id	sid	tid	token	lemma	pos
fumecheng-2832	1	1	plane	plane	NOUN
fumecheng-2832	1	2	thermoelastic	thermoelastic	ADJ
fumecheng-2832	1	3	waves	wave	NOUN
fumecheng-2832	1	4	in	in	ADP
fumecheng-2832	1	5	infinite	infinite	ADJ
fumecheng-2832	1	6	half	half	ADJ
fumecheng-2832	1	7	-	-	PUNCT
fumecheng-2832	1	8	space	space	NOUN
fumecheng-2832	1	9	caused	cause	VERB
fumecheng-2832	1	10	facta	facta	PROPN
fumecheng-2832	1	11	universitatis	universitatis	PROPN
fumecheng-2832	1	12	series	series	NOUN
fumecheng-2832	1	13	:	:	PUNCT
fumecheng-2832	1	14	mechanical	mechanical	ADJ
fumecheng-2832	1	15	engineering	engineering	NOUN
fumecheng-2832	1	16	vol	vol	NOUN
fumecheng-2832	1	17	.	.	PROPN
fumecheng-2832	2	1	15	15	NUM
fumecheng-2832	2	2	,	,	PUNCT
fumecheng-2832	2	3	no	no	DET
fumecheng-2832	2	4	2	2	NUM
fumecheng-2832	2	5	,	,	PUNCT
fumecheng-2832	2	6	2017	2017	NUM
fumecheng-2832	2	7	,	,	PUNCT
fumecheng-2832	2	8	pp	pp	ADJ
fumecheng-2832	2	9	.	.	PUNCT
fumecheng-2832	3	1	245	245	NUM
fumecheng-2832	3	2	256	256	NUM
fumecheng-2832	3	3	doi	doi	NOUN
fumecheng-2832	3	4	:	:	PUNCT
fumecheng-2832	3	5	10.22190	10.22190	NUM
fumecheng-2832	3	6	/	/	SYM
fumecheng-2832	3	7	fume170505012n	fume170505012n	NOUN
fumecheng-2832	3	8	©	©	PROPN
fumecheng-2832	3	9	2017	2017	NUM
fumecheng-2832	3	10	by	by	ADP
fumecheng-2832	3	11	university	university	PROPN
fumecheng-2832	3	12	of	of	ADP
fumecheng-2832	3	13	niš	niš	PROPN
fumecheng-2832	3	14	,	,	PUNCT
fumecheng-2832	3	15	serbia	serbia	PROPN
fumecheng-2832	3	16	|	|	ADV
fumecheng-2832	3	17	creative	creative	ADJ
fumecheng-2832	3	18	commons	common	NOUN
fumecheng-2832	3	19	licence	licence	NOUN
fumecheng-2832	3	20	:	:	PUNCT
fumecheng-2832	3	21	cc	cc	VERB
fumecheng-2832	3	22	by	by	ADP
fumecheng-2832	3	23	-	-	PUNCT
fumecheng-2832	3	24	nc	nc	VERB
fumecheng-2832	3	25	-	-	PUNCT
fumecheng-2832	3	26	nd	nd	ADV
fumecheng-2832	3	27	original	original	ADJ
fumecheng-2832	3	28	scientific	scientific	ADJ
fumecheng-2832	3	29	paper	paper	NOUN
fumecheng-2832	3	30	decoupling	decouple	VERB
fumecheng-2832	3	31	control	control	NOUN
fumecheng-2832	3	32	of	of	ADP
fumecheng-2832	3	33	the	the	DET
fumecheng-2832	3	34	tito	tito	PROPN
fumecheng-2832	3	35	system	system	NOUN
fumecheng-2832	3	36	supported	support	VERB
fumecheng-2832	3	37	by	by	ADP
fumecheng-2832	3	38	the	the	DET
fumecheng-2832	3	39	dominant	dominant	ADJ
fumecheng-2832	3	40	pole	pole	NOUN
fumecheng-2832	3	41	placement	placement	NOUN
fumecheng-2832	3	42	method	method	NOUN
fumecheng-2832	3	43	udc	udc	NOUN
fumecheng-2832	3	44	62	62	NUM
fumecheng-2832	3	45	-	-	PUNCT
fumecheng-2832	3	46	5:681.5	5:681.5	NUM
fumecheng-2832	3	47	novak	novak	PROPN
fumecheng-2832	3	48	n.	n.	PROPN
fumecheng-2832	3	49	nedić	nedić	PROPN
fumecheng-2832	3	50	1	1	NUM
fumecheng-2832	3	51	,	,	PUNCT
fumecheng-2832	3	52	saša	saša	VERB
fumecheng-2832	3	53	lj	lj	PROPN
fumecheng-2832	3	54	.	.	PUNCT
fumecheng-2832	4	1	prodanović	prodanović	PROPN
fumecheng-2832	4	2	2	2	NUM
fumecheng-2832	4	3	,	,	PUNCT
fumecheng-2832	4	4	ljubiša	ljubiša	PROPN
fumecheng-2832	4	5	m.	m.	PROPN
fumecheng-2832	4	6	dubonjić	dubonjić	PROPN
fumecheng-2832	4	7	1	1	NUM
fumecheng-2832	4	8	1	1	NUM
fumecheng-2832	4	9	university	university	NOUN
fumecheng-2832	4	10	of	of	ADP
fumecheng-2832	4	11	kragujevac	kragujevac	PROPN
fumecheng-2832	4	12	,	,	PUNCT
fumecheng-2832	4	13	faculty	faculty	NOUN
fumecheng-2832	4	14	of	of	ADP
fumecheng-2832	4	15	mechanical	mechanical	ADJ
fumecheng-2832	4	16	and	and	CCONJ
fumecheng-2832	4	17	civil	civil	ADJ
fumecheng-2832	4	18	engineering	engineering	NOUN
fumecheng-2832	4	19	in	in	ADP
fumecheng-2832	4	20	kraljevo	kraljevo	PROPN
fumecheng-2832	4	21	,	,	PUNCT
fumecheng-2832	4	22	serbia	serbia	PROPN
fumecheng-2832	4	23	2	2	NUM
fumecheng-2832	4	24	university	university	PROPN
fumecheng-2832	4	25	of	of	ADP
fumecheng-2832	4	26	east	east	PROPN
fumecheng-2832	4	27	sarajevo	sarajevo	PROPN
fumecheng-2832	4	28	,	,	PUNCT
fumecheng-2832	4	29	faculty	faculty	NOUN
fumecheng-2832	4	30	of	of	ADP
fumecheng-2832	4	31	mechanical	mechanical	ADJ
fumecheng-2832	4	32	engineering	engineering	NOUN
fumecheng-2832	4	33	,	,	PUNCT
fumecheng-2832	4	34	bosnia	bosnia	PROPN
fumecheng-2832	4	35	and	and	CCONJ
fumecheng-2832	4	36	herzegovina	herzegovina	PROPN
fumecheng-2832	4	37	abstract	abstract	ADJ
fumecheng-2832	4	38	.	.	PUNCT
fumecheng-2832	5	1	appropriate	appropriate	ADJ
fumecheng-2832	5	2	approach	approach	NOUN
fumecheng-2832	5	3	to	to	ADP
fumecheng-2832	5	4	the	the	DET
fumecheng-2832	5	5	nature	nature	NOUN
fumecheng-2832	5	6	of	of	ADP
fumecheng-2832	5	7	systems	system	NOUN
fumecheng-2832	5	8	is	be	AUX
fumecheng-2832	5	9	a	a	DET
fumecheng-2832	5	10	significant	significant	ADJ
fumecheng-2832	5	11	precondition	precondition	NOUN
fumecheng-2832	5	12	for	for	ADP
fumecheng-2832	5	13	its	its	PRON
fumecheng-2832	5	14	successful	successful	ADJ
fumecheng-2832	5	15	control	control	NOUN
fumecheng-2832	5	16	.	.	PUNCT
fumecheng-2832	6	1	an	an	DET
fumecheng-2832	6	2	always	always	ADV
fumecheng-2832	6	3	actual	actual	ADJ
fumecheng-2832	6	4	issue	issue	NOUN
fumecheng-2832	6	5	of	of	ADP
fumecheng-2832	6	6	its	its	PRON
fumecheng-2832	6	7	mutual	mutual	ADJ
fumecheng-2832	6	8	coupling	coupling	NOUN
fumecheng-2832	6	9	is	be	AUX
fumecheng-2832	6	10	considered	consider	VERB
fumecheng-2832	6	11	in	in	ADP
fumecheng-2832	6	12	this	this	DET
fumecheng-2832	6	13	paper	paper	NOUN
fumecheng-2832	6	14	.	.	PUNCT
fumecheng-2832	7	1	a	a	DET
fumecheng-2832	7	2	multivariable	multivariable	ADJ
fumecheng-2832	7	3	system	system	NOUN
fumecheng-2832	7	4	with	with	ADP
fumecheng-2832	7	5	two	two	NUM
fumecheng-2832	7	6	-	-	PUNCT
fumecheng-2832	7	7	inputs	input	NOUN
fumecheng-2832	7	8	and	and	CCONJ
fumecheng-2832	7	9	two	two	NUM
fumecheng-2832	7	10	-	-	PUNCT
fumecheng-2832	7	11	outputs	output	NOUN
fumecheng-2832	7	12	(	(	PUNCT
fumecheng-2832	7	13	tito	tito	PROPN
fumecheng-2832	7	14	)	)	PUNCT
fumecheng-2832	7	15	is	be	AUX
fumecheng-2832	7	16	in	in	ADP
fumecheng-2832	7	17	the	the	DET
fumecheng-2832	7	18	focus	focus	NOUN
fumecheng-2832	7	19	here	here	ADV
fumecheng-2832	7	20	.	.	PUNCT
fumecheng-2832	8	1	the	the	DET
fumecheng-2832	8	2	dominant	dominant	ADJ
fumecheng-2832	8	3	pole	pole	NOUN
fumecheng-2832	8	4	placement	placement	NOUN
fumecheng-2832	8	5	method	method	NOUN
fumecheng-2832	8	6	is	be	AUX
fumecheng-2832	8	7	used	use	VERB
fumecheng-2832	8	8	in	in	ADP
fumecheng-2832	8	9	trying	try	VERB
fumecheng-2832	8	10	to	to	PART
fumecheng-2832	8	11	tune	tune	VERB
fumecheng-2832	8	12	the	the	DET
fumecheng-2832	8	13	pid	pid	NOUN
fumecheng-2832	8	14	controllers	controller	NOUN
fumecheng-2832	8	15	that	that	PRON
fumecheng-2832	8	16	should	should	AUX
fumecheng-2832	8	17	support	support	VERB
fumecheng-2832	8	18	the	the	DET
fumecheng-2832	8	19	decoupling	decouple	VERB
fumecheng-2832	8	20	control	control	NOUN
fumecheng-2832	8	21	.	.	PUNCT
fumecheng-2832	9	1	the	the	DET
fumecheng-2832	9	2	aim	aim	NOUN
fumecheng-2832	9	3	is	be	AUX
fumecheng-2832	9	4	to	to	PART
fumecheng-2832	9	5	determine	determine	VERB
fumecheng-2832	9	6	parameters	parameter	NOUN
fumecheng-2832	9	7	of	of	ADP
fumecheng-2832	9	8	the	the	DET
fumecheng-2832	9	9	pid	pid	NOUN
fumecheng-2832	9	10	controllers	controller	NOUN
fumecheng-2832	9	11	which	which	PRON
fumecheng-2832	9	12	,	,	PUNCT
fumecheng-2832	9	13	in	in	ADP
fumecheng-2832	9	14	combination	combination	NOUN
fumecheng-2832	9	15	with	with	ADP
fumecheng-2832	9	16	decoupler	decoupler	NOUN
fumecheng-2832	9	17	,	,	PUNCT
fumecheng-2832	9	18	can	can	AUX
fumecheng-2832	9	19	obtain	obtain	VERB
fumecheng-2832	9	20	a	a	DET
fumecheng-2832	9	21	good	good	ADJ
fumecheng-2832	9	22	dynamical	dynamical	ADJ
fumecheng-2832	9	23	behavior	behavior	NOUN
fumecheng-2832	9	24	of	of	ADP
fumecheng-2832	9	25	the	the	DET
fumecheng-2832	9	26	system	system	NOUN
fumecheng-2832	9	27	.	.	PUNCT
fumecheng-2832	10	1	therefore	therefore	ADV
fumecheng-2832	10	2	,	,	PUNCT
fumecheng-2832	10	3	this	this	DET
fumecheng-2832	10	4	kind	kind	NOUN
fumecheng-2832	10	5	of	of	ADP
fumecheng-2832	10	6	the	the	DET
fumecheng-2832	10	7	centralized	centralize	VERB
fumecheng-2832	10	8	analytically	analytically	ADV
fumecheng-2832	10	9	obtained	obtain	VERB
fumecheng-2832	10	10	controller	controller	NOUN
fumecheng-2832	10	11	is	be	AUX
fumecheng-2832	10	12	used	use	VERB
fumecheng-2832	10	13	for	for	ADP
fumecheng-2832	10	14	object	object	NOUN
fumecheng-2832	10	15	control	control	NOUN
fumecheng-2832	10	16	.	.	PUNCT
fumecheng-2832	11	1	another	another	DET
fumecheng-2832	11	2	goal	goal	NOUN
fumecheng-2832	11	3	is	be	AUX
fumecheng-2832	11	4	to	to	PART
fumecheng-2832	11	5	simplify	simplify	VERB
fumecheng-2832	11	6	the	the	DET
fumecheng-2832	11	7	tuning	tuning	NOUN
fumecheng-2832	11	8	procedure	procedure	NOUN
fumecheng-2832	11	9	of	of	ADP
fumecheng-2832	11	10	pid	pid	NOUN
fumecheng-2832	11	11	controllers	controller	NOUN
fumecheng-2832	11	12	and	and	CCONJ
fumecheng-2832	11	13	enlarge	enlarge	VERB
fumecheng-2832	11	14	the	the	DET
fumecheng-2832	11	15	possibility	possibility	NOUN
fumecheng-2832	11	16	for	for	ADP
fumecheng-2832	11	17	introducing	introduce	VERB
fumecheng-2832	11	18	the	the	DET
fumecheng-2832	11	19	given	give	VERB
fumecheng-2832	11	20	approach	approach	NOUN
fumecheng-2832	11	21	into	into	ADP
fumecheng-2832	11	22	practice	practice	NOUN
fumecheng-2832	11	23	.	.	PUNCT
fumecheng-2832	12	1	but	but	CCONJ
fumecheng-2832	12	2	the	the	DET
fumecheng-2832	12	3	research	research	NOUN
fumecheng-2832	12	4	results	result	NOUN
fumecheng-2832	12	5	indicate	indicate	VERB
fumecheng-2832	12	6	that	that	SCONJ
fumecheng-2832	12	7	the	the	DET
fumecheng-2832	12	8	proposed	propose	VERB
fumecheng-2832	12	9	procedure	procedure	NOUN
fumecheng-2832	12	10	leads	lead	VERB
fumecheng-2832	12	11	to	to	ADP
fumecheng-2832	12	12	the	the	DET
fumecheng-2832	12	13	usage	usage	NOUN
fumecheng-2832	12	14	of	of	ADP
fumecheng-2832	12	15	p	p	NOUN
fumecheng-2832	12	16	controllers	controller	NOUN
fumecheng-2832	12	17	because	because	SCONJ
fumecheng-2832	12	18	they	they	PRON
fumecheng-2832	12	19	enable	enable	VERB
fumecheng-2832	12	20	the	the	DET
fumecheng-2832	12	21	best	good	ADJ
fumecheng-2832	12	22	performances	performance	NOUN
fumecheng-2832	12	23	for	for	ADP
fumecheng-2832	12	24	the	the	DET
fumecheng-2832	12	25	considered	consider	VERB
fumecheng-2832	12	26	object	object	NOUN
fumecheng-2832	12	27	.	.	PUNCT
fumecheng-2832	13	1	also	also	ADV
fumecheng-2832	13	2	,	,	PUNCT
fumecheng-2832	13	3	it	it	PRON
fumecheng-2832	13	4	is	be	AUX
fumecheng-2832	13	5	noticed	notice	VERB
fumecheng-2832	13	6	that	that	SCONJ
fumecheng-2832	13	7	some	some	DET
fumecheng-2832	13	8	differences	difference	NOUN
fumecheng-2832	13	9	from	from	ADP
fumecheng-2832	13	10	the	the	DET
fumecheng-2832	13	11	usual	usual	ADJ
fumecheng-2832	13	12	rules	rule	NOUN
fumecheng-2832	13	13	in	in	ADP
fumecheng-2832	13	14	selection	selection	NOUN
fumecheng-2832	13	15	of	of	ADP
fumecheng-2832	13	16	the	the	DET
fumecheng-2832	13	17	dominant	dominant	ADJ
fumecheng-2832	13	18	poles	pole	NOUN
fumecheng-2832	13	19	gives	give	VERB
fumecheng-2832	13	20	better	well	ADJ
fumecheng-2832	13	21	results	result	NOUN
fumecheng-2832	13	22	.	.	PUNCT
fumecheng-2832	14	1	the	the	DET
fumecheng-2832	14	2	research	research	NOUN
fumecheng-2832	14	3	is	be	AUX
fumecheng-2832	14	4	supported	support	VERB
fumecheng-2832	14	5	by	by	ADP
fumecheng-2832	14	6	simulations	simulation	NOUN
fumecheng-2832	14	7	and	and	CCONJ
fumecheng-2832	14	8	,	,	PUNCT
fumecheng-2832	14	9	therefore	therefore	ADV
fumecheng-2832	14	10	,	,	PUNCT
fumecheng-2832	14	11	the	the	DET
fumecheng-2832	14	12	proposed	propose	VERB
fumecheng-2832	14	13	method	method	NOUN
fumecheng-2832	14	14	effectiveness	effectiveness	NOUN
fumecheng-2832	14	15	,	,	PUNCT
fumecheng-2832	14	16	regarding	regard	VERB
fumecheng-2832	14	17	the	the	DET
fumecheng-2832	14	18	system	system	NOUN
fumecheng-2832	14	19	behavior	behavior	NOUN
fumecheng-2832	14	20	quality	quality	NOUN
fumecheng-2832	14	21	,	,	PUNCT
fumecheng-2832	14	22	is	be	AUX
fumecheng-2832	14	23	presented	present	VERB
fumecheng-2832	14	24	on	on	ADP
fumecheng-2832	14	25	several	several	ADJ
fumecheng-2832	14	26	examples	example	NOUN
fumecheng-2832	14	27	.	.	PUNCT
fumecheng-2832	15	1	key	key	ADJ
fumecheng-2832	15	2	words	word	NOUN
fumecheng-2832	15	3	:	:	PUNCT
fumecheng-2832	15	4	decoupling	decouple	VERB
fumecheng-2832	15	5	control	control	NOUN
fumecheng-2832	15	6	,	,	PUNCT
fumecheng-2832	15	7	pid	pid	NOUN
fumecheng-2832	15	8	control	control	NOUN
fumecheng-2832	15	9	,	,	PUNCT
fumecheng-2832	15	10	tito	tito	PROPN
fumecheng-2832	15	11	process	process	NOUN
fumecheng-2832	15	12	,	,	PUNCT
fumecheng-2832	15	13	dominant	dominant	ADJ
fumecheng-2832	15	14	pole	pole	NOUN
fumecheng-2832	15	15	placement	placement	NOUN
fumecheng-2832	15	16	method	method	NOUN
fumecheng-2832	15	17	1	1	NUM
fumecheng-2832	15	18	.	.	PUNCT
fumecheng-2832	16	1	introduction	introduction	NOUN
fumecheng-2832	16	2	multivariable	multivariable	ADJ
fumecheng-2832	16	3	systems	system	NOUN
fumecheng-2832	16	4	have	have	AUX
fumecheng-2832	16	5	been	be	AUX
fumecheng-2832	16	6	in	in	ADP
fumecheng-2832	16	7	focus	focus	NOUN
fumecheng-2832	16	8	of	of	ADP
fumecheng-2832	16	9	many	many	ADJ
fumecheng-2832	16	10	research	research	NOUN
fumecheng-2832	16	11	studies	study	NOUN
fumecheng-2832	16	12	in	in	ADP
fumecheng-2832	16	13	recent	recent	ADJ
fumecheng-2832	16	14	decades	decade	NOUN
fumecheng-2832	16	15	.	.	PUNCT
fumecheng-2832	17	1	their	their	PRON
fumecheng-2832	17	2	decoupling	decoupling	NOUN
fumecheng-2832	17	3	has	have	AUX
fumecheng-2832	17	4	been	be	AUX
fumecheng-2832	17	5	studied	study	VERB
fumecheng-2832	17	6	intensively	intensively	ADV
fumecheng-2832	17	7	in	in	ADP
fumecheng-2832	17	8	[	[	PUNCT
fumecheng-2832	17	9	1	1	NUM
fumecheng-2832	17	10	-	-	SYM
fumecheng-2832	17	11	5	5	NUM
fumecheng-2832	17	12	]	]	PUNCT
fumecheng-2832	17	13	.	.	PUNCT
fumecheng-2832	18	1	neither	neither	DET
fumecheng-2832	18	2	type	type	NOUN
fumecheng-2832	18	3	of	of	ADP
fumecheng-2832	18	4	decoupler	decoupler	NOUN
fumecheng-2832	18	5	is	be	AUX
fumecheng-2832	18	6	universal	universal	ADJ
fumecheng-2832	18	7	;	;	PUNCT
fumecheng-2832	18	8	hence	hence	ADV
fumecheng-2832	18	9	which	which	PRON
fumecheng-2832	18	10	of	of	ADP
fumecheng-2832	18	11	them	they	PRON
fumecheng-2832	18	12	will	will	AUX
fumecheng-2832	18	13	provide	provide	VERB
fumecheng-2832	18	14	for	for	ADP
fumecheng-2832	18	15	appropriate	appropriate	ADJ
fumecheng-2832	18	16	compensation	compensation	NOUN
fumecheng-2832	18	17	of	of	ADP
fumecheng-2832	18	18	the	the	DET
fumecheng-2832	18	19	mutual	mutual	ADJ
fumecheng-2832	18	20	coupling	coupling	NOUN
fumecheng-2832	18	21	depends	depend	VERB
fumecheng-2832	18	22	on	on	ADP
fumecheng-2832	18	23	the	the	DET
fumecheng-2832	18	24	object	object	NOUN
fumecheng-2832	18	25	nature	nature	NOUN
fumecheng-2832	18	26	.	.	PUNCT
fumecheng-2832	19	1	in	in	ADP
fumecheng-2832	19	2	the	the	DET
fumecheng-2832	19	3	present	present	ADJ
fumecheng-2832	19	4	paper	paper	NOUN
fumecheng-2832	19	5	the	the	DET
fumecheng-2832	19	6	static	static	ADJ
fumecheng-2832	19	7	inverted	inverted	ADJ
fumecheng-2832	19	8	decoupler	decoupler	NOUN
fumecheng-2832	19	9	is	be	AUX
fumecheng-2832	19	10	used	use	VERB
fumecheng-2832	19	11	for	for	ADP
fumecheng-2832	19	12	the	the	DET
fumecheng-2832	19	13	investigated	investigate	VERB
fumecheng-2832	19	14	received	receive	VERB
fumecheng-2832	19	15	may	may	AUX
fumecheng-2832	19	16	05	05	NUM
fumecheng-2832	19	17	,	,	PUNCT
fumecheng-2832	19	18	2017	2017	NUM
fumecheng-2832	19	19	/	/	PUNCT
fumecheng-2832	19	20	accepted	accept	VERB
fumecheng-2832	19	21	july	july	PROPN
fumecheng-2832	19	22	03	03	NUM
fumecheng-2832	19	23	,	,	PUNCT
fumecheng-2832	19	24	2017	2017	NUM
fumecheng-2832	19	25	corresponding	correspond	VERB
fumecheng-2832	19	26	author	author	NOUN
fumecheng-2832	19	27	:	:	PUNCT
fumecheng-2832	19	28	saša	saša	PROPN
fumecheng-2832	20	1	lj	lj	PROPN
fumecheng-2832	20	2	.	.	PUNCT
fumecheng-2832	20	3	prodanović	prodanović	PROPN
fumecheng-2832	20	4	university	university	PROPN
fumecheng-2832	20	5	of	of	ADP
fumecheng-2832	20	6	east	east	PROPN
fumecheng-2832	20	7	sarajevo	sarajevo	PROPN
fumecheng-2832	20	8	,	,	PUNCT
fumecheng-2832	20	9	faculty	faculty	NOUN
fumecheng-2832	20	10	of	of	ADP
fumecheng-2832	20	11	mechanical	mechanical	ADJ
fumecheng-2832	20	12	engineering	engineering	NOUN
fumecheng-2832	20	13	,	,	PUNCT
fumecheng-2832	20	14	vuka	vuka	PROPN
fumecheng-2832	20	15	karadžića	karadžića	NOUN
fumecheng-2832	20	16	30	30	NUM
fumecheng-2832	20	17	,	,	PUNCT
fumecheng-2832	20	18	71123	71123	NUM
fumecheng-2832	20	19	east	east	PROPN
fumecheng-2832	20	20	sarajevo	sarajevo	PROPN
fumecheng-2832	20	21	,	,	PUNCT
fumecheng-2832	20	22	bosnia	bosnia	PROPN
fumecheng-2832	20	23	and	and	CCONJ
fumecheng-2832	20	24	herzegovina	herzegovina	PROPN
fumecheng-2832	20	25	e	e	PROPN
fumecheng-2832	20	26	-	-	NOUN
fumecheng-2832	20	27	mail	mail	NOUN
fumecheng-2832	20	28	:	:	PUNCT
fumecheng-2832	20	29	sasa.prodanovic@ues.rs.ba	sasa.prodanovic@ues.rs.ba	NOUN
fumecheng-2832	20	30	246	246	NUM
fumecheng-2832	20	31	n.	n.	PROPN
fumecheng-2832	20	32	n.	n.	PROPN
fumecheng-2832	20	33	nedić	nedić	PROPN
fumecheng-2832	20	34	,	,	PUNCT
fumecheng-2832	20	35	s.	s.	PROPN
fumecheng-2832	20	36	lj	lj	PROPN
fumecheng-2832	20	37	.	.	PUNCT
fumecheng-2832	21	1	prodanović	prodanović	PROPN
fumecheng-2832	21	2	,	,	PUNCT
fumecheng-2832	21	3	lj	lj	PROPN
fumecheng-2832	21	4	.	.	PUNCT
fumecheng-2832	21	5	m.	m.	PROPN
fumecheng-2832	21	6	dubonjić	dubonjić	PROPN
fumecheng-2832	21	7	object	object	NOUN
fumecheng-2832	21	8	,	,	PUNCT
fumecheng-2832	21	9	like	like	ADP
fumecheng-2832	21	10	in	in	ADP
fumecheng-2832	21	11	[	[	X
fumecheng-2832	21	12	6	6	NUM
fumecheng-2832	21	13	]	]	PUNCT
fumecheng-2832	21	14	.	.	PUNCT
fumecheng-2832	22	1	cantilever	cantilever	NOUN
fumecheng-2832	22	2	beam	beam	NOUN
fumecheng-2832	22	3	as	as	ADP
fumecheng-2832	22	4	an	an	DET
fumecheng-2832	22	5	object	object	NOUN
fumecheng-2832	22	6	of	of	ADP
fumecheng-2832	22	7	control	control	NOUN
fumecheng-2832	22	8	is	be	AUX
fumecheng-2832	22	9	taken	take	VERB
fumecheng-2832	22	10	into	into	ADP
fumecheng-2832	22	11	consideration	consideration	NOUN
fumecheng-2832	22	12	.	.	PUNCT
fumecheng-2832	23	1	its	its	PRON
fumecheng-2832	23	2	mathematical	mathematical	ADJ
fumecheng-2832	23	3	model	model	NOUN
fumecheng-2832	23	4	is	be	AUX
fumecheng-2832	23	5	determined	determine	VERB
fumecheng-2832	23	6	in	in	ADP
fumecheng-2832	23	7	[	[	X
fumecheng-2832	23	8	7	7	NUM
fumecheng-2832	23	9	]	]	PUNCT
fumecheng-2832	23	10	.	.	PUNCT
fumecheng-2832	24	1	here	here	ADV
fumecheng-2832	24	2	the	the	DET
fumecheng-2832	24	3	electrohydraulic	electrohydraulic	NOUN
fumecheng-2832	24	4	servosystem	servosystem	NOUN
fumecheng-2832	24	5	designed	design	VERB
fumecheng-2832	24	6	for	for	ADP
fumecheng-2832	24	7	structural	structural	ADJ
fumecheng-2832	24	8	testing	testing	NOUN
fumecheng-2832	24	9	is	be	AUX
fumecheng-2832	24	10	considered	consider	VERB
fumecheng-2832	24	11	as	as	ADP
fumecheng-2832	24	12	a	a	DET
fumecheng-2832	24	13	system	system	NOUN
fumecheng-2832	24	14	with	with	ADP
fumecheng-2832	24	15	two	two	NUM
fumecheng-2832	24	16	inputs	input	NOUN
fumecheng-2832	24	17	and	and	CCONJ
fumecheng-2832	24	18	two	two	NUM
fumecheng-2832	24	19	outputs	output	NOUN
fumecheng-2832	24	20	(	(	PUNCT
fumecheng-2832	24	21	tito	tito	PROPN
fumecheng-2832	24	22	)	)	PUNCT
fumecheng-2832	24	23	.	.	PUNCT
fumecheng-2832	25	1	the	the	DET
fumecheng-2832	25	2	decoupling	decouple	VERB
fumecheng-2832	25	3	control	control	NOUN
fumecheng-2832	25	4	enables	enable	VERB
fumecheng-2832	25	5	taking	take	VERB
fumecheng-2832	25	6	this	this	DET
fumecheng-2832	25	7	kind	kind	NOUN
fumecheng-2832	25	8	of	of	ADP
fumecheng-2832	25	9	system	system	NOUN
fumecheng-2832	25	10	as	as	ADP
fumecheng-2832	25	11	a	a	DET
fumecheng-2832	25	12	finite	finite	ADJ
fumecheng-2832	25	13	number	number	NOUN
fumecheng-2832	25	14	(	(	PUNCT
fumecheng-2832	25	15	in	in	ADP
fumecheng-2832	25	16	this	this	DET
fumecheng-2832	25	17	case	case	NOUN
fumecheng-2832	25	18	two	two	NUM
fumecheng-2832	25	19	)	)	PUNCT
fumecheng-2832	25	20	of	of	ADP
fumecheng-2832	25	21	siso	siso	NOUN
fumecheng-2832	25	22	(	(	PUNCT
fumecheng-2832	25	23	single	single	ADJ
fumecheng-2832	25	24	-	-	PUNCT
fumecheng-2832	25	25	input	input	NOUN
fumecheng-2832	25	26	single	single	ADJ
fumecheng-2832	25	27	-	-	PUNCT
fumecheng-2832	25	28	output	output	NOUN
fumecheng-2832	25	29	)	)	PUNCT
fumecheng-2832	25	30	systems	system	NOUN
fumecheng-2832	25	31	.	.	PUNCT
fumecheng-2832	26	1	having	have	VERB
fumecheng-2832	26	2	in	in	ADP
fumecheng-2832	26	3	mind	mind	NOUN
fumecheng-2832	26	4	this	this	DET
fumecheng-2832	26	5	fact	fact	NOUN
fumecheng-2832	26	6	,	,	PUNCT
fumecheng-2832	26	7	a	a	DET
fumecheng-2832	26	8	wider	wide	ADJ
fumecheng-2832	26	9	spectrum	spectrum	NOUN
fumecheng-2832	26	10	of	of	ADP
fumecheng-2832	26	11	methods	method	NOUN
fumecheng-2832	26	12	can	can	AUX
fumecheng-2832	26	13	be	be	AUX
fumecheng-2832	26	14	used	use	VERB
fumecheng-2832	26	15	for	for	ADP
fumecheng-2832	26	16	the	the	DET
fumecheng-2832	26	17	tuning	tuning	NOUN
fumecheng-2832	26	18	of	of	ADP
fumecheng-2832	26	19	controller	controller	NOUN
fumecheng-2832	26	20	parameters	parameter	NOUN
fumecheng-2832	26	21	.	.	PUNCT
fumecheng-2832	27	1	therefore	therefore	ADV
fumecheng-2832	27	2	,	,	PUNCT
fumecheng-2832	27	3	the	the	DET
fumecheng-2832	27	4	dominant	dominant	ADJ
fumecheng-2832	27	5	pole	pole	NOUN
fumecheng-2832	27	6	placement	placement	NOUN
fumecheng-2832	27	7	method	method	NOUN
fumecheng-2832	27	8	has	have	VERB
fumecheng-2832	27	9	also	also	ADV
fumecheng-2832	27	10	significant	significant	ADJ
fumecheng-2832	27	11	place	place	NOUN
fumecheng-2832	27	12	as	as	ADP
fumecheng-2832	27	13	one	one	NUM
fumecheng-2832	27	14	of	of	ADP
fumecheng-2832	27	15	the	the	DET
fumecheng-2832	27	16	tuning	tuning	NOUN
fumecheng-2832	27	17	rules	rule	NOUN
fumecheng-2832	27	18	.	.	PUNCT
fumecheng-2832	28	1	das	das	PROPN
fumecheng-2832	28	2	et	et	PROPN
fumecheng-2832	28	3	al	al	PROPN
fumecheng-2832	28	4	.	.	PUNCT
fumecheng-2832	29	1	[	[	X
fumecheng-2832	29	2	8	8	NUM
fumecheng-2832	29	3	]	]	SYM
fumecheng-2832	29	4	tune	tune	NOUN
fumecheng-2832	29	5	pid	pid	NOUN
fumecheng-2832	29	6	controllers	controller	NOUN
fumecheng-2832	29	7	by	by	ADP
fumecheng-2832	29	8	using	use	VERB
fumecheng-2832	29	9	the	the	DET
fumecheng-2832	29	10	guaranteed	guarantee	VERB
fumecheng-2832	29	11	dominant	dominant	ADJ
fumecheng-2832	29	12	pole	pole	NOUN
fumecheng-2832	29	13	placement	placement	NOUN
fumecheng-2832	29	14	method	method	NOUN
fumecheng-2832	29	15	.	.	PUNCT
fumecheng-2832	30	1	investigation	investigation	NOUN
fumecheng-2832	30	2	of	of	ADP
fumecheng-2832	30	3	this	this	DET
fumecheng-2832	30	4	method	method	NOUN
fumecheng-2832	30	5	for	for	ADP
fumecheng-2832	30	6	the	the	DET
fumecheng-2832	30	7	time	time	NOUN
fumecheng-2832	30	8	delay	delay	NOUN
fumecheng-2832	30	9	systems	system	NOUN
fumecheng-2832	30	10	was	be	AUX
fumecheng-2832	30	11	performed	perform	VERB
fumecheng-2832	30	12	in	in	ADP
fumecheng-2832	30	13	[	[	PUNCT
fumecheng-2832	30	14	9	9	NUM
fumecheng-2832	30	15	-	-	SYM
fumecheng-2832	30	16	12	12	NUM
fumecheng-2832	30	17	]	]	PUNCT
fumecheng-2832	30	18	.	.	PUNCT
fumecheng-2832	31	1	madady	madady	PROPN
fumecheng-2832	31	2	and	and	CCONJ
fumecheng-2832	31	3	reza	reza	ADJ
fumecheng-2832	31	4	-	-	PUNCT
fumecheng-2832	31	5	alikhani	alikhani	NOUN
fumecheng-2832	31	6	considered	consider	VERB
fumecheng-2832	31	7	approaches	approach	NOUN
fumecheng-2832	31	8	for	for	ADP
fumecheng-2832	31	9	the	the	DET
fumecheng-2832	31	10	first	first	ADJ
fumecheng-2832	31	11	-	-	PUNCT
fumecheng-2832	31	12	order	order	NOUN
fumecheng-2832	31	13	controller	controller	NOUN
fumecheng-2832	31	14	design	design	NOUN
fumecheng-2832	31	15	using	use	VERB
fumecheng-2832	31	16	dominant	dominant	ADJ
fumecheng-2832	31	17	pole	pole	NOUN
fumecheng-2832	31	18	placement	placement	NOUN
fumecheng-2832	31	19	,	,	PUNCT
fumecheng-2832	31	20	too	too	ADV
fumecheng-2832	32	1	[	[	X
fumecheng-2832	32	2	13	13	NUM
fumecheng-2832	32	3	]	]	PUNCT
fumecheng-2832	32	4	.	.	PUNCT
fumecheng-2832	33	1	besides	besides	SCONJ
fumecheng-2832	33	2	many	many	ADJ
fumecheng-2832	33	3	other	other	ADJ
fumecheng-2832	33	4	procedures	procedure	NOUN
fumecheng-2832	33	5	for	for	ADP
fumecheng-2832	33	6	pid	pid	NOUN
fumecheng-2832	33	7	controller	controller	NOUN
fumecheng-2832	33	8	tuning	tuning	NOUN
fumecheng-2832	33	9	,	,	PUNCT
fumecheng-2832	33	10	åström	åström	NOUN
fumecheng-2832	33	11	and	and	CCONJ
fumecheng-2832	33	12	hägglund	hägglund	VERB
fumecheng-2832	33	13	in	in	ADP
fumecheng-2832	33	14	[	[	X
fumecheng-2832	33	15	14	14	NUM
fumecheng-2832	33	16	]	]	PUNCT
fumecheng-2832	33	17	presented	present	VERB
fumecheng-2832	33	18	the	the	DET
fumecheng-2832	33	19	dominant	dominant	ADJ
fumecheng-2832	33	20	pole	pole	NOUN
fumecheng-2832	33	21	placement	placement	NOUN
fumecheng-2832	33	22	method	method	NOUN
fumecheng-2832	33	23	for	for	ADP
fumecheng-2832	33	24	several	several	ADJ
fumecheng-2832	33	25	kind	kind	NOUN
fumecheng-2832	33	26	of	of	ADP
fumecheng-2832	33	27	objects	object	NOUN
fumecheng-2832	33	28	.	.	PUNCT
fumecheng-2832	34	1	filipović	filipović	PROPN
fumecheng-2832	34	2	and	and	CCONJ
fumecheng-2832	34	3	nedić	nedić	VERB
fumecheng-2832	34	4	in	in	ADP
fumecheng-2832	34	5	[	[	X
fumecheng-2832	34	6	15	15	NUM
fumecheng-2832	34	7	]	]	PUNCT
fumecheng-2832	34	8	showed	show	VERB
fumecheng-2832	34	9	procedures	procedure	NOUN
fumecheng-2832	34	10	for	for	ADP
fumecheng-2832	34	11	pi	pi	NOUN
fumecheng-2832	34	12	and	and	CCONJ
fumecheng-2832	34	13	pid	pid	NOUN
fumecheng-2832	34	14	controller	controller	NOUN
fumecheng-2832	34	15	design	design	NOUN
fumecheng-2832	34	16	based	base	VERB
fumecheng-2832	34	17	on	on	ADP
fumecheng-2832	34	18	this	this	DET
fumecheng-2832	34	19	way	way	NOUN
fumecheng-2832	34	20	.	.	PUNCT
fumecheng-2832	35	1	q.-g	q.-g	PROPN
fumecheng-2832	35	2	.	.	PUNCT
fumecheng-2832	36	1	wang	wang	PROPN
fumecheng-2832	36	2	et	et	PROPN
fumecheng-2832	36	3	al	al	PROPN
fumecheng-2832	36	4	.	.	PUNCT
fumecheng-2832	37	1	[	[	X
fumecheng-2832	37	2	16	16	NUM
fumecheng-2832	37	3	]	]	PUNCT
fumecheng-2832	37	4	dealt	deal	VERB
fumecheng-2832	37	5	with	with	ADP
fumecheng-2832	37	6	the	the	DET
fumecheng-2832	37	7	fourth	fourth	ADJ
fumecheng-2832	37	8	-	-	PUNCT
fumecheng-2832	37	9	order	order	NOUN
fumecheng-2832	37	10	object	object	NOUN
fumecheng-2832	37	11	but	but	CCONJ
fumecheng-2832	37	12	without	without	ADP
fumecheng-2832	37	13	zeros	zero	NOUN
fumecheng-2832	37	14	.	.	PUNCT
fumecheng-2832	38	1	nicolau	nicolau	PROPN
fumecheng-2832	39	1	[	[	X
fumecheng-2832	39	2	17	17	NUM
fumecheng-2832	39	3	]	]	PUNCT
fumecheng-2832	39	4	researched	research	VERB
fumecheng-2832	39	5	possibilities	possibility	NOUN
fumecheng-2832	39	6	for	for	ADP
fumecheng-2832	39	7	pid	pid	NOUN
fumecheng-2832	39	8	controller	controller	NOUN
fumecheng-2832	39	9	design	design	NOUN
fumecheng-2832	39	10	based	base	VERB
fumecheng-2832	39	11	on	on	ADP
fumecheng-2832	39	12	the	the	DET
fumecheng-2832	39	13	pole	pole	NOUN
fumecheng-2832	39	14	placement	placement	NOUN
fumecheng-2832	39	15	technique	technique	NOUN
fumecheng-2832	39	16	in	in	ADP
fumecheng-2832	39	17	the	the	DET
fumecheng-2832	39	18	combination	combination	NOUN
fumecheng-2832	39	19	with	with	ADP
fumecheng-2832	39	20	symmetrical	symmetrical	ADJ
fumecheng-2832	39	21	optimum	optimum	ADJ
fumecheng-2832	39	22	criterion	criterion	NOUN
fumecheng-2832	39	23	.	.	PUNCT
fumecheng-2832	40	1	consideration	consideration	NOUN
fumecheng-2832	40	2	of	of	ADP
fumecheng-2832	40	3	tracking	tracking	NOUN
fumecheng-2832	40	4	performance	performance	NOUN
fumecheng-2832	40	5	for	for	ADP
fumecheng-2832	40	6	a	a	DET
fumecheng-2832	40	7	continuous	continuous	ADJ
fumecheng-2832	40	8	-	-	PUNCT
fumecheng-2832	40	9	time	time	NOUN
fumecheng-2832	40	10	pid	pid	NOUN
fumecheng-2832	40	11	controller	controller	NOUN
fumecheng-2832	40	12	(	(	PUNCT
fumecheng-2832	40	13	tuned	tune	VERB
fumecheng-2832	40	14	using	use	VERB
fumecheng-2832	40	15	this	this	DET
fumecheng-2832	40	16	method	method	NOUN
fumecheng-2832	40	17	)	)	PUNCT
fumecheng-2832	40	18	with	with	ADP
fumecheng-2832	40	19	anti	anti	ADJ
fumecheng-2832	40	20	-	-	ADJ
fumecheng-2832	40	21	windup	windup	ADJ
fumecheng-2832	40	22	compensator	compensator	NOUN
fumecheng-2832	40	23	was	be	AUX
fumecheng-2832	40	24	described	describe	VERB
fumecheng-2832	40	25	in	in	ADP
fumecheng-2832	40	26	[	[	X
fumecheng-2832	40	27	18	18	NUM
fumecheng-2832	40	28	]	]	PUNCT
fumecheng-2832	40	29	.	.	PUNCT
fumecheng-2832	41	1	the	the	DET
fumecheng-2832	41	2	decoupling	decouple	VERB
fumecheng-2832	41	3	control	control	NOUN
fumecheng-2832	41	4	,	,	PUNCT
fumecheng-2832	41	5	that	that	PRON
fumecheng-2832	41	6	contains	contain	VERB
fumecheng-2832	41	7	controller	controller	NOUN
fumecheng-2832	41	8	designed	design	VERB
fumecheng-2832	41	9	according	accord	VERB
fumecheng-2832	41	10	to	to	ADP
fumecheng-2832	41	11	the	the	DET
fumecheng-2832	41	12	dominant	dominant	ADJ
fumecheng-2832	41	13	pole	pole	NOUN
fumecheng-2832	41	14	placement	placement	NOUN
fumecheng-2832	41	15	,	,	PUNCT
fumecheng-2832	41	16	was	be	AUX
fumecheng-2832	41	17	described	describe	VERB
fumecheng-2832	41	18	and	and	CCONJ
fumecheng-2832	41	19	tested	test	VERB
fumecheng-2832	41	20	in	in	ADP
fumecheng-2832	41	21	[	[	X
fumecheng-2832	41	22	19	19	NUM
fumecheng-2832	41	23	]	]	PUNCT
fumecheng-2832	41	24	.	.	PUNCT
fumecheng-2832	42	1	a	a	DET
fumecheng-2832	42	2	further	further	ADJ
fumecheng-2832	42	3	step	step	NOUN
fumecheng-2832	42	4	in	in	ADP
fumecheng-2832	42	5	the	the	DET
fumecheng-2832	42	6	method	method	NOUN
fumecheng-2832	42	7	implementation	implementation	NOUN
fumecheng-2832	42	8	was	be	AUX
fumecheng-2832	42	9	made	make	VERB
fumecheng-2832	42	10	by	by	ADP
fumecheng-2832	42	11	rasouli	rasouli	PROPN
fumecheng-2832	42	12	et	et	PROPN
fumecheng-2832	42	13	al	al	PROPN
fumecheng-2832	42	14	.	.	PUNCT
fumecheng-2832	43	1	[	[	X
fumecheng-2832	43	2	20	20	NUM
fumecheng-2832	43	3	]	]	PUNCT
fumecheng-2832	43	4	.	.	PUNCT
fumecheng-2832	44	1	they	they	PRON
fumecheng-2832	44	2	made	make	VERB
fumecheng-2832	44	3	fractional	fractional	ADJ
fumecheng-2832	44	4	order	order	NOUN
fumecheng-2832	44	5	pole	pole	NOUN
fumecheng-2832	44	6	placement	placement	NOUN
fumecheng-2832	44	7	controller	controller	NOUN
fumecheng-2832	44	8	.	.	PUNCT
fumecheng-2832	45	1	extension	extension	NOUN
fumecheng-2832	45	2	of	of	ADP
fumecheng-2832	45	3	the	the	DET
fumecheng-2832	45	4	original	original	ADJ
fumecheng-2832	45	5	dominant	dominant	ADJ
fumecheng-2832	45	6	pole	pole	NOUN
fumecheng-2832	45	7	placement	placement	NOUN
fumecheng-2832	45	8	method	method	NOUN
fumecheng-2832	45	9	for	for	ADP
fumecheng-2832	45	10	controller	controller	NOUN
fumecheng-2832	45	11	design	design	NOUN
fumecheng-2832	45	12	to	to	ADP
fumecheng-2832	45	13	the	the	DET
fumecheng-2832	45	14	multivariable	multivariable	ADJ
fumecheng-2832	45	15	systems	system	NOUN
fumecheng-2832	45	16	is	be	AUX
fumecheng-2832	45	17	presented	present	VERB
fumecheng-2832	45	18	in	in	ADP
fumecheng-2832	45	19	[	[	PUNCT
fumecheng-2832	45	20	21	21	NUM
fumecheng-2832	45	21	-	-	SYM
fumecheng-2832	45	22	24	24	NUM
fumecheng-2832	45	23	]	]	PUNCT
fumecheng-2832	45	24	.	.	PUNCT
fumecheng-2832	46	1	in	in	ADP
fumecheng-2832	46	2	contrast	contrast	NOUN
fumecheng-2832	46	3	to	to	ADP
fumecheng-2832	46	4	the	the	DET
fumecheng-2832	46	5	aforementioned	aforementioned	ADJ
fumecheng-2832	46	6	research	research	NOUN
fumecheng-2832	46	7	studies	study	NOUN
fumecheng-2832	46	8	,	,	PUNCT
fumecheng-2832	46	9	the	the	DET
fumecheng-2832	46	10	present	present	ADJ
fumecheng-2832	46	11	paper	paper	NOUN
fumecheng-2832	46	12	deals	deal	NOUN
fumecheng-2832	46	13	with	with	ADP
fumecheng-2832	46	14	controller	controller	NOUN
fumecheng-2832	46	15	design	design	NOUN
fumecheng-2832	46	16	for	for	ADP
fumecheng-2832	46	17	the	the	DET
fumecheng-2832	46	18	tito	tito	PROPN
fumecheng-2832	46	19	object	object	NOUN
fumecheng-2832	46	20	,	,	PUNCT
fumecheng-2832	46	21	whose	whose	DET
fumecheng-2832	46	22	decoupled	decouple	VERB
fumecheng-2832	46	23	loops	loop	NOUN
fumecheng-2832	46	24	are	be	AUX
fumecheng-2832	46	25	of	of	ADP
fumecheng-2832	46	26	the	the	DET
fumecheng-2832	46	27	third	third	ADJ
fumecheng-2832	46	28	-	-	PUNCT
fumecheng-2832	46	29	order	order	NOUN
fumecheng-2832	46	30	with	with	ADP
fumecheng-2832	46	31	two	two	NUM
fumecheng-2832	46	32	left	leave	VERB
fumecheng-2832	46	33	half	half	ADJ
fumecheng-2832	46	34	plane	plane	NOUN
fumecheng-2832	46	35	zeros	zero	NOUN
fumecheng-2832	46	36	.	.	PUNCT
fumecheng-2832	47	1	2	2	NUM
fumecheng-2832	47	2	.	.	X
fumecheng-2832	47	3	decoupling	decouple	VERB
fumecheng-2832	47	4	of	of	ADP
fumecheng-2832	47	5	object	object	NOUN
fumecheng-2832	47	6	general	general	ADJ
fumecheng-2832	47	7	transfer	transfer	NOUN
fumecheng-2832	47	8	function	function	NOUN
fumecheng-2832	47	9	matrix	matrix	NOUN
fumecheng-2832	47	10	of	of	ADP
fumecheng-2832	47	11	the	the	DET
fumecheng-2832	47	12	considered	consider	VERB
fumecheng-2832	47	13	object	object	NOUN
fumecheng-2832	47	14	is	be	AUX
fumecheng-2832	47	15	given	give	VERB
fumecheng-2832	47	16	by	by	ADP
fumecheng-2832	47	17	eq	eq	PROPN
fumecheng-2832	47	18	.	.	PUNCT
fumecheng-2832	48	1	(	(	PUNCT
fumecheng-2832	48	2	1	1	NUM
fumecheng-2832	48	3	):	):	SYM
fumecheng-2832	48	4	11	11	NUM
fumecheng-2832	48	5	12	12	NUM
fumecheng-2832	48	6	21	21	NUM
fumecheng-2832	48	7	22	22	NUM
fumecheng-2832	48	8	g	g	NOUN
fumecheng-2832	48	9	(	(	PUNCT
fumecheng-2832	48	10	)	)	PUNCT
fumecheng-2832	48	11	g	g	PROPN
fumecheng-2832	48	12	(	(	PUNCT
fumecheng-2832	48	13	)	)	PUNCT
fumecheng-2832	48	14	g	g	NOUN
fumecheng-2832	48	15	(	(	PUNCT
fumecheng-2832	48	16	)	)	PUNCT
fumecheng-2832	48	17	g	g	PROPN
fumecheng-2832	48	18	(	(	PUNCT
fumecheng-2832	48	19	)	)	PUNCT
fumecheng-2832	48	20	g	g	PROPN
fumecheng-2832	48	21	(	(	PUNCT
fumecheng-2832	48	22	)	)	PUNCT
fumecheng-2832	48	23	s	s	PART
fumecheng-2832	48	24	s	s	X
fumecheng-2832	48	25	s	s	X
fumecheng-2832	48	26	s	s	X
fumecheng-2832	48	27	s	s	X
fumecheng-2832	48	28			ADJ
fumecheng-2832	48	29			NOUN
fumecheng-2832	48	30			PROPN
fumecheng-2832	48	31			NOUN
fumecheng-2832	48	32			NOUN
fumecheng-2832	48	33			NOUN
fumecheng-2832	48	34			PROPN
fumecheng-2832	48	35	(	(	PUNCT
fumecheng-2832	48	36	1	1	NUM
fumecheng-2832	48	37	)	)	PUNCT
fumecheng-2832	48	38	where	where	SCONJ
fumecheng-2832	48	39	gij(s	gij(s	NOUN
fumecheng-2832	48	40	)	)	PUNCT
fumecheng-2832	48	41	are	be	AUX
fumecheng-2832	48	42	elements	element	NOUN
fumecheng-2832	48	43	of	of	ADP
fumecheng-2832	48	44	the	the	DET
fumecheng-2832	48	45	transfer	transfer	NOUN
fumecheng-2832	48	46	function	function	NOUN
fumecheng-2832	48	47	matrix	matrix	NOUN
fumecheng-2832	48	48	.	.	PUNCT
fumecheng-2832	49	1	the	the	DET
fumecheng-2832	49	2	decoupling	decouple	VERB
fumecheng-2832	49	3	control	control	NOUN
fumecheng-2832	49	4	strategy	strategy	NOUN
fumecheng-2832	49	5	containing	contain	VERB
fumecheng-2832	49	6	inverted	inverted	ADJ
fumecheng-2832	49	7	decoupler	decoupler	NOUN
fumecheng-2832	49	8	in	in	ADP
fumecheng-2832	49	9	the	the	DET
fumecheng-2832	49	10	combination	combination	NOUN
fumecheng-2832	49	11	with	with	ADP
fumecheng-2832	49	12	pid	pid	NOUN
fumecheng-2832	49	13	controllers	controller	NOUN
fumecheng-2832	49	14	is	be	AUX
fumecheng-2832	49	15	shown	show	VERB
fumecheng-2832	49	16	in	in	ADP
fumecheng-2832	49	17	fig	fig	NOUN
fumecheng-2832	49	18	.	.	PUNCT
fumecheng-2832	50	1	1	1	NUM
fumecheng-2832	50	2	,	,	PUNCT
fumecheng-2832	50	3	where	where	SCONJ
fumecheng-2832	50	4	laplace	laplace	NOUN
fumecheng-2832	50	5	operator	operator	NOUN
fumecheng-2832	50	6	s	s	VERB
fumecheng-2832	50	7	was	be	AUX
fumecheng-2832	50	8	omitted	omit	VERB
fumecheng-2832	50	9	to	to	PART
fumecheng-2832	50	10	make	make	VERB
fumecheng-2832	50	11	it	it	PRON
fumecheng-2832	50	12	simpler	simple	ADJ
fumecheng-2832	50	13	.	.	PUNCT
fumecheng-2832	51	1	taking	take	VERB
fumecheng-2832	51	2	into	into	ADP
fumecheng-2832	51	3	account	account	NOUN
fumecheng-2832	51	4	[	[	X
fumecheng-2832	51	5	5,6	5,6	NUM
fumecheng-2832	51	6	]	]	NUM
fumecheng-2832	51	7	,	,	PUNCT
fumecheng-2832	51	8	decoupler	decoupler	PROPN
fumecheng-2832	51	9	d(s	d(s	PROPN
fumecheng-2832	51	10	)	)	PUNCT
fumecheng-2832	51	11	is	be	AUX
fumecheng-2832	51	12	calculated	calculate	VERB
fumecheng-2832	51	13	as	as	ADP
fumecheng-2832	51	14	a	a	DET
fumecheng-2832	51	15	static	static	ADJ
fumecheng-2832	51	16	decoupler	decoupler	NOUN
fumecheng-2832	51	17	using	use	VERB
fumecheng-2832	51	18	eq	eq	X
fumecheng-2832	51	19	.	.	PUNCT
fumecheng-2832	52	1	(	(	PUNCT
fumecheng-2832	52	2	2	2	NUM
fumecheng-2832	52	3	)	)	PUNCT
fumecheng-2832	52	4	,	,	PUNCT
fumecheng-2832	52	5	in	in	ADP
fumecheng-2832	52	6	order	order	NOUN
fumecheng-2832	52	7	to	to	PART
fumecheng-2832	52	8	avoid	avoid	VERB
fumecheng-2832	52	9	introducing	introduce	VERB
fumecheng-2832	52	10	of	of	ADP
fumecheng-2832	52	11	additional	additional	ADJ
fumecheng-2832	52	12	dynamic	dynamic	NOUN
fumecheng-2832	52	13	into	into	ADP
fumecheng-2832	52	14	the	the	DET
fumecheng-2832	52	15	system	system	NOUN
fumecheng-2832	52	16	:	:	PUNCT
fumecheng-2832	52	17	12	12	NUM
fumecheng-2832	52	18	1112	1112	NUM
fumecheng-2832	52	19	21	21	NUM
fumecheng-2832	52	20	21	21	NUM
fumecheng-2832	52	21	22	22	NUM
fumecheng-2832	52	22	0	0	NUM
fumecheng-2832	52	23	(	(	PUNCT
fumecheng-2832	52	24	0	0	NUM
fumecheng-2832	52	25	)	)	PUNCT
fumecheng-2832	52	26	1	1	NUM
fumecheng-2832	52	27	(	(	PUNCT
fumecheng-2832	52	28	0)1	0)1	PROPN
fumecheng-2832	52	29	(	(	PUNCT
fumecheng-2832	52	30	)	)	PUNCT
fumecheng-2832	52	31	(	(	PUNCT
fumecheng-2832	52	32	)	)	PUNCT
fumecheng-2832	52	33	(	(	PUNCT
fumecheng-2832	52	34	)	)	PUNCT
fumecheng-2832	52	35	1	1	NUM
fumecheng-2832	52	36	(	(	PUNCT
fumecheng-2832	52	37	0	0	NUM
fumecheng-2832	52	38	)	)	SYM
fumecheng-2832	52	39	1	1	NUM
fumecheng-2832	52	40	(	(	PUNCT
fumecheng-2832	52	41	0	0	NUM
fumecheng-2832	52	42	)	)	PUNCT
fumecheng-2832	52	43	s	s	PART
fumecheng-2832	52	44	g	g	NOUN
fumecheng-2832	52	45	gd	gd	NOUN
fumecheng-2832	52	46	s	s	PROPN
fumecheng-2832	52	47	d	d	X
fumecheng-2832	52	48	s	s	PROPN
fumecheng-2832	52	49	d	d	X
fumecheng-2832	52	50	s	s	PROPN
fumecheng-2832	52	51	g	g	NOUN
fumecheng-2832	52	52	g	g	NOUN
fumecheng-2832	52	53	|	|	ADV
fumecheng-2832	53	1			NUM
fumecheng-2832	53	2			NOUN
fumecheng-2832	53	3			VERB
fumecheng-2832	53	4			X
fumecheng-2832	53	5			NOUN
fumecheng-2832	53	6			PROPN
fumecheng-2832	53	7			NOUN
fumecheng-2832	53	8			NOUN
fumecheng-2832	54	1			X
fumecheng-2832	54	2			ADJ
fumecheng-2832	54	3			NOUN
fumecheng-2832	54	4			NOUN
fumecheng-2832	55	1			PROPN
fumecheng-2832	55	2			ADJ
fumecheng-2832	55	3			NOUN
fumecheng-2832	55	4			NOUN
fumecheng-2832	55	5			NOUN
fumecheng-2832	55	6			PROPN
fumecheng-2832	55	7	(	(	PUNCT
fumecheng-2832	55	8	2	2	NUM
fumecheng-2832	55	9	)	)	PUNCT
fumecheng-2832	55	10	where	where	SCONJ
fumecheng-2832	55	11	dij(s	dij(s	NOUN
fumecheng-2832	55	12	)	)	PUNCT
fumecheng-2832	55	13	are	be	AUX
fumecheng-2832	55	14	off	off	ADV
fumecheng-2832	55	15	-	-	PUNCT
fumecheng-2832	55	16	diagonal	diagonal	ADJ
fumecheng-2832	55	17	elements	element	NOUN
fumecheng-2832	55	18	of	of	ADP
fumecheng-2832	55	19	the	the	DET
fumecheng-2832	55	20	decoupler	decoupler	NOUN
fumecheng-2832	55	21	transfer	transfer	NOUN
fumecheng-2832	55	22	matrix	matrix	NOUN
fumecheng-2832	55	23	.	.	PUNCT
fumecheng-2832	56	1	decoupling	decouple	VERB
fumecheng-2832	56	2	control	control	NOUN
fumecheng-2832	56	3	of	of	ADP
fumecheng-2832	56	4	tito	tito	PROPN
fumecheng-2832	56	5	system	system	NOUN
fumecheng-2832	56	6	supported	support	VERB
fumecheng-2832	56	7	by	by	ADP
fumecheng-2832	56	8	dominant	dominant	ADJ
fumecheng-2832	56	9	pole	pole	NOUN
fumecheng-2832	56	10	placement	placement	NOUN
fumecheng-2832	56	11	method	method	NOUN
fumecheng-2832	56	12	247	247	NUM
fumecheng-2832	56	13	apparent	apparent	ADJ
fumecheng-2832	56	14	system	system	NOUN
fumecheng-2832	56	15	of	of	ADP
fumecheng-2832	56	16	equations	equation	NOUN
fumecheng-2832	56	17	(	(	PUNCT
fumecheng-2832	56	18	3	3	NUM
fumecheng-2832	56	19	)	)	PUNCT
fumecheng-2832	56	20	,	,	PUNCT
fumecheng-2832	56	21	that	that	PRON
fumecheng-2832	56	22	should	should	AUX
fumecheng-2832	56	23	be	be	AUX
fumecheng-2832	56	24	obtained	obtain	VERB
fumecheng-2832	56	25	after	after	ADP
fumecheng-2832	56	26	decoupling	decouple	VERB
fumecheng-2832	56	27	,	,	PUNCT
fumecheng-2832	56	28	enables	enable	VERB
fumecheng-2832	56	29	considering	consider	VERB
fumecheng-2832	56	30	of	of	ADP
fumecheng-2832	56	31	the	the	DET
fumecheng-2832	56	32	tito	tito	PROPN
fumecheng-2832	56	33	system	system	NOUN
fumecheng-2832	56	34	as	as	ADP
fumecheng-2832	56	35	a	a	DET
fumecheng-2832	56	36	finite	finite	ADJ
fumecheng-2832	56	37	number	number	NOUN
fumecheng-2832	56	38	of	of	ADP
fumecheng-2832	56	39	siso	siso	NOUN
fumecheng-2832	56	40	systems	system	NOUN
fumecheng-2832	56	41	(	(	PUNCT
fumecheng-2832	56	42	in	in	ADP
fumecheng-2832	56	43	this	this	DET
fumecheng-2832	56	44	case	case	NOUN
fumecheng-2832	56	45	two	two	NUM
fumecheng-2832	56	46	siso	siso	NOUN
fumecheng-2832	56	47	systems	system	NOUN
fumecheng-2832	56	48	q1(s	q1(s	PROPN
fumecheng-2832	56	49	)	)	PUNCT
fumecheng-2832	56	50	and	and	CCONJ
fumecheng-2832	56	51	q2(s	q2(s	PROPN
fumecheng-2832	56	52	)	)	PUNCT
fumecheng-2832	56	53	)	)	PUNCT
fumecheng-2832	56	54	.	.	PUNCT
fumecheng-2832	57	1	fig	fig	NOUN
fumecheng-2832	57	2	.	.	PUNCT
fumecheng-2832	58	1	1	1	NUM
fumecheng-2832	58	2	inverted	invert	VERB
fumecheng-2832	58	3	decoupling	decoupling	NOUN
fumecheng-2832	58	4	control	control	NOUN
fumecheng-2832	58	5	for	for	ADP
fumecheng-2832	58	6	the	the	DET
fumecheng-2832	58	7	tito	tito	PROPN
fumecheng-2832	58	8	object	object	NOUN
fumecheng-2832	58	9	[	[	X
fumecheng-2832	58	10	1	1	X
fumecheng-2832	58	11	]	]	PUNCT
fumecheng-2832	58	12	actually	actually	ADV
fumecheng-2832	58	13	,	,	PUNCT
fumecheng-2832	58	14	the	the	DET
fumecheng-2832	58	15	inverted	inverted	ADJ
fumecheng-2832	58	16	decoupling	decoupling	NOUN
fumecheng-2832	58	17	is	be	AUX
fumecheng-2832	58	18	applied	apply	VERB
fumecheng-2832	58	19	because	because	SCONJ
fumecheng-2832	58	20	of	of	ADP
fumecheng-2832	58	21	its	its	PRON
fumecheng-2832	58	22	utilization	utilization	NOUN
fumecheng-2832	58	23	of	of	ADP
fumecheng-2832	58	24	advantages	advantage	NOUN
fumecheng-2832	58	25	of	of	ADP
fumecheng-2832	58	26	ideal	ideal	NOUN
fumecheng-2832	58	27	(	(	PUNCT
fumecheng-2832	58	28	simple	simple	ADJ
fumecheng-2832	58	29	apparent	apparent	ADJ
fumecheng-2832	58	30	system	system	NOUN
fumecheng-2832	58	31	q(s	q(s	NOUN
fumecheng-2832	58	32	)	)	PUNCT
fumecheng-2832	58	33	)	)	PUNCT
fumecheng-2832	58	34	and	and	CCONJ
fumecheng-2832	58	35	simplified	simplified	ADJ
fumecheng-2832	58	36	decoupling	decouple	VERB
fumecheng-2832	58	37	(	(	PUNCT
fumecheng-2832	58	38	simple	simple	ADJ
fumecheng-2832	58	39	decoupler	decoupler	NOUN
fumecheng-2832	58	40	)	)	PUNCT
fumecheng-2832	58	41	.	.	PUNCT
fumecheng-2832	59	1	hence	hence	ADV
fumecheng-2832	59	2	,	,	PUNCT
fumecheng-2832	59	3	1	1	NUM
fumecheng-2832	59	4	2	2	NUM
fumecheng-2832	59	5	(	(	PUNCT
fumecheng-2832	59	6	)	)	PUNCT
fumecheng-2832	59	7	0	0	NUM
fumecheng-2832	60	1	(	(	PUNCT
fumecheng-2832	60	2	)	)	PUNCT
fumecheng-2832	60	3	(	(	PUNCT
fumecheng-2832	60	4	)	)	PUNCT
fumecheng-2832	60	5	(	(	PUNCT
fumecheng-2832	60	6	)	)	PUNCT
fumecheng-2832	60	7	0	0	NUM
fumecheng-2832	60	8	(	(	PUNCT
fumecheng-2832	60	9	)	)	PUNCT
fumecheng-2832	60	10	q	q	PROPN
fumecheng-2832	61	1	s	s	AUX
fumecheng-2832	61	2	q	q	X
fumecheng-2832	61	3	s	s	PROPN
fumecheng-2832	61	4	g	g	NOUN
fumecheng-2832	61	5	s	s	PROPN
fumecheng-2832	61	6	d	d	X
fumecheng-2832	61	7	s	s	X
fumecheng-2832	61	8	q	q	X
fumecheng-2832	61	9	s	s	PROPN
fumecheng-2832	61	10			PROPN
fumecheng-2832	61	11			NOUN
fumecheng-2832	61	12			PROPN
fumecheng-2832	61	13			NUM
fumecheng-2832	61	14			NUM
fumecheng-2832	61	15			NOUN
fumecheng-2832	61	16			NOUN
fumecheng-2832	61	17			NOUN
fumecheng-2832	61	18			PROPN
fumecheng-2832	61	19	(	(	PUNCT
fumecheng-2832	61	20	3	3	NUM
fumecheng-2832	61	21	)	)	PUNCT
fumecheng-2832	61	22	controllers	controller	NOUN
fumecheng-2832	61	23	will	will	AUX
fumecheng-2832	61	24	be	be	AUX
fumecheng-2832	61	25	designed	design	VERB
fumecheng-2832	61	26	based	base	VERB
fumecheng-2832	61	27	on	on	ADP
fumecheng-2832	61	28	diagonal	diagonal	ADJ
fumecheng-2832	61	29	elements	element	NOUN
fumecheng-2832	61	30	of	of	ADP
fumecheng-2832	61	31	eq	eq	PROPN
fumecheng-2832	61	32	.	.	PUNCT
fumecheng-2832	62	1	(	(	PUNCT
fumecheng-2832	62	2	3	3	NUM
fumecheng-2832	62	3	)	)	PUNCT
fumecheng-2832	62	4	.	.	PUNCT
fumecheng-2832	63	1	3	3	X
fumecheng-2832	63	2	.	.	X
fumecheng-2832	63	3	controller	controller	NOUN
fumecheng-2832	63	4	design	design	NOUN
fumecheng-2832	63	5	general	general	ADJ
fumecheng-2832	63	6	expression	expression	NOUN
fumecheng-2832	63	7	for	for	ADP
fumecheng-2832	63	8	the	the	DET
fumecheng-2832	63	9	decentralized	decentralize	VERB
fumecheng-2832	63	10	pid	pid	NOUN
fumecheng-2832	63	11	controller	controller	NOUN
fumecheng-2832	63	12	for	for	ADP
fumecheng-2832	63	13	the	the	DET
fumecheng-2832	63	14	tito	tito	PROPN
fumecheng-2832	63	15	process	process	NOUN
fumecheng-2832	63	16	is	be	AUX
fumecheng-2832	63	17	given	give	VERB
fumecheng-2832	63	18	by	by	ADP
fumecheng-2832	63	19	eq	eq	PROPN
fumecheng-2832	63	20	.	.	PUNCT
fumecheng-2832	64	1	(	(	PUNCT
fumecheng-2832	64	2	4	4	NUM
fumecheng-2832	64	3	)	)	PUNCT
fumecheng-2832	64	4	and	and	CCONJ
fumecheng-2832	64	5	its	its	PRON
fumecheng-2832	64	6	elements	element	NOUN
fumecheng-2832	64	7	(	(	PUNCT
fumecheng-2832	64	8	two	two	NUM
fumecheng-2832	64	9	single	single	ADJ
fumecheng-2832	64	10	loop	loop	NOUN
fumecheng-2832	64	11	controllers	controller	NOUN
fumecheng-2832	64	12	k1(s	k1(s	PROPN
fumecheng-2832	64	13	)	)	PUNCT
fumecheng-2832	64	14	and	and	CCONJ
fumecheng-2832	64	15	k2(s	k2(s	NOUN
fumecheng-2832	64	16	)	)	PUNCT
fumecheng-2832	64	17	)	)	PUNCT
fumecheng-2832	64	18	are	be	AUX
fumecheng-2832	64	19	presented	present	VERB
fumecheng-2832	64	20	with	with	ADP
fumecheng-2832	64	21	eq	eq	PROPN
fumecheng-2832	64	22	.	.	PUNCT
fumecheng-2832	65	1	(	(	PUNCT
fumecheng-2832	65	2	5	5	NUM
fumecheng-2832	65	3	):	):	SYM
fumecheng-2832	65	4	1	1	NUM
fumecheng-2832	65	5	2	2	NUM
fumecheng-2832	65	6	(	(	PUNCT
fumecheng-2832	65	7	)	)	PUNCT
fumecheng-2832	65	8	(	(	PUNCT
fumecheng-2832	65	9	)	)	PUNCT
fumecheng-2832	65	10	(	(	PUNCT
fumecheng-2832	65	11	)	)	PUNCT
fumecheng-2832	65	12	0	0	NUM
fumecheng-2832	65	13	0	0	NUM
fumecheng-2832	66	1	s	s	NOUN
fumecheng-2832	66	2	s	s	X
fumecheng-2832	66	3	s	s	X
fumecheng-2832	66	4	k	k	PROPN
fumecheng-2832	66	5	k	k	PROPN
fumecheng-2832	66	6	k	k	PROPN
fumecheng-2832	66	7			PROPN
fumecheng-2832	66	8			ADJ
fumecheng-2832	66	9			NOUN
fumecheng-2832	66	10			PROPN
fumecheng-2832	66	11			NOUN
fumecheng-2832	66	12			PROPN
fumecheng-2832	66	13			PROPN
fumecheng-2832	66	14			PROPN
fumecheng-2832	66	15	(	(	PUNCT
fumecheng-2832	66	16	4	4	NUM
fumecheng-2832	66	17	)	)	SYM
fumecheng-2832	66	18	1	1	NUM
fumecheng-2832	66	19	1	1	NUM
fumecheng-2832	66	20	1	1	NUM
fumecheng-2832	66	21	1	1	NUM
fumecheng-2832	66	22	2	2	NUM
fumecheng-2832	66	23	2	2	NUM
fumecheng-2832	66	24	2	2	NUM
fumecheng-2832	66	25	2	2	NUM
fumecheng-2832	66	26	(	(	PUNCT
fumecheng-2832	66	27	)	)	PUNCT
fumecheng-2832	66	28	(	(	PUNCT
fumecheng-2832	66	29	)	)	PUNCT
fumecheng-2832	67	1	i	i	PRON
fumecheng-2832	67	2	p	p	X
fumecheng-2832	68	1	d	d	X
fumecheng-2832	68	2	i	i	PRON
fumecheng-2832	69	1	p	p	PROPN
fumecheng-2832	69	2	d	d	X
fumecheng-2832	69	3	k	k	PROPN
fumecheng-2832	70	1	k	k	PROPN
fumecheng-2832	70	2	s	s	PROPN
fumecheng-2832	71	1	k	k	PROPN
fumecheng-2832	71	2	k	k	PROPN
fumecheng-2832	71	3	s	s	X
fumecheng-2832	71	4	s	s	X
fumecheng-2832	71	5	k	k	PROPN
fumecheng-2832	71	6	k	k	PROPN
fumecheng-2832	71	7	s	s	PROPN
fumecheng-2832	72	1	k	k	PROPN
fumecheng-2832	72	2	k	k	PROPN
fumecheng-2832	72	3	s	s	PROPN
fumecheng-2832	72	4	s	s	X
fumecheng-2832	72	5			PROPN
fumecheng-2832	72	6			ADV
fumecheng-2832	72	7			PUNCT
fumecheng-2832	72	8			PROPN
fumecheng-2832	72	9			PROPN
fumecheng-2832	72	10			ADV
fumecheng-2832	72	11			PUNCT
fumecheng-2832	72	12			PROPN
fumecheng-2832	72	13	(	(	PUNCT
fumecheng-2832	72	14	5	5	NUM
fumecheng-2832	72	15	)	)	PUNCT
fumecheng-2832	72	16	where	where	SCONJ
fumecheng-2832	72	17	kp	kp	PROPN
fumecheng-2832	72	18	,	,	PUNCT
fumecheng-2832	72	19	ki	ki	PROPN
fumecheng-2832	72	20	and	and	CCONJ
fumecheng-2832	72	21	kd	kd	PROPN
fumecheng-2832	72	22	are	be	AUX
fumecheng-2832	72	23	proportional	proportional	ADJ
fumecheng-2832	72	24	,	,	PUNCT
fumecheng-2832	72	25	integral	integral	ADJ
fumecheng-2832	72	26	and	and	CCONJ
fumecheng-2832	72	27	derivative	derivative	ADJ
fumecheng-2832	72	28	controller	controller	NOUN
fumecheng-2832	72	29	gains	gain	NOUN
fumecheng-2832	72	30	,	,	PUNCT
fumecheng-2832	72	31	respectively	respectively	ADV
fumecheng-2832	72	32	.	.	PUNCT
fumecheng-2832	73	1	in	in	ADP
fumecheng-2832	73	2	the	the	DET
fumecheng-2832	73	3	inverted	inverted	ADJ
fumecheng-2832	73	4	decoupling	decoupling	NOUN
fumecheng-2832	73	5	,	,	PUNCT
fumecheng-2832	73	6	controllers	controller	NOUN
fumecheng-2832	73	7	are	be	AUX
fumecheng-2832	73	8	designed	design	VERB
fumecheng-2832	73	9	for	for	ADP
fumecheng-2832	73	10	the	the	DET
fumecheng-2832	73	11	diagonal	diagonal	ADJ
fumecheng-2832	73	12	elements	element	NOUN
fumecheng-2832	73	13	of	of	ADP
fumecheng-2832	73	14	q(s	q(s	NOUN
fumecheng-2832	73	15	)	)	PUNCT
fumecheng-2832	73	16	and	and	CCONJ
fumecheng-2832	73	17	hence	hence	ADV
fumecheng-2832	73	18	:	:	PUNCT
fumecheng-2832	73	19	q1(s)=g11(s	q1(s)=g11(s	X
fumecheng-2832	73	20	)	)	PUNCT
fumecheng-2832	73	21	and	and	CCONJ
fumecheng-2832	73	22	q2(s)=g22(s	q2(s)=g22(s	NOUN
fumecheng-2832	73	23	)	)	PUNCT
fumecheng-2832	73	24	.	.	PUNCT
fumecheng-2832	74	1	therefore	therefore	ADV
fumecheng-2832	74	2	,	,	PUNCT
fumecheng-2832	74	3	as	as	SCONJ
fumecheng-2832	74	4	previously	previously	ADV
fumecheng-2832	74	5	stated	state	VERB
fumecheng-2832	74	6	,	,	PUNCT
fumecheng-2832	74	7	the	the	DET
fumecheng-2832	74	8	pid	pid	NOUN
fumecheng-2832	74	9	controller	controller	NOUN
fumecheng-2832	74	10	design	design	NOUN
fumecheng-2832	74	11	using	use	VERB
fumecheng-2832	74	12	the	the	DET
fumecheng-2832	74	13	dominance	dominance	NOUN
fumecheng-2832	74	14	pole	pole	NOUN
fumecheng-2832	74	15	placement	placement	NOUN
fumecheng-2832	74	16	method	method	NOUN
fumecheng-2832	74	17	will	will	AUX
fumecheng-2832	74	18	be	be	AUX
fumecheng-2832	74	19	researched	research	VERB
fumecheng-2832	74	20	for	for	ADP
fumecheng-2832	74	21	the	the	DET
fumecheng-2832	74	22	third	third	ADJ
fumecheng-2832	74	23	-	-	PUNCT
fumecheng-2832	74	24	order	order	NOUN
fumecheng-2832	74	25	transfer	transfer	NOUN
fumecheng-2832	74	26	function	function	NOUN
fumecheng-2832	74	27	with	with	ADP
fumecheng-2832	74	28	two	two	NUM
fumecheng-2832	74	29	left	leave	VERB
fumecheng-2832	74	30	half	half	ADJ
fumecheng-2832	74	31	plane	plane	NOUN
fumecheng-2832	74	32	zeros	zero	NOUN
fumecheng-2832	74	33	(	(	PUNCT
fumecheng-2832	74	34	eq	eq	NOUN
fumecheng-2832	74	35	.	.	PUNCT
fumecheng-2832	75	1	(	(	PUNCT
fumecheng-2832	75	2	6	6	NUM
fumecheng-2832	75	3	)	)	PUNCT
fumecheng-2832	75	4	):	):	PUNCT
fumecheng-2832	75	5	2	2	NUM
fumecheng-2832	75	6	2	2	NUM
fumecheng-2832	75	7	1	1	NUM
fumecheng-2832	75	8	0	0	NUM
fumecheng-2832	75	9	3	3	NUM
fumecheng-2832	75	10	2	2	NUM
fumecheng-2832	75	11	2	2	NUM
fumecheng-2832	75	12	1	1	NUM
fumecheng-2832	75	13	0	0	NUM
fumecheng-2832	75	14	(	(	PUNCT
fumecheng-2832	75	15	)	)	PUNCT
fumecheng-2832	75	16	a	a	DET
fumecheng-2832	75	17	a	a	DET
fumecheng-2832	75	18	a	a	DET
fumecheng-2832	75	19	ii	ii	NOUN
fumecheng-2832	75	20	b	b	PROPN
fumecheng-2832	75	21	s	s	PROPN
fumecheng-2832	76	1	b	b	PROPN
fumecheng-2832	76	2	s	s	PROPN
fumecheng-2832	76	3	b	b	NOUN
fumecheng-2832	76	4	g	g	NOUN
fumecheng-2832	76	5	s	s	NOUN
fumecheng-2832	76	6	s	s	X
fumecheng-2832	76	7	s	s	X
fumecheng-2832	76	8	s	s	X
fumecheng-2832	76	9			NOUN
fumecheng-2832	76	10			PROPN
fumecheng-2832	76	11			PROPN
fumecheng-2832	76	12			PROPN
fumecheng-2832	76	13			PUNCT
fumecheng-2832	76	14			X
fumecheng-2832	76	15	(	(	PUNCT
fumecheng-2832	76	16	6	6	NUM
fumecheng-2832	76	17	)	)	SYM
fumecheng-2832	76	18	248	248	NUM
fumecheng-2832	76	19	n.	n.	NOUN
fumecheng-2832	76	20	n.	n.	PROPN
fumecheng-2832	76	21	nedić	nedić	PROPN
fumecheng-2832	76	22	,	,	PUNCT
fumecheng-2832	76	23	s.	s.	PROPN
fumecheng-2832	76	24	lj	lj	PROPN
fumecheng-2832	76	25	.	.	PUNCT
fumecheng-2832	77	1	prodanović	prodanović	PROPN
fumecheng-2832	77	2	,	,	PUNCT
fumecheng-2832	77	3	lj	lj	PROPN
fumecheng-2832	77	4	.	.	PUNCT
fumecheng-2832	77	5	m.	m.	PROPN
fumecheng-2832	77	6	dubonjić	dubonjić	PROPN
fumecheng-2832	77	7	where	where	SCONJ
fumecheng-2832	77	8	ai	ai	VERB
fumecheng-2832	77	9	and	and	CCONJ
fumecheng-2832	77	10	bi	bi	NOUN
fumecheng-2832	77	11	are	be	AUX
fumecheng-2832	77	12	coefficients	coefficient	NOUN
fumecheng-2832	77	13	of	of	ADP
fumecheng-2832	77	14	the	the	DET
fumecheng-2832	77	15	denominator	denominator	NOUN
fumecheng-2832	77	16	and	and	CCONJ
fumecheng-2832	77	17	numerator	numerator	NOUN
fumecheng-2832	77	18	,	,	PUNCT
fumecheng-2832	77	19	respectively	respectively	ADV
fumecheng-2832	77	20	.	.	PUNCT
fumecheng-2832	78	1	according	accord	VERB
fumecheng-2832	78	2	to	to	ADP
fumecheng-2832	78	3	that	that	PRON
fumecheng-2832	78	4	,	,	PUNCT
fumecheng-2832	78	5	the	the	DET
fumecheng-2832	78	6	characteristic	characteristic	ADJ
fumecheng-2832	78	7	equation	equation	NOUN
fumecheng-2832	78	8	of	of	ADP
fumecheng-2832	78	9	the	the	DET
fumecheng-2832	78	10	single	single	ADJ
fumecheng-2832	78	11	loop	loop	NOUN
fumecheng-2832	78	12	is	be	AUX
fumecheng-2832	78	13	expressed	express	VERB
fumecheng-2832	78	14	by	by	ADP
fumecheng-2832	78	15	eq	eq	PROPN
fumecheng-2832	78	16	.	.	PUNCT
fumecheng-2832	79	1	(	(	PUNCT
fumecheng-2832	79	2	7	7	NUM
fumecheng-2832	79	3	-	-	SYM
fumecheng-2832	79	4	9	9	NUM
fumecheng-2832	79	5	):	):	PUNCT
fumecheng-2832	79	6	1	1	NUM
fumecheng-2832	79	7	(	(	PUNCT
fumecheng-2832	79	8	)	)	PUNCT
fumecheng-2832	79	9	(	(	PUNCT
fumecheng-2832	79	10	)	)	PUNCT
fumecheng-2832	79	11	0ii	0ii	VERB
fumecheng-2832	80	1	ig	ig	PROPN
fumecheng-2832	80	2	s	s	PROPN
fumecheng-2832	80	3	k	k	PROPN
fumecheng-2832	80	4	s	s	NOUN
fumecheng-2832	80	5			NUM
fumecheng-2832	80	6			PROPN
fumecheng-2832	80	7	(	(	PUNCT
fumecheng-2832	80	8	7	7	NUM
fumecheng-2832	80	9	)	)	PUNCT
fumecheng-2832	80	10	0	0	NUM
fumecheng-2832	80	11			PROPN
fumecheng-2832	80	12			NUM
fumecheng-2832	80	13			ADJ
fumecheng-2832	80	14			PROPN
fumecheng-2832	80	15			X
fumecheng-2832	80	16	s	s	PART
fumecheng-2832	80	17	ksksk	ksksk	PROPN
fumecheng-2832	80	18	sss	sss	PROPN
fumecheng-2832	80	19	bsbsb	bsbsb	PROPN
fumecheng-2832	80	20	ipd	ipd	PROPN
fumecheng-2832	80	21	11	11	NUM
fumecheng-2832	80	22	2	2	NUM
fumecheng-2832	80	23	1	1	NUM
fumecheng-2832	80	24	01	01	NUM
fumecheng-2832	80	25	2	2	NUM
fumecheng-2832	80	26	2	2	NUM
fumecheng-2832	80	27	3	3	NUM
fumecheng-2832	80	28	01	01	NUM
fumecheng-2832	80	29	2	2	NUM
fumecheng-2832	80	30	2	2	NUM
fumecheng-2832	80	31	aaa	aaa	NOUN
fumecheng-2832	80	32	1	1	NUM
fumecheng-2832	80	33	(	(	PUNCT
fumecheng-2832	80	34	8)	8)	NUM
fumecheng-2832	80	35	3	3	NUM
fumecheng-2832	80	36	2	2	NUM
fumecheng-2832	80	37	2	2	NUM
fumecheng-2832	80	38	2	2	NUM
fumecheng-2832	80	39	2	2	NUM
fumecheng-2832	80	40	1	1	NUM
fumecheng-2832	80	41	0	0	NUM
fumecheng-2832	80	42	2	2	NUM
fumecheng-2832	80	43	1	1	NUM
fumecheng-2832	80	44	0	0	NUM
fumecheng-2832	80	45	1	1	NUM
fumecheng-2832	80	46	1	1	NUM
fumecheng-2832	80	47	1	1	NUM
fumecheng-2832	80	48	(	(	PUNCT
fumecheng-2832	80	49	a	a	DET
fumecheng-2832	80	50	a	a	DET
fumecheng-2832	80	51	a	a	NOUN
fumecheng-2832	80	52	)	)	PUNCT
fumecheng-2832	80	53	(	(	PUNCT
fumecheng-2832	80	54	)	)	PUNCT
fumecheng-2832	80	55	(	(	PUNCT
fumecheng-2832	80	56	)	)	PUNCT
fumecheng-2832	80	57	0d	0d	PROPN
fumecheng-2832	81	1	p	p	PROPN
fumecheng-2832	81	2	is	be	AUX
fumecheng-2832	81	3	s	s	PRON
fumecheng-2832	81	4	s	s	NOUN
fumecheng-2832	81	5	s	s	NOUN
fumecheng-2832	81	6	b	b	PROPN
fumecheng-2832	81	7	s	s	PROPN
fumecheng-2832	81	8	b	b	PROPN
fumecheng-2832	81	9	s	s	PROPN
fumecheng-2832	81	10	b	b	X
fumecheng-2832	81	11	k	k	PROPN
fumecheng-2832	81	12	s	s	X
fumecheng-2832	82	1	k	k	PROPN
fumecheng-2832	82	2	s	s	PROPN
fumecheng-2832	82	3	k	k	PROPN
fumecheng-2832	82	4			PROPN
fumecheng-2832	82	5			PROPN
fumecheng-2832	82	6			PROPN
fumecheng-2832	82	7			PROPN
fumecheng-2832	82	8			PUNCT
fumecheng-2832	82	9			PUNCT
fumecheng-2832	82	10			PROPN
fumecheng-2832	82	11			PROPN
fumecheng-2832	82	12			PUNCT
fumecheng-2832	82	13			PROPN
fumecheng-2832	82	14			ADV
fumecheng-2832	82	15			NUM
fumecheng-2832	82	16	(	(	PUNCT
fumecheng-2832	82	17	9	9	NUM
fumecheng-2832	82	18	)	)	PUNCT
fumecheng-2832	82	19	equation	equation	NOUN
fumecheng-2832	82	20	(	(	PUNCT
fumecheng-2832	82	21	10	10	NUM
fumecheng-2832	82	22	)	)	PUNCT
fumecheng-2832	82	23	is	be	AUX
fumecheng-2832	82	24	a	a	DET
fumecheng-2832	82	25	general	general	ADJ
fumecheng-2832	82	26	form	form	NOUN
fumecheng-2832	82	27	of	of	ADP
fumecheng-2832	82	28	the	the	DET
fumecheng-2832	82	29	fourth	fourth	ADJ
fumecheng-2832	82	30	-	-	PUNCT
fumecheng-2832	82	31	order	order	NOUN
fumecheng-2832	82	32	characteristic	characteristic	ADJ
fumecheng-2832	82	33	equation	equation	NOUN
fumecheng-2832	82	34	.	.	PUNCT
fumecheng-2832	83	1	so	so	ADV
fumecheng-2832	83	2	,	,	PUNCT
fumecheng-2832	83	3	there	there	PRON
fumecheng-2832	83	4	are	be	VERB
fumecheng-2832	83	5	four	four	NUM
fumecheng-2832	83	6	poles	pole	NOUN
fumecheng-2832	83	7	:	:	PUNCT
fumecheng-2832	83	8	two	two	NUM
fumecheng-2832	83	9	conjugate	conjugate	ADJ
fumecheng-2832	83	10	complex	complex	NOUN
fumecheng-2832	83	11	eq	eq	ADP
fumecheng-2832	83	12	.	.	PUNCT
fumecheng-2832	84	1	(	(	PUNCT
fumecheng-2832	84	2	11	11	NUM
fumecheng-2832	84	3	)	)	PUNCT
fumecheng-2832	84	4	and	and	CCONJ
fumecheng-2832	84	5	two	two	NUM
fumecheng-2832	84	6	real	real	ADJ
fumecheng-2832	84	7	.	.	PUNCT
fumecheng-2832	85	1	since	since	SCONJ
fumecheng-2832	85	2	the	the	DET
fumecheng-2832	85	3	pid	pid	NOUN
fumecheng-2832	85	4	controller	controller	NOUN
fumecheng-2832	85	5	has	have	VERB
fumecheng-2832	85	6	three	three	NUM
fumecheng-2832	85	7	parameters	parameter	NOUN
fumecheng-2832	85	8	,	,	PUNCT
fumecheng-2832	85	9	three	three	NUM
fumecheng-2832	85	10	dominant	dominant	ADJ
fumecheng-2832	85	11	poles	pole	NOUN
fumecheng-2832	85	12	should	should	AUX
fumecheng-2832	85	13	be	be	AUX
fumecheng-2832	85	14	determined	determine	VERB
fumecheng-2832	85	15	.	.	PUNCT
fumecheng-2832	86	1	2	2	NUM
fumecheng-2832	86	2	2	2	NUM
fumecheng-2832	86	3	(	(	PUNCT
fumecheng-2832	86	4	)	)	PUNCT
fumecheng-2832	86	5	(	(	PUNCT
fumecheng-2832	86	6	)	)	PUNCT
fumecheng-2832	86	7	(	(	PUNCT
fumecheng-2832	86	8	)	)	PUNCT
fumecheng-2832	86	9	0n	0n	NOUN
fumecheng-2832	86	10	n	n	CCONJ
fumecheng-2832	86	11	n	n	ADV
fumecheng-2832	87	1	ns	ns	NUM
fumecheng-2832	87	2	αω	αω	NUM
fumecheng-2832	87	3	s	s	NOUN
fumecheng-2832	87	4	βω	βω	NOUN
fumecheng-2832	87	5	s	s	PART
fumecheng-2832	87	6	2ξ	2ξ	NUM
fumecheng-2832	87	7	s	s	PART
fumecheng-2832	87	8	ω	ω	PROPN
fumecheng-2832	87	9			PROPN
fumecheng-2832	87	10			PUNCT
fumecheng-2832	87	11			PROPN
fumecheng-2832	87	12			ADV
fumecheng-2832	87	13			ADJ
fumecheng-2832	87	14			PROPN
fumecheng-2832	87	15	(	(	PUNCT
fumecheng-2832	87	16	10	10	NUM
fumecheng-2832	87	17	)	)	SYM
fumecheng-2832	87	18	2	2	NUM
fumecheng-2832	87	19	1	1	NUM
fumecheng-2832	87	20	ξjωξωs	ξjωξωs	X
fumecheng-2832	87	21	nn	nn	X
fumecheng-2832	87	22			PROPN
fumecheng-2832	87	23	(	(	PUNCT
fumecheng-2832	87	24	11	11	NUM
fumecheng-2832	87	25	)	)	PUNCT
fumecheng-2832	87	26	here	here	ADV
fumecheng-2832	87	27	ωn	ωn	ADP
fumecheng-2832	87	28	is	be	AUX
fumecheng-2832	87	29	natural	natural	ADJ
fumecheng-2832	87	30	frequency	frequency	NOUN
fumecheng-2832	87	31	and	and	CCONJ
fumecheng-2832	87	32	ξ	ξ	PROPN
fumecheng-2832	87	33	is	be	AUX
fumecheng-2832	87	34	damping	damp	VERB
fumecheng-2832	87	35	coefficient	coefficient	NOUN
fumecheng-2832	87	36	,	,	PUNCT
fumecheng-2832	87	37	while	while	SCONJ
fumecheng-2832	87	38			NOUN
fumecheng-2832	87	39	and	and	CCONJ
fumecheng-2832	87	40			PROPN
fumecheng-2832	87	41	are	be	AUX
fumecheng-2832	87	42	parameters	parameter	NOUN
fumecheng-2832	87	43	which	which	PRON
fumecheng-2832	87	44	serve	serve	VERB
fumecheng-2832	87	45	for	for	ADP
fumecheng-2832	87	46	pole	pole	NOUN
fumecheng-2832	87	47	placement	placement	NOUN
fumecheng-2832	87	48	.	.	PUNCT
fumecheng-2832	88	1	equalization	equalization	NOUN
fumecheng-2832	88	2	of	of	ADP
fumecheng-2832	88	3	the	the	DET
fumecheng-2832	88	4	eq	eq	NOUN
fumecheng-2832	88	5	.	.	PUNCT
fumecheng-2832	89	1	(	(	PUNCT
fumecheng-2832	89	2	9	9	NUM
fumecheng-2832	89	3	)	)	PUNCT
fumecheng-2832	89	4	and	and	CCONJ
fumecheng-2832	89	5	eq	eq	NOUN
fumecheng-2832	89	6	.	.	PUNCT
fumecheng-2832	90	1	(	(	PUNCT
fumecheng-2832	90	2	10	10	NUM
fumecheng-2832	90	3	)	)	PUNCT
fumecheng-2832	90	4	and	and	CCONJ
fumecheng-2832	90	5	large	large	ADJ
fumecheng-2832	90	6	mathematical	mathematical	ADJ
fumecheng-2832	90	7	transformations	transformation	NOUN
fumecheng-2832	90	8	lead	lead	VERB
fumecheng-2832	90	9	to	to	ADP
fumecheng-2832	90	10	expressions	expression	NOUN
fumecheng-2832	90	11	for	for	ADP
fumecheng-2832	90	12	the	the	DET
fumecheng-2832	90	13	pid	pid	NOUN
fumecheng-2832	90	14	controller	controller	NOUN
fumecheng-2832	90	15	gains	gain	VERB
fumecheng-2832	90	16	eq	eq	NOUN
fumecheng-2832	90	17	.	.	PUNCT
fumecheng-2832	91	1	(	(	PUNCT
fumecheng-2832	91	2	12	12	NUM
fumecheng-2832	91	3	):	):	SYM
fumecheng-2832	91	4	2	2	NUM
fumecheng-2832	91	5	2	2	NUM
fumecheng-2832	91	6	(	(	PUNCT
fumecheng-2832	91	7	2	2	NUM
fumecheng-2832	91	8	)	)	PUNCT
fumecheng-2832	91	9	n	n	NOUN
fumecheng-2832	91	10	p	p	NOUN
fumecheng-2832	91	11	ξ	ξ	PROPN
fumecheng-2832	91	12	α	α	X
fumecheng-2832	91	13	β	β	X
fumecheng-2832	91	14	ω	ω	X
fumecheng-2832	91	15	a	a	DET
fumecheng-2832	91	16	k	k	PROPN
fumecheng-2832	91	17	b	b	PROPN
fumecheng-2832	91	18			X
fumecheng-2832	91	19			PUNCT
fumecheng-2832	91	20			VERB
fumecheng-2832	91	21			PROPN
fumecheng-2832	91	22	0	0	NUM
fumecheng-2832	91	23	4	4	NUM
fumecheng-2832	91	24	b	b	X
fumecheng-2832	91	25	αβω	αβω	PROPN
fumecheng-2832	91	26	k	k	PROPN
fumecheng-2832	92	1	n	n	PROPN
fumecheng-2832	93	1	i	i	PRON
fumecheng-2832	93	2			NOUN
fumecheng-2832	93	3	(	(	PUNCT
fumecheng-2832	93	4	12	12	NUM
fumecheng-2832	93	5	)	)	SYM
fumecheng-2832	93	6	2	2	NUM
fumecheng-2832	93	7	2	2	NUM
fumecheng-2832	93	8	3	3	NUM
fumecheng-2832	93	9	2	2	NUM
fumecheng-2832	93	10	1	1	NUM
fumecheng-2832	93	11	2	2	NUM
fumecheng-2832	93	12	1	1	NUM
fumecheng-2832	93	13	1	1	NUM
fumecheng-2832	93	14	2	2	NUM
fumecheng-2832	93	15	2	2	NUM
fumecheng-2832	93	16	0	0	NUM
fumecheng-2832	93	17	2	2	NUM
fumecheng-2832	93	18	0	0	NUM
fumecheng-2832	93	19	1	1	NUM
fumecheng-2832	93	20	2	2	NUM
fumecheng-2832	93	21	2	2	NUM
fumecheng-2832	93	22	2	2	NUM
fumecheng-2832	93	23	0	0	NUM
fumecheng-2832	93	24	2	2	NUM
fumecheng-2832	93	25	2	2	NUM
fumecheng-2832	93	26	0	0	NUM
fumecheng-2832	93	27	2	2	NUM
fumecheng-2832	93	28	1	1	NUM
fumecheng-2832	93	29	2	2	NUM
fumecheng-2832	93	30	1	1	NUM
fumecheng-2832	93	31	0	0	NUM
fumecheng-2832	93	32	1	1	NUM
fumecheng-2832	93	33	2	2	NUM
fumecheng-2832	93	34	(	(	PUNCT
fumecheng-2832	93	35	1	1	NUM
fumecheng-2832	93	36	2	2	NUM
fumecheng-2832	93	37	2	2	NUM
fumecheng-2832	93	38	)	)	PUNCT
fumecheng-2832	93	39	(	(	PUNCT
fumecheng-2832	93	40	2	2	X
fumecheng-2832	93	41	)	)	PUNCT
fumecheng-2832	93	42	(	(	PUNCT
fumecheng-2832	93	43	2	2	X
fumecheng-2832	93	44	)	)	PUNCT
fumecheng-2832	93	45	(	(	PUNCT
fumecheng-2832	93	46	2	2	X
fumecheng-2832	93	47	)	)	PUNCT
fumecheng-2832	93	48	n	n	CCONJ
fumecheng-2832	93	49	n	n	NOUN
fumecheng-2832	93	50	d	d	PROPN
fumecheng-2832	93	51	n	n	CCONJ
fumecheng-2832	93	52	n	n	NOUN
fumecheng-2832	93	53	α	α	NOUN
fumecheng-2832	93	54	β	β	X
fumecheng-2832	94	1	αβ	αβ	PROPN
fumecheng-2832	94	2	b	b	PROPN
fumecheng-2832	94	3	b	b	PROPN
fumecheng-2832	94	4	ω	ω	PROPN
fumecheng-2832	94	5	a	a	DET
fumecheng-2832	94	6	b	b	PROPN
fumecheng-2832	94	7	b	b	PROPN
fumecheng-2832	94	8	α	α	NOUN
fumecheng-2832	94	9	β	β	X
fumecheng-2832	94	10	α	α	X
fumecheng-2832	94	11	ξ	ξ	PROPN
fumecheng-2832	94	12	b	b	PROPN
fumecheng-2832	94	13	ω	ω	PROPN
fumecheng-2832	94	14	a	a	PRON
fumecheng-2832	94	15	b	b	PROPN
fumecheng-2832	95	1	k	k	PROPN
fumecheng-2832	95	2	b	b	PROPN
fumecheng-2832	95	3	b	b	PROPN
fumecheng-2832	95	4	b	b	PROPN
fumecheng-2832	95	5	ξ	ξ	PROPN
fumecheng-2832	95	6	α	α	NOUN
fumecheng-2832	95	7	β	β	X
fumecheng-2832	95	8	b	b	PROPN
fumecheng-2832	95	9	b	b	PROPN
fumecheng-2832	95	10	ω	ω	PROPN
fumecheng-2832	95	11	a	a	DET
fumecheng-2832	95	12	b	b	PROPN
fumecheng-2832	95	13	b	b	PROPN
fumecheng-2832	95	14	ξ	ξ	PROPN
fumecheng-2832	95	15	α	α	PROPN
fumecheng-2832	95	16	β	β	X
fumecheng-2832	95	17	b	b	PROPN
fumecheng-2832	95	18	ω	ω	PROPN
fumecheng-2832	95	19	a	a	PRON
fumecheng-2832	95	20	b	b	PROPN
fumecheng-2832	95	21	b	b	PROPN
fumecheng-2832	95	22	b	b	PROPN
fumecheng-2832	95	23	b	b	X
fumecheng-2832	95	24			NOUN
fumecheng-2832	95	25			NOUN
fumecheng-2832	95	26			PROPN
fumecheng-2832	95	27			PROPN
fumecheng-2832	95	28			PUNCT
fumecheng-2832	95	29			PROPN
fumecheng-2832	95	30			PROPN
fumecheng-2832	95	31			PUNCT
fumecheng-2832	95	32			CCONJ
fumecheng-2832	95	33			PROPN
fumecheng-2832	95	34			PROPN
fumecheng-2832	95	35			PROPN
fumecheng-2832	95	36			PUNCT
fumecheng-2832	95	37			PUNCT
fumecheng-2832	95	38			PROPN
fumecheng-2832	95	39			PROPN
fumecheng-2832	95	40			PUNCT
fumecheng-2832	95	41			CCONJ
fumecheng-2832	95	42			PUNCT
fumecheng-2832	95	43	4	4	NUM
fumecheng-2832	95	44	.	.	PUNCT
fumecheng-2832	95	45	examples	example	NOUN
fumecheng-2832	95	46	the	the	DET
fumecheng-2832	95	47	proposed	propose	VERB
fumecheng-2832	95	48	procedure	procedure	NOUN
fumecheng-2832	95	49	is	be	AUX
fumecheng-2832	95	50	illustrated	illustrate	VERB
fumecheng-2832	95	51	through	through	ADP
fumecheng-2832	95	52	three	three	NUM
fumecheng-2832	95	53	examples	example	NOUN
fumecheng-2832	95	54	that	that	PRON
fumecheng-2832	95	55	have	have	AUX
fumecheng-2832	95	56	been	be	AUX
fumecheng-2832	95	57	examined	examine	VERB
fumecheng-2832	95	58	to	to	PART
fumecheng-2832	95	59	check	check	VERB
fumecheng-2832	95	60	its	its	PRON
fumecheng-2832	95	61	sensitivity	sensitivity	NOUN
fumecheng-2832	95	62	to	to	ADP
fumecheng-2832	95	63	the	the	DET
fumecheng-2832	95	64	model	model	NOUN
fumecheng-2832	95	65	uncertainties	uncertainty	NOUN
fumecheng-2832	95	66	and	and	CCONJ
fumecheng-2832	95	67	at	at	ADP
fumecheng-2832	95	68	the	the	DET
fumecheng-2832	95	69	same	same	ADJ
fumecheng-2832	95	70	time	time	NOUN
fumecheng-2832	95	71	to	to	PART
fumecheng-2832	95	72	start	start	VERB
fumecheng-2832	95	73	investigation	investigation	NOUN
fumecheng-2832	95	74	of	of	ADP
fumecheng-2832	95	75	its	its	PRON
fumecheng-2832	95	76	applicability	applicability	NOUN
fumecheng-2832	95	77	to	to	ADP
fumecheng-2832	95	78	the	the	DET
fumecheng-2832	95	79	different	different	ADJ
fumecheng-2832	95	80	objects	object	NOUN
fumecheng-2832	95	81	.	.	PUNCT
fumecheng-2832	96	1	4.1	4.1	NUM
fumecheng-2832	96	2	.	.	PUNCT
fumecheng-2832	96	3	example	example	NOUN
fumecheng-2832	96	4	1	1	NUM
fumecheng-2832	96	5	electrohydraulic	electrohydraulic	NOUN
fumecheng-2832	96	6	servosystem	servosystem	NOUN
fumecheng-2832	96	7	for	for	ADP
fumecheng-2832	96	8	structural	structural	ADJ
fumecheng-2832	96	9	testing	testing	NOUN
fumecheng-2832	96	10	is	be	AUX
fumecheng-2832	96	11	shown	show	VERB
fumecheng-2832	96	12	in	in	ADP
fumecheng-2832	96	13	fig	fig	NOUN
fumecheng-2832	96	14	.	.	PUNCT
fumecheng-2832	97	1	2	2	X
fumecheng-2832	97	2	.	.	X
fumecheng-2832	97	3	its	its	PRON
fumecheng-2832	97	4	mathematical	mathematical	ADJ
fumecheng-2832	97	5	model	model	NOUN
fumecheng-2832	97	6	was	be	AUX
fumecheng-2832	97	7	obtained	obtain	VERB
fumecheng-2832	97	8	by	by	ADP
fumecheng-2832	97	9	means	mean	NOUN
fumecheng-2832	97	10	of	of	ADP
fumecheng-2832	97	11	an	an	DET
fumecheng-2832	97	12	appropriate	appropriate	ADJ
fumecheng-2832	97	13	identification	identification	NOUN
fumecheng-2832	97	14	procedure	procedure	NOUN
fumecheng-2832	97	15	and	and	CCONJ
fumecheng-2832	97	16	given	give	VERB
fumecheng-2832	97	17	by	by	ADP
fumecheng-2832	97	18	eq	eq	PROPN
fumecheng-2832	97	19	.	.	PUNCT
fumecheng-2832	98	1	(	(	PUNCT
fumecheng-2832	98	2	13	13	NUM
fumecheng-2832	98	3	)	)	PUNCT
fumecheng-2832	99	1	[	[	X
fumecheng-2832	99	2	7	7	NUM
fumecheng-2832	99	3	]	]	PUNCT
fumecheng-2832	99	4	.	.	PUNCT
fumecheng-2832	100	1	the	the	DET
fumecheng-2832	100	2	control	control	NOUN
fumecheng-2832	100	3	system	system	NOUN
fumecheng-2832	100	4	serves	serve	VERB
fumecheng-2832	100	5	to	to	PART
fumecheng-2832	100	6	enable	enable	VERB
fumecheng-2832	100	7	defined	define	VERB
fumecheng-2832	100	8	load	load	NOUN
fumecheng-2832	100	9	to	to	ADP
fumecheng-2832	100	10	the	the	DET
fumecheng-2832	100	11	cantilever	cantilever	NOUN
fumecheng-2832	100	12	beam	beam	NOUN
fumecheng-2832	100	13	.	.	PUNCT
fumecheng-2832	101	1	intensity	intensity	NOUN
fumecheng-2832	101	2	and	and	CCONJ
fumecheng-2832	101	3	character	character	NOUN
fumecheng-2832	101	4	of	of	ADP
fumecheng-2832	101	5	the	the	DET
fumecheng-2832	101	6	forces	force	NOUN
fumecheng-2832	101	7	on	on	ADP
fumecheng-2832	101	8	the	the	DET
fumecheng-2832	101	9	piston	piston	NOUN
fumecheng-2832	101	10	rods	rod	NOUN
fumecheng-2832	101	11	are	be	AUX
fumecheng-2832	101	12	characteristics	characteristic	NOUN
fumecheng-2832	101	13	that	that	PRON
fumecheng-2832	101	14	should	should	AUX
fumecheng-2832	101	15	be	be	AUX
fumecheng-2832	101	16	controlled	control	VERB
fumecheng-2832	101	17	by	by	ADP
fumecheng-2832	101	18	flow	flow	NOUN
fumecheng-2832	101	19	rates	rate	NOUN
fumecheng-2832	101	20	through	through	ADP
fumecheng-2832	101	21	the	the	DET
fumecheng-2832	101	22	servovalves	servovalve	NOUN
fumecheng-2832	101	23	.	.	PUNCT
fumecheng-2832	102	1	forces	force	NOUN
fumecheng-2832	102	2	f1r	f1r	X
fumecheng-2832	102	3	and	and	CCONJ
fumecheng-2832	102	4	f2r	f2r	PROPN
fumecheng-2832	102	5	are	be	AUX
fumecheng-2832	102	6	reference	reference	NOUN
fumecheng-2832	102	7	values	value	NOUN
fumecheng-2832	102	8	.	.	PUNCT
fumecheng-2832	103	1	values	value	NOUN
fumecheng-2832	103	2	f1	f1	PROPN
fumecheng-2832	103	3	and	and	CCONJ
fumecheng-2832	103	4	f2	f2	PROPN
fumecheng-2832	103	5	from	from	ADP
fumecheng-2832	103	6	their	their	PRON
fumecheng-2832	103	7	transducers	transducer	NOUN
fumecheng-2832	103	8	are	be	AUX
fumecheng-2832	103	9	object	object	NOUN
fumecheng-2832	103	10	outputs	output	NOUN
fumecheng-2832	103	11	(	(	PUNCT
fumecheng-2832	103	12	controlled	control	VERB
fumecheng-2832	103	13	variables	variable	NOUN
fumecheng-2832	103	14	)	)	PUNCT
fumecheng-2832	103	15	.	.	PUNCT
fumecheng-2832	104	1	decoupling	decouple	VERB
fumecheng-2832	104	2	control	control	NOUN
fumecheng-2832	104	3	of	of	ADP
fumecheng-2832	104	4	tito	tito	PROPN
fumecheng-2832	104	5	system	system	NOUN
fumecheng-2832	104	6	supported	support	VERB
fumecheng-2832	104	7	by	by	ADP
fumecheng-2832	104	8	dominant	dominant	ADJ
fumecheng-2832	104	9	pole	pole	NOUN
fumecheng-2832	104	10	placement	placement	NOUN
fumecheng-2832	104	11	method	method	NOUN
fumecheng-2832	104	12	249	249	NUM
fumecheng-2832	104	13	fig	fig	NOUN
fumecheng-2832	104	14	.	.	PUNCT
fumecheng-2832	105	1	2	2	NUM
fumecheng-2832	105	2	double	double	ADJ
fumecheng-2832	105	3	actuator	actuator	NOUN
fumecheng-2832	105	4	electrohydraulic	electrohydraulic	NOUN
fumecheng-2832	105	5	servosystem	servosystem	NOUN
fumecheng-2832	105	6	for	for	ADP
fumecheng-2832	105	7	structural	structural	ADJ
fumecheng-2832	105	8	testing	testing	NOUN
fumecheng-2832	105	9	(	(	PUNCT
fumecheng-2832	105	10	scheme	scheme	NOUN
fumecheng-2832	105	11	)	)	PUNCT
fumecheng-2832	106	1	[	[	X
fumecheng-2832	106	2	7	7	X
fumecheng-2832	106	3	]	]	SYM
fumecheng-2832	106	4	11	11	NUM
fumecheng-2832	106	5	12	12	NUM
fumecheng-2832	106	6	21	21	NUM
fumecheng-2832	106	7	22	22	NUM
fumecheng-2832	106	8	(	(	PUNCT
fumecheng-2832	106	9	)	)	PUNCT
fumecheng-2832	106	10	(	(	PUNCT
fumecheng-2832	106	11	)	)	PUNCT
fumecheng-2832	106	12	1	1	NUM
fumecheng-2832	106	13	(	(	PUNCT
fumecheng-2832	106	14	)	)	PUNCT
fumecheng-2832	106	15	(	(	PUNCT
fumecheng-2832	106	16	)	)	PUNCT
fumecheng-2832	106	17	(	(	PUNCT
fumecheng-2832	106	18	)	)	PUNCT
fumecheng-2832	106	19	(	(	PUNCT
fumecheng-2832	106	20	)	)	PUNCT
fumecheng-2832	106	21	g	g	PROPN
fumecheng-2832	106	22	s	s	PROPN
fumecheng-2832	106	23	g	g	PROPN
fumecheng-2832	106	24	s	s	PROPN
fumecheng-2832	106	25	g	g	PROPN
fumecheng-2832	106	26	s	s	PROPN
fumecheng-2832	106	27	g	g	PROPN
fumecheng-2832	106	28	s	s	PROPN
fumecheng-2832	106	29	g	g	NOUN
fumecheng-2832	106	30	sδ	sδ	PROPN
fumecheng-2832	106	31	s	s	PROPN
fumecheng-2832	106	32			NOUN
fumecheng-2832	106	33			NOUN
fumecheng-2832	106	34			PROPN
fumecheng-2832	106	35			NOUN
fumecheng-2832	106	36			NOUN
fumecheng-2832	106	37			NOUN
fumecheng-2832	106	38			PROPN
fumecheng-2832	106	39	2	2	NUM
fumecheng-2832	106	40	4	4	NUM
fumecheng-2832	106	41	4	4	NUM
fumecheng-2832	106	42	3	3	NUM
fumecheng-2832	106	43	7	7	NUM
fumecheng-2832	106	44	2	2	NUM
fumecheng-2832	106	45	7	7	NUM
fumecheng-2832	106	46	9	9	NUM
fumecheng-2832	106	47	11	11	NUM
fumecheng-2832	106	48	(	(	PUNCT
fumecheng-2832	106	49	)	)	PUNCT
fumecheng-2832	106	50	2.926	2.926	NUM
fumecheng-2832	106	51	10	10	NUM
fumecheng-2832	106	52	1.9152	1.9152	NUM
fumecheng-2832	106	53	10	10	NUM
fumecheng-2832	106	54	1.2667	1.2667	NUM
fumecheng-2832	106	55	10	10	NUM
fumecheng-2832	106	56	5.5825	5.5825	NUM
fumecheng-2832	106	57	10	10	NUM
fumecheng-2832	106	58	4.7959	4.7959	NUM
fumecheng-2832	106	59	10	10	NUM
fumecheng-2832	106	60	g	g	NOUN
fumecheng-2832	106	61	s	s	NOUN
fumecheng-2832	106	62	s	s	NOUN
fumecheng-2832	106	63	s	s	X
fumecheng-2832	106	64	s	s	NOUN
fumecheng-2832	106	65	s	s	ADJ
fumecheng-2832	106	66			ADJ
fumecheng-2832	106	67			ADJ
fumecheng-2832	106	68			NUM
fumecheng-2832	106	69			ADJ
fumecheng-2832	106	70			NUM
fumecheng-2832	106	71			ADJ
fumecheng-2832	106	72			NUM
fumecheng-2832	106	73			ADJ
fumecheng-2832	106	74			NUM
fumecheng-2832	106	75	4	4	NUM
fumecheng-2832	106	76	3	3	NUM
fumecheng-2832	106	77	7	7	NUM
fumecheng-2832	106	78	2	2	NUM
fumecheng-2832	106	79	7	7	NUM
fumecheng-2832	106	80	9	9	NUM
fumecheng-2832	106	81	12	12	NUM
fumecheng-2832	106	82	(	(	PUNCT
fumecheng-2832	106	83	)	)	PUNCT
fumecheng-2832	106	84	3.8382	3.8382	NUM
fumecheng-2832	106	85	10	10	NUM
fumecheng-2832	106	86	1.7068	1.7068	NUM
fumecheng-2832	106	87	10	10	NUM
fumecheng-2832	106	88	8.3584	8.3584	NUM
fumecheng-2832	106	89	10	10	NUM
fumecheng-2832	106	90	6.4967	6.4967	NUM
fumecheng-2832	106	91	10	10	NUM
fumecheng-2832	106	92	g	g	NOUN
fumecheng-2832	106	93	s	s	PART
fumecheng-2832	106	94	s	s	NOUN
fumecheng-2832	106	95	s	s	X
fumecheng-2832	106	96	s	s	ADJ
fumecheng-2832	106	97			NOUN
fumecheng-2832	106	98			VERB
fumecheng-2832	106	99			NOUN
fumecheng-2832	106	100			VERB
fumecheng-2832	106	101			NOUN
fumecheng-2832	106	102			VERB
fumecheng-2832	106	103			NOUN
fumecheng-2832	106	104			NUM
fumecheng-2832	106	105	(	(	PUNCT
fumecheng-2832	106	106	13	13	NUM
fumecheng-2832	106	107	)	)	PUNCT
fumecheng-2832	106	108	3	3	NUM
fumecheng-2832	106	109	3	3	NUM
fumecheng-2832	106	110	6	6	NUM
fumecheng-2832	106	111	2	2	NUM
fumecheng-2832	106	112	7	7	NUM
fumecheng-2832	106	113	9	9	NUM
fumecheng-2832	106	114	21	21	NUM
fumecheng-2832	106	115	(	(	PUNCT
fumecheng-2832	106	116	)	)	PUNCT
fumecheng-2832	106	117	4.4533	4.4533	NUM
fumecheng-2832	106	118	10	10	NUM
fumecheng-2832	106	119	3.2461	3.2461	NUM
fumecheng-2832	106	120	10	10	NUM
fumecheng-2832	106	121	1.4362	1.4362	NUM
fumecheng-2832	106	122	10	10	NUM
fumecheng-2832	106	123	1.2403	1.2403	NUM
fumecheng-2832	106	124	10	10	NUM
fumecheng-2832	106	125	g	g	NOUN
fumecheng-2832	106	126	s	s	PART
fumecheng-2832	106	127	s	s	NOUN
fumecheng-2832	106	128	s	s	X
fumecheng-2832	106	129	s	s	ADJ
fumecheng-2832	106	130			NOUN
fumecheng-2832	106	131			VERB
fumecheng-2832	106	132			NOUN
fumecheng-2832	106	133			VERB
fumecheng-2832	106	134			NOUN
fumecheng-2832	106	135			VERB
fumecheng-2832	106	136			NOUN
fumecheng-2832	106	137			NUM
fumecheng-2832	106	138	2	2	NUM
fumecheng-2832	106	139	4	4	NUM
fumecheng-2832	106	140	4	4	NUM
fumecheng-2832	106	141	3	3	NUM
fumecheng-2832	106	142	6	6	NUM
fumecheng-2832	106	143	2	2	NUM
fumecheng-2832	106	144	6	6	NUM
fumecheng-2832	106	145	9	9	NUM
fumecheng-2832	106	146	22	22	NUM
fumecheng-2832	106	147	(	(	PUNCT
fumecheng-2832	106	148	)	)	PUNCT
fumecheng-2832	106	149	2.506	2.506	NUM
fumecheng-2832	106	150	10	10	NUM
fumecheng-2832	106	151	1.6229	1.6229	NUM
fumecheng-2832	106	152	10	10	NUM
fumecheng-2832	106	153	6.6134	6.6134	NUM
fumecheng-2832	106	154	10	10	NUM
fumecheng-2832	106	155	3.0476	3.0476	NUM
fumecheng-2832	106	156	10	10	NUM
fumecheng-2832	106	157	2.4813	2.4813	NUM
fumecheng-2832	106	158	10	10	NUM
fumecheng-2832	106	159	g	g	NOUN
fumecheng-2832	106	160	s	s	NOUN
fumecheng-2832	106	161	s	s	NOUN
fumecheng-2832	106	162	s	s	X
fumecheng-2832	106	163	s	s	NOUN
fumecheng-2832	106	164	s	s	ADJ
fumecheng-2832	106	165			ADJ
fumecheng-2832	106	166			ADJ
fumecheng-2832	106	167			NUM
fumecheng-2832	106	168			ADJ
fumecheng-2832	106	169			NUM
fumecheng-2832	106	170			ADJ
fumecheng-2832	106	171			NUM
fumecheng-2832	106	172			ADJ
fumecheng-2832	106	173			NUM
fumecheng-2832	106	174	5	5	NUM
fumecheng-2832	106	175	2	2	NUM
fumecheng-2832	106	176	4	4	NUM
fumecheng-2832	106	177	4	4	NUM
fumecheng-2832	106	178	3	3	NUM
fumecheng-2832	106	179	6	6	NUM
fumecheng-2832	106	180	2	2	NUM
fumecheng-2832	106	181	8	8	NUM
fumecheng-2832	106	182	6	6	NUM
fumecheng-2832	106	183	(	(	PUNCT
fumecheng-2832	106	184	)	)	PUNCT
fumecheng-2832	106	185	1.2308	1.2308	NUM
fumecheng-2832	106	186	10	10	NUM
fumecheng-2832	106	187	6.993	6.993	NUM
fumecheng-2832	106	188	10	10	NUM
fumecheng-2832	106	189	1.5098	1.5098	NUM
fumecheng-2832	106	190	10	10	NUM
fumecheng-2832	106	191	3.5504	3.5504	NUM
fumecheng-2832	106	192	10	10	NUM
fumecheng-2832	106	193	8.2333	8.2333	NUM
fumecheng-2832	106	194	10δ	10δ	NOUN
fumecheng-2832	106	195	s	s	PART
fumecheng-2832	106	196	s	s	NOUN
fumecheng-2832	106	197	s	s	X
fumecheng-2832	106	198	s	s	X
fumecheng-2832	106	199	s	s	X
fumecheng-2832	106	200	s	s	X
fumecheng-2832	106	201			ADJ
fumecheng-2832	106	202			PUNCT
fumecheng-2832	106	203			PROPN
fumecheng-2832	106	204			ADJ
fumecheng-2832	106	205			NUM
fumecheng-2832	106	206			ADJ
fumecheng-2832	106	207			NUM
fumecheng-2832	106	208			ADJ
fumecheng-2832	106	209			NUM
fumecheng-2832	106	210			ADJ
fumecheng-2832	106	211			ADJ
fumecheng-2832	106	212	static	static	ADJ
fumecheng-2832	106	213	inverted	invert	VERB
fumecheng-2832	106	214	decoupler	decoupler	NOUN
fumecheng-2832	106	215	for	for	ADP
fumecheng-2832	106	216	the	the	DET
fumecheng-2832	106	217	particular	particular	ADJ
fumecheng-2832	106	218	system	system	NOUN
fumecheng-2832	106	219	eq	eq	ADJ
fumecheng-2832	106	220	.	.	PUNCT
fumecheng-2832	107	1	(	(	PUNCT
fumecheng-2832	107	2	13	13	NUM
fumecheng-2832	107	3	)	)	PUNCT
fumecheng-2832	107	4	calculated	calculate	VERB
fumecheng-2832	107	5	according	accord	VERB
fumecheng-2832	107	6	to	to	ADP
fumecheng-2832	107	7	eq	eq	PROPN
fumecheng-2832	107	8	.	.	PUNCT
fumecheng-2832	108	1	(	(	PUNCT
fumecheng-2832	108	2	2	2	X
fumecheng-2832	108	3	)	)	PUNCT
fumecheng-2832	108	4	is	be	AUX
fumecheng-2832	108	5	:	:	PUNCT
fumecheng-2832	108	6	0	0	NUM
fumecheng-2832	108	7	1	1	NUM
fumecheng-2832	108	8	1.35	1.35	NUM
fumecheng-2832	108	9	(	(	PUNCT
fumecheng-2832	108	10	)	)	PUNCT
fumecheng-2832	108	11	0.5	0.5	NUM
fumecheng-2832	108	12	1s	1s	NUM
fumecheng-2832	109	1	d	d	X
fumecheng-2832	109	2	s	s	VERB
fumecheng-2832	110	1	|	|	ADV
fumecheng-2832	110	2			ADJ
fumecheng-2832	110	3			PROPN
fumecheng-2832	110	4			NOUN
fumecheng-2832	110	5			PROPN
fumecheng-2832	110	6			NOUN
fumecheng-2832	110	7			NOUN
fumecheng-2832	110	8			NOUN
fumecheng-2832	110	9			PROPN
fumecheng-2832	110	10	(	(	PUNCT
fumecheng-2832	110	11	14	14	NUM
fumecheng-2832	110	12	)	)	PUNCT
fumecheng-2832	110	13	fifth	fifth	ADJ
fumecheng-2832	110	14	-	-	PUNCT
fumecheng-2832	110	15	order	order	NOUN
fumecheng-2832	110	16	elements	element	NOUN
fumecheng-2832	110	17	of	of	ADP
fumecheng-2832	110	18	the	the	DET
fumecheng-2832	110	19	transfer	transfer	NOUN
fumecheng-2832	110	20	matrix	matrix	NOUN
fumecheng-2832	110	21	g11(s)/(s	g11(s)/(s	NOUN
fumecheng-2832	110	22	)	)	PUNCT
fumecheng-2832	110	23	and	and	CCONJ
fumecheng-2832	110	24	g22(s)/(s	g22(s)/(s	NOUN
fumecheng-2832	110	25	)	)	PUNCT
fumecheng-2832	110	26	were	be	AUX
fumecheng-2832	110	27	reduced	reduce	VERB
fumecheng-2832	110	28	to	to	ADP
fumecheng-2832	110	29	the	the	DET
fumecheng-2832	110	30	third	third	ADJ
fumecheng-2832	110	31	-	-	PUNCT
fumecheng-2832	110	32	order	order	NOUN
fumecheng-2832	110	33	using	use	VERB
fumecheng-2832	110	34	matlab	matlab	PROPN
fumecheng-2832	110	35	toolbox	toolbox	NOUN
fumecheng-2832	110	36	.	.	PUNCT
fumecheng-2832	111	1	effectiveness	effectiveness	NOUN
fumecheng-2832	111	2	of	of	ADP
fumecheng-2832	111	3	the	the	DET
fumecheng-2832	111	4	reducing	reduce	VERB
fumecheng-2832	111	5	procedure	procedure	NOUN
fumecheng-2832	111	6	has	have	AUX
fumecheng-2832	111	7	been	be	AUX
fumecheng-2832	111	8	checked	check	VERB
fumecheng-2832	111	9	by	by	ADP
fumecheng-2832	111	10	comparison	comparison	NOUN
fumecheng-2832	111	11	of	of	ADP
fumecheng-2832	111	12	step	step	NOUN
fumecheng-2832	111	13	and	and	CCONJ
fumecheng-2832	111	14	sine	sine	ADJ
fumecheng-2832	111	15	responses	response	NOUN
fumecheng-2832	111	16	of	of	ADP
fumecheng-2832	111	17	these	these	DET
fumecheng-2832	111	18	elements	element	NOUN
fumecheng-2832	111	19	.	.	PUNCT
fumecheng-2832	112	1	these	these	DET
fumecheng-2832	112	2	graphics	graphic	NOUN
fumecheng-2832	112	3	are	be	AUX
fumecheng-2832	112	4	shown	show	VERB
fumecheng-2832	112	5	in	in	ADP
fumecheng-2832	112	6	fig	fig	NOUN
fumecheng-2832	112	7	.	.	PUNCT
fumecheng-2832	113	1	3	3	X
fumecheng-2832	113	2	.	.	PUNCT
fumecheng-2832	113	3	based	base	VERB
fumecheng-2832	113	4	on	on	ADP
fumecheng-2832	113	5	them	they	PRON
fumecheng-2832	113	6	,	,	PUNCT
fumecheng-2832	113	7	it	it	PRON
fumecheng-2832	113	8	is	be	AUX
fumecheng-2832	113	9	obvious	obvious	ADJ
fumecheng-2832	113	10	that	that	SCONJ
fumecheng-2832	113	11	the	the	DET
fumecheng-2832	113	12	reduced	reduce	VERB
fumecheng-2832	113	13	elements	element	NOUN
fumecheng-2832	113	14	well	well	ADV
fumecheng-2832	113	15	represent	represent	VERB
fumecheng-2832	113	16	identified	identify	VERB
fumecheng-2832	113	17	transfer	transfer	NOUN
fumecheng-2832	113	18	matrix	matrix	NOUN
fumecheng-2832	113	19	.	.	PUNCT
fumecheng-2832	114	1	this	this	PRON
fumecheng-2832	114	2	is	be	AUX
fumecheng-2832	114	3	due	due	ADJ
fumecheng-2832	114	4	to	to	ADP
fumecheng-2832	114	5	the	the	DET
fumecheng-2832	114	6	appropriate	appropriate	ADJ
fumecheng-2832	114	7	matching	matching	NOUN
fumecheng-2832	114	8	of	of	ADP
fumecheng-2832	114	9	the	the	DET
fumecheng-2832	114	10	step	step	NOUN
fumecheng-2832	114	11	responses	response	NOUN
fumecheng-2832	114	12	and	and	CCONJ
fumecheng-2832	114	13	excellent	excellent	ADJ
fumecheng-2832	114	14	matching	matching	NOUN
fumecheng-2832	114	15	of	of	ADP
fumecheng-2832	114	16	the	the	DET
fumecheng-2832	114	17	sine	sine	ADJ
fumecheng-2832	114	18	responses	response	NOUN
fumecheng-2832	114	19	.	.	PUNCT
fumecheng-2832	115	1	250	250	NUM
fumecheng-2832	115	2	n.	n.	PROPN
fumecheng-2832	115	3	n.	n.	PROPN
fumecheng-2832	115	4	nedić	nedić	PROPN
fumecheng-2832	115	5	,	,	PUNCT
fumecheng-2832	115	6	s.	s.	PROPN
fumecheng-2832	115	7	lj	lj	PROPN
fumecheng-2832	115	8	.	.	PUNCT
fumecheng-2832	116	1	prodanović	prodanović	PROPN
fumecheng-2832	116	2	,	,	PUNCT
fumecheng-2832	116	3	lj	lj	PROPN
fumecheng-2832	116	4	.	.	PUNCT
fumecheng-2832	116	5	m.	m.	PROPN
fumecheng-2832	116	6	dubonjić	dubonjić	PROPN
fumecheng-2832	116	7	a	a	PRON
fumecheng-2832	116	8	)	)	PUNCT
fumecheng-2832	116	9	b	b	NOUN
fumecheng-2832	116	10	)	)	PUNCT
fumecheng-2832	116	11	c	c	NOUN
fumecheng-2832	116	12	)	)	PUNCT
fumecheng-2832	116	13	d	d	NOUN
fumecheng-2832	116	14	)	)	PUNCT
fumecheng-2832	116	15	fig	fig	NOUN
fumecheng-2832	116	16	.	.	PUNCT
fumecheng-2832	117	1	3	3	NUM
fumecheng-2832	117	2	comparison	comparison	NOUN
fumecheng-2832	117	3	of	of	ADP
fumecheng-2832	117	4	step	step	NOUN
fumecheng-2832	117	5	(	(	PUNCT
fumecheng-2832	117	6	a	a	DET
fumecheng-2832	117	7	,	,	PUNCT
fumecheng-2832	117	8	b	b	NOUN
fumecheng-2832	117	9	)	)	PUNCT
fumecheng-2832	117	10	and	and	CCONJ
fumecheng-2832	117	11	sine	sine	ADJ
fumecheng-2832	117	12	(	(	PUNCT
fumecheng-2832	117	13	c	c	X
fumecheng-2832	117	14	,	,	PUNCT
fumecheng-2832	117	15	d	d	NOUN
fumecheng-2832	117	16	)	)	PUNCT
fumecheng-2832	117	17	responses	response	NOUN
fumecheng-2832	117	18	of	of	ADP
fumecheng-2832	117	19	identified	identify	VERB
fumecheng-2832	117	20	[	[	X
fumecheng-2832	117	21	7	7	NUM
fumecheng-2832	117	22	]	]	PUNCT
fumecheng-2832	117	23	and	and	CCONJ
fumecheng-2832	117	24	reduced	reduced	ADJ
fumecheng-2832	117	25	elements	element	NOUN
fumecheng-2832	117	26	of	of	ADP
fumecheng-2832	117	27	the	the	DET
fumecheng-2832	117	28	transfer	transfer	NOUN
fumecheng-2832	117	29	matrix	matrix	NOUN
fumecheng-2832	117	30	presented	present	VERB
fumecheng-2832	117	31	by	by	ADP
fumecheng-2832	117	32	eq	eq	PROPN
fumecheng-2832	117	33	.	.	PUNCT
fumecheng-2832	118	1	(	(	PUNCT
fumecheng-2832	118	2	13	13	NUM
fumecheng-2832	118	3	)	)	PUNCT
fumecheng-2832	118	4	laplace	laplace	NOUN
fumecheng-2832	118	5	operator	operator	NOUN
fumecheng-2832	118	6	s	s	VERB
fumecheng-2832	118	7	was	be	AUX
fumecheng-2832	118	8	omitted	omit	VERB
fumecheng-2832	118	9	in	in	ADP
fumecheng-2832	118	10	fig	fig	NOUN
fumecheng-2832	118	11	.	.	PUNCT
fumecheng-2832	119	1	3	3	NUM
fumecheng-2832	119	2	in	in	ADP
fumecheng-2832	119	3	order	order	NOUN
fumecheng-2832	119	4	to	to	PART
fumecheng-2832	119	5	improve	improve	VERB
fumecheng-2832	119	6	its	its	PRON
fumecheng-2832	119	7	clarity	clarity	NOUN
fumecheng-2832	119	8	.	.	PUNCT
fumecheng-2832	120	1	decoupling	decouple	VERB
fumecheng-2832	120	2	control	control	NOUN
fumecheng-2832	120	3	of	of	ADP
fumecheng-2832	120	4	tito	tito	PROPN
fumecheng-2832	120	5	system	system	NOUN
fumecheng-2832	120	6	supported	support	VERB
fumecheng-2832	120	7	by	by	ADP
fumecheng-2832	120	8	dominant	dominant	ADJ
fumecheng-2832	120	9	pole	pole	NOUN
fumecheng-2832	120	10	placement	placement	NOUN
fumecheng-2832	120	11	method	method	NOUN
fumecheng-2832	120	12	251	251	NUM
fumecheng-2832	120	13	reduced	reduce	VERB
fumecheng-2832	120	14	elements	element	NOUN
fumecheng-2832	120	15	are	be	AUX
fumecheng-2832	120	16	given	give	VERB
fumecheng-2832	120	17	by	by	ADP
fumecheng-2832	120	18	:	:	PUNCT
fumecheng-2832	120	19	2	2	NUM
fumecheng-2832	120	20	.1	.1	NUM
fumecheng-2832	120	21	11	11	NUM
fumecheng-2832	120	22	3	3	NUM
fumecheng-2832	120	23	2	2	NUM
fumecheng-2832	120	24	2	2	NUM
fumecheng-2832	120	25	.1	.1	NUM
fumecheng-2832	120	26	22	22	NUM
fumecheng-2832	120	27	3	3	NUM
fumecheng-2832	120	28	2	2	NUM
fumecheng-2832	120	29	191	191	NUM
fumecheng-2832	120	30	593	593	NUM
fumecheng-2832	120	31	75911	75911	NUM
fumecheng-2832	120	32	(	(	PUNCT
fumecheng-2832	120	33	)	)	PUNCT
fumecheng-2832	120	34	14.3	14.3	NUM
fumecheng-2832	120	35	5620.5	5620.5	NUM
fumecheng-2832	120	36	102	102	NUM
fumecheng-2832	120	37	1041	1041	NUM
fumecheng-2832	120	38	39243	39243	NUM
fumecheng-2832	120	39	(	(	PUNCT
fumecheng-2832	120	40	)	)	PUNCT
fumecheng-2832	120	41	16.8	16.8	NUM
fumecheng-2832	120	42	5614.8	5614.8	NUM
fumecheng-2832	120	43	ex	ex	X
fumecheng-2832	120	44	ex	ex	X
fumecheng-2832	120	45	s	s	NOUN
fumecheng-2832	120	46	s	s	NOUN
fumecheng-2832	120	47	g	g	NOUN
fumecheng-2832	120	48	s	s	ADP
fumecheng-2832	120	49	s	s	NOUN
fumecheng-2832	120	50	s	s	X
fumecheng-2832	120	51	s	s	X
fumecheng-2832	120	52	s	s	X
fumecheng-2832	120	53	s	s	NOUN
fumecheng-2832	120	54	g	g	NOUN
fumecheng-2832	120	55	s	s	ADP
fumecheng-2832	120	56	s	s	NOUN
fumecheng-2832	120	57	s	s	X
fumecheng-2832	120	58	s	s	ADP
fumecheng-2832	120	59			PROPN
fumecheng-2832	120	60			ADJ
fumecheng-2832	120	61			PROPN
fumecheng-2832	120	62			ADV
fumecheng-2832	120	63			NUM
fumecheng-2832	120	64			ADJ
fumecheng-2832	120	65			NUM
fumecheng-2832	120	66			PUNCT
fumecheng-2832	120	67			ADJ
fumecheng-2832	120	68			VERB
fumecheng-2832	120	69			NOUN
fumecheng-2832	120	70			PROPN
fumecheng-2832	120	71			ADV
fumecheng-2832	120	72			NUM
fumecheng-2832	120	73			ADJ
fumecheng-2832	120	74			PROPN
fumecheng-2832	120	75			ADJ
fumecheng-2832	120	76			PROPN
fumecheng-2832	120	77	(	(	PUNCT
fumecheng-2832	120	78	15	15	NUM
fumecheng-2832	120	79	)	)	PUNCT
fumecheng-2832	120	80	appropriate	appropriate	ADJ
fumecheng-2832	120	81	choice	choice	NOUN
fumecheng-2832	120	82	of	of	ADP
fumecheng-2832	120	83	parameters	parameter	NOUN
fumecheng-2832	120	84	α	α	NUM
fumecheng-2832	120	85	,	,	PUNCT
fumecheng-2832	120	86	β	β	X
fumecheng-2832	120	87	and	and	CCONJ
fumecheng-2832	120	88	ξ	ξ	PROPN
fumecheng-2832	120	89	defines	define	VERB
fumecheng-2832	120	90	the	the	DET
fumecheng-2832	120	91	position	position	NOUN
fumecheng-2832	120	92	of	of	ADP
fumecheng-2832	120	93	the	the	DET
fumecheng-2832	120	94	poles	pole	NOUN
fumecheng-2832	120	95	in	in	ADP
fumecheng-2832	120	96	the	the	DET
fumecheng-2832	120	97	complex	complex	ADJ
fumecheng-2832	120	98	plane	plane	NOUN
fumecheng-2832	120	99	.	.	PUNCT
fumecheng-2832	121	1	the	the	DET
fumecheng-2832	121	2	other	other	ADJ
fumecheng-2832	121	3	coefficients	coefficient	NOUN
fumecheng-2832	121	4	are	be	AUX
fumecheng-2832	121	5	known	know	VERB
fumecheng-2832	121	6	from	from	ADP
fumecheng-2832	121	7	eq	eq	PROPN
fumecheng-2832	121	8	.	.	PUNCT
fumecheng-2832	122	1	(	(	PUNCT
fumecheng-2832	122	2	6	6	NUM
fumecheng-2832	122	3	)	)	PUNCT
fumecheng-2832	122	4	.	.	PUNCT
fumecheng-2832	123	1	in	in	ADP
fumecheng-2832	123	2	the	the	DET
fumecheng-2832	123	3	all	all	DET
fumecheng-2832	123	4	three	three	NUM
fumecheng-2832	123	5	examples	example	NOUN
fumecheng-2832	123	6	the	the	DET
fumecheng-2832	123	7	following	follow	VERB
fumecheng-2832	123	8	values	value	NOUN
fumecheng-2832	123	9	of	of	ADP
fumecheng-2832	123	10	the	the	DET
fumecheng-2832	123	11	parameters	parameter	NOUN
fumecheng-2832	123	12	are	be	AUX
fumecheng-2832	123	13	taken	take	VERB
fumecheng-2832	123	14	α=12	α=12	ADV
fumecheng-2832	123	15	,	,	PUNCT
fumecheng-2832	123	16	β=1	β=1	PUNCT
fumecheng-2832	123	17	and	and	CCONJ
fumecheng-2832	123	18	ξ=1	ξ=1	PROPN
fumecheng-2832	123	19	.	.	PUNCT
fumecheng-2832	124	1	in	in	ADP
fumecheng-2832	124	2	this	this	DET
fumecheng-2832	124	3	one	one	NOUN
fumecheng-2832	124	4	,	,	PUNCT
fumecheng-2832	124	5	according	accord	VERB
fumecheng-2832	124	6	to	to	ADP
fumecheng-2832	124	7	eq	eq	PROPN
fumecheng-2832	124	8	.	.	PUNCT
fumecheng-2832	124	9	(	(	PUNCT
fumecheng-2832	124	10	15	15	NUM
fumecheng-2832	124	11	)	)	PUNCT
fumecheng-2832	124	12	natural	natural	ADJ
fumecheng-2832	124	13	frequency	frequency	NOUN
fumecheng-2832	124	14	is	be	AUX
fumecheng-2832	124	15	ωn=7.15	ωn=7.15	PROPN
fumecheng-2832	124	16	rad	rad	PROPN
fumecheng-2832	124	17	/	/	SYM
fumecheng-2832	124	18	s	s	PART
fumecheng-2832	124	19	(	(	PUNCT
fumecheng-2832	124	20	for	for	ADP
fumecheng-2832	124	21	g11	g11	X
fumecheng-2832	124	22	ex.1	ex.1	PROPN
fumecheng-2832	124	23	)	)	PUNCT
fumecheng-2832	124	24	and	and	CCONJ
fumecheng-2832	124	25	ωn=8.4	ωn=8.4	ADJ
fumecheng-2832	124	26	rad	rad	PROPN
fumecheng-2832	124	27	/	/	SYM
fumecheng-2832	124	28	s	s	X
fumecheng-2832	124	29	(	(	PUNCT
fumecheng-2832	124	30	for	for	ADP
fumecheng-2832	124	31	g22	g22	NOUN
fumecheng-2832	124	32	ex.1	ex.1	PROPN
fumecheng-2832	124	33	)	)	PUNCT
fumecheng-2832	124	34	.	.	PUNCT
fumecheng-2832	125	1	controller	controller	NOUN
fumecheng-2832	125	2	parameters	parameter	NOUN
fumecheng-2832	125	3	calculated	calculate	VERB
fumecheng-2832	125	4	from	from	ADP
fumecheng-2832	125	5	eq	eq	PROPN
fumecheng-2832	125	6	.	.	PUNCT
fumecheng-2832	126	1	(	(	PUNCT
fumecheng-2832	126	2	12	12	NUM
fumecheng-2832	126	3	)	)	PUNCT
fumecheng-2832	126	4	are	be	AUX
fumecheng-2832	126	5	:	:	PUNCT
fumecheng-2832	126	6	kp1=0.4866	kp1=0.4866	PROPN
fumecheng-2832	126	7	;	;	PUNCT
fumecheng-2832	126	8	ki1=0.4131	ki1=0.4131	PROPN
fumecheng-2832	126	9	;	;	PUNCT
fumecheng-2832	126	10	kp2=1.0706	kp2=1.0706	PROPN
fumecheng-2832	126	11	;	;	PUNCT
fumecheng-2832	126	12	ki2=1.5224	ki2=1.5224	PROPN
fumecheng-2832	126	13	values	value	NOUN
fumecheng-2832	126	14	for	for	ADP
fumecheng-2832	126	15	derivative	derivative	ADJ
fumecheng-2832	126	16	gains	gain	NOUN
fumecheng-2832	126	17	are	be	AUX
fumecheng-2832	126	18	too	too	ADV
fumecheng-2832	126	19	high	high	ADJ
fumecheng-2832	126	20	;	;	PUNCT
fumecheng-2832	126	21	knowing	know	VERB
fumecheng-2832	126	22	that	that	SCONJ
fumecheng-2832	126	23	they	they	PRON
fumecheng-2832	126	24	cause	cause	VERB
fumecheng-2832	126	25	system	system	NOUN
fumecheng-2832	126	26	instability	instability	NOUN
fumecheng-2832	126	27	,	,	PUNCT
fumecheng-2832	126	28	they	they	PRON
fumecheng-2832	126	29	are	be	AUX
fumecheng-2832	126	30	not	not	PART
fumecheng-2832	126	31	taken	take	VERB
fumecheng-2832	126	32	into	into	ADP
fumecheng-2832	126	33	consideration	consideration	NOUN
fumecheng-2832	126	34	for	for	ADP
fumecheng-2832	126	35	this	this	DET
fumecheng-2832	126	36	system	system	NOUN
fumecheng-2832	126	37	.	.	PUNCT
fumecheng-2832	127	1	this	this	PRON
fumecheng-2832	127	2	is	be	AUX
fumecheng-2832	127	3	a	a	DET
fumecheng-2832	127	4	potential	potential	ADJ
fumecheng-2832	127	5	drawback	drawback	NOUN
fumecheng-2832	127	6	of	of	ADP
fumecheng-2832	127	7	this	this	DET
fumecheng-2832	127	8	procedure	procedure	NOUN
fumecheng-2832	127	9	.	.	PUNCT
fumecheng-2832	128	1	4.2	4.2	NUM
fumecheng-2832	128	2	.	.	PUNCT
fumecheng-2832	128	3	example	example	NOUN
fumecheng-2832	128	4	2	2	NUM
fumecheng-2832	128	5	in	in	ADP
fumecheng-2832	128	6	this	this	DET
fumecheng-2832	128	7	example	example	NOUN
fumecheng-2832	128	8	,	,	PUNCT
fumecheng-2832	128	9	polynomial	polynomial	ADJ
fumecheng-2832	128	10	coefficients	coefficient	NOUN
fumecheng-2832	128	11	in	in	ADP
fumecheng-2832	128	12	the	the	DET
fumecheng-2832	128	13	eq	eq	NOUN
fumecheng-2832	128	14	.	.	PUNCT
fumecheng-2832	129	1	(	(	PUNCT
fumecheng-2832	129	2	15	15	NUM
fumecheng-2832	129	3	)	)	PUNCT
fumecheng-2832	129	4	are	be	AUX
fumecheng-2832	129	5	increased	increase	VERB
fumecheng-2832	129	6	for	for	ADP
fumecheng-2832	129	7	20	20	NUM
fumecheng-2832	129	8	%	%	NOUN
fumecheng-2832	129	9	to	to	PART
fumecheng-2832	129	10	obtain	obtain	VERB
fumecheng-2832	129	11	eq	eq	NOUN
fumecheng-2832	129	12	.	.	PUNCT
fumecheng-2832	130	1	(	(	PUNCT
fumecheng-2832	130	2	16	16	NUM
fumecheng-2832	130	3	)	)	PUNCT
fumecheng-2832	130	4	.	.	PUNCT
fumecheng-2832	131	1	considering	consider	VERB
fumecheng-2832	131	2	poles	pole	NOUN
fumecheng-2832	131	3	,	,	PUNCT
fumecheng-2832	131	4	two	two	NUM
fumecheng-2832	131	5	of	of	ADP
fumecheng-2832	131	6	three	three	NUM
fumecheng-2832	131	7	poles	pole	NOUN
fumecheng-2832	131	8	have	have	AUX
fumecheng-2832	131	9	been	be	AUX
fumecheng-2832	131	10	moved	move	VERB
fumecheng-2832	131	11	to	to	ADP
fumecheng-2832	131	12	the	the	DET
fumecheng-2832	131	13	left	left	NOUN
fumecheng-2832	131	14	in	in	ADP
fumecheng-2832	131	15	comparison	comparison	NOUN
fumecheng-2832	131	16	with	with	ADP
fumecheng-2832	131	17	example	example	NOUN
fumecheng-2832	131	18	1	1	X
fumecheng-2832	131	19	.	.	PUNCT
fumecheng-2832	132	1	their	their	PRON
fumecheng-2832	132	2	movement	movement	NOUN
fumecheng-2832	132	3	has	have	AUX
fumecheng-2832	132	4	been	be	AUX
fumecheng-2832	132	5	carried	carry	VERB
fumecheng-2832	132	6	out	out	ADP
fumecheng-2832	132	7	because	because	SCONJ
fumecheng-2832	132	8	of	of	ADP
fumecheng-2832	132	9	their	their	PRON
fumecheng-2832	132	10	wellknown	wellknown	ADJ
fumecheng-2832	132	11	influence	influence	NOUN
fumecheng-2832	132	12	to	to	ADP
fumecheng-2832	132	13	the	the	DET
fumecheng-2832	132	14	system	system	NOUN
fumecheng-2832	132	15	behavior	behavior	NOUN
fumecheng-2832	132	16	.	.	PUNCT
fumecheng-2832	133	1	this	this	PRON
fumecheng-2832	133	2	and	and	CCONJ
fumecheng-2832	133	3	following	follow	VERB
fumecheng-2832	133	4	example	example	NOUN
fumecheng-2832	133	5	are	be	AUX
fumecheng-2832	133	6	used	use	VERB
fumecheng-2832	133	7	to	to	PART
fumecheng-2832	133	8	examine	examine	VERB
fumecheng-2832	133	9	the	the	DET
fumecheng-2832	133	10	possibility	possibility	NOUN
fumecheng-2832	133	11	for	for	ADP
fumecheng-2832	133	12	appropriate	appropriate	ADJ
fumecheng-2832	133	13	tuning	tuning	NOUN
fumecheng-2832	133	14	of	of	ADP
fumecheng-2832	133	15	the	the	DET
fumecheng-2832	133	16	controller	controller	NOUN
fumecheng-2832	133	17	when	when	SCONJ
fumecheng-2832	133	18	the	the	DET
fumecheng-2832	133	19	mathematical	mathematical	ADJ
fumecheng-2832	133	20	model	model	NOUN
fumecheng-2832	133	21	of	of	ADP
fumecheng-2832	133	22	the	the	DET
fumecheng-2832	133	23	object	object	NOUN
fumecheng-2832	133	24	is	be	AUX
fumecheng-2832	133	25	not	not	PART
fumecheng-2832	133	26	completely	completely	ADV
fumecheng-2832	133	27	accurate	accurate	ADJ
fumecheng-2832	133	28	.	.	PUNCT
fumecheng-2832	134	1	this	this	DET
fumecheng-2832	134	2	case	case	NOUN
fumecheng-2832	134	3	is	be	AUX
fumecheng-2832	134	4	very	very	ADV
fumecheng-2832	134	5	often	often	ADV
fumecheng-2832	134	6	in	in	ADP
fumecheng-2832	134	7	practice	practice	NOUN
fumecheng-2832	134	8	due	due	ADP
fumecheng-2832	134	9	to	to	ADP
fumecheng-2832	134	10	changeable	changeable	ADJ
fumecheng-2832	134	11	functioning	function	VERB
fumecheng-2832	134	12	conditions	condition	NOUN
fumecheng-2832	134	13	and	and	CCONJ
fumecheng-2832	134	14	also	also	ADV
fumecheng-2832	134	15	during	during	ADP
fumecheng-2832	134	16	process	process	NOUN
fumecheng-2832	134	17	of	of	ADP
fumecheng-2832	134	18	identification	identification	NOUN
fumecheng-2832	134	19	.	.	PUNCT
fumecheng-2832	135	1	thus	thus	ADV
fumecheng-2832	135	2	these	these	DET
fumecheng-2832	135	3	two	two	NUM
fumecheng-2832	135	4	examples	example	NOUN
fumecheng-2832	135	5	actually	actually	ADV
fumecheng-2832	135	6	represent	represent	VERB
fumecheng-2832	135	7	variants	variant	NOUN
fumecheng-2832	135	8	of	of	ADP
fumecheng-2832	135	9	example	example	NOUN
fumecheng-2832	135	10	1	1	NUM
fumecheng-2832	135	11	.	.	SYM
fumecheng-2832	135	12	2	2	NUM
fumecheng-2832	136	1	.2	.2	NUM
fumecheng-2832	136	2	11	11	NUM
fumecheng-2832	136	3	3	3	NUM
fumecheng-2832	136	4	2	2	NUM
fumecheng-2832	136	5	2	2	NUM
fumecheng-2832	136	6	.2	.2	NUM
fumecheng-2832	136	7	22	22	NUM
fumecheng-2832	136	8	3	3	NUM
fumecheng-2832	136	9	2	2	NUM
fumecheng-2832	136	10	229.2	229.2	NUM
fumecheng-2832	136	11	711.6	711.6	NUM
fumecheng-2832	136	12	91093.2	91093.2	NUM
fumecheng-2832	136	13	(	(	PUNCT
fumecheng-2832	136	14	)	)	PUNCT
fumecheng-2832	136	15	17.16	17.16	NUM
fumecheng-2832	136	16	6744.6	6744.6	NUM
fumecheng-2832	136	17	122.4	122.4	NUM
fumecheng-2832	136	18	1249.2	1249.2	NUM
fumecheng-2832	136	19	47091.6	47091.6	NUM
fumecheng-2832	136	20	(	(	PUNCT
fumecheng-2832	136	21	)	)	PUNCT
fumecheng-2832	136	22	20.16	20.16	NUM
fumecheng-2832	136	23	6737.76	6737.76	NUM
fumecheng-2832	136	24	ex	ex	PRON
fumecheng-2832	136	25	ex	ex	PROPN
fumecheng-2832	136	26	s	s	NOUN
fumecheng-2832	136	27	s	s	X
fumecheng-2832	136	28	g	g	NOUN
fumecheng-2832	136	29	s	s	ADP
fumecheng-2832	136	30	s	s	NOUN
fumecheng-2832	136	31	s	s	X
fumecheng-2832	136	32	s	s	X
fumecheng-2832	136	33	s	s	X
fumecheng-2832	136	34	s	s	NOUN
fumecheng-2832	136	35	g	g	NOUN
fumecheng-2832	136	36	s	s	ADP
fumecheng-2832	136	37	s	s	NOUN
fumecheng-2832	136	38	s	s	X
fumecheng-2832	136	39	s	s	ADP
fumecheng-2832	136	40			PROPN
fumecheng-2832	136	41			ADJ
fumecheng-2832	136	42			PROPN
fumecheng-2832	136	43			ADV
fumecheng-2832	136	44			NUM
fumecheng-2832	136	45			ADJ
fumecheng-2832	136	46			NUM
fumecheng-2832	136	47			PUNCT
fumecheng-2832	136	48			ADJ
fumecheng-2832	136	49			VERB
fumecheng-2832	136	50			NOUN
fumecheng-2832	136	51			PROPN
fumecheng-2832	136	52			ADV
fumecheng-2832	136	53			NUM
fumecheng-2832	136	54			ADJ
fumecheng-2832	136	55			PROPN
fumecheng-2832	136	56			ADJ
fumecheng-2832	136	57			PROPN
fumecheng-2832	136	58	(	(	PUNCT
fumecheng-2832	136	59	16	16	NUM
fumecheng-2832	136	60	)	)	PUNCT
fumecheng-2832	136	61	according	accord	VERB
fumecheng-2832	136	62	to	to	ADP
fumecheng-2832	136	63	eq	eq	PROPN
fumecheng-2832	136	64	.	.	PUNCT
fumecheng-2832	137	1	(	(	PUNCT
fumecheng-2832	137	2	16	16	NUM
fumecheng-2832	137	3	)	)	PUNCT
fumecheng-2832	137	4	,	,	PUNCT
fumecheng-2832	137	5	natural	natural	ADJ
fumecheng-2832	137	6	frequency	frequency	NOUN
fumecheng-2832	137	7	is	be	AUX
fumecheng-2832	137	8	ωn=	ωn=	ADJ
fumecheng-2832	137	9	8.58	8.58	NUM
fumecheng-2832	137	10	rad	rad	PROPN
fumecheng-2832	137	11	/	/	SYM
fumecheng-2832	137	12	s	s	PART
fumecheng-2832	137	13	(	(	PUNCT
fumecheng-2832	137	14	for	for	ADP
fumecheng-2832	137	15	g11	g11	PROPN
fumecheng-2832	137	16	ex.2	ex.2	PROPN
fumecheng-2832	137	17	)	)	PUNCT
fumecheng-2832	137	18	and	and	CCONJ
fumecheng-2832	137	19	ωn=	ωn=	VERB
fumecheng-2832	137	20	10.08	10.08	NUM
fumecheng-2832	137	21	rad	rad	PROPN
fumecheng-2832	137	22	/	/	SYM
fumecheng-2832	137	23	s	s	X
fumecheng-2832	137	24	(	(	PUNCT
fumecheng-2832	137	25	for	for	ADP
fumecheng-2832	137	26	g22	g22	ADJ
fumecheng-2832	137	27	ex.2	ex.2	PROPN
fumecheng-2832	137	28	)	)	PUNCT
fumecheng-2832	137	29	.	.	PUNCT
fumecheng-2832	138	1	afterwards	afterwards	ADV
fumecheng-2832	138	2	,	,	PUNCT
fumecheng-2832	138	3	the	the	DET
fumecheng-2832	138	4	controller	controller	NOUN
fumecheng-2832	138	5	gains	gain	VERB
fumecheng-2832	138	6	from	from	ADP
fumecheng-2832	138	7	eq	eq	ADP
fumecheng-2832	138	8	.	.	PUNCT
fumecheng-2832	139	1	(	(	PUNCT
fumecheng-2832	139	2	12	12	NUM
fumecheng-2832	139	3	)	)	PUNCT
fumecheng-2832	139	4	are	be	AUX
fumecheng-2832	139	5	:	:	PUNCT
fumecheng-2832	139	6	kp1=0.4866	kp1=0.4866	PROPN
fumecheng-2832	139	7	;	;	PUNCT
fumecheng-2832	139	8	ki1=	ki1=	PROPN
fumecheng-2832	139	9	0.7139	0.7139	NUM
fumecheng-2832	139	10	;	;	PUNCT
fumecheng-2832	139	11	kp2=1.0706	kp2=1.0706	PROPN
fumecheng-2832	139	12	;	;	PUNCT
fumecheng-2832	139	13	ki2=	ki2=	PROPN
fumecheng-2832	139	14	2.6308	2.6308	NUM
fumecheng-2832	139	15	derivative	derivative	ADJ
fumecheng-2832	139	16	gains	gain	NOUN
fumecheng-2832	139	17	are	be	AUX
fumecheng-2832	139	18	also	also	ADV
fumecheng-2832	139	19	too	too	ADV
fumecheng-2832	139	20	high	high	ADJ
fumecheng-2832	139	21	for	for	ADP
fumecheng-2832	139	22	this	this	DET
fumecheng-2832	139	23	system	system	NOUN
fumecheng-2832	139	24	;	;	PUNCT
fumecheng-2832	139	25	that	that	PRON
fumecheng-2832	139	26	is	be	AUX
fumecheng-2832	139	27	the	the	DET
fumecheng-2832	139	28	reason	reason	NOUN
fumecheng-2832	139	29	why	why	SCONJ
fumecheng-2832	139	30	they	they	PRON
fumecheng-2832	139	31	are	be	AUX
fumecheng-2832	139	32	omitted	omit	VERB
fumecheng-2832	139	33	.	.	PUNCT
fumecheng-2832	140	1	4.3	4.3	NUM
fumecheng-2832	140	2	.	.	PUNCT
fumecheng-2832	140	3	example	example	NOUN
fumecheng-2832	140	4	3	3	NUM
fumecheng-2832	140	5	coefficients	coefficient	NOUN
fumecheng-2832	140	6	in	in	ADP
fumecheng-2832	140	7	the	the	DET
fumecheng-2832	140	8	eq	eq	NOUN
fumecheng-2832	140	9	.	.	PUNCT
fumecheng-2832	141	1	(	(	PUNCT
fumecheng-2832	141	2	15	15	NUM
fumecheng-2832	141	3	)	)	PUNCT
fumecheng-2832	141	4	are	be	AUX
fumecheng-2832	141	5	decreased	decrease	VERB
fumecheng-2832	141	6	for	for	ADP
fumecheng-2832	141	7	20	20	NUM
fumecheng-2832	141	8	%	%	NOUN
fumecheng-2832	141	9	in	in	ADP
fumecheng-2832	141	10	this	this	DET
fumecheng-2832	141	11	case	case	NOUN
fumecheng-2832	141	12	.	.	PUNCT
fumecheng-2832	142	1	here	here	ADV
fumecheng-2832	142	2	two	two	NUM
fumecheng-2832	142	3	of	of	ADP
fumecheng-2832	142	4	three	three	NUM
fumecheng-2832	142	5	poles	pole	NOUN
fumecheng-2832	142	6	have	have	AUX
fumecheng-2832	142	7	been	be	AUX
fumecheng-2832	142	8	moved	move	VERB
fumecheng-2832	142	9	to	to	ADP
fumecheng-2832	142	10	the	the	DET
fumecheng-2832	142	11	right	right	NOUN
fumecheng-2832	142	12	in	in	ADP
fumecheng-2832	142	13	comparison	comparison	NOUN
fumecheng-2832	142	14	with	with	ADP
fumecheng-2832	142	15	example	example	NOUN
fumecheng-2832	142	16	1	1	NUM
fumecheng-2832	142	17	.	.	PUNCT
fumecheng-2832	143	1	now	now	ADV
fumecheng-2832	143	2	diagonal	diagonal	ADJ
fumecheng-2832	143	3	elements	element	NOUN
fumecheng-2832	143	4	of	of	ADP
fumecheng-2832	143	5	the	the	DET
fumecheng-2832	143	6	eq	eq	NOUN
fumecheng-2832	143	7	.	.	PUNCT
fumecheng-2832	144	1	(	(	PUNCT
fumecheng-2832	144	2	1	1	NUM
fumecheng-2832	144	3	)	)	PUNCT
fumecheng-2832	144	4	,	,	PUNCT
fumecheng-2832	144	5	i.e.	i.e.	X
fumecheng-2832	144	6	eq	eq	ADJ
fumecheng-2832	144	7	.	.	PUNCT
fumecheng-2832	145	1	(	(	PUNCT
fumecheng-2832	145	2	3	3	X
fumecheng-2832	145	3	)	)	PUNCT
fumecheng-2832	145	4	are	be	AUX
fumecheng-2832	145	5	given	give	VERB
fumecheng-2832	145	6	by	by	ADP
fumecheng-2832	145	7	eq	eq	PROPN
fumecheng-2832	145	8	.	.	PUNCT
fumecheng-2832	146	1	(	(	PUNCT
fumecheng-2832	146	2	17	17	NUM
fumecheng-2832	146	3	):	):	PUNCT
fumecheng-2832	146	4	252	252	NUM
fumecheng-2832	146	5	n.	n.	NOUN
fumecheng-2832	146	6	n.	n.	PROPN
fumecheng-2832	146	7	nedić	nedić	PROPN
fumecheng-2832	146	8	,	,	PUNCT
fumecheng-2832	146	9	s.	s.	PROPN
fumecheng-2832	146	10	lj	lj	PROPN
fumecheng-2832	146	11	.	.	PUNCT
fumecheng-2832	147	1	prodanović	prodanović	PROPN
fumecheng-2832	147	2	,	,	PUNCT
fumecheng-2832	147	3	lj	lj	PROPN
fumecheng-2832	147	4	.	.	PUNCT
fumecheng-2832	147	5	m.	m.	PROPN
fumecheng-2832	147	6	dubonjić	dubonjić	PROPN
fumecheng-2832	147	7	2	2	NUM
fumecheng-2832	147	8	.3	.3	NUM
fumecheng-2832	147	9	11	11	NUM
fumecheng-2832	147	10	3	3	NUM
fumecheng-2832	147	11	2	2	NUM
fumecheng-2832	147	12	2	2	NUM
fumecheng-2832	147	13	.3	.3	NUM
fumecheng-2832	147	14	22	22	NUM
fumecheng-2832	147	15	3	3	NUM
fumecheng-2832	147	16	2	2	NUM
fumecheng-2832	147	17	171.9	171.9	NUM
fumecheng-2832	147	18	533.7	533.7	NUM
fumecheng-2832	147	19	68319.9	68319.9	NUM
fumecheng-2832	147	20	(	(	PUNCT
fumecheng-2832	147	21	)	)	PUNCT
fumecheng-2832	147	22	12.87	12.87	NUM
fumecheng-2832	147	23	5058.45	5058.45	NUM
fumecheng-2832	147	24	91.8	91.8	NUM
fumecheng-2832	147	25	936.9	936.9	NUM
fumecheng-2832	147	26	35318.7	35318.7	NUM
fumecheng-2832	147	27	(	(	PUNCT
fumecheng-2832	147	28	)	)	PUNCT
fumecheng-2832	147	29	15.12	15.12	NUM
fumecheng-2832	147	30	5053.32	5053.32	NUM
fumecheng-2832	147	31	ex	ex	X
fumecheng-2832	147	32	ex	ex	X
fumecheng-2832	147	33	s	s	NOUN
fumecheng-2832	147	34	s	s	NOUN
fumecheng-2832	147	35	g	g	NOUN
fumecheng-2832	147	36	s	s	ADP
fumecheng-2832	147	37	s	s	NOUN
fumecheng-2832	147	38	s	s	X
fumecheng-2832	147	39	s	s	X
fumecheng-2832	147	40	s	s	X
fumecheng-2832	147	41	s	s	NOUN
fumecheng-2832	147	42	g	g	NOUN
fumecheng-2832	147	43	s	s	ADP
fumecheng-2832	147	44	s	s	NOUN
fumecheng-2832	147	45	s	s	X
fumecheng-2832	147	46	s	s	ADP
fumecheng-2832	147	47			PROPN
fumecheng-2832	147	48			ADJ
fumecheng-2832	147	49			PROPN
fumecheng-2832	147	50			ADV
fumecheng-2832	147	51			NUM
fumecheng-2832	147	52			ADJ
fumecheng-2832	147	53			NUM
fumecheng-2832	147	54			PUNCT
fumecheng-2832	147	55			ADJ
fumecheng-2832	147	56			VERB
fumecheng-2832	147	57			NOUN
fumecheng-2832	147	58			PROPN
fumecheng-2832	147	59			ADV
fumecheng-2832	147	60			NUM
fumecheng-2832	147	61			ADJ
fumecheng-2832	147	62			PROPN
fumecheng-2832	147	63			ADJ
fumecheng-2832	147	64			PROPN
fumecheng-2832	147	65	(	(	PUNCT
fumecheng-2832	147	66	17	17	NUM
fumecheng-2832	147	67	)	)	PUNCT
fumecheng-2832	147	68	here	here	ADV
fumecheng-2832	147	69	,	,	PUNCT
fumecheng-2832	147	70	natural	natural	ADJ
fumecheng-2832	147	71	frequency	frequency	NOUN
fumecheng-2832	147	72	is	be	AUX
fumecheng-2832	147	73	ωn=	ωn=	ADJ
fumecheng-2832	147	74	6.435	6.435	NUM
fumecheng-2832	147	75	rad	rad	PROPN
fumecheng-2832	147	76	/	/	SYM
fumecheng-2832	147	77	s	s	X
fumecheng-2832	147	78	(	(	PUNCT
fumecheng-2832	147	79	for	for	ADP
fumecheng-2832	147	80	g11	g11	X
fumecheng-2832	147	81	ex.3	ex.3	PROPN
fumecheng-2832	147	82	)	)	PUNCT
fumecheng-2832	147	83	and	and	CCONJ
fumecheng-2832	147	84	ωn=	ωn=	VERB
fumecheng-2832	147	85	7.56	7.56	NUM
fumecheng-2832	147	86	rad	rad	PROPN
fumecheng-2832	147	87	/	/	SYM
fumecheng-2832	147	88	s	s	X
fumecheng-2832	147	89	(	(	PUNCT
fumecheng-2832	147	90	for	for	ADP
fumecheng-2832	147	91	g22	g22	NOUN
fumecheng-2832	147	92	ex.3	ex.3	PROPN
fumecheng-2832	147	93	)	)	PUNCT
fumecheng-2832	147	94	.	.	PUNCT
fumecheng-2832	148	1	from	from	ADP
fumecheng-2832	148	2	eq	eq	ADP
fumecheng-2832	148	3	.	.	PUNCT
fumecheng-2832	149	1	(	(	PUNCT
fumecheng-2832	149	2	12	12	NUM
fumecheng-2832	149	3	)	)	PUNCT
fumecheng-2832	149	4	it	it	PRON
fumecheng-2832	149	5	follows	follow	VERB
fumecheng-2832	149	6	:	:	PUNCT
fumecheng-2832	150	1	kp1=0.4866	kp1=0.4866	PROPN
fumecheng-2832	150	2	;	;	PUNCT
fumecheng-2832	150	3	ki1=	ki1=	PROPN
fumecheng-2832	150	4	0.3012	0.3012	NUM
fumecheng-2832	150	5	;	;	PUNCT
fumecheng-2832	150	6	kp2=1.0706	kp2=1.0706	PROPN
fumecheng-2832	150	7	;	;	PUNCT
fumecheng-2832	150	8	ki2=	ki2=	PROPN
fumecheng-2832	150	9	1.1098	1.1098	NUM
fumecheng-2832	150	10	derivative	derivative	ADJ
fumecheng-2832	150	11	gains	gain	NOUN
fumecheng-2832	150	12	have	have	AUX
fumecheng-2832	150	13	been	be	AUX
fumecheng-2832	150	14	avoided	avoid	VERB
fumecheng-2832	150	15	like	like	ADP
fumecheng-2832	150	16	in	in	ADP
fumecheng-2832	150	17	previous	previous	ADJ
fumecheng-2832	150	18	examples	example	NOUN
fumecheng-2832	150	19	.	.	PUNCT
fumecheng-2832	151	1	5	5	X
fumecheng-2832	151	2	.	.	X
fumecheng-2832	151	3	simulation	simulation	NOUN
fumecheng-2832	151	4	results	result	NOUN
fumecheng-2832	151	5	based	base	VERB
fumecheng-2832	151	6	on	on	ADP
fumecheng-2832	151	7	configuration	configuration	NOUN
fumecheng-2832	151	8	in	in	ADP
fumecheng-2832	151	9	fig.1	fig.1	PROPN
fumecheng-2832	151	10	,	,	PUNCT
fumecheng-2832	151	11	the	the	DET
fumecheng-2832	151	12	proposed	propose	VERB
fumecheng-2832	151	13	decoupling	decoupling	NOUN
fumecheng-2832	151	14	control	control	NOUN
fumecheng-2832	151	15	is	be	AUX
fumecheng-2832	151	16	simulated	simulate	VERB
fumecheng-2832	151	17	using	use	VERB
fumecheng-2832	151	18	matlab	matlab	PROPN
fumecheng-2832	151	19	/	/	SYM
fumecheng-2832	151	20	simulink	simulink	PROPN
fumecheng-2832	151	21	.	.	PUNCT
fumecheng-2832	152	1	simulations	simulation	NOUN
fumecheng-2832	152	2	are	be	AUX
fumecheng-2832	152	3	carried	carry	VERB
fumecheng-2832	152	4	out	out	ADP
fumecheng-2832	152	5	for	for	ADP
fumecheng-2832	152	6	the	the	DET
fumecheng-2832	152	7	two	two	NUM
fumecheng-2832	152	8	cases	case	NOUN
fumecheng-2832	152	9	regarding	regard	VERB
fumecheng-2832	152	10	reference	reference	NOUN
fumecheng-2832	152	11	functions	function	NOUN
fumecheng-2832	152	12	(	(	PUNCT
fumecheng-2832	152	13	signals	signal	NOUN
fumecheng-2832	152	14	)	)	PUNCT
fumecheng-2832	152	15	r1	r1	NOUN
fumecheng-2832	152	16	and	and	CCONJ
fumecheng-2832	152	17	r2	r2	NOUN
fumecheng-2832	152	18	.	.	PUNCT
fumecheng-2832	153	1	in	in	ADP
fumecheng-2832	153	2	the	the	DET
fumecheng-2832	153	3	first	first	ADJ
fumecheng-2832	153	4	case	case	NOUN
fumecheng-2832	153	5	(	(	PUNCT
fumecheng-2832	153	6	fig	fig	NOUN
fumecheng-2832	153	7	.	.	PUNCT
fumecheng-2832	153	8	4	4	X
fumecheng-2832	153	9	)	)	PUNCT
fumecheng-2832	153	10	r1	r1	PROPN
fumecheng-2832	153	11	is	be	AUX
fumecheng-2832	153	12	unit	unit	NOUN
fumecheng-2832	153	13	sine	sine	ADJ
fumecheng-2832	153	14	function	function	NOUN
fumecheng-2832	153	15	and	and	CCONJ
fumecheng-2832	153	16	r2	r2	PROPN
fumecheng-2832	153	17	is	be	AUX
fumecheng-2832	153	18	unit	unit	NOUN
fumecheng-2832	153	19	step	step	NOUN
fumecheng-2832	153	20	function	function	NOUN
fumecheng-2832	153	21	,	,	PUNCT
fumecheng-2832	153	22	and	and	CCONJ
fumecheng-2832	153	23	vice	vice	ADV
fumecheng-2832	153	24	versa	versa	NOUN
fumecheng-2832	153	25	in	in	ADP
fumecheng-2832	153	26	the	the	DET
fumecheng-2832	153	27	second	second	ADJ
fumecheng-2832	153	28	case	case	NOUN
fumecheng-2832	153	29	.	.	PUNCT
fumecheng-2832	154	1	fig	fig	NOUN
fumecheng-2832	154	2	.	.	PUNCT
fumecheng-2832	155	1	4	4	NUM
fumecheng-2832	155	2	block	block	NOUN
fumecheng-2832	155	3	diagram	diagram	NOUN
fumecheng-2832	155	4	of	of	ADP
fumecheng-2832	155	5	the	the	DET
fumecheng-2832	155	6	control	control	NOUN
fumecheng-2832	155	7	algorithm	algorithm	NOUN
fumecheng-2832	155	8	for	for	ADP
fumecheng-2832	155	9	electrohydraulic	electrohydraulic	NOUN
fumecheng-2832	155	10	servosystem	servosystem	NOUN
fumecheng-2832	155	11	system	system	NOUN
fumecheng-2832	155	12	responses	response	NOUN
fumecheng-2832	155	13	and	and	CCONJ
fumecheng-2832	155	14	their	their	PRON
fumecheng-2832	155	15	enlarged	enlarge	VERB
fumecheng-2832	155	16	views	view	NOUN
fumecheng-2832	155	17	are	be	AUX
fumecheng-2832	155	18	shown	show	VERB
fumecheng-2832	155	19	in	in	ADP
fumecheng-2832	155	20	figs	fig	NOUN
fumecheng-2832	155	21	.	.	PUNCT
fumecheng-2832	156	1	5	5	NUM
fumecheng-2832	156	2	and	and	CCONJ
fumecheng-2832	156	3	6	6	NUM
fumecheng-2832	156	4	.	.	X
fumecheng-2832	156	5	decoupling	decouple	VERB
fumecheng-2832	156	6	control	control	NOUN
fumecheng-2832	156	7	of	of	ADP
fumecheng-2832	156	8	tito	tito	PROPN
fumecheng-2832	156	9	system	system	NOUN
fumecheng-2832	156	10	supported	support	VERB
fumecheng-2832	156	11	by	by	ADP
fumecheng-2832	156	12	dominant	dominant	ADJ
fumecheng-2832	156	13	pole	pole	NOUN
fumecheng-2832	156	14	placement	placement	NOUN
fumecheng-2832	156	15	method	method	NOUN
fumecheng-2832	156	16	253	253	NUM
fumecheng-2832	156	17	a	a	DET
fumecheng-2832	156	18	)	)	PUNCT
fumecheng-2832	156	19	b	b	NOUN
fumecheng-2832	156	20	)	)	PUNCT
fumecheng-2832	156	21	fig	fig	NOUN
fumecheng-2832	156	22	.	.	PUNCT
fumecheng-2832	157	1	5	5	NUM
fumecheng-2832	157	2	a	a	X
fumecheng-2832	157	3	)	)	PUNCT
fumecheng-2832	157	4	forces	force	NOUN
fumecheng-2832	157	5	on	on	ADP
fumecheng-2832	157	6	the	the	DET
fumecheng-2832	157	7	cylinders	cylinder	NOUN
fumecheng-2832	157	8	(	(	PUNCT
fumecheng-2832	157	9	r1	r1	PROPN
fumecheng-2832	157	10	unit	unit	NOUN
fumecheng-2832	157	11	sine	sine	NOUN
fumecheng-2832	157	12	function	function	NOUN
fumecheng-2832	157	13	for	for	ADP
fumecheng-2832	157	14	f1	f1	NOUN
fumecheng-2832	157	15	,	,	PUNCT
fumecheng-2832	157	16	r2	r2	PROPN
fumecheng-2832	157	17	unit	unit	NOUN
fumecheng-2832	157	18	step	step	NOUN
fumecheng-2832	157	19	function	function	NOUN
fumecheng-2832	157	20	for	for	ADP
fumecheng-2832	157	21	f2	f2	PROPN
fumecheng-2832	157	22	)	)	PUNCT
fumecheng-2832	157	23	b	b	PROPN
fumecheng-2832	157	24	)	)	PUNCT
fumecheng-2832	157	25	enlarged	enlarged	ADJ
fumecheng-2832	157	26	view	view	NOUN
fumecheng-2832	157	27	of	of	ADP
fumecheng-2832	157	28	characteristic	characteristic	ADJ
fumecheng-2832	157	29	response	response	NOUN
fumecheng-2832	157	30	range	range	VERB
fumecheng-2832	157	31	254	254	NUM
fumecheng-2832	157	32	n.	n.	PROPN
fumecheng-2832	157	33	n.	n.	PROPN
fumecheng-2832	157	34	nedić	nedić	PROPN
fumecheng-2832	157	35	,	,	PUNCT
fumecheng-2832	157	36	s.	s.	PROPN
fumecheng-2832	157	37	lj	lj	PROPN
fumecheng-2832	157	38	.	.	PUNCT
fumecheng-2832	158	1	prodanović	prodanović	PROPN
fumecheng-2832	158	2	,	,	PUNCT
fumecheng-2832	158	3	lj	lj	PROPN
fumecheng-2832	158	4	.	.	PUNCT
fumecheng-2832	158	5	m.	m.	PROPN
fumecheng-2832	158	6	dubonjić	dubonjić	PROPN
fumecheng-2832	158	7	a	a	PRON
fumecheng-2832	158	8	)	)	PUNCT
fumecheng-2832	158	9	b	b	NOUN
fumecheng-2832	158	10	)	)	PUNCT
fumecheng-2832	158	11	fig	fig	NOUN
fumecheng-2832	158	12	.	.	PUNCT
fumecheng-2832	159	1	6	6	NUM
fumecheng-2832	159	2	a	a	X
fumecheng-2832	159	3	)	)	PUNCT
fumecheng-2832	159	4	forces	force	NOUN
fumecheng-2832	159	5	on	on	ADP
fumecheng-2832	159	6	the	the	DET
fumecheng-2832	159	7	cylinders	cylinder	NOUN
fumecheng-2832	159	8	(	(	PUNCT
fumecheng-2832	159	9	r1	r1	NOUN
fumecheng-2832	159	10	unit	unit	NOUN
fumecheng-2832	159	11	step	step	NOUN
fumecheng-2832	159	12	function	function	NOUN
fumecheng-2832	159	13	for	for	ADP
fumecheng-2832	159	14	f1	f1	NOUN
fumecheng-2832	159	15	,	,	PUNCT
fumecheng-2832	159	16	r2	r2	PROPN
fumecheng-2832	159	17	unit	unit	NOUN
fumecheng-2832	159	18	sine	sine	NOUN
fumecheng-2832	159	19	function	function	NOUN
fumecheng-2832	159	20	for	for	ADP
fumecheng-2832	159	21	f2	f2	PROPN
fumecheng-2832	159	22	)	)	PUNCT
fumecheng-2832	159	23	b	b	PROPN
fumecheng-2832	159	24	)	)	PUNCT
fumecheng-2832	159	25	enlarged	enlarged	ADJ
fumecheng-2832	159	26	view	view	NOUN
fumecheng-2832	159	27	of	of	ADP
fumecheng-2832	159	28	characteristic	characteristic	ADJ
fumecheng-2832	159	29	response	response	NOUN
fumecheng-2832	159	30	range	range	NOUN
fumecheng-2832	159	31	decoupling	decouple	VERB
fumecheng-2832	159	32	control	control	NOUN
fumecheng-2832	159	33	of	of	ADP
fumecheng-2832	159	34	tito	tito	PROPN
fumecheng-2832	159	35	system	system	NOUN
fumecheng-2832	159	36	supported	support	VERB
fumecheng-2832	159	37	by	by	ADP
fumecheng-2832	159	38	dominant	dominant	ADJ
fumecheng-2832	159	39	pole	pole	NOUN
fumecheng-2832	159	40	placement	placement	NOUN
fumecheng-2832	159	41	method	method	NOUN
fumecheng-2832	159	42	255	255	NUM
fumecheng-2832	159	43	these	these	DET
fumecheng-2832	159	44	figures	figure	NOUN
fumecheng-2832	159	45	show	show	VERB
fumecheng-2832	159	46	responses	response	NOUN
fumecheng-2832	159	47	for	for	ADP
fumecheng-2832	159	48	the	the	DET
fumecheng-2832	159	49	four	four	NUM
fumecheng-2832	159	50	types	type	NOUN
fumecheng-2832	159	51	of	of	ADP
fumecheng-2832	159	52	controllers	controller	NOUN
fumecheng-2832	159	53	in	in	ADP
fumecheng-2832	159	54	the	the	DET
fumecheng-2832	159	55	combination	combination	NOUN
fumecheng-2832	159	56	with	with	ADP
fumecheng-2832	159	57	the	the	DET
fumecheng-2832	159	58	static	static	ADJ
fumecheng-2832	159	59	inverted	invert	VERB
fumecheng-2832	159	60	decoupler	decoupler	NOUN
fumecheng-2832	159	61	and	and	CCONJ
fumecheng-2832	159	62	one	one	NUM
fumecheng-2832	159	63	response	response	NOUN
fumecheng-2832	159	64	without	without	ADP
fumecheng-2832	159	65	decoupler	decoupler	PROPN
fumecheng-2832	159	66	that	that	PRON
fumecheng-2832	159	67	was	be	AUX
fumecheng-2832	159	68	controlled	control	VERB
fumecheng-2832	159	69	in	in	ADP
fumecheng-2832	159	70	[	[	X
fumecheng-2832	159	71	7	7	NUM
fumecheng-2832	159	72	]	]	PUNCT
fumecheng-2832	159	73	.	.	PUNCT
fumecheng-2832	160	1	it	it	PRON
fumecheng-2832	160	2	is	be	AUX
fumecheng-2832	160	3	noticeable	noticeable	ADJ
fumecheng-2832	160	4	that	that	SCONJ
fumecheng-2832	160	5	p	p	PRON
fumecheng-2832	160	6	controllers	controller	NOUN
fumecheng-2832	160	7	give	give	VERB
fumecheng-2832	160	8	the	the	DET
fumecheng-2832	160	9	best	good	ADJ
fumecheng-2832	160	10	reference	reference	NOUN
fumecheng-2832	160	11	tracking	tracking	NOUN
fumecheng-2832	160	12	.	.	PUNCT
fumecheng-2832	161	1	this	this	PRON
fumecheng-2832	161	2	is	be	AUX
fumecheng-2832	161	3	confirmed	confirm	VERB
fumecheng-2832	161	4	by	by	ADP
fumecheng-2832	161	5	a	a	DET
fumecheng-2832	161	6	very	very	ADV
fumecheng-2832	161	7	small	small	ADJ
fumecheng-2832	161	8	deviation	deviation	NOUN
fumecheng-2832	161	9	between	between	ADP
fumecheng-2832	161	10	reference	reference	NOUN
fumecheng-2832	161	11	signals	signal	VERB
fumecheng-2832	161	12	r1	r1	PROPN
fumecheng-2832	161	13	and	and	CCONJ
fumecheng-2832	161	14	r2	r2	PROPN
fumecheng-2832	161	15	compared	compare	VERB
fumecheng-2832	161	16	to	to	ADP
fumecheng-2832	161	17	the	the	DET
fumecheng-2832	161	18	appropriate	appropriate	ADJ
fumecheng-2832	161	19	responses	response	NOUN
fumecheng-2832	161	20	of	of	ADP
fumecheng-2832	161	21	the	the	DET
fumecheng-2832	161	22	system	system	NOUN
fumecheng-2832	161	23	with	with	ADP
fumecheng-2832	161	24	applied	apply	VERB
fumecheng-2832	161	25	p	p	NOUN
fumecheng-2832	161	26	controller	controller	NOUN
fumecheng-2832	161	27	.	.	PUNCT
fumecheng-2832	162	1	the	the	DET
fumecheng-2832	162	2	described	describe	VERB
fumecheng-2832	162	3	slight	slight	ADJ
fumecheng-2832	162	4	deviation	deviation	NOUN
fumecheng-2832	162	5	is	be	AUX
fumecheng-2832	162	6	,	,	PUNCT
fumecheng-2832	162	7	in	in	ADP
fumecheng-2832	162	8	fact	fact	NOUN
fumecheng-2832	162	9	,	,	PUNCT
fumecheng-2832	162	10	an	an	DET
fumecheng-2832	162	11	expected	expect	VERB
fumecheng-2832	162	12	delay	delay	NOUN
fumecheng-2832	162	13	of	of	ADP
fumecheng-2832	162	14	the	the	DET
fumecheng-2832	162	15	output	output	NOUN
fumecheng-2832	162	16	in	in	ADP
fumecheng-2832	162	17	relation	relation	NOUN
fumecheng-2832	162	18	to	to	ADP
fumecheng-2832	162	19	the	the	DET
fumecheng-2832	162	20	input	input	NOUN
fumecheng-2832	162	21	signal	signal	NOUN
fumecheng-2832	162	22	.	.	PUNCT
fumecheng-2832	163	1	this	this	DET
fumecheng-2832	163	2	fact	fact	NOUN
fumecheng-2832	163	3	cancels	cancel	VERB
fumecheng-2832	163	4	the	the	DET
fumecheng-2832	163	5	aforementioned	aforementioned	ADJ
fumecheng-2832	163	6	possible	possible	ADJ
fumecheng-2832	163	7	drawback	drawback	NOUN
fumecheng-2832	163	8	of	of	ADP
fumecheng-2832	163	9	the	the	DET
fumecheng-2832	163	10	proposed	propose	VERB
fumecheng-2832	163	11	procedure	procedure	NOUN
fumecheng-2832	163	12	because	because	SCONJ
fumecheng-2832	163	13	it	it	PRON
fumecheng-2832	163	14	is	be	AUX
fumecheng-2832	163	15	important	important	ADJ
fumecheng-2832	163	16	that	that	SCONJ
fumecheng-2832	163	17	at	at	ADV
fumecheng-2832	163	18	least	least	ADV
fumecheng-2832	163	19	one	one	NUM
fumecheng-2832	163	20	type	type	NOUN
fumecheng-2832	163	21	of	of	ADP
fumecheng-2832	163	22	controller	controller	NOUN
fumecheng-2832	163	23	can	can	AUX
fumecheng-2832	163	24	satisfy	satisfy	VERB
fumecheng-2832	163	25	the	the	DET
fumecheng-2832	163	26	defined	define	VERB
fumecheng-2832	163	27	requirements	requirement	NOUN
fumecheng-2832	163	28	for	for	ADP
fumecheng-2832	163	29	the	the	DET
fumecheng-2832	163	30	system	system	NOUN
fumecheng-2832	163	31	dynamic	dynamic	ADJ
fumecheng-2832	163	32	behavior	behavior	NOUN
fumecheng-2832	163	33	.	.	PUNCT
fumecheng-2832	164	1	moreover	moreover	ADV
fumecheng-2832	164	2	,	,	PUNCT
fumecheng-2832	164	3	it	it	PRON
fumecheng-2832	164	4	leaves	leave	VERB
fumecheng-2832	164	5	the	the	DET
fumecheng-2832	164	6	possibility	possibility	NOUN
fumecheng-2832	164	7	of	of	ADP
fumecheng-2832	164	8	its	its	PRON
fumecheng-2832	164	9	application	application	NOUN
fumecheng-2832	164	10	to	to	ADP
fumecheng-2832	164	11	other	other	ADJ
fumecheng-2832	164	12	objects	object	NOUN
fumecheng-2832	164	13	.	.	PUNCT
fumecheng-2832	165	1	the	the	DET
fumecheng-2832	165	2	most	most	ADV
fumecheng-2832	165	3	appropriate	appropriate	ADJ
fumecheng-2832	165	4	value	value	NOUN
fumecheng-2832	165	5	for	for	ADP
fumecheng-2832	165	6	proportional	proportional	ADJ
fumecheng-2832	165	7	gain	gain	NOUN
fumecheng-2832	165	8	kp	kp	PROPN
fumecheng-2832	165	9	is	be	AUX
fumecheng-2832	165	10	obtained	obtain	VERB
fumecheng-2832	165	11	when	when	SCONJ
fumecheng-2832	165	12	non	non	ADJ
fumecheng-2832	165	13	-	-	ADJ
fumecheng-2832	165	14	dominant	dominant	ADJ
fumecheng-2832	165	15	pole	pole	NOUN
fumecheng-2832	165	16	has	have	VERB
fumecheng-2832	165	17	12	12	NUM
fumecheng-2832	165	18	times	time	NOUN
fumecheng-2832	165	19	higher	high	ADJ
fumecheng-2832	165	20	absolute	absolute	ADJ
fumecheng-2832	165	21	value	value	NOUN
fumecheng-2832	165	22	of	of	ADP
fumecheng-2832	165	23	the	the	DET
fumecheng-2832	165	24	real	real	ADJ
fumecheng-2832	165	25	part	part	NOUN
fumecheng-2832	165	26	than	than	ADP
fumecheng-2832	165	27	the	the	DET
fumecheng-2832	165	28	three	three	NUM
fumecheng-2832	165	29	dominant	dominant	ADJ
fumecheng-2832	165	30	poles	pole	NOUN
fumecheng-2832	165	31	.	.	PUNCT
fumecheng-2832	166	1	pi	pi	NOUN
fumecheng-2832	166	2	controllers	controller	NOUN
fumecheng-2832	166	3	give	give	VERB
fumecheng-2832	166	4	a	a	DET
fumecheng-2832	166	5	lower	low	ADJ
fumecheng-2832	166	6	quality	quality	NOUN
fumecheng-2832	166	7	of	of	ADP
fumecheng-2832	166	8	responses	response	NOUN
fumecheng-2832	166	9	.	.	PUNCT
fumecheng-2832	167	1	observing	observe	VERB
fumecheng-2832	167	2	the	the	DET
fumecheng-2832	167	3	values	value	NOUN
fumecheng-2832	167	4	of	of	ADP
fumecheng-2832	167	5	kp	kp	PROPN
fumecheng-2832	167	6	in	in	ADP
fumecheng-2832	167	7	the	the	DET
fumecheng-2832	167	8	examined	examine	VERB
fumecheng-2832	167	9	three	three	NUM
fumecheng-2832	167	10	examples	example	NOUN
fumecheng-2832	167	11	,	,	PUNCT
fumecheng-2832	167	12	it	it	PRON
fumecheng-2832	167	13	is	be	AUX
fumecheng-2832	167	14	also	also	ADV
fumecheng-2832	167	15	noticeable	noticeable	ADJ
fumecheng-2832	167	16	that	that	SCONJ
fumecheng-2832	167	17	the	the	DET
fumecheng-2832	167	18	p	p	NOUN
fumecheng-2832	167	19	controller	controller	NOUN
fumecheng-2832	167	20	is	be	AUX
fumecheng-2832	167	21	the	the	DET
fumecheng-2832	167	22	least	least	ADJ
fumecheng-2832	167	23	sensitive	sensitive	ADJ
fumecheng-2832	167	24	to	to	ADP
fumecheng-2832	167	25	the	the	DET
fumecheng-2832	167	26	model	model	NOUN
fumecheng-2832	167	27	perturbations	perturbation	NOUN
fumecheng-2832	167	28	,	,	PUNCT
fumecheng-2832	167	29	i.e.	i.e.	X
fumecheng-2832	167	30	model	model	NOUN
fumecheng-2832	167	31	uncertainties	uncertainty	NOUN
fumecheng-2832	167	32	.	.	PUNCT
fumecheng-2832	168	1	in	in	ADP
fumecheng-2832	168	2	comparison	comparison	NOUN
fumecheng-2832	168	3	with	with	ADP
fumecheng-2832	168	4	[	[	X
fumecheng-2832	168	5	7	7	NUM
fumecheng-2832	168	6	]	]	PUNCT
fumecheng-2832	168	7	(	(	PUNCT
fumecheng-2832	168	8	the	the	DET
fumecheng-2832	168	9	case	case	NOUN
fumecheng-2832	168	10	without	without	ADP
fumecheng-2832	168	11	decoupling	decouple	VERB
fumecheng-2832	168	12	)	)	PUNCT
fumecheng-2832	168	13	,	,	PUNCT
fumecheng-2832	168	14	there	there	PRON
fumecheng-2832	168	15	is	be	VERB
fumecheng-2832	168	16	an	an	DET
fumecheng-2832	168	17	obvious	obvious	ADJ
fumecheng-2832	168	18	improvement	improvement	NOUN
fumecheng-2832	168	19	in	in	ADP
fumecheng-2832	168	20	the	the	DET
fumecheng-2832	168	21	compensation	compensation	NOUN
fumecheng-2832	168	22	of	of	ADP
fumecheng-2832	168	23	interaction	interaction	NOUN
fumecheng-2832	168	24	between	between	ADP
fumecheng-2832	168	25	loops	loop	NOUN
fumecheng-2832	168	26	.	.	PUNCT
fumecheng-2832	169	1	6	6	NUM
fumecheng-2832	169	2	.	.	PUNCT
fumecheng-2832	169	3	conclusions	conclusion	NOUN
fumecheng-2832	169	4	the	the	DET
fumecheng-2832	169	5	proposed	propose	VERB
fumecheng-2832	169	6	procedure	procedure	NOUN
fumecheng-2832	169	7	for	for	ADP
fumecheng-2832	169	8	the	the	DET
fumecheng-2832	169	9	pid	pid	NOUN
fumecheng-2832	169	10	controller	controller	NOUN
fumecheng-2832	169	11	design	design	NOUN
fumecheng-2832	169	12	is	be	AUX
fumecheng-2832	169	13	extension	extension	NOUN
fumecheng-2832	169	14	of	of	ADP
fumecheng-2832	169	15	the	the	DET
fumecheng-2832	169	16	dominant	dominant	ADJ
fumecheng-2832	169	17	pole	pole	NOUN
fumecheng-2832	169	18	placement	placement	NOUN
fumecheng-2832	169	19	method	method	NOUN
fumecheng-2832	169	20	to	to	ADP
fumecheng-2832	169	21	the	the	DET
fumecheng-2832	169	22	third	third	ADJ
fumecheng-2832	169	23	-	-	PUNCT
fumecheng-2832	169	24	order	order	NOUN
fumecheng-2832	169	25	objects	object	NOUN
fumecheng-2832	169	26	with	with	ADP
fumecheng-2832	169	27	two	two	NUM
fumecheng-2832	169	28	left	leave	VERB
fumecheng-2832	169	29	half	half	ADJ
fumecheng-2832	169	30	plane	plane	NOUN
fumecheng-2832	169	31	zeros	zero	NOUN
fumecheng-2832	169	32	.	.	PUNCT
fumecheng-2832	170	1	after	after	ADP
fumecheng-2832	170	2	calculating	calculate	VERB
fumecheng-2832	170	3	controller	controller	NOUN
fumecheng-2832	170	4	gains	gain	NOUN
fumecheng-2832	170	5	,	,	PUNCT
fumecheng-2832	170	6	the	the	DET
fumecheng-2832	170	7	most	most	ADV
fumecheng-2832	170	8	suitable	suitable	ADJ
fumecheng-2832	170	9	controller	controller	NOUN
fumecheng-2832	170	10	type	type	NOUN
fumecheng-2832	170	11	can	can	AUX
fumecheng-2832	170	12	be	be	AUX
fumecheng-2832	170	13	chosen	choose	VERB
fumecheng-2832	170	14	.	.	PUNCT
fumecheng-2832	171	1	it	it	PRON
fumecheng-2832	171	2	is	be	AUX
fumecheng-2832	171	3	proved	prove	VERB
fumecheng-2832	171	4	that	that	SCONJ
fumecheng-2832	171	5	,	,	PUNCT
fumecheng-2832	171	6	in	in	ADP
fumecheng-2832	171	7	some	some	DET
fumecheng-2832	171	8	control	control	NOUN
fumecheng-2832	171	9	algorithms	algorithm	NOUN
fumecheng-2832	171	10	,	,	PUNCT
fumecheng-2832	171	11	the	the	DET
fumecheng-2832	171	12	ratio	ratio	NOUN
fumecheng-2832	171	13	between	between	ADP
fumecheng-2832	171	14	the	the	DET
fumecheng-2832	171	15	absolute	absolute	ADJ
fumecheng-2832	171	16	values	value	NOUN
fumecheng-2832	171	17	of	of	ADP
fumecheng-2832	171	18	the	the	DET
fumecheng-2832	171	19	real	real	ADJ
fumecheng-2832	171	20	part	part	NOUN
fumecheng-2832	171	21	of	of	ADP
fumecheng-2832	171	22	non	non	ADJ
fumecheng-2832	171	23	-	-	ADJ
fumecheng-2832	171	24	dominant	dominant	ADJ
fumecheng-2832	171	25	and	and	CCONJ
fumecheng-2832	171	26	dominant	dominant	ADJ
fumecheng-2832	171	27	poles	pole	NOUN
fumecheng-2832	171	28	should	should	AUX
fumecheng-2832	171	29	be	be	AUX
fumecheng-2832	171	30	greater	great	ADJ
fumecheng-2832	171	31	than	than	ADP
fumecheng-2832	171	32	four	four	NUM
fumecheng-2832	171	33	,	,	PUNCT
fumecheng-2832	171	34	which	which	PRON
fumecheng-2832	171	35	is	be	AUX
fumecheng-2832	171	36	the	the	DET
fumecheng-2832	171	37	value	value	NOUN
fumecheng-2832	171	38	usually	usually	ADV
fumecheng-2832	171	39	suggested	suggest	VERB
fumecheng-2832	171	40	in	in	ADP
fumecheng-2832	171	41	the	the	DET
fumecheng-2832	171	42	literature	literature	NOUN
fumecheng-2832	171	43	.	.	PUNCT
fumecheng-2832	172	1	suitable	suitable	ADJ
fumecheng-2832	172	2	reduction	reduction	NOUN
fumecheng-2832	172	3	of	of	ADP
fumecheng-2832	172	4	the	the	DET
fumecheng-2832	172	5	previously	previously	ADV
fumecheng-2832	172	6	known	know	VERB
fumecheng-2832	172	7	(	(	PUNCT
fumecheng-2832	172	8	identified	identify	VERB
fumecheng-2832	172	9	)	)	PUNCT
fumecheng-2832	172	10	transfer	transfer	NOUN
fumecheng-2832	172	11	matrix	matrix	NOUN
fumecheng-2832	172	12	,	,	PUNCT
fumecheng-2832	172	13	i.e.	i.e.	X
fumecheng-2832	172	14	its	its	PRON
fumecheng-2832	172	15	diagonal	diagonal	ADJ
fumecheng-2832	172	16	elements	element	NOUN
fumecheng-2832	172	17	,	,	PUNCT
fumecheng-2832	172	18	makes	make	VERB
fumecheng-2832	172	19	easier	easy	ADJ
fumecheng-2832	172	20	controller	controller	NOUN
fumecheng-2832	172	21	tuning	tuning	NOUN
fumecheng-2832	172	22	.	.	PUNCT
fumecheng-2832	173	1	effectiveness	effectiveness	NOUN
fumecheng-2832	173	2	of	of	ADP
fumecheng-2832	173	3	the	the	DET
fumecheng-2832	173	4	applied	apply	VERB
fumecheng-2832	173	5	reduction	reduction	NOUN
fumecheng-2832	173	6	is	be	AUX
fumecheng-2832	173	7	proved	prove	VERB
fumecheng-2832	173	8	as	as	ADV
fumecheng-2832	173	9	good	good	ADJ
fumecheng-2832	173	10	because	because	SCONJ
fumecheng-2832	173	11	the	the	DET
fumecheng-2832	173	12	designed	design	VERB
fumecheng-2832	173	13	controllers	controller	NOUN
fumecheng-2832	173	14	were	be	AUX
fumecheng-2832	173	15	tested	test	VERB
fumecheng-2832	173	16	on	on	ADP
fumecheng-2832	173	17	the	the	DET
fumecheng-2832	173	18	identified	identify	VERB
fumecheng-2832	173	19	(	(	PUNCT
fumecheng-2832	173	20	initial	initial	ADJ
fumecheng-2832	173	21	)	)	PUNCT
fumecheng-2832	173	22	model	model	NOUN
fumecheng-2832	173	23	of	of	ADP
fumecheng-2832	173	24	the	the	DET
fumecheng-2832	173	25	system	system	NOUN
fumecheng-2832	173	26	and	and	CCONJ
fumecheng-2832	173	27	they	they	PRON
fumecheng-2832	173	28	enabled	enable	VERB
fumecheng-2832	173	29	appropriate	appropriate	ADJ
fumecheng-2832	173	30	system	system	NOUN
fumecheng-2832	173	31	behavior	behavior	NOUN
fumecheng-2832	173	32	.	.	PUNCT
fumecheng-2832	174	1	the	the	DET
fumecheng-2832	174	2	controllers	controller	NOUN
fumecheng-2832	174	3	tuned	tune	VERB
fumecheng-2832	174	4	on	on	ADP
fumecheng-2832	174	5	the	the	DET
fumecheng-2832	174	6	basis	basis	NOUN
fumecheng-2832	174	7	of	of	ADP
fumecheng-2832	174	8	the	the	DET
fumecheng-2832	174	9	presented	present	VERB
fumecheng-2832	174	10	approach	approach	NOUN
fumecheng-2832	174	11	are	be	AUX
fumecheng-2832	174	12	compatible	compatible	ADJ
fumecheng-2832	174	13	with	with	ADP
fumecheng-2832	174	14	the	the	DET
fumecheng-2832	174	15	previously	previously	ADV
fumecheng-2832	174	16	decoupled	decouple	VERB
fumecheng-2832	174	17	objects	object	NOUN
fumecheng-2832	174	18	.	.	PUNCT
fumecheng-2832	175	1	this	this	PRON
fumecheng-2832	175	2	is	be	AUX
fumecheng-2832	175	3	confirmed	confirm	VERB
fumecheng-2832	175	4	on	on	ADP
fumecheng-2832	175	5	the	the	DET
fumecheng-2832	175	6	tito	tito	PROPN
fumecheng-2832	175	7	electrohydraulic	electrohydraulic	NOUN
fumecheng-2832	175	8	system	system	NOUN
fumecheng-2832	175	9	for	for	ADP
fumecheng-2832	175	10	structural	structural	ADJ
fumecheng-2832	175	11	testing	testing	NOUN
fumecheng-2832	175	12	,	,	PUNCT
fumecheng-2832	175	13	where	where	SCONJ
fumecheng-2832	175	14	the	the	DET
fumecheng-2832	175	15	p	p	NOUN
fumecheng-2832	175	16	controller	controller	NOUN
fumecheng-2832	175	17	in	in	ADP
fumecheng-2832	175	18	the	the	DET
fumecheng-2832	175	19	combination	combination	NOUN
fumecheng-2832	175	20	with	with	ADP
fumecheng-2832	175	21	static	static	ADJ
fumecheng-2832	175	22	inverted	invert	VERB
fumecheng-2832	175	23	decoupler	decoupler	NOUN
fumecheng-2832	175	24	enables	enable	VERB
fumecheng-2832	175	25	good	good	ADJ
fumecheng-2832	175	26	system	system	NOUN
fumecheng-2832	175	27	performances	performance	NOUN
fumecheng-2832	175	28	,	,	PUNCT
fumecheng-2832	175	29	especially	especially	ADV
fumecheng-2832	175	30	regarding	regard	VERB
fumecheng-2832	175	31	reference	reference	NOUN
fumecheng-2832	175	32	tracking	tracking	NOUN
fumecheng-2832	175	33	as	as	ADV
fumecheng-2832	175	34	well	well	ADV
fumecheng-2832	175	35	as	as	ADP
fumecheng-2832	175	36	cancellation	cancellation	NOUN
fumecheng-2832	175	37	of	of	ADP
fumecheng-2832	175	38	mutual	mutual	ADJ
fumecheng-2832	175	39	coupling	coupling	NOUN
fumecheng-2832	175	40	and	and	CCONJ
fumecheng-2832	175	41	reducing	reduce	VERB
fumecheng-2832	175	42	sensitivity	sensitivity	NOUN
fumecheng-2832	175	43	to	to	ADP
fumecheng-2832	175	44	the	the	DET
fumecheng-2832	175	45	mathematical	mathematical	ADJ
fumecheng-2832	175	46	model	model	NOUN
fumecheng-2832	175	47	uncertainties	uncertainty	NOUN
fumecheng-2832	175	48	.	.	PUNCT
fumecheng-2832	176	1	omitting	omit	VERB
fumecheng-2832	176	2	of	of	ADP
fumecheng-2832	176	3	the	the	DET
fumecheng-2832	176	4	derivative	derivative	ADJ
fumecheng-2832	176	5	terms	term	NOUN
fumecheng-2832	176	6	due	due	ADP
fumecheng-2832	176	7	to	to	ADP
fumecheng-2832	176	8	their	their	PRON
fumecheng-2832	176	9	high	high	ADJ
fumecheng-2832	176	10	values	value	NOUN
fumecheng-2832	176	11	for	for	ADP
fumecheng-2832	176	12	the	the	DET
fumecheng-2832	176	13	considered	consider	VERB
fumecheng-2832	176	14	cantilever	cantilever	NOUN
fumecheng-2832	176	15	beam	beam	NOUN
fumecheng-2832	176	16	does	do	AUX
fumecheng-2832	176	17	not	not	PART
fumecheng-2832	176	18	necessarily	necessarily	ADV
fumecheng-2832	176	19	be	be	AUX
fumecheng-2832	176	20	a	a	DET
fumecheng-2832	176	21	rule	rule	NOUN
fumecheng-2832	176	22	for	for	ADP
fumecheng-2832	176	23	other	other	ADJ
fumecheng-2832	176	24	systems	system	NOUN
fumecheng-2832	176	25	.	.	PUNCT
fumecheng-2832	177	1	this	this	PRON
fumecheng-2832	177	2	should	should	AUX
fumecheng-2832	177	3	be	be	AUX
fumecheng-2832	177	4	the	the	DET
fumecheng-2832	177	5	subject	subject	NOUN
fumecheng-2832	177	6	of	of	ADP
fumecheng-2832	177	7	future	future	ADJ
fumecheng-2832	177	8	research	research	NOUN
fumecheng-2832	177	9	studies	study	NOUN
fumecheng-2832	177	10	.	.	PUNCT
fumecheng-2832	178	1	acknowledgements	acknowledgement	NOUN
fumecheng-2832	178	2	:	:	PUNCT
fumecheng-2832	178	3	the	the	DET
fumecheng-2832	178	4	authors	author	NOUN
fumecheng-2832	178	5	wish	wish	VERB
fumecheng-2832	178	6	to	to	PART
fumecheng-2832	178	7	express	express	VERB
fumecheng-2832	178	8	their	their	PRON
fumecheng-2832	178	9	gratitude	gratitude	NOUN
fumecheng-2832	178	10	to	to	ADP
fumecheng-2832	178	11	the	the	DET
fumecheng-2832	178	12	serbian	serbian	ADJ
fumecheng-2832	178	13	mpntr	mpntr	NOUN
fumecheng-2832	178	14	for	for	ADP
fumecheng-2832	178	15	partly	partly	ADV
fumecheng-2832	178	16	financing	financing	NOUN
fumecheng-2832	178	17	of	of	ADP
fumecheng-2832	178	18	this	this	DET
fumecheng-2832	178	19	paper	paper	NOUN
fumecheng-2832	178	20	through	through	ADP
fumecheng-2832	178	21	the	the	DET
fumecheng-2832	178	22	project	project	NOUN
fumecheng-2832	178	23	tr33026	tr33026	PROPN
fumecheng-2832	178	24	.	.	PUNCT
fumecheng-2832	179	1	references	reference	NOUN
fumecheng-2832	179	2	1	1	NUM
fumecheng-2832	179	3	.	.	PUNCT
fumecheng-2832	179	4	nordfeldt	nordfeldt	PROPN
fumecheng-2832	179	5	,	,	PUNCT
fumecheng-2832	179	6	p.	p.	PROPN
fumecheng-2832	179	7	,	,	PUNCT
fumecheng-2832	179	8	hägglund	hägglund	NOUN
fumecheng-2832	179	9	,	,	PUNCT
fumecheng-2832	179	10	t.	t.	PROPN
fumecheng-2832	179	11	,	,	PUNCT
fumecheng-2832	179	12	2006	2006	NUM
fumecheng-2832	179	13	,	,	PUNCT
fumecheng-2832	179	14	decoupler	decoupler	NOUN
fumecheng-2832	179	15	and	and	CCONJ
fumecheng-2832	179	16	pid	pid	NOUN
fumecheng-2832	179	17	controller	controller	NOUN
fumecheng-2832	179	18	design	design	NOUN
fumecheng-2832	179	19	of	of	ADP
fumecheng-2832	179	20	tito	tito	PROPN
fumecheng-2832	179	21	systems	systems	PROPN
fumecheng-2832	179	22	,	,	PUNCT
fumecheng-2832	179	23	j.	j.	PROPN
fumecheng-2832	179	24	process	process	PROPN
fumecheng-2832	179	25	control	control	NOUN
fumecheng-2832	179	26	,	,	PUNCT
fumecheng-2832	179	27	l	l	PROPN
fumecheng-2832	179	28	(	(	PUNCT
fumecheng-2832	179	29	16	16	NUM
fumecheng-2832	179	30	)	)	PUNCT
fumecheng-2832	179	31	,	,	PUNCT
fumecheng-2832	179	32	pp	pp	PROPN
fumecheng-2832	179	33	.	.	PUNCT
fumecheng-2832	180	1	923	923	NUM
fumecheng-2832	180	2	-	-	SYM
fumecheng-2832	180	3	936	936	NUM
fumecheng-2832	180	4	.	.	NOUN
fumecheng-2832	181	1	2	2	NUM
fumecheng-2832	181	2	.	.	X
fumecheng-2832	181	3	vázquez	vázquez	PROPN
fumecheng-2832	181	4	,	,	PUNCT
fumecheng-2832	181	5	f.	f.	PROPN
fumecheng-2832	181	6	,	,	PUNCT
fumecheng-2832	181	7	morilla	morilla	PROPN
fumecheng-2832	181	8	,	,	PUNCT
fumecheng-2832	181	9	f.	f.	PROPN
fumecheng-2832	181	10	,	,	PUNCT
fumecheng-2832	181	11	2002	2002	NUM
fumecheng-2832	181	12	,	,	PUNCT
fumecheng-2832	181	13	tuning	tune	VERB
fumecheng-2832	181	14	decentralized	decentralize	VERB
fumecheng-2832	181	15	pid	pid	NOUN
fumecheng-2832	181	16	controllers	controller	NOUN
fumecheng-2832	181	17	for	for	ADP
fumecheng-2832	181	18	mimo	mimo	PROPN
fumecheng-2832	181	19	systems	system	NOUN
fumecheng-2832	181	20	with	with	ADP
fumecheng-2832	181	21	decouplers	decoupler	NOUN
fumecheng-2832	181	22	,	,	PUNCT
fumecheng-2832	181	23	proceedings	proceeding	NOUN
fumecheng-2832	181	24	of	of	ADP
fumecheng-2832	181	25	the	the	DET
fumecheng-2832	181	26	15th	15th	ADJ
fumecheng-2832	181	27	ifac	ifac	NOUN
fumecheng-2832	181	28	world	world	PROPN
fumecheng-2832	181	29	congress	congress	PROPN
fumecheng-2832	181	30	,	,	PUNCT
fumecheng-2832	181	31	barcelona	barcelona	PROPN
fumecheng-2832	181	32	,	,	PUNCT
fumecheng-2832	181	33	spain	spain	PROPN
fumecheng-2832	181	34	.	.	PUNCT
fumecheng-2832	182	1	256	256	NUM
fumecheng-2832	182	2	n.	n.	PROPN
fumecheng-2832	182	3	n.	n.	PROPN
fumecheng-2832	182	4	nedić	nedić	PROPN
fumecheng-2832	182	5	,	,	PUNCT
fumecheng-2832	182	6	s.	s.	PROPN
fumecheng-2832	182	7	lj	lj	PROPN
fumecheng-2832	182	8	.	.	PUNCT
fumecheng-2832	183	1	prodanović	prodanović	PROPN
fumecheng-2832	183	2	,	,	PUNCT
fumecheng-2832	183	3	lj	lj	PROPN
fumecheng-2832	183	4	.	.	PUNCT
fumecheng-2832	183	5	m.	m.	PROPN
fumecheng-2832	183	6	dubonjić	dubonjić	PROPN
fumecheng-2832	183	7	3	3	NUM
fumecheng-2832	183	8	.	.	PUNCT
fumecheng-2832	183	9	morilla	morilla	PROPN
fumecheng-2832	183	10	f.	f.	PROPN
fumecheng-2832	183	11	,	,	PUNCT
fumecheng-2832	183	12	vázquez	vázquez	PROPN
fumecheng-2832	183	13	,	,	PUNCT
fumecheng-2832	183	14	f.	f.	PROPN
fumecheng-2832	183	15	,	,	PUNCT
fumecheng-2832	183	16	garrido	garrido	PROPN
fumecheng-2832	183	17	,	,	PUNCT
fumecheng-2832	183	18	j.	j.	PROPN
fumecheng-2832	183	19	,	,	PUNCT
fumecheng-2832	183	20	2008	2008	NUM
fumecheng-2832	183	21	,	,	PUNCT
fumecheng-2832	183	22	centralized	centralize	VERB
fumecheng-2832	183	23	pid	pid	NOUN
fumecheng-2832	183	24	control	control	NOUN
fumecheng-2832	183	25	by	by	ADP
fumecheng-2832	183	26	decoupling	decouple	VERB
fumecheng-2832	183	27	for	for	ADP
fumecheng-2832	183	28	tito	tito	PROPN
fumecheng-2832	183	29	processes	process	NOUN
fumecheng-2832	183	30	,	,	PUNCT
fumecheng-2832	183	31	proceedings	proceeding	NOUN
fumecheng-2832	183	32	of	of	ADP
fumecheng-2832	183	33	the	the	DET
fumecheng-2832	183	34	13th	13th	ADJ
fumecheng-2832	183	35	ieee	ieee	NOUN
fumecheng-2832	183	36	international	international	ADJ
fumecheng-2832	183	37	conference	conference	NOUN
fumecheng-2832	183	38	on	on	ADP
fumecheng-2832	183	39	emerging	emerge	VERB
fumecheng-2832	183	40	technologies	technology	NOUN
fumecheng-2832	183	41	and	and	CCONJ
fumecheng-2832	183	42	factory	factory	NOUN
fumecheng-2832	183	43	automation	automation	NOUN
fumecheng-2832	183	44	.	.	PUNCT
fumecheng-2832	184	1	hamburg	hamburg	PROPN
fumecheng-2832	184	2	,	,	PUNCT
fumecheng-2832	184	3	germany	germany	PROPN
fumecheng-2832	184	4	,	,	PUNCT
fumecheng-2832	184	5	pp	pp	ADP
fumecheng-2832	184	6	.	.	PUNCT
fumecheng-2832	184	7	1318	1318	NUM
fumecheng-2832	184	8	-	-	SYM
fumecheng-2832	184	9	1325	1325	NUM
fumecheng-2832	184	10	.	.	PUNCT
fumecheng-2832	185	1	4	4	X
fumecheng-2832	185	2	.	.	X
fumecheng-2832	185	3	garrido	garrido	PROPN
fumecheng-2832	185	4	,	,	PUNCT
fumecheng-2832	185	5	j.	j.	PROPN
fumecheng-2832	185	6	,	,	PUNCT
fumecheng-2832	185	7	vázquez	vázquez	PROPN
fumecheng-2832	185	8	,	,	PUNCT
fumecheng-2832	185	9	f.	f.	PROPN
fumecheng-2832	185	10	,	,	PUNCT
fumecheng-2832	185	11	morilla	morilla	PROPN
fumecheng-2832	185	12	,	,	PUNCT
fumecheng-2832	185	13	f.	f.	PROPN
fumecheng-2832	185	14	,	,	PUNCT
fumecheng-2832	185	15	hägglund	hägglund	NOUN
fumecheng-2832	185	16	,	,	PUNCT
fumecheng-2832	185	17	t.	t.	PROPN
fumecheng-2832	185	18	,	,	PUNCT
fumecheng-2832	185	19	2011	2011	NUM
fumecheng-2832	185	20	,	,	PUNCT
fumecheng-2832	185	21	practical	practical	ADJ
fumecheng-2832	185	22	advantages	advantage	NOUN
fumecheng-2832	185	23	of	of	ADP
fumecheng-2832	185	24	inverted	inverted	ADJ
fumecheng-2832	185	25	decoupling	decoupling	NOUN
fumecheng-2832	185	26	,	,	PUNCT
fumecheng-2832	185	27	proceedings	proceeding	NOUN
fumecheng-2832	185	28	of	of	ADP
fumecheng-2832	185	29	the	the	DET
fumecheng-2832	185	30	institution	institution	NOUN
fumecheng-2832	185	31	of	of	ADP
fumecheng-2832	185	32	mechanical	mechanical	ADJ
fumecheng-2832	185	33	engineers	engineer	NOUN
fumecheng-2832	185	34	,	,	PUNCT
fumecheng-2832	185	35	part	part	NOUN
fumecheng-2832	186	1	i	i	PRON
fumecheng-2832	186	2	:	:	PUNCT
fumecheng-2832	186	3	j.	j.	PROPN
fumecheng-2832	186	4	systems	systems	PROPN
fumecheng-2832	186	5	and	and	CCONJ
fumecheng-2832	186	6	control	control	PROPN
fumecheng-2832	186	7	engineering	engineering	NOUN
fumecheng-2832	186	8	,	,	PUNCT
fumecheng-2832	186	9	225	225	NUM
fumecheng-2832	186	10	,	,	PUNCT
fumecheng-2832	186	11	pp	pp	ADJ
fumecheng-2832	186	12	.	.	PUNCT
fumecheng-2832	187	1	977	977	NUM
fumecheng-2832	187	2	-	-	SYM
fumecheng-2832	187	3	992	992	NUM
fumecheng-2832	187	4	.	.	NOUN
fumecheng-2832	188	1	5	5	NUM
fumecheng-2832	188	2	.	.	X
fumecheng-2832	188	3	morilla	morilla	NOUN
fumecheng-2832	188	4	,	,	PUNCT
fumecheng-2832	188	5	f.	f.	PROPN
fumecheng-2832	188	6	,	,	PUNCT
fumecheng-2832	188	7	garrido	garrido	PROPN
fumecheng-2832	188	8	,	,	PUNCT
fumecheng-2832	188	9	j.	j.	PROPN
fumecheng-2832	188	10	,	,	PUNCT
fumecheng-2832	188	11	vázquez	vázquez	PROPN
fumecheng-2832	188	12	,	,	PUNCT
fumecheng-2832	188	13	f.	f.	PROPN
fumecheng-2832	188	14	,	,	PUNCT
fumecheng-2832	188	15	2013	2013	NUM
fumecheng-2832	188	16	,	,	PUNCT
fumecheng-2832	188	17	control	control	NOUN
fumecheng-2832	188	18	multivariable	multivariable	ADJ
fumecheng-2832	188	19	por	por	NOUN
fumecheng-2832	188	20	desacoplo	desacoplo	PROPN
fumecheng-2832	188	21	,	,	PUNCT
fumecheng-2832	188	22	revista	revista	PROPN
fumecheng-2832	188	23	iberoamericana	iberoamericana	PROPN
fumecheng-2832	188	24	de	de	PROPN
fumecheng-2832	188	25	automática	automática	PROPN
fumecheng-2832	188	26	e	e	PROPN
fumecheng-2832	188	27	informática	informática	PROPN
fumecheng-2832	188	28	industrial	industrial	NOUN
fumecheng-2832	188	29	,	,	PUNCT
fumecheng-2832	188	30	10	10	NUM
fumecheng-2832	188	31	,	,	PUNCT
fumecheng-2832	188	32	pp	pp	ADJ
fumecheng-2832	188	33	.	.	PUNCT
fumecheng-2832	189	1	3	3	NUM
fumecheng-2832	189	2	-	-	SYM
fumecheng-2832	189	3	17	17	NUM
fumecheng-2832	189	4	,	,	PUNCT
fumecheng-2832	189	5	(	(	PUNCT
fumecheng-2832	189	6	in	in	ADP
fumecheng-2832	189	7	spanish	spanish	NOUN
fumecheng-2832	189	8	)	)	PUNCT
fumecheng-2832	189	9	.	.	PUNCT
fumecheng-2832	190	1	6	6	X
fumecheng-2832	190	2	.	.	X
fumecheng-2832	190	3	prodanović	prodanović	PROPN
fumecheng-2832	190	4	,	,	PUNCT
fumecheng-2832	190	5	s.	s.	PROPN
fumecheng-2832	190	6	,	,	PUNCT
fumecheng-2832	190	7	nedić	nedić	PROPN
fumecheng-2832	190	8	,	,	PUNCT
fumecheng-2832	190	9	n.	n.	NOUN
fumecheng-2832	190	10	,	,	PUNCT
fumecheng-2832	190	11	2016	2016	NUM
fumecheng-2832	190	12	,	,	PUNCT
fumecheng-2832	190	13	control	control	NOUN
fumecheng-2832	190	14	improvement	improvement	NOUN
fumecheng-2832	190	15	of	of	ADP
fumecheng-2832	190	16	a	a	DET
fumecheng-2832	190	17	double	double	ADJ
fumecheng-2832	190	18	actuator	actuator	NOUN
fumecheng-2832	190	19	electrohydraulic	electrohydraulic	NOUN
fumecheng-2832	190	20	servosystem	servosystem	NOUN
fumecheng-2832	190	21	for	for	ADP
fumecheng-2832	190	22	structural	structural	ADJ
fumecheng-2832	190	23	testing	testing	NOUN
fumecheng-2832	190	24	,	,	PUNCT
fumecheng-2832	190	25	in	in	ADP
fumecheng-2832	190	26	proceedings	proceeding	NOUN
fumecheng-2832	190	27	of	of	ADP
fumecheng-2832	190	28	the	the	DET
fumecheng-2832	190	29	15th	15th	ADJ
fumecheng-2832	190	30	youth	youth	NOUN
fumecheng-2832	190	31	symposium	symposium	NOUN
fumecheng-2832	190	32	on	on	ADP
fumecheng-2832	190	33	experimental	experimental	ADJ
fumecheng-2832	190	34	solid	solid	ADJ
fumecheng-2832	190	35	mechanics	mechanic	NOUN
fumecheng-2832	190	36	ysesm	ysesm	NOUN
fumecheng-2832	190	37	2016	2016	NUM
fumecheng-2832	190	38	,	,	PUNCT
fumecheng-2832	190	39	rimini	rimini	PROPN
fumecheng-2832	190	40	,	,	PUNCT
fumecheng-2832	190	41	italia	italia	PROPN
fumecheng-2832	190	42	.	.	PROPN
fumecheng-2832	191	1	7	7	X
fumecheng-2832	191	2	.	.	X
fumecheng-2832	191	3	singer	singer	NOUN
fumecheng-2832	191	4	,	,	PUNCT
fumecheng-2832	191	5	g.	g.	PROPN
fumecheng-2832	191	6	,	,	PUNCT
fumecheng-2832	191	7	meashio	meashio	PROPN
fumecheng-2832	191	8	,	,	PUNCT
fumecheng-2832	191	9	y.	y.	NOUN
fumecheng-2832	191	10	,	,	PUNCT
fumecheng-2832	191	11	1995	1995	NUM
fumecheng-2832	191	12	,	,	PUNCT
fumecheng-2832	191	13	analysis	analysis	NOUN
fumecheng-2832	191	14	of	of	ADP
fumecheng-2832	191	15	a	a	DET
fumecheng-2832	191	16	double	double	ADJ
fumecheng-2832	191	17	actuator	actuator	NOUN
fumecheng-2832	191	18	electrohydraulic	electrohydraulic	NOUN
fumecheng-2832	191	19	system	system	NOUN
fumecheng-2832	191	20	for	for	ADP
fumecheng-2832	191	21	structural	structural	ADJ
fumecheng-2832	191	22	testing	testing	NOUN
fumecheng-2832	191	23	,	,	PUNCT
fumecheng-2832	191	24	iee	iee	PROPN
fumecheng-2832	191	25	,	,	PUNCT
fumecheng-2832	191	26	savoy	savoy	NOUN
fumecheng-2832	191	27	place	place	NOUN
fumecheng-2832	191	28	,	,	PUNCT
fumecheng-2832	191	29	london	london	PROPN
fumecheng-2832	191	30	.	.	PUNCT
fumecheng-2832	192	1	8	8	NUM
fumecheng-2832	192	2	.	.	X
fumecheng-2832	193	1	das	das	PROPN
fumecheng-2832	193	2	,	,	PUNCT
fumecheng-2832	193	3	s.	s.	PROPN
fumecheng-2832	193	4	,	,	PUNCT
fumecheng-2832	193	5	halder	halder	PROPN
fumecheng-2832	193	6	,	,	PUNCT
fumecheng-2832	193	7	k.	k.	PROPN
fumecheng-2832	193	8	,	,	PUNCT
fumecheng-2832	193	9	pan	pan	PROPN
fumecheng-2832	193	10	,	,	PUNCT
fumecheng-2832	193	11	i.	i.	PROPN
fumecheng-2832	193	12	,	,	PUNCT
fumecheng-2832	193	13	ghosh	ghosh	PROPN
fumecheng-2832	193	14	,	,	PUNCT
fumecheng-2832	193	15	s.	s.	PROPN
fumecheng-2832	193	16	,	,	PUNCT
fumecheng-2832	193	17	gupta	gupta	PROPN
fumecheng-2832	193	18	,	,	PUNCT
fumecheng-2832	193	19	a.	a.	NOUN
fumecheng-2832	193	20	,	,	PUNCT
fumecheng-2832	193	21	2012	2012	NUM
fumecheng-2832	193	22	,	,	PUNCT
fumecheng-2832	193	23	inverse	inverse	ADJ
fumecheng-2832	193	24	optimal	optimal	ADJ
fumecheng-2832	193	25	control	control	NOUN
fumecheng-2832	193	26	formulation	formulation	NOUN
fumecheng-2832	193	27	for	for	ADP
fumecheng-2832	193	28	guaranteed	guarantee	VERB
fumecheng-2832	193	29	dominant	dominant	ADJ
fumecheng-2832	193	30	pole	pole	NOUN
fumecheng-2832	193	31	placement	placement	NOUN
fumecheng-2832	193	32	with	with	ADP
fumecheng-2832	193	33	pi	pi	PROPN
fumecheng-2832	193	34	/	/	SYM
fumecheng-2832	193	35	pid	pid	NOUN
fumecheng-2832	193	36	controllers	controller	NOUN
fumecheng-2832	193	37	,	,	PUNCT
fumecheng-2832	193	38	international	international	ADJ
fumecheng-2832	193	39	conference	conference	NOUN
fumecheng-2832	193	40	on	on	ADP
fumecheng-2832	193	41	computer	computer	NOUN
fumecheng-2832	193	42	communication	communication	NOUN
fumecheng-2832	193	43	and	and	CCONJ
fumecheng-2832	193	44	informatics	informatic	NOUN
fumecheng-2832	193	45	(	(	PUNCT
fumecheng-2832	193	46	iccci	iccci	NOUN
fumecheng-2832	193	47	-2012	-2012	PROPN
fumecheng-2832	193	48	)	)	PUNCT
fumecheng-2832	193	49	,	,	PUNCT
fumecheng-2832	193	50	coimbatore	coimbatore	PROPN
fumecheng-2832	193	51	,	,	PUNCT
fumecheng-2832	193	52	india	india	PROPN
fumecheng-2832	193	53	.	.	PROPN
fumecheng-2832	194	1	9	9	NUM
fumecheng-2832	194	2	.	.	X
fumecheng-2832	194	3	zítek	zítek	NOUN
fumecheng-2832	194	4	,	,	PUNCT
fumecheng-2832	194	5	p.	p.	NOUN
fumecheng-2832	194	6	,	,	PUNCT
fumecheng-2832	194	7	fišer	fišer	PROPN
fumecheng-2832	194	8	,	,	PUNCT
fumecheng-2832	194	9	j.	j.	PROPN
fumecheng-2832	194	10	,	,	PUNCT
fumecheng-2832	194	11	vyhlídal	vyhlídal	NOUN
fumecheng-2832	194	12	,	,	PUNCT
fumecheng-2832	194	13	t.	t.	NOUN
fumecheng-2832	194	14	,	,	PUNCT
fumecheng-2832	194	15	2013	2013	NUM
fumecheng-2832	194	16	,	,	PUNCT
fumecheng-2832	194	17	dimensional	dimensional	ADJ
fumecheng-2832	194	18	analysis	analysis	NOUN
fumecheng-2832	194	19	approach	approach	NOUN
fumecheng-2832	194	20	to	to	ADP
fumecheng-2832	194	21	dominant	dominant	VERB
fumecheng-2832	194	22	three	three	NUM
fumecheng-2832	194	23	-	-	PUNCT
fumecheng-2832	194	24	pole	pole	NOUN
fumecheng-2832	194	25	placement	placement	NOUN
fumecheng-2832	194	26	in	in	ADP
fumecheng-2832	194	27	delayed	delay	VERB
fumecheng-2832	194	28	pid	pid	NOUN
fumecheng-2832	194	29	control	control	NOUN
fumecheng-2832	194	30	loops	loop	NOUN
fumecheng-2832	194	31	,	,	PUNCT
fumecheng-2832	194	32	j.	j.	PROPN
fumecheng-2832	194	33	process	process	PROPN
fumecheng-2832	194	34	control	control	NOUN
fumecheng-2832	194	35	,	,	PUNCT
fumecheng-2832	194	36	23	23	NUM
fumecheng-2832	194	37	,	,	PUNCT
fumecheng-2832	194	38	pp	pp	ADJ
fumecheng-2832	194	39	.	.	PUNCT
fumecheng-2832	194	40	1063	1063	NUM
fumecheng-2832	194	41	-	-	SYM
fumecheng-2832	194	42	1074	1074	NUM
fumecheng-2832	194	43	.	.	PUNCT
fumecheng-2832	195	1	10	10	NUM
fumecheng-2832	195	2	.	.	PUNCT
fumecheng-2832	196	1	branlea	branlea	PROPN
fumecheng-2832	196	2	,	,	PUNCT
fumecheng-2832	196	3	i.	i.	PROPN
fumecheng-2832	196	4	,	,	PUNCT
fumecheng-2832	196	5	petrovic	petrovic	PROPN
fumecheng-2832	196	6	,	,	PUNCT
fumecheng-2832	196	7	i.	i.	NOUN
fumecheng-2832	196	8	and	and	CCONJ
fumecheng-2832	196	9	peric	peric	NOUN
fumecheng-2832	196	10	,	,	PUNCT
fumecheng-2832	196	11	n.	n.	NOUN
fumecheng-2832	196	12	,	,	PUNCT
fumecheng-2832	196	13	2002	2002	NUM
fumecheng-2832	196	14	,	,	PUNCT
fumecheng-2832	196	15	toolkit	toolkit	NOUN
fumecheng-2832	196	16	for	for	ADP
fumecheng-2832	196	17	pid	pid	NOUN
fumecheng-2832	196	18	dominant	dominant	ADJ
fumecheng-2832	196	19	pole	pole	NOUN
fumecheng-2832	196	20	design	design	NOUN
fumecheng-2832	196	21	,	,	PUNCT
fumecheng-2832	196	22	9th	9th	ADJ
fumecheng-2832	196	23	international	international	ADJ
fumecheng-2832	196	24	conference	conference	NOUN
fumecheng-2832	196	25	on	on	ADP
fumecheng-2832	196	26	electronics	electronic	NOUN
fumecheng-2832	196	27	,	,	PUNCT
fumecheng-2832	196	28	circuits	circuit	NOUN
fumecheng-2832	196	29	and	and	CCONJ
fumecheng-2832	196	30	systems	system	NOUN
fumecheng-2832	196	31	,	,	PUNCT
fumecheng-2832	196	32	3	3	NUM
fumecheng-2832	196	33	,	,	PUNCT
fumecheng-2832	196	34	pp	pp	ADJ
fumecheng-2832	196	35	.	.	PUNCT
fumecheng-2832	197	1	1247	1247	NUM
fumecheng-2832	197	2	-	-	SYM
fumecheng-2832	197	3	1250	1250	NUM
fumecheng-2832	197	4	.	.	PUNCT
fumecheng-2832	198	1	11	11	NUM
fumecheng-2832	198	2	.	.	X
fumecheng-2832	199	1	zítek	zítek	NOUN
fumecheng-2832	199	2	,	,	PUNCT
fumecheng-2832	199	3	p.	p.	NOUN
fumecheng-2832	199	4	,	,	PUNCT
fumecheng-2832	199	5	fišer	fišer	PROPN
fumecheng-2832	199	6	,	,	PUNCT
fumecheng-2832	199	7	j.	j.	PROPN
fumecheng-2832	199	8	,	,	PUNCT
fumecheng-2832	199	9	vyhlídal	vyhlídal	NOUN
fumecheng-2832	199	10	,	,	PUNCT
fumecheng-2832	199	11	t.	t.	NOUN
fumecheng-2832	199	12	,	,	PUNCT
fumecheng-2832	199	13	2012	2012	NUM
fumecheng-2832	199	14	,	,	PUNCT
fumecheng-2832	199	15	ultimate	ultimate	ADJ
fumecheng-2832	199	16	-	-	PUNCT
fumecheng-2832	199	17	frequency	frequency	NOUN
fumecheng-2832	199	18	based	base	VERB
fumecheng-2832	199	19	three	three	NUM
fumecheng-2832	199	20	-	-	PUNCT
fumecheng-2832	199	21	pole	pole	NOUN
fumecheng-2832	199	22	dominant	dominant	ADJ
fumecheng-2832	199	23	placement	placement	NOUN
fumecheng-2832	199	24	in	in	ADP
fumecheng-2832	199	25	delayed	delay	VERB
fumecheng-2832	199	26	pid	pid	PROPN
fumecheng-2832	199	27	control	control	PROPN
fumecheng-2832	199	28	loop	loop	PROPN
fumecheng-2832	199	29	,	,	PUNCT
fumecheng-2832	199	30	proceedings	proceeding	NOUN
fumecheng-2832	199	31	of	of	ADP
fumecheng-2832	199	32	the	the	DET
fumecheng-2832	199	33	10	10	NUM
fumecheng-2832	199	34	-	-	PUNCT
fumecheng-2832	199	35	th	th	VERB
fumecheng-2832	199	36	ifac	ifac	NOUN
fumecheng-2832	199	37	workshop	workshop	NOUN
fumecheng-2832	199	38	on	on	ADP
fumecheng-2832	199	39	time	time	NOUN
fumecheng-2832	199	40	delay	delay	NOUN
fumecheng-2832	199	41	systems	system	NOUN
fumecheng-2832	199	42	,	,	PUNCT
fumecheng-2832	199	43	the	the	DET
fumecheng-2832	199	44	international	international	PROPN
fumecheng-2832	199	45	federation	federation	PROPN
fumecheng-2832	199	46	of	of	ADP
fumecheng-2832	199	47	automatic	automatic	ADJ
fumecheng-2832	199	48	control	control	PROPN
fumecheng-2832	199	49	northeastern	northeastern	PROPN
fumecheng-2832	199	50	university	university	PROPN
fumecheng-2832	199	51	,	,	PUNCT
fumecheng-2832	199	52	boston	boston	PROPN
fumecheng-2832	199	53	,	,	PUNCT
fumecheng-2832	199	54	usa	usa	PROPN
fumecheng-2832	199	55	,	,	PUNCT
fumecheng-2832	199	56	pp.150	pp.150	PROPN
fumecheng-2832	199	57	-	-	PUNCT
fumecheng-2832	199	58	155	155	NUM
fumecheng-2832	199	59	.	.	PUNCT
fumecheng-2832	199	60	12	12	NUM
fumecheng-2832	199	61	.	.	PUNCT
fumecheng-2832	200	1	li	li	PROPN
fumecheng-2832	200	2	,	,	PUNCT
fumecheng-2832	200	3	y.	y.	PROPN
fumecheng-2832	200	4	,	,	PUNCT
fumecheng-2832	200	5	sheng	sheng	PROPN
fumecheng-2832	200	6	,	,	PUNCT
fumecheng-2832	200	7	a.	a.	PROPN
fumecheng-2832	200	8	,	,	PUNCT
fumecheng-2832	200	9	qi	qi	PROPN
fumecheng-2832	200	10	,	,	PUNCT
fumecheng-2832	200	11	q.	q.	PROPN
fumecheng-2832	200	12	,	,	PUNCT
fumecheng-2832	200	13	2011	2011	NUM
fumecheng-2832	200	14	,	,	PUNCT
fumecheng-2832	200	15	further	further	ADJ
fumecheng-2832	200	16	results	result	NOUN
fumecheng-2832	200	17	on	on	ADP
fumecheng-2832	200	18	guaranteed	guarantee	VERB
fumecheng-2832	200	19	dominant	dominant	ADJ
fumecheng-2832	200	20	pole	pole	NOUN
fumecheng-2832	200	21	placement	placement	NOUN
fumecheng-2832	200	22	with	with	ADP
fumecheng-2832	200	23	pid	pid	NOUN
fumecheng-2832	200	24	controllers	controller	NOUN
fumecheng-2832	200	25	,	,	PUNCT
fumecheng-2832	200	26	proceedings	proceeding	NOUN
fumecheng-2832	200	27	of	of	ADP
fumecheng-2832	200	28	the	the	DET
fumecheng-2832	200	29	30th	30th	ADJ
fumecheng-2832	200	30	chinese	chinese	PROPN
fumecheng-2832	200	31	control	control	PROPN
fumecheng-2832	200	32	conference	conference	PROPN
fumecheng-2832	200	33	,	,	PUNCT
fumecheng-2832	200	34	yantai	yantai	PROPN
fumecheng-2832	200	35	,	,	PUNCT
fumecheng-2832	200	36	china	china	PROPN
fumecheng-2832	200	37	,	,	PUNCT
fumecheng-2832	200	38	pp	pp	ADJ
fumecheng-2832	200	39	.	.	PUNCT
fumecheng-2832	201	1	3756	3756	NUM
fumecheng-2832	201	2	-	-	SYM
fumecheng-2832	201	3	3760	3760	NUM
fumecheng-2832	201	4	.	.	PUNCT
fumecheng-2832	202	1	13	13	NUM
fumecheng-2832	202	2	.	.	X
fumecheng-2832	202	3	madady	madady	PROPN
fumecheng-2832	202	4	,	,	PUNCT
fumecheng-2832	202	5	a.	a.	NOUN
fumecheng-2832	202	6	,	,	PUNCT
fumecheng-2832	202	7	reza	reza	PROPN
fumecheng-2832	202	8	-	-	PUNCT
fumecheng-2832	202	9	alikhani	alikhani	PROPN
fumecheng-2832	202	10	,	,	PUNCT
fumecheng-2832	202	11	h.r	h.r	PROPN
fumecheng-2832	202	12	.	.	PROPN
fumecheng-2832	202	13	,	,	PUNCT
fumecheng-2832	202	14	2011	2011	NUM
fumecheng-2832	202	15	,	,	PUNCT
fumecheng-2832	202	16	first	first	ADJ
fumecheng-2832	202	17	-	-	PUNCT
fumecheng-2832	202	18	order	order	NOUN
fumecheng-2832	202	19	controllers	controller	NOUN
fumecheng-2832	202	20	design	design	VERB
fumecheng-2832	202	21	employing	employ	VERB
fumecheng-2832	202	22	dominant	dominant	ADJ
fumecheng-2832	202	23	pole	pole	NOUN
fumecheng-2832	202	24	placement	placement	NOUN
fumecheng-2832	202	25	,	,	PUNCT
fumecheng-2832	202	26	19th	19th	ADJ
fumecheng-2832	202	27	mediterranean	mediterranean	PROPN
fumecheng-2832	202	28	conference	conference	NOUN
fumecheng-2832	202	29	on	on	ADP
fumecheng-2832	202	30	control	control	NOUN
fumecheng-2832	202	31	and	and	CCONJ
fumecheng-2832	202	32	automation	automation	NOUN
fumecheng-2832	202	33	aquis	aquis	PROPN
fumecheng-2832	202	34	corfu	corfu	PROPN
fumecheng-2832	202	35	holiday	holiday	PROPN
fumecheng-2832	202	36	palace	palace	PROPN
fumecheng-2832	202	37	,	,	PUNCT
fumecheng-2832	202	38	corfu	corfu	PROPN
fumecheng-2832	202	39	,	,	PUNCT
fumecheng-2832	202	40	greece	greece	PROPN
fumecheng-2832	202	41	,	,	PUNCT
fumecheng-2832	202	42	pp.1498	pp.1498	PROPN
fumecheng-2832	202	43	-	-	PUNCT
fumecheng-2832	202	44	1503	1503	NUM
fumecheng-2832	202	45	.	.	PUNCT
fumecheng-2832	203	1	14	14	NUM
fumecheng-2832	203	2	.	.	X
fumecheng-2832	203	3	åström	åström	NOUN
fumecheng-2832	203	4	,	,	PUNCT
fumecheng-2832	203	5	k.j	k.j	PROPN
fumecheng-2832	203	6	.	.	PROPN
fumecheng-2832	203	7	,	,	PUNCT
fumecheng-2832	203	8	hägglund	hägglund	NOUN
fumecheng-2832	203	9	,	,	PUNCT
fumecheng-2832	203	10	t.	t.	PROPN
fumecheng-2832	203	11	,	,	PUNCT
fumecheng-2832	203	12	1995	1995	NUM
fumecheng-2832	203	13	,	,	PUNCT
fumecheng-2832	203	14	pid	pid	NOUN
fumecheng-2832	203	15	controllers	controller	NOUN
fumecheng-2832	203	16	:	:	PUNCT
fumecheng-2832	204	1	theory	theory	NOUN
fumecheng-2832	204	2	,	,	PUNCT
fumecheng-2832	204	3	design	design	NOUN
fumecheng-2832	204	4	and	and	CCONJ
fumecheng-2832	204	5	tuning	tuning	NOUN
fumecheng-2832	204	6	,	,	PUNCT
fumecheng-2832	204	7	research	research	NOUN
fumecheng-2832	204	8	triangle	triangle	NOUN
fumecheng-2832	204	9	park	park	NOUN
fumecheng-2832	204	10	,	,	PUNCT
fumecheng-2832	204	11	nc	nc	PROPN
fumecheng-2832	204	12	:	:	PUNCT
fumecheng-2832	204	13	instrumental	instrumental	ADJ
fumecheng-2832	204	14	society	society	NOUN
fumecheng-2832	204	15	of	of	ADP
fumecheng-2832	204	16	america	america	PROPN
fumecheng-2832	204	17	.	.	PUNCT
fumecheng-2832	205	1	15	15	NUM
fumecheng-2832	205	2	.	.	X
fumecheng-2832	205	3	filipović	filipović	PROPN
fumecheng-2832	205	4	,	,	PUNCT
fumecheng-2832	205	5	v.ž	v.ž	PROPN
fumecheng-2832	205	6	.	.	PROPN
fumecheng-2832	205	7	,	,	PUNCT
fumecheng-2832	205	8	nedić	nedić	PROPN
fumecheng-2832	205	9	,	,	PUNCT
fumecheng-2832	205	10	n.n	n.n	PROPN
fumecheng-2832	205	11	.	.	PROPN
fumecheng-2832	205	12	,	,	PUNCT
fumecheng-2832	205	13	2008	2008	NUM
fumecheng-2832	205	14	,	,	PUNCT
fumecheng-2832	205	15	pid	pid	NOUN
fumecheng-2832	205	16	controllers	controller	NOUN
fumecheng-2832	205	17	,	,	PUNCT
fumecheng-2832	205	18	university	university	NOUN
fumecheng-2832	205	19	of	of	ADP
fumecheng-2832	205	20	kragujevac	kragujevac	PROPN
fumecheng-2832	205	21	,	,	PUNCT
fumecheng-2832	205	22	faculty	faculty	NOUN
fumecheng-2832	205	23	of	of	ADP
fumecheng-2832	205	24	mechanical	mechanical	ADJ
fumecheng-2832	205	25	engineering	engineering	NOUN
fumecheng-2832	205	26	,	,	PUNCT
fumecheng-2832	205	27	kraljevo	kraljevo	NOUN
fumecheng-2832	205	28	,	,	PUNCT
fumecheng-2832	205	29	(	(	PUNCT
fumecheng-2832	205	30	in	in	ADP
fumecheng-2832	205	31	serbian	serbian	ADJ
fumecheng-2832	205	32	)	)	PUNCT
fumecheng-2832	205	33	.	.	PUNCT
fumecheng-2832	206	1	16	16	NUM
fumecheng-2832	206	2	.	.	PUNCT
fumecheng-2832	207	1	wang	wang	PROPN
fumecheng-2832	207	2	,	,	PUNCT
fumecheng-2832	207	3	q	q	PROPN
fumecheng-2832	207	4	-	-	PUNCT
fumecheng-2832	207	5	g.	g.	PROPN
fumecheng-2832	207	6	,	,	PUNCT
fumecheng-2832	207	7	zhang	zhang	PROPN
fumecheng-2832	207	8	,	,	PUNCT
fumecheng-2832	207	9	z.	z.	PROPN
fumecheng-2832	207	10	,	,	PUNCT
fumecheng-2832	207	11	åström	åström	NOUN
fumecheng-2832	207	12	,	,	PUNCT
fumecheng-2832	207	13	k.j	k.j	PROPN
fumecheng-2832	207	14	.	.	PROPN
fumecheng-2832	207	15	,	,	PUNCT
fumecheng-2832	207	16	chek	chek	PROPN
fumecheng-2832	207	17	,	,	PUNCT
fumecheng-2832	207	18	l.s	l.s	PROPN
fumecheng-2832	207	19	.	.	PROPN
fumecheng-2832	207	20	,	,	PUNCT
fumecheng-2832	207	21	2009	2009	NUM
fumecheng-2832	207	22	,	,	PUNCT
fumecheng-2832	207	23	guaranteed	guarantee	VERB
fumecheng-2832	207	24	dominant	dominant	ADJ
fumecheng-2832	207	25	pole	pole	NOUN
fumecheng-2832	207	26	placement	placement	NOUN
fumecheng-2832	207	27	with	with	ADP
fumecheng-2832	207	28	pid	pid	NOUN
fumecheng-2832	207	29	controllers	controller	NOUN
fumecheng-2832	207	30	,	,	PUNCT
fumecheng-2832	207	31	j.	j.	PROPN
fumecheng-2832	207	32	process	process	PROPN
fumecheng-2832	207	33	control	control	PROPN
fumecheng-2832	207	34	,	,	PUNCT
fumecheng-2832	207	35	19	19	NUM
fumecheng-2832	207	36	,	,	PUNCT
fumecheng-2832	207	37	pp	pp	ADJ
fumecheng-2832	207	38	.	.	PUNCT
fumecheng-2832	208	1	349	349	NUM
fumecheng-2832	208	2	-	-	SYM
fumecheng-2832	208	3	352	352	NUM
fumecheng-2832	208	4	.	.	PUNCT
fumecheng-2832	209	1	17	17	NUM
fumecheng-2832	209	2	.	.	PUNCT
fumecheng-2832	210	1	nicolau	nicolau	PROPN
fumecheng-2832	210	2	,	,	PUNCT
fumecheng-2832	210	3	v.	v.	ADV
fumecheng-2832	210	4	,	,	PUNCT
fumecheng-2832	210	5	2013	2013	NUM
fumecheng-2832	210	6	,	,	PUNCT
fumecheng-2832	210	7	on	on	ADP
fumecheng-2832	210	8	pid	pid	NOUN
fumecheng-2832	210	9	controller	controller	NOUN
fumecheng-2832	210	10	design	design	NOUN
fumecheng-2832	210	11	by	by	ADP
fumecheng-2832	210	12	combining	combine	VERB
fumecheng-2832	210	13	pole	pole	NOUN
fumecheng-2832	210	14	placement	placement	NOUN
fumecheng-2832	210	15	technique	technique	NOUN
fumecheng-2832	210	16	with	with	ADP
fumecheng-2832	210	17	symmetrical	symmetrical	ADJ
fumecheng-2832	210	18	optimum	optimum	ADJ
fumecheng-2832	210	19	criterion	criterion	NOUN
fumecheng-2832	210	20	,	,	PUNCT
fumecheng-2832	210	21	math	math	NOUN
fumecheng-2832	210	22	.	.	PUNCT
fumecheng-2832	211	1	probl	probl	PROPN
fumecheng-2832	211	2	.	.	PUNCT
fumecheng-2832	212	1	eng	eng	PROPN
fumecheng-2832	212	2	.	.	PROPN
fumecheng-2832	212	3	,	,	PUNCT
fumecheng-2832	212	4	(	(	PUNCT
fumecheng-2832	212	5	2013	2013	NUM
fumecheng-2832	212	6	)	)	PUNCT
fumecheng-2832	212	7	,	,	PUNCT
fumecheng-2832	212	8	pp	pp	ADJ
fumecheng-2832	212	9	.	.	PUNCT
fumecheng-2832	213	1	1	1	NUM
fumecheng-2832	213	2	-	-	SYM
fumecheng-2832	213	3	8	8	NUM
fumecheng-2832	213	4	.	.	NOUN
fumecheng-2832	213	5	18	18	NUM
fumecheng-2832	213	6	.	.	PUNCT
fumecheng-2832	214	1	sadalla	sadalla	NOUN
fumecheng-2832	214	2	,	,	PUNCT
fumecheng-2832	214	3	t.	t.	PROPN
fumecheng-2832	214	4	,	,	PUNCT
fumecheng-2832	214	5	horla	horla	PROPN
fumecheng-2832	214	6	,	,	PUNCT
fumecheng-2832	214	7	d.	d.	PROPN
fumecheng-2832	214	8	,	,	PUNCT
fumecheng-2832	214	9	2015	2015	NUM
fumecheng-2832	214	10	,	,	PUNCT
fumecheng-2832	214	11	analysis	analysis	NOUN
fumecheng-2832	214	12	of	of	ADP
fumecheng-2832	214	13	simple	simple	ADJ
fumecheng-2832	214	14	anti	anti	ADJ
fumecheng-2832	214	15	-	-	ADJ
fumecheng-2832	214	16	windup	windup	ADJ
fumecheng-2832	214	17	compensation	compensation	NOUN
fumecheng-2832	214	18	in	in	ADP
fumecheng-2832	214	19	pole	pole	ADJ
fumecheng-2832	214	20	-	-	PUNCT
fumecheng-2832	214	21	placement	placement	NOUN
fumecheng-2832	214	22	control	control	NOUN
fumecheng-2832	214	23	of	of	ADP
fumecheng-2832	214	24	a	a	DET
fumecheng-2832	214	25	second	second	ADJ
fumecheng-2832	214	26	order	order	NOUN
fumecheng-2832	214	27	oscillatory	oscillatory	ADJ
fumecheng-2832	214	28	system	system	NOUN
fumecheng-2832	214	29	,	,	PUNCT
fumecheng-2832	214	30	measurement	measurement	NOUN
fumecheng-2832	214	31	automation	automation	NOUN
fumecheng-2832	214	32	monitoring	monitoring	NOUN
fumecheng-2832	214	33	,	,	PUNCT
fumecheng-2832	214	34	61(02	61(02	NOUN
fumecheng-2832	214	35	)	)	PUNCT
fumecheng-2832	214	36	,	,	PUNCT
fumecheng-2832	214	37	pp	pp	ADP
fumecheng-2832	214	38	.	.	PUNCT
fumecheng-2832	215	1	54	54	NUM
fumecheng-2832	215	2	-	-	SYM
fumecheng-2832	215	3	57	57	NUM
fumecheng-2832	215	4	.	.	PUNCT
fumecheng-2832	216	1	19	19	NUM
fumecheng-2832	216	2	.	.	X
fumecheng-2832	216	3	nedić	nedić	PROPN
fumecheng-2832	216	4	,	,	PUNCT
fumecheng-2832	216	5	n.n	n.n	PROPN
fumecheng-2832	216	6	.	.	PROPN
fumecheng-2832	216	7	,	,	PUNCT
fumecheng-2832	216	8	prodanović	prodanović	PROPN
fumecheng-2832	216	9	,	,	PUNCT
fumecheng-2832	216	10	s.lj	s.lj	PROPN
fumecheng-2832	216	11	.	.	PROPN
fumecheng-2832	216	12	,	,	PUNCT
fumecheng-2832	216	13	dubonjić	dubonjić	NOUN
fumecheng-2832	216	14	,	,	PUNCT
fumecheng-2832	216	15	lj.m	lj.m	PROPN
fumecheng-2832	216	16	.	.	PROPN
fumecheng-2832	216	17	,	,	PUNCT
fumecheng-2832	216	18	2016	2016	NUM
fumecheng-2832	216	19	,	,	PUNCT
fumecheng-2832	216	20	some	some	DET
fumecheng-2832	216	21	considerations	consideration	NOUN
fumecheng-2832	216	22	on	on	ADP
fumecheng-2832	216	23	the	the	DET
fumecheng-2832	216	24	decoupling	decouple	VERB
fumecheng-2832	216	25	control	control	NOUN
fumecheng-2832	216	26	of	of	ADP
fumecheng-2832	216	27	tito	tito	PROPN
fumecheng-2832	216	28	systems	systems	PROPN
fumecheng-2832	216	29	,	,	PUNCT
fumecheng-2832	216	30	proc	proc	NOUN
fumecheng-2832	216	31	.	.	PUNCT
fumecheng-2832	217	1	xiii	xiii	PROPN
fumecheng-2832	217	2	international	international	PROPN
fumecheng-2832	217	3	saum	saum	PROPN
fumecheng-2832	217	4	conference	conference	PROPN
fumecheng-2832	217	5	on	on	ADP
fumecheng-2832	217	6	systems	system	NOUN
fumecheng-2832	217	7	,	,	PUNCT
fumecheng-2832	217	8	automatic	automatic	ADJ
fumecheng-2832	217	9	control	control	NOUN
fumecheng-2832	217	10	and	and	CCONJ
fumecheng-2832	217	11	measurements	measurement	NOUN
fumecheng-2832	217	12	,	,	PUNCT
fumecheng-2832	217	13	niš	niš	NOUN
fumecheng-2832	217	14	,	,	PUNCT
fumecheng-2832	217	15	serbia	serbia	PROPN
fumecheng-2832	217	16	.	.	PUNCT
fumecheng-2832	218	1	20	20	NUM
fumecheng-2832	218	2	.	.	PUNCT
fumecheng-2832	219	1	rasouli	rasouli	PROPN
fumecheng-2832	219	2	,	,	PUNCT
fumecheng-2832	219	3	h.	h.	PROPN
fumecheng-2832	219	4	,	,	PUNCT
fumecheng-2832	219	5	fatehi	fatehi	PROPN
fumecheng-2832	219	6	,	,	PUNCT
fumecheng-2832	219	7	a.	a.	NOUN
fumecheng-2832	219	8	,	,	PUNCT
fumecheng-2832	219	9	zamanian	zamanian	PROPN
fumecheng-2832	219	10	,	,	PUNCT
fumecheng-2832	219	11	h.	h.	PROPN
fumecheng-2832	219	12	,	,	PUNCT
fumecheng-2832	219	13	2015	2015	NUM
fumecheng-2832	219	14	,	,	PUNCT
fumecheng-2832	219	15	design	design	NOUN
fumecheng-2832	219	16	and	and	CCONJ
fumecheng-2832	219	17	implementation	implementation	NOUN
fumecheng-2832	219	18	of	of	ADP
fumecheng-2832	219	19	fractional	fractional	ADJ
fumecheng-2832	219	20	order	order	NOUN
fumecheng-2832	219	21	pole	pole	NOUN
fumecheng-2832	219	22	placement	placement	NOUN
fumecheng-2832	219	23	controller	controller	NOUN
fumecheng-2832	219	24	to	to	PART
fumecheng-2832	219	25	control	control	VERB
fumecheng-2832	219	26	the	the	DET
fumecheng-2832	219	27	magnetic	magnetic	ADJ
fumecheng-2832	219	28	flux	flux	NOUN
fumecheng-2832	219	29	in	in	ADP
fumecheng-2832	219	30	damavand	damavand	PROPN
fumecheng-2832	219	31	tokamak	tokamak	PROPN
fumecheng-2832	219	32	,	,	PUNCT
fumecheng-2832	219	33	rev	rev	PROPN
fumecheng-2832	219	34	.	.	PUNCT
fumecheng-2832	219	35	sci	sci	PROPN
fumecheng-2832	219	36	.	.	PROPN
fumecheng-2832	219	37	instrum	instrum	PROPN
fumecheng-2832	219	38	.	.	PROPN
fumecheng-2832	219	39	,	,	PUNCT
fumecheng-2832	219	40	86(033503	86(033503	NUM
fumecheng-2832	219	41	)	)	PUNCT
fumecheng-2832	219	42	,	,	PUNCT
fumecheng-2832	220	1	pp	pp	ADP
fumecheng-2832	220	2	.	.	PUNCT
fumecheng-2832	221	1	1	1	NUM
fumecheng-2832	221	2	-	-	SYM
fumecheng-2832	221	3	11	11	NUM
fumecheng-2832	221	4	.	.	PUNCT
fumecheng-2832	222	1	21	21	NUM
fumecheng-2832	222	2	.	.	X
fumecheng-2832	223	1	zhang	zhang	PROPN
fumecheng-2832	223	2	,	,	PUNCT
fumecheng-2832	223	3	y.	y.	PROPN
fumecheng-2832	223	4	,	,	PUNCT
fumecheng-2832	223	5	wang	wang	PROPN
fumecheng-2832	223	6	,	,	PUNCT
fumecheng-2832	223	7	q	q	PROPN
fumecheng-2832	223	8	-	-	PUNCT
fumecheng-2832	223	9	g.	g.	NOUN
fumecheng-2832	223	10	,	,	PUNCT
fumecheng-2832	223	11	åström	åström	NOUN
fumecheng-2832	223	12	,	,	PUNCT
fumecheng-2832	223	13	k.j	k.j	PROPN
fumecheng-2832	223	14	.	.	PROPN
fumecheng-2832	223	15	,	,	PUNCT
fumecheng-2832	223	16	2000	2000	NUM
fumecheng-2832	223	17	,	,	PUNCT
fumecheng-2832	223	18	dominant	dominant	ADJ
fumecheng-2832	223	19	pole	pole	NOUN
fumecheng-2832	223	20	placement	placement	NOUN
fumecheng-2832	223	21	for	for	ADP
fumecheng-2832	223	22	multi	multi	ADJ
fumecheng-2832	223	23	-	-	ADJ
fumecheng-2832	223	24	loop	loop	ADJ
fumecheng-2832	223	25	control	control	NOUN
fumecheng-2832	223	26	systems	system	NOUN
fumecheng-2832	223	27	,	,	PUNCT
fumecheng-2832	223	28	proceedings	proceeding	NOUN
fumecheng-2832	223	29	of	of	ADP
fumecheng-2832	223	30	the	the	DET
fumecheng-2832	223	31	american	american	PROPN
fumecheng-2832	223	32	control	control	PROPN
fumecheng-2832	223	33	conference	conference	PROPN
fumecheng-2832	223	34	,	,	PUNCT
fumecheng-2832	223	35	chicago	chicago	PROPN
fumecheng-2832	223	36	,	,	PUNCT
fumecheng-2832	223	37	illinois	illinois	PROPN
fumecheng-2832	223	38	,	,	PUNCT
fumecheng-2832	223	39	pp	pp	X
fumecheng-2832	223	40	.	.	PUNCT
fumecheng-2832	224	1	1965	1965	NUM
fumecheng-2832	224	2	-	-	SYM
fumecheng-2832	224	3	1969	1969	NUM
fumecheng-2832	224	4	.	.	PUNCT
fumecheng-2832	225	1	22	22	NUM
fumecheng-2832	225	2	.	.	PUNCT
fumecheng-2832	226	1	lee	lee	PROPN
fumecheng-2832	226	2	,	,	PUNCT
fumecheng-2832	226	3	j.	j.	PROPN
fumecheng-2832	226	4	,	,	PUNCT
fumecheng-2832	226	5	edgar	edgar	PROPN
fumecheng-2832	226	6	t.f	t.f	PROPN
fumecheng-2832	226	7	.	.	PROPN
fumecheng-2832	226	8	,	,	PUNCT
fumecheng-2832	226	9	2006	2006	NUM
fumecheng-2832	226	10	,	,	PUNCT
fumecheng-2832	226	11	multiloop	multiloop	NOUN
fumecheng-2832	226	12	pi	pi	PROPN
fumecheng-2832	226	13	/	/	SYM
fumecheng-2832	226	14	pid	pid	NOUN
fumecheng-2832	226	15	control	control	NOUN
fumecheng-2832	226	16	system	system	NOUN
fumecheng-2832	226	17	improvement	improvement	NOUN
fumecheng-2832	226	18	via	via	ADP
fumecheng-2832	226	19	adjusting	adjust	VERB
fumecheng-2832	226	20	the	the	DET
fumecheng-2832	226	21	dominant	dominant	ADJ
fumecheng-2832	226	22	pole	pole	NOUN
fumecheng-2832	226	23	or	or	CCONJ
fumecheng-2832	226	24	the	the	DET
fumecheng-2832	226	25	peak	peak	NOUN
fumecheng-2832	226	26	amplitude	amplitude	NOUN
fumecheng-2832	226	27	ratio	ratio	NOUN
fumecheng-2832	226	28	,	,	PUNCT
fumecheng-2832	226	29	chem	chem	NOUN
fumecheng-2832	226	30	.	.	PUNCT
fumecheng-2832	227	1	eng	eng	PROPN
fumecheng-2832	227	2	.	.	PUNCT
fumecheng-2832	228	1	sci	sci	PROPN
fumecheng-2832	228	2	.	.	PROPN
fumecheng-2832	228	3	,	,	PUNCT
fumecheng-2832	228	4	61	61	NUM
fumecheng-2832	228	5	,	,	PUNCT
fumecheng-2832	228	6	pp	pp	ADJ
fumecheng-2832	228	7	.	.	PUNCT
fumecheng-2832	229	1	1658	1658	NUM
fumecheng-2832	229	2	-	-	SYM
fumecheng-2832	229	3	1666	1666	NUM
fumecheng-2832	229	4	.	.	PUNCT
fumecheng-2832	230	1	23	23	NUM
fumecheng-2832	230	2	.	.	PUNCT
fumecheng-2832	231	1	mokadam	mokadam	PROPN
fumecheng-2832	231	2	,	,	PUNCT
fumecheng-2832	231	3	h.r	h.r	PROPN
fumecheng-2832	231	4	.	.	PROPN
fumecheng-2832	231	5	,	,	PUNCT
fumecheng-2832	231	6	patre	patre	PROPN
fumecheng-2832	231	7	,	,	PUNCT
fumecheng-2832	231	8	b.m	b.m	PROPN
fumecheng-2832	231	9	.	.	PROPN
fumecheng-2832	231	10	,	,	PUNCT
fumecheng-2832	231	11	maghade	maghade	PROPN
fumecheng-2832	231	12	,	,	PUNCT
fumecheng-2832	231	13	d.k	d.k	PROPN
fumecheng-2832	231	14	.	.	PROPN
fumecheng-2832	231	15	,	,	PUNCT
fumecheng-2832	231	16	2013	2013	NUM
fumecheng-2832	231	17	,	,	PUNCT
fumecheng-2832	231	18	tuning	tuning	NOUN
fumecheng-2832	231	19	of	of	ADP
fumecheng-2832	231	20	multivariable	multivariable	ADJ
fumecheng-2832	231	21	pi	pi	PROPN
fumecheng-2832	231	22	/	/	SYM
fumecheng-2832	231	23	pid	pid	NOUN
fumecheng-2832	231	24	controllers	controller	NOUN
fumecheng-2832	231	25	for	for	ADP
fumecheng-2832	231	26	tito	tito	PROPN
fumecheng-2832	231	27	processes	process	NOUN
fumecheng-2832	231	28	using	use	VERB
fumecheng-2832	231	29	dominant	dominant	ADJ
fumecheng-2832	231	30	pole	pole	NOUN
fumecheng-2832	231	31	placement	placement	NOUN
fumecheng-2832	231	32	approach	approach	NOUN
fumecheng-2832	231	33	,	,	PUNCT
fumecheng-2832	231	34	int	int	NOUN
fumecheng-2832	231	35	.	.	PUNCT
fumecheng-2832	232	1	j.	j.	PROPN
fumecheng-2832	232	2	automation	automation	PROPN
fumecheng-2832	232	3	and	and	CCONJ
fumecheng-2832	232	4	control	control	NOUN
fumecheng-2832	232	5	,	,	PUNCT
fumecheng-2832	232	6	7(1/2	7(1/2	NUM
fumecheng-2832	232	7	)	)	PUNCT
fumecheng-2832	232	8	,	,	PUNCT
fumecheng-2832	232	9	pp	pp	PROPN
fumecheng-2832	232	10	.	.	PUNCT
fumecheng-2832	233	1	21	21	NUM
fumecheng-2832	233	2	-	-	SYM
fumecheng-2832	233	3	41	41	NUM
fumecheng-2832	233	4	.	.	PUNCT
fumecheng-2832	234	1	24	24	NUM
fumecheng-2832	234	2	.	.	PUNCT
fumecheng-2832	235	1	maghade	maghade	PROPN
fumecheng-2832	235	2	,	,	PUNCT
fumecheng-2832	235	3	d.k	d.k	PROPN
fumecheng-2832	235	4	.	.	PROPN
fumecheng-2832	235	5	,	,	PUNCT
fumecheng-2832	235	6	patre	patre	PROPN
fumecheng-2832	235	7	,	,	PUNCT
fumecheng-2832	235	8	b.m	b.m	PROPN
fumecheng-2832	235	9	.	.	PROPN
fumecheng-2832	235	10	,	,	PUNCT
fumecheng-2832	235	11	2014	2014	NUM
fumecheng-2832	235	12	,	,	PUNCT
fumecheng-2832	235	13	pole	pole	NOUN
fumecheng-2832	235	14	placement	placement	NOUN
fumecheng-2832	235	15	by	by	ADP
fumecheng-2832	235	16	pid	pid	NOUN
fumecheng-2832	235	17	controllers	controller	NOUN
fumecheng-2832	235	18	to	to	PART
fumecheng-2832	235	19	achieve	achieve	VERB
fumecheng-2832	235	20	time	time	NOUN
fumecheng-2832	235	21	domain	domain	NOUN
fumecheng-2832	235	22	specifications	specification	NOUN
fumecheng-2832	235	23	for	for	ADP
fumecheng-2832	235	24	tito	tito	PROPN
fumecheng-2832	235	25	systems	systems	PROPN
fumecheng-2832	235	26	,	,	PUNCT
fumecheng-2832	235	27	trans	trans	PROPN
fumecheng-2832	235	28	.	.	PROPN
fumecheng-2832	235	29	inst	inst	PROPN
fumecheng-2832	235	30	.	.	PUNCT
fumecheng-2832	236	1	meas	meas	PROPN
fumecheng-2832	236	2	.	.	PUNCT
fumecheng-2832	237	1	control	control	PROPN
fumecheng-2832	237	2	,	,	PUNCT
fumecheng-2832	237	3	36(4	36(4	NUM
fumecheng-2832	237	4	)	)	PUNCT
fumecheng-2832	237	5	,	,	PUNCT
fumecheng-2832	237	6	pp	pp	PROPN
fumecheng-2832	237	7	.	.	PUNCT
fumecheng-2832	238	1	506	506	NUM
fumecheng-2832	238	2	-	-	SYM
fumecheng-2832	238	3	522	522	NUM
fumecheng-2832	238	4	.	.	PUNCT