id	sid	tid	token	lemma	pos
fcis-12979	1	1	frontiers	frontier	NOUN
fcis-12979	1	2	in	in	ADP
fcis-12979	1	3	computing	computing	NOUN
fcis-12979	1	4	and	and	CCONJ
fcis-12979	1	5	intelligent	intelligent	ADJ
fcis-12979	1	6	systems	system	NOUN
fcis-12979	1	7	issn	issn	VERB
fcis-12979	1	8	:	:	PUNCT
fcis-12979	1	9	2832	2832	NUM
fcis-12979	1	10	-	-	SYM
fcis-12979	1	11	6024	6024	NUM
fcis-12979	1	12	|	|	NOUN
fcis-12979	1	13	vol	vol	NOUN
fcis-12979	1	14	.	.	PROPN
fcis-12979	2	1	5	5	NUM
fcis-12979	2	2	,	,	PUNCT
fcis-12979	2	3	no	no	INTJ
fcis-12979	2	4	.	.	NOUN
fcis-12979	2	5	2	2	NUM
fcis-12979	2	6	,	,	PUNCT
fcis-12979	3	1	2023	2023	NUM
fcis-12979	3	2	90	90	NUM
fcis-12979	3	3	attitude	attitude	NOUN
fcis-12979	3	4	control	control	NOUN
fcis-12979	3	5	of	of	ADP
fcis-12979	3	6	quadrotor	quadrotor	PROPN
fcis-12979	3	7	uav	uav	PROPN
fcis-12979	3	8	using	use	VERB
fcis-12979	3	9	improved	improve	VERB
fcis-12979	3	10	active	active	ADJ
fcis-12979	3	11	disturbance	disturbance	NOUN
fcis-12979	3	12	rejection	rejection	NOUN
fcis-12979	3	13	control	control	NOUN
fcis-12979	3	14	yinian	yinian	PROPN
fcis-12979	3	15	li	li	PROPN
fcis-12979	3	16	1	1	NUM
fcis-12979	3	17	,	,	PUNCT
fcis-12979	3	18	gongquan	gongquan	NOUN
fcis-12979	3	19	tan	tan	PROPN
fcis-12979	3	20	1	1	NUM
fcis-12979	3	21	,	,	PUNCT
fcis-12979	3	22	2	2	NUM
fcis-12979	3	23	,	,	PUNCT
fcis-12979	3	24	*	*	NUM
fcis-12979	3	25	1	1	NUM
fcis-12979	3	26	school	school	NOUN
fcis-12979	3	27	of	of	ADP
fcis-12979	3	28	automation	automation	NOUN
fcis-12979	3	29	and	and	CCONJ
fcis-12979	3	30	information	information	NOUN
fcis-12979	3	31	engineering	engineering	NOUN
fcis-12979	3	32	,	,	PUNCT
fcis-12979	3	33	sichuan	sichuan	PROPN
fcis-12979	3	34	university	university	PROPN
fcis-12979	3	35	of	of	ADP
fcis-12979	3	36	science	science	PROPN
fcis-12979	3	37	&	&	CCONJ
fcis-12979	3	38	engineering	engineering	PROPN
fcis-12979	3	39	,	,	PUNCT
fcis-12979	3	40	zigong	zigong	PROPN
fcis-12979	3	41	,	,	PUNCT
fcis-12979	3	42	china	china	PROPN
fcis-12979	3	43	2	2	NUM
fcis-12979	3	44	artificial	artificial	ADJ
fcis-12979	3	45	intelligence	intelligence	NOUN
fcis-12979	3	46	key	key	NOUN
fcis-12979	3	47	laboratory	laboratory	NOUN
fcis-12979	3	48	of	of	ADP
fcis-12979	3	49	sichuan	sichuan	PROPN
fcis-12979	3	50	province	province	PROPN
fcis-12979	3	51	,	,	PUNCT
fcis-12979	3	52	yibin	yibin	PROPN
fcis-12979	3	53	,	,	PUNCT
fcis-12979	3	54	china	china	PROPN
fcis-12979	3	55	*	*	PUNCT
fcis-12979	3	56	corresponding	correspond	VERB
fcis-12979	3	57	author	author	NOUN
fcis-12979	3	58	:	:	PUNCT
fcis-12979	3	59	gongquan	gongquan	PROPN
fcis-12979	3	60	tan	tan	PROPN
fcis-12979	3	61	(	(	PUNCT
fcis-12979	3	62	email	email	NOUN
fcis-12979	3	63	:	:	PUNCT
fcis-12979	3	64	43180229@qq.com	43180229@qq.com	NUM
fcis-12979	3	65	)	)	PUNCT
fcis-12979	3	66	abstract	abstract	NOUN
fcis-12979	3	67	:	:	PUNCT
fcis-12979	3	68	the	the	DET
fcis-12979	3	69	quadrotor	quadrotor	PROPN
fcis-12979	3	70	uav	uav	PROPN
fcis-12979	3	71	has	have	VERB
fcis-12979	3	72	complex	complex	ADJ
fcis-12979	3	73	aerodynamics	aerodynamic	NOUN
fcis-12979	3	74	,	,	PUNCT
fcis-12979	3	75	unstable	unstable	ADJ
fcis-12979	3	76	altitude	altitude	NOUN
fcis-12979	3	77	,	,	PUNCT
fcis-12979	3	78	and	and	CCONJ
fcis-12979	3	79	easy	easy	ADJ
fcis-12979	3	80	to	to	PART
fcis-12979	3	81	be	be	AUX
fcis-12979	3	82	disturbed	disturb	VERB
fcis-12979	3	83	by	by	ADP
fcis-12979	3	84	internal	internal	ADJ
fcis-12979	3	85	and	and	CCONJ
fcis-12979	3	86	external	external	ADJ
fcis-12979	3	87	uncertainties	uncertainty	NOUN
fcis-12979	3	88	during	during	ADP
fcis-12979	3	89	flight	flight	NOUN
fcis-12979	3	90	,	,	PUNCT
fcis-12979	3	91	so	so	ADV
fcis-12979	3	92	good	good	ADJ
fcis-12979	3	93	attitude	attitude	NOUN
fcis-12979	3	94	control	control	NOUN
fcis-12979	3	95	becomes	become	VERB
fcis-12979	3	96	a	a	DET
fcis-12979	3	97	challenge	challenge	NOUN
fcis-12979	3	98	,	,	PUNCT
fcis-12979	3	99	this	this	DET
fcis-12979	3	100	paper	paper	NOUN
fcis-12979	3	101	improves	improve	VERB
fcis-12979	3	102	the	the	DET
fcis-12979	3	103	active	active	ADJ
fcis-12979	3	104	disturbance	disturbance	NOUN
fcis-12979	3	105	rejection	rejection	NOUN
fcis-12979	3	106	controller	controller	NOUN
fcis-12979	3	107	to	to	PART
fcis-12979	3	108	improve	improve	VERB
fcis-12979	3	109	the	the	DET
fcis-12979	3	110	system	system	NOUN
fcis-12979	3	111	's	's	PART
fcis-12979	3	112	anti	anti	ADJ
fcis-12979	3	113	-	-	ADJ
fcis-12979	3	114	jamming	jamming	ADJ
fcis-12979	3	115	ability	ability	NOUN
fcis-12979	3	116	and	and	CCONJ
fcis-12979	3	117	response	response	NOUN
fcis-12979	3	118	speed	speed	NOUN
fcis-12979	3	119	in	in	ADP
fcis-12979	3	120	response	response	NOUN
fcis-12979	3	121	to	to	ADP
fcis-12979	3	122	the	the	DET
fcis-12979	3	123	above	above	ADJ
fcis-12979	3	124	problems	problem	NOUN
fcis-12979	3	125	.	.	PUNCT
fcis-12979	4	1	firstly	firstly	ADV
fcis-12979	4	2	,	,	PUNCT
fcis-12979	4	3	a	a	DET
fcis-12979	4	4	quadrotor	quadrotor	PROPN
fcis-12979	4	5	uav	uav	PROPN
fcis-12979	4	6	dynamics	dynamic	NOUN
fcis-12979	4	7	model	model	NOUN
fcis-12979	4	8	is	be	AUX
fcis-12979	4	9	established	establish	VERB
fcis-12979	4	10	;	;	PUNCT
fcis-12979	4	11	then	then	ADV
fcis-12979	4	12	the	the	DET
fcis-12979	4	13	ifal	ifal	NOUN
fcis-12979	4	14	function	function	NOUN
fcis-12979	4	15	is	be	AUX
fcis-12979	4	16	constructed	construct	VERB
fcis-12979	4	17	,	,	PUNCT
fcis-12979	4	18	which	which	PRON
fcis-12979	4	19	solves	solve	VERB
fcis-12979	4	20	the	the	DET
fcis-12979	4	21	problems	problem	NOUN
fcis-12979	4	22	that	that	PRON
fcis-12979	4	23	the	the	DET
fcis-12979	4	24	inflection	inflection	NOUN
fcis-12979	4	25	point	point	NOUN
fcis-12979	4	26	of	of	ADP
fcis-12979	4	27	the	the	DET
fcis-12979	4	28	fal	fal	PROPN
fcis-12979	4	29	function	function	NOUN
fcis-12979	4	30	is	be	AUX
fcis-12979	4	31	not	not	PART
fcis-12979	4	32	smooth	smooth	ADJ
fcis-12979	4	33	,	,	PUNCT
fcis-12979	4	34	which	which	PRON
fcis-12979	4	35	is	be	AUX
fcis-12979	4	36	easy	easy	ADJ
fcis-12979	4	37	to	to	PART
fcis-12979	4	38	cause	cause	VERB
fcis-12979	4	39	the	the	DET
fcis-12979	4	40	system	system	NOUN
fcis-12979	4	41	jitter	jitter	NOUN
fcis-12979	4	42	and	and	CCONJ
fcis-12979	4	43	the	the	DET
fcis-12979	4	44	system	system	NOUN
fcis-12979	4	45	gain	gain	NOUN
fcis-12979	4	46	is	be	AUX
fcis-12979	4	47	large	large	ADJ
fcis-12979	4	48	when	when	SCONJ
fcis-12979	4	49	the	the	DET
fcis-12979	4	50	error	error	NOUN
fcis-12979	4	51	is	be	AUX
fcis-12979	4	52	large	large	ADJ
fcis-12979	4	53	,	,	PUNCT
fcis-12979	4	54	and	and	CCONJ
fcis-12979	4	55	finally	finally	ADV
fcis-12979	4	56	the	the	DET
fcis-12979	4	57	performance	performance	NOUN
fcis-12979	4	58	is	be	AUX
fcis-12979	4	59	verified	verify	VERB
fcis-12979	4	60	by	by	ADP
fcis-12979	4	61	using	use	VERB
fcis-12979	4	62	matlab	matlab	PROPN
fcis-12979	4	63	/	/	SYM
fcis-12979	4	64	simulink	simulink	PROPN
fcis-12979	4	65	simulation	simulation	NOUN
fcis-12979	4	66	software	software	PROPN
fcis-12979	4	67	.	.	PUNCT
fcis-12979	5	1	the	the	DET
fcis-12979	5	2	simulation	simulation	NOUN
fcis-12979	5	3	results	result	NOUN
fcis-12979	5	4	show	show	VERB
fcis-12979	5	5	that	that	SCONJ
fcis-12979	5	6	the	the	DET
fcis-12979	5	7	constructed	construct	VERB
fcis-12979	5	8	ifal	ifal	NOUN
fcis-12979	5	9	function	function	NOUN
fcis-12979	5	10	is	be	AUX
fcis-12979	5	11	smoother	smooth	ADJ
fcis-12979	5	12	and	and	CCONJ
fcis-12979	5	13	has	have	VERB
fcis-12979	5	14	better	well	ADJ
fcis-12979	5	15	convergence	convergence	NOUN
fcis-12979	5	16	,	,	PUNCT
fcis-12979	5	17	and	and	CCONJ
fcis-12979	5	18	compared	compare	VERB
fcis-12979	5	19	with	with	ADP
fcis-12979	5	20	the	the	DET
fcis-12979	5	21	traditional	traditional	ADJ
fcis-12979	5	22	active	active	ADJ
fcis-12979	5	23	disturbance	disturbance	NOUN
fcis-12979	5	24	rejection	rejection	NOUN
fcis-12979	5	25	control	control	NOUN
fcis-12979	5	26	,	,	PUNCT
fcis-12979	5	27	the	the	DET
fcis-12979	5	28	improved	improve	VERB
fcis-12979	5	29	active	active	ADJ
fcis-12979	5	30	disturbance	disturbance	NOUN
fcis-12979	5	31	rejection	rejection	NOUN
fcis-12979	5	32	control	control	NOUN
fcis-12979	5	33	system	system	NOUN
fcis-12979	5	34	has	have	VERB
fcis-12979	5	35	faster	fast	ADJ
fcis-12979	5	36	response	response	NOUN
fcis-12979	5	37	speed	speed	NOUN
fcis-12979	5	38	,	,	PUNCT
fcis-12979	5	39	stronger	strong	ADJ
fcis-12979	5	40	anti	anti	ADJ
fcis-12979	5	41	-	-	ADJ
fcis-12979	5	42	jamming	jamming	ADJ
fcis-12979	5	43	ability	ability	NOUN
fcis-12979	5	44	and	and	CCONJ
fcis-12979	5	45	robustness	robustness	NOUN
fcis-12979	5	46	in	in	ADP
fcis-12979	5	47	the	the	DET
fcis-12979	5	48	attitude	attitude	NOUN
fcis-12979	5	49	control	control	NOUN
fcis-12979	5	50	of	of	ADP
fcis-12979	5	51	quadrotor	quadrotor	PROPN
fcis-12979	5	52	uav	uav	PROPN
fcis-12979	5	53	.	.	PUNCT
fcis-12979	6	1	keywords	keyword	NOUN
fcis-12979	6	2	:	:	PUNCT
fcis-12979	6	3	quadrotor	quadrotor	PROPN
fcis-12979	6	4	uav	uav	PROPN
fcis-12979	6	5	;	;	PUNCT
fcis-12979	6	6	active	active	ADJ
fcis-12979	6	7	disturbance	disturbance	NOUN
fcis-12979	6	8	rejection	rejection	NOUN
fcis-12979	6	9	controller	controller	NOUN
fcis-12979	6	10	(	(	PUNCT
fcis-12979	6	11	adrc	adrc	PROPN
fcis-12979	6	12	)	)	PUNCT
fcis-12979	6	13	;	;	PUNCT
fcis-12979	6	14	improved	improve	VERB
fcis-12979	6	15	fal	fal	PROPN
fcis-12979	6	16	function	function	NOUN
fcis-12979	6	17	;	;	PUNCT
fcis-12979	6	18	attitude	attitude	NOUN
fcis-12979	6	19	control	control	NOUN
fcis-12979	6	20	.	.	PUNCT
fcis-12979	7	1	1	1	X
fcis-12979	7	2	.	.	X
fcis-12979	7	3	introduction	introduction	NOUN
fcis-12979	7	4	in	in	ADP
fcis-12979	7	5	recent	recent	ADJ
fcis-12979	7	6	years	year	NOUN
fcis-12979	7	7	quadrotors	quadrotor	NOUN
fcis-12979	7	8	have	have	AUX
fcis-12979	7	9	been	be	AUX
fcis-12979	7	10	widely	widely	ADV
fcis-12979	7	11	used	use	VERB
fcis-12979	7	12	in	in	ADP
fcis-12979	7	13	education	education	NOUN
fcis-12979	7	14	,	,	PUNCT
fcis-12979	7	15	agriculture	agriculture	NOUN
fcis-12979	7	16	,	,	PUNCT
fcis-12979	7	17	and	and	CCONJ
fcis-12979	7	18	military	military	NOUN
fcis-12979	7	19	due	due	ADP
fcis-12979	7	20	to	to	ADP
fcis-12979	7	21	their	their	PRON
fcis-12979	7	22	advantages	advantage	NOUN
fcis-12979	7	23	of	of	ADP
fcis-12979	7	24	simple	simple	ADJ
fcis-12979	7	25	structure	structure	NOUN
fcis-12979	7	26	and	and	CCONJ
fcis-12979	7	27	low	low	ADJ
fcis-12979	7	28	production	production	NOUN
fcis-12979	7	29	cost	cost	NOUN
fcis-12979	8	1	[	[	X
fcis-12979	8	2	1	1	NUM
fcis-12979	8	3	-	-	SYM
fcis-12979	8	4	4	4	NUM
fcis-12979	8	5	]	]	PUNCT
fcis-12979	8	6	.	.	PUNCT
fcis-12979	9	1	given	give	VERB
fcis-12979	9	2	that	that	SCONJ
fcis-12979	9	3	a	a	DET
fcis-12979	9	4	quadrotor	quadrotor	NOUN
fcis-12979	9	5	uav	uav	PROPN
fcis-12979	9	6	is	be	AUX
fcis-12979	9	7	a	a	DET
fcis-12979	9	8	nonlinear	nonlinear	ADJ
fcis-12979	9	9	,	,	PUNCT
fcis-12979	9	10	strongly	strongly	ADV
fcis-12979	9	11	coupled	couple	VERB
fcis-12979	9	12	,	,	PUNCT
fcis-12979	9	13	underdriven	underdriven	ADJ
fcis-12979	9	14	and	and	CCONJ
fcis-12979	9	15	complex	complex	ADJ
fcis-12979	9	16	system	system	NOUN
fcis-12979	9	17	,	,	PUNCT
fcis-12979	9	18	which	which	PRON
fcis-12979	9	19	is	be	AUX
fcis-12979	9	20	difficult	difficult	ADJ
fcis-12979	9	21	to	to	PART
fcis-12979	9	22	model	model	VERB
fcis-12979	9	23	accurately	accurately	ADV
fcis-12979	9	24	,	,	PUNCT
fcis-12979	9	25	and	and	CCONJ
fcis-12979	9	26	at	at	ADP
fcis-12979	9	27	the	the	DET
fcis-12979	9	28	same	same	ADJ
fcis-12979	9	29	time	time	NOUN
fcis-12979	9	30	the	the	DET
fcis-12979	9	31	flight	flight	NOUN
fcis-12979	9	32	of	of	ADP
fcis-12979	9	33	a	a	DET
fcis-12979	9	34	quadrotor	quadrotor	PROPN
fcis-12979	9	35	uav	uav	PROPN
fcis-12979	9	36	is	be	AUX
fcis-12979	9	37	unstable	unstable	ADJ
fcis-12979	9	38	under	under	ADP
fcis-12979	9	39	the	the	DET
fcis-12979	9	40	influence	influence	NOUN
fcis-12979	9	41	of	of	ADP
fcis-12979	9	42	external	external	ADJ
fcis-12979	9	43	disturbances	disturbance	NOUN
fcis-12979	9	44	and	and	CCONJ
fcis-12979	9	45	model	model	NOUN
fcis-12979	9	46	uncertainty	uncertainty	NOUN
fcis-12979	9	47	,	,	PUNCT
fcis-12979	9	48	designing	design	VERB
fcis-12979	9	49	fast	fast	ADJ
fcis-12979	9	50	and	and	CCONJ
fcis-12979	9	51	stable	stable	ADJ
fcis-12979	9	52	control	control	NOUN
fcis-12979	9	53	algorithms	algorithm	NOUN
fcis-12979	9	54	is	be	AUX
fcis-12979	9	55	the	the	DET
fcis-12979	9	56	basis	basis	NOUN
fcis-12979	9	57	for	for	ADP
fcis-12979	9	58	the	the	DET
fcis-12979	9	59	wide	wide	ADJ
fcis-12979	9	60	application	application	NOUN
fcis-12979	9	61	of	of	ADP
fcis-12979	9	62	quadrotor	quadrotor	PROPN
fcis-12979	9	63	uavs	uavs	PROPN
fcis-12979	9	64	.	.	PUNCT
fcis-12979	10	1	traditional	traditional	ADJ
fcis-12979	10	2	flight	flight	NOUN
fcis-12979	10	3	control	control	NOUN
fcis-12979	10	4	methods	method	NOUN
fcis-12979	10	5	for	for	ADP
fcis-12979	10	6	quadrotor	quadrotor	NOUN
fcis-12979	10	7	uavs	uavs	PROPN
fcis-12979	10	8	mainly	mainly	ADV
fcis-12979	10	9	include	include	VERB
fcis-12979	10	10	pid	pid	NOUN
fcis-12979	10	11	control	control	NOUN
fcis-12979	10	12	,	,	PUNCT
fcis-12979	10	13	sliding	slide	VERB
fcis-12979	10	14	film	film	NOUN
fcis-12979	10	15	control	control	NOUN
fcis-12979	10	16	,	,	PUNCT
fcis-12979	10	17	backstepping	backstepping	NOUN
fcis-12979	10	18	,	,	PUNCT
fcis-12979	10	19	etc	etc	X
fcis-12979	10	20	.	.	X
fcis-12979	10	21	kara	kara	PROPN
fcis-12979	11	1	[	[	X
fcis-12979	11	2	5	5	NUM
fcis-12979	11	3	]	]	PUNCT
fcis-12979	11	4	combined	combine	VERB
fcis-12979	11	5	linear	linear	ADJ
fcis-12979	11	6	and	and	CCONJ
fcis-12979	11	7	nonlinear	nonlinear	ADJ
fcis-12979	11	8	controllers	controller	NOUN
fcis-12979	11	9	,	,	PUNCT
fcis-12979	11	10	and	and	CCONJ
fcis-12979	11	11	the	the	DET
fcis-12979	11	12	proposed	propose	VERB
fcis-12979	11	13	control	control	NOUN
fcis-12979	11	14	scheme	scheme	NOUN
fcis-12979	11	15	combines	combine	VERB
fcis-12979	11	16	the	the	DET
fcis-12979	11	17	simplicity	simplicity	NOUN
fcis-12979	11	18	of	of	ADP
fcis-12979	11	19	the	the	DET
fcis-12979	11	20	pid	pid	NOUN
fcis-12979	11	21	controller	controller	NOUN
fcis-12979	11	22	and	and	CCONJ
fcis-12979	11	23	the	the	DET
fcis-12979	11	24	robustness	robustness	NOUN
fcis-12979	11	25	of	of	ADP
fcis-12979	11	26	the	the	DET
fcis-12979	11	27	sliding	slide	VERB
fcis-12979	11	28	film	film	NOUN
fcis-12979	11	29	control	control	NOUN
fcis-12979	11	30	(	(	PUNCT
fcis-12979	11	31	smc	smc	PROPN
fcis-12979	11	32	)	)	PUNCT
fcis-12979	11	33	,	,	PUNCT
fcis-12979	11	34	and	and	CCONJ
fcis-12979	11	35	then	then	ADV
fcis-12979	11	36	proved	prove	VERB
fcis-12979	11	37	that	that	SCONJ
fcis-12979	11	38	the	the	DET
fcis-12979	11	39	pidsmc	pidsmc	NOUN
fcis-12979	11	40	has	have	VERB
fcis-12979	11	41	good	good	ADJ
fcis-12979	11	42	robustness	robustness	NOUN
fcis-12979	11	43	under	under	ADP
fcis-12979	11	44	system	system	NOUN
fcis-12979	11	45	uncertainty	uncertainty	NOUN
fcis-12979	11	46	and	and	CCONJ
fcis-12979	11	47	boussad	boussad	ADJ
fcis-12979	11	48	abci	abci	NOUN
fcis-12979	12	1	[	[	X
fcis-12979	12	2	6	6	X
fcis-12979	12	3	]	]	PUNCT
fcis-12979	12	4	proposed	propose	VERB
fcis-12979	12	5	an	an	DET
fcis-12979	12	6	improved	improved	ADJ
fcis-12979	12	7	sliding	slide	VERB
fcis-12979	12	8	mode	mode	NOUN
fcis-12979	12	9	control	control	NOUN
fcis-12979	12	10	algorithm	algorithm	NOUN
fcis-12979	12	11	based	base	VERB
fcis-12979	12	12	on	on	ADP
fcis-12979	12	13	lyapunov	lyapunov	ADJ
fcis-12979	12	14	function	function	NOUN
fcis-12979	12	15	theory	theory	NOUN
fcis-12979	12	16	to	to	PART
fcis-12979	12	17	improve	improve	VERB
fcis-12979	12	18	the	the	DET
fcis-12979	12	19	robustness	robustness	NOUN
fcis-12979	12	20	of	of	ADP
fcis-12979	12	21	the	the	DET
fcis-12979	12	22	controller	controller	NOUN
fcis-12979	12	23	against	against	ADP
fcis-12979	12	24	external	external	ADJ
fcis-12979	12	25	disturbances	disturbance	NOUN
fcis-12979	12	26	.	.	PUNCT
fcis-12979	13	1	mei	mei	PROPN
fcis-12979	13	2	wu	wu	PROPN
fcis-12979	14	1	[	[	X
fcis-12979	14	2	7	7	NUM
fcis-12979	14	3	]	]	X
fcis-12979	14	4	used	use	VERB
fcis-12979	14	5	backstepping	backstepping	NOUN
fcis-12979	14	6	method	method	NOUN
fcis-12979	14	7	to	to	PART
fcis-12979	14	8	decompose	decompose	VERB
fcis-12979	14	9	the	the	DET
fcis-12979	14	10	system	system	NOUN
fcis-12979	14	11	into	into	ADP
fcis-12979	14	12	subsystems	subsystem	NOUN
fcis-12979	14	13	not	not	PART
fcis-12979	14	14	exceeding	exceed	VERB
fcis-12979	14	15	the	the	DET
fcis-12979	14	16	order	order	NOUN
fcis-12979	14	17	of	of	ADP
fcis-12979	14	18	the	the	DET
fcis-12979	14	19	system	system	NOUN
fcis-12979	14	20	,	,	PUNCT
fcis-12979	14	21	and	and	CCONJ
fcis-12979	14	22	then	then	ADV
fcis-12979	14	23	designed	design	VERB
fcis-12979	14	24	the	the	DET
fcis-12979	14	25	lyapunov	lyapunov	ADJ
fcis-12979	14	26	function	function	NOUN
fcis-12979	14	27	for	for	ADP
fcis-12979	14	28	each	each	DET
fcis-12979	14	29	subsystem	subsystem	NOUN
fcis-12979	14	30	to	to	PART
fcis-12979	14	31	obtain	obtain	VERB
fcis-12979	14	32	the	the	DET
fcis-12979	14	33	control	control	NOUN
fcis-12979	14	34	law	law	NOUN
fcis-12979	14	35	,	,	PUNCT
fcis-12979	14	36	which	which	PRON
fcis-12979	14	37	has	have	VERB
fcis-12979	14	38	the	the	DET
fcis-12979	14	39	advantages	advantage	NOUN
fcis-12979	14	40	of	of	ADP
fcis-12979	14	41	low	low	ADJ
fcis-12979	14	42	overshooting	overshooting	NOUN
fcis-12979	14	43	this	this	DET
fcis-12979	14	44	method	method	NOUN
fcis-12979	14	45	has	have	VERB
fcis-12979	14	46	the	the	DET
fcis-12979	14	47	advantages	advantage	NOUN
fcis-12979	14	48	of	of	ADP
fcis-12979	14	49	low	low	ADJ
fcis-12979	14	50	overshooting	overshooting	NOUN
fcis-12979	14	51	and	and	CCONJ
fcis-12979	14	52	fast	fast	ADJ
fcis-12979	14	53	regulation	regulation	NOUN
fcis-12979	14	54	time	time	NOUN
fcis-12979	14	55	,	,	PUNCT
fcis-12979	14	56	but	but	CCONJ
fcis-12979	14	57	this	this	DET
fcis-12979	14	58	method	method	NOUN
fcis-12979	14	59	generally	generally	ADV
fcis-12979	14	60	needs	need	VERB
fcis-12979	14	61	to	to	PART
fcis-12979	14	62	meet	meet	VERB
fcis-12979	14	63	the	the	DET
fcis-12979	14	64	strict	strict	ADJ
fcis-12979	14	65	feedback	feedback	NOUN
fcis-12979	14	66	control	control	NOUN
fcis-12979	14	67	system	system	NOUN
fcis-12979	14	68	,	,	PUNCT
fcis-12979	14	69	all	all	DET
fcis-12979	14	70	the	the	DET
fcis-12979	14	71	limitations	limitation	NOUN
fcis-12979	14	72	are	be	AUX
fcis-12979	14	73	high	high	ADJ
fcis-12979	14	74	.	.	PUNCT
fcis-12979	15	1	with	with	ADP
fcis-12979	15	2	the	the	DET
fcis-12979	15	3	development	development	NOUN
fcis-12979	15	4	of	of	ADP
fcis-12979	15	5	modern	modern	ADJ
fcis-12979	15	6	control	control	NOUN
fcis-12979	15	7	theory	theory	NOUN
fcis-12979	15	8	,	,	PUNCT
fcis-12979	15	9	there	there	PRON
fcis-12979	15	10	are	be	VERB
fcis-12979	15	11	more	more	ADV
fcis-12979	15	12	and	and	CCONJ
fcis-12979	15	13	more	more	ADJ
fcis-12979	15	14	control	control	NOUN
fcis-12979	15	15	methods	method	NOUN
fcis-12979	15	16	,	,	PUNCT
fcis-12979	15	17	but	but	CCONJ
fcis-12979	15	18	the	the	PRON
fcis-12979	15	19	most	most	ADV
fcis-12979	15	20	used	use	VERB
fcis-12979	15	21	in	in	ADP
fcis-12979	15	22	engineering	engineering	NOUN
fcis-12979	15	23	applications	application	NOUN
fcis-12979	15	24	is	be	AUX
fcis-12979	15	25	still	still	ADV
fcis-12979	15	26	pid	pid	NOUN
fcis-12979	15	27	control	control	NOUN
fcis-12979	15	28	.	.	PUNCT
fcis-12979	16	1	adrc	adrc	PROPN
fcis-12979	16	2	considers	consider	VERB
fcis-12979	16	3	the	the	DET
fcis-12979	16	4	external	external	ADJ
fcis-12979	16	5	perturbation	perturbation	NOUN
fcis-12979	16	6	and	and	CCONJ
fcis-12979	16	7	the	the	DET
fcis-12979	16	8	internal	internal	ADJ
fcis-12979	16	9	uncertainty	uncertainty	NOUN
fcis-12979	16	10	of	of	ADP
fcis-12979	16	11	the	the	DET
fcis-12979	16	12	system	system	NOUN
fcis-12979	16	13	as	as	ADP
fcis-12979	16	14	a	a	DET
fcis-12979	16	15	total	total	ADJ
fcis-12979	16	16	perturbation	perturbation	NOUN
fcis-12979	16	17	,	,	PUNCT
fcis-12979	16	18	which	which	PRON
fcis-12979	16	19	is	be	AUX
fcis-12979	16	20	estimated	estimate	VERB
fcis-12979	16	21	and	and	CCONJ
fcis-12979	16	22	compensated	compensate	VERB
fcis-12979	16	23	,	,	PUNCT
fcis-12979	16	24	and	and	CCONJ
fcis-12979	16	25	retains	retain	VERB
fcis-12979	16	26	the	the	DET
fcis-12979	16	27	advantages	advantage	NOUN
fcis-12979	16	28	of	of	ADP
fcis-12979	16	29	pid	pid	NOUN
fcis-12979	16	30	control	control	NOUN
fcis-12979	16	31	that	that	PRON
fcis-12979	16	32	does	do	AUX
fcis-12979	16	33	not	not	PART
fcis-12979	16	34	depend	depend	VERB
fcis-12979	16	35	on	on	ADP
fcis-12979	16	36	the	the	DET
fcis-12979	16	37	accurate	accurate	ADJ
fcis-12979	16	38	model	model	NOUN
fcis-12979	16	39	of	of	ADP
fcis-12979	16	40	the	the	DET
fcis-12979	16	41	control	control	NOUN
fcis-12979	16	42	object	object	NOUN
fcis-12979	16	43	while	while	SCONJ
fcis-12979	16	44	solving	solve	VERB
fcis-12979	16	45	the	the	DET
fcis-12979	16	46	contradiction	contradiction	NOUN
fcis-12979	16	47	between	between	ADP
fcis-12979	16	48	rapidity	rapidity	NOUN
fcis-12979	16	49	and	and	CCONJ
fcis-12979	16	50	overshoot	overshoot	NOUN
fcis-12979	16	51	in	in	ADP
fcis-12979	16	52	pid	pid	NOUN
fcis-12979	16	53	control	control	NOUN
fcis-12979	16	54	by	by	ADP
fcis-12979	16	55	arranging	arrange	VERB
fcis-12979	16	56	the	the	DET
fcis-12979	16	57	transition	transition	NOUN
fcis-12979	16	58	process	process	NOUN
fcis-12979	16	59	.	.	PUNCT
fcis-12979	17	1	existing	exist	VERB
fcis-12979	17	2	adrc	adrc	PROPN
fcis-12979	17	3	control	control	NOUN
fcis-12979	17	4	research	research	NOUN
fcis-12979	17	5	focuses	focus	VERB
fcis-12979	17	6	on	on	ADP
fcis-12979	17	7	the	the	DET
fcis-12979	17	8	improvement	improvement	NOUN
fcis-12979	17	9	of	of	ADP
fcis-12979	17	10	the	the	DET
fcis-12979	17	11	macro	macro	ADJ
fcis-12979	17	12	level	level	NOUN
fcis-12979	17	13	,	,	PUNCT
fcis-12979	17	14	the	the	DET
fcis-12979	17	15	working	work	VERB
fcis-12979	17	16	mechanism	mechanism	NOUN
fcis-12979	17	17	of	of	ADP
fcis-12979	17	18	adrc	adrc	PROPN
fcis-12979	17	19	has	have	AUX
fcis-12979	17	20	not	not	PART
fcis-12979	17	21	been	be	AUX
fcis-12979	17	22	improved	improve	VERB
fcis-12979	17	23	,	,	PUNCT
fcis-12979	17	24	x.	x.	PROPN
fcis-12979	17	25	y.	y.	PROPN
fcis-12979	17	26	qiao	qiao	PROPN
fcis-12979	18	1	[	[	X
fcis-12979	18	2	8	8	NUM
fcis-12979	18	3	]	]	PUNCT
fcis-12979	18	4	improves	improve	VERB
fcis-12979	18	5	the	the	DET
fcis-12979	18	6	fal	fal	PROPN
fcis-12979	18	7	nonlinear	nonlinear	ADJ
fcis-12979	18	8	function	function	NOUN
fcis-12979	18	9	into	into	ADP
fcis-12979	18	10	the	the	DET
fcis-12979	18	11	faln	faln	NOUN
fcis-12979	18	12	function	function	NOUN
fcis-12979	18	13	and	and	CCONJ
fcis-12979	18	14	uses	use	VERB
fcis-12979	18	15	it	it	PRON
fcis-12979	18	16	to	to	PART
fcis-12979	18	17	improve	improve	VERB
fcis-12979	18	18	the	the	DET
fcis-12979	18	19	eso	eso	NOUN
fcis-12979	18	20	,	,	PUNCT
fcis-12979	18	21	and	and	CCONJ
fcis-12979	18	22	the	the	DET
fcis-12979	18	23	experiments	experiment	NOUN
fcis-12979	18	24	show	show	VERB
fcis-12979	18	25	that	that	SCONJ
fcis-12979	18	26	the	the	DET
fcis-12979	18	27	improved	improve	VERB
fcis-12979	18	28	adrc	adrc	NOUN
fcis-12979	18	29	in	in	ADP
fcis-12979	18	30	the	the	DET
fcis-12979	18	31	quadrotor	quadrotor	NOUN
fcis-12979	18	32	system	system	NOUN
fcis-12979	18	33	can	can	AUX
fcis-12979	18	34	make	make	VERB
fcis-12979	18	35	the	the	DET
fcis-12979	18	36	quadrotor	quadrotor	NOUN
fcis-12979	18	37	system	system	NOUN
fcis-12979	18	38	more	more	ADV
fcis-12979	18	39	resistant	resistant	ADJ
fcis-12979	18	40	to	to	ADP
fcis-12979	18	41	the	the	DET
fcis-12979	18	42	strong	strong	ADJ
fcis-12979	18	43	external	external	ADJ
fcis-12979	18	44	disturbances	disturbance	NOUN
fcis-12979	18	45	.	.	PUNCT
fcis-12979	19	1	yang	yang	PROPN
fcis-12979	20	1	[	[	X
fcis-12979	20	2	9	9	NUM
fcis-12979	20	3	]	]	PUNCT
fcis-12979	20	4	designed	design	VERB
fcis-12979	20	5	galn	galn	NOUN
fcis-12979	20	6	function	function	NOUN
fcis-12979	20	7	based	base	VERB
fcis-12979	20	8	on	on	ADP
fcis-12979	20	9	normal	normal	ADJ
fcis-12979	20	10	distribution	distribution	NOUN
fcis-12979	20	11	function	function	NOUN
fcis-12979	20	12	and	and	CCONJ
fcis-12979	20	13	used	use	VERB
fcis-12979	20	14	it	it	PRON
fcis-12979	20	15	to	to	PART
fcis-12979	20	16	improve	improve	VERB
fcis-12979	20	17	eso	eso	NOUN
fcis-12979	20	18	,	,	PUNCT
fcis-12979	20	19	and	and	CCONJ
fcis-12979	20	20	the	the	DET
fcis-12979	20	21	simulation	simulation	NOUN
fcis-12979	20	22	results	result	NOUN
fcis-12979	20	23	show	show	VERB
fcis-12979	20	24	that	that	SCONJ
fcis-12979	20	25	the	the	DET
fcis-12979	20	26	improved	improved	ADJ
fcis-12979	20	27	eso	eso	NOUN
fcis-12979	20	28	has	have	VERB
fcis-12979	20	29	better	well	ADJ
fcis-12979	20	30	error	error	NOUN
fcis-12979	20	31	following	follow	VERB
fcis-12979	20	32	performance	performance	NOUN
fcis-12979	20	33	and	and	CCONJ
fcis-12979	20	34	better	well	ADJ
fcis-12979	20	35	observation	observation	NOUN
fcis-12979	20	36	performance	performance	NOUN
fcis-12979	20	37	.	.	PUNCT
fcis-12979	21	1	liu	liu	PROPN
fcis-12979	21	2	and	and	CCONJ
fcis-12979	21	3	chen	chen	PROPN
fcis-12979	22	1	[	[	X
fcis-12979	22	2	10	10	NUM
fcis-12979	22	3	-	-	SYM
fcis-12979	22	4	11	11	NUM
fcis-12979	22	5	]	]	PUNCT
fcis-12979	22	6	also	also	ADV
fcis-12979	22	7	applied	apply	VERB
fcis-12979	22	8	the	the	DET
fcis-12979	22	9	improved	improve	VERB
fcis-12979	22	10	fal	fal	NOUN
fcis-12979	22	11	function	function	NOUN
fcis-12979	22	12	to	to	PART
fcis-12979	22	13	eso	eso	VERB
fcis-12979	22	14	and	and	CCONJ
fcis-12979	22	15	nonlinear	nonlinear	ADJ
fcis-12979	22	16	state	state	NOUN
fcis-12979	22	17	error	error	NOUN
fcis-12979	22	18	feedback	feedback	NOUN
fcis-12979	22	19	law	law	NOUN
fcis-12979	22	20	(	(	PUNCT
fcis-12979	22	21	nlsef	nlsef	NOUN
fcis-12979	22	22	)	)	PUNCT
fcis-12979	22	23	to	to	PART
fcis-12979	22	24	obtain	obtain	VERB
fcis-12979	22	25	the	the	DET
fcis-12979	22	26	improved	improved	ADJ
fcis-12979	22	27	adrc	adrc	NOUN
fcis-12979	22	28	,	,	PUNCT
fcis-12979	22	29	and	and	CCONJ
fcis-12979	22	30	verified	verify	VERB
fcis-12979	22	31	that	that	SCONJ
fcis-12979	22	32	it	it	PRON
fcis-12979	22	33	has	have	VERB
fcis-12979	22	34	better	well	ADJ
fcis-12979	22	35	speed	speed	NOUN
fcis-12979	22	36	,	,	PUNCT
fcis-12979	22	37	interference	interference	NOUN
fcis-12979	22	38	resistance	resistance	NOUN
fcis-12979	22	39	and	and	CCONJ
fcis-12979	22	40	robustness	robustness	NOUN
fcis-12979	22	41	than	than	ADP
fcis-12979	22	42	the	the	DET
fcis-12979	22	43	traditional	traditional	ADJ
fcis-12979	22	44	adrc	adrc	NOUN
fcis-12979	22	45	,	,	PUNCT
fcis-12979	22	46	but	but	CCONJ
fcis-12979	22	47	the	the	DET
fcis-12979	22	48	function	function	NOUN
fcis-12979	22	49	is	be	AUX
fcis-12979	22	50	too	too	ADV
fcis-12979	22	51	complicated	complicated	ADJ
fcis-12979	22	52	.	.	PUNCT
fcis-12979	23	1	this	this	DET
fcis-12979	23	2	paper	paper	NOUN
fcis-12979	23	3	firstly	firstly	ADV
fcis-12979	23	4	establishes	establish	VERB
fcis-12979	23	5	a	a	DET
fcis-12979	23	6	quadrotor	quadrotor	NOUN
fcis-12979	23	7	uav	uav	PROPN
fcis-12979	23	8	dynamics	dynamic	NOUN
fcis-12979	23	9	model	model	NOUN
fcis-12979	23	10	and	and	CCONJ
fcis-12979	23	11	constructs	construct	VERB
fcis-12979	23	12	an	an	DET
fcis-12979	23	13	improved	improved	ADJ
fcis-12979	23	14	fal	fal	PROPN
fcis-12979	23	15	nonlinear	nonlinear	ADJ
fcis-12979	23	16	curve	curve	NOUN
fcis-12979	23	17	function	function	NOUN
fcis-12979	23	18	(	(	PUNCT
fcis-12979	23	19	ifal	ifal	NOUN
fcis-12979	23	20	)	)	PUNCT
fcis-12979	23	21	based	base	VERB
fcis-12979	23	22	on	on	ADP
fcis-12979	23	23	the	the	DET
fcis-12979	23	24	trigonometric	trigonometric	ADJ
fcis-12979	23	25	function	function	NOUN
fcis-12979	23	26	,	,	PUNCT
fcis-12979	23	27	and	and	CCONJ
fcis-12979	23	28	finally	finally	ADV
fcis-12979	23	29	verifies	verify	VERB
fcis-12979	23	30	the	the	DET
fcis-12979	23	31	anti	anti	ADJ
fcis-12979	23	32	-	-	ADJ
fcis-12979	23	33	jamming	jamming	ADJ
fcis-12979	23	34	ability	ability	NOUN
fcis-12979	23	35	of	of	ADP
fcis-12979	23	36	the	the	DET
fcis-12979	23	37	improved	improve	VERB
fcis-12979	23	38	adrc	adrc	NOUN
fcis-12979	23	39	in	in	ADP
fcis-12979	23	40	this	this	DET
fcis-12979	23	41	paper	paper	NOUN
fcis-12979	23	42	by	by	ADP
fcis-12979	23	43	designing	design	VERB
fcis-12979	23	44	multiple	multiple	ADJ
fcis-12979	23	45	sets	set	NOUN
fcis-12979	23	46	of	of	ADP
fcis-12979	23	47	jamming	jam	VERB
fcis-12979	23	48	experiments	experiment	NOUN
fcis-12979	23	49	through	through	ADP
fcis-12979	23	50	simulation	simulation	NOUN
fcis-12979	23	51	and	and	CCONJ
fcis-12979	23	52	the	the	DET
fcis-12979	23	53	results	result	NOUN
fcis-12979	23	54	are	be	AUX
fcis-12979	23	55	compared	compare	VERB
fcis-12979	23	56	with	with	ADP
fcis-12979	23	57	the	the	DET
fcis-12979	23	58	traditional	traditional	ADJ
fcis-12979	23	59	adrc	adrc	ADJ
fcis-12979	23	60	control	control	NOUN
fcis-12979	23	61	effects	effect	NOUN
fcis-12979	23	62	,	,	PUNCT
fcis-12979	23	63	confirming	confirm	VERB
fcis-12979	23	64	the	the	DET
fcis-12979	23	65	enhanced	enhanced	ADJ
fcis-12979	23	66	disturbance	disturbance	NOUN
fcis-12979	23	67	resistance	resistance	NOUN
fcis-12979	23	68	of	of	ADP
fcis-12979	23	69	the	the	DET
fcis-12979	23	70	improved	improve	VERB
fcis-12979	23	71	adrc	adrc	NOUN
fcis-12979	23	72	proposed	propose	VERB
fcis-12979	23	73	in	in	ADP
fcis-12979	23	74	this	this	DET
fcis-12979	23	75	paper	paper	NOUN
fcis-12979	23	76	.	.	PUNCT
fcis-12979	24	1	2	2	X
fcis-12979	24	2	.	.	X
fcis-12979	24	3	quadrotor	quadrotor	PROPN
fcis-12979	24	4	uav	uav	PROPN
fcis-12979	24	5	modelling	model	VERB
fcis-12979	24	6	2.1	2.1	NUM
fcis-12979	24	7	.	.	PUNCT
fcis-12979	24	8	working	work	VERB
fcis-12979	24	9	principle	principle	NOUN
fcis-12979	24	10	of	of	ADP
fcis-12979	24	11	quadrotor	quadrotor	PROPN
fcis-12979	24	12	a	a	DET
fcis-12979	24	13	quadrotor	quadrotor	PROPN
fcis-12979	24	14	uav	uav	PROPN
fcis-12979	24	15	controls	control	VERB
fcis-12979	24	16	the	the	DET
fcis-12979	24	17	position	position	NOUN
fcis-12979	24	18	and	and	CCONJ
fcis-12979	24	19	attitude	attitude	NOUN
fcis-12979	24	20	of	of	ADP
fcis-12979	24	21	the	the	DET
fcis-12979	24	22	quadrotor	quadrotor	NOUN
fcis-12979	24	23	by	by	ADP
fcis-12979	24	24	adjusting	adjust	VERB
fcis-12979	24	25	the	the	DET
fcis-12979	24	26	rotational	rotational	ADJ
fcis-12979	24	27	speeds	speed	NOUN
fcis-12979	24	28	of	of	ADP
fcis-12979	24	29	the	the	DET
fcis-12979	24	30	four	four	NUM
fcis-12979	24	31	motors	motor	NOUN
fcis-12979	24	32	to	to	PART
fcis-12979	24	33	achieve	achieve	VERB
fcis-12979	24	34	changes	change	NOUN
fcis-12979	24	35	in	in	ADP
fcis-12979	24	36	lift	lift	NOUN
fcis-12979	24	37	,	,	PUNCT
fcis-12979	24	38	and	and	CCONJ
fcis-12979	24	39	there	there	PRON
fcis-12979	24	40	are	be	VERB
fcis-12979	24	41	common	common	ADJ
fcis-12979	24	42	quadrotors	quadrotor	NOUN
fcis-12979	24	43	with	with	ADP
fcis-12979	24	44	“	"	PUNCT
fcis-12979	24	45	+	+	ADJ
fcis-12979	24	46	”	"	PUNCT
fcis-12979	24	47	type	type	NOUN
fcis-12979	24	48	layout	layout	NOUN
fcis-12979	24	49	and	and	CCONJ
fcis-12979	24	50	“	"	PUNCT
fcis-12979	24	51	×	×	NOUN
fcis-12979	24	52	”	"	PUNCT
fcis-12979	24	53	type	type	NOUN
fcis-12979	24	54	layout	layout	NOUN
fcis-12979	24	55	.	.	PUNCT
fcis-12979	25	1	because	because	SCONJ
fcis-12979	25	2	the	the	DET
fcis-12979	25	3	“	"	PUNCT
fcis-12979	25	4	×	×	NOUN
fcis-12979	25	5	”	"	PUNCT
fcis-12979	25	6	layout	layout	NOUN
fcis-12979	25	7	allows	allow	VERB
fcis-12979	25	8	more	more	ADJ
fcis-12979	25	9	rotors	rotor	NOUN
fcis-12979	25	10	to	to	PART
fcis-12979	25	11	participate	participate	VERB
fcis-12979	25	12	in	in	ADP
fcis-12979	25	13	the	the	DET
fcis-12979	25	14	pitch	pitch	NOUN
fcis-12979	25	15	and	and	CCONJ
fcis-12979	25	16	roll	roll	VERB
fcis-12979	25	17	attitude	attitude	NOUN
fcis-12979	25	18	control	control	NOUN
fcis-12979	25	19	,	,	PUNCT
fcis-12979	25	20	which	which	PRON
fcis-12979	25	21	provides	provide	VERB
fcis-12979	25	22	better	well	ADJ
fcis-12979	25	23	maneuverability	maneuverability	NOUN
fcis-12979	25	24	,	,	PUNCT
fcis-12979	25	25	this	this	DET
fcis-12979	25	26	paper	paper	NOUN
fcis-12979	25	27	adopts	adopt	VERB
fcis-12979	25	28	the	the	DET
fcis-12979	25	29	“	"	PUNCT
fcis-12979	25	30	×	×	NOUN
fcis-12979	25	31	”	"	PUNCT
fcis-12979	25	32	layout	layout	PROPN
fcis-12979	25	33	quadrotor	quadrotor	PROPN
fcis-12979	25	34	uav	uav	PROPN
fcis-12979	25	35	,	,	PUNCT
fcis-12979	25	36	which	which	PRON
fcis-12979	25	37	achieves	achieve	VERB
fcis-12979	25	38	the	the	DET
fcis-12979	25	39	pitch	pitch	NOUN
fcis-12979	25	40	and	and	CCONJ
fcis-12979	25	41	roll	roll	VERB
fcis-12979	25	42	attitude	attitude	NOUN
fcis-12979	25	43	control	control	NOUN
fcis-12979	25	44	by	by	ADP
fcis-12979	25	45	controlling	control	VERB
fcis-12979	25	46	the	the	DET
fcis-12979	25	47	rotational	rotational	ADJ
fcis-12979	25	48	speeds	speed	NOUN
fcis-12979	25	49	of	of	ADP
fcis-12979	25	50	different	different	ADJ
fcis-12979	25	51	motors	motor	NOUN
fcis-12979	25	52	,	,	PUNCT
fcis-12979	25	53	and	and	CCONJ
fcis-12979	25	54	the	the	DET
fcis-12979	25	55	symmetrical	symmetrical	ADJ
fcis-12979	25	56	arrangement	arrangement	NOUN
fcis-12979	25	57	of	of	ADP
fcis-12979	25	58	the	the	DET
fcis-12979	25	59	motors	motor	NOUN
fcis-12979	25	60	can	can	AUX
fcis-12979	25	61	also	also	ADV
fcis-12979	25	62	balance	balance	VERB
fcis-12979	25	63	the	the	DET
fcis-12979	25	64	91	91	NUM
fcis-12979	25	65	reversing	reverse	VERB
fcis-12979	25	66	torque	torque	NOUN
fcis-12979	25	67	,	,	PUNCT
fcis-12979	25	68	which	which	PRON
fcis-12979	25	69	is	be	AUX
fcis-12979	25	70	the	the	DET
fcis-12979	25	71	best	good	ADJ
fcis-12979	25	72	way	way	NOUN
fcis-12979	25	73	to	to	PART
fcis-12979	25	74	control	control	VERB
fcis-12979	25	75	the	the	DET
fcis-12979	25	76	position	position	NOUN
fcis-12979	25	77	and	and	CCONJ
fcis-12979	25	78	attitude	attitude	NOUN
fcis-12979	25	79	.	.	PUNCT
fcis-12979	26	1	the	the	DET
fcis-12979	26	2	symmetrical	symmetrical	ADJ
fcis-12979	26	3	arrangement	arrangement	NOUN
fcis-12979	26	4	of	of	ADP
fcis-12979	26	5	the	the	DET
fcis-12979	26	6	motors	motor	NOUN
fcis-12979	26	7	can	can	AUX
fcis-12979	26	8	also	also	ADV
fcis-12979	26	9	balance	balance	VERB
fcis-12979	26	10	the	the	DET
fcis-12979	26	11	reversal	reversal	NOUN
fcis-12979	26	12	torque	torque	NOUN
fcis-12979	26	13	to	to	PART
fcis-12979	26	14	keep	keep	VERB
fcis-12979	26	15	the	the	DET
fcis-12979	26	16	quadrotor	quadrotor	NOUN
fcis-12979	26	17	flying	fly	VERB
fcis-12979	26	18	stably	stably	ADV
fcis-12979	26	19	.	.	PUNCT
fcis-12979	27	1	in	in	ADP
fcis-12979	27	2	order	order	NOUN
fcis-12979	27	3	to	to	PART
fcis-12979	27	4	sort	sort	VERB
fcis-12979	27	5	out	out	ADP
fcis-12979	27	6	the	the	DET
fcis-12979	27	7	individual	individual	ADJ
fcis-12979	27	8	channel	channel	NOUN
fcis-12979	27	9	variables	variable	NOUN
fcis-12979	27	10	more	more	ADV
fcis-12979	27	11	intuitively	intuitively	ADV
fcis-12979	27	12	,	,	PUNCT
fcis-12979	27	13	the	the	DET
fcis-12979	27	14	earth	earth	NOUN
fcis-12979	27	15	solid	solid	ADJ
fcis-12979	27	16	-	-	PUNCT
fcis-12979	27	17	link	link	NOUN
fcis-12979	27	18	coordinate	coordinate	NOUN
fcis-12979	27	19	system	system	NOUN
fcis-12979	27	20	e(oexeyeze	e(oexeyeze	NOUN
fcis-12979	27	21	)	)	PUNCT
fcis-12979	27	22	and	and	CCONJ
fcis-12979	27	23	the	the	DET
fcis-12979	27	24	airframe	airframe	ADJ
fcis-12979	27	25	coordinate	coordinate	NOUN
fcis-12979	27	26	system	system	NOUN
fcis-12979	27	27	b(obxbybzb	b(obxbybzb	NOUN
fcis-12979	27	28	)	)	PUNCT
fcis-12979	27	29	are	be	AUX
fcis-12979	27	30	defined	define	VERB
fcis-12979	27	31	,	,	PUNCT
fcis-12979	27	32	and	and	CCONJ
fcis-12979	27	33	the	the	DET
fcis-12979	27	34	quadrotor	quadrotor	NOUN
fcis-12979	27	35	coordinates	coordinate	NOUN
fcis-12979	27	36	are	be	AUX
fcis-12979	27	37	converted	convert	VERB
fcis-12979	27	38	into	into	ADP
fcis-12979	27	39	attitude	attitude	NOUN
fcis-12979	27	40	through	through	ADP
fcis-12979	27	41	the	the	DET
fcis-12979	27	42	three	three	NUM
fcis-12979	27	43	attitude	attitude	NOUN
fcis-12979	27	44	angles	angle	NOUN
fcis-12979	27	45	,	,	PUNCT
fcis-12979	27	46	namely	namely	ADV
fcis-12979	27	47	,	,	PUNCT
fcis-12979	27	48	the	the	DET
fcis-12979	27	49	roll	roll	NOUN
fcis-12979	27	50	angle	angle	NOUN
fcis-12979	27	51	φ	φ	PROPN
fcis-12979	27	52	,	,	PUNCT
fcis-12979	27	53	the	the	DET
fcis-12979	27	54	pitch	pitch	NOUN
fcis-12979	27	55	angle	angle	PROPN
fcis-12979	27	56	θ	θ	PROPN
fcis-12979	27	57	,	,	PUNCT
fcis-12979	27	58	and	and	CCONJ
fcis-12979	27	59	the	the	DET
fcis-12979	27	60	yaw	yaw	PROPN
fcis-12979	27	61	angle	angle	NOUN
fcis-12979	27	62	ψ	ψ	X
fcis-12979	28	1	[	[	X
fcis-12979	28	2	12	12	NUM
fcis-12979	28	3	]	]	PUNCT
fcis-12979	28	4	,	,	PUNCT
fcis-12979	28	5	and	and	CCONJ
fcis-12979	28	6	the	the	DET
fcis-12979	28	7	relationship	relationship	NOUN
fcis-12979	28	8	between	between	ADP
fcis-12979	28	9	the	the	DET
fcis-12979	28	10	airframe	airframe	ADJ
fcis-12979	28	11	coordinate	coordinate	NOUN
fcis-12979	28	12	system	system	NOUN
fcis-12979	28	13	and	and	CCONJ
fcis-12979	28	14	the	the	DET
fcis-12979	28	15	earth	earth	NOUN
fcis-12979	28	16	solidlink	solidlink	NOUN
fcis-12979	28	17	coordinate	coordinate	NOUN
fcis-12979	28	18	system	system	NOUN
fcis-12979	28	19	is	be	AUX
fcis-12979	28	20	shown	show	VERB
fcis-12979	28	21	in	in	ADP
fcis-12979	28	22	figure	figure	NOUN
fcis-12979	28	23	.	.	PUNCT
fcis-12979	29	1	1	1	X
fcis-12979	29	2	.	.	X
fcis-12979	29	3	figure	figure	NOUN
fcis-12979	29	4	1	1	NUM
fcis-12979	29	5	.	.	NOUN
fcis-12979	29	6	6	6	NUM
fcis-12979	29	7	-	-	PUNCT
fcis-12979	29	8	dof	dof	NOUN
fcis-12979	29	9	quadrotor	quadrotor	NOUN
fcis-12979	29	10	system	system	NOUN
fcis-12979	29	11	the	the	DET
fcis-12979	29	12	rotation	rotation	NOUN
fcis-12979	29	13	matrix	matrix	NOUN
fcis-12979	29	14	from	from	ADP
fcis-12979	29	15	the	the	DET
fcis-12979	29	16	quadrotor	quadrotor	NOUN
fcis-12979	29	17	coordinate	coordinate	NOUN
fcis-12979	29	18	system	system	NOUN
fcis-12979	29	19	b(obxbybzb	b(obxbybzb	NOUN
fcis-12979	29	20	)	)	PUNCT
fcis-12979	29	21	to	to	ADP
fcis-12979	29	22	the	the	DET
fcis-12979	29	23	earth	earth	NOUN
fcis-12979	29	24	solid	solid	ADJ
fcis-12979	29	25	link	link	NOUN
fcis-12979	29	26	coordinate	coordinate	NOUN
fcis-12979	29	27	system	system	NOUN
fcis-12979	29	28	e(oexeyeze	e(oexeyeze	NOUN
fcis-12979	29	29	)	)	PUNCT
fcis-12979	29	30	is	be	AUX
fcis-12979	29	31	as	as	SCONJ
fcis-12979	29	32	follows	follow	VERB
fcis-12979	29	33	.	.	PUNCT
fcis-12979	30	1	1	1	NUM
fcis-12979	30	2	0	0	NUM
fcis-12979	30	3	0	0	NUM
fcis-12979	30	4	(	(	PUNCT
fcis-12979	30	5	)	)	PUNCT
fcis-12979	30	6	0	0	PUNCT
fcis-12979	30	7	cos	cos	ADP
fcis-12979	30	8	sin	sin	NOUN
fcis-12979	30	9	0	0	NUM
fcis-12979	30	10	sin	sin	NOUN
fcis-12979	30	11	cos	cos	ADP
fcis-12979	30	12	xr	xr	PROPN
fcis-12979	30	13			PROPN
fcis-12979	30	14			PROPN
fcis-12979	30	15			ADJ
fcis-12979	30	16			PROPN
fcis-12979	30	17			PROPN
fcis-12979	30	18			PROPN
fcis-12979	30	19			X
fcis-12979	30	20			NOUN
fcis-12979	31	1			NOUN
fcis-12979	31	2			PROPN
fcis-12979	31	3			PROPN
fcis-12979	31	4			NOUN
fcis-12979	31	5			PROPN
fcis-12979	31	6			PROPN
fcis-12979	31	7	(	(	PUNCT
fcis-12979	31	8	1	1	NUM
fcis-12979	31	9	)	)	PUNCT
fcis-12979	31	10	cos	cos	PROPN
fcis-12979	31	11	0	0	NUM
fcis-12979	31	12	sin	sin	NOUN
fcis-12979	31	13	(	(	PUNCT
fcis-12979	31	14	)	)	PUNCT
fcis-12979	31	15	0	0	NUM
fcis-12979	31	16	1	1	NUM
fcis-12979	31	17	0	0	NUM
fcis-12979	31	18	sin	sin	NOUN
fcis-12979	31	19	0	0	NUM
fcis-12979	32	1	cos	cos	PROPN
fcis-12979	32	2	yr	yr	PROPN
fcis-12979	32	3			PROPN
fcis-12979	32	4			PROPN
fcis-12979	32	5			PROPN
fcis-12979	33	1			PROPN
fcis-12979	33	2			PROPN
fcis-12979	33	3			PROPN
fcis-12979	33	4			ADJ
fcis-12979	33	5			X
fcis-12979	33	6			X
fcis-12979	33	7			NOUN
fcis-12979	33	8			NOUN
fcis-12979	33	9			NOUN
fcis-12979	33	10			PROPN
fcis-12979	33	11			PROPN
fcis-12979	33	12	(	(	PUNCT
fcis-12979	33	13	2	2	NUM
fcis-12979	33	14	)	)	PUNCT
fcis-12979	33	15	cos	cos	ADP
fcis-12979	33	16	sin	sin	NOUN
fcis-12979	33	17	0	0	NUM
fcis-12979	33	18	(	(	PUNCT
fcis-12979	33	19	)	)	PUNCT
fcis-12979	33	20	sin	sin	NOUN
fcis-12979	33	21	cos	cos	NOUN
fcis-12979	33	22	0	0	NUM
fcis-12979	33	23	0	0	NUM
fcis-12979	33	24	0	0	NUM
fcis-12979	33	25	1	1	NUM
fcis-12979	33	26	zr	zr	NOUN
fcis-12979	33	27			NOUN
fcis-12979	33	28			NOUN
fcis-12979	33	29			NOUN
fcis-12979	33	30			NOUN
fcis-12979	33	31			NOUN
fcis-12979	33	32			NOUN
fcis-12979	33	33			NOUN
fcis-12979	33	34			X
fcis-12979	33	35			X
fcis-12979	33	36			NOUN
fcis-12979	33	37			PROPN
fcis-12979	33	38			NOUN
fcis-12979	33	39			PROPN
fcis-12979	33	40			PROPN
fcis-12979	33	41	(	(	PUNCT
fcis-12979	33	42	3	3	NUM
fcis-12979	33	43	)	)	PUNCT
fcis-12979	33	44	where	where	SCONJ
fcis-12979	33	45	rx(φ	rx(φ	NOUN
fcis-12979	33	46	)	)	PUNCT
fcis-12979	33	47	denotes	denote	VERB
fcis-12979	33	48	the	the	DET
fcis-12979	33	49	rotation	rotation	NOUN
fcis-12979	33	50	matrix	matrix	NOUN
fcis-12979	33	51	of	of	ADP
fcis-12979	33	52	φ	φ	PROPN
fcis-12979	33	53	angle	angle	NOUN
fcis-12979	33	54	around	around	ADP
fcis-12979	33	55	the	the	DET
fcis-12979	33	56	x	x	NOUN
fcis-12979	33	57	-	-	NOUN
fcis-12979	33	58	axis	axis	ADJ
fcis-12979	33	59	,	,	PUNCT
fcis-12979	33	60	ry(θ	ry(θ	PUNCT
fcis-12979	33	61	)	)	PUNCT
fcis-12979	33	62	denotes	denote	VERB
fcis-12979	33	63	the	the	DET
fcis-12979	33	64	rotation	rotation	NOUN
fcis-12979	33	65	matrix	matrix	NOUN
fcis-12979	33	66	of	of	ADP
fcis-12979	33	67	θ	θ	PROPN
fcis-12979	33	68	angle	angle	NOUN
fcis-12979	33	69	around	around	ADP
fcis-12979	33	70	the	the	DET
fcis-12979	33	71	y	y	NOUN
fcis-12979	33	72	-	-	PUNCT
fcis-12979	33	73	axis	axis	NOUN
fcis-12979	33	74	,	,	PUNCT
fcis-12979	33	75	and	and	CCONJ
fcis-12979	33	76	rz(ψ	rz(ψ	NUM
fcis-12979	33	77	)	)	PUNCT
fcis-12979	33	78	denotes	denote	VERB
fcis-12979	33	79	the	the	DET
fcis-12979	33	80	rotation	rotation	NOUN
fcis-12979	33	81	matrix	matrix	NOUN
fcis-12979	33	82	of	of	ADP
fcis-12979	33	83	ψ	ψ	NOUN
fcis-12979	33	84	angle	angle	NOUN
fcis-12979	33	85	around	around	ADP
fcis-12979	33	86	the	the	DET
fcis-12979	33	87	z	z	NOUN
fcis-12979	33	88	-	-	PUNCT
fcis-12979	33	89	axis	axis	NOUN
fcis-12979	33	90	.	.	PUNCT
fcis-12979	34	1	the	the	DET
fcis-12979	34	2	coordinate	coordinate	NOUN
fcis-12979	34	3	system	system	NOUN
fcis-12979	34	4	transformation	transformation	NOUN
fcis-12979	34	5	usually	usually	ADV
fcis-12979	34	6	adopts	adopt	VERB
fcis-12979	34	7	the	the	DET
fcis-12979	34	8	sequence	sequence	NOUN
fcis-12979	34	9	of	of	ADP
fcis-12979	34	10	“	"	PUNCT
fcis-12979	34	11	pitch	pitch	ADJ
fcis-12979	34	12	-	-	PUNCT
fcis-12979	34	13	roll	roll	NOUN
fcis-12979	34	14	-	-	PUNCT
fcis-12979	34	15	yaw	yaw	NOUN
fcis-12979	34	16	”	"	PUNCT
fcis-12979	34	17	,	,	PUNCT
fcis-12979	34	18	i.e.	i.e.	X
fcis-12979	34	19	,	,	PUNCT
fcis-12979	34	20	rotating	rotate	VERB
fcis-12979	34	21	according	accord	VERB
fcis-12979	34	22	to	to	ADP
fcis-12979	34	23	the	the	DET
fcis-12979	34	24	sequence	sequence	NOUN
fcis-12979	34	25	of	of	ADP
fcis-12979	34	26	z	z	PROPN
fcis-12979	34	27	-	-	PROPN
fcis-12979	34	28	y	y	PROPN
fcis-12979	34	29	-	-	PUNCT
fcis-12979	34	30	x	x	NOUN
fcis-12979	34	31	axes	axis	NOUN
fcis-12979	34	32	,	,	PUNCT
fcis-12979	34	33	then	then	ADV
fcis-12979	34	34	the	the	DET
fcis-12979	34	35	rotation	rotation	NOUN
fcis-12979	34	36	matrix	matrix	NOUN
fcis-12979	34	37	rb	rb	X
fcis-12979	34	38	e	e	NOUN
fcis-12979	34	39	from	from	ADP
fcis-12979	34	40	the	the	DET
fcis-12979	34	41	airframe	airframe	ADJ
fcis-12979	34	42	coordinate	coordinate	NOUN
fcis-12979	34	43	system	system	NOUN
fcis-12979	34	44	to	to	ADP
fcis-12979	34	45	the	the	DET
fcis-12979	34	46	earth	earth	NOUN
fcis-12979	34	47	fixed	fix	VERB
fcis-12979	34	48	coordinate	coordinate	NOUN
fcis-12979	34	49	system	system	NOUN
fcis-12979	34	50	is	be	AUX
fcis-12979	34	51	shown	show	VERB
fcis-12979	34	52	in	in	ADP
fcis-12979	34	53	equation	equation	NOUN
fcis-12979	34	54	(	(	PUNCT
fcis-12979	34	55	4	4	NUM
fcis-12979	34	56	)	)	PUNCT
fcis-12979	34	57	.	.	PUNCT
fcis-12979	35	1	c	c	PROPN
fcis-12979	36	1	c	c	NOUN
fcis-12979	36	2	s	s	X
fcis-12979	36	3	s	s	X
fcis-12979	36	4	c	c	NOUN
fcis-12979	36	5	c	c	NOUN
fcis-12979	36	6	c	c	NOUN
fcis-12979	36	7	c	c	NOUN
fcis-12979	36	8	s	s	AUX
fcis-12979	36	9	c	c	NOUN
fcis-12979	36	10	s	s	X
fcis-12979	36	11	s	s	NOUN
fcis-12979	36	12	c	c	NOUN
fcis-12979	36	13	s	s	X
fcis-12979	36	14	s	s	NOUN
fcis-12979	36	15	s	s	X
fcis-12979	36	16	s	s	X
fcis-12979	36	17	c	c	NOUN
fcis-12979	36	18	c	c	NOUN
fcis-12979	36	19	c	c	NOUN
fcis-12979	36	20	s	s	ADP
fcis-12979	36	21	c	c	NOUN
fcis-12979	36	22	s	s	ADP
fcis-12979	36	23	c	c	NOUN
fcis-12979	36	24	s	s	X
fcis-12979	36	25	s	s	NOUN
fcis-12979	36	26	c	c	NOUN
fcis-12979	36	27	c	c	NOUN
fcis-12979	36	28	c	c	NOUN
fcis-12979	36	29	e	e	X
fcis-12979	36	30	br	br	X
fcis-12979	36	31			PROPN
fcis-12979	37	1			ADJ
fcis-12979	37	2			PROPN
fcis-12979	37	3			X
fcis-12979	37	4			NUM
fcis-12979	37	5			PROPN
fcis-12979	37	6			NOUN
fcis-12979	37	7			PROPN
fcis-12979	37	8			X
fcis-12979	37	9			NOUN
fcis-12979	37	10			PROPN
fcis-12979	37	11			NOUN
fcis-12979	37	12			NOUN
fcis-12979	37	13			NOUN
fcis-12979	38	1			PROPN
fcis-12979	38	2			X
fcis-12979	38	3			NUM
fcis-12979	39	1			PROPN
fcis-12979	39	2			NOUN
fcis-12979	39	3			PROPN
fcis-12979	39	4			X
fcis-12979	39	5			NOUN
fcis-12979	39	6			PROPN
fcis-12979	39	7			NOUN
fcis-12979	39	8			X
fcis-12979	40	1			PROPN
fcis-12979	40	2			PROPN
fcis-12979	40	3			PROPN
fcis-12979	40	4			PROPN
fcis-12979	40	5			PROPN
fcis-12979	40	6			PROPN
fcis-12979	40	7			X
fcis-12979	40	8			X
fcis-12979	40	9			PROPN
fcis-12979	40	10			ADJ
fcis-12979	40	11			PROPN
fcis-12979	40	12			PROPN
fcis-12979	40	13			NOUN
fcis-12979	40	14			PROPN
fcis-12979	40	15			PROPN
fcis-12979	40	16	(	(	PUNCT
fcis-12979	40	17	4	4	NUM
fcis-12979	40	18	)	)	PUNCT
fcis-12979	40	19	where	where	SCONJ
fcis-12979	40	20	c	c	PROPN
fcis-12979	40	21	denotes	denote	VERB
fcis-12979	40	22	cosine	cosine	PROPN
fcis-12979	40	23	,	,	PUNCT
fcis-12979	40	24	s	s	PART
fcis-12979	40	25	denotes	denote	NOUN
fcis-12979	40	26	sine	sine	VERB
fcis-12979	40	27	.	.	PUNCT
fcis-12979	41	1	2.2	2.2	NUM
fcis-12979	41	2	.	.	PUNCT
fcis-12979	41	3	quadcopter	quadcopter	PROPN
fcis-12979	41	4	uav	uav	PROPN
fcis-12979	41	5	modelling	model	VERB
fcis-12979	41	6	the	the	DET
fcis-12979	41	7	following	follow	VERB
fcis-12979	41	8	assumptions	assumption	NOUN
fcis-12979	41	9	are	be	AUX
fcis-12979	41	10	usually	usually	ADV
fcis-12979	41	11	made	make	VERB
fcis-12979	41	12	during	during	ADP
fcis-12979	41	13	modelling	modelling	NOUN
fcis-12979	41	14	to	to	PART
fcis-12979	41	15	simplify	simplify	VERB
fcis-12979	41	16	the	the	DET
fcis-12979	41	17	quadrotor	quadrotor	PROPN
fcis-12979	41	18	uav	uav	PROPN
fcis-12979	41	19	dynamics	dynamic	NOUN
fcis-12979	41	20	model	model	NOUN
fcis-12979	42	1	[	[	X
fcis-12979	42	2	13	13	NUM
fcis-12979	42	3	]	]	SYM
fcis-12979	42	4	:	:	PUNCT
fcis-12979	42	5	1	1	X
fcis-12979	42	6	.	.	PUNCT
fcis-12979	42	7	the	the	DET
fcis-12979	42	8	quadrotor	quadrotor	NOUN
fcis-12979	42	9	is	be	AUX
fcis-12979	42	10	a	a	DET
fcis-12979	42	11	uniformly	uniformly	ADV
fcis-12979	42	12	symmetric	symmetric	ADJ
fcis-12979	42	13	rigid	rigid	ADJ
fcis-12979	42	14	body	body	NOUN
fcis-12979	42	15	;	;	PUNCT
fcis-12979	42	16	2	2	X
fcis-12979	42	17	.	.	X
fcis-12979	42	18	the	the	DET
fcis-12979	42	19	mass	mass	NOUN
fcis-12979	42	20	and	and	CCONJ
fcis-12979	42	21	moment	moment	NOUN
fcis-12979	42	22	of	of	ADP
fcis-12979	42	23	inertia	inertia	NOUN
fcis-12979	42	24	of	of	ADP
fcis-12979	42	25	the	the	DET
fcis-12979	42	26	quadrotor	quadrotor	NOUN
fcis-12979	42	27	do	do	AUX
fcis-12979	42	28	not	not	PART
fcis-12979	42	29	change	change	VERB
fcis-12979	42	30	;	;	PUNCT
fcis-12979	42	31	3	3	X
fcis-12979	42	32	.	.	X
fcis-12979	42	33	the	the	DET
fcis-12979	42	34	geometric	geometric	ADJ
fcis-12979	42	35	center	center	NOUN
fcis-12979	42	36	of	of	ADP
fcis-12979	42	37	the	the	DET
fcis-12979	42	38	quadrotor	quadrotor	NOUN
fcis-12979	42	39	is	be	AUX
fcis-12979	42	40	coincident	coincident	ADJ
fcis-12979	42	41	with	with	ADP
fcis-12979	42	42	its	its	PRON
fcis-12979	42	43	center	center	NOUN
fcis-12979	42	44	of	of	ADP
fcis-12979	42	45	gravity	gravity	NOUN
fcis-12979	42	46	;	;	PUNCT
fcis-12979	42	47	4	4	X
fcis-12979	42	48	.	.	X
fcis-12979	43	1	the	the	DET
fcis-12979	43	2	quadrotor	quadrotor	NOUN
fcis-12979	43	3	is	be	AUX
fcis-12979	43	4	subject	subject	ADJ
fcis-12979	43	5	only	only	ADV
fcis-12979	43	6	to	to	ADP
fcis-12979	43	7	gravity	gravity	NOUN
fcis-12979	43	8	and	and	CCONJ
fcis-12979	43	9	propeller	propeller	NOUN
fcis-12979	43	10	pull	pull	NOUN
fcis-12979	43	11	.	.	PUNCT
fcis-12979	44	1	modelled	model	VERB
fcis-12979	44	2	in	in	ADP
fcis-12979	44	3	the	the	DET
fcis-12979	44	4	earth	earth	NOUN
fcis-12979	44	5	solid	solid	ADV
fcis-12979	44	6	-	-	PUNCT
fcis-12979	44	7	linked	link	VERB
fcis-12979	44	8	coordinate	coordinate	NOUN
fcis-12979	44	9	system	system	NOUN
fcis-12979	44	10	,	,	PUNCT
fcis-12979	44	11	the	the	DET
fcis-12979	44	12	quadrotor	quadrotor	PROPN
fcis-12979	44	13	uav	uav	PROPN
fcis-12979	44	14	is	be	AUX
fcis-12979	44	15	modelled	model	VERB
fcis-12979	44	16	as	as	ADP
fcis-12979	44	17	.	.	PROPN
fcis-12979	45	1	1	1	NUM
fcis-12979	45	2	1	1	NUM
fcis-12979	45	3	1	1	NUM
fcis-12979	45	4	2	2	NUM
fcis-12979	45	5	3	3	NUM
fcis-12979	45	6	4	4	NUM
fcis-12979	45	7	(	(	PUNCT
fcis-12979	45	8	cos	cos	X
fcis-12979	45	9	sin	sin	PROPN
fcis-12979	45	10	cos	cos	PROPN
fcis-12979	45	11	sin	sin	NOUN
fcis-12979	45	12	sin	sin	NOUN
fcis-12979	45	13	)	)	PUNCT
fcis-12979	45	14	(	(	PUNCT
fcis-12979	45	15	sin	sin	NOUN
fcis-12979	45	16	sin	sin	PROPN
fcis-12979	45	17	cos	cos	PROPN
fcis-12979	45	18	cos	cos	PROPN
fcis-12979	45	19	sin	sin	PROPN
fcis-12979	45	20	)	)	PUNCT
fcis-12979	46	1	cos	cos	PROPN
fcis-12979	46	2	cos	cos	PROPN
fcis-12979	46	3	y	y	PROPN
fcis-12979	46	4	z	z	PROPN
fcis-12979	46	5	x	x	PUNCT
fcis-12979	47	1	x	x	X
fcis-12979	47	2	z	z	NOUN
fcis-12979	47	3	x	x	PUNCT
fcis-12979	47	4	y	y	NOUN
fcis-12979	47	5	y	y	PROPN
fcis-12979	47	6	x	x	SYM
fcis-12979	47	7	y	y	PROPN
fcis-12979	47	8	z	z	NOUN
fcis-12979	47	9	z	z	NOUN
fcis-12979	47	10	u	u	NOUN
fcis-12979	47	11	x	x	PROPN
fcis-12979	47	12	m	m	VERB
fcis-12979	47	13	u	u	NOUN
fcis-12979	47	14	y	y	PROPN
fcis-12979	47	15	m	m	VERB
fcis-12979	47	16	u	u	NOUN
fcis-12979	47	17	z	z	PROPN
fcis-12979	47	18	g	g	NOUN
fcis-12979	47	19	m	m	VERB
fcis-12979	47	20	i	i	PRON
fcis-12979	47	21	i	i	PRON
fcis-12979	47	22	u	u	VERB
fcis-12979	48	1	i	i	PRON
fcis-12979	48	2	i	i	PRON
fcis-12979	49	1	i	i	PRON
fcis-12979	49	2	i	i	PRON
fcis-12979	50	1	u	u	VERB
fcis-12979	51	1	i	i	PRON
fcis-12979	51	2	i	i	PRON
fcis-12979	52	1	i	i	PRON
fcis-12979	52	2	i	i	PRON
fcis-12979	52	3	u	u	VERB
fcis-12979	53	1	i	i	PRON
fcis-12979	53	2	i	i	PRON
fcis-12979	53	3			VERB
fcis-12979	53	4			X
fcis-12979	54	1			ADJ
fcis-12979	54	2			NOUN
fcis-12979	54	3			PROPN
fcis-12979	54	4			NOUN
fcis-12979	54	5			X
fcis-12979	54	6			ADJ
fcis-12979	54	7			NOUN
fcis-12979	54	8			ADJ
fcis-12979	54	9			PROPN
fcis-12979	54	10			NOUN
fcis-12979	54	11			PROPN
fcis-12979	54	12			X
fcis-12979	54	13			X
fcis-12979	54	14			PROPN
fcis-12979	54	15			NUM
fcis-12979	54	16			PUNCT
fcis-12979	54	17			ADP
fcis-12979	55	1			PROPN
fcis-12979	55	2			NOUN
fcis-12979	55	3			NOUN
fcis-12979	55	4			NUM
fcis-12979	55	5			NUM
fcis-12979	55	6			PROPN
fcis-12979	55	7			PROPN
fcis-12979	55	8			NOUN
fcis-12979	55	9			NUM
fcis-12979	55	10			NUM
fcis-12979	55	11			PROPN
fcis-12979	55	12			NOUN
fcis-12979	55	13			PRON
fcis-12979	55	14			NUM
fcis-12979	55	15			NUM
fcis-12979	55	16			NOUN
fcis-12979	55	17			PRON
fcis-12979	55	18			NOUN
fcis-12979	55	19			NUM
fcis-12979	55	20			NUM
fcis-12979	55	21			NOUN
fcis-12979	55	22			PRON
fcis-12979	55	23			NOUN
fcis-12979	55	24			NUM
fcis-12979	55	25			NUM
fcis-12979	55	26			PROPN
fcis-12979	55	27			PROPN
fcis-12979	55	28			PROPN
fcis-12979	55	29			NOUN
fcis-12979	55	30			NOUN
fcis-12979	55	31			NOUN
fcis-12979	55	32			NUM
fcis-12979	55	33			NOUN
fcis-12979	55	34			NOUN
fcis-12979	55	35			NOUN
fcis-12979	55	36			NOUN
fcis-12979	55	37			NUM
fcis-12979	55	38			NOUN
fcis-12979	55	39	(	(	PUNCT
fcis-12979	55	40	5	5	NUM
fcis-12979	55	41	)	)	PUNCT
fcis-12979	55	42	in	in	ADP
fcis-12979	55	43	equation	equation	NOUN
fcis-12979	55	44	.	.	PUNCT
fcis-12979	56	1	(	(	PUNCT
fcis-12979	56	2	5	5	NUM
fcis-12979	56	3	):	):	PUNCT
fcis-12979	56	4	m	m	VERB
fcis-12979	56	5	is	be	AUX
fcis-12979	56	6	the	the	DET
fcis-12979	56	7	mass	mass	NOUN
fcis-12979	56	8	of	of	ADP
fcis-12979	56	9	the	the	DET
fcis-12979	56	10	quadrotor	quadrotor	PROPN
fcis-12979	56	11	uav	uav	PROPN
fcis-12979	56	12	;	;	PUNCT
fcis-12979	56	13	g	g	PROPN
fcis-12979	56	14	is	be	AUX
fcis-12979	56	15	the	the	DET
fcis-12979	56	16	acceleration	acceleration	NOUN
fcis-12979	56	17	of	of	ADP
fcis-12979	56	18	gravity	gravity	NOUN
fcis-12979	56	19	;	;	PUNCT
fcis-12979	56	20	ix	ix	PROPN
fcis-12979	56	21	,	,	PUNCT
fcis-12979	56	22	iy	iy	INTJ
fcis-12979	56	23	,	,	PUNCT
fcis-12979	56	24	and	and	CCONJ
fcis-12979	56	25	iz	iz	PRON
fcis-12979	56	26	are	be	AUX
fcis-12979	56	27	the	the	DET
fcis-12979	56	28	rotational	rotational	ADJ
fcis-12979	56	29	inertia	inertia	NOUN
fcis-12979	56	30	of	of	ADP
fcis-12979	56	31	the	the	DET
fcis-12979	56	32	x	x	PROPN
fcis-12979	56	33	,	,	PUNCT
fcis-12979	56	34	y	y	PROPN
fcis-12979	56	35	,	,	PUNCT
fcis-12979	56	36	and	and	CCONJ
fcis-12979	56	37	z	z	NOUN
fcis-12979	56	38	axes	axis	NOUN
fcis-12979	56	39	,	,	PUNCT
fcis-12979	56	40	respectively	respectively	ADV
fcis-12979	56	41	,	,	PUNCT
fcis-12979	56	42	l	l	PROPN
fcis-12979	56	43	is	be	AUX
fcis-12979	56	44	the	the	DET
fcis-12979	56	45	distance	distance	NOUN
fcis-12979	56	46	from	from	ADP
fcis-12979	56	47	the	the	DET
fcis-12979	56	48	center	center	NOUN
fcis-12979	56	49	of	of	ADP
fcis-12979	56	50	the	the	DET
fcis-12979	56	51	rotational	rotational	ADJ
fcis-12979	56	52	axis	axis	NOUN
fcis-12979	56	53	of	of	ADP
fcis-12979	56	54	the	the	DET
fcis-12979	56	55	quadrotor	quadrotor	PROPN
fcis-12979	56	56	uav	uav	PROPN
fcis-12979	56	57	to	to	ADP
fcis-12979	56	58	the	the	DET
fcis-12979	56	59	center	center	NOUN
fcis-12979	56	60	of	of	ADP
fcis-12979	56	61	the	the	DET
fcis-12979	56	62	fuselage	fuselage	NOUN
fcis-12979	56	63	,	,	PUNCT
fcis-12979	56	64	u1	u1	NOUN
fcis-12979	56	65	is	be	AUX
fcis-12979	56	66	the	the	DET
fcis-12979	56	67	amount	amount	NOUN
fcis-12979	56	68	of	of	ADP
fcis-12979	56	69	the	the	DET
fcis-12979	56	70	quadrotor	quadrotor	PROPN
fcis-12979	56	71	uav	uav	PROPN
fcis-12979	56	72	's	's	PART
fcis-12979	56	73	lifting	lifting	ADJ
fcis-12979	56	74	force	force	NOUN
fcis-12979	56	75	control	control	NOUN
fcis-12979	56	76	,	,	PUNCT
fcis-12979	56	77	and	and	CCONJ
fcis-12979	56	78	u2	u2	NOUN
fcis-12979	56	79	,	,	PUNCT
fcis-12979	56	80	u3	u3	NOUN
fcis-12979	56	81	,	,	PUNCT
fcis-12979	56	82	and	and	CCONJ
fcis-12979	56	83	u4	u4	PROPN
fcis-12979	56	84	are	be	AUX
fcis-12979	56	85	the	the	DET
fcis-12979	56	86	amount	amount	NOUN
fcis-12979	56	87	of	of	ADP
fcis-12979	56	88	the	the	DET
fcis-12979	56	89	control	control	NOUN
fcis-12979	56	90	of	of	ADP
fcis-12979	56	91	the	the	DET
fcis-12979	56	92	tumbling	tumbling	NOUN
fcis-12979	56	93	angle	angle	NOUN
fcis-12979	56	94	,	,	PUNCT
fcis-12979	56	95	the	the	DET
fcis-12979	56	96	pitching	pitching	NOUN
fcis-12979	56	97	angle	angle	NOUN
fcis-12979	56	98	,	,	PUNCT
fcis-12979	56	99	and	and	CCONJ
fcis-12979	56	100	the	the	DET
fcis-12979	56	101	yawing	yaw	VERB
fcis-12979	56	102	angle	angle	NOUN
fcis-12979	56	103	.	.	PUNCT
fcis-12979	57	1	2	2	NUM
fcis-12979	57	2	2	2	NUM
fcis-12979	57	3	2	2	NUM
fcis-12979	57	4	2	2	NUM
fcis-12979	57	5	1	1	NUM
fcis-12979	57	6	1	1	NUM
fcis-12979	57	7	2	2	NUM
fcis-12979	57	8	3	3	NUM
fcis-12979	57	9	4	4	NUM
fcis-12979	57	10	2	2	NUM
fcis-12979	57	11	2	2	NUM
fcis-12979	57	12	2	2	NUM
fcis-12979	57	13	2	2	NUM
fcis-12979	57	14	2	2	NUM
fcis-12979	57	15	1	1	NUM
fcis-12979	57	16	2	2	NUM
fcis-12979	57	17	3	3	NUM
fcis-12979	57	18	4	4	NUM
fcis-12979	57	19	2	2	NUM
fcis-12979	57	20	2	2	NUM
fcis-12979	57	21	2	2	NUM
fcis-12979	57	22	2	2	NUM
fcis-12979	57	23	3	3	NUM
fcis-12979	57	24	1	1	NUM
fcis-12979	57	25	2	2	NUM
fcis-12979	57	26	3	3	NUM
fcis-12979	57	27	4	4	NUM
fcis-12979	57	28	2	2	NUM
fcis-12979	57	29	2	2	NUM
fcis-12979	57	30	2	2	NUM
fcis-12979	57	31	2	2	NUM
fcis-12979	57	32	4	4	NUM
fcis-12979	57	33	1	1	NUM
fcis-12979	57	34	2	2	NUM
fcis-12979	57	35	3	3	NUM
fcis-12979	57	36	4	4	NUM
fcis-12979	57	37	(	(	PUNCT
fcis-12979	57	38	)	)	PUNCT
fcis-12979	57	39	2	2	NUM
fcis-12979	57	40	2	2	NUM
fcis-12979	57	41	2	2	NUM
fcis-12979	57	42	2	2	NUM
fcis-12979	57	43	(	(	PUNCT
fcis-12979	57	44	)	)	PUNCT
fcis-12979	57	45	2	2	NUM
fcis-12979	57	46	2	2	NUM
fcis-12979	57	47	2	2	NUM
fcis-12979	57	48	2	2	NUM
fcis-12979	57	49	2	2	NUM
fcis-12979	57	50	2	2	NUM
fcis-12979	57	51	2	2	NUM
fcis-12979	57	52	2	2	NUM
fcis-12979	57	53	(	(	PUNCT
fcis-12979	57	54	)	)	PUNCT
fcis-12979	57	55	2	2	NUM
fcis-12979	57	56	2	2	NUM
fcis-12979	57	57	2	2	NUM
fcis-12979	57	58	2	2	NUM
fcis-12979	57	59	(	(	PUNCT
fcis-12979	57	60	)	)	PUNCT
fcis-12979	57	61	t	t	NOUN
fcis-12979	57	62	t	t	PROPN
fcis-12979	58	1	t	t	PROPN
fcis-12979	58	2	m	m	VERB
fcis-12979	58	3	u	u	NOUN
fcis-12979	58	4	c	c	NOUN
fcis-12979	58	5	u	u	NOUN
fcis-12979	58	6	lc	lc	PROPN
fcis-12979	58	7	u	u	PROPN
fcis-12979	58	8	lc	lc	PROPN
fcis-12979	58	9	u	u	NOUN
fcis-12979	58	10	c	c	NOUN
fcis-12979	58	11			ADP
fcis-12979	58	12			PROPN
fcis-12979	58	13			PROPN
fcis-12979	58	14			PROPN
fcis-12979	58	15			PROPN
fcis-12979	58	16			PROPN
fcis-12979	58	17			NUM
fcis-12979	58	18			NUM
fcis-12979	58	19			PROPN
fcis-12979	58	20			PROPN
fcis-12979	58	21			PROPN
fcis-12979	58	22			PROPN
fcis-12979	58	23			PROPN
fcis-12979	58	24			PROPN
fcis-12979	58	25			ADV
fcis-12979	58	26			NOUN
fcis-12979	59	1			NUM
fcis-12979	59	2			NUM
fcis-12979	59	3			PROPN
fcis-12979	59	4			PROPN
fcis-12979	59	5			PUNCT
fcis-12979	59	6			PROPN
fcis-12979	59	7			PROPN
fcis-12979	59	8			PROPN
fcis-12979	59	9			VERB
fcis-12979	59	10			NUM
fcis-12979	59	11			NUM
fcis-12979	59	12			NUM
fcis-12979	59	13			PROPN
fcis-12979	59	14			VERB
fcis-12979	59	15			ADJ
fcis-12979	59	16			NOUN
fcis-12979	59	17	(	(	PUNCT
fcis-12979	59	18	6	6	NUM
fcis-12979	59	19	)	)	PUNCT
fcis-12979	59	20	where	where	SCONJ
fcis-12979	59	21	cm	cm	PROPN
fcis-12979	59	22	is	be	AUX
fcis-12979	59	23	the	the	DET
fcis-12979	59	24	propeller	propeller	ADJ
fcis-12979	59	25	moment	moment	NOUN
fcis-12979	59	26	coefficient	coefficient	NOUN
fcis-12979	59	27	,	,	PUNCT
fcis-12979	59	28	ct	ct	PROPN
fcis-12979	59	29	is	be	AUX
fcis-12979	59	30	the	the	DET
fcis-12979	59	31	propeller	propeller	NOUN
fcis-12979	59	32	tension	tension	NOUN
fcis-12979	59	33	coefficient	coefficient	NOUN
fcis-12979	59	34	,	,	PUNCT
fcis-12979	59	35	and	and	CCONJ
fcis-12979	59	36	ωi	ωi	PROPN
fcis-12979	59	37	is	be	AUX
fcis-12979	59	38	the	the	DET
fcis-12979	59	39	ith	ith	PROPN
fcis-12979	59	40	propeller	propeller	NOUN
fcis-12979	59	41	speed	speed	NOUN
fcis-12979	59	42	.	.	PUNCT
fcis-12979	60	1	3	3	X
fcis-12979	60	2	.	.	NUM
fcis-12979	60	3	improved	improve	VERB
fcis-12979	60	4	active	active	ADJ
fcis-12979	60	5	disturbance	disturbance	NOUN
fcis-12979	60	6	rejection	rejection	NOUN
fcis-12979	60	7	control	control	NOUN
fcis-12979	60	8	3.1	3.1	NUM
fcis-12979	60	9	.	.	PUNCT
fcis-12979	61	1	adrc	adrc	PROPN
fcis-12979	61	2	controller	controller	NOUN
fcis-12979	61	3	basic	basic	ADJ
fcis-12979	61	4	structure	structure	NOUN
fcis-12979	61	5	adrc	adrc	NOUN
fcis-12979	61	6	controller	controller	NOUN
fcis-12979	61	7	evolved	evolve	VERB
fcis-12979	61	8	from	from	ADP
fcis-12979	61	9	the	the	DET
fcis-12979	61	10	classical	classical	ADJ
fcis-12979	61	11	pid	pid	NOUN
fcis-12979	61	12	controller	controller	NOUN
fcis-12979	61	13	,	,	PUNCT
fcis-12979	61	14	because	because	SCONJ
fcis-12979	61	15	the	the	DET
fcis-12979	61	16	traditional	traditional	ADJ
fcis-12979	61	17	pid	pid	NOUN
fcis-12979	61	18	controller	controller	NOUN
fcis-12979	61	19	directly	directly	ADV
fcis-12979	61	20	takes	take	VERB
fcis-12979	61	21	the	the	DET
fcis-12979	61	22	difference	difference	NOUN
fcis-12979	61	23	between	between	ADP
fcis-12979	61	24	the	the	DET
fcis-12979	61	25	reference	reference	NOUN
fcis-12979	61	26	given	give	VERB
fcis-12979	61	27	and	and	CCONJ
fcis-12979	61	28	the	the	DET
fcis-12979	61	29	output	output	NOUN
fcis-12979	61	30	feedback	feedback	NOUN
fcis-12979	61	31	as	as	ADP
fcis-12979	61	32	the	the	DET
fcis-12979	61	33	control	control	NOUN
fcis-12979	61	34	signal	signal	NOUN
fcis-12979	61	35	,	,	PUNCT
fcis-12979	61	36	which	which	PRON
fcis-12979	61	37	leads	lead	VERB
fcis-12979	61	38	to	to	ADP
fcis-12979	61	39	the	the	DET
fcis-12979	61	40	contradiction	contradiction	NOUN
fcis-12979	61	41	between	between	ADP
fcis-12979	61	42	response	response	NOUN
fcis-12979	61	43	rapidity	rapidity	NOUN
fcis-12979	61	44	and	and	CCONJ
fcis-12979	61	45	overshooting	overshooting	NOUN
fcis-12979	61	46	.	.	PUNCT
fcis-12979	62	1	adrc	adrc	DET
fcis-12979	62	2	algorithm	algorithm	NOUN
fcis-12979	62	3	is	be	AUX
fcis-12979	62	4	a	a	DET
fcis-12979	62	5	nonlinear	nonlinear	ADJ
fcis-12979	62	6	control	control	NOUN
fcis-12979	62	7	algorithm	algorithm	NOUN
fcis-12979	62	8	proposed	propose	VERB
fcis-12979	62	9	by	by	ADP
fcis-12979	62	10	researcher	researcher	NOUN
fcis-12979	62	11	han	han	PROPN
fcis-12979	62	12	jingqing	jingqing	PROPN
fcis-12979	63	1	[	[	X
fcis-12979	63	2	14	14	NUM
fcis-12979	63	3	]	]	PUNCT
fcis-12979	63	4	in	in	ADP
fcis-12979	63	5	response	response	NOUN
fcis-12979	63	6	to	to	ADP
fcis-12979	63	7	the	the	DET
fcis-12979	63	8	shortcomings	shortcoming	NOUN
fcis-12979	63	9	of	of	ADP
fcis-12979	63	10	the	the	DET
fcis-12979	63	11	pid	pid	NOUN
fcis-12979	63	12	control	control	NOUN
fcis-12979	63	13	algorithm	algorithm	PROPN
fcis-12979	63	14	,	,	PUNCT
fcis-12979	63	15	which	which	PRON
fcis-12979	63	16	adopts	adopt	VERB
fcis-12979	63	17	the	the	DET
fcis-12979	63	18	core	core	NOUN
fcis-12979	63	19	concept	concept	NOUN
fcis-12979	63	20	of	of	ADP
fcis-12979	63	21	pid	pid	NOUN
fcis-12979	63	22	error	error	NOUN
fcis-12979	63	23	feedback	feedback	NOUN
fcis-12979	63	24	control	control	NOUN
fcis-12979	63	25	,	,	PUNCT
fcis-12979	63	26	and	and	CCONJ
fcis-12979	63	27	on	on	ADP
fcis-12979	63	28	the	the	DET
fcis-12979	63	29	basis	basis	NOUN
fcis-12979	63	30	of	of	ADP
fcis-12979	63	31	the	the	DET
fcis-12979	63	32	basic	basic	ADJ
fcis-12979	63	33	idea	idea	NOUN
fcis-12979	63	34	of	of	ADP
fcis-12979	63	35	the	the	DET
fcis-12979	63	36	pid	pid	NOUN
fcis-12979	63	37	control	control	NOUN
fcis-12979	63	38	algorithm	algorithm	PROPN
fcis-12979	63	39	,	,	PUNCT
fcis-12979	63	40	the	the	DET
fcis-12979	63	41	nonlinear	nonlinear	ADJ
fcis-12979	63	42	feedback	feedback	NOUN
fcis-12979	63	43	control	control	NOUN
fcis-12979	63	44	law	law	NOUN
fcis-12979	63	45	(	(	PUNCT
fcis-12979	63	46	nlsef	nlsef	PROPN
fcis-12979	63	47	)	)	PUNCT
fcis-12979	63	48	,	,	PUNCT
fcis-12979	63	49	the	the	DET
fcis-12979	63	50	expansion	expansion	NOUN
fcis-12979	63	51	state	state	NOUN
fcis-12979	63	52	observer	observer	NOUN
fcis-12979	63	53	92	92	NUM
fcis-12979	63	54	(	(	PUNCT
fcis-12979	63	55	eso	eso	NOUN
fcis-12979	63	56	)	)	PUNCT
fcis-12979	63	57	and	and	CCONJ
fcis-12979	63	58	the	the	DET
fcis-12979	63	59	tracking	track	VERB
fcis-12979	63	60	differentiator	differentiator	NOUN
fcis-12979	63	61	(	(	PUNCT
fcis-12979	63	62	td	td	NOUN
fcis-12979	63	63	)	)	PUNCT
fcis-12979	63	64	link	link	NOUN
fcis-12979	63	65	are	be	AUX
fcis-12979	63	66	added	add	VERB
fcis-12979	63	67	.	.	PUNCT
fcis-12979	64	1	among	among	ADP
fcis-12979	64	2	them	they	PRON
fcis-12979	64	3	,	,	PUNCT
fcis-12979	64	4	the	the	DET
fcis-12979	64	5	tracking	track	VERB
fcis-12979	64	6	differentiator	differentiator	NOUN
fcis-12979	64	7	arranges	arrange	VERB
fcis-12979	64	8	the	the	DET
fcis-12979	64	9	transition	transition	NOUN
fcis-12979	64	10	process	process	NOUN
fcis-12979	64	11	of	of	ADP
fcis-12979	64	12	the	the	DET
fcis-12979	64	13	closed	closed	ADJ
fcis-12979	64	14	-	-	PUNCT
fcis-12979	64	15	loop	loop	NOUN
fcis-12979	64	16	system	system	NOUN
fcis-12979	64	17	according	accord	VERB
fcis-12979	64	18	to	to	ADP
fcis-12979	64	19	the	the	DET
fcis-12979	64	20	differential	differential	ADJ
fcis-12979	64	21	output	output	NOUN
fcis-12979	64	22	and	and	CCONJ
fcis-12979	64	23	the	the	DET
fcis-12979	64	24	most	most	ADV
fcis-12979	64	25	rapid	rapid	ADJ
fcis-12979	64	26	synthesis	synthesis	NOUN
fcis-12979	64	27	function	function	NOUN
fcis-12979	64	28	,	,	PUNCT
fcis-12979	64	29	reasonably	reasonably	ADV
fcis-12979	64	30	extracts	extract	VERB
fcis-12979	64	31	the	the	DET
fcis-12979	64	32	continuous	continuous	ADJ
fcis-12979	64	33	signals	signal	NOUN
fcis-12979	64	34	(	(	PUNCT
fcis-12979	64	35	tracking	tracking	NOUN
fcis-12979	64	36	given	give	VERB
fcis-12979	64	37	)	)	PUNCT
fcis-12979	64	38	and	and	CCONJ
fcis-12979	64	39	differential	differential	ADJ
fcis-12979	64	40	signals	signal	NOUN
fcis-12979	64	41	,	,	PUNCT
fcis-12979	64	42	gives	give	VERB
fcis-12979	64	43	reasonable	reasonable	ADJ
fcis-12979	64	44	control	control	NOUN
fcis-12979	64	45	signals	signal	NOUN
fcis-12979	64	46	,	,	PUNCT
fcis-12979	64	47	and	and	CCONJ
fcis-12979	64	48	solves	solve	VERB
fcis-12979	64	49	the	the	DET
fcis-12979	64	50	contradiction	contradiction	NOUN
fcis-12979	64	51	between	between	ADP
fcis-12979	64	52	response	response	NOUN
fcis-12979	64	53	speed	speed	NOUN
fcis-12979	64	54	and	and	CCONJ
fcis-12979	64	55	overshooting	overshooting	NOUN
fcis-12979	64	56	.	.	PUNCT
fcis-12979	65	1	the	the	DET
fcis-12979	65	2	extended	extended	ADJ
fcis-12979	65	3	state	state	NOUN
fcis-12979	65	4	observer	observer	NOUN
fcis-12979	65	5	designs	design	VERB
fcis-12979	65	6	an	an	DET
fcis-12979	65	7	extended	extended	ADJ
fcis-12979	65	8	state	state	NOUN
fcis-12979	65	9	quantity	quantity	NOUN
fcis-12979	65	10	to	to	PART
fcis-12979	65	11	track	track	VERB
fcis-12979	65	12	the	the	DET
fcis-12979	65	13	influence	influence	NOUN
fcis-12979	65	14	of	of	ADP
fcis-12979	65	15	unknown	unknown	ADJ
fcis-12979	65	16	parts	part	NOUN
fcis-12979	65	17	of	of	ADP
fcis-12979	65	18	the	the	DET
fcis-12979	65	19	model	model	NOUN
fcis-12979	65	20	and	and	CCONJ
fcis-12979	65	21	unknown	unknown	ADJ
fcis-12979	65	22	external	external	ADJ
fcis-12979	65	23	perturbations	perturbation	NOUN
fcis-12979	65	24	,	,	PUNCT
fcis-12979	65	25	and	and	CCONJ
fcis-12979	65	26	gives	give	VERB
fcis-12979	65	27	the	the	DET
fcis-12979	65	28	control	control	NOUN
fcis-12979	65	29	quantity	quantity	NOUN
fcis-12979	65	30	to	to	PART
fcis-12979	65	31	compensate	compensate	VERB
fcis-12979	65	32	these	these	DET
fcis-12979	65	33	perturbations	perturbation	NOUN
fcis-12979	65	34	,	,	PUNCT
fcis-12979	65	35	making	make	VERB
fcis-12979	65	36	it	it	PRON
fcis-12979	65	37	an	an	DET
fcis-12979	65	38	ordinary	ordinary	ADJ
fcis-12979	65	39	integral	integral	ADJ
fcis-12979	65	40	series	series	NOUN
fcis-12979	65	41	type	type	NOUN
fcis-12979	65	42	control	control	NOUN
fcis-12979	65	43	object	object	NOUN
fcis-12979	65	44	.	.	PUNCT
fcis-12979	66	1	the	the	DET
fcis-12979	66	2	nonlinear	nonlinear	ADJ
fcis-12979	66	3	error	error	NOUN
fcis-12979	66	4	feedback	feedback	NOUN
fcis-12979	66	5	control	control	NOUN
fcis-12979	66	6	law	law	NOUN
fcis-12979	66	7	gives	give	VERB
fcis-12979	66	8	the	the	DET
fcis-12979	66	9	control	control	NOUN
fcis-12979	66	10	strategy	strategy	NOUN
fcis-12979	66	11	of	of	ADP
fcis-12979	66	12	the	the	DET
fcis-12979	66	13	controlled	control	VERB
fcis-12979	66	14	object	object	NOUN
fcis-12979	66	15	,	,	PUNCT
fcis-12979	66	16	and	and	CCONJ
fcis-12979	66	17	the	the	DET
fcis-12979	66	18	basic	basic	ADJ
fcis-12979	66	19	framework	framework	NOUN
fcis-12979	66	20	of	of	ADP
fcis-12979	66	21	adrc	adrc	PROPN
fcis-12979	66	22	is	be	AUX
fcis-12979	66	23	shown	show	VERB
fcis-12979	66	24	in	in	ADP
fcis-12979	66	25	figure	figure	NOUN
fcis-12979	66	26	.	.	PUNCT
fcis-12979	67	1	2	2	X
fcis-12979	67	2	.	.	X
fcis-12979	67	3	figure	figure	NOUN
fcis-12979	67	4	2	2	NUM
fcis-12979	67	5	.	.	PUNCT
fcis-12979	67	6	adrc	adrc	PROPN
fcis-12979	67	7	controller	controller	NOUN
fcis-12979	67	8	3.2	3.2	NUM
fcis-12979	67	9	.	.	PUNCT
fcis-12979	68	1	improved	improve	VERB
fcis-12979	68	2	tracking	tracking	NOUN
fcis-12979	68	3	differentials	differential	NOUN
fcis-12979	68	4	the	the	DET
fcis-12979	68	5	traditional	traditional	ADJ
fcis-12979	68	6	structure	structure	NOUN
fcis-12979	68	7	and	and	CCONJ
fcis-12979	68	8	basic	basic	ADJ
fcis-12979	68	9	properties	property	NOUN
fcis-12979	68	10	of	of	ADP
fcis-12979	68	11	nonlinear	nonlinear	ADJ
fcis-12979	68	12	tracking	tracking	NOUN
fcis-12979	68	13	differentiators	differentiator	NOUN
fcis-12979	68	14	are	be	AUX
fcis-12979	68	15	investigated	investigate	VERB
fcis-12979	68	16	in	in	ADP
fcis-12979	68	17	researcher	researcher	NOUN
fcis-12979	68	18	kyungching	kyungche	VERB
fcis-12979	68	19	han	han	PROPN
fcis-12979	68	20	's	's	PART
fcis-12979	68	21	book	book	NOUN
fcis-12979	68	22	.	.	PUNCT
fcis-12979	69	1	a	a	DET
fcis-12979	69	2	second	second	ADJ
fcis-12979	69	3	-	-	PUNCT
fcis-12979	69	4	order	order	NOUN
fcis-12979	69	5	nonlinear	nonlinear	ADJ
fcis-12979	69	6	tracking	tracking	NOUN
fcis-12979	69	7	differentiator	differentiator	NOUN
fcis-12979	69	8	based	base	VERB
fcis-12979	69	9	on	on	ADP
fcis-12979	69	10	a	a	DET
fcis-12979	69	11	second	second	ADJ
fcis-12979	69	12	-	-	PUNCT
fcis-12979	69	13	order	order	NOUN
fcis-12979	69	14	bang	bang	NOUN
fcis-12979	69	15	-	-	PUNCT
fcis-12979	69	16	bang	bang	NOUN
fcis-12979	69	17	switching	switch	VERB
fcis-12979	69	18	system	system	NOUN
fcis-12979	69	19	is	be	AUX
fcis-12979	69	20	proposed	propose	VERB
fcis-12979	69	21	.	.	PUNCT
fcis-12979	70	1	1	1	NUM
fcis-12979	70	2	2	2	NUM
fcis-12979	70	3	2	2	NUM
fcis-12979	70	4	2	2	NUM
fcis-12979	70	5	2	2	NUM
fcis-12979	70	6	1	1	NUM
fcis-12979	70	7	0	0	NUM
fcis-12979	70	8	(	(	PUNCT
fcis-12979	70	9	(	(	PUNCT
fcis-12979	70	10	)	)	PUNCT
fcis-12979	70	11	)	)	PUNCT
fcis-12979	71	1	2	2	NUM
fcis-12979	71	2	x	x	SYM
fcis-12979	71	3	x	x	PUNCT
fcis-12979	71	4	x	x	PUNCT
fcis-12979	71	5	x	x	SYM
fcis-12979	71	6	x	x	SYM
fcis-12979	71	7	rsign	rsign	NOUN
fcis-12979	71	8	x	x	SYM
fcis-12979	71	9	v	v	ADP
fcis-12979	71	10	t	t	NOUN
fcis-12979	71	11	r	r	NOUN
fcis-12979	71	12			NOUN
fcis-12979	71	13			NUM
fcis-12979	71	14			NUM
fcis-12979	71	15			PROPN
fcis-12979	71	16			PROPN
fcis-12979	71	17			NOUN
fcis-12979	71	18			PROPN
fcis-12979	71	19			NOUN
fcis-12979	71	20			NOUN
fcis-12979	71	21	(	(	PUNCT
fcis-12979	71	22	7	7	NUM
fcis-12979	71	23	)	)	PUNCT
fcis-12979	71	24	where	where	SCONJ
fcis-12979	71	25	x1	x1	PROPN
fcis-12979	71	26	is	be	AUX
fcis-12979	71	27	the	the	DET
fcis-12979	71	28	desired	desire	VERB
fcis-12979	71	29	trajectory	trajectory	NOUN
fcis-12979	71	30	and	and	CCONJ
fcis-12979	71	31	x2	x2	PROPN
fcis-12979	71	32	is	be	AUX
fcis-12979	71	33	its	its	PRON
fcis-12979	71	34	derivative	derivative	NOUN
fcis-12979	71	35	.	.	PUNCT
fcis-12979	72	1	note	note	VERB
fcis-12979	72	2	that	that	SCONJ
fcis-12979	72	3	the	the	DET
fcis-12979	72	4	parameter	parameter	NOUN
fcis-12979	72	5	r	r	NOUN
fcis-12979	72	6	is	be	AUX
fcis-12979	72	7	application	application	NOUN
fcis-12979	72	8	-	-	PUNCT
fcis-12979	72	9	dependent	dependent	ADJ
fcis-12979	72	10	and	and	CCONJ
fcis-12979	72	11	is	be	AUX
fcis-12979	72	12	set	set	VERB
fcis-12979	72	13	to	to	PART
fcis-12979	72	14	speed	speed	VERB
fcis-12979	72	15	up	up	ADP
fcis-12979	72	16	or	or	CCONJ
fcis-12979	72	17	slow	slow	VERB
fcis-12979	72	18	down	down	ADP
fcis-12979	72	19	the	the	DET
fcis-12979	72	20	transient	transient	ADJ
fcis-12979	72	21	profile	profile	NOUN
fcis-12979	72	22	accordingly	accordingly	ADV
fcis-12979	72	23	.	.	PUNCT
fcis-12979	73	1	denote	denote	VERB
fcis-12979	73	2	2	2	NUM
fcis-12979	73	3	as	as	ADP
fcis-12979	73	4	the	the	DET
fcis-12979	73	5	“	"	PUNCT
fcis-12979	73	6	trace	trace	NOUN
fcis-12979	73	7	differentiator	differentiator	NOUN
fcis-12979	73	8	”	"	PUNCT
fcis-12979	73	9	of	of	ADP
fcis-12979	73	10	v(t	v(t	NOUN
fcis-12979	73	11	)	)	PUNCT
fcis-12979	73	12	.	.	PUNCT
fcis-12979	74	1	3.3	3.3	NUM
fcis-12979	74	2	.	.	PUNCT
fcis-12979	75	1	improvement	improvement	NOUN
fcis-12979	75	2	of	of	ADP
fcis-12979	75	3	the	the	DET
fcis-12979	75	4	expansion	expansion	NOUN
fcis-12979	75	5	state	state	NOUN
fcis-12979	75	6	observer	observer	NOUN
fcis-12979	75	7	eso	eso	NOUN
fcis-12979	75	8	is	be	AUX
fcis-12979	75	9	the	the	DET
fcis-12979	75	10	heart	heart	NOUN
fcis-12979	75	11	of	of	ADP
fcis-12979	75	12	the	the	DET
fcis-12979	75	13	adrc	adrc	ADJ
fcis-12979	75	14	controller	controller	NOUN
fcis-12979	75	15	,	,	PUNCT
fcis-12979	75	16	which	which	PRON
fcis-12979	75	17	improves	improve	VERB
fcis-12979	75	18	the	the	DET
fcis-12979	75	19	performance	performance	NOUN
fcis-12979	75	20	of	of	ADP
fcis-12979	75	21	the	the	DET
fcis-12979	75	22	system	system	NOUN
fcis-12979	75	23	by	by	ADP
fcis-12979	75	24	transforming	transform	VERB
fcis-12979	75	25	all	all	DET
fcis-12979	75	26	uncertain	uncertain	ADJ
fcis-12979	75	27	and	and	CCONJ
fcis-12979	75	28	nonlinear	nonlinear	ADJ
fcis-12979	75	29	perturbations	perturbation	NOUN
fcis-12979	75	30	,	,	PUNCT
fcis-12979	75	31	both	both	CCONJ
fcis-12979	75	32	internal	internal	ADJ
fcis-12979	75	33	and	and	CCONJ
fcis-12979	75	34	external	external	ADJ
fcis-12979	75	35	,	,	PUNCT
fcis-12979	75	36	into	into	ADP
fcis-12979	75	37	a	a	DET
fcis-12979	75	38	deterministic	deterministic	ADJ
fcis-12979	75	39	and	and	CCONJ
fcis-12979	75	40	linear	linear	ADJ
fcis-12979	75	41	form	form	NOUN
fcis-12979	75	42	by	by	ADP
fcis-12979	75	43	determinizing	determinize	VERB
fcis-12979	75	44	and	and	CCONJ
fcis-12979	75	45	linearizing	linearize	VERB
fcis-12979	75	46	the	the	DET
fcis-12979	75	47	perturbations	perturbation	NOUN
fcis-12979	75	48	.	.	PUNCT
fcis-12979	76	1	the	the	DET
fcis-12979	76	2	system	system	NOUN
fcis-12979	76	3	controlled	control	VERB
fcis-12979	76	4	in	in	ADP
fcis-12979	76	5	this	this	DET
fcis-12979	76	6	paper	paper	NOUN
fcis-12979	76	7	is	be	AUX
fcis-12979	76	8	of	of	ADP
fcis-12979	76	9	second	second	ADJ
fcis-12979	76	10	order	order	NOUN
fcis-12979	76	11	,	,	PUNCT
fcis-12979	76	12	so	so	SCONJ
fcis-12979	76	13	the	the	DET
fcis-12979	76	14	eso	eso	NOUN
fcis-12979	76	15	expands	expand	VERB
fcis-12979	76	16	the	the	DET
fcis-12979	76	17	total	total	ADJ
fcis-12979	76	18	perturbation	perturbation	NOUN
fcis-12979	76	19	to	to	ADP
fcis-12979	76	20	a	a	DET
fcis-12979	76	21	third	third	ADJ
fcis-12979	76	22	order	order	NOUN
fcis-12979	76	23	system	system	NOUN
fcis-12979	76	24	state	state	NOUN
fcis-12979	76	25	.	.	PUNCT
fcis-12979	77	1	its	its	PRON
fcis-12979	77	2	expression	expression	NOUN
fcis-12979	77	3	is	be	AUX
fcis-12979	77	4	given	give	VERB
fcis-12979	77	5	below	below	ADV
fcis-12979	77	6	.	.	PUNCT
fcis-12979	78	1	1	1	NUM
fcis-12979	78	2	1	1	NUM
fcis-12979	78	3	2	2	NUM
fcis-12979	78	4	01	01	NUM
fcis-12979	78	5	2	2	NUM
fcis-12979	78	6	3	3	NUM
fcis-12979	78	7	02	02	NUM
fcis-12979	78	8	1	1	NUM
fcis-12979	78	9	0	0	NUM
fcis-12979	78	10	3	3	NUM
fcis-12979	78	11	03	03	NUM
fcis-12979	78	12	2	2	NUM
fcis-12979	78	13	3	3	NUM
fcis-12979	78	14	0	0	NUM
fcis-12979	78	15	0	0	NUM
fcis-12979	78	16	e	e	X
fcis-12979	78	17	fal	fal	X
fcis-12979	78	18	(	(	PUNCT
fcis-12979	78	19	,	,	PUNCT
fcis-12979	78	20	,	,	PUNCT
fcis-12979	78	21	)	)	PUNCT
fcis-12979	78	22	(	(	PUNCT
fcis-12979	78	23	)	)	PUNCT
fcis-12979	78	24	fal	fal	PROPN
fcis-12979	78	25	(	(	PUNCT
fcis-12979	78	26	,	,	PUNCT
fcis-12979	78	27	,	,	PUNCT
fcis-12979	78	28	)	)	PUNCT
fcis-12979	79	1	e	e	X
fcis-12979	79	2	z	z	NOUN
fcis-12979	79	3	y	y	PROPN
fcis-12979	79	4	z	z	PROPN
fcis-12979	79	5	z	z	NOUN
fcis-12979	79	6	z	z	NOUN
fcis-12979	79	7	z	z	NOUN
fcis-12979	79	8	e	e	NOUN
fcis-12979	79	9	b	b	X
fcis-12979	79	10	u	u	X
fcis-12979	79	11	t	t	PROPN
fcis-12979	79	12	z	z	NOUN
fcis-12979	79	13	e	e	PROPN
fcis-12979	79	14	z	z	PROPN
fcis-12979	79	15	u	u	PROPN
fcis-12979	79	16	u	u	PROPN
fcis-12979	79	17	b	b	PROPN
fcis-12979	79	18			PROPN
fcis-12979	79	19			PROPN
fcis-12979	79	20			NUM
fcis-12979	80	1			PROPN
fcis-12979	80	2			PROPN
fcis-12979	80	3			NOUN
fcis-12979	80	4			NUM
fcis-12979	80	5			ADP
fcis-12979	80	6			NUM
fcis-12979	80	7			NOUN
fcis-12979	80	8			PROPN
fcis-12979	80	9			NUM
fcis-12979	80	10			PROPN
fcis-12979	80	11			PROPN
fcis-12979	80	12			NUM
fcis-12979	80	13			PROPN
fcis-12979	80	14			PROPN
fcis-12979	80	15			VERB
fcis-12979	80	16			PRON
fcis-12979	80	17			NOUN
fcis-12979	80	18			PROPN
fcis-12979	80	19			NUM
fcis-12979	80	20			NUM
fcis-12979	80	21			ADJ
fcis-12979	80	22			PROPN
fcis-12979	80	23			NOUN
fcis-12979	80	24			NOUN
fcis-12979	80	25			NOUN
fcis-12979	80	26	(	(	PUNCT
fcis-12979	80	27	8)	8)	NUM
fcis-12979	80	28	in	in	ADP
fcis-12979	80	29	equation	equation	NOUN
fcis-12979	80	30	(	(	PUNCT
fcis-12979	80	31	8)	8)	NUM
fcis-12979	80	32	:	:	PUNCT
fcis-12979	80	33	e	e	NOUN
fcis-12979	80	34	is	be	AUX
fcis-12979	80	35	the	the	DET
fcis-12979	80	36	observation	observation	NOUN
fcis-12979	80	37	error	error	NOUN
fcis-12979	80	38	;	;	PUNCT
fcis-12979	80	39	y	y	PROPN
fcis-12979	80	40	is	be	AUX
fcis-12979	80	41	the	the	DET
fcis-12979	80	42	system	system	NOUN
fcis-12979	80	43	output	output	NOUN
fcis-12979	80	44	;	;	PUNCT
fcis-12979	80	45	z1	z1	PROPN
fcis-12979	80	46	is	be	AUX
fcis-12979	80	47	the	the	DET
fcis-12979	80	48	system	system	NOUN
fcis-12979	80	49	output	output	NOUN
fcis-12979	80	50	observation	observation	NOUN
fcis-12979	80	51	;	;	PUNCT
fcis-12979	80	52	z2	z2	PROPN
fcis-12979	80	53	is	be	AUX
fcis-12979	80	54	the	the	DET
fcis-12979	80	55	output	output	NOUN
fcis-12979	80	56	differential	differential	NOUN
fcis-12979	80	57	observation	observation	NOUN
fcis-12979	80	58	;	;	PUNCT
fcis-12979	80	59	z3	z3	PROPN
fcis-12979	80	60	is	be	AUX
fcis-12979	80	61	the	the	DET
fcis-12979	80	62	perturbation	perturbation	NOUN
fcis-12979	80	63	observation	observation	NOUN
fcis-12979	80	64	;	;	PUNCT
fcis-12979	80	65	β01	β01	NUM
fcis-12979	80	66	,	,	PUNCT
fcis-12979	80	67	β02	β02	PROPN
fcis-12979	80	68	,	,	PUNCT
fcis-12979	80	69	and	and	CCONJ
fcis-12979	80	70	β03	β03	NUM
fcis-12979	80	71	are	be	AUX
fcis-12979	80	72	the	the	DET
fcis-12979	80	73	observer	observer	NOUN
fcis-12979	80	74	filter	filter	NOUN
fcis-12979	80	75	coefficients	coefficient	NOUN
fcis-12979	80	76	;	;	PUNCT
fcis-12979	80	77	b0	b0	NOUN
fcis-12979	80	78	is	be	AUX
fcis-12979	80	79	the	the	DET
fcis-12979	80	80	controller	controller	NOUN
fcis-12979	80	81	gain	gain	NOUN
fcis-12979	80	82	;	;	PUNCT
fcis-12979	80	83	α1	α1	PROPN
fcis-12979	80	84	,	,	PUNCT
fcis-12979	80	85	α2	α2	ADJ
fcis-12979	80	86	,	,	PUNCT
fcis-12979	80	87	and	and	CCONJ
fcis-12979	80	88	δ	δ	PROPN
fcis-12979	80	89	are	be	AUX
fcis-12979	80	90	the	the	DET
fcis-12979	80	91	adjustable	adjustable	ADJ
fcis-12979	80	92	parameters	parameter	NOUN
fcis-12979	80	93	;	;	PUNCT
fcis-12979	80	94	and	and	CCONJ
fcis-12979	80	95	the	the	DET
fcis-12979	80	96	fal	fal	PROPN
fcis-12979	80	97	function	function	NOUN
fcis-12979	80	98	is	be	AUX
fcis-12979	80	99	as	as	SCONJ
fcis-12979	80	100	follows	follow	VERB
fcis-12979	80	101	.	.	PUNCT
fcis-12979	81	1	1	1	NUM
fcis-12979	81	2	,	,	PUNCT
fcis-12979	81	3	fal	fal	X
fcis-12979	81	4	(	(	PUNCT
fcis-12979	81	5	,	,	PUNCT
fcis-12979	81	6	,	,	PUNCT
fcis-12979	81	7	)	)	PUNCT
fcis-12979	81	8	(	(	PUNCT
fcis-12979	81	9	)	)	PUNCT
fcis-12979	81	10	,	,	PUNCT
fcis-12979	82	1	e	e	X
fcis-12979	82	2	e	e	X
fcis-12979	82	3	e	e	X
fcis-12979	82	4	e	e	NOUN
fcis-12979	82	5	sign	sign	VERB
fcis-12979	82	6	e	e	PROPN
fcis-12979	82	7	e	e	NOUN
fcis-12979	82	8			X
fcis-12979	82	9			X
fcis-12979	82	10			NUM
fcis-12979	82	11			PROPN
fcis-12979	82	12			PROPN
fcis-12979	82	13			NUM
fcis-12979	82	14			PROPN
fcis-12979	82	15			ADP
fcis-12979	82	16			ADV
fcis-12979	82	17			NUM
fcis-12979	82	18			NUM
fcis-12979	82	19			NOUN
fcis-12979	82	20	(	(	PUNCT
fcis-12979	82	21	9	9	NUM
fcis-12979	82	22	)	)	PUNCT
fcis-12979	82	23	the	the	DET
fcis-12979	82	24	selection	selection	NOUN
fcis-12979	82	25	of	of	ADP
fcis-12979	82	26	nonlinear	nonlinear	ADJ
fcis-12979	82	27	function	function	NOUN
fcis-12979	82	28	follows	follow	VERB
fcis-12979	82	29	the	the	DET
fcis-12979	82	30	principle	principle	NOUN
fcis-12979	82	31	of	of	ADP
fcis-12979	82	32	“	"	PUNCT
fcis-12979	82	33	small	small	ADJ
fcis-12979	82	34	error	error	NOUN
fcis-12979	82	35	,	,	PUNCT
fcis-12979	82	36	large	large	ADJ
fcis-12979	82	37	gain	gain	NOUN
fcis-12979	82	38	,	,	PUNCT
fcis-12979	82	39	large	large	ADJ
fcis-12979	82	40	error	error	NOUN
fcis-12979	82	41	,	,	PUNCT
fcis-12979	82	42	small	small	ADJ
fcis-12979	82	43	gain	gain	NOUN
fcis-12979	82	44	”	"	PUNCT
fcis-12979	82	45	,	,	PUNCT
fcis-12979	82	46	and	and	CCONJ
fcis-12979	82	47	its	its	PRON
fcis-12979	82	48	curve	curve	NOUN
fcis-12979	82	49	has	have	VERB
fcis-12979	82	50	good	good	ADJ
fcis-12979	82	51	continuity	continuity	NOUN
fcis-12979	82	52	,	,	PUNCT
fcis-12979	82	53	convergence	convergence	NOUN
fcis-12979	82	54	,	,	PUNCT
fcis-12979	82	55	smoothness	smoothness	ADJ
fcis-12979	82	56	.	.	PUNCT
fcis-12979	83	1	the	the	DET
fcis-12979	83	2	derivation	derivation	NOUN
fcis-12979	83	3	of	of	ADP
fcis-12979	83	4	equation	equation	NOUN
fcis-12979	83	5	(	(	PUNCT
fcis-12979	83	6	9	9	X
fcis-12979	83	7	)	)	PUNCT
fcis-12979	83	8	can	can	AUX
fcis-12979	83	9	be	be	AUX
fcis-12979	83	10	obtained	obtain	VERB
fcis-12979	83	11	[	[	PUNCT
fcis-12979	83	12	15	15	NUM
fcis-12979	83	13	]	]	SYM
fcis-12979	83	14	.	.	PUNCT
fcis-12979	84	1	1	1	NUM
fcis-12979	84	2	1	1	NUM
fcis-12979	84	3	1	1	NUM
fcis-12979	84	4	,	,	PUNCT
fcis-12979	84	5	0	0	NUM
fcis-12979	84	6	fal	fal	NOUN
fcis-12979	84	7	'	'	PUNCT
fcis-12979	84	8	(	(	PUNCT
fcis-12979	84	9	,	,	PUNCT
fcis-12979	84	10	,	,	PUNCT
fcis-12979	84	11	)	)	PUNCT
fcis-12979	84	12	,	,	PUNCT
fcis-12979	84	13	0	0	NUM
fcis-12979	84	14	,	,	PUNCT
fcis-12979	84	15	e	e	X
fcis-12979	84	16	e	e	X
fcis-12979	84	17	e	e	X
fcis-12979	84	18	e	e	X
fcis-12979	84	19			X
fcis-12979	84	20			X
fcis-12979	84	21			NUM
fcis-12979	84	22			NOUN
fcis-12979	84	23			VERB
fcis-12979	84	24			NUM
fcis-12979	84	25			X
fcis-12979	84	26			NUM
fcis-12979	84	27			PROPN
fcis-12979	84	28			NOUN
fcis-12979	84	29			ADP
fcis-12979	84	30			PROPN
fcis-12979	84	31			ADV
fcis-12979	84	32			VERB
fcis-12979	84	33			NUM
fcis-12979	84	34			PROPN
fcis-12979	84	35	(	(	PUNCT
fcis-12979	84	36	10	10	NUM
fcis-12979	84	37	)	)	PUNCT
fcis-12979	84	38	its	its	PRON
fcis-12979	84	39	characteristics	characteristic	NOUN
fcis-12979	84	40	directly	directly	ADV
fcis-12979	84	41	affect	affect	VERB
fcis-12979	84	42	the	the	DET
fcis-12979	84	43	observation	observation	NOUN
fcis-12979	84	44	performance	performance	NOUN
fcis-12979	84	45	,	,	PUNCT
fcis-12979	84	46	which	which	PRON
fcis-12979	84	47	in	in	ADP
fcis-12979	84	48	turn	turn	NOUN
fcis-12979	84	49	affects	affect	VERB
fcis-12979	84	50	the	the	DET
fcis-12979	84	51	performance	performance	NOUN
fcis-12979	84	52	of	of	ADP
fcis-12979	84	53	the	the	DET
fcis-12979	84	54	control	control	NOUN
fcis-12979	84	55	system	system	NOUN
fcis-12979	84	56	.	.	PUNCT
fcis-12979	85	1	from	from	ADP
fcis-12979	85	2	equation	equation	NOUN
fcis-12979	85	3	(	(	PUNCT
fcis-12979	85	4	9	9	NUM
fcis-12979	85	5	)	)	PUNCT
fcis-12979	85	6	and	and	CCONJ
fcis-12979	85	7	(	(	PUNCT
fcis-12979	85	8	10	10	NUM
fcis-12979	85	9	)	)	PUNCT
fcis-12979	85	10	,	,	PUNCT
fcis-12979	85	11	it	it	PRON
fcis-12979	85	12	can	can	AUX
fcis-12979	85	13	be	be	AUX
fcis-12979	85	14	seen	see	VERB
fcis-12979	85	15	that	that	SCONJ
fcis-12979	85	16	the	the	DET
fcis-12979	85	17	fal	fal	PROPN
fcis-12979	85	18	function	function	NOUN
fcis-12979	85	19	is	be	AUX
fcis-12979	85	20	not	not	PART
fcis-12979	85	21	smooth	smooth	ADJ
fcis-12979	85	22	and	and	CCONJ
fcis-12979	85	23	conductible	conductible	ADJ
fcis-12979	85	24	although	although	SCONJ
fcis-12979	85	25	it	it	PRON
fcis-12979	85	26	is	be	AUX
fcis-12979	85	27	continuous	continuous	ADJ
fcis-12979	85	28	in	in	ADP
fcis-12979	85	29	the	the	DET
fcis-12979	85	30	domain	domain	NOUN
fcis-12979	85	31	of	of	ADP
fcis-12979	85	32	definition	definition	NOUN
fcis-12979	85	33	,	,	PUNCT
fcis-12979	85	34	and	and	CCONJ
fcis-12979	85	35	the	the	DET
fcis-12979	85	36	sudden	sudden	ADJ
fcis-12979	85	37	change	change	NOUN
fcis-12979	85	38	of	of	ADP
fcis-12979	85	39	the	the	DET
fcis-12979	85	40	derivative	derivative	NOUN
fcis-12979	85	41	affects	affect	VERB
fcis-12979	85	42	the	the	DET
fcis-12979	85	43	performance	performance	NOUN
fcis-12979	85	44	of	of	ADP
fcis-12979	85	45	the	the	DET
fcis-12979	85	46	system	system	NOUN
fcis-12979	85	47	and	and	CCONJ
fcis-12979	85	48	leads	lead	VERB
fcis-12979	85	49	to	to	ADP
fcis-12979	85	50	oscillations	oscillation	NOUN
fcis-12979	85	51	in	in	ADP
fcis-12979	85	52	the	the	DET
fcis-12979	85	53	system	system	NOUN
fcis-12979	85	54	.	.	PUNCT
fcis-12979	86	1	to	to	PART
fcis-12979	86	2	overcome	overcome	VERB
fcis-12979	86	3	this	this	DET
fcis-12979	86	4	phenomenon	phenomenon	NOUN
fcis-12979	86	5	,	,	PUNCT
fcis-12979	86	6	the	the	DET
fcis-12979	86	7	fal	fal	PROPN
fcis-12979	86	8	function	function	NOUN
fcis-12979	86	9	needs	need	VERB
fcis-12979	86	10	to	to	PART
fcis-12979	86	11	be	be	AUX
fcis-12979	86	12	improved	improve	VERB
fcis-12979	86	13	.	.	PUNCT
fcis-12979	87	1	given	give	VERB
fcis-12979	87	2	that	that	SCONJ
fcis-12979	87	3	the	the	DET
fcis-12979	87	4	trigonometric	trigonometric	ADJ
fcis-12979	87	5	function	function	NOUN
fcis-12979	87	6	has	have	AUX
fcis-12979	87	7	better	well	ADJ
fcis-12979	87	8	continuity	continuity	NOUN
fcis-12979	87	9	and	and	CCONJ
fcis-12979	87	10	smoothness	smoothness	NOUN
fcis-12979	87	11	near	near	ADP
fcis-12979	87	12	the	the	DET
fcis-12979	87	13	far	far	ADJ
fcis-12979	87	14	point	point	NOUN
fcis-12979	87	15	,	,	PUNCT
fcis-12979	87	16	in	in	ADP
fcis-12979	87	17	order	order	NOUN
fcis-12979	87	18	to	to	PART
fcis-12979	87	19	avoid	avoid	VERB
fcis-12979	87	20	the	the	DET
fcis-12979	87	21	inflection	inflection	NOUN
fcis-12979	87	22	point	point	NOUN
fcis-12979	87	23	,	,	PUNCT
fcis-12979	87	24	the	the	DET
fcis-12979	87	25	trigonometric	trigonometric	ADJ
fcis-12979	87	26	function	function	NOUN
fcis-12979	87	27	is	be	AUX
fcis-12979	87	28	used	use	VERB
fcis-12979	87	29	to	to	PART
fcis-12979	87	30	fit	fit	VERB
fcis-12979	87	31	the	the	DET
fcis-12979	87	32	function	function	NOUN
fcis-12979	87	33	and	and	CCONJ
fcis-12979	87	34	finally	finally	ADV
fcis-12979	87	35	an	an	DET
fcis-12979	87	36	ifal	ifal	NOUN
fcis-12979	87	37	function	function	NOUN
fcis-12979	87	38	is	be	AUX
fcis-12979	87	39	constructed	construct	VERB
fcis-12979	87	40	in	in	ADP
fcis-12979	87	41	the	the	DET
fcis-12979	87	42	form	form	NOUN
fcis-12979	87	43	shown	show	VERB
fcis-12979	87	44	below	below	ADV
fcis-12979	87	45	.	.	PUNCT
fcis-12979	88	1	2	2	NUM
fcis-12979	88	2	1	1	NUM
fcis-12979	88	3	2	2	NUM
fcis-12979	88	4	3	3	NUM
fcis-12979	88	5	(	(	PUNCT
fcis-12979	88	6	,	,	PUNCT
fcis-12979	88	7	,	,	PUNCT
fcis-12979	88	8	,	,	PUNCT
fcis-12979	88	9	)	)	PUNCT
fcis-12979	88	10	sin	sin	NOUN
fcis-12979	88	11	sin	sin	VERB
fcis-12979	88	12	tanhifal	tanhifal	DET
fcis-12979	88	13	e	e	X
fcis-12979	88	14	k	k	PROPN
fcis-12979	88	15	e	e	PROPN
fcis-12979	88	16	k	k	PROPN
fcis-12979	88	17	e	e	PROPN
fcis-12979	88	18	k	k	PROPN
fcis-12979	88	19	e	e	PROPN
fcis-12979	88	20			PROPN
fcis-12979	88	21			X
fcis-12979	89	1			PROPN
fcis-12979	90	1			ADJ
fcis-12979	91	1			X
fcis-12979	91	2	(	(	PUNCT
fcis-12979	91	3	11	11	NUM
fcis-12979	91	4	)	)	PUNCT
fcis-12979	91	5	to	to	PART
fcis-12979	91	6	satisfy	satisfy	VERB
fcis-12979	91	7	that	that	SCONJ
fcis-12979	91	8	the	the	DET
fcis-12979	91	9	function	function	NOUN
fcis-12979	91	10	is	be	AUX
fcis-12979	91	11	continuous	continuous	ADJ
fcis-12979	91	12	and	and	CCONJ
fcis-12979	91	13	derivable	derivable	ADJ
fcis-12979	91	14	when	when	SCONJ
fcis-12979	91	15	|e|=δ	|e|=δ	NUM
fcis-12979	91	16	,	,	PUNCT
fcis-12979	91	17	93	93	NUM
fcis-12979	91	18	1	1	NUM
fcis-12979	91	19	2	2	NUM
fcis-12979	91	20	1	1	NUM
fcis-12979	91	21	4	4	NUM
fcis-12979	91	22	2	2	NUM
fcis-12979	91	23	1	1	NUM
fcis-12979	91	24	3	3	NUM
fcis-12979	91	25	4	4	NUM
fcis-12979	91	26	tanh	tanh	NOUN
fcis-12979	91	27	tanh	tanh	PROPN
fcis-12979	91	28	3(1	3(1	NUM
fcis-12979	91	29	tanh	tanh	NOUN
fcis-12979	91	30	)	)	PUNCT
fcis-12979	91	31	0	0	NUM
fcis-12979	92	1	3(1	3(1	NUM
fcis-12979	92	2	tanh	tanh	NOUN
fcis-12979	92	3	)	)	PUNCT
fcis-12979	93	1	k	k	PROPN
fcis-12979	94	1	k	k	PROPN
fcis-12979	94	2	k	k	X
fcis-12979	94	3			X
fcis-12979	94	4			X
fcis-12979	94	5			X
fcis-12979	94	6			ADJ
fcis-12979	94	7			NOUN
fcis-12979	94	8			X
fcis-12979	94	9			X
fcis-12979	94	10			ADP
fcis-12979	94	11			NUM
fcis-12979	94	12			NUM
fcis-12979	94	13			ADJ
fcis-12979	94	14			ADJ
fcis-12979	94	15			PROPN
fcis-12979	94	16			NUM
fcis-12979	94	17			NOUN
fcis-12979	94	18			NUM
fcis-12979	94	19			ADJ
fcis-12979	94	20			NUM
fcis-12979	94	21			PROPN
fcis-12979	94	22			NOUN
fcis-12979	94	23			ADP
fcis-12979	94	24			NUM
fcis-12979	94	25			NUM
fcis-12979	94	26			PROPN
fcis-12979	94	27			PROPN
fcis-12979	94	28			PROPN
fcis-12979	94	29			NUM
fcis-12979	94	30			PROPN
fcis-12979	94	31			NUM
fcis-12979	94	32			NUM
fcis-12979	94	33			PRON
fcis-12979	94	34			X
fcis-12979	94	35			CCONJ
fcis-12979	94	36	(	(	PUNCT
fcis-12979	94	37	12	12	NUM
fcis-12979	94	38	)	)	PUNCT
fcis-12979	94	39	the	the	DET
fcis-12979	94	40	improved	improved	ADJ
fcis-12979	94	41	ifal	ifal	NOUN
fcis-12979	94	42	function	function	NOUN
fcis-12979	94	43	is	be	AUX
fcis-12979	94	44	as	as	SCONJ
fcis-12979	94	45	follows	follow	VERB
fcis-12979	94	46	.	.	PUNCT
fcis-12979	95	1	3	3	NUM
fcis-12979	95	2	1	1	NUM
fcis-12979	95	3	3sin	3sin	NUM
fcis-12979	95	4	sin	sin	NOUN
fcis-12979	95	5	,	,	PUNCT
fcis-12979	95	6	fal	fal	PROPN
fcis-12979	95	7	(	(	PUNCT
fcis-12979	95	8	,	,	PUNCT
fcis-12979	95	9	,	,	PUNCT
fcis-12979	95	10	,	,	PUNCT
fcis-12979	95	11	)	)	PUNCT
fcis-12979	95	12	(	(	PUNCT
fcis-12979	95	13	)	)	PUNCT
fcis-12979	95	14	,	,	PUNCT
fcis-12979	95	15	k	k	PROPN
fcis-12979	95	16	e	e	X
fcis-12979	95	17	k	k	PROPN
fcis-12979	95	18	e	e	PROPN
fcis-12979	95	19	e	e	X
fcis-12979	95	20	i	i	NOUN
fcis-12979	95	21	e	e	NOUN
fcis-12979	95	22	e	e	NOUN
fcis-12979	95	23	sign	sign	VERB
fcis-12979	95	24	e	e	PROPN
fcis-12979	95	25	e	e	X
fcis-12979	95	26			X
fcis-12979	95	27			ADJ
fcis-12979	95	28			NUM
fcis-12979	95	29			NOUN
fcis-12979	95	30			NUM
fcis-12979	95	31			ADJ
fcis-12979	95	32			NUM
fcis-12979	95	33			NOUN
fcis-12979	95	34			ADV
fcis-12979	95	35			ADV
fcis-12979	95	36			NUM
fcis-12979	95	37			NUM
fcis-12979	95	38			PROPN
fcis-12979	95	39	(	(	PUNCT
fcis-12979	95	40	13	13	NUM
fcis-12979	95	41	)	)	PUNCT
fcis-12979	95	42	from	from	ADP
fcis-12979	95	43	figures	figure	NOUN
fcis-12979	95	44	3	3	NUM
fcis-12979	95	45	and	and	CCONJ
fcis-12979	95	46	4	4	NUM
fcis-12979	95	47	,	,	PUNCT
fcis-12979	95	48	it	it	PRON
fcis-12979	95	49	can	can	AUX
fcis-12979	95	50	be	be	AUX
fcis-12979	95	51	seen	see	VERB
fcis-12979	95	52	that	that	SCONJ
fcis-12979	95	53	the	the	DET
fcis-12979	95	54	ifal	ifal	NOUN
fcis-12979	95	55	function	function	NOUN
fcis-12979	95	56	can	can	AUX
fcis-12979	95	57	avoid	avoid	VERB
fcis-12979	95	58	the	the	DET
fcis-12979	95	59	problem	problem	NOUN
fcis-12979	95	60	that	that	SCONJ
fcis-12979	95	61	the	the	DET
fcis-12979	95	62	slope	slope	NOUN
fcis-12979	95	63	of	of	ADP
fcis-12979	95	64	the	the	DET
fcis-12979	95	65	fal	fal	PROPN
fcis-12979	95	66	function	function	NOUN
fcis-12979	95	67	is	be	AUX
fcis-12979	95	68	too	too	ADV
fcis-12979	95	69	large	large	ADJ
fcis-12979	95	70	near	near	ADP
fcis-12979	95	71	the	the	DET
fcis-12979	95	72	origin	origin	NOUN
fcis-12979	95	73	and	and	CCONJ
fcis-12979	95	74	there	there	PRON
fcis-12979	95	75	is	be	VERB
fcis-12979	95	76	an	an	DET
fcis-12979	95	77	inflection	inflection	NOUN
fcis-12979	95	78	point	point	NOUN
fcis-12979	95	79	,	,	PUNCT
fcis-12979	95	80	and	and	CCONJ
fcis-12979	95	81	it	it	PRON
fcis-12979	95	82	is	be	AUX
fcis-12979	95	83	smoother	smooth	ADJ
fcis-12979	95	84	near	near	ADP
fcis-12979	95	85	the	the	DET
fcis-12979	95	86	origin	origin	NOUN
fcis-12979	95	87	.	.	PUNCT
fcis-12979	96	1	ifal	ifal	NOUN
fcis-12979	96	2	function	function	NOUN
fcis-12979	96	3	in	in	ADP
fcis-12979	96	4	|e|	|e|	DET
fcis-12979	96	5	<	<	X
fcis-12979	96	6	=	=	PROPN
fcis-12979	96	7	δ	δ	PROPN
fcis-12979	96	8	,	,	PUNCT
fcis-12979	96	9	the	the	DET
fcis-12979	96	10	function	function	NOUN
fcis-12979	96	11	gain	gain	NOUN
fcis-12979	96	12	is	be	AUX
fcis-12979	96	13	larger	large	ADJ
fcis-12979	96	14	,	,	PUNCT
fcis-12979	96	15	and	and	CCONJ
fcis-12979	96	16	there	there	PRON
fcis-12979	96	17	is	be	VERB
fcis-12979	96	18	no	no	DET
fcis-12979	96	19	sudden	sudden	ADJ
fcis-12979	96	20	increase	increase	NOUN
fcis-12979	96	21	,	,	PUNCT
fcis-12979	96	22	the	the	DET
fcis-12979	96	23	gain	gain	NOUN
fcis-12979	96	24	control	control	NOUN
fcis-12979	96	25	effect	effect	NOUN
fcis-12979	96	26	will	will	AUX
fcis-12979	96	27	be	be	AUX
fcis-12979	96	28	better	well	ADJ
fcis-12979	96	29	.	.	PUNCT
fcis-12979	97	1	figure	figure	VERB
fcis-12979	97	2	3	3	NUM
fcis-12979	97	3	.	.	PUNCT
fcis-12979	97	4	enlargement	enlargement	NOUN
fcis-12979	97	5	of	of	ADP
fcis-12979	97	6	the	the	DET
fcis-12979	97	7	function	function	NOUN
fcis-12979	97	8	curve	curve	NOUN
fcis-12979	97	9	origin	origin	NOUN
fcis-12979	97	10	figure	figure	NOUN
fcis-12979	97	11	4	4	NUM
fcis-12979	97	12	.	.	PUNCT
fcis-12979	98	1	gain	gain	VERB
fcis-12979	98	2	diagram	diagram	NOUN
fcis-12979	98	3	of	of	ADP
fcis-12979	98	4	function	function	NOUN
fcis-12979	98	5	curve	curve	NOUN
fcis-12979	98	6	error	error	NOUN
fcis-12979	98	7	figure	figure	NOUN
fcis-12979	98	8	5	5	NUM
fcis-12979	98	9	.	.	PUNCT
fcis-12979	98	10	quadrotor	quadrotor	PROPN
fcis-12979	98	11	uav	uav	PROPN
fcis-12979	98	12	control	control	PROPN
fcis-12979	98	13	system	system	PROPN
fcis-12979	98	14	3.4	3.4	NUM
fcis-12979	98	15	attitude	attitude	NOUN
fcis-12979	98	16	control	control	NOUN
fcis-12979	98	17	based	base	VERB
fcis-12979	98	18	on	on	ADP
fcis-12979	98	19	active	active	ADJ
fcis-12979	98	20	disturbance	disturbance	NOUN
fcis-12979	98	21	rejection	rejection	NOUN
fcis-12979	98	22	control	control	NOUN
fcis-12979	98	23	for	for	ADP
fcis-12979	98	24	the	the	DET
fcis-12979	98	25	three	three	NUM
fcis-12979	98	26	channels	channel	NOUN
fcis-12979	98	27	of	of	ADP
fcis-12979	98	28	pitch	pitch	NOUN
fcis-12979	98	29	,	,	PUNCT
fcis-12979	98	30	yaw	yaw	NOUN
fcis-12979	98	31	and	and	CCONJ
fcis-12979	98	32	roll	roll	NOUN
fcis-12979	98	33	,	,	PUNCT
fcis-12979	98	34	both	both	CCONJ
fcis-12979	98	35	internal	internal	ADJ
fcis-12979	98	36	and	and	CCONJ
fcis-12979	98	37	external	external	ADJ
fcis-12979	98	38	disturbances	disturbance	NOUN
fcis-12979	98	39	are	be	AUX
fcis-12979	98	40	regarded	regard	VERB
fcis-12979	98	41	as	as	ADP
fcis-12979	98	42	total	total	ADJ
fcis-12979	98	43	disturbances	disturbance	NOUN
fcis-12979	98	44	,	,	PUNCT
fcis-12979	98	45	and	and	CCONJ
fcis-12979	98	46	the	the	DET
fcis-12979	98	47	total	total	ADJ
fcis-12979	98	48	disturbances	disturbance	NOUN
fcis-12979	98	49	of	of	ADP
fcis-12979	98	50	each	each	DET
fcis-12979	98	51	channel	channel	NOUN
fcis-12979	98	52	are	be	AUX
fcis-12979	98	53	independently	independently	ADV
fcis-12979	98	54	estimated	estimate	VERB
fcis-12979	98	55	and	and	CCONJ
fcis-12979	98	56	compensated	compensate	VERB
fcis-12979	98	57	in	in	ADP
fcis-12979	98	58	real	real	ADJ
fcis-12979	98	59	time	time	NOUN
fcis-12979	98	60	using	use	VERB
fcis-12979	98	61	the	the	DET
fcis-12979	98	62	expanded	expand	VERB
fcis-12979	98	63	state	state	NOUN
fcis-12979	98	64	observer	observer	NOUN
fcis-12979	98	65	,	,	PUNCT
fcis-12979	98	66	so	so	SCONJ
fcis-12979	98	67	as	as	SCONJ
fcis-12979	98	68	to	to	PART
fcis-12979	98	69	achieve	achieve	VERB
fcis-12979	98	70	the	the	DET
fcis-12979	98	71	goal	goal	NOUN
fcis-12979	98	72	of	of	ADP
fcis-12979	98	73	decoupling	decouple	VERB
fcis-12979	98	74	.	.	PUNCT
fcis-12979	99	1	the	the	DET
fcis-12979	99	2	structure	structure	NOUN
fcis-12979	99	3	of	of	ADP
fcis-12979	99	4	the	the	DET
fcis-12979	99	5	system	system	NOUN
fcis-12979	99	6	is	be	AUX
fcis-12979	99	7	shown	show	VERB
fcis-12979	99	8	in	in	ADP
fcis-12979	99	9	figure	figure	NOUN
fcis-12979	99	10	.	.	PUNCT
fcis-12979	100	1	5	5	NUM
fcis-12979	100	2	,	,	PUNCT
fcis-12979	100	3	and	and	CCONJ
fcis-12979	100	4	the	the	DET
fcis-12979	100	5	system	system	NOUN
fcis-12979	100	6	is	be	AUX
fcis-12979	100	7	divided	divide	VERB
fcis-12979	100	8	into	into	ADP
fcis-12979	100	9	four	four	NUM
fcis-12979	100	10	independent	independent	ADJ
fcis-12979	100	11	loops	loop	NOUN
fcis-12979	100	12	,	,	PUNCT
fcis-12979	100	13	namely	namely	ADV
fcis-12979	100	14	,	,	PUNCT
fcis-12979	100	15	altitude	altitude	NOUN
fcis-12979	100	16	control	control	NOUN
fcis-12979	100	17	loop	loop	PROPN
fcis-12979	100	18	,	,	PUNCT
fcis-12979	100	19	pitch	pitch	NOUN
fcis-12979	100	20	control	control	PROPN
fcis-12979	100	21	loop	loop	PROPN
fcis-12979	100	22	,	,	PUNCT
fcis-12979	100	23	roll	roll	NOUN
fcis-12979	100	24	control	control	NOUN
fcis-12979	100	25	loop	loop	NOUN
fcis-12979	100	26	and	and	CCONJ
fcis-12979	100	27	yaw	yaw	PROPN
fcis-12979	100	28	control	control	PROPN
fcis-12979	100	29	loop	loop	PROPN
fcis-12979	100	30	,	,	PUNCT
fcis-12979	100	31	and	and	CCONJ
fcis-12979	100	32	the	the	DET
fcis-12979	100	33	adrc	adrc	ADJ
fcis-12979	100	34	controller	controller	NOUN
fcis-12979	100	35	is	be	AUX
fcis-12979	100	36	applied	apply	VERB
fcis-12979	100	37	to	to	ADP
fcis-12979	100	38	each	each	PRON
fcis-12979	100	39	of	of	ADP
fcis-12979	100	40	the	the	DET
fcis-12979	100	41	four	four	NUM
fcis-12979	100	42	loops	loop	NOUN
fcis-12979	100	43	.	.	PUNCT
fcis-12979	101	1	4	4	X
fcis-12979	101	2	.	.	X
fcis-12979	101	3	simulation	simulation	NOUN
fcis-12979	101	4	and	and	CCONJ
fcis-12979	101	5	analysis	analysis	NOUN
fcis-12979	101	6	of	of	ADP
fcis-12979	101	7	results	result	NOUN
fcis-12979	101	8	table	table	NOUN
fcis-12979	101	9	1	1	NUM
fcis-12979	101	10	.	.	PUNCT
fcis-12979	102	1	three	three	NUM
fcis-12979	102	2	scheme	scheme	NOUN
fcis-12979	102	3	comparing	compare	VERB
fcis-12979	102	4	parametric	parametric	ADJ
fcis-12979	102	5	physical	physical	ADJ
fcis-12979	102	6	meaning	meaning	NOUN
fcis-12979	102	7	value	value	NOUN
fcis-12979	102	8	m	m	VERB
fcis-12979	102	9	gross	gross	ADJ
fcis-12979	102	10	weight	weight	NOUN
fcis-12979	102	11	of	of	ADP
fcis-12979	102	12	quadrotor	quadrotor	NOUN
fcis-12979	102	13	1.4	1.4	NUM
fcis-12979	102	14	kg	kg	NOUN
fcis-12979	102	15	l	l	NOUN
fcis-12979	102	16	quadrotor	quadrotor	NOUN
fcis-12979	102	17	airframe	airframe	NOUN
fcis-12979	102	18	radius	radius	NOUN
fcis-12979	102	19	(	(	PUNCT
fcis-12979	102	20	1/2	1/2	NUM
fcis-12979	102	21	wheelbase	wheelbase	NOUN
fcis-12979	102	22	)	)	PUNCT
fcis-12979	102	23	0.225	0.225	NUM
fcis-12979	102	24	m	m	NOUN
fcis-12979	102	25	g	g	NOUN
fcis-12979	102	26	gravitational	gravitational	ADJ
fcis-12979	102	27	acceleration	acceleration	NOUN
fcis-12979	102	28	9.8	9.8	NUM
fcis-12979	102	29	m	m	NOUN
fcis-12979	102	30	/	/	SYM
fcis-12979	102	31	s²	s²	PROPN
fcis-12979	102	32	ix	ix	ADP
fcis-12979	102	33	moment	moment	NOUN
fcis-12979	102	34	of	of	ADP
fcis-12979	102	35	inertia	inertia	NOUN
fcis-12979	102	36	about	about	ADP
fcis-12979	102	37	the	the	DET
fcis-12979	102	38	x	x	NOUN
fcis-12979	102	39	-	-	ADJ
fcis-12979	102	40	axis	axis	ADJ
fcis-12979	102	41	1.349e-2	1.349e-2	NUM
fcis-12979	102	42	kg.m²	kg.m²	NOUN
fcis-12979	102	43	iy	iy	INTJ
fcis-12979	102	44	moment	moment	NOUN
fcis-12979	102	45	of	of	ADP
fcis-12979	102	46	inertia	inertia	NOUN
fcis-12979	102	47	about	about	ADP
fcis-12979	102	48	the	the	DET
fcis-12979	102	49	y	y	NOUN
fcis-12979	102	50	-	-	PUNCT
fcis-12979	102	51	axis	axis	NOUN
fcis-12979	102	52	1.349e-2	1.349e-2	NUM
fcis-12979	102	53	kg.m²	kg.m²	NOUN
fcis-12979	102	54	iz	iz	ADP
fcis-12979	102	55	moment	moment	NOUN
fcis-12979	102	56	of	of	ADP
fcis-12979	102	57	inertia	inertia	NOUN
fcis-12979	102	58	about	about	ADP
fcis-12979	102	59	the	the	DET
fcis-12979	102	60	z	z	NOUN
fcis-12979	102	61	-	-	PUNCT
fcis-12979	102	62	axis	axis	NOUN
fcis-12979	102	63	2.352e-2	2.352e-2	NUM
fcis-12979	102	64	kg.m²	kg.m²	NOUN
fcis-12979	102	65	ct	ct	NUM
fcis-12979	102	66	lift	lift	NOUN
fcis-12979	102	67	coefficient	coefficient	NOUN
fcis-12979	102	68	8.102e-6	8.102e-6	NUM
fcis-12979	102	69	n/(rad	n/(rad	NUM
fcis-12979	102	70	/	/	SYM
fcis-12979	102	71	s)²	s)²	NOUN
fcis-12979	102	72	cm	cm	NOUN
fcis-12979	102	73	inverse	inverse	NOUN
fcis-12979	102	74	torsion	torsion	NOUN
fcis-12979	102	75	coefficient	coefficient	NOUN
fcis-12979	102	76	(	(	PUNCT
fcis-12979	102	77	itc	itc	PROPN
fcis-12979	102	78	)	)	PUNCT
fcis-12979	102	79	1.051e-7	1.051e-7	NUM
fcis-12979	102	80	n.m/(rad	n.m/(rad	PROPN
fcis-12979	102	81	/	/	SYM
fcis-12979	102	82	s)²	s)²	NOUN
fcis-12979	102	83	94	94	NUM
fcis-12979	102	84	in	in	ADP
fcis-12979	102	85	order	order	NOUN
fcis-12979	102	86	to	to	PART
fcis-12979	102	87	verify	verify	VERB
fcis-12979	102	88	the	the	DET
fcis-12979	102	89	control	control	NOUN
fcis-12979	102	90	effect	effect	NOUN
fcis-12979	102	91	of	of	ADP
fcis-12979	102	92	the	the	DET
fcis-12979	102	93	improved	improve	VERB
fcis-12979	102	94	adrc	adrc	NOUN
fcis-12979	102	95	above	above	ADV
fcis-12979	102	96	,	,	PUNCT
fcis-12979	102	97	the	the	DET
fcis-12979	102	98	mathematical	mathematical	ADJ
fcis-12979	102	99	model	model	NOUN
fcis-12979	102	100	of	of	ADP
fcis-12979	102	101	the	the	DET
fcis-12979	102	102	quadrotor	quadrotor	PROPN
fcis-12979	102	103	uav	uav	PROPN
fcis-12979	102	104	is	be	AUX
fcis-12979	102	105	built	build	VERB
fcis-12979	102	106	in	in	ADP
fcis-12979	102	107	matlab	matlab	PROPN
fcis-12979	102	108	/	/	SYM
fcis-12979	102	109	simulink	simulink	PROPN
fcis-12979	102	110	according	accord	VERB
fcis-12979	102	111	to	to	ADP
fcis-12979	102	112	the	the	DET
fcis-12979	102	113	control	control	NOUN
fcis-12979	102	114	structure	structure	NOUN
fcis-12979	102	115	and	and	CCONJ
fcis-12979	102	116	compared	compare	VERB
fcis-12979	102	117	with	with	ADP
fcis-12979	102	118	the	the	DET
fcis-12979	102	119	traditional	traditional	ADJ
fcis-12979	102	120	adrc	adrc	ADJ
fcis-12979	102	121	control	control	NOUN
fcis-12979	102	122	.	.	PUNCT
fcis-12979	103	1	the	the	DET
fcis-12979	103	2	parameters	parameter	NOUN
fcis-12979	103	3	of	of	ADP
fcis-12979	103	4	the	the	DET
fcis-12979	103	5	unmanned	unmanned	ADJ
fcis-12979	103	6	helicopter	helicopter	NOUN
fcis-12979	103	7	are	be	AUX
fcis-12979	103	8	shown	show	VERB
fcis-12979	103	9	in	in	ADP
fcis-12979	103	10	table	table	NOUN
fcis-12979	103	11	1	1	NUM
fcis-12979	103	12	,	,	PUNCT
fcis-12979	103	13	and	and	CCONJ
fcis-12979	103	14	the	the	DET
fcis-12979	103	15	parameters	parameter	NOUN
fcis-12979	103	16	of	of	ADP
fcis-12979	103	17	the	the	DET
fcis-12979	103	18	improved	improve	VERB
fcis-12979	103	19	adrc	adrc	NOUN
fcis-12979	103	20	are	be	AUX
fcis-12979	103	21	shown	show	VERB
fcis-12979	103	22	in	in	ADP
fcis-12979	103	23	table	table	NOUN
fcis-12979	103	24	2	2	NUM
fcis-12979	103	25	.	.	PUNCT
fcis-12979	104	1	in	in	ADP
fcis-12979	104	2	order	order	NOUN
fcis-12979	104	3	to	to	PART
fcis-12979	104	4	ensure	ensure	VERB
fcis-12979	104	5	the	the	DET
fcis-12979	104	6	rigor	rigor	NOUN
fcis-12979	104	7	of	of	ADP
fcis-12979	104	8	the	the	DET
fcis-12979	104	9	experiment	experiment	NOUN
fcis-12979	104	10	,	,	PUNCT
fcis-12979	104	11	the	the	DET
fcis-12979	104	12	traditional	traditional	ADJ
fcis-12979	104	13	adrc	adrc	ADJ
fcis-12979	104	14	control	control	NOUN
fcis-12979	104	15	parameters	parameter	NOUN
fcis-12979	104	16	are	be	AUX
fcis-12979	104	17	set	set	VERB
fcis-12979	104	18	the	the	DET
fcis-12979	104	19	same	same	ADJ
fcis-12979	104	20	as	as	ADP
fcis-12979	104	21	the	the	DET
fcis-12979	104	22	improved	improved	ADJ
fcis-12979	104	23	adrc	adrc	NOUN
fcis-12979	104	24	parameters	parameter	NOUN
fcis-12979	104	25	.	.	PUNCT
fcis-12979	105	1	table	table	NOUN
fcis-12979	105	2	2	2	NUM
fcis-12979	105	3	.	.	PUNCT
fcis-12979	105	4	three	three	NUM
fcis-12979	105	5	scheme	scheme	NOUN
fcis-12979	105	6	comparing	compare	VERB
fcis-12979	105	7	segment	segment	NOUN
fcis-12979	105	8	parametric	parametric	ADJ
fcis-12979	105	9	roll	roll	NOUN
fcis-12979	105	10	pitch	pitch	NOUN
fcis-12979	105	11	yaw	yaw	NOUN
fcis-12979	105	12	td	td	NOUN
fcis-12979	105	13	r0	r0	NOUN
fcis-12979	105	14	20	20	NUM
fcis-12979	105	15	20	20	NUM
fcis-12979	105	16	20	20	NUM
fcis-12979	105	17	h0	h0	NOUN
fcis-12979	105	18	0.05	0.05	NUM
fcis-12979	105	19	0.05	0.05	NUM
fcis-12979	105	20	0.05	0.05	NUM
fcis-12979	105	21	eso	eso	NOUN
fcis-12979	105	22	β01	β01	NOUN
fcis-12979	105	23	30	30	NUM
fcis-12979	105	24	30	30	NUM
fcis-12979	105	25	30	30	NUM
fcis-12979	105	26	β02	β02	NOUN
fcis-12979	105	27	300	300	NUM
fcis-12979	105	28	300	300	NUM
fcis-12979	105	29	300	300	NUM
fcis-12979	105	30	β03	β03	NUM
fcis-12979	105	31	1000	1000	NUM
fcis-12979	105	32	1000	1000	NUM
fcis-12979	105	33	1000	1000	NUM
fcis-12979	105	34	α1	α1	PROPN
fcis-12979	105	35	0.75	0.75	NUM
fcis-12979	105	36	0.75	0.75	NUM
fcis-12979	105	37	0.75	0.75	NUM
fcis-12979	105	38	α2	α2	ADJ
fcis-12979	105	39	0.5	0.5	NUM
fcis-12979	105	40	0.5	0.5	NUM
fcis-12979	105	41	0.5	0.5	NUM
fcis-12979	105	42	α3	α3	NOUN
fcis-12979	105	43	0.25	0.25	NUM
fcis-12979	105	44	0.25	0.25	NUM
fcis-12979	105	45	0.25	0.25	NUM
fcis-12979	105	46	δ	δ	NOUN
fcis-12979	105	47	0.006	0.006	NUM
fcis-12979	105	48	0.006	0.006	NUM
fcis-12979	105	49	0.006	0.006	NUM
fcis-12979	105	50	b0	b0	NOUN
fcis-12979	105	51	0.06	0.06	NUM
fcis-12979	105	52	0.9	0.9	NUM
fcis-12979	105	53	102	102	NUM
fcis-12979	105	54	λ	λ	NOUN
fcis-12979	105	55	2	2	NUM
fcis-12979	105	56	2	2	NUM
fcis-12979	105	57	2	2	NUM
fcis-12979	105	58	nlsef	nlsef	NOUN
fcis-12979	105	59	β1	β1	VERB
fcis-12979	105	60	200	200	NUM
fcis-12979	105	61	150	150	NUM
fcis-12979	105	62	180	180	NUM
fcis-12979	105	63	β2	β2	NOUN
fcis-12979	105	64	120	120	NUM
fcis-12979	105	65	120	120	NUM
fcis-12979	105	66	120	120	NUM
fcis-12979	105	67	α1	α1	PROPN
fcis-12979	105	68	0.5	0.5	NUM
fcis-12979	105	69	0.5	0.5	NUM
fcis-12979	105	70	0.5	0.5	NUM
fcis-12979	105	71	α2	α2	ADJ
fcis-12979	105	72	0.05	0.05	NUM
fcis-12979	105	73	0.05	0.05	NUM
fcis-12979	105	74	0.05	0.05	NUM
fcis-12979	105	75	δ0	δ0	NOUN
fcis-12979	105	76	1	1	NUM
fcis-12979	105	77	3	3	NUM
fcis-12979	105	78	3	3	NUM
fcis-12979	105	79	based	base	VERB
fcis-12979	105	80	on	on	ADP
fcis-12979	105	81	the	the	DET
fcis-12979	105	82	parameters	parameter	NOUN
fcis-12979	105	83	established	establish	VERB
fcis-12979	105	84	in	in	ADP
fcis-12979	105	85	the	the	DET
fcis-12979	105	86	controller	controller	NOUN
fcis-12979	105	87	model	model	NOUN
fcis-12979	105	88	,	,	PUNCT
fcis-12979	105	89	uav	uav	PROPN
fcis-12979	105	90	attitude	attitude	NOUN
fcis-12979	105	91	simulation	simulation	NOUN
fcis-12979	105	92	experiments	experiment	NOUN
fcis-12979	105	93	were	be	AUX
fcis-12979	105	94	conducted	conduct	VERB
fcis-12979	105	95	in	in	ADP
fcis-12979	105	96	this	this	DET
fcis-12979	105	97	study	study	NOUN
fcis-12979	105	98	.	.	PUNCT
fcis-12979	106	1	the	the	DET
fcis-12979	106	2	dynamic	dynamic	ADJ
fcis-12979	106	3	response	response	NOUN
fcis-12979	106	4	curves	curve	NOUN
fcis-12979	106	5	of	of	ADP
fcis-12979	106	6	each	each	DET
fcis-12979	106	7	controller	controller	NOUN
fcis-12979	106	8	for	for	ADP
fcis-12979	106	9	the	the	DET
fcis-12979	106	10	uav	uav	PROPN
fcis-12979	106	11	pitch	pitch	PROPN
fcis-12979	106	12	angle	angle	PROPN
fcis-12979	106	13	channel	channel	NOUN
fcis-12979	106	14	when	when	SCONJ
fcis-12979	106	15	the	the	DET
fcis-12979	106	16	step	step	NOUN
fcis-12979	106	17	input	input	NOUN
fcis-12979	106	18	r(t	r(t	NOUN
fcis-12979	106	19	)	)	PUNCT
fcis-12979	107	1	=	=	SYM
fcis-12979	107	2	0.2	0.2	NUM
fcis-12979	107	3	and	and	CCONJ
fcis-12979	107	4	the	the	DET
fcis-12979	107	5	time	time	NOUN
fcis-12979	107	6	-	-	PUNCT
fcis-12979	107	7	varying	vary	VERB
fcis-12979	107	8	input	input	NOUN
fcis-12979	107	9	r(t	r(t	NOUN
fcis-12979	107	10	)	)	PUNCT
fcis-12979	108	1	=	=	PUNCT
fcis-12979	108	2	0.2sin(2	0.2sin(2	ADJ
fcis-12979	108	3	t	t	NOUN
fcis-12979	108	4	)	)	PUNCT
fcis-12979	108	5	are	be	AUX
fcis-12979	108	6	given	give	VERB
fcis-12979	108	7	in	in	ADP
fcis-12979	108	8	figure	figure	NOUN
fcis-12979	108	9	.	.	PUNCT
fcis-12979	109	1	6	6	NUM
fcis-12979	109	2	in	in	ADP
fcis-12979	109	3	the	the	DET
fcis-12979	109	4	absence	absence	NOUN
fcis-12979	109	5	of	of	ADP
fcis-12979	109	6	the	the	DET
fcis-12979	109	7	internal	internal	ADJ
fcis-12979	109	8	model	model	NOUN
fcis-12979	109	9	and	and	CCONJ
fcis-12979	109	10	external	external	ADJ
fcis-12979	109	11	environmental	environmental	ADJ
fcis-12979	109	12	disturbances	disturbance	NOUN
fcis-12979	109	13	.	.	PUNCT
fcis-12979	110	1	(	(	PUNCT
fcis-12979	110	2	a	a	NOUN
fcis-12979	110	3	)	)	PUNCT
fcis-12979	110	4	.	.	PUNCT
fcis-12979	111	1	r(t)=0.2	r(t)=0.2	PROPN
fcis-12979	111	2	(	(	PUNCT
fcis-12979	111	3	b	b	NOUN
fcis-12979	111	4	)	)	PUNCT
fcis-12979	111	5	.	.	PUNCT
fcis-12979	112	1	r(t)=0.2sin(2	r(t)=0.2sin(2	PROPN
fcis-12979	112	2	t	t	PROPN
fcis-12979	112	3	)	)	PUNCT
fcis-12979	112	4	figure	figure	NOUN
fcis-12979	112	5	6	6	NUM
fcis-12979	112	6	.	.	PUNCT
fcis-12979	113	1	dynamic	dynamic	ADJ
fcis-12979	113	2	response	response	NOUN
fcis-12979	113	3	of	of	ADP
fcis-12979	113	4	controllers	controller	NOUN
fcis-12979	113	5	without	without	ADP
fcis-12979	113	6	interference	interference	NOUN
fcis-12979	113	7	from	from	ADP
fcis-12979	113	8	figure	figure	NOUN
fcis-12979	113	9	.	.	PUNCT
fcis-12979	114	1	6(a	6(a	NUM
fcis-12979	114	2	)	)	PUNCT
fcis-12979	114	3	and	and	CCONJ
fcis-12979	114	4	(	(	PUNCT
fcis-12979	114	5	b	b	NOUN
fcis-12979	114	6	)	)	PUNCT
fcis-12979	114	7	,	,	PUNCT
fcis-12979	114	8	it	it	PRON
fcis-12979	114	9	can	can	AUX
fcis-12979	114	10	be	be	AUX
fcis-12979	114	11	seen	see	VERB
fcis-12979	114	12	that	that	SCONJ
fcis-12979	114	13	for	for	ADP
fcis-12979	114	14	pitch	pitch	PROPN
fcis-12979	114	15	angle	angle	NOUN
fcis-12979	114	16	,	,	PUNCT
fcis-12979	114	17	both	both	DET
fcis-12979	114	18	control	control	NOUN
fcis-12979	114	19	schemes	scheme	NOUN
fcis-12979	114	20	have	have	VERB
fcis-12979	114	21	small	small	ADJ
fcis-12979	114	22	-	-	PUNCT
fcis-12979	114	23	amplitude	amplitude	NOUN
fcis-12979	114	24	errors	error	NOUN
fcis-12979	114	25	in	in	ADP
fcis-12979	114	26	tracking	track	VERB
fcis-12979	114	27	the	the	DET
fcis-12979	114	28	sinusoidal	sinusoidal	NOUN
fcis-12979	114	29	signal	signal	NOUN
fcis-12979	114	30	,	,	PUNCT
fcis-12979	114	31	but	but	CCONJ
fcis-12979	114	32	the	the	DET
fcis-12979	114	33	improved	improved	ADJ
fcis-12979	114	34	control	control	NOUN
fcis-12979	114	35	system	system	NOUN
fcis-12979	114	36	has	have	VERB
fcis-12979	114	37	a	a	DET
fcis-12979	114	38	faster	fast	ADJ
fcis-12979	114	39	dynamic	dynamic	ADJ
fcis-12979	114	40	response	response	NOUN
fcis-12979	114	41	and	and	CCONJ
fcis-12979	114	42	smaller	small	ADJ
fcis-12979	114	43	tracking	tracking	NOUN
fcis-12979	114	44	errors	error	NOUN
fcis-12979	114	45	.	.	PUNCT
fcis-12979	115	1	a	a	DET
fcis-12979	115	2	quadrotor	quadrotor	PROPN
fcis-12979	115	3	uav	uav	PROPN
fcis-12979	115	4	often	often	ADV
fcis-12979	115	5	encounters	encounter	VERB
fcis-12979	115	6	external	external	ADJ
fcis-12979	115	7	wind	wind	NOUN
fcis-12979	115	8	disturbances	disturbance	NOUN
fcis-12979	115	9	during	during	ADP
fcis-12979	115	10	flight	flight	NOUN
fcis-12979	115	11	,	,	PUNCT
fcis-12979	115	12	which	which	PRON
fcis-12979	115	13	causes	cause	VERB
fcis-12979	115	14	a	a	DET
fcis-12979	115	15	large	large	ADJ
fcis-12979	115	16	deviation	deviation	NOUN
fcis-12979	115	17	of	of	ADP
fcis-12979	115	18	its	its	PRON
fcis-12979	115	19	actual	actual	ADJ
fcis-12979	115	20	pitch	pitch	NOUN
fcis-12979	115	21	angle	angle	NOUN
fcis-12979	115	22	.	.	PUNCT
fcis-12979	116	1	in	in	ADP
fcis-12979	116	2	order	order	NOUN
fcis-12979	116	3	to	to	PART
fcis-12979	116	4	verify	verify	VERB
fcis-12979	116	5	the	the	DET
fcis-12979	116	6	anti	anti	ADJ
fcis-12979	116	7	-	-	ADJ
fcis-12979	116	8	jamming	jamming	ADJ
fcis-12979	116	9	capability	capability	NOUN
fcis-12979	116	10	using	use	VERB
fcis-12979	116	11	the	the	DET
fcis-12979	116	12	improved	improved	ADJ
fcis-12979	116	13	adrc	adrc	NOUN
fcis-12979	116	14	,	,	PUNCT
fcis-12979	116	15	the	the	DET
fcis-12979	116	16	random	random	ADJ
fcis-12979	116	17	sudden	sudden	ADJ
fcis-12979	116	18	wind	wind	NOUN
fcis-12979	116	19	disturbance	disturbance	NOUN
fcis-12979	116	20	received	receive	VERB
fcis-12979	116	21	during	during	ADP
fcis-12979	116	22	the	the	DET
fcis-12979	116	23	flight	flight	NOUN
fcis-12979	116	24	of	of	ADP
fcis-12979	116	25	the	the	DET
fcis-12979	116	26	quadrotor	quadrotor	PROPN
fcis-12979	116	27	uav	uav	PROPN
fcis-12979	116	28	is	be	AUX
fcis-12979	116	29	simulated	simulate	VERB
fcis-12979	116	30	with	with	ADP
fcis-12979	116	31	white	white	ADJ
fcis-12979	116	32	noise	noise	NOUN
fcis-12979	116	33	at	at	ADP
fcis-12979	116	34	3	3	NUM
fcis-12979	116	35	seconds	second	NOUN
fcis-12979	116	36	.	.	PUNCT
fcis-12979	117	1	the	the	DET
fcis-12979	117	2	dynamic	dynamic	ADJ
fcis-12979	117	3	response	response	NOUN
fcis-12979	117	4	curves	curve	NOUN
fcis-12979	117	5	of	of	ADP
fcis-12979	117	6	the	the	DET
fcis-12979	117	7	uav	uav	PROPN
fcis-12979	117	8	pitch	pitch	PROPN
fcis-12979	117	9	angle	angle	PROPN
fcis-12979	117	10	channel	channel	NOUN
fcis-12979	117	11	controller	controller	NOUN
fcis-12979	117	12	in	in	ADP
fcis-12979	117	13	the	the	DET
fcis-12979	117	14	presence	presence	NOUN
fcis-12979	117	15	of	of	ADP
fcis-12979	117	16	random	random	ADJ
fcis-12979	117	17	mutant	mutant	NOUN
fcis-12979	117	18	wind	wind	NOUN
fcis-12979	117	19	disturbances	disturbance	NOUN
fcis-12979	117	20	are	be	AUX
fcis-12979	117	21	given	give	VERB
fcis-12979	117	22	in	in	ADP
fcis-12979	117	23	fig	fig	NOUN
fcis-12979	117	24	.	.	PUNCT
fcis-12979	118	1	7	7	NUM
fcis-12979	119	1	when	when	SCONJ
fcis-12979	119	2	the	the	DET
fcis-12979	119	3	step	step	NOUN
fcis-12979	119	4	input	input	NOUN
fcis-12979	119	5	r(t	r(t	NOUN
fcis-12979	119	6	)	)	PUNCT
fcis-12979	119	7	=	=	SYM
fcis-12979	119	8	0.2	0.2	NUM
fcis-12979	119	9	and	and	CCONJ
fcis-12979	119	10	the	the	DET
fcis-12979	119	11	time	time	NOUN
fcis-12979	119	12	-	-	PUNCT
fcis-12979	119	13	varying	vary	VERB
fcis-12979	119	14	input	input	NOUN
fcis-12979	119	15	r(t	r(t	NOUN
fcis-12979	119	16	)	)	PUNCT
fcis-12979	120	1	=	=	PUNCT
fcis-12979	120	2	0.2sin(2	0.2sin(2	ADJ
fcis-12979	120	3	t	t	PROPN
fcis-12979	120	4	)	)	PUNCT
fcis-12979	120	5	.	.	PUNCT
fcis-12979	121	1	(	(	PUNCT
fcis-12979	121	2	a	a	NOUN
fcis-12979	121	3	)	)	PUNCT
fcis-12979	121	4	.	.	PUNCT
fcis-12979	122	1	r(t)=0.2	r(t)=0.2	PROPN
fcis-12979	122	2	(	(	PUNCT
fcis-12979	122	3	b	b	NOUN
fcis-12979	122	4	)	)	PUNCT
fcis-12979	122	5	.	.	PUNCT
fcis-12979	123	1	r(t)=0.2sin(2	r(t)=0.2sin(2	PROPN
fcis-12979	123	2	t	t	PROPN
fcis-12979	123	3	)	)	PUNCT
fcis-12979	123	4	figure	figure	NOUN
fcis-12979	123	5	7	7	NUM
fcis-12979	123	6	.	.	PUNCT
fcis-12979	123	7	dynamic	dynamic	ADJ
fcis-12979	123	8	response	response	NOUN
fcis-12979	123	9	of	of	ADP
fcis-12979	123	10	controllers	controller	NOUN
fcis-12979	123	11	with	with	ADP
fcis-12979	123	12	external	external	ADJ
fcis-12979	123	13	environmental	environmental	ADJ
fcis-12979	123	14	interference	interference	NOUN
fcis-12979	123	15	from	from	ADP
fcis-12979	123	16	figure	figure	NOUN
fcis-12979	123	17	.	.	PUNCT
fcis-12979	124	1	7(a	7(a	NUM
fcis-12979	124	2	)	)	PUNCT
fcis-12979	124	3	and	and	CCONJ
fcis-12979	124	4	(	(	PUNCT
fcis-12979	124	5	b	b	NOUN
fcis-12979	124	6	)	)	PUNCT
fcis-12979	124	7	,	,	PUNCT
fcis-12979	124	8	it	it	PRON
fcis-12979	124	9	can	can	AUX
fcis-12979	124	10	be	be	AUX
fcis-12979	124	11	seen	see	VERB
fcis-12979	124	12	that	that	SCONJ
fcis-12979	124	13	the	the	DET
fcis-12979	124	14	uav	uav	PROPN
fcis-12979	124	15	pitch	pitch	PROPN
fcis-12979	124	16	angle	angle	NOUN
fcis-12979	124	17	tracking	tracking	NOUN
fcis-12979	124	18	curve	curve	NOUN
fcis-12979	124	19	shows	show	VERB
fcis-12979	124	20	some	some	DET
fcis-12979	124	21	fluctuations	fluctuation	NOUN
fcis-12979	124	22	under	under	ADP
fcis-12979	124	23	the	the	DET
fcis-12979	124	24	white	white	ADJ
fcis-12979	124	25	noise	noise	NOUN
fcis-12979	124	26	interference	interference	NOUN
fcis-12979	124	27	,	,	PUNCT
fcis-12979	124	28	and	and	CCONJ
fcis-12979	124	29	the	the	DET
fcis-12979	124	30	control	control	NOUN
fcis-12979	124	31	system	system	NOUN
fcis-12979	124	32	designed	design	VERB
fcis-12979	124	33	in	in	ADP
fcis-12979	124	34	this	this	DET
fcis-12979	124	35	paper	paper	NOUN
fcis-12979	124	36	demonstrates	demonstrate	VERB
fcis-12979	124	37	a	a	DET
fcis-12979	124	38	stronger	strong	ADJ
fcis-12979	124	39	anti	anti	ADJ
fcis-12979	124	40	-	-	ADJ
fcis-12979	124	41	interference	interference	ADJ
fcis-12979	124	42	ability	ability	NOUN
fcis-12979	124	43	to	to	PART
fcis-12979	124	44	effectively	effectively	ADV
fcis-12979	124	45	suppress	suppress	VERB
fcis-12979	124	46	the	the	DET
fcis-12979	124	47	disturbance	disturbance	NOUN
fcis-12979	124	48	when	when	SCONJ
fcis-12979	124	49	the	the	DET
fcis-12979	124	50	quadrotor	quadrotor	PROPN
fcis-12979	124	51	uav	uav	PROPN
fcis-12979	124	52	is	be	AUX
fcis-12979	124	53	subjected	subject	VERB
fcis-12979	124	54	to	to	ADP
fcis-12979	124	55	a	a	DET
fcis-12979	124	56	stronger	strong	ADJ
fcis-12979	124	57	random	random	ADJ
fcis-12979	124	58	wind	wind	NOUN
fcis-12979	124	59	interference	interference	NOUN
fcis-12979	124	60	in	in	ADP
fcis-12979	124	61	the	the	DET
fcis-12979	124	62	flight	flight	NOUN
fcis-12979	124	63	process	process	NOUN
fcis-12979	124	64	.	.	PUNCT
fcis-12979	125	1	5	5	X
fcis-12979	125	2	.	.	X
fcis-12979	125	3	conclusion	conclusion	NOUN
fcis-12979	125	4	in	in	ADP
fcis-12979	125	5	this	this	DET
fcis-12979	125	6	paper	paper	NOUN
fcis-12979	125	7	,	,	PUNCT
fcis-12979	125	8	a	a	DET
fcis-12979	125	9	quadrotor	quadrotor	PROPN
fcis-12979	125	10	uav	uav	PROPN
fcis-12979	125	11	dynamics	dynamic	NOUN
fcis-12979	125	12	model	model	NOUN
fcis-12979	125	13	is	be	AUX
fcis-12979	125	14	established	establish	VERB
fcis-12979	125	15	,	,	PUNCT
fcis-12979	125	16	and	and	CCONJ
fcis-12979	125	17	the	the	DET
fcis-12979	125	18	fal	fal	PROPN
fcis-12979	125	19	function	function	NOUN
fcis-12979	125	20	is	be	AUX
fcis-12979	125	21	improved	improve	VERB
fcis-12979	125	22	by	by	ADP
fcis-12979	125	23	combining	combine	VERB
fcis-12979	125	24	the	the	DET
fcis-12979	125	25	trigonometric	trigonometric	ADJ
fcis-12979	125	26	function	function	NOUN
fcis-12979	125	27	to	to	PART
fcis-12979	125	28	address	address	VERB
fcis-12979	125	29	the	the	DET
fcis-12979	125	30	problems	problem	NOUN
fcis-12979	125	31	that	that	PRON
fcis-12979	125	32	the	the	DET
fcis-12979	125	33	fal	fal	PROPN
fcis-12979	125	34	function	function	NOUN
fcis-12979	125	35	is	be	AUX
fcis-12979	125	36	not	not	PART
fcis-12979	125	37	smooth	smooth	ADJ
fcis-12979	125	38	and	and	CCONJ
fcis-12979	125	39	conductible	conductible	ADJ
fcis-12979	125	40	,	,	PUNCT
fcis-12979	125	41	and	and	CCONJ
fcis-12979	125	42	the	the	DET
fcis-12979	125	43	sudden	sudden	ADJ
fcis-12979	125	44	change	change	NOUN
fcis-12979	125	45	of	of	ADP
fcis-12979	125	46	the	the	DET
fcis-12979	125	47	derivative	derivative	NOUN
fcis-12979	125	48	affects	affect	VERB
fcis-12979	125	49	the	the	DET
fcis-12979	125	50	performance	performance	NOUN
fcis-12979	125	51	of	of	ADP
fcis-12979	125	52	the	the	DET
fcis-12979	125	53	system	system	NOUN
fcis-12979	125	54	.	.	PUNCT
fcis-12979	126	1	95	95	NUM
fcis-12979	127	1	the	the	DET
fcis-12979	127	2	improved	improved	ADJ
fcis-12979	127	3	fal	fal	NOUN
fcis-12979	127	4	function	function	NOUN
fcis-12979	127	5	is	be	AUX
fcis-12979	127	6	applied	apply	VERB
fcis-12979	127	7	to	to	ADP
fcis-12979	127	8	the	the	DET
fcis-12979	127	9	adrc	adrc	ADJ
fcis-12979	127	10	controller	controller	NOUN
fcis-12979	127	11	.	.	PUNCT
fcis-12979	128	1	through	through	ADP
fcis-12979	128	2	matlab	matlab	PROPN
fcis-12979	128	3	/	/	SYM
fcis-12979	128	4	simulink	simulink	PROPN
fcis-12979	128	5	simulation	simulation	NOUN
fcis-12979	128	6	,	,	PUNCT
fcis-12979	128	7	the	the	DET
fcis-12979	128	8	fastness	fastness	NOUN
fcis-12979	128	9	,	,	PUNCT
fcis-12979	128	10	overshoot	overshoot	NOUN
fcis-12979	128	11	and	and	CCONJ
fcis-12979	128	12	anti	anti	ADJ
fcis-12979	128	13	-	-	ADJ
fcis-12979	128	14	jamming	jamming	ADJ
fcis-12979	128	15	performance	performance	NOUN
fcis-12979	128	16	of	of	ADP
fcis-12979	128	17	the	the	DET
fcis-12979	128	18	improved	improve	VERB
fcis-12979	128	19	adrc	adrc	NOUN
fcis-12979	128	20	in	in	ADP
fcis-12979	128	21	quadrotor	quadrotor	PROPN
fcis-12979	128	22	uav	uav	PROPN
fcis-12979	128	23	attitude	attitude	NOUN
fcis-12979	128	24	control	control	NOUN
fcis-12979	128	25	are	be	AUX
fcis-12979	128	26	better	well	ADJ
fcis-12979	128	27	than	than	ADP
fcis-12979	128	28	that	that	PRON
fcis-12979	128	29	of	of	ADP
fcis-12979	128	30	the	the	DET
fcis-12979	128	31	traditional	traditional	ADJ
fcis-12979	128	32	adrc	adrc	NOUN
fcis-12979	128	33	.	.	PUNCT
fcis-12979	129	1	acknowledgments	acknowledgment	NOUN
fcis-12979	129	2	this	this	DET
fcis-12979	129	3	work	work	NOUN
fcis-12979	129	4	was	be	AUX
fcis-12979	129	5	supported	support	VERB
fcis-12979	129	6	by	by	ADP
fcis-12979	129	7	school	school	NOUN
fcis-12979	129	8	of	of	ADP
fcis-12979	129	9	automation	automation	NOUN
fcis-12979	129	10	and	and	CCONJ
fcis-12979	129	11	information	information	NOUN
fcis-12979	129	12	engineering	engineering	NOUN
fcis-12979	129	13	,	,	PUNCT
fcis-12979	129	14	sichuan	sichuan	PROPN
fcis-12979	129	15	university	university	PROPN
fcis-12979	129	16	of	of	ADP
fcis-12979	129	17	science	science	PROPN
fcis-12979	129	18	&	&	CCONJ
fcis-12979	129	19	engineering	engineering	PROPN
fcis-12979	129	20	.	.	PUNCT
fcis-12979	130	1	references	reference	NOUN
fcis-12979	130	2	[	[	X
fcis-12979	130	3	1	1	NUM
fcis-12979	130	4	]	]	PUNCT
fcis-12979	130	5	l.	l.	PROPN
fcis-12979	130	6	deng	deng	PROPN
fcis-12979	130	7	,	,	PUNCT
fcis-12979	130	8	y.	y.	PROPN
fcis-12979	130	9	he	he	PRON
fcis-12979	130	10	and	and	CCONJ
fcis-12979	130	11	q.	q.	PROPN
fcis-12979	130	12	liu	liu	PROPN
fcis-12979	130	13	,	,	PUNCT
fcis-12979	130	14	“	"	PUNCT
fcis-12979	130	15	research	research	NOUN
fcis-12979	130	16	on	on	ADP
fcis-12979	130	17	application	application	NOUN
fcis-12979	130	18	of	of	ADP
fcis-12979	130	19	fire	fire	NOUN
fcis-12979	130	20	uumanned	uumanne	VERB
fcis-12979	130	21	aerial	aerial	ADJ
fcis-12979	130	22	vehicles	vehicle	NOUN
fcis-12979	130	23	in	in	ADP
fcis-12979	130	24	emergency	emergency	NOUN
fcis-12979	130	25	rescue	rescue	NOUN
fcis-12979	130	26	,	,	PUNCT
fcis-12979	130	27	”	"	PUNCT
fcis-12979	130	28	in	in	ADP
fcis-12979	130	29	2019	2019	NUM
fcis-12979	130	30	9th	9th	ADJ
fcis-12979	130	31	international	international	ADJ
fcis-12979	130	32	conference	conference	NOUN
fcis-12979	130	33	on	on	ADP
fcis-12979	130	34	fire	fire	NOUN
fcis-12979	130	35	science	science	NOUN
fcis-12979	130	36	and	and	CCONJ
fcis-12979	130	37	fire	fire	NOUN
fcis-12979	130	38	protection	protection	NOUN
fcis-12979	130	39	engineering	engineering	NOUN
fcis-12979	130	40	(	(	PUNCT
fcis-12979	130	41	icfsfpe	icfsfpe	PROPN
fcis-12979	130	42	)	)	PUNCT
fcis-12979	130	43	,	,	PUNCT
fcis-12979	130	44	chengdu	chengdu	PROPN
fcis-12979	130	45	,	,	PUNCT
fcis-12979	130	46	china	china	PROPN
fcis-12979	130	47	,	,	PUNCT
fcis-12979	130	48	2019	2019	NUM
fcis-12979	130	49	,	,	PUNCT
fcis-12979	130	50	pp	pp	ADJ
fcis-12979	130	51	.	.	PUNCT
fcis-12979	131	1	1	1	NUM
fcis-12979	131	2	-	-	SYM
fcis-12979	131	3	5	5	NUM
fcis-12979	131	4	.	.	PUNCT
fcis-12979	132	1	[	[	X
fcis-12979	132	2	2	2	NUM
fcis-12979	132	3	]	]	PUNCT
fcis-12979	132	4	s.	s.	PROPN
fcis-12979	132	5	umeda	umeda	PROPN
fcis-12979	132	6	,	,	PUNCT
fcis-12979	132	7	n.	n.	PROPN
fcis-12979	132	8	yoshikawa	yoshikawa	PROPN
fcis-12979	132	9	,	,	PUNCT
fcis-12979	132	10	y.	y.	PROPN
fcis-12979	132	11	seo,“cost	seo,“cost	PROPN
fcis-12979	132	12	and	and	CCONJ
fcis-12979	132	13	workload	workload	NOUN
fcis-12979	132	14	assessment	assessment	NOUN
fcis-12979	132	15	of	of	ADP
fcis-12979	132	16	agricultural	agricultural	ADJ
fcis-12979	132	17	drone	drone	NOUN
fcis-12979	132	18	sprayer	sprayer	NOUN
fcis-12979	132	19	:	:	PUNCT
fcis-12979	132	20	a	a	DET
fcis-12979	132	21	case	case	NOUN
fcis-12979	132	22	study	study	NOUN
fcis-12979	132	23	of	of	ADP
fcis-12979	132	24	rice	rice	NOUN
fcis-12979	132	25	production	production	NOUN
fcis-12979	132	26	in	in	ADP
fcis-12979	132	27	japan,”sustainability	japan,”sustainability	PROPN
fcis-12979	132	28	,	,	PUNCT
fcis-12979	132	29	vol.14	vol.14	NOUN
fcis-12979	132	30	,	,	PUNCT
fcis-12979	132	31	pp.1085010850	pp.1085010850	PROPN
fcis-12979	132	32	,	,	PUNCT
fcis-12979	132	33	aug	aug	PROPN
fcis-12979	132	34	.	.	PROPN
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fcis-12979	132	36	.	.	PUNCT
fcis-12979	133	1	[	[	X
fcis-12979	133	2	3	3	X
fcis-12979	133	3	]	]	X
fcis-12979	133	4	h.	h.	PROPN
fcis-12979	133	5	alsulami	alsulami	PROPN
fcis-12979	133	6	,	,	PUNCT
fcis-12979	133	7	“	"	PUNCT
fcis-12979	133	8	implementation	implementation	NOUN
fcis-12979	133	9	analysis	analysis	NOUN
fcis-12979	133	10	of	of	ADP
fcis-12979	133	11	reliable	reliable	ADJ
fcis-12979	133	12	unmanned	unmanned	ADJ
fcis-12979	133	13	aerial	aerial	ADJ
fcis-12979	133	14	vehicles	vehicle	NOUN
fcis-12979	133	15	models	model	NOUN
fcis-12979	133	16	for	for	ADP
fcis-12979	133	17	security	security	NOUN
fcis-12979	133	18	against	against	ADP
fcis-12979	133	19	cyber	cyber	NOUN
fcis-12979	133	20	-	-	PUNCT
fcis-12979	133	21	crimes	crime	NOUN
fcis-12979	133	22	:	:	PUNCT
fcis-12979	133	23	attacks	attack	NOUN
fcis-12979	133	24	,	,	PUNCT
fcis-12979	133	25	tracebacks	traceback	NOUN
fcis-12979	133	26	,	,	PUNCT
fcis-12979	133	27	forensics	forensic	NOUN
fcis-12979	133	28	and	and	CCONJ
fcis-12979	133	29	solutions	solution	NOUN
fcis-12979	133	30	,	,	PUNCT
fcis-12979	133	31	”	"	PUNCT
fcis-12979	133	32	computers	computer	NOUN
fcis-12979	133	33	and	and	CCONJ
fcis-12979	133	34	electrical	electrical	ADJ
fcis-12979	133	35	engineering	engineering	NOUN
fcis-12979	133	36	,	,	PUNCT
fcis-12979	133	37	vol.100	vol.100	INTJ
fcis-12979	133	38	,	,	PUNCT
fcis-12979	133	39	pp.107870	pp.107870	PROPN
fcis-12979	133	40	-	-	SYM
fcis-12979	133	41	107870	107870	NUM
fcis-12979	133	42	,	,	PUNCT
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fcis-12979	133	44	.	.	PUNCT
fcis-12979	133	45	2022	2022	NUM
fcis-12979	133	46	.	.	PUNCT
fcis-12979	134	1	[	[	X
fcis-12979	134	2	4	4	X
fcis-12979	134	3	]	]	PUNCT
fcis-12979	134	4	m.	m.	NOUN
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fcis-12979	134	12	“	"	PUNCT
fcis-12979	134	13	design	design	NOUN
fcis-12979	134	14	of	of	ADP
fcis-12979	134	15	small	small	ADJ
fcis-12979	134	16	attack	attack	NOUN
fcis-12979	134	17	quadrotor	quadrotor	PROPN
fcis-12979	134	18	uav	uav	PROPN
fcis-12979	134	19	system	system	NOUN
fcis-12979	134	20	,	,	PUNCT
fcis-12979	134	21	”	"	PUNCT
fcis-12979	134	22	electronics	electronics	NOUN
fcis-12979	134	23	optics	optic	NOUN
fcis-12979	134	24	&	&	CCONJ
fcis-12979	134	25	control	control	PROPN
fcis-12979	134	26	,	,	PUNCT
fcis-12979	134	27	vol.24	vol.24	NOUN
fcis-12979	134	28	,	,	PUNCT
fcis-12979	134	29	pp	pp	ADJ
fcis-12979	134	30	.	.	PUNCT
fcis-12979	135	1	88	88	NUM
fcis-12979	135	2	-	-	SYM
fcis-12979	135	3	90	90	NUM
fcis-12979	136	1	+	+	NUM
fcis-12979	136	2	99	99	NUM
fcis-12979	136	3	,	,	PUNCT
fcis-12979	136	4	aug	aug	PROPN
fcis-12979	136	5	.	.	PROPN
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fcis-12979	136	7	.	.	PUNCT
fcis-12979	137	1	[	[	X
fcis-12979	137	2	5	5	NUM
fcis-12979	137	3	]	]	X
fcis-12979	137	4	kara	kara	PROPN
fcis-12979	137	5	,	,	PUNCT
fcis-12979	137	6	tolgay	tolgay	PROPN
fcis-12979	137	7	,	,	PUNCT
fcis-12979	137	8	a.	a.	PROPN
fcis-12979	137	9	h.	h.	PROPN
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fcis-12979	137	11	,	,	PUNCT
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fcis-12979	137	14	trajectory	trajectory	NOUN
fcis-12979	137	15	tracking	tracking	NOUN
fcis-12979	137	16	control	control	NOUN
fcis-12979	137	17	of	of	ADP
fcis-12979	137	18	robotic	robotic	ADJ
fcis-12979	137	19	manipulators	manipulator	NOUN
fcis-12979	137	20	based	base	VERB
fcis-12979	137	21	on	on	ADP
fcis-12979	137	22	model	model	NOUN
fcis-12979	137	23	-	-	PUNCT
fcis-12979	137	24	free	free	ADJ
fcis-12979	137	25	pid	pid	PROPN
fcis-12979	137	26	-	-	PUNCT
fcis-12979	137	27	smc	smc	PROPN
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fcis-12979	137	29	of	of	ADP
fcis-12979	137	30	engineering	engineering	NOUN
fcis-12979	137	31	research	research	NOUN
fcis-12979	137	32	,	,	PUNCT
fcis-12979	137	33	vol.6	vol.6	PROPN
fcis-12979	137	34	,	,	PUNCT
fcis-12979	137	35	pp	pp	ADJ
fcis-12979	137	36	.	.	PUNCT
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fcis-12979	138	2	-	-	SYM
fcis-12979	138	3	188	188	NUM
fcis-12979	138	4	,	,	PUNCT
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fcis-12979	138	6	.	.	PUNCT
fcis-12979	139	1	2018	2018	NUM
fcis-12979	139	2	.	.	PUNCT
fcis-12979	140	1	[	[	X
fcis-12979	140	2	6	6	NUM
fcis-12979	140	3	]	]	PUNCT
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fcis-12979	140	17	atitude	atitude	VERB
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fcis-12979	140	20	contollers	contoller	NOUN
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fcis-12979	140	25	,	,	PUNCT
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fcis-12979	140	27	,	,	PUNCT
fcis-12979	140	28	pp	pp	ADP
fcis-12979	140	29	.	.	PUNCT
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fcis-12979	141	2	-	-	SYM
fcis-12979	141	3	188	188	NUM
fcis-12979	141	4	,	,	PUNCT
fcis-12979	141	5	jun	jun	PROPN
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fcis-12979	141	8	.	.	PUNCT
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fcis-12979	142	2	7	7	X
fcis-12979	142	3	]	]	PUNCT
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fcis-12979	142	5	wu	wu	PROPN
fcis-12979	142	6	,	,	PUNCT
fcis-12979	142	7	b.	b.	PROPN
fcis-12979	142	8	tu	tu	PROPN
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fcis-12979	142	20	aircraft	aircraft	NOUN
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fcis-12979	142	22	on	on	ADP
fcis-12979	142	23	back	back	ADV
fcis-12979	142	24	-	-	PUNCT
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fcis-12979	142	29	”	"	PUNCT
fcis-12979	142	30	flight	flight	NOUN
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fcis-12979	142	32	,	,	PUNCT
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fcis-12979	142	34	,	,	PUNCT
fcis-12979	142	35	pp	pp	ADJ
fcis-12979	142	36	.	.	PUNCT
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fcis-12979	143	2	-	-	SYM
fcis-12979	143	3	51	51	NUM
fcis-12979	143	4	,	,	PUNCT
fcis-12979	143	5	feb	feb	PROPN
fcis-12979	143	6	.	.	PROPN
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fcis-12979	143	8	.	.	PUNCT
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fcis-12979	144	2	8	8	NUM
fcis-12979	144	3	]	]	PUNCT
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fcis-12979	144	5	y	y	PROPN
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fcis-12979	144	34	,	,	PUNCT
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fcis-12979	144	36	,	,	PUNCT
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fcis-12979	145	2	-	-	SYM
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fcis-12979	145	8	.	.	PUNCT
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fcis-12979	147	33	,	,	PUNCT
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fcis-12979	148	37	,	,	PUNCT
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fcis-12979	149	2	-	-	SYM
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fcis-12979	150	13	control	control	NOUN
fcis-12979	150	14	.	.	PUNCT
fcis-12979	151	1	beijing	beijing	PROPN
fcis-12979	151	2	:	:	PUNCT
fcis-12979	151	3	electronic	electronic	ADJ
fcis-12979	151	4	industry	industry	NOUN
fcis-12979	151	5	press	press	NOUN
fcis-12979	151	6	,	,	PUNCT
fcis-12979	151	7	2018	2018	NUM
fcis-12979	151	8	:	:	PUNCT
fcis-12979	151	9	89	89	NUM
fcis-12979	151	10	-	-	SYM
fcis-12979	151	11	105	105	NUM
fcis-12979	151	12	.	.	PUNCT
fcis-12979	152	1	[	[	X
fcis-12979	152	2	13	13	NUM
fcis-12979	152	3	]	]	X
fcis-12979	152	4	h.	h.	PROPN
fcis-12979	152	5	liang	liang	PROPN
fcis-12979	152	6	,	,	PUNCT
fcis-12979	152	7	y.	y.	PROPN
fcis-12979	152	8	xu	xu	PROPN
fcis-12979	152	9	and	and	CCONJ
fcis-12979	152	10	x.	x.	PROPN
fcis-12979	152	11	yu	yu	PROPN
fcis-12979	152	12	,	,	PUNCT
fcis-12979	152	13	“	"	PUNCT
fcis-12979	152	14	adrc	adrc	NOUN
fcis-12979	152	15	vs	vs	ADP
fcis-12979	152	16	ladrc	ladrc	NOUN
fcis-12979	152	17	for	for	ADP
fcis-12979	152	18	quadrotor	quadrotor	PROPN
fcis-12979	152	19	uav	uav	PROPN
fcis-12979	152	20	with	with	ADP
fcis-12979	152	21	wind	wind	NOUN
fcis-12979	152	22	disturbances	disturbance	NOUN
fcis-12979	152	23	,	,	PUNCT
fcis-12979	152	24	”	"	PUNCT
fcis-12979	152	25	in	in	ADP
fcis-12979	152	26	2019	2019	NUM
fcis-12979	152	27	chinese	chinese	PROPN
fcis-12979	152	28	control	control	PROPN
fcis-12979	152	29	conference	conference	PROPN
fcis-12979	152	30	(	(	PUNCT
fcis-12979	152	31	ccc	ccc	PROPN
fcis-12979	152	32	)	)	PUNCT
fcis-12979	152	33	,	,	PUNCT
fcis-12979	152	34	guangzhou	guangzhou	PROPN
fcis-12979	152	35	,	,	PUNCT
fcis-12979	152	36	china	china	PROPN
fcis-12979	152	37	,	,	PUNCT
fcis-12979	152	38	2019	2019	NUM
fcis-12979	152	39	,	,	PUNCT
fcis-12979	152	40	pp	pp	ADJ
fcis-12979	152	41	.	.	PUNCT
fcis-12979	152	42	8037	8037	NUM
fcis-12979	152	43	-	-	SYM
fcis-12979	152	44	8043	8043	NUM
fcis-12979	152	45	.	.	PUNCT
fcis-12979	153	1	[	[	X
fcis-12979	153	2	14	14	NUM
fcis-12979	153	3	]	]	PUNCT
fcis-12979	153	4	j.	j.	PROPN
fcis-12979	153	5	q.	q.	PROPN
fcis-12979	153	6	han	han	PROPN
fcis-12979	153	7	,	,	PUNCT
fcis-12979	153	8	“	"	PUNCT
fcis-12979	153	9	auto	auto	NOUN
fcis-12979	153	10	-	-	PUNCT
fcis-12979	153	11	disturbances	disturbance	NOUN
fcis-12979	153	12	-	-	PUNCT
fcis-12979	153	13	rejection	rejection	NOUN
fcis-12979	153	14	controller	controller	NOUN
fcis-12979	153	15	and	and	CCONJ
fcis-12979	153	16	it‘s	it‘s	NOUN
fcis-12979	153	17	applications	application	NOUN
fcis-12979	153	18	,	,	PUNCT
fcis-12979	153	19	”	"	PUNCT
fcis-12979	153	20	control	control	NOUN
fcis-12979	153	21	and	and	CCONJ
fcis-12979	153	22	decision	decision	NOUN
fcis-12979	153	23	,	,	PUNCT
fcis-12979	153	24	vol.13	vol.13	NOUN
fcis-12979	153	25	,	,	PUNCT
fcis-12979	153	26	pp	pp	PROPN
fcis-12979	153	27	.	.	PUNCT
fcis-12979	154	1	19	19	NUM
fcis-12979	154	2	-	-	SYM
fcis-12979	154	3	23	23	NUM
fcis-12979	154	4	,	,	PUNCT
fcis-12979	154	5	jan	jan	PROPN
fcis-12979	154	6	.	.	PROPN
fcis-12979	154	7	1998	1998	NUM
fcis-12979	154	8	.	.	PUNCT
fcis-12979	155	1	[	[	X
fcis-12979	155	2	15	15	NUM
fcis-12979	155	3	]	]	X
fcis-12979	155	4	s.	s.	PROPN
fcis-12979	155	5	gu	gu	PROPN
fcis-12979	155	6	,	,	PUNCT
fcis-12979	155	7	j.	j.	PROPN
fcis-12979	155	8	zhang	zhang	PROPN
fcis-12979	155	9	and	and	CCONJ
fcis-12979	155	10	y.	y.	PROPN
fcis-12979	155	11	li	li	PROPN
fcis-12979	155	12	,	,	PUNCT
fcis-12979	155	13	"	"	PUNCT
fcis-12979	155	14	generalized	generalized	ADJ
fcis-12979	155	15	variable	variable	ADJ
fcis-12979	155	16	gain	gain	NOUN
fcis-12979	155	17	adrc	adrc	NOUN
fcis-12979	155	18	for	for	ADP
fcis-12979	155	19	nonlinear	nonlinear	ADJ
fcis-12979	155	20	systems	system	NOUN
fcis-12979	155	21	and	and	CCONJ
fcis-12979	155	22	its	its	PRON
fcis-12979	155	23	application	application	NOUN
fcis-12979	155	24	to	to	ADP
fcis-12979	155	25	delta	delta	NOUN
fcis-12979	155	26	parallel	parallel	ADJ
fcis-12979	155	27	manipulators	manipulator	NOUN
fcis-12979	155	28	,	,	PUNCT
fcis-12979	155	29	"	"	PUNCT
fcis-12979	155	30	in	in	ADP
fcis-12979	155	31	ieee	ieee	NOUN
fcis-12979	155	32	transactions	transaction	NOUN
fcis-12979	155	33	on	on	ADP
fcis-12979	155	34	circuits	circuit	NOUN
fcis-12979	155	35	and	and	CCONJ
fcis-12979	155	36	systems	system	NOUN
fcis-12979	155	37	i	i	PRON
fcis-12979	155	38	:	:	PUNCT
fcis-12979	155	39	regular	regular	ADJ
fcis-12979	155	40	papers	paper	NOUN
fcis-12979	155	41	,	,	PUNCT
fcis-12979	155	42	vol	vol	NOUN
fcis-12979	155	43	.	.	PROPN
fcis-12979	155	44	70	70	NUM
fcis-12979	155	45	,	,	PUNCT
fcis-12979	155	46	no	no	INTJ
fcis-12979	155	47	.	.	NOUN
fcis-12979	155	48	2	2	NUM
fcis-12979	155	49	,	,	PUNCT
fcis-12979	155	50	pp	pp	ADJ
fcis-12979	155	51	.	.	PUNCT
fcis-12979	156	1	921	921	NUM
fcis-12979	156	2	-	-	SYM
fcis-12979	156	3	930	930	NUM
fcis-12979	156	4	,	,	PUNCT
fcis-12979	156	5	feb	feb	PROPN
fcis-12979	156	6	.	.	PROPN
fcis-12979	156	7	2023	2023	NUM
fcis-12979	156	8	.	.	PUNCT