441	NUM
fumecheng-13750	323	4	.	.	PUNCT
fumecheng-13750	324	1	25	25	NUM
fumecheng-13750	324	2	.	.	PUNCT
fumecheng-13750	325	1	he	he	PRON
fumecheng-13750	325	2	,	,	PUNCT
fumecheng-13750	325	3	d.	d.	PROPN
fumecheng-13750	325	4	,	,	PUNCT
fumecheng-13750	325	5	wang	wang	PROPN
fumecheng-13750	325	6	,	,	PUNCT
fumecheng-13750	325	7	h.	h.	PROPN
fumecheng-13750	325	8	,	,	PUNCT
fumecheng-13750	325	9	tian	tian	PROPN
fumecheng-13750	325	10	,	,	PUNCT
fumecheng-13750	325	11	y.	y.	PROPN
fumecheng-13750	325	12	,	,	PUNCT
fumecheng-13750	325	13	fliess	fliess	NOUN
fumecheng-13750	325	14	,	,	PUNCT
fumecheng-13750	325	15	m.	m.	NOUN
fumecheng-13750	325	16	,	,	PUNCT
fumecheng-13750	325	17	2025	2025	NUM
fumecheng-13750	325	18	,	,	PUNCT
fumecheng-13750	325	19	mimo	mimo	PROPN
fumecheng-13750	325	20	ultra	ultra	ADJ
fumecheng-13750	325	21	-	-	ADJ
fumecheng-13750	325	22	local	local	ADJ
fumecheng-13750	325	23	model	model	NOUN
fumecheng-13750	325	24	-	-	PUNCT
fumecheng-13750	325	25	based	base	VERB
fumecheng-13750	325	26	adaptive	adaptive	ADJ
fumecheng-13750	325	27	enhanced	enhance	VERB
fumecheng-13750	325	28	modelfree	modelfree	ADJ
fumecheng-13750	325	29	control	control	NOUN
fumecheng-13750	325	30	using	use	VERB
fumecheng-13750	325	31	extremum	extremum	NOUN
fumecheng-13750	325	32	-	-	PUNCT
fumecheng-13750	325	33	seeking	seek	VERB
fumecheng-13750	325	34	for	for	ADP
fumecheng-13750	325	35	coupled	couple	VERB
fumecheng-13750	325	36	mechatronic	mechatronic	ADJ
fumecheng-13750	325	37	systems	system	NOUN
fumecheng-13750	325	38	,	,	PUNCT
fumecheng-13750	325	39	isa	isa	NOUN
fumecheng-13750	325	40	transactions	transaction	NOUN
fumecheng-13750	325	41	,	,	PUNCT
fumecheng-13750	325	42	157	157	NUM
fumecheng-13750	325	43	,	,	PUNCT
fumecheng-13750	325	44	pp	pp	ADJ
fumecheng-13750	325	45	.	.	PUNCT
fumecheng-13750	326	1	233	233	NUM
fumecheng-13750	326	2	-	-	SYM
fumecheng-13750	326	3	247	247	NUM
fumecheng-13750	326	4	.	.	NOUN
fumecheng-13750	327	1	26	26	NUM
fumecheng-13750	327	2	.	.	PUNCT
fumecheng-13750	327	3	degorre	degorre	PROPN
fumecheng-13750	327	4	,	,	PUNCT
fumecheng-13750	327	5	l.	l.	PROPN
fumecheng-13750	327	6	,	,	PUNCT
fumecheng-13750	327	7	delaleau	delaleau	PROPN
fumecheng-13750	327	8	,	,	PUNCT
fumecheng-13750	327	9	e.	e.	PROPN
fumecheng-13750	327	10	,	,	PUNCT
fumecheng-13750	327	11	join	join	PROPN
fumecheng-13750	327	12	,	,	PUNCT
fumecheng-13750	327	13	c.	c.	NOUN
fumecheng-13750	327	14	,	,	PUNCT
fumecheng-13750	327	15	fliess	fliess	NOUN
fumecheng-13750	327	16	,	,	PUNCT
fumecheng-13750	327	17	m.	m.	NOUN
fumecheng-13750	327	18	,	,	PUNCT
fumecheng-13750	327	19	2025	2025	NUM
fumecheng-13750	327	20	,	,	PUNCT
fumecheng-13750	327	21	a	a	DET
fumecheng-13750	327	22	novel	novel	ADJ
fumecheng-13750	327	23	approach	approach	NOUN
fumecheng-13750	327	24	to	to	PART
fumecheng-13750	327	25	guidance	guidance	VERB
fumecheng-13750	327	26	and	and	CCONJ
fumecheng-13750	327	27	control	control	NOUN
fumecheng-13750	327	28	of	of	ADP
fumecheng-13750	327	29	usvs	usvs	NOUN
fumecheng-13750	327	30	combining	combine	VERB
fumecheng-13750	327	31	flatness	flatness	NOUN
fumecheng-13750	327	32	-	-	PUNCT
fumecheng-13750	327	33	based	base	VERB
fumecheng-13750	327	34	and	and	CCONJ
fumecheng-13750	327	35	model	model	ADV
fumecheng-13750	327	36	-	-	PUNCT
fumecheng-13750	327	37	free	free	ADJ
fumecheng-13750	327	38	controllers	controller	NOUN
fumecheng-13750	327	39	,	,	PUNCT
fumecheng-13750	327	40	proc	proc	NOUN
fumecheng-13750	327	41	.	.	PUNCT
fumecheng-13750	328	1	9th	9th	ADJ
fumecheng-13750	328	2	ifac	ifac	NOUN
fumecheng-13750	328	3	symposium	symposium	NOUN
fumecheng-13750	328	4	on	on	ADP
fumecheng-13750	328	5	system	system	NOUN
fumecheng-13750	328	6	structure	structure	NOUN
fumecheng-13750	328	7	and	and	CCONJ
fumecheng-13750	328	8	control	control	NOUN
fumecheng-13750	328	9	(	(	PUNCT
fumecheng-13750	328	10	sssc	sssc	PROPN
fumecheng-13750	328	11	2025	2025	NUM
fumecheng-13750	328	12	)	)	PUNCT
fumecheng-13750	328	13	,	,	PUNCT
fumecheng-13750	328	14	gif	gif	PROPN
fumecheng-13750	328	15	-	-	PUNCT
fumecheng-13750	328	16	sur	sur	PROPN
fumecheng-13750	328	17	-	-	PUNCT
fumecheng-13750	328	18	yvette	yvette	PROPN
fumecheng-13750	328	19	,	,	PUNCT
fumecheng-13750	328	20	france	france	PROPN
fumecheng-13750	328	21	,	,	PUNCT
fumecheng-13750	328	22	pp	pp	ADJ
fumecheng-13750	328	23	.	.	PUNCT
fumecheng-13750	329	1	1	1	NUM
fumecheng-13750	329	2	-	-	SYM
fumecheng-13750	329	3	6	6	NUM
fumecheng-13750	329	4	.	.	NOUN
fumecheng-13750	329	5	27	27	NUM
fumecheng-13750	329	6	.	.	PUNCT
fumecheng-13750	330	1	precup	precup	PROPN
fumecheng-13750	330	2	,	,	PUNCT
fumecheng-13750	330	3	r.-e	r.-e	PROPN
fumecheng-13750	330	4	.	.	PUNCT
fumecheng-13750	330	5	,	,	PUNCT
fumecheng-13750	330	6	roman	roman	NOUN
fumecheng-13750	330	7	,	,	PUNCT
fumecheng-13750	330	8	r.-c	r.-c	PROPN
fumecheng-13750	330	9	.	.	PUNCT
fumecheng-13750	330	10	,	,	PUNCT
fumecheng-13750	330	11	teban	teban	NOUN
fumecheng-13750	330	12	,	,	PUNCT
fumecheng-13750	330	13	t.-a	t.-a	PROPN
fumecheng-13750	330	14	.	.	PROPN
fumecheng-13750	330	15	,	,	PUNCT
fumecheng-13750	330	16	albu	albu	PROPN
fumecheng-13750	330	17	,	,	PUNCT
fumecheng-13750	330	18	a.	a.	PROPN
fumecheng-13750	330	19	,	,	PUNCT
fumecheng-13750	330	20	petriu	petriu	PROPN
fumecheng-13750	330	21	,	,	PUNCT
fumecheng-13750	330	22	e.	e.	PROPN
fumecheng-13750	330	23	m.	m.	PROPN
fumecheng-13750	330	24	,	,	PUNCT
fumecheng-13750	330	25	pozna	pozna	ADJ
fumecheng-13750	330	26	,	,	PUNCT
fumecheng-13750	330	27	c.	c.	NOUN
fumecheng-13750	330	28	,	,	PUNCT
fumecheng-13750	330	29	2020	2020	NUM
fumecheng-13750	330	30	,	,	PUNCT
fumecheng-13750	330	31	model	model	NOUN
fumecheng-13750	330	32	-	-	PUNCT
fumecheng-13750	330	33	free	free	ADJ
fumecheng-13750	330	34	control	control	NOUN
fumecheng-13750	330	35	of	of	ADP
fumecheng-13750	330	36	finger	finger	NOUN
fumecheng-13750	330	37	dynamics	dynamic	NOUN
fumecheng-13750	330	38	in	in	ADP
fumecheng-13750	330	39	prosthetic	prosthetic	ADJ
fumecheng-13750	330	40	hand	hand	NOUN
fumecheng-13750	330	41	myoelectric	myoelectric	NOUN
fumecheng-13750	330	42	-	-	PUNCT
fumecheng-13750	330	43	based	base	VERB
fumecheng-13750	330	44	control	control	NOUN
fumecheng-13750	330	45	systems	system	NOUN
fumecheng-13750	330	46	,	,	PUNCT
fumecheng-13750	330	47	studies	study	NOUN
fumecheng-13750	330	48	in	in	ADP
fumecheng-13750	330	49	informatics	informatic	NOUN
fumecheng-13750	330	50	and	and	CCONJ
fumecheng-13750	330	51	control	control	NOUN
fumecheng-13750	330	52	,	,	PUNCT
fumecheng-13750	330	53	29(4	29(4	NOUN
fumecheng-13750	330	54	)	)	PUNCT
fumecheng-13750	330	55	,	,	PUNCT
fumecheng-13750	330	56	pp	pp	ADJ
fumecheng-13750	330	57	.	.	PUNCT
fumecheng-13750	331	1	399	399	NUM
fumecheng-13750	331	2	-	-	SYM
fumecheng-13750	331	3	410	410	NUM
fumecheng-13750	331	4	.	.	PUNCT
fumecheng-13750	332	1	28	28	NUM
fumecheng-13750	332	2	.	.	PUNCT
fumecheng-13750	333	1	roman	roman	NOUN
fumecheng-13750	333	2	,	,	PUNCT
fumecheng-13750	333	3	r.-c	r.-c	PROPN
fumecheng-13750	333	4	.	.	PUNCT
fumecheng-13750	333	5	,	,	PUNCT
fumecheng-13750	333	6	precup	precup	PROPN
fumecheng-13750	333	7	,	,	PUNCT
fumecheng-13750	333	8	r.-e	r.-e	PROPN
fumecheng-13750	333	9	.	.	PUNCT
fumecheng-13750	333	10	,	,	PUNCT
fumecheng-13750	333	11	david	david	PROPN
fumecheng-13750	333	12	,	,	PUNCT
fumecheng-13750	333	13	r.-c	r.-c	PROPN
fumecheng-13750	333	14	.	.	PROPN
fumecheng-13750	333	15	,	,	PUNCT
fumecheng-13750	333	16	2018	2018	NUM
fumecheng-13750	333	17	,	,	PUNCT
fumecheng-13750	333	18	second	second	ADJ
fumecheng-13750	333	19	order	order	NOUN
fumecheng-13750	333	20	intelligent	intelligent	ADJ
fumecheng-13750	333	21	proportional	proportional	ADJ
fumecheng-13750	333	22	-	-	PUNCT
fumecheng-13750	333	23	integral	integral	ADJ
fumecheng-13750	333	24	fuzzy	fuzzy	ADJ
fumecheng-13750	333	25	control	control	NOUN
fumecheng-13750	333	26	of	of	ADP
fumecheng-13750	333	27	twin	twin	ADJ
fumecheng-13750	333	28	rotor	rotor	NOUN
fumecheng-13750	333	29	aerodynamic	aerodynamic	NOUN
fumecheng-13750	333	30	systems	system	NOUN
fumecheng-13750	333	31	,	,	PUNCT
fumecheng-13750	333	32	procedia	procedia	NOUN
fumecheng-13750	333	33	computer	computer	NOUN
fumecheng-13750	333	34	science	science	NOUN
fumecheng-13750	333	35	,	,	PUNCT
fumecheng-13750	333	36	139	139	NUM
fumecheng-13750	333	37	,	,	PUNCT
fumecheng-13750	333	38	pp	pp	ADJ
fumecheng-13750	333	39	.	.	PUNCT
fumecheng-13750	334	1	372	372	NUM
fumecheng-13750	334	2	-	-	SYM
fumecheng-13750	334	3	380	380	NUM
fumecheng-13750	334	4	.	.	PUNCT
fumecheng-13750	335	1	29	29	NUM
fumecheng-13750	335	2	.	.	X
fumecheng-13750	336	1	sekine	sekine	PROPN
fumecheng-13750	336	2	,	,	PUNCT
fumecheng-13750	336	3	m.	m.	NOUN
fumecheng-13750	336	4	,	,	PUNCT
fumecheng-13750	336	5	tsuruhara	tsuruhara	PROPN
fumecheng-13750	336	6	,	,	PUNCT
fumecheng-13750	336	7	s.	s.	PROPN
fumecheng-13750	336	8	,	,	PUNCT
fumecheng-13750	336	9	ito	ito	PROPN
fumecheng-13750	336	10	,	,	PUNCT
fumecheng-13750	336	11	k.	k.	PROPN
fumecheng-13750	336	12	,	,	PUNCT
fumecheng-13750	336	13	2025	2025	NUM
fumecheng-13750	336	14	,	,	PUNCT
fumecheng-13750	336	15	optimized	optimize	VERB
fumecheng-13750	336	16	design	design	NOUN
fumecheng-13750	336	17	of	of	ADP
fumecheng-13750	336	18	a	a	DET
fumecheng-13750	336	19	pseudo	pseudo	NOUN
fumecheng-13750	336	20	-	-	NOUN
fumecheng-13750	336	21	linearization	linearization	NOUN
fumecheng-13750	336	22	-	-	PUNCT
fumecheng-13750	336	23	based	base	VERB
fumecheng-13750	336	24	model	model	NOUN
fumecheng-13750	336	25	predictive	predictive	ADJ
fumecheng-13750	336	26	controller	controller	NOUN
fumecheng-13750	336	27	:	:	PUNCT
fumecheng-13750	336	28	direct	direct	ADJ
fumecheng-13750	336	29	data	data	NOUN
fumecheng-13750	336	30	-	-	PUNCT
fumecheng-13750	336	31	driven	drive	VERB
fumecheng-13750	336	32	approach	approach	NOUN
fumecheng-13750	336	33	,	,	PUNCT
fumecheng-13750	336	34	iet	iet	PROPN
fumecheng-13750	336	35	control	control	PROPN
fumecheng-13750	336	36	theory	theory	PROPN
fumecheng-13750	336	37	&	&	CCONJ
fumecheng-13750	336	38	applications	application	NOUN
fumecheng-13750	336	39	,	,	PUNCT
fumecheng-13750	336	40	19(1	19(1	NUM
fumecheng-13750	336	41	)	)	PUNCT
fumecheng-13750	336	42	,	,	PUNCT
fumecheng-13750	336	43	pp	pp	ADP
fumecheng-13750	336	44	.	.	PUNCT
fumecheng-13750	337	1	1	1	NUM
fumecheng-13750	337	2	-	-	SYM
fumecheng-13750	337	3	17	17	NUM
fumecheng-13750	337	4	.	.	PUNCT
fumecheng-13750	338	1	30	30	NUM
fumecheng-13750	338	2	.	.	PUNCT
fumecheng-13750	339	1	li	li	PROPN
fumecheng-13750	339	2	,	,	PUNCT
fumecheng-13750	339	3	z.	z.	PROPN
fumecheng-13750	339	4	,	,	PUNCT
fumecheng-13750	339	5	hiraoka	hiraoka	PROPN
fumecheng-13750	339	6	,	,	PUNCT
fumecheng-13750	339	7	k.	k.	PROPN
fumecheng-13750	339	8	,	,	PUNCT
fumecheng-13750	339	9	yamamoto	yamamoto	PROPN
fumecheng-13750	339	10	,	,	PUNCT
fumecheng-13750	339	11	t.	t.	PROPN
fumecheng-13750	339	12	,	,	PUNCT
fumecheng-13750	339	13	2024	2024	NUM
fumecheng-13750	339	14	,	,	PUNCT
fumecheng-13750	339	15	design	design	NOUN
fumecheng-13750	339	16	and	and	CCONJ
fumecheng-13750	339	17	experimental	experimental	ADJ
fumecheng-13750	339	18	evaluation	evaluation	NOUN
fumecheng-13750	339	19	of	of	ADP
fumecheng-13750	339	20	a	a	DET
fumecheng-13750	339	21	data	data	NOUN
fumecheng-13750	339	22	-	-	PUNCT
fumecheng-13750	339	23	driven	drive	VERB
fumecheng-13750	339	24	pid	pid	NOUN
fumecheng-13750	339	25	controller	controller	NOUN
fumecheng-13750	339	26	using	use	VERB
fumecheng-13750	339	27	cerebellar	cerebellar	ADJ
fumecheng-13750	339	28	memory	memory	NOUN
fumecheng-13750	339	29	,	,	PUNCT
fumecheng-13750	339	30	iet	iet	PROPN
fumecheng-13750	339	31	control	control	PROPN
fumecheng-13750	339	32	theory	theory	PROPN
fumecheng-13750	339	33	&	&	CCONJ
fumecheng-13750	339	34	applications	application	NOUN
fumecheng-13750	339	35	,	,	PUNCT
fumecheng-13750	339	36	18(11	18(11	NUM
fumecheng-13750	339	37	)	)	PUNCT
fumecheng-13750	339	38	,	,	PUNCT
fumecheng-13750	339	39	pp	pp	ADP
fumecheng-13750	339	40	.	.	PUNCT
fumecheng-13750	340	1	1371	1371	NUM
fumecheng-13750	340	2	-	-	SYM
fumecheng-13750	340	3	1382	1382	NUM
fumecheng-13750	340	4	.	.	PUNCT
fumecheng-13750	341	1	31	31	NUM
fumecheng-13750	341	2	.	.	PUNCT
fumecheng-13750	342	1	yonezawa	yonezawa	PROPN
fumecheng-13750	342	2	,	,	PUNCT
fumecheng-13750	342	3	a.	a.	PROPN
fumecheng-13750	342	4	,	,	PUNCT
fumecheng-13750	342	5	yonezawa	yonezawa	PROPN
fumecheng-13750	342	6	,	,	PUNCT
fumecheng-13750	342	7	h.	h.	PROPN
fumecheng-13750	342	8	,	,	PUNCT
fumecheng-13750	342	9	yahagi	yahagi	PROPN
fumecheng-13750	342	10	,	,	PUNCT
fumecheng-13750	342	11	d.	d.	PROPN
fumecheng-13750	342	12	,	,	PUNCT
fumecheng-13750	342	13	kajiwara	kajiwara	PROPN
fumecheng-13750	342	14	,	,	PUNCT
fumecheng-13750	342	15	i.	i.	NOUN
fumecheng-13750	342	16	,	,	PUNCT
fumecheng-13750	342	17	2024	2024	NUM
fumecheng-13750	342	18	,	,	PUNCT
fumecheng-13750	342	19	practical	practical	ADJ
fumecheng-13750	342	20	one	one	NUM
fumecheng-13750	342	21	-	-	PUNCT
fumecheng-13750	342	22	shot	shot	NOUN
fumecheng-13750	342	23	data	data	NOUN
fumecheng-13750	342	24	-	-	PUNCT
fumecheng-13750	342	25	driven	drive	VERB
fumecheng-13750	342	26	design	design	NOUN
fumecheng-13750	342	27	of	of	ADP
fumecheng-13750	342	28	fractional	fractional	ADJ
fumecheng-13750	342	29	-	-	PUNCT
fumecheng-13750	342	30	order	order	NOUN
fumecheng-13750	342	31	pid	pid	NOUN
fumecheng-13750	342	32	controller	controller	NOUN
fumecheng-13750	342	33	:	:	PUNCT
fumecheng-13750	342	34	fictitious	fictitious	ADJ
fumecheng-13750	342	35	reference	reference	NOUN
fumecheng-13750	342	36	signal	signal	NOUN
fumecheng-13750	342	37	approach	approach	NOUN
fumecheng-13750	342	38	,	,	PUNCT
fumecheng-13750	342	39	isa	isa	NOUN
fumecheng-13750	342	40	transactions	transaction	NOUN
fumecheng-13750	342	41	,	,	PUNCT
fumecheng-13750	342	42	152	152	NUM
fumecheng-13750	342	43	,	,	PUNCT
fumecheng-13750	342	44	pp	pp	ADJ
fumecheng-13750	342	45	.	.	PUNCT
fumecheng-13750	343	1	208	208	NUM
fumecheng-13750	343	2	-	-	SYM
fumecheng-13750	343	3	216	216	NUM
fumecheng-13750	343	4	.	.	PUNCT
fumecheng-13750	344	1	32	32	NUM
fumecheng-13750	344	2	.	.	PUNCT
fumecheng-13750	345	1	kaneko	kaneko	PROPN
fumecheng-13750	345	2	,	,	PUNCT
fumecheng-13750	345	3	o.	o.	PROPN
fumecheng-13750	345	4	,	,	PUNCT
fumecheng-13750	345	5	soma	soma	NOUN
fumecheng-13750	345	6	,	,	PUNCT
fumecheng-13750	345	7	s.	s.	PROPN
fumecheng-13750	345	8	,	,	PUNCT
fumecheng-13750	345	9	fujii	fujii	PROPN
fumecheng-13750	345	10	,	,	PUNCT
fumecheng-13750	345	11	t.	t.	PROPN
fumecheng-13750	345	12	,	,	PUNCT
fumecheng-13750	345	13	2005	2005	NUM
fumecheng-13750	345	14	,	,	PUNCT
fumecheng-13750	345	15	a	a	DET
fumecheng-13750	345	16	fictitious	fictitious	ADJ
fumecheng-13750	345	17	reference	reference	NOUN
fumecheng-13750	345	18	iterative	iterative	NOUN
fumecheng-13750	345	19	tuning	tuning	NOUN
fumecheng-13750	345	20	(	(	PUNCT
fumecheng-13750	345	21	frit	frit	NOUN
fumecheng-13750	345	22	)	)	PUNCT
fumecheng-13750	345	23	in	in	ADP
fumecheng-13750	345	24	the	the	DET
fumecheng-13750	345	25	two	two	NUM
fumecheng-13750	345	26	-	-	PUNCT
fumecheng-13750	345	27	degree	degree	NOUN
fumecheng-13750	345	28	of	of	ADP
fumecheng-13750	345	29	freedom	freedom	NOUN
fumecheng-13750	345	30	control	control	NOUN
fumecheng-13750	345	31	scheme	scheme	NOUN
fumecheng-13750	345	32	and	and	CCONJ
fumecheng-13750	345	33	its	its	PRON
fumecheng-13750	345	34	application	application	NOUN
fumecheng-13750	345	35	to	to	ADP
fumecheng-13750	345	36	closed	closed	ADJ
fumecheng-13750	345	37	loop	loop	NOUN
fumecheng-13750	345	38	system	system	NOUN
fumecheng-13750	345	39	identification	identification	NOUN
fumecheng-13750	345	40	,	,	PUNCT
fumecheng-13750	345	41	ifac	ifac	NOUN
fumecheng-13750	345	42	proceedings	proceeding	NOUN
fumecheng-13750	345	43	volumes	volume	NOUN
fumecheng-13750	345	44	,	,	PUNCT
fumecheng-13750	345	45	38(1	38(1	NUM
fumecheng-13750	345	46	)	)	PUNCT
fumecheng-13750	345	47	,	,	PUNCT
fumecheng-13750	345	48	pp	pp	ADP
fumecheng-13750	345	49	.	.	PUNCT
fumecheng-13750	346	1	626	626	NUM
fumecheng-13750	346	2	-	-	SYM
fumecheng-13750	346	3	631	631	NUM
fumecheng-13750	346	4	.	.	PUNCT
fumecheng-13750	347	1	33	33	NUM
fumecheng-13750	347	2	.	.	PUNCT
fumecheng-13750	348	1	ikeda	ikeda	PROPN
fumecheng-13750	348	2	,	,	PUNCT
fumecheng-13750	348	3	h.	h.	PROPN
fumecheng-13750	348	4	,	,	PUNCT
fumecheng-13750	348	5	goto	goto	NOUN
fumecheng-13750	348	6	,	,	PUNCT
fumecheng-13750	348	7	k.	k.	PROPN
fumecheng-13750	348	8	,	,	PUNCT
fumecheng-13750	348	9	zhang	zhang	PROPN
fumecheng-13750	348	10	,	,	PUNCT
fumecheng-13750	348	11	f.	f.	PROPN
fumecheng-13750	348	12	,	,	PUNCT
fumecheng-13750	348	13	kayashima	kayashima	PROPN
fumecheng-13750	348	14	,	,	PUNCT
fumecheng-13750	348	15	k.	k.	PROPN
fumecheng-13750	348	16	,	,	PUNCT
fumecheng-13750	348	17	hanamoto	hanamoto	NOUN
fumecheng-13750	348	18	,	,	PUNCT
fumecheng-13750	348	19	t.	t.	PROPN
fumecheng-13750	348	20	,	,	PUNCT
fumecheng-13750	348	21	2018	2018	NUM
fumecheng-13750	348	22	,	,	PUNCT
fumecheng-13750	348	23	application	application	NOUN
fumecheng-13750	348	24	of	of	ADP
fumecheng-13750	348	25	fictitious	fictitious	ADJ
fumecheng-13750	348	26	reference	reference	NOUN
fumecheng-13750	348	27	iterative	iterative	NOUN
fumecheng-13750	348	28	tuning	tuning	NOUN
fumecheng-13750	348	29	to	to	ADP
fumecheng-13750	348	30	controller	controller	NOUN
fumecheng-13750	348	31	design	design	NOUN
fumecheng-13750	348	32	for	for	ADP
fumecheng-13750	348	33	various	various	ADJ
fumecheng-13750	348	34	machines	machine	NOUN
fumecheng-13750	348	35	,	,	PUNCT
fumecheng-13750	348	36	proc	proc	NOUN
fumecheng-13750	348	37	.	.	PUNCT
fumecheng-13750	349	1	2018	2018	NUM
fumecheng-13750	349	2	international	international	ADJ
fumecheng-13750	349	3	power	power	NOUN
fumecheng-13750	349	4	electronics	electronic	NOUN
fumecheng-13750	349	5	conference	conference	NOUN
fumecheng-13750	349	6	,	,	PUNCT
fumecheng-13750	349	7	niigata	niigata	PROPN
fumecheng-13750	349	8	,	,	PUNCT
fumecheng-13750	349	9	japan	japan	PROPN
fumecheng-13750	349	10	,	,	PUNCT
fumecheng-13750	349	11	pp	pp	PROPN
fumecheng-13750	349	12	.	.	PUNCT
fumecheng-13750	350	1	1315	1315	NUM
fumecheng-13750	350	2	-	-	SYM
fumecheng-13750	350	3	1321	1321	NUM
fumecheng-13750	350	4	.	.	PUNCT
fumecheng-13750	351	1	34	34	NUM
fumecheng-13750	351	2	.	.	PUNCT
fumecheng-13750	351	3	roman	roman	PROPN
fumecheng-13750	351	4	,	,	PUNCT
fumecheng-13750	351	5	r.-c	r.-c	PROPN
fumecheng-13750	351	6	.	.	PUNCT
fumecheng-13750	351	7	,	,	PUNCT
fumecheng-13750	351	8	precup	precup	PROPN
fumecheng-13750	351	9	,	,	PUNCT
fumecheng-13750	351	10	r.-e	r.-e	PROPN
fumecheng-13750	351	11	.	.	PUNCT
fumecheng-13750	351	12	,	,	PUNCT
fumecheng-13750	351	13	petriu	petriu	PROPN
fumecheng-13750	351	14	,	,	PUNCT
fumecheng-13750	351	15	e.	e.	PROPN
fumecheng-13750	351	16	m.	m.	PROPN
fumecheng-13750	351	17	,	,	PUNCT
fumecheng-13750	351	18	muntyan	muntyan	NOUN
fumecheng-13750	351	19	,	,	PUNCT
fumecheng-13750	351	20	m.	m.	NOUN
fumecheng-13750	351	21	,	,	PUNCT
fumecheng-13750	351	22	hedrea	hedrea	NOUN
fumecheng-13750	351	23	,	,	PUNCT
fumecheng-13750	351	24	e.-l	e.-l	PROPN
fumecheng-13750	351	25	.	.	PUNCT
fumecheng-13750	351	26	,	,	PUNCT
fumecheng-13750	351	27	2023	2023	NUM
fumecheng-13750	351	28	,	,	PUNCT
fumecheng-13750	351	29	fictitious	fictitious	ADJ
fumecheng-13750	351	30	reference	reference	NOUN
fumecheng-13750	351	31	iterative	iterative	NOUN
fumecheng-13750	351	32	tuning	tuning	NOUN
fumecheng-13750	351	33	of	of	ADP
fumecheng-13750	351	34	intelligent	intelligent	ADJ
fumecheng-13750	351	35	proportional	proportional	ADJ
fumecheng-13750	351	36	-	-	PUNCT
fumecheng-13750	351	37	integral	integral	ADJ
fumecheng-13750	351	38	controllers	controller	NOUN
fumecheng-13750	351	39	for	for	ADP
fumecheng-13750	351	40	tower	tower	NOUN
fumecheng-13750	351	41	crane	crane	NOUN
fumecheng-13750	351	42	systems	system	NOUN
fumecheng-13750	351	43	,	,	PUNCT
fumecheng-13750	351	44	proc	proc	NOUN
fumecheng-13750	351	45	.	.	PUNCT
fumecheng-13750	352	1	2023	2023	NUM
fumecheng-13750	352	2	31st	31st	NOUN
fumecheng-13750	352	3	mediterranean	mediterranean	PROPN
fumecheng-13750	352	4	conference	conference	NOUN
fumecheng-13750	352	5	on	on	ADP
fumecheng-13750	352	6	control	control	NOUN
fumecheng-13750	352	7	and	and	CCONJ
fumecheng-13750	352	8	automation	automation	NOUN
fumecheng-13750	352	9	,	,	PUNCT
fumecheng-13750	352	10	limassol	limassol	PROPN
fumecheng-13750	352	11	,	,	PUNCT
fumecheng-13750	352	12	cyprus	cyprus	PROPN
fumecheng-13750	352	13	,	,	PUNCT
fumecheng-13750	352	14	pp	pp	ADJ
fumecheng-13750	352	15	.	.	PUNCT
fumecheng-13750	353	1	740	740	NUM
fumecheng-13750	353	2	-	-	SYM
fumecheng-13750	353	3	746	746	NUM
fumecheng-13750	353	4	.	.	PUNCT
fumecheng-13750	354	1	35	35	NUM
fumecheng-13750	354	2	.	.	X
fumecheng-13750	354	3	roman	roman	NOUN
fumecheng-13750	354	4	,	,	PUNCT
fumecheng-13750	354	5	r.-c	r.-c	PROPN
fumecheng-13750	354	6	.	.	PUNCT
fumecheng-13750	354	7	,	,	PUNCT
fumecheng-13750	354	8	precup	precup	PROPN
fumecheng-13750	354	9	,	,	PUNCT
fumecheng-13750	354	10	r.-e	r.-e	PROPN
fumecheng-13750	354	11	.	.	PUNCT
fumecheng-13750	354	12	,	,	PUNCT
fumecheng-13750	354	13	hedrea	hedrea	PROPN
fumecheng-13750	354	14	,	,	PUNCT
fumecheng-13750	354	15	e.-l	e.-l	PROPN
fumecheng-13750	354	16	.	.	PUNCT
fumecheng-13750	354	17	,	,	PUNCT
fumecheng-13750	354	18	2023	2023	NUM
fumecheng-13750	354	19	,	,	PUNCT
fumecheng-13750	354	20	intelligent	intelligent	ADJ
fumecheng-13750	354	21	proportional	proportional	ADJ
fumecheng-13750	354	22	controller	controller	NOUN
fumecheng-13750	354	23	tuned	tune	VERB
fumecheng-13750	354	24	by	by	ADP
fumecheng-13750	354	25	virtual	virtual	ADJ
fumecheng-13750	354	26	reference	reference	NOUN
fumecheng-13750	354	27	feedback	feedback	NOUN
fumecheng-13750	354	28	tuning	tuning	NOUN
fumecheng-13750	354	29	and	and	CCONJ
fumecheng-13750	354	30	fictitious	fictitious	ADJ
fumecheng-13750	354	31	reference	reference	NOUN
fumecheng-13750	354	32	iterative	iterative	NOUN
fumecheng-13750	354	33	tuning	tuning	NOUN
fumecheng-13750	354	34	,	,	PUNCT
fumecheng-13750	354	35	procedia	procedia	NOUN
fumecheng-13750	354	36	computer	computer	NOUN
fumecheng-13750	354	37	science	science	NOUN
fumecheng-13750	354	38	221	221	NUM
fumecheng-13750	354	39	,	,	PUNCT
fumecheng-13750	354	40	pp	pp	ADJ
fumecheng-13750	354	41	.	.	PUNCT
fumecheng-13750	355	1	86	86	NUM
fumecheng-13750	355	2	-	-	SYM
fumecheng-13750	355	3	93	93	NUM
fumecheng-13750	355	4	.	.	PUNCT
fumecheng-13750	356	1	196	196	NUM
fumecheng-13750	356	2	r.-c	r.-c	PROPN
fumecheng-13750	356	3	.	.	PUNCT
fumecheng-13750	357	1	roman	roman	PROPN
fumecheng-13750	357	2	,	,	PUNCT
fumecheng-13750	357	3	r.-e	r.-e	PROPN
fumecheng-13750	357	4	.	.	PUNCT
fumecheng-13750	358	1	precup	precup	PROPN
fumecheng-13750	358	2	,	,	PUNCT
fumecheng-13750	358	3	e.	e.	PROPN
fumecheng-13750	358	4	m.	m.	PROPN
fumecheng-13750	358	5	petriu	petriu	PROPN
fumecheng-13750	358	6	36	36	NUM
fumecheng-13750	358	7	.	.	PUNCT
fumecheng-13750	359	1	inteco	inteco	PROPN
fumecheng-13750	359	2	,	,	PUNCT
fumecheng-13750	359	3	2012	2012	NUM
fumecheng-13750	359	4	,	,	PUNCT
fumecheng-13750	359	5	3d	3d	NUM
fumecheng-13750	359	6	crane	crane	NOUN
fumecheng-13750	359	7	,	,	PUNCT
fumecheng-13750	359	8	user	user	NOUN
fumecheng-13750	359	9	’s	’s	PART
fumecheng-13750	359	10	manual	manual	NOUN
fumecheng-13750	359	11	,	,	PUNCT
fumecheng-13750	359	12	inteco	inteco	PROPN
fumecheng-13750	359	13	ltd	ltd	PROPN
fumecheng-13750	359	14	.	.	PROPN
fumecheng-13750	359	15	,	,	PUNCT
fumecheng-13750	359	16	krakow	krakow	PROPN
fumecheng-13750	359	17	,	,	PUNCT
fumecheng-13750	359	18	poland	poland	PROPN
fumecheng-13750	359	19	.	.	PUNCT
fumecheng-13750	360	1	37	37	NUM
fumecheng-13750	360	2	.	.	PUNCT
fumecheng-13750	361	1	kilic	kilic	PROPN
fumecheng-13750	361	2	,	,	PUNCT
fumecheng-13750	361	3	u.	u.	PROPN
fumecheng-13750	361	4	,	,	PUNCT
fumecheng-13750	361	5	sarac	sarac	NOUN
fumecheng-13750	361	6	essiz	essiz	ADV
fumecheng-13750	361	7	,	,	PUNCT
fumecheng-13750	361	8	e.	e.	PROPN
fumecheng-13750	361	9	,	,	PUNCT
fumecheng-13750	361	10	kaya	kaya	PROPN
fumecheng-13750	361	11	keles	keles	PROPN
fumecheng-13750	361	12	,	,	PUNCT
fumecheng-13750	361	13	m.	m.	NOUN
fumecheng-13750	361	14	,	,	PUNCT
fumecheng-13750	361	15	2023	2023	NUM
fumecheng-13750	361	16	,	,	PUNCT
fumecheng-13750	361	17	binary	binary	ADJ
fumecheng-13750	361	18	anarchic	anarchic	ADJ
fumecheng-13750	361	19	society	society	NOUN
fumecheng-13750	361	20	optimization	optimization	NOUN
fumecheng-13750	361	21	for	for	ADP
fumecheng-13750	361	22	feature	feature	NOUN
fumecheng-13750	361	23	selection	selection	NOUN
fumecheng-13750	361	24	,	,	PUNCT
fumecheng-13750	361	25	romanian	romanian	ADJ
fumecheng-13750	361	26	journal	journal	NOUN
fumecheng-13750	361	27	of	of	ADP
fumecheng-13750	361	28	information	information	NOUN
fumecheng-13750	361	29	science	science	NOUN
fumecheng-13750	361	30	and	and	CCONJ
fumecheng-13750	361	31	technology	technology	NOUN
fumecheng-13750	361	32	,	,	PUNCT
fumecheng-13750	361	33	26(3	26(3	NUM
fumecheng-13750	361	34	-	-	SYM
fumecheng-13750	361	35	4	4	NUM
fumecheng-13750	361	36	)	)	PUNCT
fumecheng-13750	361	37	,	,	PUNCT
fumecheng-13750	362	1	pp	pp	ADP
fumecheng-13750	362	2	.	.	PUNCT
fumecheng-13750	363	1	351	351	NUM
fumecheng-13750	363	2	-	-	SYM
fumecheng-13750	363	3	364	364	NUM
fumecheng-13750	363	4	.	.	PUNCT
fumecheng-13750	364	1	38	38	NUM
fumecheng-13750	364	2	.	.	PUNCT
fumecheng-13750	365	1	lu	lu	PROPN
fumecheng-13750	365	2	,	,	PUNCT
fumecheng-13750	365	3	z.-l	z.-l	PROPN
fumecheng-13750	365	4	.	.	PUNCT
fumecheng-13750	365	5	,	,	PUNCT
fumecheng-13750	365	6	lok	lok	PROPN
fumecheng-13750	365	7	,	,	PUNCT
fumecheng-13750	365	8	u.	u.	PROPN
fumecheng-13750	365	9	h.	h.	PROPN
fumecheng-13750	365	10	,	,	PUNCT
fumecheng-13750	365	11	2024	2024	NUM
fumecheng-13750	365	12	,	,	PUNCT
fumecheng-13750	365	13	dimension	dimension	NOUN
fumecheng-13750	365	14	-	-	PUNCT
fumecheng-13750	365	15	reduced	reduce	VERB
fumecheng-13750	365	16	modeling	modeling	NOUN
fumecheng-13750	365	17	for	for	ADP
fumecheng-13750	365	18	local	local	ADJ
fumecheng-13750	365	19	volatility	volatility	NOUN
fumecheng-13750	365	20	surface	surface	NOUN
fumecheng-13750	365	21	via	via	ADP
fumecheng-13750	365	22	unsupervised	unsupervised	ADJ
fumecheng-13750	365	23	learning	learning	NOUN
fumecheng-13750	365	24	,	,	PUNCT
fumecheng-13750	365	25	romanian	romanian	ADJ
fumecheng-13750	365	26	journal	journal	NOUN
fumecheng-13750	365	27	of	of	ADP
fumecheng-13750	365	28	information	information	NOUN
fumecheng-13750	365	29	science	science	NOUN
fumecheng-13750	365	30	and	and	CCONJ
fumecheng-13750	365	31	technology	technology	NOUN
fumecheng-13750	365	32	,	,	PUNCT
fumecheng-13750	365	33	27(3	27(3	NUM
fumecheng-13750	365	34	-	-	SYM
fumecheng-13750	365	35	4	4	NUM
fumecheng-13750	365	36	)	)	PUNCT
fumecheng-13750	365	37	,	,	PUNCT
fumecheng-13750	365	38	pp	pp	ADJ
fumecheng-13750	365	39	.	.	PUNCT
fumecheng-13750	366	1	255	255	NUM
fumecheng-13750	366	2	-	-	SYM
fumecheng-13750	366	3	266	266	NUM
fumecheng-13750	366	4	.	.	PUNCT
fumecheng-13750	367	1	39	39	NUM
fumecheng-13750	367	2	.	.	PUNCT
fumecheng-13750	368	1	pho	pho	NOUN
fumecheng-13750	368	2	,	,	PUNCT
fumecheng-13750	368	3	k.-h	k.-h	NOUN
fumecheng-13750	368	4	.	.	PUNCT
fumecheng-13750	368	5	,	,	PUNCT
fumecheng-13750	368	6	2022	2022	NUM
fumecheng-13750	368	7	,	,	PUNCT
fumecheng-13750	368	8	improvements	improvement	NOUN
fumecheng-13750	368	9	of	of	ADP
fumecheng-13750	368	10	the	the	DET
fumecheng-13750	368	11	newton	newton	PROPN
fumecheng-13750	368	12	-	-	PUNCT
fumecheng-13750	368	13	raphson	raphson	PROPN
fumecheng-13750	368	14	method	method	NOUN
fumecheng-13750	368	15	,	,	PUNCT
fumecheng-13750	368	16	journal	journal	NOUN
fumecheng-13750	368	17	of	of	ADP
fumecheng-13750	368	18	computational	computational	ADJ
fumecheng-13750	368	19	and	and	CCONJ
fumecheng-13750	368	20	applied	applied	ADJ
fumecheng-13750	368	21	mathematics	mathematic	NOUN
fumecheng-13750	368	22	,	,	PUNCT
fumecheng-13750	368	23	408	408	NUM
fumecheng-13750	368	24	,	,	PUNCT
fumecheng-13750	368	25	paper	paper	NOUN
fumecheng-13750	368	26	114106	114106	NUM
fumecheng-13750	368	27	.	.	PUNCT
fumecheng-13750	369	1	40	40	NUM
fumecheng-13750	369	2	.	.	PUNCT
fumecheng-13750	370	1	roman	roman	NOUN
fumecheng-13750	370	2	,	,	PUNCT
fumecheng-13750	370	3	r.-c	r.-c	PROPN
fumecheng-13750	370	4	.	.	PUNCT
fumecheng-13750	370	5	,	,	PUNCT
fumecheng-13750	370	6	precup	precup	PROPN
fumecheng-13750	370	7	,	,	PUNCT
fumecheng-13750	370	8	r.-e	r.-e	PROPN
fumecheng-13750	370	9	.	.	PUNCT
fumecheng-13750	370	10	,	,	PUNCT
fumecheng-13750	370	11	stebel	stebel	NOUN
fumecheng-13750	370	12	,	,	PUNCT
fumecheng-13750	370	13	k.	k.	PROPN
fumecheng-13750	370	14	,	,	PUNCT
fumecheng-13750	370	15	madonski	madonski	PROPN
fumecheng-13750	370	16	,	,	PUNCT
fumecheng-13750	370	17	r.	r.	PROPN
fumecheng-13750	370	18	,	,	PUNCT
fumecheng-13750	370	19	2024	2024	NUM
fumecheng-13750	370	20	,	,	PUNCT
fumecheng-13750	370	21	supplementary	supplementary	ADJ
fumecheng-13750	370	22	material	material	NOUN
fumecheng-13750	370	23	of	of	ADP
fumecheng-13750	370	24	the	the	DET
fumecheng-13750	370	25	paper	paper	NOUN
fumecheng-13750	370	26	raul	raul	PROPN
fumecheng-13750	370	27	-	-	PUNCT
fumecheng-13750	370	28	cristian	cristian	ADJ
fumecheng-13750	370	29	roman	roman	NOUN
fumecheng-13750	370	30	,	,	PUNCT
fumecheng-13750	370	31	radu	radu	PROPN
fumecheng-13750	370	32	-	-	PUNCT
fumecheng-13750	370	33	emil	emil	NOUN
fumecheng-13750	370	34	precup	precup	PROPN
fumecheng-13750	370	35	,	,	PUNCT
fumecheng-13750	370	36	krzysztof	krzysztof	PROPN
fumecheng-13750	370	37	stebel	stebel	PROPN
fumecheng-13750	370	38	,	,	PUNCT
fumecheng-13750	370	39	rafal	rafal	PROPN
fumecheng-13750	370	40	madonski	madonski	PROPN
fumecheng-13750	370	41	,	,	PUNCT
fumecheng-13750	370	42	active	active	ADJ
fumecheng-13750	370	43	disturbance	disturbance	NOUN
fumecheng-13750	370	44	rejection	rejection	NOUN
fumecheng-13750	370	45	control	control	NOUN
fumecheng-13750	370	46	tuned	tune	VERB
fumecheng-13750	370	47	by	by	ADP
fumecheng-13750	370	48	fictitious	fictitious	ADJ
fumecheng-13750	370	49	reference	reference	NOUN
fumecheng-13750	370	50	iterative	iterative	NOUN
fumecheng-13750	370	51	tuning	tuning	NOUN
fumecheng-13750	370	52	for	for	ADP
fumecheng-13750	370	53	tower	tower	NOUN
fumecheng-13750	370	54	crane	crane	NOUN
fumecheng-13750	370	55	systems	system	NOUN
fumecheng-13750	370	56	,	,	PUNCT
fumecheng-13750	370	57	the	the	DET
fumecheng-13750	370	58	23rd	23rd	ADJ
fumecheng-13750	370	59	european	european	ADJ
fumecheng-13750	370	60	control	control	PROPN
fumecheng-13750	370	61	conference	conference	PROPN
fumecheng-13750	370	62	(	(	PUNCT
fumecheng-13750	370	63	ecc	ecc	PROPN
fumecheng-13750	370	64	)	)	PUNCT
fumecheng-13750	370	65	,	,	PUNCT
fumecheng-13750	371	1	[	[	X
fumecheng-13750	371	2	online	online	X
fumecheng-13750	371	3	]	]	X
fumecheng-13750	371	4	,	,	PUNCT
fumecheng-13750	371	5	available	available	ADJ
fumecheng-13750	371	6	:	:	PUNCT
fumecheng-13750	371	7	https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/	https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/	PROPN
fumecheng-13750	372	1	eljhgkk30z1alwd0r0rnnp8btmpi742jm4v8s9mpgdbz2g?e=9roxjd	eljhgkk30z1alwd0r0rnnp8btmpi742jm4v8s9mpgdbz2g?e=9roxjd	PROPN
fumecheng-13750	372	2	(	(	PUNCT
fumecheng-13750	372	3	last	last	ADJ
fumecheng-13750	372	4	access	access	NOUN
fumecheng-13750	372	5	:	:	PUNCT
fumecheng-13750	372	6	31.10.2024	31.10.2024	NUM
fumecheng-13750	372	7	)	)	PUNCT
fumecheng-13750	372	8	.	.	PUNCT
fumecheng-13750	373	1	41	41	NUM
fumecheng-13750	373	2	.	.	PUNCT
fumecheng-13750	374	1	fliess	fliess	NOUN
fumecheng-13750	374	2	,	,	PUNCT
fumecheng-13750	374	3	m.	m.	NOUN
fumecheng-13750	374	4	,	,	PUNCT
fumecheng-13750	374	5	join	join	NOUN
fumecheng-13750	374	6	,	,	PUNCT
fumecheng-13750	374	7	c.	c.	PROPN
fumecheng-13750	374	8	,	,	PUNCT
fumecheng-13750	374	9	2014	2014	NUM
fumecheng-13750	374	10	,	,	PUNCT
fumecheng-13750	374	11	stability	stability	NOUN
fumecheng-13750	374	12	margins	margin	NOUN
fumecheng-13750	374	13	and	and	CCONJ
fumecheng-13750	374	14	model	model	NOUN
fumecheng-13750	374	15	-	-	PUNCT
fumecheng-13750	374	16	free	free	ADJ
fumecheng-13750	374	17	control	control	NOUN
fumecheng-13750	374	18	:	:	PUNCT
fumecheng-13750	374	19	a	a	DET
fumecheng-13750	374	20	first	first	ADJ
fumecheng-13750	374	21	look	look	NOUN
fumecheng-13750	374	22	,	,	PUNCT
fumecheng-13750	374	23	proc	proc	NOUN
fumecheng-13750	374	24	.	.	PROPN
fumecheng-13750	374	25	2014	2014	NUM
fumecheng-13750	374	26	european	european	PROPN
fumecheng-13750	374	27	control	control	PROPN
fumecheng-13750	374	28	conference	conference	PROPN
fumecheng-13750	374	29	,	,	PUNCT
fumecheng-13750	374	30	strasbourg	strasbourg	PROPN
fumecheng-13750	374	31	,	,	PUNCT
fumecheng-13750	374	32	france	france	PROPN
fumecheng-13750	374	33	,	,	PUNCT
fumecheng-13750	374	34	pp	pp	X
fumecheng-13750	374	35	.	.	PUNCT
fumecheng-13750	375	1	454	454	NUM
fumecheng-13750	375	2	-	-	SYM
fumecheng-13750	375	3	459	459	NUM
fumecheng-13750	375	4	.	.	PUNCT
fumecheng-13750	376	1	42	42	NUM
fumecheng-13750	376	2	.	.	PUNCT
fumecheng-13750	377	1	roman	roman	PROPN
fumecheng-13750	377	2	,	,	PUNCT
fumecheng-13750	377	3	r.-c	r.-c	PROPN
fumecheng-13750	377	4	.	.	PUNCT
fumecheng-13750	377	5	,	,	PUNCT
fumecheng-13750	377	6	precup	precup	PROPN
fumecheng-13750	377	7	,	,	PUNCT
fumecheng-13750	377	8	r.-e	r.-e	PROPN
fumecheng-13750	377	9	.	.	PUNCT
fumecheng-13750	377	10	,	,	PUNCT
fumecheng-13750	377	11	petriu	petriu	PROPN
fumecheng-13750	377	12	,	,	PUNCT
fumecheng-13750	377	13	e.	e.	PROPN
fumecheng-13750	377	14	m.	m.	PROPN
fumecheng-13750	377	15	,	,	PUNCT
fumecheng-13750	377	16	supplementary	supplementary	ADJ
fumecheng-13750	377	17	appendix	appendix	NOUN
fumecheng-13750	377	18	of	of	ADP
fumecheng-13750	377	19	the	the	DET
fumecheng-13750	377	20	paper	paper	NOUN
fumecheng-13750	377	21	active	active	ADJ
fumecheng-13750	377	22	disturbance	disturbance	NOUN
fumecheng-13750	377	23	rejection	rejection	NOUN
fumecheng-13750	377	24	control	control	NOUN
fumecheng-13750	377	25	and	and	CCONJ
fumecheng-13750	377	26	model	model	NOUN
fumecheng-13750	377	27	-	-	PUNCT
fumecheng-13750	377	28	free	free	ADJ
fumecheng-13750	377	29	control	control	NOUN
fumecheng-13750	377	30	tuned	tune	VERB
fumecheng-13750	377	31	via	via	ADP
fumecheng-13750	377	32	fictitious	fictitious	ADJ
fumecheng-13750	377	33	reference	reference	NOUN
fumecheng-13750	377	34	iterative	iterative	NOUN
fumecheng-13750	377	35	tuning	tuning	NOUN
fumecheng-13750	377	36	,	,	PUNCT
fumecheng-13750	378	1	[	[	X
fumecheng-13750	378	2	online	online	X
fumecheng-13750	378	3	]	]	X
fumecheng-13750	378	4	.	.	PUNCT
fumecheng-13750	379	1	available	available	ADJ
fumecheng-13750	379	2	:	:	PUNCT
fumecheng-13750	380	1	https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/	https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/	NOUN
fumecheng-13750	380	2	eidrugdukwlgtba5ybq0iqgbqano8m91guxs8t1frqw8la?e	eidrugdukwlgtba5ybq0iqgbqano8m91guxs8t1frqw8la?e	NUM
fumecheng-13750	380	3	=	=	SYM
fumecheng-13750	380	4	ygqxw4	ygqxw4	PROPN
fumecheng-13750	380	5	(	(	PUNCT
fumecheng-13750	380	6	last	last	ADJ
fumecheng-13750	380	7	access	access	NOUN
fumecheng-13750	380	8	31.05.2025	31.05.2025	NUM
fumecheng-13750	380	9	)	)	PUNCT
fumecheng-13750	380	10	.	.	PUNCT
fumecheng-13750	381	1	43	43	NUM
fumecheng-13750	381	2	.	.	PUNCT
fumecheng-13750	382	1	ćojbašić	ćojbašić	VERB
fumecheng-13750	382	2	,	,	PUNCT
fumecheng-13750	382	3	ž	ž	PROPN
fumecheng-13750	382	4	.	.	PUNCT
fumecheng-13750	382	5	m.	m.	NOUN
fumecheng-13750	382	6	,	,	PUNCT
fumecheng-13750	382	7	nikolić	nikolić	NOUN
fumecheng-13750	382	8	,	,	PUNCT
fumecheng-13750	382	9	v.	v.	PROPN
fumecheng-13750	382	10	d.	d.	PROPN
fumecheng-13750	382	11	,	,	PUNCT
fumecheng-13750	382	12	ćirić	ćirić	NOUN
fumecheng-13750	382	13	,	,	PUNCT
fumecheng-13750	382	14	i.	i.	PROPN
fumecheng-13750	382	15	t.	t.	PROPN
fumecheng-13750	382	16	,	,	PUNCT
fumecheng-13750	382	17	ćojbašić	ćojbašić	PROPN
fumecheng-13750	382	18	,	,	PUNCT
fumecheng-13750	382	19	l.	l.	PROPN
fumecheng-13750	382	20	r.	r.	PROPN
fumecheng-13750	382	21	,	,	PUNCT
fumecheng-13750	382	22	2011	2011	NUM
fumecheng-13750	382	23	,	,	PUNCT
fumecheng-13750	382	24	computationally	computationally	ADV
fumecheng-13750	382	25	intelligent	intelligent	ADJ
fumecheng-13750	382	26	modeling	modeling	NOUN
fumecheng-13750	382	27	and	and	CCONJ
fumecheng-13750	382	28	control	control	NOUN
fumecheng-13750	382	29	of	of	ADP
fumecheng-13750	382	30	fluidized	fluidize	VERB
fumecheng-13750	382	31	bed	bed	NOUN
fumecheng-13750	382	32	combustion	combustion	NOUN
fumecheng-13750	382	33	process	process	NOUN
fumecheng-13750	382	34	,	,	PUNCT
fumecheng-13750	382	35	thermal	thermal	ADJ
fumecheng-13750	382	36	science	science	NOUN
fumecheng-13750	382	37	,	,	PUNCT
fumecheng-13750	382	38	15(2	15(2	NUM
fumecheng-13750	382	39	)	)	PUNCT
fumecheng-13750	382	40	,	,	PUNCT
fumecheng-13750	382	41	pp	pp	PROPN
fumecheng-13750	382	42	.	.	PUNCT
fumecheng-13750	383	1	321	321	NUM
fumecheng-13750	383	2	-	-	SYM
fumecheng-13750	383	3	338	338	NUM
fumecheng-13750	383	4	.	.	PUNCT
fumecheng-13750	384	1	44	44	NUM
fumecheng-13750	384	2	.	.	PUNCT
fumecheng-13750	385	1	borlea	borlea	PROPN
fumecheng-13750	385	2	,	,	PUNCT
fumecheng-13750	385	3	a.-i	a.-i	PROPN
fumecheng-13750	385	4	.	.	PROPN
fumecheng-13750	385	5	,	,	PUNCT
fumecheng-13750	385	6	precup	precup	PROPN
fumecheng-13750	385	7	,	,	PUNCT
fumecheng-13750	385	8	r.-e	r.-e	PROPN
fumecheng-13750	385	9	.	.	PUNCT
fumecheng-13750	385	10	,	,	PUNCT
fumecheng-13750	385	11	roman	roman	NOUN
fumecheng-13750	385	12	,	,	PUNCT
fumecheng-13750	385	13	r.-c	r.-c	PROPN
fumecheng-13750	385	14	.	.	PROPN
fumecheng-13750	385	15	,	,	PUNCT
fumecheng-13750	385	16	2023	2023	NUM
fumecheng-13750	385	17	,	,	PUNCT
fumecheng-13750	385	18	discrete	discrete	ADJ
fumecheng-13750	385	19	-	-	PUNCT
fumecheng-13750	385	20	time	time	NOUN
fumecheng-13750	385	21	model	model	NOUN
fumecheng-13750	385	22	-	-	PUNCT
fumecheng-13750	385	23	based	base	VERB
fumecheng-13750	385	24	sliding	slide	VERB
fumecheng-13750	385	25	mode	mode	NOUN
fumecheng-13750	385	26	controllers	controller	NOUN
fumecheng-13750	385	27	for	for	ADP
fumecheng-13750	385	28	tower	tower	NOUN
fumecheng-13750	385	29	crane	crane	NOUN
fumecheng-13750	385	30	systems	system	NOUN
fumecheng-13750	385	31	,	,	PUNCT
fumecheng-13750	385	32	facta	facta	PROPN
fumecheng-13750	385	33	universitatis	universitatis	PROPN
fumecheng-13750	385	34	-	-	PUNCT
fumecheng-13750	385	35	series	series	NOUN
fumecheng-13750	385	36	mechanical	mechanical	ADJ
fumecheng-13750	385	37	engineering	engineering	NOUN
fumecheng-13750	385	38	,	,	PUNCT
fumecheng-13750	385	39	21(1	21(1	NUM
fumecheng-13750	385	40	)	)	PUNCT
fumecheng-13750	385	41	,	,	PUNCT
fumecheng-13750	385	42	pp	pp	ADJ
fumecheng-13750	385	43	.	.	PUNCT
fumecheng-13750	386	1	1	1	NUM
fumecheng-13750	386	2	-	-	SYM
fumecheng-13750	386	3	20	20	NUM
fumecheng-13750	386	4	.	.	X
fumecheng-13750	387	1	45	45	NUM
fumecheng-13750	387	2	.	.	X
fumecheng-13750	387	3	guvenc	guvenc	PROPN
fumecheng-13750	387	4	,	,	PUNCT
fumecheng-13750	387	5	m.	m.	NOUN
fumecheng-13750	387	6	a.	a.	NOUN
fumecheng-13750	387	7	,	,	PUNCT
fumecheng-13750	387	8	bilgic	bilgic	ADV
fumecheng-13750	387	9	,	,	PUNCT
fumecheng-13750	387	10	h.	h.	PROPN
fumecheng-13750	387	11	h.	h.	PROPN
fumecheng-13750	387	12	,	,	PUNCT
fumecheng-13750	387	13	mistikoglu	mistikoglu	PROPN
fumecheng-13750	387	14	s.	s.	PROPN
fumecheng-13750	387	15	,	,	PUNCT
fumecheng-13750	387	16	2023	2023	NUM
fumecheng-13750	387	17	,	,	PUNCT
fumecheng-13750	387	18	identification	identification	NOUN
fumecheng-13750	387	19	of	of	ADP
fumecheng-13750	387	20	chatter	chatter	NOUN
fumecheng-13750	387	21	vibrations	vibration	NOUN
fumecheng-13750	387	22	and	and	CCONJ
fumecheng-13750	387	23	active	active	ADJ
fumecheng-13750	387	24	vibration	vibration	NOUN
fumecheng-13750	387	25	control	control	NOUN
fumecheng-13750	387	26	by	by	ADP
fumecheng-13750	387	27	using	use	VERB
fumecheng-13750	387	28	the	the	DET
fumecheng-13750	387	29	sliding	slide	VERB
fumecheng-13750	387	30	mode	mode	NOUN
fumecheng-13750	387	31	controller	controller	NOUN
fumecheng-13750	387	32	on	on	ADP
fumecheng-13750	387	33	dry	dry	ADJ
fumecheng-13750	387	34	turning	turning	NOUN
fumecheng-13750	387	35	of	of	ADP
fumecheng-13750	387	36	titanium	titanium	NOUN
fumecheng-13750	387	37	alloy	alloy	NOUN
fumecheng-13750	387	38	(	(	PUNCT
fumecheng-13750	387	39	ti6al4v	ti6al4v	NOUN
fumecheng-13750	387	40	)	)	PUNCT
fumecheng-13750	387	41	,	,	PUNCT
fumecheng-13750	387	42	facta	facta	PROPN
fumecheng-13750	387	43	universitatis	universitatis	PROPN
fumecheng-13750	387	44	-	-	PUNCT
fumecheng-13750	387	45	series	series	NOUN
fumecheng-13750	387	46	mechanical	mechanical	ADJ
fumecheng-13750	387	47	engineering	engineering	NOUN
fumecheng-13750	387	48	,	,	PUNCT
fumecheng-13750	387	49	21(2	21(2	NUM
fumecheng-13750	387	50	)	)	PUNCT
fumecheng-13750	387	51	,	,	PUNCT
fumecheng-13750	387	52	pp	pp	PROPN
fumecheng-13750	387	53	.	.	PUNCT
fumecheng-13750	388	1	307	307	NUM
fumecheng-13750	388	2	-	-	SYM
fumecheng-13750	388	3	322	322	NUM
fumecheng-13750	388	4	.	.	PUNCT
fumecheng-13750	388	5	https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/%0beljhgkk30z1alwd0r0rnnp8btmpi742jm4v8s9mpgdbz2g?e=9roxjd	https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/%0beljhgkk30z1alwd0r0rnnp8btmpi742jm4v8s9mpgdbz2g?e=9roxjd	PROPN
fumecheng-13750	388	6	https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/%0beljhgkk30z1alwd0r0rnnp8btmpi742jm4v8s9mpgdbz2g?e=9roxjd	https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/%0beljhgkk30z1alwd0r0rnnp8btmpi742jm4v8s9mpgdbz2g?e=9roxjd	PROPN
fumecheng-13750	388	7	https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/%0beidrugdukwlgtba5ybq0iqgbqano8m91guxs8t1frqw8la?e=ygqxw4	https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/%0beidrugdukwlgtba5ybq0iqgbqano8m91guxs8t1frqw8la?e=ygqxw4	PROPN
fumecheng-13750	388	8	https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/%0beidrugdukwlgtba5ybq0iqgbqano8m91guxs8t1frqw8la?e=ygqxw4	https://uptro29158-my.sharepoint.com/:f:/g/personal/raul-cristian_roman_upt_ro/%0beidrugdukwlgtba5ybq0iqgbqano8m91guxs8t1frqw8la?e=ygqxw4	PROPN