id	sid	tid	token	lemma	pos
fcis-20715	1	1	frontiers	frontier	NOUN
fcis-20715	1	2	in	in	ADP
fcis-20715	1	3	computing	computing	NOUN
fcis-20715	1	4	and	and	CCONJ
fcis-20715	1	5	intelligent	intelligent	ADJ
fcis-20715	1	6	systems	system	NOUN
fcis-20715	1	7	issn	issn	VERB
fcis-20715	1	8	:	:	PUNCT
fcis-20715	1	9	2832	2832	NUM
fcis-20715	1	10	-	-	SYM
fcis-20715	1	11	6024	6024	NUM
fcis-20715	1	12	|	|	NOUN
fcis-20715	1	13	vol	vol	NOUN
fcis-20715	1	14	.	.	PROPN
fcis-20715	2	1	8	8	NUM
fcis-20715	2	2	,	,	PUNCT
fcis-20715	2	3	no	no	INTJ
fcis-20715	2	4	.	.	NOUN
fcis-20715	2	5	1	1	NUM
fcis-20715	2	6	,	,	PUNCT
fcis-20715	2	7	2024	2024	NUM
fcis-20715	2	8	58	58	NUM
fcis-20715	2	9	tracking	tracking	NOUN
fcis-20715	2	10	control	control	NOUN
fcis-20715	2	11	based	base	VERB
fcis-20715	2	12	on	on	ADP
fcis-20715	2	13	model	model	NOUN
fcis-20715	2	14	predictive	predictive	ADJ
fcis-20715	2	15	and	and	CCONJ
fcis-20715	2	16	adaptive	adaptive	ADJ
fcis-20715	2	17	neural	neural	ADJ
fcis-20715	2	18	network	network	NOUN
fcis-20715	2	19	sliding	slide	VERB
fcis-20715	2	20	mode	mode	NOUN
fcis-20715	2	21	of	of	ADP
fcis-20715	2	22	tiltrotor	tiltrotor	PROPN
fcis-20715	2	23	uav	uav	PROPN
fcis-20715	2	24	zijing	zijing	PROPN
fcis-20715	2	25	ouyang	ouyang	PROPN
fcis-20715	2	26	,	,	PUNCT
fcis-20715	2	27	sheng	sheng	PROPN
fcis-20715	2	28	xu	xu	PROPN
fcis-20715	2	29	and	and	CCONJ
fcis-20715	2	30	chengyue	chengyue	PROPN
fcis-20715	2	31	su	su	PROPN
fcis-20715	2	32	school	school	PROPN
fcis-20715	2	33	of	of	ADP
fcis-20715	2	34	physics	physics	NOUN
fcis-20715	2	35	and	and	CCONJ
fcis-20715	2	36	optoelectronic	optoelectronic	ADJ
fcis-20715	2	37	engineering	engineering	NOUN
fcis-20715	2	38	,	,	PUNCT
fcis-20715	2	39	guangdong	guangdong	PROPN
fcis-20715	2	40	university	university	PROPN
fcis-20715	2	41	of	of	ADP
fcis-20715	2	42	technology	technology	PROPN
fcis-20715	2	43	,	,	PUNCT
fcis-20715	2	44	guangzhou	guangzhou	PROPN
fcis-20715	2	45	guangdong	guangdong	PROPN
fcis-20715	2	46	,	,	PUNCT
fcis-20715	2	47	510006	510006	NUM
fcis-20715	2	48	,	,	PUNCT
fcis-20715	2	49	china	china	PROPN
fcis-20715	2	50	abstract	abstract	NOUN
fcis-20715	2	51	:	:	PUNCT
fcis-20715	2	52	as	as	SCONJ
fcis-20715	2	53	the	the	DET
fcis-20715	2	54	low	low	ADJ
fcis-20715	2	55	-	-	PUNCT
fcis-20715	2	56	altitude	altitude	NOUN
fcis-20715	2	57	economy	economy	NOUN
fcis-20715	2	58	rapidly	rapidly	ADV
fcis-20715	2	59	expands	expand	VERB
fcis-20715	2	60	,	,	PUNCT
fcis-20715	2	61	the	the	DET
fcis-20715	2	62	demand	demand	NOUN
fcis-20715	2	63	for	for	ADP
fcis-20715	2	64	uavs	uavs	NOUN
fcis-20715	2	65	is	be	AUX
fcis-20715	2	66	increasingly	increasingly	ADV
fcis-20715	2	67	growing	grow	VERB
fcis-20715	2	68	,	,	PUNCT
fcis-20715	2	69	and	and	CCONJ
fcis-20715	2	70	their	their	PRON
fcis-20715	2	71	operational	operational	ADJ
fcis-20715	2	72	scenarios	scenario	NOUN
fcis-20715	2	73	are	be	AUX
fcis-20715	2	74	becoming	become	VERB
fcis-20715	2	75	more	more	ADV
fcis-20715	2	76	complex	complex	ADJ
fcis-20715	2	77	,	,	PUNCT
fcis-20715	2	78	with	with	ADP
fcis-20715	2	79	higher	high	ADJ
fcis-20715	2	80	requirements	requirement	NOUN
fcis-20715	2	81	for	for	ADP
fcis-20715	2	82	endurance	endurance	NOUN
fcis-20715	2	83	and	and	CCONJ
fcis-20715	2	84	short	short	ADJ
fcis-20715	2	85	-	-	PUNCT
fcis-20715	2	86	distance	distance	NOUN
fcis-20715	2	87	take	take	NOUN
fcis-20715	2	88	-	-	PUNCT
fcis-20715	2	89	off	off	NOUN
fcis-20715	2	90	and	and	CCONJ
fcis-20715	2	91	landing	landing	NOUN
fcis-20715	2	92	performance	performance	NOUN
fcis-20715	2	93	.	.	PUNCT
fcis-20715	3	1	tiltrotor	tiltrotor	PROPN
fcis-20715	3	2	uavs	uavs	PROPN
fcis-20715	3	3	,	,	PUNCT
fcis-20715	3	4	characterized	characterize	VERB
fcis-20715	3	5	by	by	ADP
fcis-20715	3	6	vertical	vertical	ADJ
fcis-20715	3	7	take	take	VERB
fcis-20715	3	8	-	-	PUNCT
fcis-20715	3	9	off	off	NOUN
fcis-20715	3	10	and	and	CCONJ
fcis-20715	3	11	landing	landing	NOUN
fcis-20715	3	12	and	and	CCONJ
fcis-20715	3	13	long	long	ADJ
fcis-20715	3	14	endurance	endurance	NOUN
fcis-20715	3	15	,	,	PUNCT
fcis-20715	3	16	have	have	AUX
fcis-20715	3	17	attracted	attract	VERB
fcis-20715	3	18	widespread	widespread	ADJ
fcis-20715	3	19	attention	attention	NOUN
fcis-20715	3	20	for	for	ADP
fcis-20715	3	21	their	their	PRON
fcis-20715	3	22	potential	potential	ADJ
fcis-20715	3	23	applications	application	NOUN
fcis-20715	3	24	.	.	PUNCT
fcis-20715	4	1	however	however	ADV
fcis-20715	4	2	,	,	PUNCT
fcis-20715	4	3	the	the	DET
fcis-20715	4	4	dynamics	dynamic	NOUN
fcis-20715	4	5	and	and	CCONJ
fcis-20715	4	6	flight	flight	NOUN
fcis-20715	4	7	paths	path	NOUN
fcis-20715	4	8	of	of	ADP
fcis-20715	4	9	tiltrotor	tiltrotor	NOUN
fcis-20715	4	10	uavs	uavs	PROPN
fcis-20715	4	11	are	be	AUX
fcis-20715	4	12	highly	highly	ADV
fcis-20715	4	13	nonlinear	nonlinear	ADJ
fcis-20715	4	14	,	,	PUNCT
fcis-20715	4	15	and	and	CCONJ
fcis-20715	4	16	traditional	traditional	ADJ
fcis-20715	4	17	linear	linear	ADJ
fcis-20715	4	18	flight	flight	NOUN
fcis-20715	4	19	controllers	controller	NOUN
fcis-20715	4	20	can	can	AUX
fcis-20715	4	21	not	not	PART
fcis-20715	4	22	fully	fully	ADV
fcis-20715	4	23	utilize	utilize	VERB
fcis-20715	4	24	the	the	DET
fcis-20715	4	25	real	real	ADJ
fcis-20715	4	26	-	-	PUNCT
fcis-20715	4	27	time	time	NOUN
fcis-20715	4	28	performance	performance	NOUN
fcis-20715	4	29	capabilities	capability	NOUN
fcis-20715	4	30	of	of	ADP
fcis-20715	4	31	tiltrotor	tiltrotor	NOUN
fcis-20715	4	32	uavs	uavs	NOUN
fcis-20715	4	33	.	.	PUNCT
fcis-20715	5	1	under	under	ADP
fcis-20715	5	2	the	the	DET
fcis-20715	5	3	conditions	condition	NOUN
fcis-20715	5	4	of	of	ADP
fcis-20715	5	5	model	model	NOUN
fcis-20715	5	6	uncertainty	uncertainty	NOUN
fcis-20715	5	7	and	and	CCONJ
fcis-20715	5	8	input	input	NOUN
fcis-20715	5	9	saturation	saturation	NOUN
fcis-20715	5	10	in	in	ADP
fcis-20715	5	11	tiltrotor	tiltrotor	PROPN
fcis-20715	5	12	uavs	uavs	NOUN
fcis-20715	5	13	,	,	PUNCT
fcis-20715	5	14	traditional	traditional	ADJ
fcis-20715	5	15	los+pid	los+pid	NOUN
fcis-20715	5	16	control	control	NOUN
fcis-20715	5	17	strategies	strategy	NOUN
fcis-20715	5	18	exhibit	exhibit	VERB
fcis-20715	5	19	characteristics	characteristic	NOUN
fcis-20715	5	20	of	of	ADP
fcis-20715	5	21	insufficient	insufficient	ADJ
fcis-20715	5	22	responsiveness	responsiveness	NOUN
fcis-20715	5	23	and	and	CCONJ
fcis-20715	5	24	excessive	excessive	ADJ
fcis-20715	5	25	overshoot	overshoot	NOUN
fcis-20715	5	26	.	.	PUNCT
fcis-20715	6	1	to	to	PART
fcis-20715	6	2	improve	improve	VERB
fcis-20715	6	3	the	the	DET
fcis-20715	6	4	performance	performance	NOUN
fcis-20715	6	5	of	of	ADP
fcis-20715	6	6	tiltrotor	tiltrotor	NOUN
fcis-20715	6	7	uavs	uavs	NOUN
fcis-20715	6	8	in	in	ADP
fcis-20715	6	9	completing	complete	VERB
fcis-20715	6	10	path	path	NOUN
fcis-20715	6	11	tracking	tracking	NOUN
fcis-20715	6	12	tasks	task	NOUN
fcis-20715	6	13	,	,	PUNCT
fcis-20715	6	14	we	we	PRON
fcis-20715	6	15	have	have	AUX
fcis-20715	6	16	developed	develop	VERB
fcis-20715	6	17	a	a	DET
fcis-20715	6	18	new	new	ADJ
fcis-20715	6	19	control	control	NOUN
fcis-20715	6	20	strategy	strategy	NOUN
fcis-20715	6	21	.	.	PUNCT
fcis-20715	7	1	by	by	ADP
fcis-20715	7	2	establishing	establish	VERB
fcis-20715	7	3	an	an	DET
fcis-20715	7	4	error	error	NOUN
fcis-20715	7	5	model	model	NOUN
fcis-20715	7	6	for	for	ADP
fcis-20715	7	7	three	three	NUM
fcis-20715	7	8	-	-	PUNCT
fcis-20715	7	9	dimensional	dimensional	ADJ
fcis-20715	7	10	space	space	NOUN
fcis-20715	7	11	path	path	NOUN
fcis-20715	7	12	tracking	tracking	NOUN
fcis-20715	7	13	,	,	PUNCT
fcis-20715	7	14	we	we	PRON
fcis-20715	7	15	propose	propose	VERB
fcis-20715	7	16	a	a	DET
fcis-20715	7	17	cascaded	cascade	VERB
fcis-20715	7	18	control	control	NOUN
fcis-20715	7	19	strategy	strategy	NOUN
fcis-20715	7	20	of	of	ADP
fcis-20715	7	21	motion	motion	NOUN
fcis-20715	7	22	controllers	controller	NOUN
fcis-20715	7	23	and	and	CCONJ
fcis-20715	7	24	dynamic	dynamic	ADJ
fcis-20715	7	25	controllers	controller	NOUN
fcis-20715	7	26	.	.	PUNCT
fcis-20715	8	1	the	the	DET
fcis-20715	8	2	motion	motion	NOUN
fcis-20715	8	3	controller	controller	NOUN
fcis-20715	8	4	is	be	AUX
fcis-20715	8	5	designed	design	VERB
fcis-20715	8	6	based	base	VERB
fcis-20715	8	7	on	on	ADP
fcis-20715	8	8	model	model	NOUN
fcis-20715	8	9	predictive	predictive	PROPN
fcis-20715	8	10	control	control	NOUN
fcis-20715	8	11	,	,	PUNCT
fcis-20715	8	12	generating	generate	VERB
fcis-20715	8	13	a	a	DET
fcis-20715	8	14	series	series	NOUN
fcis-20715	8	15	of	of	ADP
fcis-20715	8	16	speed	speed	NOUN
fcis-20715	8	17	-	-	PUNCT
fcis-20715	8	18	limited	limit	VERB
fcis-20715	8	19	signals	signal	NOUN
fcis-20715	8	20	.	.	PUNCT
fcis-20715	9	1	then	then	ADV
fcis-20715	9	2	,	,	PUNCT
fcis-20715	9	3	in	in	ADP
fcis-20715	9	4	the	the	DET
fcis-20715	9	5	dynamic	dynamic	ADJ
fcis-20715	9	6	controller	controller	NOUN
fcis-20715	9	7	part	part	NOUN
fcis-20715	9	8	,	,	PUNCT
fcis-20715	9	9	an	an	DET
fcis-20715	9	10	adaptive	adaptive	ADJ
fcis-20715	9	11	radial	radial	ADJ
fcis-20715	9	12	basis	basis	NOUN
fcis-20715	9	13	function	function	NOUN
fcis-20715	9	14	neural	neural	ADJ
fcis-20715	9	15	network	network	NOUN
fcis-20715	9	16	is	be	AUX
fcis-20715	9	17	used	use	VERB
fcis-20715	9	18	to	to	PART
fcis-20715	9	19	estimate	estimate	VERB
fcis-20715	9	20	the	the	DET
fcis-20715	9	21	model	model	NOUN
fcis-20715	9	22	uncertainty	uncertainty	NOUN
fcis-20715	9	23	caused	cause	VERB
fcis-20715	9	24	by	by	ADP
fcis-20715	9	25	aerodynamic	aerodynamic	ADJ
fcis-20715	9	26	parameters	parameter	NOUN
fcis-20715	9	27	to	to	PART
fcis-20715	9	28	enhance	enhance	VERB
fcis-20715	9	29	its	its	PRON
fcis-20715	9	30	robustness	robustness	NOUN
fcis-20715	9	31	.	.	PUNCT
fcis-20715	10	1	finally	finally	ADV
fcis-20715	10	2	,	,	PUNCT
fcis-20715	10	3	the	the	DET
fcis-20715	10	4	proposed	propose	VERB
fcis-20715	10	5	algorithm	algorithm	NOUN
fcis-20715	10	6	is	be	AUX
fcis-20715	10	7	compared	compare	VERB
fcis-20715	10	8	with	with	ADP
fcis-20715	10	9	the	the	DET
fcis-20715	10	10	los	los	PROPN
fcis-20715	10	11	guidance	guidance	NOUN
fcis-20715	10	12	method	method	NOUN
fcis-20715	10	13	and	and	CCONJ
fcis-20715	10	14	pid	pid	NOUN
fcis-20715	10	15	controller	controller	NOUN
fcis-20715	10	16	through	through	ADP
fcis-20715	10	17	simulation	simulation	NOUN
fcis-20715	10	18	experiments	experiment	NOUN
fcis-20715	10	19	.	.	PUNCT
fcis-20715	11	1	the	the	DET
fcis-20715	11	2	comparison	comparison	NOUN
fcis-20715	11	3	results	result	VERB
fcis-20715	11	4	show	show	VERB
fcis-20715	11	5	that	that	SCONJ
fcis-20715	11	6	the	the	DET
fcis-20715	11	7	proposed	propose	VERB
fcis-20715	11	8	algorithm	algorithm	NOUN
fcis-20715	11	9	can	can	AUX
fcis-20715	11	10	improve	improve	VERB
fcis-20715	11	11	the	the	DET
fcis-20715	11	12	path	path	NOUN
fcis-20715	11	13	tracking	tracking	NOUN
fcis-20715	11	14	effect	effect	NOUN
fcis-20715	11	15	,	,	PUNCT
fcis-20715	11	16	increase	increase	VERB
fcis-20715	11	17	the	the	DET
fcis-20715	11	18	response	response	NOUN
fcis-20715	11	19	speed	speed	NOUN
fcis-20715	11	20	,	,	PUNCT
fcis-20715	11	21	and	and	CCONJ
fcis-20715	11	22	reduce	reduce	VERB
fcis-20715	11	23	the	the	DET
fcis-20715	11	24	overshoot	overshoot	NOUN
fcis-20715	11	25	.	.	PUNCT
fcis-20715	12	1	keywords	keyword	NOUN
fcis-20715	12	2	:	:	PUNCT
fcis-20715	12	3	tiltrotor	tiltrotor	PROPN
fcis-20715	12	4	uav	uav	PROPN
fcis-20715	12	5	;	;	PUNCT
fcis-20715	12	6	model	model	PROPN
fcis-20715	12	7	predictive	predictive	PROPN
fcis-20715	12	8	control	control	PROPN
fcis-20715	12	9	;	;	PUNCT
fcis-20715	12	10	adaptive	adaptive	ADJ
fcis-20715	12	11	neural	neural	ADJ
fcis-20715	12	12	network	network	NOUN
fcis-20715	12	13	sliding	slide	VERB
fcis-20715	12	14	mode	mode	NOUN
fcis-20715	12	15	;	;	PUNCT
fcis-20715	12	16	trajectory	trajectory	NOUN
fcis-20715	12	17	tracking	tracking	NOUN
fcis-20715	12	18	.	.	PUNCT
fcis-20715	13	1	1	1	X
fcis-20715	13	2	.	.	X
fcis-20715	13	3	introduction	introduction	NOUN
fcis-20715	13	4	it	it	PRON
fcis-20715	13	5	is	be	AUX
fcis-20715	13	6	well	well	ADV
fcis-20715	13	7	-	-	PUNCT
fcis-20715	13	8	known	know	VERB
fcis-20715	13	9	that	that	SCONJ
fcis-20715	13	10	the	the	DET
fcis-20715	13	11	dynamics	dynamic	NOUN
fcis-20715	13	12	of	of	ADP
fcis-20715	13	13	tiltrotor	tiltrotor	NOUN
fcis-20715	13	14	uavs	uavs	PROPN
fcis-20715	13	15	are	be	AUX
fcis-20715	13	16	highly	highly	ADV
fcis-20715	13	17	nonlinear	nonlinear	ADJ
fcis-20715	13	18	,	,	PUNCT
fcis-20715	13	19	with	with	ADP
fcis-20715	13	20	strong	strong	ADJ
fcis-20715	13	21	coupling	coupling	NOUN
fcis-20715	13	22	between	between	ADP
fcis-20715	13	23	longitudinal	longitudinal	ADJ
fcis-20715	13	24	and	and	CCONJ
fcis-20715	13	25	lateral	lateral	ADJ
fcis-20715	13	26	dynamics	dynamic	NOUN
fcis-20715	13	27	.	.	PUNCT
fcis-20715	14	1	therefore	therefore	ADV
fcis-20715	14	2	,	,	PUNCT
fcis-20715	14	3	the	the	DET
fcis-20715	14	4	control	control	NOUN
fcis-20715	14	5	issues	issue	NOUN
fcis-20715	14	6	of	of	ADP
fcis-20715	14	7	tiltrotor	tiltrotor	PROPN
fcis-20715	14	8	uavs	uavs	PROPN
fcis-20715	14	9	present	present	VERB
fcis-20715	14	10	new	new	ADJ
fcis-20715	14	11	challenges	challenge	NOUN
fcis-20715	14	12	to	to	PART
fcis-20715	14	13	control	control	VERB
fcis-20715	14	14	engineers	engineer	NOUN
fcis-20715	14	15	.	.	PUNCT
fcis-20715	15	1	however	however	ADV
fcis-20715	15	2	,	,	PUNCT
fcis-20715	15	3	with	with	ADP
fcis-20715	15	4	the	the	DET
fcis-20715	15	5	rapid	rapid	ADJ
fcis-20715	15	6	development	development	NOUN
fcis-20715	15	7	of	of	ADP
fcis-20715	15	8	sensor	sensor	NOUN
fcis-20715	15	9	technology	technology	NOUN
fcis-20715	15	10	,	,	PUNCT
fcis-20715	15	11	automatic	automatic	ADJ
fcis-20715	15	12	control	control	NOUN
fcis-20715	15	13	and	and	CCONJ
fcis-20715	15	14	microelectronics	microelectronic	NOUN
fcis-20715	15	15	technology	technology	NOUN
fcis-20715	15	16	,	,	PUNCT
fcis-20715	15	17	energy	energy	NOUN
fcis-20715	15	18	supply	supply	NOUN
fcis-20715	15	19	,	,	PUNCT
fcis-20715	15	20	and	and	CCONJ
fcis-20715	15	21	communication	communication	NOUN
fcis-20715	15	22	technology	technology	NOUN
fcis-20715	15	23	in	in	ADP
fcis-20715	15	24	recent	recent	ADJ
fcis-20715	15	25	years	year	NOUN
fcis-20715	15	26	,	,	PUNCT
fcis-20715	15	27	the	the	DET
fcis-20715	15	28	design	design	NOUN
fcis-20715	15	29	and	and	CCONJ
fcis-20715	15	30	manufacturing	manufacturing	NOUN
fcis-20715	15	31	of	of	ADP
fcis-20715	15	32	tilt	tilt	NOUN
fcis-20715	15	33	-	-	PUNCT
fcis-20715	15	34	rotor	rotor	NOUN
fcis-20715	15	35	aircraft	aircraft	NOUN
fcis-20715	15	36	have	have	AUX
fcis-20715	15	37	achieved	achieve	VERB
fcis-20715	15	38	new	new	ADJ
fcis-20715	15	39	breakthroughs	breakthrough	NOUN
fcis-20715	15	40	.	.	PUNCT
fcis-20715	16	1	many	many	ADJ
fcis-20715	16	2	researchers	researcher	NOUN
fcis-20715	16	3	have	have	AUX
fcis-20715	16	4	resumed	resume	VERB
fcis-20715	16	5	the	the	DET
fcis-20715	16	6	study	study	NOUN
fcis-20715	16	7	of	of	ADP
fcis-20715	16	8	tiltrotor	tiltrotor	PROPN
fcis-20715	16	9	uavs	uavs	NOUN
fcis-20715	16	10	and	and	CCONJ
fcis-20715	16	11	have	have	AUX
fcis-20715	16	12	achieved	achieve	VERB
fcis-20715	16	13	many	many	ADJ
fcis-20715	16	14	remarkable	remarkable	ADJ
fcis-20715	16	15	results	result	NOUN
fcis-20715	16	16	.	.	PUNCT
fcis-20715	17	1	in	in	ADP
fcis-20715	17	2	2007	2007	NUM
fcis-20715	17	3	,	,	PUNCT
fcis-20715	17	4	hoffmann	hoffmann	PROPN
fcis-20715	17	5	g	g	PROPN
fcis-20715	17	6	m	m	AUX
fcis-20715	17	7	introduced	introduce	VERB
fcis-20715	17	8	a	a	DET
fcis-20715	17	9	trajectory	trajectory	NOUN
fcis-20715	17	10	tracking	track	VERB
fcis-20715	17	11	control	control	NOUN
fcis-20715	17	12	scheme	scheme	NOUN
fcis-20715	17	13	based	base	VERB
fcis-20715	17	14	on	on	ADP
fcis-20715	17	15	error	error	NOUN
fcis-20715	17	16	decomposition	decomposition	NOUN
fcis-20715	17	17	,	,	PUNCT
fcis-20715	17	18	which	which	PRON
fcis-20715	17	19	divided	divide	VERB
fcis-20715	17	20	the	the	DET
fcis-20715	17	21	trajectory	trajectory	NOUN
fcis-20715	17	22	error	error	NOUN
fcis-20715	17	23	into	into	ADP
fcis-20715	17	24	tangential	tangential	ADJ
fcis-20715	17	25	and	and	CCONJ
fcis-20715	17	26	normal	normal	ADJ
fcis-20715	17	27	components	component	NOUN
fcis-20715	17	28	,	,	PUNCT
fcis-20715	17	29	compensated	compensate	VERB
fcis-20715	17	30	by	by	ADP
fcis-20715	17	31	pi	pi	NOUN
fcis-20715	17	32	and	and	CCONJ
fcis-20715	17	33	pid	pid	NOUN
fcis-20715	17	34	controllers	controller	NOUN
fcis-20715	17	35	respectively	respectively	ADV
fcis-20715	17	36	.	.	PUNCT
fcis-20715	18	1	this	this	DET
fcis-20715	18	2	approach	approach	NOUN
fcis-20715	18	3	enabled	enable	VERB
fcis-20715	18	4	path	path	NOUN
fcis-20715	18	5	tracking	tracking	NOUN
fcis-20715	18	6	and	and	CCONJ
fcis-20715	18	7	speed	speed	NOUN
fcis-20715	18	8	adjustment	adjustment	NOUN
fcis-20715	18	9	of	of	ADP
fcis-20715	18	10	unmanned	unmanned	ADJ
fcis-20715	18	11	aerial	aerial	ADJ
fcis-20715	18	12	vehicles	vehicle	NOUN
fcis-20715	18	13	(	(	PUNCT
fcis-20715	18	14	uavs	uavs	NOUN
fcis-20715	18	15	)	)	PUNCT
fcis-20715	18	16	,	,	PUNCT
fcis-20715	18	17	providing	provide	VERB
fcis-20715	18	18	temporal	temporal	ADJ
fcis-20715	18	19	flexibility	flexibility	NOUN
fcis-20715	18	20	in	in	ADP
fcis-20715	18	21	their	their	PRON
fcis-20715	18	22	tracking	tracking	NOUN
fcis-20715	18	23	performance	performance	NOUN
fcis-20715	18	24	[	[	X
fcis-20715	18	25	1	1	NUM
fcis-20715	18	26	]	]	PUNCT
fcis-20715	18	27	.	.	PUNCT
fcis-20715	19	1	in	in	ADP
fcis-20715	19	2	2008	2008	NUM
fcis-20715	19	3	,	,	PUNCT
fcis-20715	19	4	bouktir	bouktir	VERB
fcis-20715	19	5	y	y	PROPN
fcis-20715	19	6	proposed	propose	VERB
fcis-20715	19	7	a	a	DET
fcis-20715	19	8	trajectory	trajectory	NOUN
fcis-20715	19	9	planning	planning	NOUN
fcis-20715	19	10	method	method	NOUN
fcis-20715	19	11	based	base	VERB
fcis-20715	19	12	on	on	ADP
fcis-20715	19	13	b	b	X
fcis-20715	19	14	-	-	PUNCT
fcis-20715	19	15	spline	spline	NOUN
fcis-20715	19	16	equations	equation	NOUN
fcis-20715	19	17	,	,	PUNCT
fcis-20715	19	18	which	which	PRON
fcis-20715	19	19	utilized	utilize	VERB
fcis-20715	19	20	nonlinear	nonlinear	ADJ
fcis-20715	19	21	optimization	optimization	NOUN
fcis-20715	19	22	to	to	PART
fcis-20715	19	23	derive	derive	VERB
fcis-20715	19	24	time	time	NOUN
fcis-20715	19	25	-	-	PUNCT
fcis-20715	19	26	optimal	optimal	ADJ
fcis-20715	19	27	trajectories	trajectory	NOUN
fcis-20715	19	28	,	,	PUNCT
fcis-20715	19	29	albeit	albeit	SCONJ
fcis-20715	19	30	requiring	require	VERB
fcis-20715	19	31	significant	significant	ADJ
fcis-20715	19	32	computational	computational	ADJ
fcis-20715	19	33	resources	resource	NOUN
fcis-20715	20	1	[	[	X
fcis-20715	20	2	2	2	NUM
fcis-20715	20	3	]	]	PUNCT
fcis-20715	20	4	.	.	PUNCT
fcis-20715	21	1	mellinger	mellinger	PROPN
fcis-20715	21	2	d	d	NOUN
fcis-20715	21	3	,	,	PUNCT
fcis-20715	21	4	in	in	ADP
fcis-20715	21	5	2011	2011	NUM
fcis-20715	21	6	,	,	PUNCT
fcis-20715	21	7	put	put	VERB
fcis-20715	21	8	forward	forward	ADV
fcis-20715	21	9	a	a	DET
fcis-20715	21	10	pd	pd	NOUN
fcis-20715	21	11	-	-	PUNCT
fcis-20715	21	12	based	base	VERB
fcis-20715	21	13	trajectory	trajectory	NOUN
fcis-20715	21	14	tracking	tracking	NOUN
fcis-20715	21	15	control	control	NOUN
fcis-20715	21	16	scheme	scheme	NOUN
fcis-20715	21	17	that	that	PRON
fcis-20715	21	18	employed	employ	VERB
fcis-20715	21	19	pd	pd	NOUN
fcis-20715	21	20	controllers	controller	NOUN
fcis-20715	21	21	for	for	ADP
fcis-20715	21	22	feedback	feedback	NOUN
fcis-20715	21	23	control	control	NOUN
fcis-20715	21	24	of	of	ADP
fcis-20715	21	25	the	the	DET
fcis-20715	21	26	uav	uav	PROPN
fcis-20715	21	27	's	's	PART
fcis-20715	21	28	position	position	NOUN
fcis-20715	21	29	and	and	CCONJ
fcis-20715	21	30	attitude	attitude	NOUN
fcis-20715	21	31	,	,	PUNCT
fcis-20715	21	32	achieving	achieve	VERB
fcis-20715	21	33	precise	precise	ADJ
fcis-20715	21	34	trajectory	trajectory	NOUN
fcis-20715	21	35	tracking	tracking	NOUN
fcis-20715	21	36	[	[	X
fcis-20715	21	37	3	3	NUM
fcis-20715	21	38	]	]	PUNCT
fcis-20715	21	39	.	.	PUNCT
fcis-20715	22	1	as	as	SCONJ
fcis-20715	22	2	research	research	NOUN
fcis-20715	22	3	progressed	progress	VERB
fcis-20715	22	4	,	,	PUNCT
fcis-20715	22	5	sliding	slide	VERB
fcis-20715	22	6	mode	mode	NOUN
fcis-20715	22	7	control	control	NOUN
fcis-20715	22	8	(	(	PUNCT
fcis-20715	22	9	smc	smc	PROPN
fcis-20715	22	10	)	)	PUNCT
fcis-20715	22	11	algorithms	algorithm	NOUN
fcis-20715	22	12	,	,	PUNCT
fcis-20715	22	13	known	know	VERB
fcis-20715	22	14	for	for	ADP
fcis-20715	22	15	their	their	PRON
fcis-20715	22	16	low	low	ADJ
fcis-20715	22	17	model	model	NOUN
fcis-20715	22	18	dependency	dependency	NOUN
fcis-20715	22	19	and	and	CCONJ
fcis-20715	22	20	excellent	excellent	ADJ
fcis-20715	22	21	robustness	robustness	NOUN
fcis-20715	22	22	,	,	PUNCT
fcis-20715	22	23	have	have	AUX
fcis-20715	22	24	been	be	AUX
fcis-20715	22	25	widely	widely	ADV
fcis-20715	22	26	applied	apply	VERB
fcis-20715	22	27	in	in	ADP
fcis-20715	22	28	the	the	DET
fcis-20715	22	29	control	control	NOUN
fcis-20715	22	30	of	of	ADP
fcis-20715	22	31	quadrotor	quadrotor	PROPN
fcis-20715	22	32	uavs	uavs	PROPN
fcis-20715	22	33	.	.	PUNCT
fcis-20715	23	1	for	for	ADP
fcis-20715	23	2	instance	instance	NOUN
fcis-20715	23	3	,	,	PUNCT
fcis-20715	23	4	mofid	mofid	NOUN
fcis-20715	23	5	and	and	CCONJ
fcis-20715	23	6	colleagues	colleague	NOUN
fcis-20715	23	7	studied	study	VERB
fcis-20715	23	8	the	the	DET
fcis-20715	23	9	position	position	NOUN
fcis-20715	23	10	controller	controller	NOUN
fcis-20715	23	11	for	for	ADP
fcis-20715	23	12	quadrotor	quadrotor	NOUN
fcis-20715	23	13	uavs	uavs	NOUN
fcis-20715	23	14	and	and	CCONJ
fcis-20715	23	15	implemented	implement	VERB
fcis-20715	23	16	attitude	attitude	NOUN
fcis-20715	23	17	stabilization	stabilization	NOUN
fcis-20715	23	18	using	use	VERB
fcis-20715	23	19	the	the	DET
fcis-20715	23	20	terminal	terminal	ADJ
fcis-20715	23	21	sliding	slide	VERB
fcis-20715	23	22	mode	mode	NOUN
fcis-20715	23	23	control	control	NOUN
fcis-20715	23	24	(	(	PUNCT
fcis-20715	23	25	tsmc	tsmc	PROPN
fcis-20715	23	26	)	)	PUNCT
fcis-20715	23	27	algorithm	algorithm	NOUN
fcis-20715	23	28	[	[	X
fcis-20715	23	29	4	4	NUM
fcis-20715	23	30	]	]	PUNCT
fcis-20715	23	31	.	.	PUNCT
fcis-20715	24	1	reference	reference	NOUN
fcis-20715	24	2	[	[	X
fcis-20715	24	3	5	5	NUM
fcis-20715	24	4	]	]	PUNCT
fcis-20715	24	5	proposed	propose	VERB
fcis-20715	24	6	an	an	DET
fcis-20715	24	7	elevator	elevator	NOUN
fcis-20715	24	8	aileron	aileron	NOUN
fcis-20715	24	9	(	(	PUNCT
fcis-20715	24	10	ea	ea	NOUN
fcis-20715	24	11	)	)	PUNCT
fcis-20715	24	12	control	control	NOUN
fcis-20715	24	13	method	method	NOUN
fcis-20715	24	14	based	base	VERB
fcis-20715	24	15	on	on	ADP
fcis-20715	24	16	linear	linear	ADJ
fcis-20715	24	17	quadratic	quadratic	ADJ
fcis-20715	24	18	regulation	regulation	NOUN
fcis-20715	24	19	(	(	PUNCT
fcis-20715	24	20	lqr	lqr	PROPN
fcis-20715	24	21	)	)	PUNCT
fcis-20715	24	22	for	for	ADP
fcis-20715	24	23	the	the	DET
fcis-20715	24	24	short	short	ADJ
fcis-20715	24	25	-	-	PUNCT
fcis-20715	24	26	period	period	NOUN
fcis-20715	24	27	approximation	approximation	NOUN
fcis-20715	24	28	of	of	ADP
fcis-20715	24	29	the	the	DET
fcis-20715	24	30	longitudinal	longitudinal	ADJ
fcis-20715	24	31	model	model	NOUN
fcis-20715	24	32	of	of	ADP
fcis-20715	24	33	tiltrotor	tiltrotor	NOUN
fcis-20715	24	34	unmanned	unmanned	ADJ
fcis-20715	24	35	aerial	aerial	ADJ
fcis-20715	24	36	vehicles	vehicle	NOUN
fcis-20715	24	37	.	.	PUNCT
fcis-20715	25	1	however	however	ADV
fcis-20715	25	2	,	,	PUNCT
fcis-20715	25	3	stability	stability	NOUN
fcis-20715	25	4	remains	remain	VERB
fcis-20715	25	5	a	a	DET
fcis-20715	25	6	primary	primary	ADJ
fcis-20715	25	7	concern	concern	NOUN
fcis-20715	25	8	for	for	ADP
fcis-20715	25	9	linear	linear	PROPN
fcis-20715	25	10	control	control	NOUN
fcis-20715	25	11	techniques	technique	NOUN
fcis-20715	25	12	,	,	PUNCT
fcis-20715	25	13	especially	especially	ADV
fcis-20715	25	14	during	during	ADP
fcis-20715	25	15	operations	operation	NOUN
fcis-20715	25	16	at	at	ADP
fcis-20715	25	17	high	high	ADJ
fcis-20715	25	18	pitch	pitch	NOUN
fcis-20715	25	19	angles	angle	NOUN
fcis-20715	25	20	.	.	PUNCT
fcis-20715	26	1	the	the	DET
fcis-20715	26	2	model	model	NOUN
fcis-20715	26	3	's	's	PART
fcis-20715	26	4	uncertainties	uncertainty	NOUN
fcis-20715	26	5	were	be	AUX
fcis-20715	26	6	not	not	PART
fcis-20715	26	7	considered	consider	VERB
fcis-20715	26	8	due	due	ADJ
fcis-20715	26	9	to	to	ADP
fcis-20715	26	10	the	the	DET
fcis-20715	26	11	difficulty	difficulty	NOUN
fcis-20715	26	12	in	in	ADP
fcis-20715	26	13	accurately	accurately	ADV
fcis-20715	26	14	modeling	model	VERB
fcis-20715	26	15	tiltrotor	tiltrotor	NOUN
fcis-20715	26	16	uavs	uavs	NOUN
fcis-20715	26	17	.	.	PUNCT
fcis-20715	27	1	to	to	PART
fcis-20715	27	2	ensure	ensure	VERB
fcis-20715	27	3	robustness	robustness	NOUN
fcis-20715	27	4	against	against	ADP
fcis-20715	27	5	model	model	NOUN
fcis-20715	27	6	uncertainties	uncertainty	NOUN
fcis-20715	27	7	,	,	PUNCT
fcis-20715	27	8	numerous	numerous	ADJ
fcis-20715	27	9	studies	study	NOUN
fcis-20715	27	10	have	have	AUX
fcis-20715	27	11	focused	focus	VERB
fcis-20715	27	12	on	on	ADP
fcis-20715	27	13	control	control	NOUN
fcis-20715	27	14	theories	theory	NOUN
fcis-20715	27	15	such	such	ADJ
fcis-20715	27	16	as	as	ADP
fcis-20715	27	17	gain	gain	NOUN
fcis-20715	27	18	scheduling	scheduling	NOUN
fcis-20715	27	19	[	[	X
fcis-20715	27	20	6	6	NUM
fcis-20715	27	21	]	]	PUNCT
fcis-20715	27	22	,	,	PUNCT
fcis-20715	27	23	adaptive	adaptive	ADJ
fcis-20715	27	24	control	control	NOUN
fcis-20715	28	1	[	[	X
fcis-20715	28	2	7	7	NUM
fcis-20715	28	3	-	-	SYM
fcis-20715	28	4	10	10	NUM
fcis-20715	28	5	]	]	PUNCT
fcis-20715	28	6	,	,	PUNCT
fcis-20715	28	7	sliding	slide	VERB
fcis-20715	28	8	mode	mode	NOUN
fcis-20715	28	9	control	control	NOUN
fcis-20715	28	10	(	(	PUNCT
fcis-20715	28	11	smc	smc	PROPN
fcis-20715	28	12	)	)	PUNCT
fcis-20715	29	1	[	[	X
fcis-20715	29	2	11,12	11,12	NOUN
fcis-20715	29	3	]	]	PUNCT
fcis-20715	29	4	,	,	PUNCT
fcis-20715	29	5	and	and	CCONJ
fcis-20715	29	6	neural	neural	ADJ
fcis-20715	29	7	network	network	NOUN
fcis-20715	29	8	control	control	NOUN
fcis-20715	30	1	[	[	X
fcis-20715	30	2	13	13	NUM
fcis-20715	30	3	]	]	PUNCT
fcis-20715	30	4	.	.	PUNCT
fcis-20715	31	1	taking	take	VERB
fcis-20715	31	2	into	into	ADP
fcis-20715	31	3	account	account	NOUN
fcis-20715	31	4	the	the	DET
fcis-20715	31	5	constraints	constraint	NOUN
fcis-20715	31	6	on	on	ADP
fcis-20715	31	7	control	control	NOUN
fcis-20715	31	8	deflection	deflection	NOUN
fcis-20715	31	9	and	and	CCONJ
fcis-20715	31	10	rate	rate	NOUN
fcis-20715	31	11	,	,	PUNCT
fcis-20715	31	12	reference	reference	NOUN
fcis-20715	31	13	[	[	X
fcis-20715	31	14	14	14	NUM
fcis-20715	31	15	]	]	PUNCT
fcis-20715	31	16	introduced	introduce	VERB
fcis-20715	31	17	a	a	DET
fcis-20715	31	18	model	model	NOUN
fcis-20715	31	19	predictive	predictive	ADJ
fcis-20715	31	20	control	control	NOUN
fcis-20715	31	21	(	(	PUNCT
fcis-20715	31	22	mpc	mpc	NOUN
fcis-20715	31	23	)	)	PUNCT
fcis-20715	31	24	algorithm	algorithm	NOUN
fcis-20715	31	25	to	to	PART
fcis-20715	31	26	address	address	VERB
fcis-20715	31	27	the	the	DET
fcis-20715	31	28	issues	issue	NOUN
fcis-20715	31	29	of	of	ADP
fcis-20715	31	30	depth	depth	NOUN
fcis-20715	31	31	tracking	tracking	NOUN
fcis-20715	31	32	and	and	CCONJ
fcis-20715	31	33	attitude	attitude	NOUN
fcis-20715	31	34	control	control	NOUN
fcis-20715	31	35	for	for	ADP
fcis-20715	31	36	tiltrotor	tiltrotor	NOUN
fcis-20715	31	37	unmanned	unmanned	ADJ
fcis-20715	31	38	aerial	aerial	ADJ
fcis-20715	31	39	vehicles	vehicle	NOUN
fcis-20715	31	40	.	.	PUNCT
fcis-20715	32	1	however	however	ADV
fcis-20715	32	2	,	,	PUNCT
fcis-20715	32	3	both	both	DET
fcis-20715	32	4	algorithms	algorithm	NOUN
fcis-20715	32	5	are	be	AUX
fcis-20715	32	6	based	base	VERB
fcis-20715	32	7	on	on	ADP
fcis-20715	32	8	nominal	nominal	ADJ
fcis-20715	32	9	models	model	NOUN
fcis-20715	32	10	.	.	PUNCT
fcis-20715	33	1	therefore	therefore	ADV
fcis-20715	33	2	,	,	PUNCT
fcis-20715	33	3	building	build	VERB
fcis-20715	33	4	on	on	ADP
fcis-20715	33	5	existing	exist	VERB
fcis-20715	33	6	research	research	NOUN
fcis-20715	33	7	,	,	PUNCT
fcis-20715	33	8	this	this	DET
fcis-20715	33	9	paper	paper	NOUN
fcis-20715	33	10	integrates	integrate	VERB
fcis-20715	33	11	several	several	ADJ
fcis-20715	33	12	algorithms	algorithm	NOUN
fcis-20715	33	13	including	include	VERB
fcis-20715	33	14	model	model	NOUN
fcis-20715	33	15	predictive	predictive	ADJ
fcis-20715	33	16	control	control	NOUN
fcis-20715	33	17	(	(	PUNCT
fcis-20715	33	18	mpc	mpc	NOUN
fcis-20715	33	19	)	)	PUNCT
fcis-20715	33	20	,	,	PUNCT
fcis-20715	33	21	radial	radial	ADJ
fcis-20715	33	22	basis	basis	NOUN
fcis-20715	33	23	function	function	NOUN
fcis-20715	33	24	neural	neural	ADJ
fcis-20715	33	25	network	network	NOUN
fcis-20715	33	26	(	(	PUNCT
fcis-20715	33	27	rbfnn	rbfnn	PROPN
fcis-20715	33	28	)	)	PUNCT
fcis-20715	33	29	,	,	PUNCT
fcis-20715	33	30	and	and	CCONJ
fcis-20715	33	31	adaptive	adaptive	ADJ
fcis-20715	33	32	sliding	slide	VERB
fcis-20715	33	33	mode	mode	NOUN
fcis-20715	33	34	control	control	NOUN
fcis-20715	33	35	(	(	PUNCT
fcis-20715	33	36	asmc	asmc	NOUN
fcis-20715	33	37	)	)	PUNCT
fcis-20715	33	38	.	.	PUNCT
fcis-20715	34	1	chapter	chapter	NOUN
fcis-20715	34	2	two	two	NUM
fcis-20715	34	3	presents	present	VERB
fcis-20715	34	4	the	the	DET
fcis-20715	34	5	kinematic	kinematic	ADJ
fcis-20715	34	6	and	and	CCONJ
fcis-20715	34	7	dynamic	dynamic	ADJ
fcis-20715	34	8	modeling	modeling	NOUN
fcis-20715	34	9	of	of	ADP
fcis-20715	34	10	tiltrotor	tiltrotor	NOUN
fcis-20715	34	11	unmanned	unmanned	ADJ
fcis-20715	34	12	aerial	aerial	ADJ
fcis-20715	34	13	vehicles	vehicle	NOUN
fcis-20715	34	14	.	.	PUNCT
fcis-20715	35	1	chapter	chapter	NOUN
fcis-20715	35	2	three	three	NUM
fcis-20715	35	3	describes	describe	VERB
fcis-20715	35	4	the	the	DET
fcis-20715	35	5	error	error	NOUN
fcis-20715	35	6	model	model	NOUN
fcis-20715	35	7	,	,	PUNCT
fcis-20715	35	8	motion	motion	NOUN
fcis-20715	35	9	controller	controller	NOUN
fcis-20715	35	10	,	,	PUNCT
fcis-20715	35	11	and	and	CCONJ
fcis-20715	35	12	dynamic	dynamic	ADJ
fcis-20715	35	13	controller	controller	NOUN
fcis-20715	35	14	for	for	ADP
fcis-20715	35	15	tiltrotor	tiltrotor	PROPN
fcis-20715	35	16	uavs	uavs	PROPN
fcis-20715	35	17	.	.	PUNCT
fcis-20715	36	1	simulation	simulation	NOUN
fcis-20715	36	2	results	result	NOUN
fcis-20715	36	3	are	be	AUX
fcis-20715	36	4	presented	present	VERB
fcis-20715	36	5	in	in	ADP
fcis-20715	36	6	chapter	chapter	NOUN
fcis-20715	36	7	four	four	NUM
fcis-20715	36	8	,	,	PUNCT
fcis-20715	36	9	along	along	ADP
fcis-20715	36	10	with	with	ADP
fcis-20715	36	11	an	an	DET
fcis-20715	36	12	evaluation	evaluation	NOUN
fcis-20715	36	13	of	of	ADP
fcis-20715	36	14	the	the	DET
fcis-20715	36	15	overall	overall	ADJ
fcis-20715	36	16	performance	performance	NOUN
fcis-20715	36	17	of	of	ADP
fcis-20715	36	18	the	the	DET
fcis-20715	36	19	controllers	controller	NOUN
fcis-20715	36	20	.	.	PUNCT
fcis-20715	37	1	chapter	chapter	NOUN
fcis-20715	37	2	five	five	NUM
fcis-20715	37	3	concludes	conclude	VERB
fcis-20715	37	4	the	the	DET
fcis-20715	37	5	paper	paper	NOUN
fcis-20715	37	6	.	.	PUNCT
fcis-20715	38	1	2	2	X
fcis-20715	38	2	.	.	X
fcis-20715	38	3	motion	motion	NOUN
fcis-20715	38	4	modeling	modeling	NOUN
fcis-20715	38	5	of	of	ADP
fcis-20715	38	6	tiltrotor	tiltrotor	PROPN
fcis-20715	38	7	uav	uav	PROPN
fcis-20715	38	8	in	in	ADP
fcis-20715	38	9	this	this	DET
fcis-20715	38	10	paper	paper	NOUN
fcis-20715	38	11	,	,	PUNCT
fcis-20715	38	12	the	the	DET
fcis-20715	38	13	lift	lift	NOUN
fcis-20715	38	14	of	of	ADP
fcis-20715	38	15	the	the	DET
fcis-20715	38	16	tiltrotor	tiltrotor	NOUN
fcis-20715	38	17	unmanned	unmanned	ADJ
fcis-20715	38	18	aerial	aerial	ADJ
fcis-20715	38	19	vehicle	vehicle	NOUN
fcis-20715	38	20	is	be	AUX
fcis-20715	38	21	generated	generate	VERB
fcis-20715	38	22	by	by	ADP
fcis-20715	38	23	the	the	DET
fcis-20715	38	24	combined	combine	VERB
fcis-20715	38	25	forces	force	NOUN
fcis-20715	38	26	of	of	ADP
fcis-20715	38	27	the	the	DET
fcis-20715	38	28	engine	engine	NOUN
fcis-20715	38	29	thrust	thrust	NOUN
fcis-20715	38	30	,	,	PUNCT
fcis-20715	38	31	the	the	DET
fcis-20715	38	32	aerodynamic	aerodynamic	ADJ
fcis-20715	38	33	force	force	NOUN
fcis-20715	38	34	provided	provide	VERB
fcis-20715	38	35	by	by	ADP
fcis-20715	38	36	the	the	DET
fcis-20715	38	37	wings	wing	NOUN
fcis-20715	38	38	,	,	PUNCT
fcis-20715	38	39	and	and	CCONJ
fcis-20715	38	40	the	the	DET
fcis-20715	38	41	gravity	gravity	NOUN
fcis-20715	38	42	of	of	ADP
fcis-20715	38	43	the	the	DET
fcis-20715	38	44	vehicle	vehicle	NOUN
fcis-20715	38	45	itself	itself	PRON
fcis-20715	38	46	.	.	PUNCT
fcis-20715	39	1	the	the	DET
fcis-20715	39	2	mass	mass	NOUN
fcis-20715	39	3	of	of	ADP
fcis-20715	39	4	the	the	DET
fcis-20715	39	5	tiltrotor	tiltrotor	PROPN
fcis-20715	39	6	uav	uav	PROPN
fcis-20715	39	7	is	be	AUX
fcis-20715	39	8	mt=1.5	mt=1.5	PROPN
fcis-20715	39	9	kg	kg	PROPN
fcis-20715	39	10	.	.	PUNCT
fcis-20715	40	1	due	due	ADP
fcis-20715	40	2	to	to	ADP
fcis-20715	40	3	the	the	DET
fcis-20715	40	4	consideration	consideration	NOUN
fcis-20715	40	5	of	of	ADP
fcis-20715	40	6	part	part	NOUN
fcis-20715	40	7	universality	universality	NOUN
fcis-20715	40	8	in	in	ADP
fcis-20715	40	9	previous	previous	ADJ
fcis-20715	40	10	designs	design	NOUN
fcis-20715	40	11	,	,	PUNCT
fcis-20715	40	12	the	the	DET
fcis-20715	40	13	motors	motor	NOUN
fcis-20715	40	14	,	,	PUNCT
fcis-20715	40	15	electronic	electronic	ADJ
fcis-20715	40	16	speed	speed	NOUN
fcis-20715	40	17	controllers	controller	NOUN
fcis-20715	40	18	,	,	PUNCT
fcis-20715	40	19	and	and	CCONJ
fcis-20715	40	20	propellers	propeller	NOUN
fcis-20715	40	21	providing	provide	VERB
fcis-20715	40	22	thrust	thrust	NOUN
fcis-20715	40	23	to	to	ADP
fcis-20715	40	24	the	the	DET
fcis-20715	40	25	tiltrotor	tiltrotor	PROPN
fcis-20715	40	26	uav	uav	PROPN
fcis-20715	40	27	are	be	AUX
fcis-20715	40	28	of	of	ADP
fcis-20715	40	29	the	the	DET
fcis-20715	40	30	same	same	ADJ
fcis-20715	40	31	59	59	NUM
fcis-20715	40	32	model	model	NOUN
fcis-20715	40	33	as	as	ADP
fcis-20715	40	34	those	those	PRON
fcis-20715	40	35	used	use	VERB
fcis-20715	40	36	in	in	ADP
fcis-20715	40	37	the	the	DET
fcis-20715	40	38	quadrotor	quadrotor	PROPN
fcis-20715	40	39	uav	uav	PROPN
fcis-20715	40	40	discussed	discuss	VERB
fcis-20715	40	41	in	in	ADP
fcis-20715	40	42	this	this	DET
fcis-20715	40	43	paper	paper	NOUN
fcis-20715	40	44	.	.	PUNCT
fcis-20715	41	1	the	the	DET
fcis-20715	41	2	fuselage	fuselage	NOUN
fcis-20715	41	3	is	be	AUX
fcis-20715	41	4	equipped	equip	VERB
fcis-20715	41	5	with	with	ADP
fcis-20715	41	6	four	four	NUM
fcis-20715	41	7	motors	motor	NOUN
fcis-20715	41	8	symmetrically	symmetrically	ADV
fcis-20715	41	9	distributed	distribute	VERB
fcis-20715	41	10	on	on	ADP
fcis-20715	41	11	both	both	DET
fcis-20715	41	12	sides	side	NOUN
fcis-20715	41	13	of	of	ADP
fcis-20715	41	14	the	the	DET
fcis-20715	41	15	tiltrotor	tiltrotor	PROPN
fcis-20715	41	16	uav	uav	PROPN
fcis-20715	41	17	,	,	PUNCT
fcis-20715	41	18	with	with	SCONJ
fcis-20715	41	19	each	each	DET
fcis-20715	41	20	motor	motor	NOUN
fcis-20715	41	21	positioned	position	VERB
fcis-20715	41	22	at	at	ADP
fcis-20715	41	23	a	a	DET
fcis-20715	41	24	distance	distance	NOUN
fcis-20715	41	25	of	of	ADP
fcis-20715	41	26	dt=600	dt=600	NOUN
fcis-20715	41	27	mm	mm	NOUN
fcis-20715	41	28	from	from	ADP
fcis-20715	41	29	the	the	DET
fcis-20715	41	30	geometric	geometric	ADJ
fcis-20715	41	31	center	center	NOUN
fcis-20715	41	32	of	of	ADP
fcis-20715	41	33	the	the	DET
fcis-20715	41	34	tiltrotor	tiltrotor	PROPN
fcis-20715	41	35	uav	uav	PROPN
fcis-20715	41	36	,	,	PUNCT
fcis-20715	41	37	and	and	CCONJ
fcis-20715	41	38	the	the	DET
fcis-20715	41	39	wing	wing	NOUN
fcis-20715	41	40	area	area	NOUN
fcis-20715	41	41	being	be	AUX
fcis-20715	41	42	st=720000mm2	st=720000mm2	PROPN
fcis-20715	41	43	.	.	PUNCT
fcis-20715	42	1	since	since	SCONJ
fcis-20715	42	2	the	the	DET
fcis-20715	42	3	motors	motor	NOUN
fcis-20715	42	4	,	,	PUNCT
fcis-20715	42	5	electronic	electronic	ADJ
fcis-20715	42	6	speed	speed	NOUN
fcis-20715	42	7	controllers	controller	NOUN
fcis-20715	42	8	,	,	PUNCT
fcis-20715	42	9	and	and	CCONJ
fcis-20715	42	10	propellers	propeller	NOUN
fcis-20715	42	11	of	of	ADP
fcis-20715	42	12	the	the	DET
fcis-20715	42	13	same	same	ADJ
fcis-20715	42	14	model	model	NOUN
fcis-20715	42	15	as	as	SCONJ
fcis-20715	42	16	those	those	PRON
fcis-20715	42	17	used	use	VERB
fcis-20715	42	18	in	in	ADP
fcis-20715	42	19	the	the	DET
fcis-20715	42	20	quadrotor	quadrotor	PROPN
fcis-20715	42	21	uav	uav	PROPN
fcis-20715	42	22	are	be	AUX
fcis-20715	42	23	employed	employ	VERB
fcis-20715	42	24	,	,	PUNCT
fcis-20715	42	25	the	the	DET
fcis-20715	42	26	rotational	rotational	ADJ
fcis-20715	42	27	radius	radius	NOUN
fcis-20715	42	28	of	of	ADP
fcis-20715	42	29	the	the	DET
fcis-20715	42	30	propeller	propeller	NOUN
fcis-20715	42	31	blades	blade	NOUN
fcis-20715	42	32	r	r	NOUN
fcis-20715	42	33	,	,	PUNCT
fcis-20715	42	34	the	the	DET
fcis-20715	42	35	propeller	propeller	NOUN
fcis-20715	42	36	thrust	thrust	VERB
fcis-20715	42	37	coefficient	coefficient	NOUN
fcis-20715	42	38	,	,	PUNCT
fcis-20715	42	39	and	and	CCONJ
fcis-20715	42	40	the	the	DET
fcis-20715	42	41	propeller	propeller	NOUN
fcis-20715	42	42	torque	torque	NOUN
fcis-20715	42	43	coefficient	coefficient	NOUN
fcis-20715	42	44	cm	cm	NOUN
fcis-20715	42	45	are	be	AUX
fcis-20715	42	46	universal	universal	ADJ
fcis-20715	42	47	to	to	ADP
fcis-20715	42	48	the	the	DET
fcis-20715	42	49	quadrotor	quadrotor	PROPN
fcis-20715	42	50	uav	uav	PROPN
fcis-20715	42	51	discussed	discuss	VERB
fcis-20715	42	52	in	in	ADP
fcis-20715	42	53	this	this	DET
fcis-20715	42	54	paper	paper	NOUN
fcis-20715	42	55	.	.	PUNCT
fcis-20715	43	1	the	the	DET
fcis-20715	43	2	rotational	rotational	ADJ
fcis-20715	43	3	speeds	speed	NOUN
fcis-20715	43	4	of	of	ADP
fcis-20715	43	5	the	the	DET
fcis-20715	43	6	four	four	NUM
fcis-20715	43	7	motors	motor	NOUN
fcis-20715	43	8	of	of	ADP
fcis-20715	43	9	the	the	DET
fcis-20715	43	10	tiltrotor	tiltrotor	PROPN
fcis-20715	43	11	uav	uav	PROPN
fcis-20715	43	12	are	be	AUX
fcis-20715	43	13	wt1	wt1	ADJ
fcis-20715	43	14	,	,	PUNCT
fcis-20715	43	15	wt2	wt2	ADJ
fcis-20715	43	16	,	,	PUNCT
fcis-20715	43	17	wt3	wt3	NOUN
fcis-20715	43	18	,	,	PUNCT
fcis-20715	43	19	and	and	CCONJ
fcis-20715	43	20	wt4	wt4	NOUN
fcis-20715	43	21	,	,	PUNCT
fcis-20715	43	22	respectively	respectively	ADV
fcis-20715	43	23	,	,	PUNCT
fcis-20715	43	24	with	with	ADP
fcis-20715	43	25	the	the	DET
fcis-20715	43	26	tilt	tilt	NOUN
fcis-20715	43	27	angles	angle	NOUN
fcis-20715	43	28	of	of	ADP
fcis-20715	43	29	motor	motor	NOUN
fcis-20715	43	30	1	1	NUM
fcis-20715	43	31	and	and	CCONJ
fcis-20715	43	32	motor	motor	NOUN
fcis-20715	43	33	4	4	NUM
fcis-20715	43	34	being	be	AUX
fcis-20715	43	35	adjustable	adjustable	ADJ
fcis-20715	43	36	and	and	CCONJ
fcis-20715	43	37	identical	identical	ADJ
fcis-20715	43	38	at	at	ADP
fcis-20715	43	39	angle	angle	NOUN
fcis-20715	43	40	α	α	X
fcis-20715	43	41	.	.	PUNCT
fcis-20715	44	1	to	to	PART
fcis-20715	44	2	counteract	counteract	VERB
fcis-20715	44	3	the	the	DET
fcis-20715	44	4	torque	torque	NOUN
fcis-20715	44	5	effect	effect	NOUN
fcis-20715	44	6	during	during	ADP
fcis-20715	44	7	flight	flight	NOUN
fcis-20715	44	8	,	,	PUNCT
fcis-20715	44	9	one	one	NUM
fcis-20715	44	10	pair	pair	NOUN
fcis-20715	44	11	of	of	ADP
fcis-20715	44	12	diagonally	diagonally	ADV
fcis-20715	44	13	opposite	opposite	ADJ
fcis-20715	44	14	motors	motor	NOUN
fcis-20715	44	15	rotates	rotate	VERB
fcis-20715	44	16	clockwise	clockwise	NOUN
fcis-20715	44	17	,	,	PUNCT
fcis-20715	44	18	while	while	SCONJ
fcis-20715	44	19	the	the	DET
fcis-20715	44	20	other	other	ADJ
fcis-20715	44	21	pair	pair	NOUN
fcis-20715	44	22	rotates	rotate	VERB
fcis-20715	44	23	counterclockwise	counterclockwise	NOUN
fcis-20715	44	24	,	,	PUNCT
fcis-20715	44	25	generating	generate	VERB
fcis-20715	44	26	a	a	DET
fcis-20715	44	27	reactive	reactive	ADJ
fcis-20715	44	28	force	force	NOUN
fcis-20715	44	29	through	through	ADP
fcis-20715	44	30	the	the	DET
fcis-20715	44	31	rotation	rotation	NOUN
fcis-20715	44	32	of	of	ADP
fcis-20715	44	33	the	the	DET
fcis-20715	44	34	rotors	rotor	NOUN
fcis-20715	44	35	on	on	ADP
fcis-20715	44	36	the	the	DET
fcis-20715	44	37	motors	motor	NOUN
fcis-20715	44	38	,	,	PUNCT
fcis-20715	44	39	thereby	thereby	ADV
fcis-20715	44	40	providing	provide	VERB
fcis-20715	44	41	power	power	NOUN
fcis-20715	44	42	output	output	NOUN
fcis-20715	44	43	.	.	PUNCT
fcis-20715	45	1	the	the	DET
fcis-20715	45	2	body	body	NOUN
fcis-20715	45	3	coordinate	coordinate	NOUN
fcis-20715	45	4	system	system	NOUN
fcis-20715	45	5	for	for	ADP
fcis-20715	45	6	the	the	DET
fcis-20715	45	7	tiltrotor	tiltrotor	NOUN
fcis-20715	45	8	unmanned	unmanned	ADJ
fcis-20715	45	9	aerial	aerial	ADJ
fcis-20715	45	10	vehicle	vehicle	NOUN
fcis-20715	45	11	is	be	AUX
fcis-20715	45	12	designated	designate	VERB
fcis-20715	45	13	as	as	ADP
fcis-20715	45	14	{	{	PUNCT
fcis-20715	45	15	t	t	NOUN
fcis-20715	45	16	}	}	PUNCT
fcis-20715	45	17	.	.	PUNCT
fcis-20715	46	1	the	the	DET
fcis-20715	46	2	origin	origin	NOUN
fcis-20715	46	3	tot	tot	NOUN
fcis-20715	46	4	of	of	ADP
fcis-20715	46	5	the	the	DET
fcis-20715	46	6	tiltrotor	tiltrotor	PROPN
fcis-20715	46	7	uav	uav	PROPN
fcis-20715	46	8	's	's	PART
fcis-20715	46	9	body	body	NOUN
fcis-20715	46	10	coordinate	coordinate	NOUN
fcis-20715	46	11	system	system	NOUN
fcis-20715	46	12	{	{	PUNCT
fcis-20715	46	13	t	t	NOUN
fcis-20715	46	14	}	}	PUNCT
fcis-20715	46	15	is	be	AUX
fcis-20715	46	16	situated	situate	VERB
fcis-20715	46	17	at	at	ADP
fcis-20715	46	18	the	the	DET
fcis-20715	46	19	center	center	NOUN
fcis-20715	46	20	of	of	ADP
fcis-20715	46	21	the	the	DET
fcis-20715	46	22	uav	uav	PROPN
fcis-20715	46	23	's	's	PART
fcis-20715	46	24	fuselage	fuselage	NOUN
fcis-20715	46	25	,	,	PUNCT
fcis-20715	46	26	with	with	ADP
fcis-20715	46	27	the	the	DET
fcis-20715	46	28	positive	positive	ADJ
fcis-20715	46	29	direction	direction	NOUN
fcis-20715	46	30	of	of	ADP
fcis-20715	46	31	the	the	DET
fcis-20715	46	32	x	x	ADJ
fcis-20715	46	33	-	-	ADJ
fcis-20715	46	34	axis	axis	NOUN
fcis-20715	46	35	aligned	align	VERB
fcis-20715	46	36	with	with	ADP
fcis-20715	46	37	the	the	DET
fcis-20715	46	38	uav	uav	PROPN
fcis-20715	46	39	's	's	PART
fcis-20715	46	40	forward	forward	ADJ
fcis-20715	46	41	direction	direction	NOUN
fcis-20715	46	42	,	,	PUNCT
fcis-20715	46	43	the	the	DET
fcis-20715	46	44	z	z	NOUN
fcis-20715	46	45	-	-	PUNCT
fcis-20715	46	46	axis	axis	NOUN
fcis-20715	46	47	perpendicular	perpendicular	NOUN
fcis-20715	46	48	to	to	ADP
fcis-20715	46	49	the	the	DET
fcis-20715	46	50	fuselage	fuselage	NOUN
fcis-20715	46	51	's	's	PART
fcis-20715	46	52	belly	belly	NOUN
fcis-20715	46	53	plane	plane	NOUN
fcis-20715	46	54	and	and	CCONJ
fcis-20715	46	55	pointing	point	VERB
fcis-20715	46	56	downward	downward	ADV
fcis-20715	46	57	,	,	PUNCT
fcis-20715	46	58	and	and	CCONJ
fcis-20715	46	59	the	the	DET
fcis-20715	46	60	y	y	ADJ
fcis-20715	46	61	-	-	PUNCT
fcis-20715	46	62	axis	axis	NOUN
fcis-20715	46	63	perpendicular	perpendicular	NOUN
fcis-20715	46	64	to	to	ADP
fcis-20715	46	65	both	both	CCONJ
fcis-20715	46	66	the	the	DET
fcis-20715	46	67	x	x	NOUN
fcis-20715	46	68	-	-	NOUN
fcis-20715	46	69	axis	axis	ADJ
fcis-20715	46	70	and	and	CCONJ
fcis-20715	46	71	z	z	NOUN
fcis-20715	46	72	-	-	PUNCT
fcis-20715	46	73	axis	axis	ADJ
fcis-20715	46	74	,	,	PUNCT
fcis-20715	46	75	pointing	point	VERB
fcis-20715	46	76	to	to	ADP
fcis-20715	46	77	the	the	DET
fcis-20715	46	78	right	right	ADJ
fcis-20715	46	79	side	side	NOUN
fcis-20715	46	80	of	of	ADP
fcis-20715	46	81	the	the	DET
fcis-20715	46	82	quadrotor	quadrotor	PROPN
fcis-20715	46	83	uav	uav	PROPN
fcis-20715	46	84	's	's	PART
fcis-20715	46	85	forward	forward	ADJ
fcis-20715	46	86	direction	direction	NOUN
fcis-20715	46	87	.	.	PUNCT
fcis-20715	47	1	the	the	DET
fcis-20715	47	2	coordinate	coordinate	NOUN
fcis-20715	47	3	system	system	NOUN
fcis-20715	47	4	{	{	PUNCT
fcis-20715	47	5	g	g	NOUN
fcis-20715	47	6	}	}	PUNCT
fcis-20715	47	7	is	be	AUX
fcis-20715	47	8	defined	define	VERB
fcis-20715	47	9	as	as	ADP
fcis-20715	47	10	the	the	DET
fcis-20715	47	11	terrestrial	terrestrial	ADJ
fcis-20715	47	12	coordinate	coordinate	NOUN
fcis-20715	47	13	system	system	NOUN
fcis-20715	47	14	.	.	PUNCT
fcis-20715	48	1	to	to	PART
fcis-20715	48	2	facilitate	facilitate	VERB
fcis-20715	48	3	calculations	calculation	NOUN
fcis-20715	48	4	,	,	PUNCT
fcis-20715	48	5	the	the	DET
fcis-20715	48	6	uav	uav	PROPN
fcis-20715	48	7	's	's	PART
fcis-20715	48	8	initial	initial	ADJ
fcis-20715	48	9	position	position	NOUN
fcis-20715	48	10	is	be	AUX
fcis-20715	48	11	set	set	VERB
fcis-20715	48	12	as	as	ADP
fcis-20715	48	13	the	the	DET
fcis-20715	48	14	origin	origin	NOUN
fcis-20715	48	15	gog	gog	NOUN
fcis-20715	48	16	of	of	ADP
fcis-20715	48	17	the	the	DET
fcis-20715	48	18	terrestrial	terrestrial	ADJ
fcis-20715	48	19	coordinate	coordinate	NOUN
fcis-20715	48	20	system	system	NOUN
fcis-20715	48	21	{	{	PUNCT
fcis-20715	48	22	g	g	NOUN
fcis-20715	48	23	}	}	PUNCT
fcis-20715	48	24	,	,	PUNCT
fcis-20715	48	25	with	with	ADP
fcis-20715	48	26	the	the	DET
fcis-20715	48	27	x	x	NOUN
fcis-20715	48	28	-	-	NOUN
fcis-20715	48	29	axis	axis	NOUN
fcis-20715	48	30	of	of	ADP
fcis-20715	48	31	{	{	PUNCT
fcis-20715	48	32	g	g	NOUN
fcis-20715	48	33	}	}	PUNCT
fcis-20715	48	34	being	be	AUX
fcis-20715	48	35	horizontal	horizontal	ADJ
fcis-20715	48	36	to	to	ADP
fcis-20715	48	37	the	the	DET
fcis-20715	48	38	ground	ground	NOUN
fcis-20715	48	39	and	and	CCONJ
fcis-20715	48	40	pointing	point	VERB
fcis-20715	48	41	east	east	PROPN
fcis-20715	48	42	,	,	PUNCT
fcis-20715	48	43	the	the	DET
fcis-20715	48	44	y	y	NOUN
fcis-20715	48	45	-	-	PUNCT
fcis-20715	48	46	axis	axis	NOUN
fcis-20715	48	47	horizontal	horizontal	NOUN
fcis-20715	48	48	to	to	ADP
fcis-20715	48	49	the	the	DET
fcis-20715	48	50	ground	ground	NOUN
fcis-20715	48	51	and	and	CCONJ
fcis-20715	48	52	pointing	point	VERB
fcis-20715	48	53	south	south	ADV
fcis-20715	48	54	,	,	PUNCT
fcis-20715	48	55	and	and	CCONJ
fcis-20715	48	56	the	the	DET
fcis-20715	48	57	z	z	NOUN
fcis-20715	48	58	-	-	PUNCT
fcis-20715	48	59	axis	axis	NOUN
fcis-20715	48	60	perpendicular	perpendicular	NOUN
fcis-20715	48	61	to	to	ADP
fcis-20715	48	62	the	the	DET
fcis-20715	48	63	ground	ground	NOUN
fcis-20715	48	64	.	.	PUNCT
fcis-20715	49	1	fig	fig	NOUN
fcis-20715	49	2	1	1	NUM
fcis-20715	49	3	.	.	PUNCT
fcis-20715	50	1	definition	definition	NOUN
fcis-20715	50	2	of	of	ADP
fcis-20715	50	3	various	various	ADJ
fcis-20715	50	4	coordinate	coordinate	NOUN
fcis-20715	50	5	systems	system	NOUN
fcis-20715	50	6	.	.	PUNCT
fcis-20715	51	1	consequently	consequently	ADV
fcis-20715	51	2	,	,	PUNCT
fcis-20715	51	3	the	the	DET
fcis-20715	51	4	kinematic	kinematic	ADJ
fcis-20715	51	5	and	and	CCONJ
fcis-20715	51	6	dynamic	dynamic	ADJ
fcis-20715	51	7	models	model	NOUN
fcis-20715	51	8	for	for	ADP
fcis-20715	51	9	the	the	DET
fcis-20715	51	10	underactuated	underactuated	ADJ
fcis-20715	51	11	tiltrotor	tiltrotor	NOUN
fcis-20715	51	12	unmanned	unmanned	ADJ
fcis-20715	51	13	aerial	aerial	ADJ
fcis-20715	51	14	vehicle	vehicle	NOUN
fcis-20715	51	15	are	be	AUX
fcis-20715	51	16	as	as	SCONJ
fcis-20715	51	17	follows	follow	VERB
fcis-20715	51	18	:	:	PUNCT
fcis-20715	51	19	t	t	PROPN
fcis-20715	51	20	t	t	PROPN
fcis-20715	51	21	tη	tη	PROPN
fcis-20715	52	1	=	=	ADJ
fcis-20715	52	2	j	j	PROPN
fcis-20715	52	3	v	v	NOUN
fcis-20715	52	4	(	(	PUNCT
fcis-20715	52	5	1	1	X
fcis-20715	52	6	)	)	PUNCT
fcis-20715	52	7	t	t	NOUN
fcis-20715	52	8	t	t	PROPN
fcis-20715	52	9	t	t	PROPN
fcis-20715	52	10	t	t	PROPN
fcis-20715	52	11	t	t	PROPN
fcis-20715	52	12	t	t	PROPN
fcis-20715	52	13	tv	tv	NOUN
fcis-20715	52	14	v	v	ADP
fcis-20715	52	15	f	f	PROPN
fcis-20715	52	16	b	b	PROPN
fcis-20715	52	17			NOUN
fcis-20715	53	1			PROPN
fcis-20715	53	2			PROPN
fcis-20715	53	3			NOUN
fcis-20715	53	4	(	(	PUNCT
fcis-20715	53	5	2	2	NUM
fcis-20715	53	6	)	)	PUNCT
fcis-20715	53	7	within	within	ADP
fcis-20715	53	8	this	this	DET
fcis-20715	53	9	context	context	NOUN
fcis-20715	53	10	,	,	PUNCT
fcis-20715	53	11	g	g	PROPN
fcis-20715	53	12	g	g	PROPN
fcis-20715	53	13	g	g	PROPN
fcis-20715	53	14	t	t	PROPN
fcis-20715	53	15	t	t	PROPN
fcis-20715	53	16	t	t	PROPN
fcis-20715	53	17	t	t	PROPN
fcis-20715	53	18	t	t	PROPN
fcis-20715	53	19	t	t	PROPN
fcis-20715	53	20	t	t	PROPN
fcis-20715	54	1	tη	tη	PROPN
fcis-20715	54	2	z	z	PROPN
fcis-20715	54	3	[	[	PUNCT
fcis-20715	54	4	x	x	X
fcis-20715	54	5	y	y	NOUN
fcis-20715	54	6	]	]	PUNCT
fcis-20715	54	7			NOUN
fcis-20715	54	8			NOUN
fcis-20715	54	9			NOUN
fcis-20715	54	10	is	be	AUX
fcis-20715	54	11	the	the	DET
fcis-20715	54	12	position	position	NOUN
fcis-20715	54	13	and	and	CCONJ
fcis-20715	54	14	orientation	orientation	NOUN
fcis-20715	54	15	of	of	ADP
fcis-20715	54	16	the	the	DET
fcis-20715	54	17	tiltrotor	tiltrotor	NOUN
fcis-20715	54	18	unmanned	unmanned	ADJ
fcis-20715	54	19	aerial	aerial	ADJ
fcis-20715	54	20	vehicle	vehicle	NOUN
fcis-20715	54	21	within	within	ADP
fcis-20715	54	22	the	the	DET
fcis-20715	54	23	{	{	PUNCT
fcis-20715	54	24	g	g	NOUN
fcis-20715	54	25	}	}	PUNCT
fcis-20715	54	26	coordinate	coordinate	NOUN
fcis-20715	54	27	frame	frame	NOUN
fcis-20715	54	28	.	.	PUNCT
fcis-20715	55	1	the	the	DET
fcis-20715	55	2	terms	term	NOUN
fcis-20715	55	3	(	(	PUNCT
fcis-20715	55	4	g	g	PROPN
fcis-20715	55	5	g	g	PROPN
fcis-20715	55	6	g	g	PROPN
fcis-20715	55	7	t	t	PROPN
fcis-20715	55	8	t	t	PROPN
fcis-20715	55	9	t	t	PROPN
fcis-20715	55	10	x	x	PROPN
fcis-20715	55	11	y	y	PROPN
fcis-20715	55	12	z	z	PROPN
fcis-20715	55	13	)	)	PUNCT
fcis-20715	55	14	and	and	CCONJ
fcis-20715	55	15	(	(	PUNCT
fcis-20715	55	16	t	t	NOUN
fcis-20715	55	17	t	t	PROPN
fcis-20715	55	18	t	t	NOUN
fcis-20715	55	19			PROPN
fcis-20715	55	20			PROPN
fcis-20715	55	21			NOUN
fcis-20715	55	22	)	)	PUNCT
fcis-20715	55	23	correspond	correspond	VERB
fcis-20715	55	24	to	to	ADP
fcis-20715	55	25	the	the	DET
fcis-20715	55	26	position	position	NOUN
fcis-20715	55	27	and	and	CCONJ
fcis-20715	55	28	orientation	orientation	NOUN
fcis-20715	55	29	in	in	ADP
fcis-20715	55	30	the	the	DET
fcis-20715	55	31	{	{	PUNCT
fcis-20715	55	32	g	g	NOUN
fcis-20715	55	33	}	}	PUNCT
fcis-20715	55	34	frame	frame	NOUN
fcis-20715	55	35	,	,	PUNCT
fcis-20715	55	36	respectively	respectively	ADV
fcis-20715	55	37	.	.	PUNCT
fcis-20715	56	1	t	t	PROPN
fcis-20715	56	2	t	t	PROPN
fcis-20715	56	3	t	t	PROPN
fcis-20715	56	4	t	t	PROPN
fcis-20715	56	5	t	t	PROPN
fcis-20715	56	6	t	t	PROPN
fcis-20715	56	7	t	t	PROPN
fcis-20715	56	8	tv	tv	NOUN
fcis-20715	56	9	=[	=[	NOUN
fcis-20715	56	10	u	u	NOUN
fcis-20715	56	11	v	v	NOUN
fcis-20715	56	12	w	w	NOUN
fcis-20715	56	13	p	p	NOUN
fcis-20715	56	14	q	q	NOUN
fcis-20715	56	15	r	r	NOUN
fcis-20715	56	16	]	]	PUNCT
fcis-20715	56	17	is	be	AUX
fcis-20715	56	18	the	the	DET
fcis-20715	56	19	vectors	vector	NOUN
fcis-20715	56	20	of	of	ADP
fcis-20715	56	21	translational	translational	ADJ
fcis-20715	56	22	velocity	velocity	NOUN
fcis-20715	56	23	and	and	CCONJ
fcis-20715	56	24	angular	angular	ADJ
fcis-20715	56	25	velocity	velocity	NOUN
fcis-20715	56	26	in	in	ADP
fcis-20715	56	27	the	the	DET
fcis-20715	56	28	{	{	PUNCT
fcis-20715	56	29	t	t	NOUN
fcis-20715	56	30	}	}	PUNCT
fcis-20715	56	31	frame	frame	NOUN
fcis-20715	56	32	.	.	PUNCT
fcis-20715	57	1	the	the	DET
fcis-20715	57	2	velocities	velocity	NOUN
fcis-20715	57	3	u	u	PROPN
fcis-20715	57	4	,	,	PUNCT
fcis-20715	57	5	v	v	NOUN
fcis-20715	57	6	,	,	PUNCT
fcis-20715	57	7	w	w	NOUN
fcis-20715	57	8	along	along	ADP
fcis-20715	57	9	the	the	DET
fcis-20715	57	10	x	x	PROPN
fcis-20715	57	11	,	,	PUNCT
fcis-20715	57	12	y	y	PROPN
fcis-20715	57	13	,	,	PUNCT
fcis-20715	57	14	and	and	CCONJ
fcis-20715	57	15	z	z	NOUN
fcis-20715	57	16	axes	axis	NOUN
fcis-20715	57	17	of	of	ADP
fcis-20715	57	18	the	the	DET
fcis-20715	57	19	{	{	PUNCT
fcis-20715	57	20	t	t	NOUN
fcis-20715	57	21	}	}	PUNCT
fcis-20715	57	22	frame	frame	NOUN
fcis-20715	57	23	,	,	PUNCT
fcis-20715	57	24	respectively	respectively	ADV
fcis-20715	57	25	,	,	PUNCT
fcis-20715	57	26	and	and	CCONJ
fcis-20715	57	27	the	the	DET
fcis-20715	57	28	angular	angular	ADJ
fcis-20715	57	29	velocities	velocity	NOUN
fcis-20715	57	30	p	p	X
fcis-20715	57	31	,	,	PUNCT
fcis-20715	57	32	q	q	INTJ
fcis-20715	57	33	,	,	PUNCT
fcis-20715	57	34	r	r	NOUN
fcis-20715	57	35	represents	represent	VERB
fcis-20715	57	36	the	the	DET
fcis-20715	57	37	roll	roll	NOUN
fcis-20715	57	38	,	,	PUNCT
fcis-20715	57	39	pitch	pitch	NOUN
fcis-20715	57	40	,	,	PUNCT
fcis-20715	57	41	and	and	CCONJ
fcis-20715	57	42	yaw	yaw	NOUN
fcis-20715	57	43	rates	rate	NOUN
fcis-20715	57	44	in	in	ADP
fcis-20715	57	45	the	the	DET
fcis-20715	57	46	{	{	PUNCT
fcis-20715	57	47	t	t	NOUN
fcis-20715	57	48	}	}	PUNCT
fcis-20715	57	49	frame	frame	NOUN
fcis-20715	57	50	.	.	PUNCT
fcis-20715	58	1	the	the	DET
fcis-20715	58	2	matrix	matrix	NOUN
fcis-20715	58	3	jt	jt	PROPN
fcis-20715	58	4	represents	represent	VERB
fcis-20715	58	5	the	the	DET
fcis-20715	58	6	rotational	rotational	ADJ
fcis-20715	58	7	transformation	transformation	NOUN
fcis-20715	58	8	from	from	ADP
fcis-20715	58	9	the	the	DET
fcis-20715	58	10	{	{	PUNCT
fcis-20715	58	11	t	t	NOUN
fcis-20715	58	12	}	}	PUNCT
fcis-20715	58	13	to	to	ADP
fcis-20715	58	14	the	the	DET
fcis-20715	58	15	{	{	PUNCT
fcis-20715	58	16	g	g	NOUN
fcis-20715	58	17	}	}	PUNCT
fcis-20715	58	18	frame	frame	NOUN
fcis-20715	58	19	:	:	PUNCT
fcis-20715	58	20	g	g	PROPN
fcis-20715	58	21	t	t	PROPN
fcis-20715	58	22	3	3	NUM
fcis-20715	58	23	3	3	NUM
fcis-20715	58	24	t	t	NOUN
fcis-20715	58	25	g	g	NOUN
fcis-20715	58	26	3	3	NUM
fcis-20715	58	27	3	3	NUM
fcis-20715	58	28	t	t	NOUN
fcis-20715	58	29	r	r	NOUN
fcis-20715	58	30	0	0	NUM
fcis-20715	58	31	j	j	PROPN
fcis-20715	58	32	=	=	SYM
fcis-20715	58	33	0	0	PROPN
fcis-20715	59	1	w	w	PROPN
fcis-20715	59	2			PROPN
fcis-20715	59	3			PROPN
fcis-20715	59	4			PROPN
fcis-20715	59	5			ADJ
fcis-20715	59	6			NOUN
fcis-20715	59	7			NOUN
fcis-20715	59	8			NOUN
fcis-20715	59	9			PROPN
fcis-20715	59	10	(	(	PUNCT
fcis-20715	59	11	3	3	NUM
fcis-20715	59	12	)	)	PUNCT
fcis-20715	59	13	in	in	ADP
fcis-20715	59	14	this	this	DET
fcis-20715	59	15	matrix	matrix	NOUN
fcis-20715	59	16	,	,	PUNCT
fcis-20715	59	17	the	the	DET
fcis-20715	59	18	forms	form	NOUN
fcis-20715	59	19	of	of	ADP
fcis-20715	59	20	matrices	matrix	NOUN
fcis-20715	59	21	g	g	PROPN
fcis-20715	59	22	t	t	PROPN
fcis-20715	59	23	r	r	NOUN
fcis-20715	59	24	and	and	CCONJ
fcis-20715	59	25	g	g	PROPN
fcis-20715	59	26	t	t	PROPN
fcis-20715	59	27	w	w	NOUN
fcis-20715	59	28	are	be	AUX
fcis-20715	59	29	as	as	SCONJ
fcis-20715	59	30	follows	follow	VERB
fcis-20715	59	31	:	:	PUNCT
fcis-20715	59	32	t	t	PROPN
fcis-20715	59	33	t	t	PROPN
fcis-20715	59	34	t	t	PROPN
fcis-20715	59	35	t	t	PROPN
fcis-20715	59	36	t	t	PROPN
fcis-20715	59	37	t	t	PROPN
fcis-20715	59	38	t	t	PROPN
fcis-20715	59	39	t	t	PROPN
fcis-20715	59	40	t	t	PROPN
fcis-20715	59	41	t	t	PROPN
fcis-20715	59	42	t	t	PROPN
fcis-20715	59	43	t	t	PROPN
fcis-20715	60	1	g	g	PROPN
fcis-20715	60	2	t	t	PROPN
fcis-20715	60	3	t	t	PROPN
fcis-20715	60	4	t	t	PROPN
fcis-20715	60	5	t	t	PROPN
fcis-20715	60	6	t	t	PROPN
fcis-20715	60	7	t	t	PROPN
fcis-20715	60	8	t	t	PROPN
fcis-20715	60	9	t	t	PROPN
fcis-20715	60	10	t	t	PROPN
fcis-20715	60	11	t	t	PROPN
fcis-20715	60	12	t	t	PROPN
fcis-20715	60	13	t	t	PROPN
fcis-20715	60	14	t	t	PROPN
fcis-20715	60	15	t	t	PROPN
fcis-20715	60	16	t	t	PROPN
fcis-20715	60	17	t	t	PROPN
fcis-20715	60	18	t	t	PROPN
fcis-20715	60	19	t	t	PROPN
fcis-20715	60	20	cos	cos	PROPN
fcis-20715	60	21	cos	cos	PROPN
fcis-20715	60	22	cos	cos	PROPN
fcis-20715	60	23	sin	sin	PROPN
fcis-20715	60	24	sin	sin	PROPN
fcis-20715	61	1	cos	cos	ADP
fcis-20715	61	2	sin	sin	PROPN
fcis-20715	61	3	sin	sin	NOUN
fcis-20715	61	4	sin	sin	PROPN
fcis-20715	61	5	cos	cos	PROPN
fcis-20715	61	6	cos	cos	PROPN
fcis-20715	61	7	sin	sin	PROPN
fcis-20715	61	8	r	r	PROPN
fcis-20715	61	9	cos	cos	PROPN
fcis-20715	61	10	sin	sin	PROPN
fcis-20715	61	11	cos	cos	PROPN
fcis-20715	61	12	cos	cos	PROPN
fcis-20715	61	13	sin	sin	PROPN
fcis-20715	61	14	sin	sin	NOUN
fcis-20715	61	15	sin	sin	PROPN
fcis-20715	61	16	cos	cos	PROPN
fcis-20715	61	17	cos	cos	PROPN
fcis-20715	61	18	sin	sin	PROPN
fcis-20715	62	1	cos	cos	PROPN
fcis-20715	62	2	sin	sin	PROPN
fcis-20715	62	3	sin	sin	PROPN
fcis-20715	62	4	cos	cos	PROPN
fcis-20715	62	5	sin	sin	PROPN
fcis-20715	62	6	cos	cos	PROPN
fcis-20715	62	7	cos	cos	PROPN
fcis-20715	62	8			PROPN
fcis-20715	62	9			PROPN
fcis-20715	62	10			PRON
fcis-20715	62	11			PROPN
fcis-20715	62	12			NOUN
fcis-20715	62	13			NOUN
fcis-20715	62	14			NUM
fcis-20715	62	15			NOUN
fcis-20715	62	16			NUM
fcis-20715	62	17			NOUN
fcis-20715	62	18			PRON
fcis-20715	62	19			PROPN
fcis-20715	62	20			PROPN
fcis-20715	62	21			NOUN
fcis-20715	62	22			NOUN
fcis-20715	62	23			NOUN
fcis-20715	62	24			NOUN
fcis-20715	62	25			NOUN
fcis-20715	63	1			NUM
fcis-20715	63	2			NOUN
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fcis-20715	64	53			NOUN
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fcis-20715	64	68	as	as	SCONJ
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fcis-20715	64	71	txx	txx	PROPN
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fcis-20715	64	75	t	t	PROPN
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fcis-20715	66	1	t	t	INTJ
fcis-20715	67	1	i	i	PRON
fcis-20715	67	2	m	m	VERB
fcis-20715	67	3	,	,	PUNCT
fcis-20715	67	4	i	i	PRON
fcis-20715	68	1	i	i	PRON
fcis-20715	69	1	i	i	PRON
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fcis-20715	70	2			VERB
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fcis-20715	70	4			X
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fcis-20715	70	6			NOUN
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fcis-20715	70	9			NOUN
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fcis-20715	70	11			NOUN
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fcis-20715	70	19			NOUN
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fcis-20715	72	6			PROPN
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fcis-20715	72	13			NOUN
fcis-20715	72	14			NOUN
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fcis-20715	72	63	)	)	PUNCT
fcis-20715	72	64	the	the	DET
fcis-20715	72	65	ft	ft	NOUN
fcis-20715	72	66	is	be	AUX
fcis-20715	72	67	the	the	DET
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fcis-20715	72	73			SYM
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fcis-20715	75	4			NOUN
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fcis-20715	78	1	+	+	NOUN
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fcis-20715	80	22			NOUN
fcis-20715	80	23			NOUN
fcis-20715	80	24			NOUN
fcis-20715	80	25			NOUN
fcis-20715	80	26			NOUN
fcis-20715	80	27			NOUN
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fcis-20715	80	29			ADJ
fcis-20715	80	30			ADJ
fcis-20715	80	31			NOUN
fcis-20715	80	32			NOUN
fcis-20715	80	33			NOUN
fcis-20715	80	34			NOUN
fcis-20715	80	35			NOUN
fcis-20715	80	36			NOUN
fcis-20715	80	37			NOUN
fcis-20715	80	38			NOUN
fcis-20715	80	39			NOUN
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fcis-20715	80	42	7	7	NUM
fcis-20715	80	43	)	)	PUNCT
fcis-20715	80	44	in	in	ADP
fcis-20715	80	45	this	this	DET
fcis-20715	80	46	vector	vector	NOUN
fcis-20715	80	47	,	,	PUNCT
fcis-20715	80	48	the	the	DET
fcis-20715	80	49	ct	ct	PROPN
fcis-20715	80	50	and	and	CCONJ
fcis-20715	80	51	cm	cm	NOUN
fcis-20715	80	52	denote	denote	VERB
fcis-20715	80	53	the	the	DET
fcis-20715	80	54	thrust	thrust	ADJ
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fcis-20715	80	58	coefficient	coefficient	NOUN
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fcis-20715	80	60	the	the	DET
fcis-20715	80	61	motor	motor	NOUN
fcis-20715	80	62	.	.	PUNCT
fcis-20715	81	1	the	the	DET
fcis-20715	81	2	vector	vector	PROPN
fcis-20715	81	3	bt	bt	PROPN
fcis-20715	81	4	describes	describe	VERB
fcis-20715	81	5	the	the	DET
fcis-20715	81	6	uncertainty	uncertainty	NOUN
fcis-20715	81	7	of	of	ADP
fcis-20715	81	8	tiltrotor	tiltrotor	PROPN
fcis-20715	81	9	uav	uav	PROPN
fcis-20715	81	10	model	model	PROPN
fcis-20715	81	11	.	.	PUNCT
fcis-20715	82	1	3	3	X
fcis-20715	82	2	.	.	X
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fcis-20715	82	4	of	of	ADP
fcis-20715	82	5	a	a	DET
fcis-20715	82	6	tilt	tilt	NOUN
fcis-20715	82	7	-	-	PUNCT
fcis-20715	82	8	wing	wing	NOUN
fcis-20715	82	9	uav	uav	PROPN
fcis-20715	82	10	controller	controller	NOUN
fcis-20715	82	11	based	base	VERB
fcis-20715	82	12	on	on	ADP
fcis-20715	82	13	model	model	NOUN
fcis-20715	82	14	predictive	predictive	ADJ
fcis-20715	82	15	control	control	NOUN
fcis-20715	82	16	and	and	CCONJ
fcis-20715	82	17	adaptive	adaptive	ADJ
fcis-20715	82	18	sliding	slide	VERB
fcis-20715	82	19	mode	mode	NOUN
fcis-20715	82	20	control	control	NOUN
fcis-20715	82	21	references	reference	NOUN
fcis-20715	82	22	in	in	ADP
fcis-20715	82	23	this	this	DET
fcis-20715	82	24	chapter	chapter	NOUN
fcis-20715	82	25	,	,	PUNCT
fcis-20715	82	26	we	we	PRON
fcis-20715	82	27	will	will	AUX
fcis-20715	82	28	employ	employ	VERB
fcis-20715	82	29	two	two	NUM
fcis-20715	82	30	methodologies	methodology	NOUN
fcis-20715	82	31	,	,	PUNCT
fcis-20715	82	32	model	model	NOUN
fcis-20715	82	33	predictive	predictive	ADJ
fcis-20715	82	34	control	control	PROPN
fcis-20715	82	35	(	(	PUNCT
fcis-20715	82	36	mpc	mpc	NOUN
fcis-20715	82	37	)	)	PUNCT
fcis-20715	82	38	and	and	CCONJ
fcis-20715	82	39	adaptive	adaptive	ADJ
fcis-20715	82	40	sliding	slide	VERB
fcis-20715	82	41	mode	mode	NOUN
fcis-20715	82	42	control	control	NOUN
fcis-20715	82	43	(	(	PUNCT
fcis-20715	82	44	asmc	asmc	NOUN
fcis-20715	82	45	)	)	PUNCT
fcis-20715	82	46	,	,	PUNCT
fcis-20715	82	47	for	for	ADP
fcis-20715	82	48	the	the	DET
fcis-20715	82	49	design	design	NOUN
fcis-20715	82	50	of	of	ADP
fcis-20715	82	51	controllers	controller	NOUN
fcis-20715	82	52	for	for	ADP
fcis-20715	82	53	tiltrotor	tiltrotor	PROPN
fcis-20715	82	54	uav	uav	PROPN
fcis-20715	82	55	.	.	PUNCT
fcis-20715	83	1	initially	initially	ADV
fcis-20715	83	2	,	,	PUNCT
fcis-20715	83	3	a	a	DET
fcis-20715	83	4	model	model	NOUN
fcis-20715	83	5	based	base	VERB
fcis-20715	83	6	on	on	ADP
fcis-20715	83	7	flight	flight	NOUN
fcis-20715	83	8	path	path	NOUN
fcis-20715	83	9	tracking	tracking	NOUN
fcis-20715	83	10	error	error	NOUN
fcis-20715	83	11	will	will	AUX
fcis-20715	83	12	be	be	AUX
fcis-20715	83	13	constructed	construct	VERB
fcis-20715	83	14	.	.	PUNCT
fcis-20715	84	1	subsequently	subsequently	ADV
fcis-20715	84	2	,	,	PUNCT
fcis-20715	84	3	a	a	DET
fcis-20715	84	4	kinematic	kinematic	ADJ
fcis-20715	84	5	controller	controller	NOUN
fcis-20715	84	6	utilizing	utilize	VERB
fcis-20715	84	7	mpc	mpc	NOUN
fcis-20715	84	8	will	will	AUX
fcis-20715	84	9	be	be	AUX
fcis-20715	84	10	designed	design	VERB
fcis-20715	84	11	,	,	PUNCT
fcis-20715	84	12	along	along	ADP
fcis-20715	84	13	with	with	ADP
fcis-20715	84	14	a	a	DET
fcis-20715	84	15	dynamic	dynamic	ADJ
fcis-20715	84	16	controller	controller	NOUN
fcis-20715	84	17	based	base	VERB
fcis-20715	84	18	on	on	ADP
fcis-20715	84	19	asmc	asmc	NOUN
fcis-20715	84	20	.	.	PUNCT
fcis-20715	85	1	to	to	PART
fcis-20715	85	2	address	address	VERB
fcis-20715	85	3	uncertainties	uncertainty	NOUN
fcis-20715	85	4	arising	arise	VERB
fcis-20715	85	5	from	from	ADP
fcis-20715	85	6	modeling	model	VERB
fcis-20715	85	7	precision	precision	NOUN
fcis-20715	85	8	,	,	PUNCT
fcis-20715	85	9	this	this	DET
fcis-20715	85	10	section	section	NOUN
fcis-20715	85	11	will	will	AUX
fcis-20715	85	12	integrate	integrate	VERB
fcis-20715	85	13	radial	radial	ADJ
fcis-20715	85	14	basis	basis	NOUN
fcis-20715	85	15	function	function	NOUN
fcis-20715	85	16	(	(	PUNCT
fcis-20715	85	17	rbf	rbf	PROPN
fcis-20715	85	18	)	)	PUNCT
fcis-20715	85	19	neural	neural	ADJ
fcis-20715	85	20	networks	network	NOUN
fcis-20715	85	21	into	into	ADP
fcis-20715	85	22	the	the	DET
fcis-20715	85	23	sliding	slide	VERB
fcis-20715	85	24	mode	mode	NOUN
fcis-20715	85	25	control	control	NOUN
fcis-20715	85	26	to	to	PART
fcis-20715	85	27	estimate	estimate	VERB
fcis-20715	85	28	such	such	ADJ
fcis-20715	85	29	uncertainties	uncertainty	NOUN
fcis-20715	85	30	.	.	PUNCT
fcis-20715	86	1	following	follow	VERB
fcis-20715	86	2	this	this	PRON
fcis-20715	86	3	,	,	PUNCT
fcis-20715	86	4	we	we	PRON
fcis-20715	86	5	will	will	AUX
fcis-20715	86	6	simulate	simulate	VERB
fcis-20715	86	7	the	the	DET
fcis-20715	86	8	flight	flight	NOUN
fcis-20715	86	9	performance	performance	NOUN
fcis-20715	86	10	of	of	ADP
fcis-20715	86	11	the	the	DET
fcis-20715	86	12	tiltrotor	tiltrotor	NOUN
fcis-20715	86	13	uavs	uavs	NOUN
fcis-20715	86	14	using	use	VERB
fcis-20715	86	15	these	these	DET
fcis-20715	86	16	controllers	controller	NOUN
fcis-20715	86	17	and	and	CCONJ
fcis-20715	86	18	conduct	conduct	VERB
fcis-20715	86	19	tests	test	NOUN
fcis-20715	86	20	on	on	ADP
fcis-20715	86	21	waypoint	waypoint	NOUN
fcis-20715	86	22	tracking	tracking	NOUN
fcis-20715	86	23	,	,	PUNCT
fcis-20715	86	24	straight	straight	ADJ
fcis-20715	86	25	-	-	PUNCT
fcis-20715	86	26	line	line	NOUN
fcis-20715	86	27	path	path	NOUN
fcis-20715	86	28	tracking	tracking	NOUN
fcis-20715	86	29	,	,	PUNCT
fcis-20715	86	30	spiral	spiral	ADJ
fcis-20715	86	31	path	path	NOUN
fcis-20715	86	32	tracking	tracking	NOUN
fcis-20715	86	33	,	,	PUNCT
fcis-20715	86	34	and	and	CCONJ
fcis-20715	86	35	wave	wave	NOUN
fcis-20715	86	36	path	path	NOUN
fcis-20715	86	37	tracking	tracking	NOUN
fcis-20715	86	38	.	.	PUNCT
fcis-20715	87	1	the	the	DET
fcis-20715	87	2	objective	objective	NOUN
fcis-20715	87	3	of	of	ADP
fcis-20715	87	4	this	this	DET
fcis-20715	87	5	chapter	chapter	NOUN
fcis-20715	87	6	is	be	AUX
fcis-20715	87	7	to	to	PART
fcis-20715	87	8	explore	explore	VERB
fcis-20715	87	9	and	and	CCONJ
fcis-20715	87	10	understand	understand	VERB
fcis-20715	87	11	how	how	SCONJ
fcis-20715	87	12	to	to	PART
fcis-20715	87	13	formulate	formulate	VERB
fcis-20715	87	14	efficient	efficient	ADJ
fcis-20715	87	15	and	and	CCONJ
fcis-20715	87	16	stable	stable	ADJ
fcis-20715	87	17	control	control	NOUN
fcis-20715	87	18	strategies	strategy	NOUN
fcis-20715	87	19	that	that	PRON
fcis-20715	87	20	enable	enable	VERB
fcis-20715	87	21	precise	precise	ADJ
fcis-20715	87	22	execution	execution	NOUN
fcis-20715	87	23	of	of	ADP
fcis-20715	87	24	various	various	ADJ
fcis-20715	87	25	types	type	NOUN
fcis-20715	87	26	of	of	ADP
fcis-20715	87	27	flight	flight	NOUN
fcis-20715	87	28	maneuvers	maneuver	NOUN
fcis-20715	87	29	by	by	ADP
fcis-20715	87	30	tiltrotor	tiltrotor	PROPN
fcis-20715	87	31	uavs	uavs	NOUN
fcis-20715	87	32	through	through	ADP
fcis-20715	87	33	the	the	DET
fcis-20715	87	34	application	application	NOUN
fcis-20715	87	35	of	of	ADP
fcis-20715	87	36	mpc	mpc	PROPN
fcis-20715	87	37	and	and	CCONJ
fcis-20715	87	38	asmc	asmc	NOUN
fcis-20715	87	39	methods	method	NOUN
fcis-20715	87	40	.	.	PUNCT
fcis-20715	88	1	3.1	3.1	NUM
fcis-20715	88	2	.	.	PUNCT
fcis-20715	88	3	design	design	NOUN
fcis-20715	88	4	of	of	ADP
fcis-20715	88	5	kinematic	kinematic	ADJ
fcis-20715	88	6	controllers	controller	NOUN
fcis-20715	88	7	for	for	ADP
fcis-20715	88	8	tiltrotor	tiltrotor	PROPN
fcis-20715	88	9	uav	uav	PROPN
fcis-20715	88	10	based	base	VERB
fcis-20715	88	11	on	on	ADP
fcis-20715	88	12	model	model	PROPN
fcis-20715	88	13	predictive	predictive	PROPN
fcis-20715	88	14	control	control	PROPN
fcis-20715	88	15	fig	fig	PROPN
fcis-20715	88	16	2	2	NUM
fcis-20715	88	17	.	.	PUNCT
fcis-20715	88	18	establishing	establish	VERB
fcis-20715	88	19	the	the	DET
fcis-20715	88	20	frenet	frenet	ADJ
fcis-20715	88	21	coordinate	coordinate	NOUN
fcis-20715	88	22	system	system	NOUN
fcis-20715	88	23	.	.	PUNCT
fcis-20715	89	1	to	to	PART
fcis-20715	89	2	track	track	VERB
fcis-20715	89	3	the	the	DET
fcis-20715	89	4	desired	desire	VERB
fcis-20715	89	5	trajectory	trajectory	NOUN
fcis-20715	89	6	,	,	PUNCT
fcis-20715	89	7	a	a	DET
fcis-20715	89	8	frenet	frenet	ADJ
fcis-20715	89	9	frame	frame	NOUN
fcis-20715	89	10	{	{	PUNCT
fcis-20715	89	11	f	f	X
fcis-20715	89	12	}	}	PUNCT
fcis-20715	89	13	is	be	AUX
fcis-20715	89	14	established	establish	VERB
fcis-20715	89	15	at	at	ADP
fcis-20715	89	16	the	the	DET
fcis-20715	89	17	current	current	ADJ
fcis-20715	89	18	point	point	NOUN
fcis-20715	89	19	on	on	ADP
fcis-20715	89	20	the	the	DET
fcis-20715	89	21	traced	trace	VERB
fcis-20715	89	22	path	path	NOUN
fcis-20715	89	23	.	.	PUNCT
fcis-20715	90	1	the	the	DET
fcis-20715	90	2	directions	direction	NOUN
fcis-20715	90	3	of	of	ADP
fcis-20715	90	4	the	the	DET
fcis-20715	90	5	unit	unit	NOUN
fcis-20715	90	6	tangent	tangent	PROPN
fcis-20715	90	7	vector	vector	PROPN
fcis-20715	90	8	,	,	PUNCT
fcis-20715	90	9	unit	unit	NOUN
fcis-20715	90	10	normal	normal	ADJ
fcis-20715	90	11	vector	vector	NOUN
fcis-20715	90	12	,	,	PUNCT
fcis-20715	90	13	and	and	CCONJ
fcis-20715	90	14	unit	unit	NOUN
fcis-20715	90	15	binormal	binormal	NOUN
fcis-20715	90	16	vector	vector	NOUN
fcis-20715	90	17	at	at	ADP
fcis-20715	90	18	the	the	DET
fcis-20715	90	19	current	current	ADJ
fcis-20715	90	20	point	point	NOUN
fcis-20715	90	21	on	on	ADP
fcis-20715	90	22	the	the	DET
fcis-20715	90	23	traced	trace	VERB
fcis-20715	90	24	path	path	NOUN
fcis-20715	90	25	are	be	AUX
fcis-20715	90	26	defined	define	VERB
fcis-20715	90	27	as	as	ADP
fcis-20715	90	28	the	the	DET
fcis-20715	90	29	x	x	PROPN
fcis-20715	90	30	,	,	PUNCT
fcis-20715	90	31	y	y	PROPN
fcis-20715	90	32	,	,	PUNCT
fcis-20715	90	33	and	and	CCONJ
fcis-20715	90	34	z	z	NOUN
fcis-20715	90	35	axis	axis	NOUN
fcis-20715	90	36	directions	direction	NOUN
fcis-20715	90	37	of	of	ADP
fcis-20715	90	38	the	the	DET
fcis-20715	90	39	frenet	frenet	ADJ
fcis-20715	90	40	frame	frame	NOUN
fcis-20715	90	41	{	{	PUNCT
fcis-20715	90	42	f	f	NOUN
fcis-20715	90	43	}	}	PUNCT
fcis-20715	90	44	,	,	PUNCT
fcis-20715	90	45	respectively	respectively	ADV
fcis-20715	90	46	.	.	PUNCT
fcis-20715	91	1	this	this	DET
fcis-20715	91	2	coordinate	coordinate	NOUN
fcis-20715	91	3	system	system	NOUN
fcis-20715	91	4	is	be	AUX
fcis-20715	91	5	used	use	VERB
fcis-20715	91	6	to	to	PART
fcis-20715	91	7	develop	develop	VERB
fcis-20715	91	8	a	a	DET
fcis-20715	91	9	three	three	NUM
fcis-20715	91	10	-	-	PUNCT
fcis-20715	91	11	dimensional	dimensional	ADJ
fcis-20715	91	12	tracking	tracking	NOUN
fcis-20715	91	13	error	error	NOUN
fcis-20715	91	14	model	model	NOUN
fcis-20715	91	15	.	.	PUNCT
fcis-20715	92	1	the	the	DET
fcis-20715	92	2	origin	origin	NOUN
fcis-20715	92	3	p	p	NOUN
fcis-20715	92	4	of	of	ADP
fcis-20715	92	5	the	the	DET
fcis-20715	92	6	frenet	frenet	ADJ
fcis-20715	92	7	frame	frame	NOUN
fcis-20715	92	8	{	{	PUNCT
fcis-20715	92	9	f	f	X
fcis-20715	92	10	}	}	PUNCT
fcis-20715	92	11	is	be	AUX
fcis-20715	92	12	treated	treat	VERB
fcis-20715	92	13	as	as	ADP
fcis-20715	92	14	a	a	DET
fcis-20715	92	15	virtual	virtual	ADJ
fcis-20715	92	16	target	target	NOUN
fcis-20715	92	17	moving	move	VERB
fcis-20715	92	18	along	along	ADP
fcis-20715	92	19	the	the	DET
fcis-20715	92	20	expected	expect	VERB
fcis-20715	92	21	path	path	NOUN
fcis-20715	92	22	,	,	PUNCT
fcis-20715	92	23	which	which	PRON
fcis-20715	92	24	the	the	DET
fcis-20715	92	25	unmanned	unmanned	ADJ
fcis-20715	92	26	aerial	aerial	ADJ
fcis-20715	92	27	vehicle	vehicle	NOUN
fcis-20715	92	28	(	(	PUNCT
fcis-20715	92	29	uav	uav	PROPN
fcis-20715	92	30	)	)	PUNCT
fcis-20715	92	31	tracks	track	NOUN
fcis-20715	92	32	.	.	PUNCT
fcis-20715	93	1	a	a	DET
fcis-20715	93	2	controller	controller	NOUN
fcis-20715	93	3	is	be	AUX
fcis-20715	93	4	designed	design	VERB
fcis-20715	93	5	to	to	PART
fcis-20715	93	6	stabilize	stabilize	VERB
fcis-20715	93	7	the	the	DET
fcis-20715	93	8	error	error	NOUN
fcis-20715	93	9	to	to	ADP
fcis-20715	93	10	zero	zero	NUM
fcis-20715	93	11	,	,	PUNCT
fcis-20715	93	12	as	as	SCONJ
fcis-20715	93	13	depicted	depict	VERB
fcis-20715	93	14	in	in	ADP
fcis-20715	93	15	figure	figure	NOUN
fcis-20715	93	16	2	2	NUM
fcis-20715	93	17	.	.	PUNCT
fcis-20715	93	18	referring	refer	VERB
fcis-20715	93	19	to	to	PART
fcis-20715	93	20	figure	figure	VERB
fcis-20715	93	21	3	3	NUM
fcis-20715	93	22	-	-	SYM
fcis-20715	93	23	1	1	NUM
fcis-20715	93	24	,	,	PUNCT
fcis-20715	93	25	let	let	VERB
fcis-20715	93	26	s	s	PRON
fcis-20715	93	27	be	be	AUX
fcis-20715	93	28	defined	define	VERB
fcis-20715	93	29	as	as	ADP
fcis-20715	93	30	the	the	DET
fcis-20715	93	31	distance	distance	NOUN
fcis-20715	93	32	traveled	travel	VERB
fcis-20715	93	33	by	by	ADP
fcis-20715	93	34	point	point	NOUN
fcis-20715	93	35	p	p	NOUN
fcis-20715	93	36	along	along	ADP
fcis-20715	93	37	the	the	DET
fcis-20715	93	38	traced	trace	VERB
fcis-20715	93	39	path	path	NOUN
fcis-20715	93	40	,	,	PUNCT
fcis-20715	93	41	cc	cc	VERB
fcis-20715	93	42	as	as	ADP
fcis-20715	93	43	the	the	DET
fcis-20715	93	44	curvature	curvature	NOUN
fcis-20715	93	45	,	,	PUNCT
fcis-20715	93	46	and	and	CCONJ
fcis-20715	93	47	ct	ct	NOUN
fcis-20715	93	48	as	as	ADP
fcis-20715	93	49	the	the	DET
fcis-20715	93	50	torsion	torsion	NOUN
fcis-20715	93	51	.	.	PUNCT
fcis-20715	94	1	then	then	ADV
fcis-20715	94	2	,	,	PUNCT
fcis-20715	94	3	the	the	DET
fcis-20715	94	4	pitch	pitch	NOUN
fcis-20715	94	5	rate	rate	NOUN
fcis-20715	94	6	and	and	CCONJ
fcis-20715	94	7	yaw	yaw	NOUN
fcis-20715	94	8	rate	rate	NOUN
fcis-20715	94	9	of	of	ADP
fcis-20715	94	10	the	the	DET
fcis-20715	94	11	frenet	frenet	ADJ
fcis-20715	94	12	frame	frame	NOUN
fcis-20715	94	13	{	{	PUNCT
fcis-20715	94	14	f	f	X
fcis-20715	94	15	}	}	PUNCT
fcis-20715	94	16	can	can	AUX
fcis-20715	94	17	be	be	AUX
fcis-20715	94	18	calculated	calculate	VERB
fcis-20715	94	19	according	accord	VERB
fcis-20715	94	20	to	to	ADP
fcis-20715	94	21	the	the	DET
fcis-20715	94	22	following	follow	VERB
fcis-20715	94	23	equations	equation	NOUN
fcis-20715	94	24	:	:	PUNCT
fcis-20715	94	25	f	f	PROPN
fcis-20715	94	26	t	t	PROPN
fcis-20715	94	27	t	t	X
fcis-20715	94	28	fq	fq	PROPN
fcis-20715	95	1	=	=	PROPN
fcis-20715	95	2	c	c	NOUN
fcis-20715	95	3	s	s	NOUN
fcis-20715	95	4	=	=	NOUN
fcis-20715	95	5	c	c	X
fcis-20715	95	6	u	u	NOUN
fcis-20715	95	7	,	,	PUNCT
fcis-20715	95	8	f	f	PROPN
fcis-20715	96	1	c	c	NOUN
fcis-20715	96	2	c	c	NOUN
fcis-20715	96	3	fr	fr	NOUN
fcis-20715	97	1	=	=	NOUN
fcis-20715	97	2	c	c	NOUN
fcis-20715	97	3	s	s	NOUN
fcis-20715	97	4	=	=	NOUN
fcis-20715	97	5	c	c	NOUN
fcis-20715	97	6	u	u	NOUN
fcis-20715	97	7	,	,	PUNCT
fcis-20715	97	8	fs	fs	PROPN
fcis-20715	97	9	=	=	NOUN
fcis-20715	97	10	u	u	NOUN
fcis-20715	97	11	(	(	PUNCT
fcis-20715	97	12	8)	8)	NUM
fcis-20715	97	13	these	these	DET
fcis-20715	97	14	equations	equation	NOUN
fcis-20715	97	15	facilitate	facilitate	VERB
fcis-20715	97	16	the	the	DET
fcis-20715	97	17	determination	determination	NOUN
fcis-20715	97	18	of	of	ADP
fcis-20715	97	19	the	the	DET
fcis-20715	97	20	dynamic	dynamic	ADJ
fcis-20715	97	21	behavior	behavior	NOUN
fcis-20715	97	22	of	of	ADP
fcis-20715	97	23	the	the	DET
fcis-20715	97	24	uav	uav	PROPN
fcis-20715	97	25	in	in	ADP
fcis-20715	97	26	relation	relation	NOUN
fcis-20715	97	27	to	to	ADP
fcis-20715	97	28	the	the	DET
fcis-20715	97	29	desired	desire	VERB
fcis-20715	97	30	path	path	NOUN
fcis-20715	97	31	,	,	PUNCT
fcis-20715	97	32	enabling	enable	VERB
fcis-20715	97	33	precise	precise	ADJ
fcis-20715	97	34	control	control	NOUN
fcis-20715	97	35	strategies	strategy	NOUN
fcis-20715	97	36	for	for	ADP
fcis-20715	97	37	trajectory	trajectory	NOUN
fcis-20715	97	38	tracking	tracking	NOUN
fcis-20715	97	39	.	.	PUNCT
fcis-20715	98	1	the	the	DET
fcis-20715	98	2	path	path	NOUN
fcis-20715	98	3	tracking	tracking	NOUN
fcis-20715	98	4	task	task	NOUN
fcis-20715	98	5	can	can	AUX
fcis-20715	98	6	be	be	AUX
fcis-20715	98	7	transformed	transform	VERB
fcis-20715	98	8	into	into	ADP
fcis-20715	98	9	the	the	DET
fcis-20715	98	10	stability	stability	NOUN
fcis-20715	98	11	problem	problem	NOUN
fcis-20715	98	12	of	of	ADP
fcis-20715	98	13	the	the	DET
fcis-20715	98	14	following	follow	VERB
fcis-20715	98	15	system	system	NOUN
fcis-20715	98	16	:	:	PUNCT
fcis-20715	98	17			NOUN
fcis-20715	98	18			SYM
fcis-20715	98	19			NOUN
fcis-20715	98	20			SYM
fcis-20715	98	21			NOUN
fcis-20715	98	22			SYM
fcis-20715	98	23			NOUN
fcis-20715	98	24			PUNCT
fcis-20715	98	25			NOUN
fcis-20715	98	26			NOUN
fcis-20715	98	27	1	1	NUM
fcis-20715	98	28	2	2	NUM
fcis-20715	98	29	3	3	NUM
fcis-20715	98	30	ucos	ucos	NOUN
fcis-20715	98	31	cos	cos	PROPN
fcis-20715	98	32	tan	tan	PROPN
fcis-20715	98	33	cos	cos	PROPN
fcis-20715	98	34	/	/	SYM
fcis-20715	98	35	/	/	SYM
fcis-20715	98	36	/	/	SYM
fcis-20715	98	37	e	e	NOUN
fcis-20715	98	38	x	x	PUNCT
fcis-20715	98	39	e	e	NOUN
fcis-20715	98	40	ed	ed	NOUN
fcis-20715	98	41	d	d	X
fcis-20715	98	42	f	f	X
fcis-20715	98	43	e	e	X
fcis-20715	98	44	f	f	PROPN
fcis-20715	98	45	e	e	X
fcis-20715	98	46	x	x	PROPN
fcis-20715	98	47	e	e	VERB
fcis-20715	98	48	y	y	PROPN
fcis-20715	98	49	e	e	X
fcis-20715	98	50	f	f	PROPN
fcis-20715	98	51	e	e	X
fcis-20715	98	52	y	y	PROPN
fcis-20715	98	53	e	e	PROPN
fcis-20715	98	54	z	z	NOUN
fcis-20715	98	55	e	e	NOUN
fcis-20715	98	56	f	f	PROPN
fcis-20715	98	57	e	e	PROPN
fcis-20715	98	58	z	z	NOUN
fcis-20715	98	59	e	e	X
fcis-20715	98	60	e	e	X
fcis-20715	98	61	e	e	X
fcis-20715	98	62	e	e	X
fcis-20715	98	63	e	e	X
fcis-20715	98	64	e	e	X
fcis-20715	98	65	f	f	PROPN
fcis-20715	98	66	f	f	PROPN
fcis-20715	98	67	e	e	X
fcis-20715	98	68	f	f	PROPN
fcis-20715	98	69	e	e	PROPN
fcis-20715	98	70	f	f	PROPN
fcis-20715	98	71	f	f	PROPN
fcis-20715	98	72	e	e	PROPN
fcis-20715	98	73	d	d	PROPN
fcis-20715	98	74	e	e	PROPN
fcis-20715	98	75	ed	ed	NOUN
fcis-20715	98	76	e	e	PROPN
fcis-20715	98	77	f	f	PROPN
fcis-20715	98	78	e	e	PROPN
fcis-20715	98	79	ed	ed	NOUN
fcis-20715	98	80	e	e	PROPN
fcis-20715	98	81	f	f	PROPN
fcis-20715	98	82	uk	uk	PROPN
fcis-20715	98	83	u	u	PROPN
fcis-20715	98	84	u	u	NOUN
fcis-20715	98	85	q	q	PROPN
fcis-20715	98	86	z	z	NOUN
fcis-20715	98	87	r	r	NOUN
fcis-20715	98	88	y	y	PROPN
fcis-20715	98	89	d	d	NOUN
fcis-20715	98	90	x	x	X
fcis-20715	98	91	uk	uk	PROPN
fcis-20715	98	92	r	r	NOUN
fcis-20715	98	93	x	x	PROPN
fcis-20715	98	94	d	d	X
fcis-20715	98	95	y	y	PROPN
fcis-20715	98	96	uk	uk	PROPN
fcis-20715	98	97	q	q	PROPN
fcis-20715	99	1	x	x	PUNCT
fcis-20715	99	2	d	d	NOUN
fcis-20715	99	3	z	z	NOUN
fcis-20715	99	4	p	p	X
fcis-20715	99	5	q	q	NOUN
fcis-20715	99	6	r	r	NOUN
fcis-20715	99	7	r	r	NOUN
fcis-20715	99	8	q	q	NOUN
fcis-20715	99	9	r	r	NOUN
fcis-20715	99	10	p	p	NOUN
fcis-20715	99	11	p	p	X
fcis-20715	99	12	t	t	X
fcis-20715	99	13	q	q	NOUN
fcis-20715	99	14	q	q	X
fcis-20715	99	15	q	q	X
fcis-20715	99	16	t	t	NOUN
fcis-20715	99	17	q	q	NOUN
fcis-20715	99	18	r	r	NOUN
fcis-20715	99	19	r	r	NOUN
fcis-20715	99	20	r	r	NOUN
fcis-20715	99	21	t	t	NOUN
fcis-20715	99	22	r	r	NOUN
fcis-20715	99	23	p	p	X
fcis-20715	99	24			PROPN
fcis-20715	99	25			NOUN
fcis-20715	99	26			NUM
fcis-20715	99	27			NOUN
fcis-20715	99	28			NOUN
fcis-20715	99	29			X
fcis-20715	99	30			X
fcis-20715	99	31			NOUN
fcis-20715	99	32			X
fcis-20715	99	33			PROPN
fcis-20715	99	34			PROPN
fcis-20715	99	35			PROPN
fcis-20715	99	36			VERB
fcis-20715	99	37			PROPN
fcis-20715	99	38			VERB
fcis-20715	99	39			ADV
fcis-20715	99	40			NOUN
fcis-20715	99	41			PROPN
fcis-20715	99	42			ADJ
fcis-20715	99	43			NOUN
fcis-20715	99	44			NOUN
fcis-20715	99	45			PROPN
fcis-20715	99	46			ADJ
fcis-20715	99	47			NOUN
fcis-20715	99	48			NOUN
fcis-20715	99	49			NOUN
fcis-20715	99	50			NOUN
fcis-20715	99	51			NOUN
fcis-20715	99	52			NOUN
fcis-20715	99	53			ADV
fcis-20715	99	54			PUNCT
fcis-20715	99	55			X
fcis-20715	99	56			NOUN
fcis-20715	99	57			NOUN
fcis-20715	99	58			NOUN
fcis-20715	99	59			NOUN
fcis-20715	99	60			NOUN
fcis-20715	99	61			NOUN
fcis-20715	99	62			NOUN
fcis-20715	99	63			NOUN
fcis-20715	99	64			NOUN
fcis-20715	99	65			NOUN
fcis-20715	99	66			NUM
fcis-20715	99	67			NOUN
fcis-20715	99	68			NOUN
fcis-20715	99	69			NOUN
fcis-20715	99	70			ADJ
fcis-20715	99	71			NOUN
fcis-20715	99	72			VERB
fcis-20715	99	73			PROPN
fcis-20715	99	74			PROPN
fcis-20715	99	75			NOUN
fcis-20715	99	76			NOUN
fcis-20715	99	77			NOUN
fcis-20715	99	78			NOUN
fcis-20715	99	79			NOUN
fcis-20715	99	80			NOUN
fcis-20715	99	81			PROPN
fcis-20715	99	82			NOUN
fcis-20715	99	83			NOUN
fcis-20715	99	84			NOUN
fcis-20715	99	85			NOUN
fcis-20715	99	86			PROPN
fcis-20715	99	87			PROPN
fcis-20715	99	88			PROPN
fcis-20715	99	89			PROPN
fcis-20715	99	90			PROPN
fcis-20715	99	91			PROPN
fcis-20715	99	92			PROPN
fcis-20715	99	93			NOUN
fcis-20715	99	94			NOUN
fcis-20715	99	95			NOUN
fcis-20715	99	96			NOUN
fcis-20715	99	97			NOUN
fcis-20715	99	98			NOUN
fcis-20715	99	99			NOUN
fcis-20715	99	100			NOUN
fcis-20715	99	101			NOUN
fcis-20715	99	102			NOUN
fcis-20715	99	103			NOUN
fcis-20715	100	1			PROPN
fcis-20715	100	2			PUNCT
fcis-20715	101	1			PUNCT
fcis-20715	102	1			PUNCT
fcis-20715	103	1			PUNCT
fcis-20715	104	1			PUNCT
fcis-20715	105	1			PUNCT
fcis-20715	106	1			PUNCT
fcis-20715	107	1			NOUN
fcis-20715	107	2			NOUN
fcis-20715	107	3	(	(	PUNCT
fcis-20715	107	4	9	9	NUM
fcis-20715	107	5	)	)	PUNCT
fcis-20715	107	6	and	and	CCONJ
fcis-20715	107	7	c	c	ADP
fcis-20715	107	8	o	o	NOUN
fcis-20715	107	9	s	s	X
fcis-20715	108	1	(	(	PUNCT
fcis-20715	108	2	c	c	NOUN
fcis-20715	108	3	o	o	NOUN
fcis-20715	108	4	s	s	NOUN
fcis-20715	108	5	1	1	NUM
fcis-20715	108	6	)	)	PUNCT
fcis-20715	108	7	/x	/x	PUNCT
fcis-20715	109	1	e	e	X
fcis-20715	109	2	e	e	X
fcis-20715	109	3	ek	ek	PROPN
fcis-20715	109	4			PROPN
fcis-20715	109	5			PROPN
fcis-20715	109	6			PROPN
fcis-20715	109	7			PROPN
fcis-20715	109	8	,	,	PUNCT
fcis-20715	109	9	cos	cos	ADP
fcis-20715	109	10	sin	sin	NOUN
fcis-20715	109	11	/y	/y	PUNCT
fcis-20715	110	1	e	e	X
fcis-20715	110	2	e	e	X
fcis-20715	110	3	ek	ek	PROPN
fcis-20715	110	4			PROPN
fcis-20715	110	5			PROPN
fcis-20715	110	6			NOUN
fcis-20715	110	7	,	,	PUNCT
fcis-20715	110	8	sin	sin	NOUN
fcis-20715	110	9	/z	/z	PUNCT
fcis-20715	111	1	e	e	X
fcis-20715	111	2	ek	ek	PROPN
fcis-20715	111	3			PROPN
fcis-20715	111	4			PROPN
fcis-20715	111	5	.	.	PUNCT
fcis-20715	112	1	therefore	therefore	ADV
fcis-20715	112	2	,	,	PUNCT
fcis-20715	112	3	the	the	DET
fcis-20715	112	4	control	control	NOUN
fcis-20715	112	5	system	system	NOUN
fcis-20715	112	6	(	(	PUNCT
fcis-20715	112	7	9	9	NUM
fcis-20715	112	8	)	)	PUNCT
fcis-20715	112	9	can	can	AUX
fcis-20715	112	10	be	be	AUX
fcis-20715	112	11	considered	consider	VERB
fcis-20715	112	12	as	as	ADP
fcis-20715	112	13	:	:	PUNCT
fcis-20715	112	14	,	,	PUNCT
fcis-20715	112	15	(	(	PUNCT
fcis-20715	112	16	10	10	NUM
fcis-20715	112	17	)	)	PUNCT
fcis-20715	112	18	in	in	ADP
fcis-20715	112	19	this	this	DET
fcis-20715	112	20	context	context	NOUN
fcis-20715	112	21	,	,	PUNCT
fcis-20715	112	22	t	t	X
fcis-20715	112	23	]	]	PUNCT
fcis-20715	112	24	[	[	PUNCT
fcis-20715	112	25	e	e	X
fcis-20715	112	26	e	e	X
fcis-20715	112	27	e	e	X
fcis-20715	112	28	e	e	X
fcis-20715	112	29	e	e	X
fcis-20715	112	30	e	e	X
fcis-20715	112	31	e	e	X
fcis-20715	112	32	e	e	X
fcis-20715	112	33	ex	ex	X
fcis-20715	112	34	y	y	PROPN
fcis-20715	112	35	z	z	PROPN
fcis-20715	112	36	p	p	NOUN
fcis-20715	112	37	q	q	PROPN
fcis-20715	112	38	r	r	PROPN
fcis-20715	112	39			PROPN
fcis-20715	112	40	x	x	PROPN
fcis-20715	112	41	represents	represent	VERB
fcis-20715	112	42	the	the	DET
fcis-20715	112	43	state	state	NOUN
fcis-20715	112	44	variables	variable	NOUN
fcis-20715	112	45	,	,	PUNCT
fcis-20715	112	46	while	while	SCONJ
fcis-20715	112	47	t	t	PROPN
fcis-20715	112	48	[	[	PUNCT
fcis-20715	112	49	]	]	X
fcis-20715	112	50	ed	ed	PROPN
fcis-20715	112	51	ed	ed	PROPN
fcis-20715	112	52	edu	edu	PROPN
fcis-20715	112	53	q	q	PROPN
fcis-20715	112	54	ru	ru	PROPN
fcis-20715	112	55	denotes	denote	VERB
fcis-20715	112	56	the	the	DET
fcis-20715	112	57	input	input	NOUN
fcis-20715	112	58	variables	variable	NOUN
fcis-20715	112	59	.	.	PUNCT
fcis-20715	113	1	t	t	X
fcis-20715	113	2	]	]	PUNCT
fcis-20715	113	3	[	[	PUNCT
fcis-20715	113	4	e	e	X
fcis-20715	113	5	e	e	X
fcis-20715	113	6	e	e	X
fcis-20715	113	7	e	e	X
fcis-20715	113	8	e	e	X
fcis-20715	113	9	e	e	X
fcis-20715	113	10	e	e	X
fcis-20715	113	11	e	e	X
fcis-20715	113	12	ex	ex	X
fcis-20715	113	13	y	y	PROPN
fcis-20715	113	14	z	z	PROPN
fcis-20715	114	1	p	p	NOUN
fcis-20715	114	2	q	q	PROPN
fcis-20715	114	3	r	r	PROPN
fcis-20715	114	4			PROPN
fcis-20715	114	5	x	x	PROPN
fcis-20715	114	6	constitutes	constitute	VERB
fcis-20715	114	7	an	an	DET
fcis-20715	114	8	augmented	augment	VERB
fcis-20715	114	9	error	error	NOUN
fcis-20715	114	10	matrix	matrix	NOUN
fcis-20715	114	11	comprising	comprise	VERB
fcis-20715	114	12	errors	error	NOUN
fcis-20715	114	13	in	in	ADP
fcis-20715	114	14	position	position	NOUN
fcis-20715	114	15	,	,	PUNCT
fcis-20715	114	16	orientation	orientation	NOUN
fcis-20715	114	17	,	,	PUNCT
fcis-20715	114	18	and	and	CCONJ
fcis-20715	114	19	angular	angular	ADJ
fcis-20715	114	20	velocity	velocity	NOUN
fcis-20715	114	21	.	.	PUNCT
fcis-20715	115	1	s	s	VERB
fcis-20715	115	2	at	at	ADP
fcis-20715	115	3	the	the	DET
fcis-20715	115	4	equilibrium	equilibrium	NOUN
fcis-20715	115	5	point	point	NOUN
fcis-20715	115	6	,	,	PUNCT
fcis-20715	115	7	the	the	DET
fcis-20715	115	8	control	control	NOUN
fcis-20715	115	9	system	system	NOUN
fcis-20715	115	10	given	give	VERB
fcis-20715	115	11	by	by	ADP
fcis-20715	115	12	equation	equation	NOUN
fcis-20715	115	13	(	(	PUNCT
fcis-20715	115	14	10	10	NUM
fcis-20715	115	15	)	)	PUNCT
fcis-20715	115	16	can	can	AUX
fcis-20715	115	17	be	be	AUX
fcis-20715	115	18	discretized	discretize	VERB
fcis-20715	115	19	as	as	SCONJ
fcis-20715	115	20	follows	follow	VERB
fcis-20715	115	21	:	:	PUNCT
fcis-20715	115	22	1	1	NUM
fcis-20715	115	23	(	(	PUNCT
fcis-20715	115	24	11	11	NUM
fcis-20715	115	25	)	)	PUNCT
fcis-20715	115	26	in	in	ADP
fcis-20715	115	27	the	the	DET
fcis-20715	115	28	context	context	NOUN
fcis-20715	115	29	of	of	ADP
fcis-20715	115	30	discretization	discretization	NOUN
fcis-20715	115	31	,	,	PUNCT
fcis-20715	115	32	matrices	matrix	NOUN
fcis-20715	115	33	ka	ka	PROPN
fcis-20715	115	34	and	and	CCONJ
fcis-20715	115	35	kb	kb	PROPN
fcis-20715	115	36	correspond	correspond	VERB
fcis-20715	115	37	to	to	ADP
fcis-20715	115	38	the	the	DET
fcis-20715	115	39	system	system	NOUN
fcis-20715	115	40	matrix	matrix	NOUN
fcis-20715	115	41	and	and	CCONJ
fcis-20715	115	42	the	the	DET
fcis-20715	115	43	control	control	NOUN
fcis-20715	115	44	input	input	NOUN
fcis-20715	115	45	matrix	matrix	NOUN
fcis-20715	115	46	of	of	ADP
fcis-20715	115	47	the	the	DET
fcis-20715	115	48	state	state	NOUN
fcis-20715	115	49	equation	equation	NOUN
fcis-20715	115	50	,	,	PUNCT
fcis-20715	115	51	respectively	respectively	ADV
fcis-20715	115	52	.	.	PUNCT
fcis-20715	116	1	their	their	PRON
fcis-20715	116	2	specific	specific	ADJ
fcis-20715	116	3	forms	form	NOUN
fcis-20715	116	4	are	be	AUX
fcis-20715	116	5	presented	present	VERB
fcis-20715	116	6	as	as	ADP
fcis-20715	116	7	:	:	PUNCT
fcis-20715	116	8	61	61	NUM
fcis-20715	116	9	16	16	NUM
fcis-20715	116	10	26	26	NUM
fcis-20715	116	11	35	35	NUM
fcis-20715	116	12	66	66	NUM
fcis-20715	116	13	69	69	NUM
fcis-20715	116	14	1	1	NUM
fcis-20715	116	15	2	2	NUM
fcis-20715	116	16	1	1	NUM
fcis-20715	116	17	0	0	NUM
fcis-20715	116	18	0	0	NUM
fcis-20715	116	19	0	0	NUM
fcis-20715	116	20	0	0	NUM
fcis-20715	116	21	0	0	NUM
fcis-20715	116	22	1	1	NUM
fcis-20715	116	23	0	0	NUM
fcis-20715	116	24	0	0	NUM
fcis-20715	116	25	0	0	NUM
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fcis-20715	116	30	1	1	NUM
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fcis-20715	116	76	1	1	NUM
fcis-20715	116	77	/	/	SYM
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fcis-20715	116	88	/	/	SYM
fcis-20715	116	89	f	f	X
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fcis-20715	120	26			NOUN
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fcis-20715	120	28			NOUN
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fcis-20715	121	1			NUM
fcis-20715	121	2			NOUN
fcis-20715	121	3			NOUN
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fcis-20715	121	53			ADJ
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fcis-20715	124	24			NOUN
fcis-20715	124	25			NOUN
fcis-20715	124	26			NOUN
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fcis-20715	124	28			NOUN
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fcis-20715	124	31			PROPN
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fcis-20715	124	49	reselected	reselecte	VERB
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fcis-20715	124	54	(	(	PUNCT
fcis-20715	124	55	)	)	PUNCT
fcis-20715	124	56	kx	kx	PROPN
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fcis-20715	124	61	(	(	PUNCT
fcis-20715	124	62	)	)	PUNCT
fcis-20715	124	63	(	(	PUNCT
fcis-20715	124	64	)	)	PUNCT
fcis-20715	124	65	(	(	PUNCT
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fcis-20715	124	68	k	k	NOUN
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fcis-20715	126	1			PROPN
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fcis-20715	126	3			PROPN
fcis-20715	126	4			NOUN
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fcis-20715	126	6			PROPN
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fcis-20715	126	12	)	)	PUNCT
fcis-20715	126	13	consequently	consequently	ADV
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fcis-20715	126	15	future	future	ADJ
fcis-20715	126	16	state	state	NOUN
fcis-20715	126	17	variables	variable	NOUN
fcis-20715	126	18	can	can	AUX
fcis-20715	126	19	be	be	AUX
fcis-20715	126	20	expressed	express	VERB
fcis-20715	126	21	as	as	ADP
fcis-20715	126	22	:	:	PUNCT
fcis-20715	126	23			NOUN
fcis-20715	126	24			PROPN
fcis-20715	126	25			NOUN
fcis-20715	126	26			PROPN
fcis-20715	126	27	2	2	NUM
fcis-20715	126	28	1	1	NUM
fcis-20715	126	29	(	(	PUNCT
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fcis-20715	126	31	)	)	PUNCT
fcis-20715	126	32	(	(	PUNCT
fcis-20715	126	33	)	)	PUNCT
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fcis-20715	126	35	(	(	PUNCT
fcis-20715	126	36	)	)	PUNCT
fcis-20715	126	37	,	,	PUNCT
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fcis-20715	126	39	2	2	X
fcis-20715	126	40	)	)	PUNCT
fcis-20715	126	41	(	(	PUNCT
fcis-20715	126	42	1	1	X
fcis-20715	126	43	)	)	PUNCT
fcis-20715	126	44	δ	δ	NOUN
fcis-20715	126	45	(	(	PUNCT
fcis-20715	126	46	1	1	NUM
fcis-20715	126	47	)	)	PUNCT
fcis-20715	126	48	(	(	PUNCT
fcis-20715	126	49	)	)	PUNCT
fcis-20715	126	50	δ	δ	PROPN
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fcis-20715	126	52	)	)	PUNCT
fcis-20715	126	53	δ	δ	PROPN
fcis-20715	126	54	(	(	PUNCT
fcis-20715	126	55	1	1	NUM
fcis-20715	126	56	)	)	PUNCT
fcis-20715	126	57	,	,	PUNCT
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fcis-20715	126	59	)	)	PUNCT
fcis-20715	126	60	δ	δ	PROPN
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fcis-20715	126	63	δ	δ	PROPN
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fcis-20715	129	1	k	k	PROPN
fcis-20715	129	2	k	k	PROPN
fcis-20715	129	3	k	k	PROPN
fcis-20715	129	4	k	k	PROPN
fcis-20715	129	5	k	k	PROPN
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fcis-20715	129	7	n	n	PROPN
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fcis-20715	129	9	k	k	PROPN
fcis-20715	129	10	k	k	PROPN
fcis-20715	129	11	k	k	PROPN
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fcis-20715	129	14	k	k	PROPN
fcis-20715	130	1	k	k	PROPN
fcis-20715	130	2	c	c	PROPN
fcis-20715	131	1	k	k	PROPN
fcis-20715	131	2	k	k	PROPN
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fcis-20715	132	2	k	k	PROPN
fcis-20715	132	3	k	k	PROPN
fcis-20715	132	4	k	k	PROPN
fcis-20715	132	5	k	k	PROPN
fcis-20715	132	6	k	k	PROPN
fcis-20715	132	7	k	k	PROPN
fcis-20715	132	8	k	k	PROPN
fcis-20715	133	1	n	n	CCONJ
fcis-20715	133	2	k	k	PROPN
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fcis-20715	133	4	k	k	PROPN
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fcis-20715	133	8			PROPN
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fcis-20715	134	7			PROPN
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fcis-20715	134	15			PUNCT
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fcis-20715	134	17			PUNCT
fcis-20715	134	18			NOUN
fcis-20715	134	19			VERB
fcis-20715	134	20			NOUN
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fcis-20715	134	22	a	a	DET
fcis-20715	134	23	x	x	SYM
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fcis-20715	134	25	u	u	X
fcis-20715	134	26	x	x	NOUN
fcis-20715	134	27	a	a	DET
fcis-20715	134	28	x	x	X
fcis-20715	134	29	b	b	X
fcis-20715	134	30	u	u	NOUN
fcis-20715	134	31	a	a	X
fcis-20715	134	32	x	x	NOUN
fcis-20715	134	33	a	a	DET
fcis-20715	134	34	b	b	X
fcis-20715	134	35	u	u	NOUN
fcis-20715	134	36	b	b	PROPN
fcis-20715	134	37	u	u	X
fcis-20715	134	38	x	x	PROPN
fcis-20715	134	39	a	a	PRON
fcis-20715	134	40	x	x	X
fcis-20715	134	41	a	a	DET
fcis-20715	134	42	b	b	NOUN
fcis-20715	134	43	u	u	NOUN
fcis-20715	134	44	a	a	DET
fcis-20715	134	45	b	b	X
fcis-20715	134	46	u	u	NOUN
fcis-20715	134	47	(	(	PUNCT
fcis-20715	134	48	14	14	NUM
fcis-20715	134	49	)	)	PUNCT
fcis-20715	134	50	in	in	ADP
fcis-20715	134	51	this	this	DET
fcis-20715	134	52	context	context	NOUN
fcis-20715	135	1	,	,	PUNCT
fcis-20715	135	2	it	it	PRON
fcis-20715	135	3	is	be	AUX
fcis-20715	135	4	stipulated	stipulate	VERB
fcis-20715	135	5	that	that	SCONJ
fcis-20715	135	6	nc	nc	PROPN
fcis-20715	135	7	<	<	X
fcis-20715	135	8	np	np	INTJ
fcis-20715	135	9	.	.	PROPN
fcis-20715	135	10	herein	herein	PROPN
fcis-20715	135	11	,	,	PUNCT
fcis-20715	135	12	np	np	PROPN
fcis-20715	135	13	denotes	denote	VERB
fcis-20715	135	14	the	the	DET
fcis-20715	135	15	prediction	prediction	NOUN
fcis-20715	135	16	horizon	horizon	NOUN
fcis-20715	135	17	,	,	PUNCT
fcis-20715	135	18	while	while	SCONJ
fcis-20715	135	19	nc	nc	PROPN
fcis-20715	135	20	signifies	signify	VERB
fcis-20715	135	21	the	the	DET
fcis-20715	135	22	control	control	NOUN
fcis-20715	135	23	horizon	horizon	NOUN
fcis-20715	135	24	.	.	PUNCT
fcis-20715	136	1	in	in	ADP
fcis-20715	136	2	(	(	PUNCT
fcis-20715	136	3	14	14	NUM
fcis-20715	136	4	)	)	PUNCT
fcis-20715	136	5	,	,	PUNCT
fcis-20715	136	6	the	the	DET
fcis-20715	136	7	explicit	explicit	ADJ
fcis-20715	136	8	forms	form	NOUN
fcis-20715	136	9	of	of	ADP
fcis-20715	136	10	parameters	parameter	NOUN
fcis-20715	136	11	ka	ka	PROPN
fcis-20715	136	12	,	,	PUNCT
fcis-20715	136	13	kb	kb	PROPN
fcis-20715	136	14	,	,	PUNCT
fcis-20715	136	15	δ	δ	PROPN
fcis-20715	136	16	(	(	PUNCT
fcis-20715	136	17	)	)	PUNCT
fcis-20715	136	18	ku	ku	PROPN
fcis-20715	136	19	,	,	PUNCT
fcis-20715	136	20	and	and	CCONJ
fcis-20715	136	21	kc	kc	PROPN
fcis-20715	136	22	are	be	AUX
fcis-20715	136	23	detailed	detail	VERB
fcis-20715	136	24	as	as	SCONJ
fcis-20715	136	25	follows	follow	VERB
fcis-20715	136	26	:	:	PUNCT
fcis-20715	136	27	3	3	NUM
fcis-20715	136	28	9	9	NUM
fcis-20715	136	29	30	30	NUM
fcis-20715	136	30	k	k	NOUN
fcis-20715	136	31	k	k	PROPN
fcis-20715	136	32	k	k	PROPN
fcis-20715	136	33			PROPN
fcis-20715	136	34			PROPN
fcis-20715	136	35			NOUN
fcis-20715	136	36			PROPN
fcis-20715	136	37			NOUN
fcis-20715	136	38			NOUN
fcis-20715	136	39			VERB
fcis-20715	136	40			PROPN
fcis-20715	136	41	a	a	DET
fcis-20715	136	42	b	b	PROPN
fcis-20715	136	43	a	a	X
fcis-20715	136	44	i	i	NOUN
fcis-20715	136	45	,	,	PUNCT
fcis-20715	137	1	3	3	NUM
fcis-20715	137	2	k	k	NOUN
fcis-20715	137	3	k	k	PROPN
fcis-20715	138	1			PROPN
fcis-20715	138	2			NOUN
fcis-20715	138	3			PROPN
fcis-20715	138	4			NOUN
fcis-20715	138	5			NOUN
fcis-20715	138	6			VERB
fcis-20715	138	7			PROPN
fcis-20715	138	8	b	b	PROPN
fcis-20715	138	9	b	b	PROPN
fcis-20715	139	1	i	i	PROPN
fcis-20715	139	2	,	,	PUNCT
fcis-20715	139	3	δ	δ	PROPN
fcis-20715	139	4	(	(	PUNCT
fcis-20715	139	5	)	)	PUNCT
fcis-20715	139	6	(	(	PUNCT
fcis-20715	139	7	)	)	PUNCT
fcis-20715	139	8	(	(	PUNCT
fcis-20715	139	9	1)k	1)k	NUM
fcis-20715	139	10	k	k	PROPN
fcis-20715	139	11	k	k	PROPN
fcis-20715	139	12			PROPN
fcis-20715	139	13	u	u	VERB
fcis-20715	139	14	u	u	PROPN
fcis-20715	139	15	u	u	PROPN
fcis-20715	139	16	,	,	PUNCT
fcis-20715	139	17			ADJ
fcis-20715	139	18	3	3	NOUN
fcis-20715	139	19	3	3	NUM
fcis-20715	139	20	9k	9k	NUM
fcis-20715	139	21	c	c	PROPN
fcis-20715	140	1	i	i	INTJ
fcis-20715	140	2	0	0	PUNCT
fcis-20715	140	3	(	(	PUNCT
fcis-20715	140	4	15	15	NUM
fcis-20715	140	5	)	)	PUNCT
fcis-20715	140	6	consequently	consequently	ADV
fcis-20715	140	7	,	,	PUNCT
fcis-20715	140	8	the	the	DET
fcis-20715	140	9	future	future	ADJ
fcis-20715	140	10	output	output	NOUN
fcis-20715	140	11	variable	variable	NOUN
fcis-20715	140	12	can	can	AUX
fcis-20715	140	13	be	be	AUX
fcis-20715	140	14	predicted	predict	VERB
fcis-20715	140	15	as	as	ADP
fcis-20715	140	16	:	:	PUNCT
fcis-20715	140	17			NOUN
fcis-20715	140	18			PROPN
fcis-20715	140	19			NOUN
fcis-20715	140	20			PROPN
fcis-20715	140	21	2	2	NUM
fcis-20715	140	22	1	1	NUM
fcis-20715	140	23	(	(	PUNCT
fcis-20715	140	24	1	1	NUM
fcis-20715	140	25	)	)	PUNCT
fcis-20715	140	26	(	(	PUNCT
fcis-20715	140	27	)	)	PUNCT
fcis-20715	140	28	δ	δ	PROPN
fcis-20715	140	29	(	(	PUNCT
fcis-20715	140	30	)	)	PUNCT
fcis-20715	140	31	,	,	PUNCT
fcis-20715	140	32	(	(	PUNCT
fcis-20715	140	33	2	2	X
fcis-20715	140	34	)	)	PUNCT
fcis-20715	140	35	(	(	PUNCT
fcis-20715	140	36	)	)	PUNCT
fcis-20715	140	37	δ	δ	PROPN
fcis-20715	140	38	(	(	PUNCT
fcis-20715	140	39	)	)	PUNCT
fcis-20715	140	40	δ	δ	PROPN
fcis-20715	140	41	(	(	PUNCT
fcis-20715	140	42	1	1	NUM
fcis-20715	140	43	)	)	PUNCT
fcis-20715	140	44	,	,	PUNCT
fcis-20715	140	45	(	(	PUNCT
fcis-20715	140	46	)	)	PUNCT
fcis-20715	140	47	δ	δ	PROPN
fcis-20715	140	48	(	(	PUNCT
fcis-20715	140	49	)	)	PUNCT
fcis-20715	140	50	δ	δ	PROPN
fcis-20715	140	51	1	1	NUM
fcis-20715	140	52	.	.	PUNCT
fcis-20715	141	1	p	p	X
fcis-20715	142	1	p	p	X
fcis-20715	142	2	p	p	X
fcis-20715	142	3	c	c	PROPN
fcis-20715	143	1	k	k	PROPN
fcis-20715	143	2	k	k	PROPN
fcis-20715	144	1	k	k	PROPN
fcis-20715	145	1	k	k	PROPN
fcis-20715	146	1	k	k	PROPN
fcis-20715	147	1	k	k	PROPN
fcis-20715	148	1	k	k	PROPN
fcis-20715	149	1	k	k	PROPN
fcis-20715	150	1	k	k	PROPN
fcis-20715	151	1	k	k	PROPN
fcis-20715	152	1	k	k	PROPN
fcis-20715	153	1	n	n	CCONJ
fcis-20715	154	1	n	n	PROPN
fcis-20715	154	2	p	p	NOUN
fcis-20715	154	3	k	k	PROPN
fcis-20715	154	4	k	k	PROPN
fcis-20715	154	5	k	k	PROPN
fcis-20715	154	6	k	k	PROPN
fcis-20715	154	7	k	k	PROPN
fcis-20715	154	8	n	n	CCONJ
fcis-20715	154	9	n	n	PROPN
fcis-20715	154	10	k	k	PROPN
fcis-20715	155	1	k	k	PROPN
fcis-20715	156	1	k	k	PROPN
fcis-20715	156	2	c	c	PROPN
fcis-20715	157	1	k	k	PROPN
fcis-20715	157	2	k	k	PROPN
fcis-20715	158	1	k	k	PROPN
fcis-20715	158	2	k	k	PROPN
fcis-20715	158	3	k	k	PROPN
fcis-20715	158	4	k	k	PROPN
fcis-20715	158	5	k	k	PROPN
fcis-20715	158	6	k	k	PROPN
fcis-20715	159	1	n	n	CCONJ
fcis-20715	159	2	k	k	PROPN
fcis-20715	159	3	k	k	PROPN
fcis-20715	159	4	k	k	PROPN
fcis-20715	159	5	n	n	CCONJ
fcis-20715	159	6			PROPN
fcis-20715	159	7			PROPN
fcis-20715	159	8			PROPN
fcis-20715	160	1			PROPN
fcis-20715	160	2			ADV
fcis-20715	160	3			PUNCT
fcis-20715	160	4			PROPN
fcis-20715	160	5			PROPN
fcis-20715	160	6			PUNCT
fcis-20715	160	7			VERB
fcis-20715	160	8			PROPN
fcis-20715	160	9			PROPN
fcis-20715	160	10			PROPN
fcis-20715	160	11			PUNCT
fcis-20715	160	12			PUNCT
fcis-20715	160	13			PUNCT
fcis-20715	160	14			PROPN
fcis-20715	160	15			VERB
fcis-20715	160	16			NOUN
fcis-20715	160	17	y	y	NOUN
fcis-20715	160	18	c	c	NOUN
fcis-20715	160	19	a	a	PRON
fcis-20715	160	20	x	x	X
fcis-20715	161	1	c	c	NOUN
fcis-20715	161	2	b	b	SYM
fcis-20715	161	3	u	u	X
fcis-20715	161	4	y	y	PROPN
fcis-20715	161	5	c	c	PROPN
fcis-20715	161	6	a	a	PRON
fcis-20715	161	7	x	x	X
fcis-20715	161	8	c	c	PROPN
fcis-20715	161	9	a	a	DET
fcis-20715	161	10	b	b	X
fcis-20715	161	11	u	u	NOUN
fcis-20715	161	12	c	c	PROPN
fcis-20715	161	13	b	b	SYM
fcis-20715	161	14	u	u	X
fcis-20715	161	15	y	y	PROPN
fcis-20715	161	16	c	c	PROPN
fcis-20715	161	17	a	a	PRON
fcis-20715	161	18	x	x	X
fcis-20715	161	19	c	c	PROPN
fcis-20715	161	20	a	a	DET
fcis-20715	161	21	b	b	X
fcis-20715	161	22	u	u	NOUN
fcis-20715	161	23	c	c	PROPN
fcis-20715	161	24	a	a	DET
fcis-20715	161	25	b	b	X
fcis-20715	161	26	u	u	NOUN
fcis-20715	161	27	(	(	PUNCT
fcis-20715	161	28	16	16	NUM
fcis-20715	161	29	)	)	PUNCT
fcis-20715	161	30	the	the	DET
fcis-20715	161	31	following	follow	VERB
fcis-20715	161	32	results	result	NOUN
fcis-20715	161	33	were	be	AUX
fcis-20715	161	34	obtained	obtain	VERB
fcis-20715	161	35	upon	upon	SCONJ
fcis-20715	161	36	consolidation	consolidation	NOUN
fcis-20715	161	37	:	:	PUNCT
fcis-20715	161	38	(	(	PUNCT
fcis-20715	161	39	k+1	k+1	NOUN
fcis-20715	161	40	)	)	PUNCT
fcis-20715	161	41	(	(	PUNCT
fcis-20715	161	42	k	k	NOUN
fcis-20715	161	43	)	)	PUNCT
fcis-20715	161	44	(	(	PUNCT
fcis-20715	161	45	k)y	k)y	X
fcis-20715	161	46	=	=	SYM
fcis-20715	161	47	mx	mx	PROPN
fcis-20715	161	48	+	+	CCONJ
fcis-20715	161	49	pδu	pδu	ADJ
fcis-20715	161	50	(	(	PUNCT
fcis-20715	161	51	17	17	NUM
fcis-20715	161	52	)	)	PUNCT
fcis-20715	161	53			NOUN
fcis-20715	161	54			PUNCT
fcis-20715	161	55	(	(	PUNCT
fcis-20715	161	56	1	1	NUM
fcis-20715	161	57	)	)	PUNCT
fcis-20715	161	58	(	(	PUNCT
fcis-20715	161	59	2	2	X
fcis-20715	161	60	)	)	PUNCT
fcis-20715	161	61	(	(	PUNCT
fcis-20715	161	62	3	3	X
fcis-20715	161	63	)	)	PUNCT
fcis-20715	161	64	(	(	PUNCT
fcis-20715	161	65	1	1	X
fcis-20715	161	66	)	)	PUNCT
fcis-20715	162	1	p	p	NOUN
fcis-20715	162	2	k	k	PROPN
fcis-20715	162	3	k	k	PROPN
fcis-20715	162	4	kk	kk	PROPN
fcis-20715	162	5	k	k	PROPN
fcis-20715	162	6	n	n	CCONJ
fcis-20715	162	7			PROPN
fcis-20715	162	8			NOUN
fcis-20715	162	9			NOUN
fcis-20715	162	10			NOUN
fcis-20715	162	11			NOUN
fcis-20715	162	12			NOUN
fcis-20715	162	13			PROPN
fcis-20715	162	14			NUM
fcis-20715	162	15			NOUN
fcis-20715	162	16			PROPN
fcis-20715	162	17			NOUN
fcis-20715	162	18			NOUN
fcis-20715	162	19			NOUN
fcis-20715	162	20			DET
fcis-20715	162	21			PROPN
fcis-20715	162	22			VERB
fcis-20715	162	23	y	y	PROPN
fcis-20715	162	24	y	y	PROPN
fcis-20715	162	25	yy	yy	PROPN
fcis-20715	162	26	y	y	PROPN
fcis-20715	162	27	,	,	PUNCT
fcis-20715	162	28	2	2	NUM
fcis-20715	162	29	3	3	NUM
fcis-20715	162	30	p	p	NOUN
fcis-20715	162	31	k	k	PROPN
fcis-20715	162	32	k	k	PROPN
fcis-20715	162	33	k	k	PROPN
fcis-20715	162	34	k	k	PROPN
fcis-20715	162	35	k	k	PROPN
fcis-20715	162	36	k	k	PROPN
fcis-20715	163	1	n	n	CCONJ
fcis-20715	163	2	k	k	PROPN
fcis-20715	163	3	k	k	PROPN
fcis-20715	163	4			PROPN
fcis-20715	163	5			ADJ
fcis-20715	163	6			NOUN
fcis-20715	163	7			PROPN
fcis-20715	163	8			NOUN
fcis-20715	163	9			NOUN
fcis-20715	163	10			NOUN
fcis-20715	164	1			NUM
fcis-20715	164	2			NOUN
fcis-20715	164	3			NOUN
fcis-20715	164	4			NOUN
fcis-20715	164	5			NOUN
fcis-20715	164	6			NOUN
fcis-20715	164	7			NOUN
fcis-20715	164	8			VERB
fcis-20715	164	9			PROPN
fcis-20715	164	10	c	c	PROPN
fcis-20715	164	11	a	a	DET
fcis-20715	164	12	c	c	NOUN
fcis-20715	164	13	a	a	DET
fcis-20715	164	14	c	c	NOUN
fcis-20715	164	15	am	be	AUX
fcis-20715	164	16	c	c	NOUN
fcis-20715	164	17	a	a	DET
fcis-20715	164	18			ADJ
fcis-20715	164	19	,	,	PUNCT
fcis-20715	164	20	2	2	NUM
fcis-20715	164	21	-1	-1	NOUN
fcis-20715	164	22	-2	-2	INTJ
fcis-20715	164	23	-3	-3	PUNCT
fcis-20715	165	1	-p	-p	ADP
fcis-20715	166	1	p	p	X
fcis-20715	167	1	p	p	X
fcis-20715	167	2	p	p	X
fcis-20715	168	1	c	c	NOUN
fcis-20715	168	2	kk	kk	PROPN
fcis-20715	169	1	k	k	PROPN
fcis-20715	169	2	kk	kk	PROPN
fcis-20715	170	1	k	k	PROPN
fcis-20715	170	2	k	k	PROPN
fcis-20715	171	1	k	k	PROPN
fcis-20715	171	2	k	k	PROPN
fcis-20715	171	3	k	k	PROPN
fcis-20715	171	4	kk	kk	PROPN
fcis-20715	171	5	k	k	PROPN
fcis-20715	171	6	k	k	PROPN
fcis-20715	171	7	n	n	CCONJ
fcis-20715	171	8	n	n	CCONJ
fcis-20715	171	9	n	n	CCONJ
fcis-20715	171	10	n	n	CCONJ
fcis-20715	171	11	n	n	NOUN
fcis-20715	171	12	k	k	NOUN
fcis-20715	172	1	k	k	PROPN
fcis-20715	172	2	k	k	PROPN
fcis-20715	172	3	k	k	PROPN
fcis-20715	172	4	k	k	PROPN
fcis-20715	172	5	k	k	PROPN
fcis-20715	172	6	k	k	PROPN
fcis-20715	172	7	kk	kk	X
fcis-20715	172	8	k	k	PROPN
fcis-20715	172	9	k	k	PROPN
fcis-20715	172	10	k	k	PROPN
fcis-20715	172	11			PROPN
fcis-20715	172	12			ADJ
fcis-20715	172	13			NOUN
fcis-20715	172	14			PROPN
fcis-20715	172	15			NOUN
fcis-20715	172	16			NOUN
fcis-20715	172	17			NOUN
fcis-20715	172	18			NOUN
fcis-20715	172	19			NOUN
fcis-20715	172	20			NOUN
fcis-20715	172	21			NOUN
fcis-20715	172	22			NOUN
fcis-20715	172	23			NOUN
fcis-20715	172	24			NOUN
fcis-20715	172	25			NOUN
fcis-20715	172	26			PROPN
fcis-20715	172	27			PROPN
fcis-20715	172	28	k	k	PROPN
fcis-20715	172	29	c	c	PROPN
fcis-20715	172	30	b	b	PROPN
fcis-20715	172	31	0	0	NUM
fcis-20715	172	32	0	0	NUM
fcis-20715	172	33	0	0	NUM
fcis-20715	172	34	c	c	PROPN
fcis-20715	172	35	a	a	DET
fcis-20715	172	36	b	b	PROPN
fcis-20715	172	37	c	c	NOUN
fcis-20715	172	38	b	b	PROPN
fcis-20715	172	39	0	0	NUM
fcis-20715	172	40	0	0	NUM
fcis-20715	172	41	p=	p=	PROPN
fcis-20715	172	42	c	c	PROPN
fcis-20715	172	43	a	a	DET
fcis-20715	172	44	b	b	PROPN
fcis-20715	172	45	c	c	NOUN
fcis-20715	172	46	a	a	DET
fcis-20715	172	47	b	b	NOUN
fcis-20715	172	48	c	c	NOUN
fcis-20715	172	49	b	b	PROPN
fcis-20715	172	50	0	0	PUNCT
fcis-20715	172	51	c	c	PROPN
fcis-20715	172	52	a	a	DET
fcis-20715	172	53	b	b	NOUN
fcis-20715	172	54	c	c	NOUN
fcis-20715	172	55	a	a	DET
fcis-20715	172	56	b	b	NOUN
fcis-20715	172	57	c	c	NOUN
fcis-20715	172	58	a	a	DET
fcis-20715	172	59	b	b	NOUN
fcis-20715	172	60	c	c	NOUN
fcis-20715	172	61	a	a	DET
fcis-20715	172	62	b	b	PROPN
fcis-20715	172	63			ADJ
fcis-20715	172	64			PROPN
fcis-20715	172	65			PROPN
fcis-20715	172	66			PROPN
fcis-20715	172	67			ADJ
fcis-20715	172	68			NOUN
fcis-20715	172	69			NOUN
fcis-20715	172	70			NOUN
fcis-20715	172	71			NOUN
fcis-20715	172	72	(	(	PUNCT
fcis-20715	172	73	18	18	NUM
fcis-20715	172	74	)	)	PUNCT
fcis-20715	172	75	in	in	ADP
fcis-20715	172	76	this	this	DET
fcis-20715	172	77	study	study	NOUN
fcis-20715	172	78	,	,	PUNCT
fcis-20715	172	79	the	the	DET
fcis-20715	172	80	parameters	parameter	NOUN
fcis-20715	172	81	minδu	minδu	NOUN
fcis-20715	172	82	and	and	CCONJ
fcis-20715	172	83	maxδu	maxδu	NOUN
fcis-20715	172	84	are	be	AUX
fcis-20715	172	85	defined	define	VERB
fcis-20715	172	86	as	as	ADP
fcis-20715	172	87	the	the	DET
fcis-20715	172	88	minimum	minimum	ADJ
fcis-20715	172	89	and	and	CCONJ
fcis-20715	172	90	maximum	maximum	ADJ
fcis-20715	172	91	variations	variation	NOUN
fcis-20715	172	92	in	in	ADP
fcis-20715	172	93	input	input	NOUN
fcis-20715	172	94	quantity	quantity	NOUN
fcis-20715	172	95	,	,	PUNCT
fcis-20715	172	96	respectively	respectively	ADV
fcis-20715	172	97	,	,	PUNCT
fcis-20715	172	98	while	while	SCONJ
fcis-20715	172	99	minu	minu	NOUN
fcis-20715	172	100	and	and	CCONJ
fcis-20715	172	101	maxu	maxu	NOUN
fcis-20715	172	102	represent	represent	VERB
fcis-20715	172	103	the	the	DET
fcis-20715	172	104	minimum	minimum	ADJ
fcis-20715	172	105	and	and	CCONJ
fcis-20715	172	106	maximum	maximum	ADJ
fcis-20715	172	107	values	value	NOUN
fcis-20715	172	108	of	of	ADP
fcis-20715	172	109	the	the	DET
fcis-20715	172	110	input	input	NOUN
fcis-20715	172	111	quantity	quantity	NOUN
fcis-20715	172	112	.	.	PUNCT
fcis-20715	173	1	control	control	NOUN
fcis-20715	173	2	variable	variable	ADJ
fcis-20715	173	3	amplitude	amplitude	NOUN
fcis-20715	173	4	and	and	CCONJ
fcis-20715	173	5	increment	increment	NOUN
fcis-20715	173	6	constraints	constraint	NOUN
fcis-20715	173	7	are	be	AUX
fcis-20715	173	8	taken	take	VERB
fcis-20715	173	9	into	into	ADP
fcis-20715	173	10	account	account	NOUN
fcis-20715	173	11	as	as	SCONJ
fcis-20715	173	12	follows	follow	VERB
fcis-20715	173	13	:	:	PUNCT
fcis-20715	173	14	min	min	PROPN
fcis-20715	173	15	max	max	PROPN
fcis-20715	173	16	min	min	PROPN
fcis-20715	173	17	max	max	PROPN
fcis-20715	173	18	δ	δ	PROPN
fcis-20715	173	19	δ	δ	PROPN
fcis-20715	173	20	(	(	PUNCT
fcis-20715	173	21	)	)	PUNCT
fcis-20715	173	22	δ	δ	PROPN
fcis-20715	173	23	,	,	PUNCT
fcis-20715	173	24	0,1	0,1	NUM
fcis-20715	173	25	,	,	PUNCT
fcis-20715	173	26	1	1	NUM
fcis-20715	173	27	(	(	PUNCT
fcis-20715	173	28	)	)	PUNCT
fcis-20715	173	29	,	,	PUNCT
fcis-20715	173	30	0,1	0,1	NUM
fcis-20715	173	31	,	,	PUNCT
fcis-20715	173	32	1	1	NUM
fcis-20715	173	33	c	c	NOUN
fcis-20715	173	34	c	c	NOUN
fcis-20715	173	35	t	t	PROPN
fcis-20715	173	36	k	k	PROPN
fcis-20715	173	37	k	k	PROPN
fcis-20715	173	38	n	n	ADP
fcis-20715	173	39	t	t	NOUN
fcis-20715	173	40	k	k	PROPN
fcis-20715	173	41	k	k	PROPN
fcis-20715	173	42	n	n	CCONJ
fcis-20715	173	43			PROPN
fcis-20715	173	44			ADV
fcis-20715	173	45			PROPN
fcis-20715	173	46			PROPN
fcis-20715	173	47			PROPN
fcis-20715	174	1			NUM
fcis-20715	174	2			NOUN
fcis-20715	174	3			ADV
fcis-20715	174	4			NOUN
fcis-20715	174	5			NOUN
fcis-20715	175	1			CCONJ
fcis-20715	175	2			NOUN
fcis-20715	175	3			NOUN
fcis-20715	175	4	u	u	NOUN
fcis-20715	175	5	u	u	NOUN
fcis-20715	175	6	u	u	NOUN
fcis-20715	175	7	u	u	X
fcis-20715	175	8	u	u	NOUN
fcis-20715	175	9	u	u	NOUN
fcis-20715	175	10	(	(	PUNCT
fcis-20715	175	11	19	19	NUM
fcis-20715	175	12	)	)	PUNCT
fcis-20715	175	13	regarding	regard	VERB
fcis-20715	175	14	the	the	DET
fcis-20715	175	15	stability	stability	NOUN
fcis-20715	175	16	issue	issue	NOUN
fcis-20715	175	17	of	of	ADP
fcis-20715	175	18	the	the	DET
fcis-20715	175	19	system	system	NOUN
fcis-20715	175	20	,	,	PUNCT
fcis-20715	175	21	it	it	PRON
fcis-20715	175	22	is	be	AUX
fcis-20715	175	23	imperative	imperative	ADJ
fcis-20715	175	24	to	to	PART
fcis-20715	175	25	ensure	ensure	VERB
fcis-20715	175	26	that	that	SCONJ
fcis-20715	175	27	the	the	DET
fcis-20715	175	28	predicted	predict	VERB
fcis-20715	175	29	output	output	NOUN
fcis-20715	175	30	remains	remain	VERB
fcis-20715	175	31	as	as	ADV
fcis-20715	175	32	close	close	ADJ
fcis-20715	175	33	to	to	ADP
fcis-20715	175	34	zero	zero	NUM
fcis-20715	175	35	as	as	ADP
fcis-20715	175	36	possible	possible	ADJ
fcis-20715	175	37	within	within	ADP
fcis-20715	175	38	the	the	DET
fcis-20715	175	39	forecasting	forecasting	NOUN
fcis-20715	175	40	horizon	horizon	NOUN
fcis-20715	175	41	.	.	PUNCT
fcis-20715	176	1	the	the	DET
fcis-20715	176	2	task	task	NOUN
fcis-20715	176	3	of	of	ADP
fcis-20715	176	4	the	the	DET
fcis-20715	176	5	model	model	ADJ
fcis-20715	176	6	predictive	predictive	ADJ
fcis-20715	176	7	controller	controller	NOUN
fcis-20715	176	8	is	be	AUX
fcis-20715	176	9	to	to	PART
fcis-20715	176	10	compute	compute	VERB
fcis-20715	176	11	the	the	DET
fcis-20715	176	12	optimal	optimal	ADJ
fcis-20715	176	13	control	control	NOUN
fcis-20715	176	14	vector	vector	NOUN
fcis-20715	176	15	δu	δu	NOUN
fcis-20715	176	16	,	,	PUNCT
fcis-20715	176	17	which	which	PRON
fcis-20715	176	18	minimizes	minimize	VERB
fcis-20715	176	19	the	the	DET
fcis-20715	176	20	predicted	predict	VERB
fcis-20715	176	21	output	output	NOUN
fcis-20715	176	22	.	.	PUNCT
fcis-20715	177	1	the	the	DET
fcis-20715	177	2	cost	cost	NOUN
fcis-20715	177	3	function	function	NOUN
fcis-20715	177	4	jcost	jcost	NOUN
fcis-20715	177	5	,	,	PUNCT
fcis-20715	177	6	chosen	choose	VERB
fcis-20715	177	7	as	as	ADP
fcis-20715	177	8	the	the	DET
fcis-20715	177	9	sum	sum	NOUN
fcis-20715	177	10	of	of	ADP
fcis-20715	177	11	terminal	terminal	ADJ
fcis-20715	177	12	and	and	CCONJ
fcis-20715	177	13	input	input	NOUN
fcis-20715	177	14	costs	cost	NOUN
fcis-20715	177	15	,	,	PUNCT
fcis-20715	177	16	is	be	AUX
fcis-20715	177	17	formulated	formulate	VERB
fcis-20715	177	18	as	as	ADP
fcis-20715	177	19	:	:	PUNCT
fcis-20715	177	20	costj	costj	NOUN
fcis-20715	177	21	(	(	PUNCT
fcis-20715	177	22	1	1	NUM
fcis-20715	177	23	)	)	PUNCT
fcis-20715	177	24	(	(	PUNCT
fcis-20715	177	25	1	1	X
fcis-20715	177	26	)	)	PUNCT
fcis-20715	177	27	δ	δ	NOUN
fcis-20715	177	28	(	(	PUNCT
fcis-20715	177	29	)	)	PUNCT
fcis-20715	177	30	δ	δ	PROPN
fcis-20715	177	31	(	(	PUNCT
fcis-20715	177	32	)	)	PUNCT
fcis-20715	177	33	t	t	PROPN
fcis-20715	177	34	tk	tk	PROPN
fcis-20715	177	35	k	k	PROPN
fcis-20715	177	36	k	k	PROPN
fcis-20715	177	37	k	k	PROPN
fcis-20715	177	38			PUNCT
fcis-20715	177	39			PUNCT
fcis-20715	177	40	y	y	PROPN
fcis-20715	177	41	qy	qy	NOUN
fcis-20715	177	42	u	u	NOUN
fcis-20715	177	43	r	r	NOUN
fcis-20715	177	44	u	u	NOUN
fcis-20715	177	45	(	(	PUNCT
fcis-20715	177	46	20	20	NUM
fcis-20715	177	47	)	)	PUNCT
fcis-20715	177	48	wherein	wherein	ADJ
fcis-20715	177	49	q	q	NOUN
fcis-20715	177	50	and	and	CCONJ
fcis-20715	177	51	r	r	NOUN
fcis-20715	177	52	denote	denote	NOUN
fcis-20715	177	53	:	:	PUNCT
fcis-20715	177	54	1	1	NUM
fcis-20715	177	55	2	2	NUM
fcis-20715	177	56	3	3	NUM
fcis-20715	177	57	4	4	NUM
fcis-20715	177	58	5	5	NUM
fcis-20715	177	59	6	6	NUM
fcis-20715	177	60	7	7	NUM
fcis-20715	177	61	n	n	PROPN
fcis-20715	177	62	q	q	NOUN
fcis-20715	177	63	q	q	X
fcis-20715	177	64	q	q	X
fcis-20715	177	65	q	q	X
fcis-20715	177	66	q	q	X
fcis-20715	177	67	q	q	X
fcis-20715	177	68	q	q	X
fcis-20715	177	69			X
fcis-20715	177	70			PROPN
fcis-20715	177	71			ADJ
fcis-20715	177	72			NOUN
fcis-20715	177	73			PROPN
fcis-20715	177	74			NOUN
fcis-20715	177	75			NOUN
fcis-20715	177	76			NOUN
fcis-20715	177	77			NOUN
fcis-20715	177	78			NOUN
fcis-20715	178	1			NUM
fcis-20715	178	2			ADJ
fcis-20715	178	3			NOUN
fcis-20715	178	4			NOUN
fcis-20715	178	5			NOUN
fcis-20715	178	6			NOUN
fcis-20715	178	7			NOUN
fcis-20715	178	8			NOUN
fcis-20715	178	9			NOUN
fcis-20715	178	10			NOUN
fcis-20715	178	11			NOUN
fcis-20715	178	12			PROPN
fcis-20715	178	13			PROPN
fcis-20715	178	14	q	q	PROPN
fcis-20715	179	1	i	i	PRON
fcis-20715	179	2	,	,	PUNCT
fcis-20715	179	3	1	1	NUM
fcis-20715	179	4	2	2	NUM
fcis-20715	179	5	3	3	NUM
fcis-20715	179	6	nc	nc	NOUN
fcis-20715	179	7	r	r	NOUN
fcis-20715	179	8	r	r	NOUN
fcis-20715	179	9	r	r	NOUN
fcis-20715	179	10			PROPN
fcis-20715	179	11			NOUN
fcis-20715	179	12			NOUN
fcis-20715	180	1			NUM
fcis-20715	180	2			ADJ
fcis-20715	180	3			NOUN
fcis-20715	180	4			PROPN
fcis-20715	180	5			NOUN
fcis-20715	180	6			PROPN
fcis-20715	180	7			PROPN
fcis-20715	180	8	r	r	NOUN
fcis-20715	180	9	i	i	PRON
fcis-20715	180	10	(	(	PUNCT
fcis-20715	180	11	21	21	NUM
fcis-20715	180	12	)	)	PUNCT
fcis-20715	180	13	taking	take	VERB
fcis-20715	180	14	into	into	ADP
fcis-20715	180	15	account	account	NOUN
fcis-20715	180	16	the	the	DET
fcis-20715	180	17	constraints	constraint	NOUN
fcis-20715	180	18	at	at	ADP
fcis-20715	180	19	each	each	DET
fcis-20715	180	20	step	step	NOUN
fcis-20715	180	21	,	,	PUNCT
fcis-20715	180	22	the	the	DET
fcis-20715	180	23	optimization	optimization	NOUN
fcis-20715	180	24	problem	problem	NOUN
fcis-20715	180	25	of	of	ADP
fcis-20715	180	26	mpc	mpc	PROPN
fcis-20715	180	27	can	can	AUX
fcis-20715	180	28	be	be	AUX
fcis-20715	180	29	equivalently	equivalently	ADV
fcis-20715	180	30	addressed	address	VERB
fcis-20715	180	31	through	through	ADP
fcis-20715	180	32	the	the	DET
fcis-20715	180	33	solution	solution	NOUN
fcis-20715	180	34	of	of	ADP
fcis-20715	180	35	the	the	DET
fcis-20715	180	36	subsequent	subsequent	ADJ
fcis-20715	180	37	quadratic	quadratic	ADJ
fcis-20715	180	38	programming	programming	NOUN
fcis-20715	180	39	:	:	PUNCT
fcis-20715	181	1	62	62	NUM
fcis-20715	181	2	costmin	costmin	NOUN
fcis-20715	181	3	j	j	PROPN
fcis-20715	181	4	(	(	PUNCT
fcis-20715	181	5	1	1	NUM
fcis-20715	181	6	)	)	PUNCT
fcis-20715	181	7	(	(	PUNCT
fcis-20715	181	8	1	1	X
fcis-20715	181	9	)	)	PUNCT
fcis-20715	181	10	δ	δ	NOUN
fcis-20715	181	11	(	(	PUNCT
fcis-20715	181	12	)	)	PUNCT
fcis-20715	181	13	δ	δ	PROPN
fcis-20715	181	14	(	(	PUNCT
fcis-20715	181	15	)	)	PUNCT
fcis-20715	181	16	t	t	NOUN
fcis-20715	181	17	t	t	X
fcis-20715	181	18	u	u	X
fcis-20715	181	19	k	k	PROPN
fcis-20715	181	20	k	k	PROPN
fcis-20715	181	21	k	k	PROPN
fcis-20715	181	22	k	k	PROPN
fcis-20715	181	23			X
fcis-20715	181	24			PROPN
fcis-20715	181	25			ADV
fcis-20715	181	26			PUNCT
fcis-20715	181	27	y	y	PROPN
fcis-20715	181	28	qy	qy	NOUN
fcis-20715	181	29	u	u	NOUN
fcis-20715	181	30	r	r	NOUN
fcis-20715	181	31	u	u	NOUN
fcis-20715	181	32	(	(	PUNCT
fcis-20715	181	33	22	22	NUM
fcis-20715	181	34	)	)	PUNCT
fcis-20715	181	35	upon	upon	SCONJ
fcis-20715	181	36	entering	enter	VERB
fcis-20715	181	37	the	the	DET
fcis-20715	181	38	next	next	ADJ
fcis-20715	181	39	sampling	sampling	NOUN
fcis-20715	181	40	period	period	NOUN
fcis-20715	181	41	,	,	PUNCT
fcis-20715	181	42	the	the	DET
fcis-20715	181	43	mpc	mpc	NOUN
fcis-20715	181	44	will	will	AUX
fcis-20715	181	45	reiterate	reiterate	VERB
fcis-20715	181	46	the	the	DET
fcis-20715	181	47	aforementioned	aforementioned	ADJ
fcis-20715	181	48	process	process	NOUN
fcis-20715	181	49	and	and	CCONJ
fcis-20715	181	50	recalculate	recalculate	VERB
fcis-20715	181	51	the	the	DET
fcis-20715	181	52	control	control	NOUN
fcis-20715	181	53	signal	signal	NOUN
fcis-20715	181	54	based	base	VERB
fcis-20715	181	55	on	on	ADP
fcis-20715	181	56	the	the	DET
fcis-20715	181	57	most	most	ADV
fcis-20715	181	58	recently	recently	ADV
fcis-20715	181	59	measured	measure	VERB
fcis-20715	181	60	state	state	NOUN
fcis-20715	181	61	vector	vector	NOUN
fcis-20715	181	62	.	.	PUNCT
fcis-20715	181	63	3.2	3.2	NUM
fcis-20715	181	64	.	.	PUNCT
fcis-20715	182	1	design	design	NOUN
fcis-20715	182	2	of	of	ADP
fcis-20715	182	3	dynamic	dynamic	ADJ
fcis-20715	182	4	controllers	controller	NOUN
fcis-20715	182	5	for	for	ADP
fcis-20715	182	6	tiltrotor	tiltrotor	PROPN
fcis-20715	182	7	uav	uav	PROPN
fcis-20715	182	8	based	base	VERB
fcis-20715	182	9	on	on	ADP
fcis-20715	182	10	radial	radial	ADJ
fcis-20715	182	11	basis	basis	NOUN
fcis-20715	182	12	function	function	NOUN
fcis-20715	182	13	neural	neural	ADJ
fcis-20715	182	14	network	network	NOUN
fcis-20715	182	15	adaptive	adaptive	ADJ
fcis-20715	182	16	sliding	slide	VERB
fcis-20715	182	17	mode	mode	NOUN
fcis-20715	182	18	control	control	NOUN
fcis-20715	182	19	this	this	DET
fcis-20715	182	20	section	section	NOUN
fcis-20715	182	21	will	will	AUX
fcis-20715	182	22	present	present	VERB
fcis-20715	182	23	the	the	DET
fcis-20715	182	24	development	development	NOUN
fcis-20715	182	25	of	of	ADP
fcis-20715	182	26	a	a	DET
fcis-20715	182	27	dynamic	dynamic	ADJ
fcis-20715	182	28	controller	controller	NOUN
fcis-20715	182	29	.	.	PUNCT
fcis-20715	183	1	the	the	DET
fcis-20715	183	2	error	error	NOUN
fcis-20715	183	3	variable	variable	NOUN
fcis-20715	183	4	and	and	CCONJ
fcis-20715	183	5	the	the	DET
fcis-20715	183	6	sliding	slide	VERB
fcis-20715	183	7	mode	mode	NOUN
fcis-20715	183	8	function	function	NOUN
fcis-20715	183	9	are	be	AUX
fcis-20715	183	10	defined	define	VERB
fcis-20715	183	11	as	as	ADP
fcis-20715	183	12	:	:	SYM
fcis-20715	183	13	1	1	NUM
fcis-20715	183	14	2	2	NUM
fcis-20715	183	15	1	1	NUM
fcis-20715	183	16	1	1	NUM
fcis-20715	183	17	2	2	NUM
fcis-20715	183	18	10	10	NUM
fcis-20715	183	19	,	,	PUNCT
fcis-20715	183	20	d	d	INTJ
fcis-20715	183	21	,	,	PUNCT
fcis-20715	183	22	k	k	PROPN
fcis-20715	183	23	,	,	PUNCT
fcis-20715	184	1	(	(	PUNCT
fcis-20715	184	2	)	)	PUNCT
fcis-20715	184	3	t	t	PROPN
fcis-20715	184	4	d	d	PROPN
fcis-20715	184	5	a	a	DET
fcis-20715	184	6	s	s	X
fcis-20715	184	7	aux	aux	X
fcis-20715	184	8	auxz	auxz	PROPN
fcis-20715	184	9	v	v	ADP
fcis-20715	184	10	v	v	NOUN
fcis-20715	184	11	z	z	PROPN
fcis-20715	184	12	z	z	NOUN
fcis-20715	184	13	s	s	NOUN
fcis-20715	184	14	z	z	NOUN
fcis-20715	184	15	z	z	NOUN
fcis-20715	184	16	u	u	NOUN
fcis-20715	184	17	u	u	NOUN
fcis-20715	184	18	than	than	ADP
fcis-20715	184	19	z	z	NUM
fcis-20715	184	20			NOUN
fcis-20715	184	21			PROPN
fcis-20715	184	22			PROPN
fcis-20715	184	23			ADV
fcis-20715	184	24			PUNCT
fcis-20715	184	25			PROPN
fcis-20715	184	26	,	,	PUNCT
fcis-20715	184	27	t	t	PROPN
fcis-20715	184	28	1	1	NUM
fcis-20715	184	29	2	2	NUM
fcis-20715	184	30	3	3	NUM
fcis-20715	184	31	[	[	PUNCT
fcis-20715	184	32	]	]	X
fcis-20715	184	33	,	,	PUNCT
fcis-20715	184	34	k	k	PROPN
fcis-20715	184	35	diag(k	diag(k	PROPN
fcis-20715	184	36	k	k	PROPN
fcis-20715	184	37	k	k	PROPN
fcis-20715	184	38	)	)	PUNCT
fcis-20715	184	39	0	0	PUNCT
fcis-20715	185	1	d	d	NOUN
fcis-20715	185	2	d	d	PROPN
fcis-20715	185	3	d	d	PROPN
fcis-20715	185	4	d	d	X
fcis-20715	185	5	s	s	X
fcis-20715	185	6	s	s	X
fcis-20715	185	7	s	s	NOUN
fcis-20715	185	8	sv	sv	NOUN
fcis-20715	185	9	u	u	PROPN
fcis-20715	185	10	q	q	PROPN
fcis-20715	185	11	r	r	VERB
fcis-20715	185	12			NUM
fcis-20715	185	13			NUM
fcis-20715	185	14	(	(	PUNCT
fcis-20715	185	15	23	23	NUM
fcis-20715	185	16	)	)	PUNCT
fcis-20715	185	17	for	for	ADP
fcis-20715	185	18	the	the	DET
fcis-20715	185	19	nonlinear	nonlinear	ADJ
fcis-20715	185	20	uncertainty	uncertainty	NOUN
fcis-20715	185	21	bt	bt	NOUN
fcis-20715	185	22	in	in	ADP
fcis-20715	185	23	the	the	DET
fcis-20715	185	24	dynamics	dynamic	NOUN
fcis-20715	185	25	model	model	NOUN
fcis-20715	185	26	of	of	ADP
fcis-20715	185	27	a	a	DET
fcis-20715	185	28	tiltrotor	tiltrotor	PROPN
fcis-20715	185	29	uav	uav	PROPN
fcis-20715	185	30	,	,	PUNCT
fcis-20715	185	31	an	an	DET
fcis-20715	185	32	approximation	approximation	NOUN
fcis-20715	185	33	using	use	VERB
fcis-20715	185	34	radial	radial	ADJ
fcis-20715	185	35	basis	basis	NOUN
fcis-20715	185	36	function	function	NOUN
fcis-20715	185	37	neural	neural	ADJ
fcis-20715	185	38	networks	network	NOUN
fcis-20715	185	39	is	be	AUX
fcis-20715	185	40	employed	employ	VERB
fcis-20715	185	41	in	in	ADP
fcis-20715	185	42	the	the	DET
fcis-20715	185	43	following	follow	VERB
fcis-20715	185	44	manner	manner	NOUN
fcis-20715	185	45	:	:	PUNCT
fcis-20715	185	46	*	*	PUNCT
fcis-20715	185	47	t	t	X
fcis-20715	185	48	inb	inb	PROPN
fcis-20715	185	49	(	(	PUNCT
fcis-20715	185	50	)	)	PUNCT
fcis-20715	185	51	tw	tw	PROPN
fcis-20715	185	52	h	h	NOUN
fcis-20715	185	53	x	x	SYM
fcis-20715	185	54	ε	ε	PROPN
fcis-20715	185	55	,	,	PUNCT
fcis-20715	185	56	tin	tin	X
fcis-20715	185	57	[	[	PUNCT
fcis-20715	185	58	]	]	X
fcis-20715	185	59	t	t	X
fcis-20715	185	60	t	t	PROPN
fcis-20715	185	61	t	t	PROPN
fcis-20715	185	62	lx	lx	NOUN
fcis-20715	185	63	v	v	PROPN
fcis-20715	185	64	z	z	X
fcis-20715	185	65	,	,	PUNCT
fcis-20715	185	66	2	2	NUM
fcis-20715	185	67	in	in	ADP
fcis-20715	185	68	2	2	NUM
fcis-20715	185	69	(	(	PUNCT
fcis-20715	185	70	)	)	PUNCT
fcis-20715	185	71	exp	exp	NOUN
fcis-20715	185	72	,	,	PUNCT
fcis-20715	185	73	1,2,3	1,2,3	NUM
fcis-20715	185	74	2	2	NUM
fcis-20715	185	75	(	(	PUNCT
fcis-20715	185	76	)	)	PUNCT
fcis-20715	185	77	in	in	ADP
fcis-20715	185	78	i	i	PRON
fcis-20715	185	79	i	i	PRON
fcis-20715	186	1	i	i	PRON
fcis-20715	186	2	h	h	VERB
fcis-20715	187	1	i	i	PRON
fcis-20715	187	2	b	b	PROPN
fcis-20715	187	3			PROPN
fcis-20715	187	4			PROPN
fcis-20715	187	5			PROPN
fcis-20715	187	6			PROPN
fcis-20715	187	7			PROPN
fcis-20715	187	8	‖	‖	PROPN
fcis-20715	187	9	‖x	‖x	PROPN
fcis-20715	188	1	c	c	NOUN
fcis-20715	188	2	x	x	SYM
fcis-20715	188	3	(	(	PUNCT
fcis-20715	188	4	24	24	NUM
fcis-20715	188	5	)	)	PUNCT
fcis-20715	188	6	and	and	CCONJ
fcis-20715	188	7	the	the	DET
fcis-20715	188	8	ε	ε	PROPN
fcis-20715	188	9	is	be	AUX
fcis-20715	188	10	the	the	DET
fcis-20715	188	11	estimation	estimation	NOUN
fcis-20715	188	12	error	error	NOUN
fcis-20715	188	13	.	.	PUNCT
fcis-20715	189	1	the	the	DET
fcis-20715	189	2	output	output	NOUN
fcis-20715	189	3	of	of	ADP
fcis-20715	189	4	the	the	DET
fcis-20715	189	5	radial	radial	ADJ
fcis-20715	189	6	basis	basis	NOUN
fcis-20715	189	7	function	function	NOUN
fcis-20715	189	8	neural	neural	ADJ
fcis-20715	189	9	network	network	NOUN
fcis-20715	189	10	is	be	AUX
fcis-20715	189	11	defined	define	VERB
fcis-20715	189	12	as	as	ADP
fcis-20715	189	13			NUM
fcis-20715	189	14	t	t	NUM
fcis-20715	189	15	t	t	PROPN
fcis-20715	189	16	inb	inb	PROPN
fcis-20715	189	17	(	(	PUNCT
fcis-20715	189	18	)	)	PUNCT
fcis-20715	189	19	w	w	NOUN
fcis-20715	189	20	h	h	NOUN
fcis-20715	189	21	x	x	PROPN
fcis-20715	189	22	.	.	PUNCT
fcis-20715	190	1	matrix	matrix	NOUN
fcis-20715	190	2			PROPN
fcis-20715	190	3	t	t	PROPN
fcis-20715	190	4	w	w	NOUN
fcis-20715	190	5	represents	represent	VERB
fcis-20715	190	6	the	the	DET
fcis-20715	190	7	estimation	estimation	NOUN
fcis-20715	190	8	of	of	ADP
fcis-20715	190	9	optimal	optimal	ADJ
fcis-20715	190	10	weights	weight	NOUN
fcis-20715	190	11	,	,	PUNCT
fcis-20715	190	12	while	while	SCONJ
fcis-20715	190	13	*	*	PUNCT
fcis-20715	190	14	ˆw	ˆw	INTJ
fcis-20715	190	15	w	w	NOUN
fcis-20715	190	16	w	w	VERB
fcis-20715	190	17			PROPN
fcis-20715	190	18	denotes	denote	VERB
fcis-20715	190	19	the	the	DET
fcis-20715	190	20	estimation	estimation	NOUN
fcis-20715	190	21	error	error	NOUN
fcis-20715	190	22	.	.	PUNCT
fcis-20715	191	1	therefore	therefore	ADV
fcis-20715	191	2	,	,	PUNCT
fcis-20715	191	3	the	the	DET
fcis-20715	191	4	control	control	NOUN
fcis-20715	191	5	law	law	NOUN
fcis-20715	191	6	for	for	ADP
fcis-20715	191	7	the	the	DET
fcis-20715	191	8	kinematic	kinematic	ADJ
fcis-20715	191	9	controller	controller	NOUN
fcis-20715	191	10	of	of	ADP
fcis-20715	191	11	tiltrotor	tiltrotor	PROPN
fcis-20715	191	12	uav	uav	PROPN
fcis-20715	191	13	can	can	AUX
fcis-20715	191	14	be	be	AUX
fcis-20715	191	15	designed	design	VERB
fcis-20715	191	16	as	as	ADP
fcis-20715	191	17	:	:	PUNCT
fcis-20715	191	18	t	t	PROPN
fcis-20715	191	19	t	t	PROPN
fcis-20715	191	20	t	t	PROPN
fcis-20715	191	21	t	t	PROPN
fcis-20715	191	22	t	t	PROPN
fcis-20715	191	23	t	t	PROPN
fcis-20715	191	24	tt	tt	PROPN
fcis-20715	191	25	1	1	NUM
fcis-20715	191	26	2f	2f	NUM
fcis-20715	191	27	ˆv	ˆv	ADP
fcis-20715	191	28	v	v	NOUN
fcis-20715	191	29	b	b	PROPN
fcis-20715	191	30	(	(	PUNCT
fcis-20715	191	31	)	)	PUNCT
fcis-20715	191	32	(	(	PUNCT
fcis-20715	191	33	)	)	PUNCT
fcis-20715	191	34	/t	/t	PUNCT
fcis-20715	192	1	in	in	ADV
fcis-20715	192	2	se	se	PROPN
fcis-20715	193	1	k	k	PROPN
fcis-20715	193	2	s	s	PROPN
fcis-20715	193	3	k	k	PROPN
fcis-20715	193	4	sgn	sgn	NOUN
fcis-20715	193	5	s	s	PART
fcis-20715	193	6	w	w	NOUN
fcis-20715	193	7	h	h	NOUN
fcis-20715	194	1	k	k	NOUN
fcis-20715	195	1	x	x	X
fcis-20715	195	2	s	s	X
fcis-20715	195	3			NOUN
fcis-20715	195	4			ADP
fcis-20715	195	5			PROPN
fcis-20715	195	6			PROPN
fcis-20715	195	7			PUNCT
fcis-20715	195	8			PUNCT
fcis-20715	195	9			PROPN
fcis-20715	195	10			CCONJ
fcis-20715	195	11			PUNCT
fcis-20715	195	12			NOUN
fcis-20715	195	13			NUM
fcis-20715	195	14			NOUN
fcis-20715	195	15			PROPN
fcis-20715	195	16			PROPN
fcis-20715	195	17			PROPN
fcis-20715	195	18			PROPN
fcis-20715	195	19			NOUN
fcis-20715	195	20			NOUN
fcis-20715	195	21	(	(	PUNCT
fcis-20715	195	22	25	25	NUM
fcis-20715	195	23	)	)	PUNCT
fcis-20715	195	24	and	and	CCONJ
fcis-20715	195	25	1	1	NUM
fcis-20715	195	26	11	11	NUM
fcis-20715	195	27	12	12	NUM
fcis-20715	195	28	13d	13d	NOUN
fcis-20715	195	29	iag	iag	PROPN
fcis-20715	195	30	(	(	PUNCT
fcis-20715	195	31	,	,	PUNCT
fcis-20715	195	32	,	,	PUNCT
fcis-20715	195	33	)	)	PUNCT
fcis-20715	195	34	0k	0k	NOUN
fcis-20715	195	35	k	k	PROPN
fcis-20715	195	36	k	k	PROPN
fcis-20715	195	37	k	k	PROPN
fcis-20715	195	38			NUM
fcis-20715	195	39	,	,	PUNCT
fcis-20715	195	40	2	2	NUM
fcis-20715	195	41	21	21	NUM
fcis-20715	195	42	22	22	NUM
fcis-20715	195	43	23diag	23diag	NOUN
fcis-20715	195	44	(	(	PUNCT
fcis-20715	195	45	,	,	PUNCT
fcis-20715	195	46	,	,	PUNCT
fcis-20715	195	47	)	)	PUNCT
fcis-20715	195	48	0k	0k	NOUN
fcis-20715	195	49	k	k	PROPN
fcis-20715	195	50	k	k	PROPN
fcis-20715	195	51	k	k	PROPN
fcis-20715	195	52			NUM
fcis-20715	195	53	,	,	PUNCT
fcis-20715	195	54	2	2	NUM
fcis-20715	195	55	1	1	NUM
fcis-20715	195	56	|	|	ADV
fcis-20715	195	57	|(1	|(1	PROPN
fcis-20715	195	58	)	)	PUNCT
fcis-20715	195	59	ik	ik	PROPN
fcis-20715	195	60	s	s	PROPN
fcis-20715	195	61	ik	ik	PROPN
fcis-20715	195	62	k	k	PROPN
fcis-20715	195	63	e	e	PROPN
fcis-20715	195	64			PROPN
fcis-20715	195	65	ε	ε	PROPN
fcis-20715	195	66	ε	ε	PROPN
fcis-20715	195	67	,	,	PUNCT
fcis-20715	195	68	1	1	NUM
fcis-20715	195	69	0k	0k	NOUN
fcis-20715	195	70	ε	ε	PROPN
fcis-20715	195	71	,	,	PUNCT
fcis-20715	195	72	2	2	NUM
fcis-20715	195	73	0k	0k	NOUN
fcis-20715	195	74	ε	ε	PROPN
fcis-20715	195	75	,	,	PUNCT
fcis-20715	195	76	(	(	PUNCT
fcis-20715	195	77	i=1	i=1	X
fcis-20715	195	78	,	,	PUNCT
fcis-20715	195	79	2	2	NUM
fcis-20715	195	80	,	,	PUNCT
fcis-20715	195	81	3	3	NUM
fcis-20715	195	82	)	)	PUNCT
fcis-20715	195	83	to	to	PART
fcis-20715	195	84	validate	validate	VERB
fcis-20715	195	85	the	the	DET
fcis-20715	195	86	stability	stability	NOUN
fcis-20715	195	87	of	of	ADP
fcis-20715	195	88	the	the	DET
fcis-20715	195	89	system	system	NOUN
fcis-20715	195	90	with	with	ADP
fcis-20715	195	91	the	the	DET
fcis-20715	195	92	added	add	VERB
fcis-20715	195	93	controller	controller	NOUN
fcis-20715	195	94	,	,	PUNCT
fcis-20715	195	95	we	we	PRON
fcis-20715	195	96	may	may	AUX
fcis-20715	195	97	select	select	VERB
fcis-20715	195	98	a	a	DET
fcis-20715	195	99	lyapunov	lyapunov	ADJ
fcis-20715	195	100	function	function	NOUN
fcis-20715	195	101	as	as	SCONJ
fcis-20715	195	102	follows	follow	VERB
fcis-20715	195	103	:	:	PUNCT
fcis-20715	195	104	t	t	PROPN
fcis-20715	195	105	t	t	PROPN
fcis-20715	195	106	t	t	PROPN
fcis-20715	195	107	/	/	SYM
fcis-20715	195	108	2	2	NUM
fcis-20715	195	109	tr	tr	VERB
fcis-20715	195	110	(	(	PUNCT
fcis-20715	195	111	)	)	PUNCT
fcis-20715	195	112	/	/	SYM
fcis-20715	195	113	2v	2v	PROPN
fcis-20715	195	114	s	s	PART
fcis-20715	195	115	s	s	PROPN
fcis-20715	195	116	w	w	PROPN
fcis-20715	195	117	w	w	PROPN
fcis-20715	195	118			ADJ
fcis-20715	195	119			ADJ
fcis-20715	195	120			NOUN
fcis-20715	195	121	(	(	PUNCT
fcis-20715	195	122	26	26	NUM
fcis-20715	195	123	)	)	PUNCT
fcis-20715	195	124	in	in	ADP
fcis-20715	195	125	this	this	DET
fcis-20715	195	126	context	context	NOUN
fcis-20715	195	127	,	,	PUNCT
fcis-20715	195	128			PROPN
fcis-20715	195	129	represents	represent	VERB
fcis-20715	195	130	a	a	DET
fcis-20715	195	131	constant	constant	ADJ
fcis-20715	195	132	,	,	PUNCT
fcis-20715	195	133	and	and	CCONJ
fcis-20715	195	134	it	it	PRON
fcis-20715	195	135	must	must	AUX
fcis-20715	195	136	satisfy	satisfy	VERB
fcis-20715	195	137	the	the	DET
fcis-20715	195	138	condition	condition	NOUN
fcis-20715	195	139	0	0	NUM
fcis-20715	196	1			VERB
fcis-20715	196	2	.given	.given	NUM
fcis-20715	196	3	that	that	SCONJ
fcis-20715	196	4	all	all	DET
fcis-20715	196	5	terms	term	NOUN
fcis-20715	196	6	within	within	ADP
fcis-20715	196	7	the	the	DET
fcis-20715	196	8	function	function	NOUN
fcis-20715	196	9	are	be	AUX
fcis-20715	196	10	positive	positive	ADJ
fcis-20715	196	11	,	,	PUNCT
fcis-20715	196	12	it	it	PRON
fcis-20715	196	13	follows	follow	VERB
fcis-20715	196	14	that	that	SCONJ
fcis-20715	196	15	0v	0v	PROPN
fcis-20715	196	16			X
fcis-20715	196	17	.	.	PUNCT
fcis-20715	197	1	differentiating	differentiate	VERB
fcis-20715	197	2	the	the	DET
fcis-20715	197	3	lyapunov	lyapunov	NOUN
fcis-20715	197	4	function	function	VERB
fcis-20715	197	5	v	v	ADP
fcis-20715	197	6	with	with	ADP
fcis-20715	197	7	respect	respect	NOUN
fcis-20715	197	8	to	to	ADP
fcis-20715	197	9	time	time	NOUN
fcis-20715	197	10	yields	yield	NOUN
fcis-20715	197	11	:	:	PUNCT
fcis-20715	197	12			PROPN
fcis-20715	197	13			PROPN
fcis-20715	197	14	.	.	PUNCT
fcis-20715	198	1	tt	tt	PROPN
fcis-20715	198	2	tr	tr	VERB
fcis-20715	198	3	(	(	PUNCT
fcis-20715	198	4	)	)	PUNCT
fcis-20715	198	5	av	av	PROPN
fcis-20715	198	6	s	s	PROPN
fcis-20715	198	7	s	s	PROPN
fcis-20715	198	8			PROPN
fcis-20715	198	9			PROPN
fcis-20715	198	10	m	m	PROPN
fcis-20715	198	11	w	w	PROPN
fcis-20715	198	12	w	w	PROPN
fcis-20715	198	13	(	(	PUNCT
fcis-20715	198	14	27	27	NUM
fcis-20715	198	15	)	)	PUNCT
fcis-20715	198	16	since	since	SCONJ
fcis-20715	198	17	each	each	DET
fcis-20715	198	18	term	term	NOUN
fcis-20715	198	19	in	in	ADP
fcis-20715	198	20	formula	formula	NOUN
fcis-20715	198	21	(	(	PUNCT
fcis-20715	198	22	dd	dd	NOUN
fcis-20715	198	23	)	)	PUNCT
fcis-20715	198	24	is	be	AUX
fcis-20715	198	25	non	non	ADJ
fcis-20715	198	26	-	-	ADJ
fcis-20715	198	27	negative	negative	ADJ
fcis-20715	198	28	,	,	PUNCT
fcis-20715	198	29	it	it	PRON
fcis-20715	198	30	follows	follow	VERB
fcis-20715	198	31	that	that	SCONJ
fcis-20715	198	32	0v	0v	NOUN
fcis-20715	198	33			VERB
fcis-20715	198	34	.	.	PUNCT
fcis-20715	199	1	therefore	therefore	ADV
fcis-20715	199	2	,	,	PUNCT
fcis-20715	199	3	it	it	PRON
fcis-20715	199	4	is	be	AUX
fcis-20715	199	5	affirmed	affirm	VERB
fcis-20715	199	6	that	that	SCONJ
fcis-20715	199	7	the	the	DET
fcis-20715	199	8	application	application	NOUN
fcis-20715	199	9	of	of	ADP
fcis-20715	199	10	the	the	DET
fcis-20715	199	11	controller	controller	NOUN
fcis-20715	199	12	results	result	VERB
fcis-20715	199	13	in	in	ADP
fcis-20715	199	14	the	the	DET
fcis-20715	199	15	aileron	aileron	NOUN
fcis-20715	199	16	dynamics	dynamic	NOUN
fcis-20715	199	17	system	system	NOUN
fcis-20715	199	18	being	be	AUX
fcis-20715	199	19	progressively	progressively	ADV
fcis-20715	199	20	stable	stable	ADJ
fcis-20715	199	21	.	.	PUNCT
fcis-20715	200	1	4	4	X
fcis-20715	200	2	.	.	X
fcis-20715	200	3	simulation	simulation	NOUN
fcis-20715	200	4	experiment	experiment	NOUN
fcis-20715	200	5	this	this	DET
fcis-20715	200	6	section	section	NOUN
fcis-20715	200	7	will	will	AUX
fcis-20715	200	8	introduce	introduce	VERB
fcis-20715	200	9	the	the	DET
fcis-20715	200	10	simulation	simulation	NOUN
fcis-20715	200	11	results	result	NOUN
fcis-20715	200	12	of	of	ADP
fcis-20715	200	13	the	the	DET
fcis-20715	200	14	kinematic	kinematic	ADJ
fcis-20715	200	15	controller	controller	NOUN
fcis-20715	200	16	based	base	VERB
fcis-20715	200	17	on	on	ADP
fcis-20715	200	18	model	model	NOUN
fcis-20715	200	19	predictive	predictive	ADJ
fcis-20715	200	20	control	control	NOUN
fcis-20715	200	21	and	and	CCONJ
fcis-20715	200	22	the	the	DET
fcis-20715	200	23	dynamic	dynamic	ADJ
fcis-20715	200	24	controller	controller	NOUN
fcis-20715	200	25	based	base	VERB
fcis-20715	200	26	on	on	ADP
fcis-20715	200	27	sliding	slide	VERB
fcis-20715	200	28	mode	mode	NOUN
fcis-20715	200	29	control	control	NOUN
fcis-20715	200	30	in	in	ADP
fcis-20715	200	31	matlab	matlab	PROPN
fcis-20715	200	32	.	.	PUNCT
fcis-20715	201	1	4.1	4.1	NUM
fcis-20715	201	2	.	.	PUNCT
fcis-20715	201	3	simulation	simulation	NOUN
fcis-20715	201	4	program	program	PROPN
fcis-20715	201	5	development	development	NOUN
fcis-20715	201	6	the	the	DET
fcis-20715	201	7	control	control	NOUN
fcis-20715	201	8	framework	framework	NOUN
fcis-20715	201	9	for	for	ADP
fcis-20715	201	10	the	the	DET
fcis-20715	201	11	tiltrotor	tiltrotor	PROPN
fcis-20715	201	12	uav	uav	PROPN
fcis-20715	201	13	is	be	AUX
fcis-20715	201	14	shown	show	VERB
fcis-20715	201	15	in	in	ADP
fcis-20715	201	16	figure	figure	NOUN
fcis-20715	201	17	:	:	PUNCT
fcis-20715	201	18	fig	fig	NOUN
fcis-20715	201	19	3	3	NUM
fcis-20715	201	20	.	.	PUNCT
fcis-20715	202	1	the	the	DET
fcis-20715	202	2	control	control	NOUN
fcis-20715	202	3	framework	framework	NOUN
fcis-20715	202	4	for	for	ADP
fcis-20715	202	5	the	the	DET
fcis-20715	202	6	tiltrotor	tiltrotor	PROPN
fcis-20715	202	7	uav	uav	PROPN
fcis-20715	202	8	to	to	PART
fcis-20715	202	9	validate	validate	VERB
fcis-20715	202	10	the	the	DET
fcis-20715	202	11	control	control	NOUN
fcis-20715	202	12	effectiveness	effectiveness	NOUN
fcis-20715	202	13	of	of	ADP
fcis-20715	202	14	the	the	DET
fcis-20715	202	15	kinematic	kinematic	ADJ
fcis-20715	202	16	controller	controller	NOUN
fcis-20715	202	17	based	base	VERB
fcis-20715	202	18	on	on	ADP
fcis-20715	202	19	model	model	NOUN
fcis-20715	202	20	predictive	predictive	PROPN
fcis-20715	202	21	control	control	PROPN
fcis-20715	202	22	(	(	PUNCT
fcis-20715	202	23	mpc	mpc	NOUN
fcis-20715	202	24	)	)	PUNCT
fcis-20715	202	25	and	and	CCONJ
fcis-20715	202	26	the	the	DET
fcis-20715	202	27	dynamic	dynamic	ADJ
fcis-20715	202	28	controller	controller	NOUN
fcis-20715	202	29	based	base	VERB
fcis-20715	202	30	on	on	ADP
fcis-20715	202	31	radial	radial	ADJ
fcis-20715	202	32	basis	basis	NOUN
fcis-20715	202	33	function	function	NOUN
fcis-20715	202	34	(	(	PUNCT
fcis-20715	202	35	rbf	rbf	PROPN
fcis-20715	202	36	)	)	PUNCT
fcis-20715	202	37	neural	neural	ADJ
fcis-20715	202	38	network	network	NOUN
fcis-20715	202	39	adaptive	adaptive	ADJ
fcis-20715	202	40	sliding	slide	VERB
fcis-20715	202	41	mode	mode	NOUN
fcis-20715	202	42	control	control	NOUN
fcis-20715	202	43	for	for	ADP
fcis-20715	202	44	tiltrotor	tiltrotor	PROPN
fcis-20715	202	45	uav	uav	PROPN
fcis-20715	202	46	,	,	PUNCT
fcis-20715	202	47	it	it	PRON
fcis-20715	202	48	is	be	AUX
fcis-20715	202	49	necessary	necessary	ADJ
fcis-20715	202	50	to	to	PART
fcis-20715	202	51	conduct	conduct	VERB
fcis-20715	202	52	simulation	simulation	NOUN
fcis-20715	202	53	experiments	experiment	NOUN
fcis-20715	202	54	on	on	ADP
fcis-20715	202	55	matlab	matlab	PROPN
fcis-20715	202	56	to	to	PART
fcis-20715	202	57	demonstrate	demonstrate	VERB
fcis-20715	202	58	the	the	DET
fcis-20715	202	59	efficacy	efficacy	NOUN
fcis-20715	202	60	of	of	ADP
fcis-20715	202	61	the	the	DET
fcis-20715	202	62	final	final	ADJ
fcis-20715	202	63	control	control	NOUN
fcis-20715	202	64	strategy	strategy	NOUN
fcis-20715	202	65	.	.	PUNCT
fcis-20715	203	1	in	in	ADP
fcis-20715	203	2	the	the	DET
fcis-20715	203	3	simulation	simulation	NOUN
fcis-20715	203	4	experiments	experiment	NOUN
fcis-20715	203	5	,	,	PUNCT
fcis-20715	203	6	the	the	DET
fcis-20715	203	7	initial	initial	ADJ
fcis-20715	203	8	values	value	NOUN
fcis-20715	203	9	for	for	ADP
fcis-20715	203	10	the	the	DET
fcis-20715	203	11	position	position	NOUN
fcis-20715	203	12	,	,	PUNCT
fcis-20715	203	13	attitude	attitude	NOUN
fcis-20715	203	14	,	,	PUNCT
fcis-20715	203	15	velocity	velocity	NOUN
fcis-20715	203	16	,	,	PUNCT
fcis-20715	203	17	angular	angular	ADJ
fcis-20715	203	18	velocity	velocity	NOUN
fcis-20715	203	19	,	,	PUNCT
fcis-20715	203	20	acceleration	acceleration	NOUN
fcis-20715	203	21	,	,	PUNCT
fcis-20715	203	22	and	and	CCONJ
fcis-20715	203	23	angular	angular	ADJ
fcis-20715	203	24	acceleration	acceleration	NOUN
fcis-20715	203	25	of	of	ADP
fcis-20715	203	26	the	the	DET
fcis-20715	203	27	tiltrotor	tiltrotor	PROPN
fcis-20715	203	28	uav	uav	PROPN
fcis-20715	203	29	were	be	AUX
fcis-20715	203	30	set	set	VERB
fcis-20715	203	31	to	to	ADP
fcis-20715	203	32	zero	zero	NUM
fcis-20715	203	33	.	.	PUNCT
fcis-20715	204	1	the	the	DET
fcis-20715	204	2	simulation	simulation	NOUN
fcis-20715	204	3	time	time	NOUN
fcis-20715	204	4	for	for	ADP
fcis-20715	204	5	each	each	DET
fcis-20715	204	6	path	path	NOUN
fcis-20715	204	7	was	be	AUX
fcis-20715	204	8	100	100	NUM
fcis-20715	204	9	seconds	second	NOUN
fcis-20715	204	10	.	.	PUNCT
fcis-20715	205	1	under	under	ADP
fcis-20715	205	2	these	these	DET
fcis-20715	205	3	conditions	condition	NOUN
fcis-20715	205	4	,	,	PUNCT
fcis-20715	205	5	the	the	DET
fcis-20715	205	6	body	body	NOUN
fcis-20715	205	7	coordinate	coordinate	NOUN
fcis-20715	205	8	system	system	NOUN
fcis-20715	205	9	{	{	PUNCT
fcis-20715	205	10	t	t	NOUN
fcis-20715	205	11	}	}	PUNCT
fcis-20715	205	12	of	of	ADP
fcis-20715	205	13	the	the	DET
fcis-20715	205	14	tilt	tilt	NOUN
fcis-20715	205	15	-	-	PUNCT
fcis-20715	205	16	wing	wing	NOUN
fcis-20715	205	17	uav	uav	PROPN
fcis-20715	205	18	coincided	coincide	VERB
fcis-20715	205	19	with	with	ADP
fcis-20715	205	20	the	the	DET
fcis-20715	205	21	earth	earth	NOUN
fcis-20715	205	22	coordinate	coordinate	NOUN
fcis-20715	205	23	system	system	NOUN
fcis-20715	205	24	{	{	PUNCT
fcis-20715	205	25	g	g	NOUN
fcis-20715	205	26	}	}	PUNCT
fcis-20715	205	27	.	.	PUNCT
fcis-20715	206	1	the	the	DET
fcis-20715	206	2	radial	radial	ADJ
fcis-20715	206	3	basis	basis	NOUN
fcis-20715	206	4	function	function	NOUN
fcis-20715	206	5	neural	neural	ADJ
fcis-20715	206	6	network	network	NOUN
fcis-20715	206	7	within	within	ADP
fcis-20715	206	8	the	the	DET
fcis-20715	206	9	dynamics	dynamic	NOUN
fcis-20715	206	10	controller	controller	NOUN
fcis-20715	206	11	of	of	ADP
fcis-20715	206	12	the	the	DET
fcis-20715	206	13	tilt	tilt	NOUN
fcis-20715	206	14	-	-	PUNCT
fcis-20715	206	15	wing	wing	NOUN
fcis-20715	206	16	uav	uav	PROPN
fcis-20715	206	17	consisted	consist	VERB
fcis-20715	206	18	of	of	ADP
fcis-20715	206	19	5	5	NUM
fcis-20715	206	20	nodes	node	NOUN
fcis-20715	206	21	.	.	PUNCT
fcis-20715	207	1	the	the	DET
fcis-20715	207	2	centers	center	NOUN
fcis-20715	207	3	c	c	PROPN
fcis-20715	207	4	were	be	AUX
fcis-20715	207	5	located	locate	VERB
fcis-20715	207	6	at	at	ADP
fcis-20715	207	7	[	[	X
fcis-20715	207	8	0	0	NUM
fcis-20715	207	9	1.5	1.5	NUM
fcis-20715	207	10	]	]	PUNCT
fcis-20715	207	11	,	,	PUNCT
fcis-20715	208	1	[	[	X
fcis-20715	208	2	-0.2	-0.2	NOUN
fcis-20715	208	3	0.2	0.2	NUM
fcis-20715	208	4	]	]	PUNCT
fcis-20715	208	5	,	,	PUNCT
fcis-20715	209	1	[	[	X
fcis-20715	209	2	-0.2	-0.2	NOUN
fcis-20715	209	3	0.2	0.2	NUM
fcis-20715	209	4	]	]	PUNCT
fcis-20715	209	5	,	,	PUNCT
fcis-20715	209	6	[	[	X
fcis-20715	209	7	-0.5	-0.5	X
fcis-20715	209	8	1	1	NUM
fcis-20715	209	9	]	]	PUNCT
fcis-20715	209	10	,	,	PUNCT
fcis-20715	210	1	[	[	X
fcis-20715	210	2	-0.2	-0.2	NOUN
fcis-20715	210	3	0.2	0.2	NUM
fcis-20715	210	4	]	]	PUNCT
fcis-20715	210	5	,	,	PUNCT
fcis-20715	210	6	and	and	CCONJ
fcis-20715	210	7	[	[	X
fcis-20715	210	8	-0.2	-0.2	NOUN
fcis-20715	210	9	0.2	0.2	NUM
fcis-20715	210	10	]	]	PUNCT
fcis-20715	210	11	,	,	PUNCT
fcis-20715	210	12	respectively	respectively	ADV
fcis-20715	210	13	,	,	PUNCT
fcis-20715	210	14	with	with	ADP
fcis-20715	210	15	a	a	DET
fcis-20715	210	16	width	width	ADJ
fcis-20715	210	17	bi	bi	NOUN
fcis-20715	210	18	of	of	ADP
fcis-20715	210	19	0.1	0.1	NUM
fcis-20715	210	20	and	and	CCONJ
fcis-20715	210	21	a	a	DET
fcis-20715	210	22	coefficient	coefficient	NOUN
fcis-20715	210	23	c	c	NOUN
fcis-20715	210	24	of	of	ADP
fcis-20715	210	25	0.5	0.5	NUM
fcis-20715	210	26	.	.	PUNCT
fcis-20715	211	1	the	the	DET
fcis-20715	211	2	other	other	ADJ
fcis-20715	211	3	design	design	NOUN
fcis-20715	211	4	parameters	parameter	NOUN
fcis-20715	211	5	of	of	ADP
fcis-20715	211	6	the	the	DET
fcis-20715	211	7	63	63	NUM
fcis-20715	211	8	controller	controller	NOUN
fcis-20715	211	9	are	be	AUX
fcis-20715	211	10	presented	present	VERB
fcis-20715	211	11	in	in	ADP
fcis-20715	211	12	table	table	NOUN
fcis-20715	211	13	1	1	NUM
fcis-20715	211	14	.	.	PUNCT
fcis-20715	211	15	table	table	NOUN
fcis-20715	211	16	1	1	NUM
fcis-20715	211	17	.	.	PUNCT
fcis-20715	212	1	parameters	parameter	NOUN
fcis-20715	212	2	of	of	ADP
fcis-20715	212	3	the	the	DET
fcis-20715	212	4	controller	controller	NOUN
fcis-20715	212	5	t2	t2	NOUN
fcis-20715	212	6	=	=	PUNCT
fcis-20715	212	7	0.6	0.6	NUM
fcis-20715	212	8	δumax	δumax	NOUN
fcis-20715	213	1	=	=	PUNCT
fcis-20715	214	1	[	[	X
fcis-20715	214	2	0.2	0.2	NUM
fcis-20715	214	3	,	,	PUNCT
fcis-20715	214	4	0.04	0.04	NUM
fcis-20715	214	5	,	,	PUNCT
fcis-20715	214	6	0.04	0.04	NUM
fcis-20715	214	7	]	]	PUNCT
fcis-20715	214	8	umax	umax	ADJ
fcis-20715	215	1	=	=	PUNCT
fcis-20715	216	1	[	[	X
fcis-20715	216	2	1	1	NUM
fcis-20715	216	3	,	,	PUNCT
fcis-20715	216	4	0.2	0.2	NUM
fcis-20715	216	5	,	,	PUNCT
fcis-20715	216	6	0.2	0.2	NUM
fcis-20715	216	7	]	]	PUNCT
fcis-20715	216	8	np	np	PROPN
fcis-20715	216	9	=	=	SYM
fcis-20715	216	10	10	10	NUM
fcis-20715	216	11	nc	nc	NOUN
fcis-20715	216	12	=	=	SYM
fcis-20715	216	13	3	3	NUM
fcis-20715	216	14	q7	q7	NOUN
fcis-20715	216	15	=	=	SYM
fcis-20715	216	16	1	1	NUM
fcis-20715	216	17	t1	t1	NOUN
fcis-20715	216	18	=	=	SYM
fcis-20715	216	19	0.6	0.6	NUM
fcis-20715	216	20	δumin	δumin	NOUN
fcis-20715	216	21	=	=	PUNCT
fcis-20715	217	1	[	[	X
fcis-20715	217	2	-0.2	-0.2	X
fcis-20715	217	3	,	,	PUNCT
fcis-20715	217	4	0.04	0.04	NUM
fcis-20715	217	5	,	,	PUNCT
fcis-20715	217	6	0.04	0.04	NUM
fcis-20715	217	7	]	]	PUNCT
fcis-20715	217	8	umin	umin	NOUN
fcis-20715	217	9	=	=	PUNCT
fcis-20715	218	1	[	[	X
fcis-20715	218	2	-1	-1	X
fcis-20715	218	3	,	,	PUNCT
fcis-20715	218	4	0.2	0.2	NUM
fcis-20715	218	5	,	,	PUNCT
fcis-20715	218	6	0.2	0.2	NUM
fcis-20715	218	7	]	]	PUNCT
fcis-20715	218	8	q1	q1	PROPN
fcis-20715	218	9	=	=	SYM
fcis-20715	218	10	1	1	NUM
fcis-20715	218	11	q2	q2	NOUN
fcis-20715	218	12	=	=	SYM
fcis-20715	218	13	1	1	NUM
fcis-20715	218	14	r1	r1	NOUN
fcis-20715	218	15	=	=	SYM
fcis-20715	218	16	1	1	NUM
fcis-20715	218	17	t	t	NOUN
fcis-20715	218	18	=	=	SYM
fcis-20715	218	19	0.1	0.1	NUM
fcis-20715	218	20	q6	q6	NOUN
fcis-20715	218	21	=	=	SYM
fcis-20715	218	22	1	1	NUM
fcis-20715	218	23	q5	q5	X
fcis-20715	218	24	=	=	SYM
fcis-20715	218	25	2	2	NUM
fcis-20715	218	26	q4	q4	NOUN
fcis-20715	218	27	=	=	SYM
fcis-20715	218	28	3	3	NUM
fcis-20715	218	29	q3	q3	NOUN
fcis-20715	218	30	=	=	SYM
fcis-20715	218	31	1	1	NUM
fcis-20715	218	32	r2	r2	NOUN
fcis-20715	218	33	=	=	SYM
fcis-20715	218	34	1	1	NUM
fcis-20715	218	35	r3	r3	NOUN
fcis-20715	218	36	=	=	SYM
fcis-20715	218	37	1	1	NUM
fcis-20715	218	38	additionally	additionally	ADV
fcis-20715	218	39	,	,	PUNCT
fcis-20715	218	40	the	the	DET
fcis-20715	218	41	control	control	NOUN
fcis-20715	218	42	performance	performance	NOUN
fcis-20715	218	43	of	of	ADP
fcis-20715	218	44	the	the	DET
fcis-20715	218	45	proposed	propose	VERB
fcis-20715	218	46	controller	controller	NOUN
fcis-20715	218	47	is	be	AUX
fcis-20715	218	48	compared	compare	VERB
fcis-20715	218	49	with	with	ADP
fcis-20715	218	50	that	that	PRON
fcis-20715	218	51	of	of	ADP
fcis-20715	218	52	a	a	DET
fcis-20715	218	53	line	line	NOUN
fcis-20715	218	54	-	-	PUNCT
fcis-20715	218	55	of	of	ADP
fcis-20715	218	56	-	-	PUNCT
fcis-20715	218	57	sight	sight	NOUN
fcis-20715	218	58	(	(	PUNCT
fcis-20715	218	59	los)+proportional	los)+proportional	ADJ
fcis-20715	218	60	-	-	PUNCT
fcis-20715	218	61	integral	integral	ADJ
fcis-20715	218	62	-	-	PUNCT
fcis-20715	218	63	derivative	derivative	ADJ
fcis-20715	218	64	(	(	PUNCT
fcis-20715	218	65	pid	pid	NOUN
fcis-20715	218	66	)	)	PUNCT
fcis-20715	218	67	controller	controller	NOUN
fcis-20715	218	68	.	.	PUNCT
fcis-20715	219	1	the	the	DET
fcis-20715	219	2	specific	specific	ADJ
fcis-20715	219	3	configuration	configuration	NOUN
fcis-20715	219	4	of	of	ADP
fcis-20715	219	5	the	the	DET
fcis-20715	219	6	los+pid	los+pid	NOUN
fcis-20715	219	7	controller	controller	NOUN
fcis-20715	219	8	is	be	AUX
fcis-20715	219	9	as	as	SCONJ
fcis-20715	219	10	follows	follow	VERB
fcis-20715	219	11	:	:	PUNCT
fcis-20715	219	12	1	1	NUM
fcis-20715	219	13	1	1	NUM
fcis-20715	219	14	0	0	NUM
fcis-20715	219	15	0	0	NUM
fcis-20715	219	16	0	0	PUNCT
fcis-20715	219	17	cos	cos	PROPN
fcis-20715	219	18	cos	cos	PROPN
fcis-20715	219	19	0.1	0.1	NUM
fcis-20715	219	20	,	,	PUNCT
fcis-20715	219	21	tan	tan	PROPN
fcis-20715	219	22	,	,	PUNCT
fcis-20715	219	23	tan	tan	PROPN
fcis-20715	219	24	,	,	PUNCT
fcis-20715	219	25	20	20	NUM
fcis-20715	219	26	(	(	PUNCT
fcis-20715	219	27	)	)	PUNCT
fcis-20715	219	28	7	7	NUM
fcis-20715	219	29	(	(	PUNCT
fcis-20715	219	30	)	)	PUNCT
fcis-20715	219	31	6	6	NUM
fcis-20715	219	32	,	,	PUNCT
fcis-20715	219	33	3.5	3.5	NUM
fcis-20715	219	34	(	(	PUNCT
fcis-20715	219	35	)	)	PUNCT
fcis-20715	219	36	2.5	2.5	NUM
fcis-20715	219	37	(	(	PUNCT
fcis-20715	219	38	)	)	PUNCT
fcis-20715	219	39	4	4	NUM
fcis-20715	219	40	(	(	PUNCT
fcis-20715	219	41	)	)	PUNCT
fcis-20715	219	42	,	,	PUNCT
fcis-20715	219	43	3.5	3.5	NUM
fcis-20715	219	44	(	(	PUNCT
fcis-20715	219	45	)	)	PUNCT
fcis-20715	219	46	2.5	2.5	NUM
fcis-20715	219	47	(	(	PUNCT
fcis-20715	219	48	)	)	PUNCT
fcis-20715	219	49	4	4	NUM
fcis-20715	219	50	(	(	PUNCT
fcis-20715	219	51	)	)	PUNCT
fcis-20715	219	52	,	,	PUNCT
fcis-20715	219	53	f	f	PROPN
fcis-20715	219	54	e	e	PROPN
fcis-20715	219	55	ed	ed	PROPN
fcis-20715	219	56	e	e	PROPN
fcis-20715	219	57	ed	ed	PROPN
fcis-20715	219	58	t	t	PROPN
fcis-20715	219	59	p	p	PROPN
fcis-20715	220	1	d	d	PROPN
fcis-20715	220	2	d	d	X
fcis-20715	220	3	t	t	NOUN
fcis-20715	220	4	s	s	X
fcis-20715	220	5	e	e	NOUN
fcis-20715	220	6	ed	ed	NOUN
fcis-20715	220	7	ed	ed	PROPN
fcis-20715	220	8	ed	ed	PROPN
fcis-20715	220	9	e	e	PROPN
fcis-20715	220	10	ed	ed	NOUN
fcis-20715	220	11	t	t	PROPN
fcis-20715	220	12	r	r	NOUN
fcis-20715	220	13	e	e	PROPN
fcis-20715	220	14	ed	ed	NOUN
fcis-20715	220	15	e	e	PROPN
fcis-20715	220	16	ed	ed	NOUN
fcis-20715	220	17	e	e	PROPN
fcis-20715	220	18	ed	ed	NOUN
fcis-20715	220	19	u	u	NOUN
fcis-20715	220	20	u	u	NOUN
fcis-20715	220	21	x	x	PROPN
fcis-20715	220	22	z	z	VERB
fcis-20715	220	23	y	y	PROPN
fcis-20715	220	24	n	n	CCONJ
fcis-20715	220	25	u	u	NOUN
fcis-20715	220	26	u	u	X
fcis-20715	220	27	u	u	NOUN
fcis-20715	220	28	u	u	NOUN
fcis-20715	220	29	d	d	X
fcis-20715	220	30	u	u	X
fcis-20715	220	31	d	d	X
fcis-20715	220	32	d	d	X
fcis-20715	220	33			X
fcis-20715	220	34			X
fcis-20715	220	35			PROPN
fcis-20715	221	1			PROPN
fcis-20715	221	2			PROPN
fcis-20715	222	1			NOUN
fcis-20715	222	2			X
fcis-20715	222	3			PROPN
fcis-20715	222	4			PROPN
fcis-20715	222	5			PROPN
fcis-20715	223	1			NUM
fcis-20715	223	2			X
fcis-20715	223	3			X
fcis-20715	223	4			PROPN
fcis-20715	223	5			PROPN
fcis-20715	223	6			PROPN
fcis-20715	223	7			PROPN
fcis-20715	223	8			PROPN
fcis-20715	224	1			NUM
fcis-20715	224	2			NOUN
fcis-20715	224	3			NOUN
fcis-20715	224	4			NOUN
fcis-20715	224	5			NOUN
fcis-20715	224	6			NOUN
fcis-20715	224	7			NOUN
fcis-20715	224	8			PROPN
fcis-20715	224	9			PROPN
fcis-20715	224	10			NOUN
fcis-20715	224	11			ADP
fcis-20715	224	12			NUM
fcis-20715	224	13			NOUN
fcis-20715	224	14			NOUN
fcis-20715	224	15			NUM
fcis-20715	224	16			NOUN
fcis-20715	224	17			PROPN
fcis-20715	224	18			NUM
fcis-20715	224	19			PROPN
fcis-20715	224	20			PUNCT
fcis-20715	224	21			PUNCT
fcis-20715	224	22			ADJ
fcis-20715	224	23			NUM
fcis-20715	224	24			NOUN
fcis-20715	224	25			VERB
fcis-20715	224	26			NUM
fcis-20715	224	27			PROPN
fcis-20715	224	28			PROPN
fcis-20715	224	29			NOUN
fcis-20715	224	30			PROPN
fcis-20715	224	31			PROPN
fcis-20715	225	1			ADJ
fcis-20715	225	2			NOUN
fcis-20715	225	3			NUM
fcis-20715	225	4			NUM
fcis-20715	225	5			PROPN
fcis-20715	225	6			VERB
fcis-20715	225	7			NOUN
fcis-20715	225	8			NOUN
fcis-20715	225	9			NUM
fcis-20715	225	10			NUM
fcis-20715	225	11			PROPN
fcis-20715	225	12			PROPN
fcis-20715	225	13			VERB
fcis-20715	225	14			PROPN
fcis-20715	225	15			VERB
fcis-20715	225	16			NOUN
fcis-20715	225	17			NUM
fcis-20715	225	18			NUM
fcis-20715	225	19			PROPN
fcis-20715	225	20			PROPN
fcis-20715	225	21			VERB
fcis-20715	225	22			PROPN
fcis-20715	225	23			VERB
fcis-20715	225	24			CCONJ
fcis-20715	225	25			NOUN
fcis-20715	225	26			NOUN
fcis-20715	225	27			ADP
fcis-20715	225	28			NOUN
fcis-20715	225	29			NOUN
fcis-20715	225	30			NOUN
fcis-20715	225	31			NOUN
fcis-20715	225	32			X
fcis-20715	225	33	(	(	PUNCT
fcis-20715	225	34	28	28	NUM
fcis-20715	225	35	)	)	PUNCT
fcis-20715	225	36	4.2	4.2	NUM
fcis-20715	225	37	.	.	PUNCT
fcis-20715	226	1	straight	straight	ADJ
fcis-20715	226	2	line	line	NOUN
fcis-20715	226	3	path	path	NOUN
fcis-20715	226	4	tracking	track	VERB
fcis-20715	226	5	the	the	DET
fcis-20715	226	6	purpose	purpose	NOUN
fcis-20715	226	7	of	of	ADP
fcis-20715	226	8	this	this	DET
fcis-20715	226	9	simulation	simulation	NOUN
fcis-20715	226	10	is	be	AUX
fcis-20715	226	11	to	to	PART
fcis-20715	226	12	test	test	VERB
fcis-20715	226	13	the	the	DET
fcis-20715	226	14	fundamental	fundamental	ADJ
fcis-20715	226	15	performance	performance	NOUN
fcis-20715	226	16	of	of	ADP
fcis-20715	226	17	the	the	DET
fcis-20715	226	18	designed	design	VERB
fcis-20715	226	19	controller	controller	NOUN
fcis-20715	226	20	and	and	CCONJ
fcis-20715	226	21	to	to	PART
fcis-20715	226	22	verify	verify	VERB
fcis-20715	226	23	whether	whether	SCONJ
fcis-20715	226	24	the	the	DET
fcis-20715	226	25	controller	controller	NOUN
fcis-20715	226	26	can	can	AUX
fcis-20715	226	27	accurately	accurately	ADV
fcis-20715	226	28	track	track	VERB
fcis-20715	226	29	a	a	DET
fcis-20715	226	30	basic	basic	ADJ
fcis-20715	226	31	straight	straight	ADJ
fcis-20715	226	32	reference	reference	NOUN
fcis-20715	226	33	path	path	NOUN
fcis-20715	226	34	.	.	PUNCT
fcis-20715	227	1	the	the	DET
fcis-20715	227	2	reference	reference	NOUN
fcis-20715	227	3	path	path	NOUN
fcis-20715	227	4	for	for	ADP
fcis-20715	227	5	the	the	DET
fcis-20715	227	6	straight	straight	ADJ
fcis-20715	227	7	-	-	PUNCT
fcis-20715	227	8	line	line	NOUN
fcis-20715	227	9	path	path	NOUN
fcis-20715	227	10	tracking	tracking	NOUN
fcis-20715	227	11	simulation	simulation	NOUN
fcis-20715	227	12	experiment	experiment	NOUN
fcis-20715	227	13	is	be	AUX
fcis-20715	227	14	:	:	PUNCT
fcis-20715	227	15	15	15	NUM
fcis-20715	227	16	120	120	NUM
fcis-20715	227	17	15	15	NUM
fcis-20715	227	18	120	120	NUM
fcis-20715	227	19	100	100	NUM
fcis-20715	228	1	d	d	NOUN
fcis-20715	228	2	d	d	X
fcis-20715	228	3	d	d	X
fcis-20715	228	4	x	x	SYM
fcis-20715	228	5	t	t	PROPN
fcis-20715	228	6	y	y	PROPN
fcis-20715	228	7	t	t	PROPN
fcis-20715	228	8	z	z	PROPN
fcis-20715	228	9			PROPN
fcis-20715	228	10			NOUN
fcis-20715	228	11			PROPN
fcis-20715	228	12			ADJ
fcis-20715	228	13			NOUN
fcis-20715	228	14			PROPN
fcis-20715	228	15			NOUN
fcis-20715	228	16			NOUN
fcis-20715	228	17			NOUN
fcis-20715	228	18			NOUN
fcis-20715	228	19			NOUN
fcis-20715	228	20			NOUN
fcis-20715	228	21			NOUN
fcis-20715	228	22			NOUN
fcis-20715	228	23			PROPN
fcis-20715	228	24			PROPN
fcis-20715	228	25			VERB
fcis-20715	228	26			PROPN
fcis-20715	228	27	=	=	SYM
fcis-20715	228	28	(	(	PUNCT
fcis-20715	228	29	29	29	NUM
fcis-20715	228	30	)	)	PUNCT
fcis-20715	228	31	through	through	ADP
fcis-20715	228	32	the	the	DET
fcis-20715	228	33	execution	execution	NOUN
fcis-20715	228	34	of	of	ADP
fcis-20715	228	35	simulation	simulation	NOUN
fcis-20715	228	36	experiment	experiment	NOUN
fcis-20715	228	37	,	,	PUNCT
fcis-20715	228	38	this	this	DET
fcis-20715	228	39	study	study	NOUN
fcis-20715	228	40	has	have	AUX
fcis-20715	228	41	successfully	successfully	ADV
fcis-20715	228	42	gathered	gather	VERB
fcis-20715	228	43	performance	performance	NOUN
fcis-20715	228	44	data	datum	NOUN
fcis-20715	228	45	pertaining	pertain	VERB
fcis-20715	228	46	to	to	ADP
fcis-20715	228	47	the	the	DET
fcis-20715	228	48	trajectory	trajectory	NOUN
fcis-20715	228	49	tracking	tracking	NOUN
fcis-20715	228	50	task	task	NOUN
fcis-20715	228	51	of	of	ADP
fcis-20715	228	52	tilt	tilt	NOUN
fcis-20715	228	53	-	-	PUNCT
fcis-20715	228	54	rotor	rotor	NOUN
fcis-20715	228	55	unmanned	unmanned	ADJ
fcis-20715	228	56	aerial	aerial	ADJ
fcis-20715	228	57	vehicles	vehicle	NOUN
fcis-20715	228	58	.	.	PUNCT
fcis-20715	229	1	the	the	DET
fcis-20715	229	2	positional	positional	ADJ
fcis-20715	229	3	changes	change	NOUN
fcis-20715	229	4	of	of	ADP
fcis-20715	229	5	the	the	DET
fcis-20715	229	6	tiltrotor	tiltrotor	PROPN
fcis-20715	229	7	uav	uav	PROPN
fcis-20715	229	8	during	during	ADP
fcis-20715	229	9	the	the	DET
fcis-20715	229	10	trajectory	trajectory	NOUN
fcis-20715	229	11	tracking	tracking	NOUN
fcis-20715	229	12	task	task	NOUN
fcis-20715	229	13	in	in	ADP
fcis-20715	229	14	the	the	DET
fcis-20715	229	15	geodetic	geodetic	ADJ
fcis-20715	229	16	coordinate	coordinate	NOUN
fcis-20715	229	17	system	system	NOUN
fcis-20715	229	18	{	{	PUNCT
fcis-20715	229	19	g	g	NOUN
fcis-20715	229	20	}	}	PUNCT
fcis-20715	229	21	are	be	AUX
fcis-20715	229	22	illustrated	illustrate	VERB
fcis-20715	229	23	in	in	ADP
fcis-20715	229	24	the	the	DET
fcis-20715	229	25	figure	figure	NOUN
fcis-20715	229	26	:	:	PUNCT
fcis-20715	229	27	fig	fig	NOUN
fcis-20715	229	28	4	4	NUM
fcis-20715	229	29	.	.	PUNCT
fcis-20715	230	1	the	the	DET
fcis-20715	230	2	positional	positional	ADJ
fcis-20715	230	3	variations	variation	NOUN
fcis-20715	230	4	of	of	ADP
fcis-20715	230	5	the	the	DET
fcis-20715	230	6	tiltrotor	tiltrotor	PROPN
fcis-20715	230	7	uav	uav	PROPN
fcis-20715	230	8	64	64	NUM
fcis-20715	230	9	in	in	ADP
fcis-20715	230	10	the	the	DET
fcis-20715	230	11	figure	figure	NOUN
fcis-20715	230	12	,	,	PUNCT
fcis-20715	230	13	the	the	DET
fcis-20715	230	14	green	green	ADJ
fcis-20715	230	15	curve	curve	NOUN
fcis-20715	230	16	represents	represent	VERB
fcis-20715	230	17	the	the	DET
fcis-20715	230	18	input	input	NOUN
fcis-20715	230	19	target	target	NOUN
fcis-20715	230	20	trajectory	trajectory	NOUN
fcis-20715	230	21	,	,	PUNCT
fcis-20715	230	22	which	which	PRON
fcis-20715	230	23	is	be	AUX
fcis-20715	230	24	defined	define	VERB
fcis-20715	230	25	within	within	ADP
fcis-20715	230	26	the	the	DET
fcis-20715	230	27	geodetic	geodetic	ADJ
fcis-20715	230	28	coordinate	coordinate	NOUN
fcis-20715	230	29	system	system	NOUN
fcis-20715	230	30	{	{	PUNCT
fcis-20715	230	31	g	g	NOUN
fcis-20715	230	32	}	}	PUNCT
fcis-20715	230	33	.	.	PUNCT
fcis-20715	231	1	the	the	DET
fcis-20715	231	2	red	red	ADJ
fcis-20715	231	3	curve	curve	NOUN
fcis-20715	231	4	illustrates	illustrate	VERB
fcis-20715	231	5	the	the	DET
fcis-20715	231	6	actual	actual	ADJ
fcis-20715	231	7	positional	positional	ADJ
fcis-20715	231	8	changes	change	NOUN
fcis-20715	231	9	of	of	ADP
fcis-20715	231	10	the	the	DET
fcis-20715	231	11	tiltrotor	tiltrotor	PROPN
fcis-20715	231	12	uav	uav	PROPN
fcis-20715	231	13	while	while	SCONJ
fcis-20715	231	14	performing	perform	VERB
fcis-20715	231	15	a	a	DET
fcis-20715	231	16	trajectory	trajectory	NOUN
fcis-20715	231	17	tracking	track	VERB
fcis-20715	231	18	task	task	NOUN
fcis-20715	231	19	under	under	ADP
fcis-20715	231	20	the	the	DET
fcis-20715	231	21	controller	controller	NOUN
fcis-20715	231	22	designed	design	VERB
fcis-20715	231	23	in	in	ADP
fcis-20715	231	24	this	this	DET
fcis-20715	231	25	study	study	NOUN
fcis-20715	231	26	.	.	PUNCT
fcis-20715	232	1	the	the	DET
fcis-20715	232	2	blue	blue	ADJ
fcis-20715	232	3	curve	curve	NOUN
fcis-20715	232	4	depicts	depict	VERB
fcis-20715	232	5	the	the	DET
fcis-20715	232	6	positional	positional	ADJ
fcis-20715	232	7	changes	change	NOUN
fcis-20715	232	8	of	of	ADP
fcis-20715	232	9	the	the	DET
fcis-20715	232	10	tiltrotor	tiltrotor	PROPN
fcis-20715	232	11	uav	uav	PROPN
fcis-20715	232	12	executing	execute	VERB
fcis-20715	232	13	the	the	DET
fcis-20715	232	14	trajectory	trajectory	NOUN
fcis-20715	232	15	tracking	tracking	NOUN
fcis-20715	232	16	task	task	NOUN
fcis-20715	232	17	under	under	ADP
fcis-20715	232	18	a	a	DET
fcis-20715	232	19	controller	controller	NOUN
fcis-20715	232	20	based	base	VERB
fcis-20715	232	21	on	on	ADP
fcis-20715	232	22	the	the	DET
fcis-20715	232	23	line	line	NOUN
fcis-20715	232	24	-	-	PUNCT
fcis-20715	232	25	of	of	ADP
fcis-20715	232	26	-	-	PUNCT
fcis-20715	232	27	sight	sight	NOUN
fcis-20715	232	28	(	(	PUNCT
fcis-20715	232	29	los	los	PROPN
fcis-20715	232	30	)	)	PUNCT
fcis-20715	232	31	plus	plus	CCONJ
fcis-20715	232	32	proportional	proportional	ADJ
fcis-20715	232	33	-	-	PUNCT
fcis-20715	232	34	integralderivative	integralderivative	ADJ
fcis-20715	232	35	(	(	PUNCT
fcis-20715	232	36	pid	pid	NOUN
fcis-20715	232	37	)	)	PUNCT
fcis-20715	232	38	control	control	NOUN
fcis-20715	232	39	strategy	strategy	NOUN
fcis-20715	232	40	.	.	PUNCT
fcis-20715	233	1	it	it	PRON
fcis-20715	233	2	is	be	AUX
fcis-20715	233	3	observable	observable	ADJ
fcis-20715	233	4	that	that	SCONJ
fcis-20715	233	5	the	the	DET
fcis-20715	233	6	time	time	NOUN
fcis-20715	233	7	taken	take	VERB
fcis-20715	233	8	for	for	ADP
fcis-20715	233	9	the	the	DET
fcis-20715	233	10	tiltrotor	tiltrotor	PROPN
fcis-20715	233	11	uav	uav	PROPN
fcis-20715	233	12	to	to	PART
fcis-20715	233	13	reach	reach	VERB
fcis-20715	233	14	the	the	DET
fcis-20715	233	15	position	position	NOUN
fcis-20715	233	16	on	on	ADP
fcis-20715	233	17	the	the	DET
fcis-20715	233	18	target	target	NOUN
fcis-20715	233	19	trajectory	trajectory	NOUN
fcis-20715	233	20	at	at	ADP
fcis-20715	233	21	the	the	DET
fcis-20715	233	22	current	current	ADJ
fcis-20715	233	23	moment	moment	NOUN
fcis-20715	233	24	using	use	VERB
fcis-20715	233	25	the	the	DET
fcis-20715	233	26	controller	controller	NOUN
fcis-20715	233	27	proposed	propose	VERB
fcis-20715	233	28	in	in	ADP
fcis-20715	233	29	this	this	DET
fcis-20715	233	30	paper	paper	NOUN
fcis-20715	233	31	is	be	AUX
fcis-20715	233	32	similar	similar	ADJ
fcis-20715	233	33	to	to	ADP
fcis-20715	233	34	that	that	PRON
fcis-20715	233	35	when	when	SCONJ
fcis-20715	233	36	employing	employ	VERB
fcis-20715	233	37	the	the	DET
fcis-20715	233	38	traditional	traditional	ADJ
fcis-20715	233	39	los+pid	los+pid	NOUN
fcis-20715	233	40	controller	controller	NOUN
fcis-20715	233	41	.	.	PUNCT
fcis-20715	234	1	however	however	ADV
fcis-20715	234	2	,	,	PUNCT
fcis-20715	234	3	the	the	DET
fcis-20715	234	4	overshoot	overshoot	NOUN
fcis-20715	234	5	is	be	AUX
fcis-20715	234	6	greater	great	ADJ
fcis-20715	234	7	when	when	SCONJ
fcis-20715	234	8	the	the	DET
fcis-20715	234	9	traditional	traditional	ADJ
fcis-20715	234	10	los+pid	los+pid	NOUN
fcis-20715	234	11	controller	controller	NOUN
fcis-20715	234	12	is	be	AUX
fcis-20715	234	13	utilized	utilize	VERB
fcis-20715	234	14	.	.	PUNCT
fcis-20715	235	1	the	the	DET
fcis-20715	235	2	velocity	velocity	NOUN
fcis-20715	235	3	variations	variation	NOUN
fcis-20715	235	4	of	of	ADP
fcis-20715	235	5	the	the	DET
fcis-20715	235	6	tiltrotor	tiltrotor	PROPN
fcis-20715	235	7	uav	uav	PROPN
fcis-20715	235	8	during	during	ADP
fcis-20715	235	9	the	the	DET
fcis-20715	235	10	trajectory	trajectory	NOUN
fcis-20715	235	11	tracking	tracking	NOUN
fcis-20715	235	12	task	task	NOUN
fcis-20715	235	13	within	within	ADP
fcis-20715	235	14	the	the	DET
fcis-20715	235	15	geodetic	geodetic	ADJ
fcis-20715	235	16	coordinate	coordinate	NOUN
fcis-20715	235	17	system	system	NOUN
fcis-20715	235	18	{	{	PUNCT
fcis-20715	235	19	g	g	NOUN
fcis-20715	235	20	}	}	PUNCT
fcis-20715	235	21	are	be	AUX
fcis-20715	235	22	depicted	depict	VERB
fcis-20715	235	23	in	in	ADP
fcis-20715	235	24	the	the	DET
fcis-20715	235	25	figure	figure	NOUN
fcis-20715	235	26	:	:	PUNCT
fcis-20715	235	27	fig	fig	NOUN
fcis-20715	235	28	5	5	NUM
fcis-20715	235	29	.	.	PUNCT
fcis-20715	236	1	the	the	DET
fcis-20715	236	2	velocity	velocity	NOUN
fcis-20715	236	3	variations	variation	NOUN
fcis-20715	236	4	of	of	ADP
fcis-20715	236	5	the	the	DET
fcis-20715	236	6	tiltrotor	tiltrotor	PROPN
fcis-20715	236	7	uav	uav	PROPN
fcis-20715	236	8	in	in	ADP
fcis-20715	236	9	the	the	DET
fcis-20715	236	10	figure	figure	NOUN
fcis-20715	236	11	,	,	PUNCT
fcis-20715	236	12	the	the	DET
fcis-20715	236	13	green	green	ADJ
fcis-20715	236	14	curve	curve	NOUN
fcis-20715	236	15	represents	represent	VERB
fcis-20715	236	16	the	the	DET
fcis-20715	236	17	reference	reference	NOUN
fcis-20715	236	18	velocity	velocity	NOUN
fcis-20715	236	19	obtained	obtain	VERB
fcis-20715	236	20	by	by	ADP
fcis-20715	236	21	processing	process	VERB
fcis-20715	236	22	the	the	DET
fcis-20715	236	23	input	input	NOUN
fcis-20715	236	24	target	target	NOUN
fcis-20715	236	25	trajectory	trajectory	NOUN
fcis-20715	236	26	,	,	PUNCT
fcis-20715	236	27	which	which	PRON
fcis-20715	236	28	is	be	AUX
fcis-20715	236	29	coordinated	coordinate	VERB
fcis-20715	236	30	within	within	ADP
fcis-20715	236	31	the	the	DET
fcis-20715	236	32	geodetic	geodetic	ADJ
fcis-20715	236	33	coordinate	coordinate	NOUN
fcis-20715	236	34	system	system	NOUN
fcis-20715	236	35	{	{	PUNCT
fcis-20715	236	36	g	g	NOUN
fcis-20715	236	37	}	}	PUNCT
fcis-20715	236	38	.	.	PUNCT
fcis-20715	237	1	the	the	DET
fcis-20715	237	2	red	red	ADJ
fcis-20715	237	3	curve	curve	NOUN
fcis-20715	237	4	in	in	ADP
fcis-20715	237	5	the	the	DET
fcis-20715	237	6	figure	figure	NOUN
fcis-20715	237	7	indicates	indicate	VERB
fcis-20715	237	8	the	the	DET
fcis-20715	237	9	actual	actual	ADJ
fcis-20715	237	10	velocity	velocity	NOUN
fcis-20715	237	11	variations	variation	NOUN
fcis-20715	237	12	of	of	ADP
fcis-20715	237	13	the	the	DET
fcis-20715	237	14	tilt	tilt	NOUN
fcis-20715	237	15	-	-	PUNCT
fcis-20715	237	16	rotor	rotor	NOUN
fcis-20715	237	17	unmanned	unmanned	ADJ
fcis-20715	237	18	aerial	aerial	ADJ
fcis-20715	237	19	vehicle	vehicle	NOUN
fcis-20715	237	20	when	when	SCONJ
fcis-20715	237	21	executing	execute	VERB
fcis-20715	237	22	the	the	DET
fcis-20715	237	23	trajectory	trajectory	NOUN
fcis-20715	237	24	tracking	tracking	NOUN
fcis-20715	237	25	task	task	NOUN
fcis-20715	237	26	under	under	ADP
fcis-20715	237	27	the	the	DET
fcis-20715	237	28	controller	controller	NOUN
fcis-20715	237	29	designed	design	VERB
fcis-20715	237	30	in	in	ADP
fcis-20715	237	31	this	this	DET
fcis-20715	237	32	paper	paper	NOUN
fcis-20715	237	33	.	.	PUNCT
fcis-20715	238	1	the	the	DET
fcis-20715	238	2	blue	blue	ADJ
fcis-20715	238	3	curve	curve	NOUN
fcis-20715	238	4	represents	represent	VERB
fcis-20715	238	5	the	the	DET
fcis-20715	238	6	actual	actual	ADJ
fcis-20715	238	7	velocity	velocity	NOUN
fcis-20715	238	8	variations	variation	NOUN
fcis-20715	238	9	of	of	ADP
fcis-20715	238	10	the	the	DET
fcis-20715	238	11	tiltrotor	tiltrotor	PROPN
fcis-20715	238	12	uav	uav	PROPN
fcis-20715	238	13	when	when	SCONJ
fcis-20715	238	14	executing	execute	VERB
fcis-20715	238	15	the	the	DET
fcis-20715	238	16	trajectory	trajectory	NOUN
fcis-20715	238	17	tracking	tracking	NOUN
fcis-20715	238	18	task	task	NOUN
fcis-20715	238	19	under	under	ADP
fcis-20715	238	20	a	a	DET
fcis-20715	238	21	controller	controller	NOUN
fcis-20715	238	22	with	with	ADP
fcis-20715	238	23	a	a	DET
fcis-20715	238	24	line	line	NOUN
fcis-20715	238	25	of	of	ADP
fcis-20715	238	26	sight	sight	NOUN
fcis-20715	238	27	(	(	PUNCT
fcis-20715	238	28	los	los	PROPN
fcis-20715	238	29	)	)	PUNCT
fcis-20715	238	30	plus	plus	CCONJ
fcis-20715	238	31	proportional	proportional	ADJ
fcis-20715	238	32	-	-	PUNCT
fcis-20715	238	33	integral	integral	ADJ
fcis-20715	238	34	-	-	PUNCT
fcis-20715	238	35	derivative	derivative	ADJ
fcis-20715	238	36	(	(	PUNCT
fcis-20715	238	37	pid	pid	NOUN
fcis-20715	238	38	)	)	PUNCT
fcis-20715	238	39	control	control	NOUN
fcis-20715	238	40	strategy	strategy	NOUN
fcis-20715	238	41	.	.	PUNCT
fcis-20715	239	1	it	it	PRON
fcis-20715	239	2	can	can	AUX
fcis-20715	239	3	be	be	AUX
fcis-20715	239	4	observed	observe	VERB
fcis-20715	239	5	that	that	SCONJ
fcis-20715	239	6	compared	compare	VERB
fcis-20715	239	7	to	to	ADP
fcis-20715	239	8	the	the	DET
fcis-20715	239	9	traditional	traditional	ADJ
fcis-20715	239	10	los+pid	los+pid	NOUN
fcis-20715	239	11	controller	controller	NOUN
fcis-20715	239	12	,	,	PUNCT
fcis-20715	239	13	the	the	DET
fcis-20715	239	14	controller	controller	NOUN
fcis-20715	239	15	designed	design	VERB
fcis-20715	239	16	in	in	ADP
fcis-20715	239	17	this	this	DET
fcis-20715	239	18	paper	paper	NOUN
fcis-20715	239	19	enables	enable	VERB
fcis-20715	239	20	the	the	DET
fcis-20715	239	21	tiltrotor	tiltrotor	PROPN
fcis-20715	239	22	uav	uav	PROPN
fcis-20715	239	23	to	to	PART
fcis-20715	239	24	accelerate	accelerate	VERB
fcis-20715	239	25	to	to	ADP
fcis-20715	239	26	the	the	DET
fcis-20715	239	27	target	target	NOUN
fcis-20715	239	28	velocity	velocity	NOUN
fcis-20715	239	29	more	more	ADV
fcis-20715	239	30	rapidly	rapidly	ADV
fcis-20715	239	31	while	while	SCONJ
fcis-20715	239	32	maintaining	maintain	VERB
fcis-20715	239	33	smoother	smooth	ADJ
fcis-20715	239	34	movements	movement	NOUN
fcis-20715	239	35	.	.	PUNCT
fcis-20715	240	1	variations	variation	NOUN
fcis-20715	240	2	in	in	ADP
fcis-20715	240	3	the	the	DET
fcis-20715	240	4	magnitude	magnitude	NOUN
fcis-20715	240	5	of	of	ADP
fcis-20715	240	6	position	position	NOUN
fcis-20715	240	7	errors	error	NOUN
fcis-20715	240	8	for	for	ADP
fcis-20715	240	9	tilt	tilt	NOUN
fcis-20715	240	10	-	-	PUNCT
fcis-20715	240	11	rotor	rotor	NOUN
fcis-20715	240	12	unmanned	unmanned	ADJ
fcis-20715	240	13	aerial	aerial	ADJ
fcis-20715	240	14	vehicles	vehicle	NOUN
fcis-20715	240	15	during	during	ADP
fcis-20715	240	16	trajectory	trajectory	NOUN
fcis-20715	240	17	tracking	tracking	NOUN
fcis-20715	240	18	tasks	task	NOUN
fcis-20715	240	19	within	within	ADP
fcis-20715	240	20	the	the	DET
fcis-20715	240	21	geodetic	geodetic	ADJ
fcis-20715	240	22	coordinate	coordinate	NOUN
fcis-20715	240	23	system	system	NOUN
fcis-20715	240	24	{	{	PUNCT
fcis-20715	240	25	g	g	NOUN
fcis-20715	240	26	}	}	PUNCT
fcis-20715	240	27	:	:	PUNCT
fcis-20715	240	28	in	in	ADP
fcis-20715	240	29	the	the	DET
fcis-20715	240	30	figure	figure	NOUN
fcis-20715	240	31	,	,	PUNCT
fcis-20715	240	32	the	the	DET
fcis-20715	240	33	red	red	ADJ
fcis-20715	240	34	curve	curve	NOUN
fcis-20715	240	35	illustrates	illustrate	VERB
fcis-20715	240	36	the	the	DET
fcis-20715	240	37	error	error	NOUN
fcis-20715	240	38	between	between	ADP
fcis-20715	240	39	the	the	DET
fcis-20715	240	40	actual	actual	ADJ
fcis-20715	240	41	path	path	NOUN
fcis-20715	240	42	and	and	CCONJ
fcis-20715	240	43	the	the	DET
fcis-20715	240	44	target	target	NOUN
fcis-20715	240	45	trajectory	trajectory	NOUN
fcis-20715	240	46	of	of	ADP
fcis-20715	240	47	the	the	DET
fcis-20715	240	48	tilt	tilt	NOUN
fcis-20715	240	49	-	-	PUNCT
fcis-20715	240	50	rotor	rotor	NOUN
fcis-20715	240	51	unmanned	unmanned	ADJ
fcis-20715	240	52	aerial	aerial	ADJ
fcis-20715	240	53	vehicle	vehicle	NOUN
fcis-20715	240	54	when	when	SCONJ
fcis-20715	240	55	executing	execute	VERB
fcis-20715	240	56	the	the	DET
fcis-20715	240	57	trajectory	trajectory	NOUN
fcis-20715	240	58	tracking	tracking	NOUN
fcis-20715	240	59	task	task	NOUN
fcis-20715	240	60	with	with	ADP
fcis-20715	240	61	the	the	DET
fcis-20715	240	62	controller	controller	NOUN
fcis-20715	240	63	designed	design	VERB
fcis-20715	240	64	in	in	ADP
fcis-20715	240	65	this	this	DET
fcis-20715	240	66	paper	paper	NOUN
fcis-20715	240	67	.	.	PUNCT
fcis-20715	241	1	the	the	DET
fcis-20715	241	2	blue	blue	ADJ
fcis-20715	241	3	curve	curve	NOUN
fcis-20715	241	4	shows	show	VERB
fcis-20715	241	5	the	the	DET
fcis-20715	241	6	error	error	NOUN
fcis-20715	241	7	between	between	ADP
fcis-20715	241	8	the	the	DET
fcis-20715	241	9	actual	actual	ADJ
fcis-20715	241	10	path	path	NOUN
fcis-20715	241	11	and	and	CCONJ
fcis-20715	241	12	the	the	DET
fcis-20715	241	13	target	target	NOUN
fcis-20715	241	14	trajectory	trajectory	NOUN
fcis-20715	241	15	when	when	SCONJ
fcis-20715	241	16	the	the	DET
fcis-20715	241	17	tilt	tilt	NOUN
fcis-20715	241	18	-	-	PUNCT
fcis-20715	241	19	rotor	rotor	NOUN
fcis-20715	241	20	unmanned	unmanned	ADJ
fcis-20715	241	21	aerial	aerial	ADJ
fcis-20715	241	22	vehicle	vehicle	NOUN
fcis-20715	241	23	is	be	AUX
fcis-20715	241	24	using	use	VERB
fcis-20715	241	25	a	a	DET
fcis-20715	241	26	controller	controller	NOUN
fcis-20715	241	27	with	with	ADP
fcis-20715	241	28	a	a	DET
fcis-20715	241	29	los	los	NOUN
fcis-20715	241	30	(	(	PUNCT
fcis-20715	241	31	line	line	NOUN
fcis-20715	241	32	of	of	ADP
fcis-20715	241	33	sight	sight	NOUN
fcis-20715	241	34	)	)	PUNCT
fcis-20715	242	1	+	+	CCONJ
fcis-20715	242	2	pid	pid	NOUN
fcis-20715	242	3	(	(	PUNCT
fcis-20715	242	4	proportionalintegral	proportionalintegral	ADJ
fcis-20715	242	5	-	-	PUNCT
fcis-20715	242	6	derivative	derivative	ADJ
fcis-20715	242	7	)	)	PUNCT
fcis-20715	242	8	control	control	NOUN
fcis-20715	242	9	strategy	strategy	NOUN
fcis-20715	242	10	for	for	ADP
fcis-20715	242	11	the	the	DET
fcis-20715	242	12	trajectory	trajectory	NOUN
fcis-20715	242	13	tracking	tracking	NOUN
fcis-20715	242	14	task	task	NOUN
fcis-20715	242	15	.	.	PUNCT
fcis-20715	243	1	it	it	PRON
fcis-20715	243	2	can	can	AUX
fcis-20715	243	3	be	be	AUX
fcis-20715	243	4	observed	observe	VERB
fcis-20715	243	5	that	that	SCONJ
fcis-20715	243	6	both	both	CCONJ
fcis-20715	243	7	the	the	DET
fcis-20715	243	8	traditional	traditional	ADJ
fcis-20715	243	9	los+pid	los+pid	NOUN
fcis-20715	243	10	controller	controller	NOUN
fcis-20715	243	11	and	and	CCONJ
fcis-20715	243	12	the	the	DET
fcis-20715	243	13	controller	controller	NOUN
fcis-20715	243	14	designed	design	VERB
fcis-20715	243	15	in	in	ADP
fcis-20715	243	16	this	this	DET
fcis-20715	243	17	paper	paper	NOUN
fcis-20715	243	18	can	can	AUX
fcis-20715	243	19	enable	enable	VERB
fcis-20715	243	20	the	the	DET
fcis-20715	243	21	tilt	tilt	NOUN
fcis-20715	243	22	-	-	PUNCT
fcis-20715	243	23	rotor	rotor	NOUN
fcis-20715	243	24	unmanned	unmanned	ADJ
fcis-20715	243	25	aerial	aerial	ADJ
fcis-20715	243	26	vehicle	vehicle	NOUN
fcis-20715	243	27	to	to	PART
fcis-20715	243	28	quickly	quickly	ADV
fcis-20715	243	29	converge	converge	VERB
fcis-20715	243	30	the	the	DET
fcis-20715	243	31	error	error	NOUN
fcis-20715	243	32	with	with	ADP
fcis-20715	243	33	the	the	DET
fcis-20715	243	34	target	target	NOUN
fcis-20715	243	35	trajectory	trajectory	NOUN
fcis-20715	243	36	.	.	PUNCT
fcis-20715	244	1	however	however	ADV
fcis-20715	244	2	,	,	PUNCT
fcis-20715	244	3	the	the	DET
fcis-20715	244	4	controller	controller	NOUN
fcis-20715	244	5	designed	design	VERB
fcis-20715	244	6	in	in	ADP
fcis-20715	244	7	this	this	DET
fcis-20715	244	8	paper	paper	NOUN
fcis-20715	244	9	allows	allow	VERB
fcis-20715	244	10	the	the	DET
fcis-20715	244	11	unmanned	unmanned	ADJ
fcis-20715	244	12	aerial	aerial	ADJ
fcis-20715	244	13	vehicle	vehicle	NOUN
fcis-20715	244	14	to	to	PART
fcis-20715	244	15	complete	complete	VERB
fcis-20715	244	16	the	the	DET
fcis-20715	244	17	task	task	NOUN
fcis-20715	244	18	with	with	ADP
fcis-20715	244	19	less	less	ADJ
fcis-20715	244	20	energy	energy	NOUN
fcis-20715	244	21	consumption	consumption	NOUN
fcis-20715	244	22	.	.	PUNCT
fcis-20715	245	1	the	the	DET
fcis-20715	245	2	simulation	simulation	NOUN
fcis-20715	245	3	results	result	NOUN
fcis-20715	245	4	presented	present	VERB
fcis-20715	245	5	above	above	ADP
fcis-20715	245	6	indicate	indicate	VERB
fcis-20715	245	7	that	that	SCONJ
fcis-20715	245	8	,	,	PUNCT
fcis-20715	245	9	in	in	ADP
fcis-20715	245	10	the	the	DET
fcis-20715	245	11	task	task	NOUN
fcis-20715	245	12	of	of	ADP
fcis-20715	245	13	straight	straight	ADJ
fcis-20715	245	14	-	-	PUNCT
fcis-20715	245	15	line	line	NOUN
fcis-20715	245	16	path	path	NOUN
fcis-20715	245	17	tracking	tracking	NOUN
fcis-20715	245	18	,	,	PUNCT
fcis-20715	245	19	the	the	DET
fcis-20715	245	20	controller	controller	NOUN
fcis-20715	245	21	designed	design	VERB
fcis-20715	245	22	in	in	ADP
fcis-20715	245	23	this	this	DET
fcis-20715	245	24	study	study	NOUN
fcis-20715	245	25	demonstrates	demonstrate	VERB
fcis-20715	245	26	advantages	advantage	NOUN
fcis-20715	245	27	of	of	ADP
fcis-20715	245	28	faster	fast	ADJ
fcis-20715	245	29	response	response	NOUN
fcis-20715	245	30	and	and	CCONJ
fcis-20715	245	31	65	65	NUM
fcis-20715	245	32	quicker	quick	ADJ
fcis-20715	245	33	convergence	convergence	NOUN
fcis-20715	245	34	rates	rate	NOUN
fcis-20715	245	35	when	when	SCONJ
fcis-20715	245	36	compared	compare	VERB
fcis-20715	245	37	to	to	ADP
fcis-20715	245	38	controllers	controller	NOUN
fcis-20715	245	39	employing	employ	VERB
fcis-20715	245	40	a	a	DET
fcis-20715	245	41	los+pid	los+pid	NOUN
fcis-20715	245	42	control	control	NOUN
fcis-20715	245	43	strategy	strategy	NOUN
fcis-20715	245	44	.	.	PUNCT
fcis-20715	246	1	consequently	consequently	ADV
fcis-20715	246	2	,	,	PUNCT
fcis-20715	246	3	it	it	PRON
fcis-20715	246	4	can	can	AUX
fcis-20715	246	5	be	be	AUX
fcis-20715	246	6	inferred	infer	VERB
fcis-20715	246	7	that	that	SCONJ
fcis-20715	246	8	it	it	PRON
fcis-20715	246	9	exhibits	exhibit	VERB
fcis-20715	246	10	superior	superior	ADJ
fcis-20715	246	11	performance	performance	NOUN
fcis-20715	246	12	in	in	ADP
fcis-20715	246	13	tracking	track	VERB
fcis-20715	246	14	basic	basic	ADJ
fcis-20715	246	15	straight	straight	ADJ
fcis-20715	246	16	-	-	PUNCT
fcis-20715	246	17	line	line	NOUN
fcis-20715	246	18	reference	reference	NOUN
fcis-20715	246	19	paths	path	NOUN
fcis-20715	246	20	.	.	PUNCT
fcis-20715	247	1	fig	fig	NOUN
fcis-20715	247	2	6	6	NUM
fcis-20715	247	3	.	.	PUNCT
fcis-20715	248	1	the	the	DET
fcis-20715	248	2	positional	positional	ADJ
fcis-20715	248	3	errors	error	NOUN
fcis-20715	248	4	of	of	ADP
fcis-20715	248	5	the	the	DET
fcis-20715	248	6	tiltrotor	tiltrotor	PROPN
fcis-20715	248	7	uav	uav	PROPN
fcis-20715	248	8	4.3	4.3	NUM
fcis-20715	248	9	.	.	PUNCT
fcis-20715	249	1	helical	helical	ADJ
fcis-20715	249	2	curve	curve	NOUN
fcis-20715	249	3	path	path	NOUN
fcis-20715	249	4	tracking	track	VERB
fcis-20715	249	5	this	this	DET
fcis-20715	249	6	segment	segment	NOUN
fcis-20715	249	7	of	of	ADP
fcis-20715	249	8	the	the	DET
fcis-20715	249	9	simulation	simulation	NOUN
fcis-20715	249	10	is	be	AUX
fcis-20715	249	11	designed	design	VERB
fcis-20715	249	12	to	to	PART
fcis-20715	249	13	examine	examine	VERB
fcis-20715	249	14	the	the	DET
fcis-20715	249	15	actual	actual	ADJ
fcis-20715	249	16	performance	performance	NOUN
fcis-20715	249	17	of	of	ADP
fcis-20715	249	18	the	the	DET
fcis-20715	249	19	developed	develop	VERB
fcis-20715	249	20	controller	controller	NOUN
fcis-20715	249	21	and	and	CCONJ
fcis-20715	249	22	to	to	PART
fcis-20715	249	23	verify	verify	VERB
fcis-20715	249	24	its	its	PRON
fcis-20715	249	25	capability	capability	NOUN
fcis-20715	249	26	to	to	PART
fcis-20715	249	27	effectively	effectively	ADV
fcis-20715	249	28	track	track	VERB
fcis-20715	249	29	common	common	ADJ
fcis-20715	249	30	curved	curved	ADJ
fcis-20715	249	31	reference	reference	NOUN
fcis-20715	249	32	paths	path	NOUN
fcis-20715	249	33	within	within	ADP
fcis-20715	249	34	a	a	DET
fcis-20715	249	35	three	three	NUM
fcis-20715	249	36	-	-	PUNCT
fcis-20715	249	37	dimensional	dimensional	ADJ
fcis-20715	249	38	space	space	NOUN
fcis-20715	249	39	.	.	PUNCT
fcis-20715	250	1	the	the	DET
fcis-20715	250	2	reference	reference	NOUN
fcis-20715	250	3	path	path	NOUN
fcis-20715	250	4	for	for	ADP
fcis-20715	250	5	the	the	DET
fcis-20715	250	6	helical	helical	ADJ
fcis-20715	250	7	curve	curve	NOUN
fcis-20715	250	8	path	path	NOUN
fcis-20715	250	9	tracking	tracking	NOUN
fcis-20715	250	10	simulation	simulation	NOUN
fcis-20715	250	11	experiment	experiment	NOUN
fcis-20715	250	12	is	be	AUX
fcis-20715	250	13	as	as	SCONJ
fcis-20715	250	14	follows	follow	VERB
fcis-20715	250	15	:	:	PUNCT
fcis-20715	250	16	)	)	PUNCT
fcis-20715	250	17	25	25	NUM
fcis-20715	250	18	0.6	0.6	NUM
fcis-20715	250	19	30	30	NUM
fcis-20715	250	20	25	25	NUM
fcis-20715	250	21	0.6	0.6	NUM
fcis-20715	250	22	30	30	NUM
fcis-20715	250	23	12	12	NUM
fcis-20715	250	24	10	10	NUM
fcis-20715	250	25	(	(	PUNCT
fcis-20715	250	26	0	0	NUM
fcis-20715	250	27	(	(	PUNCT
fcis-20715	250	28	)	)	PUNCT
fcis-20715	251	1	d	d	PUNCT
fcis-20715	251	2	d	d	X
fcis-20715	251	3	d	d	X
fcis-20715	251	4	x	x	X
fcis-20715	251	5	sin	sin	PROPN
fcis-20715	251	6	t	t	PROPN
fcis-20715	251	7	y	y	PROPN
fcis-20715	251	8	cos	cos	PROPN
fcis-20715	251	9	t	t	PROPN
fcis-20715	251	10	z	z	PROPN
fcis-20715	251	11	t	t	PROPN
fcis-20715	251	12			PROPN
fcis-20715	251	13			PROPN
fcis-20715	251	14			PROPN
fcis-20715	251	15			NOUN
fcis-20715	251	16			PROPN
fcis-20715	251	17			ADJ
fcis-20715	251	18			NOUN
fcis-20715	251	19			PROPN
fcis-20715	251	20			NOUN
fcis-20715	251	21			NOUN
fcis-20715	251	22			NOUN
fcis-20715	251	23			NOUN
fcis-20715	251	24			NOUN
fcis-20715	251	25			NOUN
fcis-20715	251	26			NOUN
fcis-20715	251	27			NOUN
fcis-20715	251	28			NOUN
fcis-20715	251	29			NOUN
fcis-20715	251	30			PROPN
fcis-20715	251	31			VERB
fcis-20715	251	32			PROPN
fcis-20715	251	33	=	=	SYM
fcis-20715	251	34	(	(	PUNCT
fcis-20715	251	35	30	30	NUM
fcis-20715	251	36	)	)	PUNCT
fcis-20715	251	37	fig	fig	NOUN
fcis-20715	251	38	7	7	NUM
fcis-20715	251	39	.	.	PUNCT
fcis-20715	252	1	the	the	DET
fcis-20715	252	2	positional	positional	ADJ
fcis-20715	252	3	variations	variation	NOUN
fcis-20715	252	4	of	of	ADP
fcis-20715	252	5	the	the	DET
fcis-20715	252	6	tiltrotor	tiltrotor	PROPN
fcis-20715	252	7	uav	uav	PROPN
fcis-20715	252	8	66	66	NUM
fcis-20715	252	9	through	through	ADP
fcis-20715	252	10	the	the	DET
fcis-20715	252	11	execution	execution	NOUN
fcis-20715	252	12	of	of	ADP
fcis-20715	252	13	simulation	simulation	NOUN
fcis-20715	252	14	experiment	experiment	NOUN
fcis-20715	252	15	,	,	PUNCT
fcis-20715	252	16	this	this	DET
fcis-20715	252	17	study	study	NOUN
fcis-20715	252	18	has	have	AUX
fcis-20715	252	19	successfully	successfully	ADV
fcis-20715	252	20	gathered	gather	VERB
fcis-20715	252	21	performance	performance	NOUN
fcis-20715	252	22	data	datum	NOUN
fcis-20715	252	23	pertaining	pertain	VERB
fcis-20715	252	24	to	to	ADP
fcis-20715	252	25	the	the	DET
fcis-20715	252	26	trajectory	trajectory	NOUN
fcis-20715	252	27	tracking	tracking	NOUN
fcis-20715	252	28	task	task	NOUN
fcis-20715	252	29	of	of	ADP
fcis-20715	252	30	tilt	tilt	NOUN
fcis-20715	252	31	-	-	PUNCT
fcis-20715	252	32	rotor	rotor	NOUN
fcis-20715	252	33	unmanned	unmanned	ADJ
fcis-20715	252	34	aerial	aerial	ADJ
fcis-20715	252	35	vehicles	vehicle	NOUN
fcis-20715	252	36	.	.	PUNCT
fcis-20715	253	1	the	the	DET
fcis-20715	253	2	positional	positional	ADJ
fcis-20715	253	3	changes	change	NOUN
fcis-20715	253	4	of	of	ADP
fcis-20715	253	5	the	the	DET
fcis-20715	253	6	tiltrotor	tiltrotor	PROPN
fcis-20715	253	7	uav	uav	PROPN
fcis-20715	253	8	during	during	ADP
fcis-20715	253	9	the	the	DET
fcis-20715	253	10	trajectory	trajectory	NOUN
fcis-20715	253	11	tracking	tracking	NOUN
fcis-20715	253	12	task	task	NOUN
fcis-20715	253	13	in	in	ADP
fcis-20715	253	14	the	the	DET
fcis-20715	253	15	geodetic	geodetic	ADJ
fcis-20715	253	16	coordinate	coordinate	NOUN
fcis-20715	253	17	system	system	NOUN
fcis-20715	253	18	{	{	PUNCT
fcis-20715	253	19	g	g	NOUN
fcis-20715	253	20	}	}	PUNCT
fcis-20715	253	21	are	be	AUX
fcis-20715	253	22	illustrated	illustrate	VERB
fcis-20715	253	23	in	in	ADP
fcis-20715	253	24	the	the	DET
fcis-20715	253	25	figure	figure	NOUN
fcis-20715	253	26	7	7	NUM
fcis-20715	253	27	.	.	PUNCT
fcis-20715	254	1	in	in	ADP
fcis-20715	254	2	the	the	DET
fcis-20715	254	3	figure	figure	NOUN
fcis-20715	254	4	,	,	PUNCT
fcis-20715	254	5	the	the	DET
fcis-20715	254	6	green	green	ADJ
fcis-20715	254	7	curve	curve	NOUN
fcis-20715	254	8	represents	represent	VERB
fcis-20715	254	9	the	the	DET
fcis-20715	254	10	input	input	NOUN
fcis-20715	254	11	target	target	NOUN
fcis-20715	254	12	trajectory	trajectory	NOUN
fcis-20715	254	13	,	,	PUNCT
fcis-20715	254	14	which	which	PRON
fcis-20715	254	15	is	be	AUX
fcis-20715	254	16	defined	define	VERB
fcis-20715	254	17	in	in	ADP
fcis-20715	254	18	the	the	DET
fcis-20715	254	19	geodetic	geodetic	ADJ
fcis-20715	254	20	coordinate	coordinate	NOUN
fcis-20715	254	21	system	system	NOUN
fcis-20715	254	22	{	{	PUNCT
fcis-20715	254	23	g	g	NOUN
fcis-20715	254	24	}	}	PUNCT
fcis-20715	254	25	.	.	PUNCT
fcis-20715	255	1	the	the	DET
fcis-20715	255	2	red	red	ADJ
fcis-20715	255	3	curve	curve	NOUN
fcis-20715	255	4	illustrates	illustrate	VERB
fcis-20715	255	5	the	the	DET
fcis-20715	255	6	actual	actual	ADJ
fcis-20715	255	7	position	position	NOUN
fcis-20715	255	8	changes	change	NOUN
fcis-20715	255	9	of	of	ADP
fcis-20715	255	10	the	the	DET
fcis-20715	255	11	tiltrotor	tiltrotor	PROPN
fcis-20715	255	12	uav	uav	PROPN
fcis-20715	255	13	when	when	SCONJ
fcis-20715	255	14	performing	perform	VERB
fcis-20715	255	15	the	the	DET
fcis-20715	255	16	trajectory	trajectory	NOUN
fcis-20715	255	17	tracking	tracking	NOUN
fcis-20715	255	18	task	task	NOUN
fcis-20715	255	19	under	under	ADP
fcis-20715	255	20	the	the	DET
fcis-20715	255	21	controller	controller	NOUN
fcis-20715	255	22	designed	design	VERB
fcis-20715	255	23	in	in	ADP
fcis-20715	255	24	this	this	DET
fcis-20715	255	25	paper	paper	NOUN
fcis-20715	255	26	.	.	PUNCT
fcis-20715	256	1	the	the	DET
fcis-20715	256	2	blue	blue	ADJ
fcis-20715	256	3	curve	curve	NOUN
fcis-20715	256	4	shows	show	VERB
fcis-20715	256	5	the	the	DET
fcis-20715	256	6	position	position	NOUN
fcis-20715	256	7	changes	change	NOUN
fcis-20715	256	8	of	of	ADP
fcis-20715	256	9	the	the	DET
fcis-20715	256	10	tiltrotor	tiltrotor	PROPN
fcis-20715	256	11	uav	uav	PROPN
fcis-20715	256	12	when	when	SCONJ
fcis-20715	256	13	executing	execute	VERB
fcis-20715	256	14	the	the	DET
fcis-20715	256	15	trajectory	trajectory	NOUN
fcis-20715	256	16	tracking	tracking	NOUN
fcis-20715	256	17	task	task	NOUN
fcis-20715	256	18	under	under	ADP
fcis-20715	256	19	a	a	DET
fcis-20715	256	20	controller	controller	NOUN
fcis-20715	256	21	with	with	ADP
fcis-20715	256	22	a	a	DET
fcis-20715	256	23	los+pid	los+pid	NOUN
fcis-20715	256	24	control	control	NOUN
fcis-20715	256	25	strategy	strategy	NOUN
fcis-20715	256	26	.	.	PUNCT
fcis-20715	257	1	it	it	PRON
fcis-20715	257	2	is	be	AUX
fcis-20715	257	3	evident	evident	ADJ
fcis-20715	257	4	that	that	SCONJ
fcis-20715	257	5	the	the	DET
fcis-20715	257	6	tiltrotor	tiltrotor	PROPN
fcis-20715	257	7	uav	uav	PROPN
fcis-20715	257	8	reaches	reach	VERB
fcis-20715	257	9	the	the	DET
fcis-20715	257	10	current	current	ADJ
fcis-20715	257	11	target	target	NOUN
fcis-20715	257	12	position	position	NOUN
fcis-20715	257	13	on	on	ADP
fcis-20715	257	14	the	the	DET
fcis-20715	257	15	trajectory	trajectory	NOUN
fcis-20715	257	16	more	more	ADV
fcis-20715	257	17	smoothly	smoothly	ADV
fcis-20715	257	18	with	with	ADP
fcis-20715	257	19	the	the	DET
fcis-20715	257	20	controller	controller	NOUN
fcis-20715	257	21	designed	design	VERB
fcis-20715	257	22	in	in	ADP
fcis-20715	257	23	this	this	DET
fcis-20715	257	24	paper	paper	NOUN
fcis-20715	257	25	compared	compare	VERB
fcis-20715	257	26	to	to	ADP
fcis-20715	257	27	the	the	DET
fcis-20715	257	28	traditional	traditional	ADJ
fcis-20715	257	29	los+pid	los+pid	NOUN
fcis-20715	257	30	controller	controller	NOUN
fcis-20715	257	31	.	.	PUNCT
fcis-20715	258	1	the	the	DET
fcis-20715	258	2	velocity	velocity	NOUN
fcis-20715	258	3	variations	variation	NOUN
fcis-20715	258	4	of	of	ADP
fcis-20715	258	5	the	the	DET
fcis-20715	258	6	tiltrotor	tiltrotor	PROPN
fcis-20715	258	7	uav	uav	PROPN
fcis-20715	258	8	during	during	ADP
fcis-20715	258	9	the	the	DET
fcis-20715	258	10	trajectory	trajectory	NOUN
fcis-20715	258	11	tracking	tracking	NOUN
fcis-20715	258	12	task	task	NOUN
fcis-20715	258	13	within	within	ADP
fcis-20715	258	14	the	the	DET
fcis-20715	258	15	geodetic	geodetic	ADJ
fcis-20715	258	16	coordinate	coordinate	NOUN
fcis-20715	258	17	system	system	NOUN
fcis-20715	258	18	{	{	PUNCT
fcis-20715	258	19	g	g	NOUN
fcis-20715	258	20	}	}	PUNCT
fcis-20715	258	21	are	be	AUX
fcis-20715	258	22	depicted	depict	VERB
fcis-20715	258	23	in	in	ADP
fcis-20715	258	24	the	the	DET
fcis-20715	258	25	figure	figure	NOUN
fcis-20715	258	26	:	:	PUNCT
fcis-20715	258	27	fig	fig	NOUN
fcis-20715	258	28	8	8	NUM
fcis-20715	258	29	.	.	PUNCT
fcis-20715	259	1	the	the	DET
fcis-20715	259	2	velocity	velocity	NOUN
fcis-20715	259	3	variations	variation	NOUN
fcis-20715	259	4	of	of	ADP
fcis-20715	259	5	the	the	DET
fcis-20715	259	6	tiltrotor	tiltrotor	PROPN
fcis-20715	259	7	uav	uav	PROPN
fcis-20715	259	8	in	in	ADP
fcis-20715	259	9	the	the	DET
fcis-20715	259	10	figure	figure	NOUN
fcis-20715	259	11	,	,	PUNCT
fcis-20715	259	12	the	the	DET
fcis-20715	259	13	green	green	ADJ
fcis-20715	259	14	curve	curve	NOUN
fcis-20715	259	15	represents	represent	VERB
fcis-20715	259	16	the	the	DET
fcis-20715	259	17	reference	reference	NOUN
fcis-20715	259	18	velocity	velocity	NOUN
fcis-20715	259	19	obtained	obtain	VERB
fcis-20715	259	20	by	by	ADP
fcis-20715	259	21	processing	process	VERB
fcis-20715	259	22	the	the	DET
fcis-20715	259	23	input	input	NOUN
fcis-20715	259	24	target	target	NOUN
fcis-20715	259	25	trajectory	trajectory	NOUN
fcis-20715	259	26	,	,	PUNCT
fcis-20715	259	27	which	which	PRON
fcis-20715	259	28	is	be	AUX
fcis-20715	259	29	defined	define	VERB
fcis-20715	259	30	in	in	ADP
fcis-20715	259	31	the	the	DET
fcis-20715	259	32	geodetic	geodetic	ADJ
fcis-20715	259	33	coordinate	coordinate	NOUN
fcis-20715	259	34	system	system	NOUN
fcis-20715	259	35	{	{	PUNCT
fcis-20715	259	36	g	g	NOUN
fcis-20715	259	37	}	}	PUNCT
fcis-20715	259	38	.	.	PUNCT
fcis-20715	260	1	the	the	DET
fcis-20715	260	2	red	red	ADJ
fcis-20715	260	3	curve	curve	NOUN
fcis-20715	260	4	shows	show	VERB
fcis-20715	260	5	the	the	DET
fcis-20715	260	6	actual	actual	ADJ
fcis-20715	260	7	velocity	velocity	NOUN
fcis-20715	260	8	changes	change	NOUN
fcis-20715	260	9	of	of	ADP
fcis-20715	260	10	the	the	DET
fcis-20715	260	11	tiltrotor	tiltrotor	PROPN
fcis-20715	260	12	uav	uav	PROPN
fcis-20715	260	13	when	when	SCONJ
fcis-20715	260	14	performing	perform	VERB
fcis-20715	260	15	the	the	DET
fcis-20715	260	16	trajectory	trajectory	NOUN
fcis-20715	260	17	tracking	tracking	NOUN
fcis-20715	260	18	task	task	NOUN
fcis-20715	260	19	under	under	ADP
fcis-20715	260	20	the	the	DET
fcis-20715	260	21	controller	controller	NOUN
fcis-20715	260	22	designed	design	VERB
fcis-20715	260	23	in	in	ADP
fcis-20715	260	24	this	this	DET
fcis-20715	260	25	paper	paper	NOUN
fcis-20715	260	26	.	.	PUNCT
fcis-20715	261	1	the	the	DET
fcis-20715	261	2	blue	blue	ADJ
fcis-20715	261	3	curve	curve	NOUN
fcis-20715	261	4	indicates	indicate	VERB
fcis-20715	261	5	the	the	DET
fcis-20715	261	6	velocity	velocity	NOUN
fcis-20715	261	7	changes	change	NOUN
fcis-20715	261	8	of	of	ADP
fcis-20715	261	9	the	the	DET
fcis-20715	261	10	tiltrotor	tiltrotor	PROPN
fcis-20715	261	11	uav	uav	PROPN
fcis-20715	261	12	when	when	SCONJ
fcis-20715	261	13	executing	execute	VERB
fcis-20715	261	14	the	the	DET
fcis-20715	261	15	trajectory	trajectory	NOUN
fcis-20715	261	16	tracking	tracking	NOUN
fcis-20715	261	17	task	task	NOUN
fcis-20715	261	18	under	under	ADP
fcis-20715	261	19	a	a	DET
fcis-20715	261	20	controller	controller	NOUN
fcis-20715	261	21	with	with	ADP
fcis-20715	261	22	a	a	DET
fcis-20715	261	23	los+pid	los+pid	NOUN
fcis-20715	261	24	control	control	NOUN
fcis-20715	261	25	strategy	strategy	NOUN
fcis-20715	261	26	.	.	PUNCT
fcis-20715	262	1	it	it	PRON
fcis-20715	262	2	can	can	AUX
fcis-20715	262	3	be	be	AUX
fcis-20715	262	4	observed	observe	VERB
fcis-20715	262	5	that	that	SCONJ
fcis-20715	262	6	the	the	DET
fcis-20715	262	7	controller	controller	NOUN
fcis-20715	262	8	designed	design	VERB
fcis-20715	262	9	in	in	ADP
fcis-20715	262	10	this	this	DET
fcis-20715	262	11	paper	paper	NOUN
fcis-20715	262	12	enables	enable	VERB
fcis-20715	262	13	the	the	DET
fcis-20715	262	14	tiltrotor	tiltrotor	PROPN
fcis-20715	262	15	uav	uav	PROPN
fcis-20715	262	16	to	to	PART
fcis-20715	262	17	complete	complete	VERB
fcis-20715	262	18	the	the	DET
fcis-20715	262	19	task	task	NOUN
fcis-20715	262	20	with	with	ADP
fcis-20715	262	21	a	a	DET
fcis-20715	262	22	smoother	smooth	ADJ
fcis-20715	262	23	response	response	NOUN
fcis-20715	262	24	compared	compare	VERB
fcis-20715	262	25	to	to	ADP
fcis-20715	262	26	the	the	DET
fcis-20715	262	27	traditional	traditional	ADJ
fcis-20715	262	28	los+pid	los+pid	NOUN
fcis-20715	262	29	controller	controller	NOUN
fcis-20715	262	30	.	.	PUNCT
fcis-20715	263	1	variations	variation	NOUN
fcis-20715	263	2	in	in	ADP
fcis-20715	263	3	the	the	DET
fcis-20715	263	4	magnitude	magnitude	NOUN
fcis-20715	263	5	of	of	ADP
fcis-20715	263	6	position	position	NOUN
fcis-20715	263	7	errors	error	NOUN
fcis-20715	263	8	for	for	ADP
fcis-20715	263	9	tilt	tilt	NOUN
fcis-20715	263	10	-	-	PUNCT
fcis-20715	263	11	rotor	rotor	NOUN
fcis-20715	263	12	unmanned	unmanned	ADJ
fcis-20715	263	13	aerial	aerial	ADJ
fcis-20715	263	14	vehicles	vehicle	NOUN
fcis-20715	263	15	during	during	ADP
fcis-20715	263	16	trajectory	trajectory	NOUN
fcis-20715	263	17	tracking	tracking	NOUN
fcis-20715	263	18	tasks	task	NOUN
fcis-20715	263	19	within	within	ADP
fcis-20715	263	20	the	the	DET
fcis-20715	263	21	geodetic	geodetic	ADJ
fcis-20715	263	22	coordinate	coordinate	NOUN
fcis-20715	263	23	system	system	NOUN
fcis-20715	263	24	{	{	PUNCT
fcis-20715	263	25	g	g	NOUN
fcis-20715	263	26	}	}	PUNCT
fcis-20715	263	27	:	:	PUNCT
fcis-20715	263	28	in	in	SCONJ
fcis-20715	263	29	the	the	DET
fcis-20715	263	30	figure	figure	NOUN
fcis-20715	263	31	presented	present	VERB
fcis-20715	263	32	,	,	PUNCT
fcis-20715	263	33	the	the	DET
fcis-20715	263	34	red	red	ADJ
fcis-20715	263	35	curve	curve	NOUN
fcis-20715	263	36	illustrates	illustrate	VERB
fcis-20715	263	37	the	the	DET
fcis-20715	263	38	error	error	NOUN
fcis-20715	263	39	between	between	ADP
fcis-20715	263	40	the	the	DET
fcis-20715	263	41	actual	actual	ADJ
fcis-20715	263	42	path	path	NOUN
fcis-20715	263	43	and	and	CCONJ
fcis-20715	263	44	the	the	DET
fcis-20715	263	45	target	target	NOUN
fcis-20715	263	46	trajectory	trajectory	NOUN
fcis-20715	263	47	of	of	ADP
fcis-20715	263	48	the	the	DET
fcis-20715	263	49	tiltrotor	tiltrotor	PROPN
fcis-20715	263	50	uav	uav	PROPN
fcis-20715	263	51	when	when	SCONJ
fcis-20715	263	52	tracking	track	VERB
fcis-20715	263	53	the	the	DET
fcis-20715	263	54	trajectory	trajectory	NOUN
fcis-20715	263	55	using	use	VERB
fcis-20715	263	56	the	the	DET
fcis-20715	263	57	controller	controller	NOUN
fcis-20715	263	58	designed	design	VERB
fcis-20715	263	59	in	in	ADP
fcis-20715	263	60	this	this	DET
fcis-20715	263	61	study	study	NOUN
fcis-20715	263	62	.	.	PUNCT
fcis-20715	264	1	the	the	DET
fcis-20715	264	2	blue	blue	ADJ
fcis-20715	264	3	curve	curve	NOUN
fcis-20715	264	4	depicts	depict	VERB
fcis-20715	264	5	the	the	DET
fcis-20715	264	6	error	error	NOUN
fcis-20715	264	7	in	in	ADP
fcis-20715	264	8	the	the	DET
fcis-20715	264	9	trajectory	trajectory	NOUN
fcis-20715	264	10	tracking	track	VERB
fcis-20715	264	11	task	task	NOUN
fcis-20715	264	12	of	of	ADP
fcis-20715	264	13	the	the	DET
fcis-20715	264	14	tiltrotor	tiltrotor	PROPN
fcis-20715	264	15	uav	uav	PROPN
fcis-20715	264	16	when	when	SCONJ
fcis-20715	264	17	employing	employ	VERB
fcis-20715	264	18	a	a	DET
fcis-20715	264	19	controller	controller	NOUN
fcis-20715	264	20	with	with	ADP
fcis-20715	264	21	a	a	DET
fcis-20715	264	22	los+pid	los+pid	NOUN
fcis-20715	264	23	control	control	NOUN
fcis-20715	264	24	strategy	strategy	NOUN
fcis-20715	264	25	.	.	PUNCT
fcis-20715	265	1	it	it	PRON
fcis-20715	265	2	is	be	AUX
fcis-20715	265	3	evident	evident	ADJ
fcis-20715	265	4	that	that	SCONJ
fcis-20715	265	5	compared	compare	VERB
fcis-20715	265	6	to	to	ADP
fcis-20715	265	7	the	the	DET
fcis-20715	265	8	conventional	conventional	ADJ
fcis-20715	265	9	los+pid	los+pid	NOUN
fcis-20715	265	10	controller	controller	NOUN
fcis-20715	265	11	,	,	PUNCT
fcis-20715	265	12	the	the	DET
fcis-20715	265	13	controller	controller	NOUN
fcis-20715	265	14	proposed	propose	VERB
fcis-20715	265	15	in	in	ADP
fcis-20715	265	16	this	this	DET
fcis-20715	265	17	paper	paper	NOUN
fcis-20715	265	18	significantly	significantly	ADV
fcis-20715	265	19	reduces	reduce	VERB
fcis-20715	265	20	the	the	DET
fcis-20715	265	21	tracking	tracking	NOUN
fcis-20715	265	22	error	error	NOUN
fcis-20715	265	23	of	of	ADP
fcis-20715	265	24	the	the	DET
fcis-20715	265	25	tiltrotor	tiltrotor	PROPN
fcis-20715	265	26	uav	uav	PROPN
fcis-20715	265	27	.	.	PUNCT
fcis-20715	266	1	the	the	DET
fcis-20715	266	2	simulation	simulation	NOUN
fcis-20715	266	3	results	result	NOUN
fcis-20715	266	4	indicate	indicate	VERB
fcis-20715	266	5	that	that	SCONJ
fcis-20715	266	6	,	,	PUNCT
fcis-20715	266	7	in	in	ADP
fcis-20715	266	8	the	the	DET
fcis-20715	266	9	task	task	NOUN
fcis-20715	266	10	of	of	ADP
fcis-20715	266	11	following	follow	VERB
fcis-20715	266	12	a	a	DET
fcis-20715	266	13	helical	helical	ADJ
fcis-20715	266	14	path	path	NOUN
fcis-20715	266	15	,	,	PUNCT
fcis-20715	266	16	the	the	DET
fcis-20715	266	17	controller	controller	NOUN
fcis-20715	266	18	designed	design	VERB
fcis-20715	266	19	in	in	ADP
fcis-20715	266	20	this	this	DET
fcis-20715	266	21	study	study	NOUN
fcis-20715	266	22	exhibits	exhibit	VERB
fcis-20715	266	23	advantages	advantage	NOUN
fcis-20715	266	24	over	over	ADP
fcis-20715	266	25	the	the	DET
fcis-20715	266	26	controller	controller	NOUN
fcis-20715	266	27	with	with	ADP
fcis-20715	266	28	a	a	DET
fcis-20715	266	29	los+pid	los+pid	NOUN
fcis-20715	266	30	control	control	NOUN
fcis-20715	266	31	strategy	strategy	NOUN
fcis-20715	266	32	,	,	PUNCT
fcis-20715	266	33	including	include	VERB
fcis-20715	266	34	reduced	reduce	VERB
fcis-20715	266	35	overshoot	overshoot	NOUN
fcis-20715	266	36	and	and	CCONJ
fcis-20715	266	37	faster	fast	ADJ
fcis-20715	266	38	convergence	convergence	NOUN
fcis-20715	266	39	.	.	PUNCT
fcis-20715	267	1	consequently	consequently	ADV
fcis-20715	267	2	,	,	PUNCT
fcis-20715	267	3	it	it	PRON
fcis-20715	267	4	can	can	AUX
fcis-20715	267	5	be	be	AUX
fcis-20715	267	6	inferred	infer	VERB
fcis-20715	267	7	that	that	SCONJ
fcis-20715	267	8	the	the	DET
fcis-20715	267	9	proposed	propose	VERB
fcis-20715	267	10	controller	controller	NOUN
fcis-20715	267	11	demonstrates	demonstrate	VERB
fcis-20715	267	12	superior	superior	ADJ
fcis-20715	267	13	performance	performance	NOUN
fcis-20715	267	14	in	in	ADP
fcis-20715	267	15	tracking	track	VERB
fcis-20715	267	16	common	common	ADJ
fcis-20715	267	17	curvilinear	curvilinear	ADJ
fcis-20715	267	18	reference	reference	NOUN
fcis-20715	267	19	paths	path	NOUN
fcis-20715	267	20	in	in	ADP
fcis-20715	267	21	three	three	NUM
fcis-20715	267	22	-	-	PUNCT
fcis-20715	267	23	dimensional	dimensional	ADJ
fcis-20715	267	24	space	space	NOUN
fcis-20715	267	25	.	.	PUNCT
fcis-20715	268	1	67	67	NUM
fcis-20715	268	2	fig	fig	NOUN
fcis-20715	268	3	9	9	NUM
fcis-20715	268	4	.	.	PUNCT
fcis-20715	269	1	the	the	DET
fcis-20715	269	2	positional	positional	ADJ
fcis-20715	269	3	errors	error	NOUN
fcis-20715	269	4	of	of	ADP
fcis-20715	269	5	the	the	DET
fcis-20715	269	6	tiltrotor	tiltrotor	PROPN
fcis-20715	269	7	uav	uav	PROPN
fcis-20715	269	8	5	5	NUM
fcis-20715	269	9	.	.	PUNCT
fcis-20715	269	10	conclusion	conclusion	NOUN
fcis-20715	269	11	this	this	DET
fcis-20715	269	12	paper	paper	NOUN
fcis-20715	269	13	presents	present	VERB
fcis-20715	269	14	the	the	DET
fcis-20715	269	15	kinematic	kinematic	ADJ
fcis-20715	269	16	and	and	CCONJ
fcis-20715	269	17	dynamic	dynamic	ADJ
fcis-20715	269	18	modeling	modeling	NOUN
fcis-20715	269	19	for	for	ADP
fcis-20715	269	20	the	the	DET
fcis-20715	269	21	tiltrotor	tiltrotor	PROPN
fcis-20715	269	22	uav	uav	PROPN
fcis-20715	269	23	.	.	PUNCT
fcis-20715	270	1	based	base	VERB
fcis-20715	270	2	on	on	ADP
fcis-20715	270	3	the	the	DET
fcis-20715	270	4	established	establish	VERB
fcis-20715	270	5	models	model	NOUN
fcis-20715	270	6	,	,	PUNCT
fcis-20715	270	7	a	a	DET
fcis-20715	270	8	control	control	NOUN
fcis-20715	270	9	strategy	strategy	NOUN
fcis-20715	270	10	for	for	ADP
fcis-20715	270	11	the	the	DET
fcis-20715	270	12	tiltrotor	tiltrotor	PROPN
fcis-20715	270	13	uav	uav	PROPN
fcis-20715	270	14	,	,	PUNCT
fcis-20715	270	15	which	which	PRON
fcis-20715	270	16	integrates	integrate	VERB
fcis-20715	270	17	model	model	NOUN
fcis-20715	270	18	predictive	predictive	ADJ
fcis-20715	270	19	control	control	PROPN
fcis-20715	270	20	(	(	PUNCT
fcis-20715	270	21	mpc	mpc	NOUN
fcis-20715	270	22	)	)	PUNCT
fcis-20715	270	23	and	and	CCONJ
fcis-20715	270	24	adaptive	adaptive	ADJ
fcis-20715	270	25	sliding	slide	VERB
fcis-20715	270	26	mode	mode	NOUN
fcis-20715	270	27	control	control	NOUN
fcis-20715	270	28	(	(	PUNCT
fcis-20715	270	29	asmc	asmc	NOUN
fcis-20715	270	30	)	)	PUNCT
fcis-20715	270	31	,	,	PUNCT
fcis-20715	270	32	has	have	AUX
fcis-20715	270	33	been	be	AUX
fcis-20715	270	34	implemented	implement	VERB
fcis-20715	270	35	.	.	PUNCT
fcis-20715	271	1	the	the	DET
fcis-20715	271	2	controller	controller	NOUN
fcis-20715	271	3	is	be	AUX
fcis-20715	271	4	designed	design	VERB
fcis-20715	271	5	utilizing	utilize	VERB
fcis-20715	271	6	a	a	DET
fcis-20715	271	7	model	model	NOUN
fcis-20715	271	8	established	establish	VERB
fcis-20715	271	9	on	on	ADP
fcis-20715	271	10	the	the	DET
fcis-20715	271	11	basis	basis	NOUN
fcis-20715	271	12	of	of	ADP
fcis-20715	271	13	path	path	NOUN
fcis-20715	271	14	tracking	track	VERB
fcis-20715	271	15	errors	error	NOUN
fcis-20715	271	16	,	,	PUNCT
fcis-20715	271	17	and	and	CCONJ
fcis-20715	271	18	it	it	PRON
fcis-20715	271	19	meticulously	meticulously	ADV
fcis-20715	271	20	controls	control	VERB
fcis-20715	271	21	both	both	DET
fcis-20715	271	22	kinematics	kinematic	NOUN
fcis-20715	271	23	and	and	CCONJ
fcis-20715	271	24	dynamics	dynamic	NOUN
fcis-20715	271	25	,	,	PUNCT
fcis-20715	271	26	enabling	enable	VERB
fcis-20715	271	27	precise	precise	ADJ
fcis-20715	271	28	tracking	tracking	NOUN
fcis-20715	271	29	of	of	ADP
fcis-20715	271	30	various	various	ADJ
fcis-20715	271	31	flight	flight	NOUN
fcis-20715	271	32	paths	path	NOUN
fcis-20715	271	33	.	.	PUNCT
fcis-20715	272	1	furthermore	furthermore	ADV
fcis-20715	272	2	,	,	PUNCT
fcis-20715	272	3	extensive	extensive	ADJ
fcis-20715	272	4	simulation	simulation	NOUN
fcis-20715	272	5	experiments	experiment	NOUN
fcis-20715	272	6	were	be	AUX
fcis-20715	272	7	conducted	conduct	VERB
fcis-20715	272	8	to	to	PART
fcis-20715	272	9	test	test	VERB
fcis-20715	272	10	waypoint	waypoint	NOUN
fcis-20715	272	11	tracking	tracking	NOUN
fcis-20715	272	12	,	,	PUNCT
fcis-20715	272	13	straight	straight	ADJ
fcis-20715	272	14	-	-	PUNCT
fcis-20715	272	15	line	line	NOUN
fcis-20715	272	16	path	path	NOUN
fcis-20715	272	17	tracking	tracking	NOUN
fcis-20715	272	18	,	,	PUNCT
fcis-20715	272	19	spiral	spiral	ADJ
fcis-20715	272	20	path	path	NOUN
fcis-20715	272	21	tracking	tracking	NOUN
fcis-20715	272	22	,	,	PUNCT
fcis-20715	272	23	and	and	CCONJ
fcis-20715	272	24	wave	wave	NOUN
fcis-20715	272	25	path	path	NOUN
fcis-20715	272	26	tracking	tracking	NOUN
fcis-20715	272	27	.	.	PUNCT
fcis-20715	273	1	in	in	ADP
fcis-20715	273	2	comparative	comparative	ADJ
fcis-20715	273	3	simulation	simulation	NOUN
fcis-20715	273	4	experiments	experiment	NOUN
fcis-20715	273	5	,	,	PUNCT
fcis-20715	273	6	the	the	DET
fcis-20715	273	7	designed	design	VERB
fcis-20715	273	8	controller	controller	NOUN
fcis-20715	273	9	was	be	AUX
fcis-20715	273	10	benchmarked	benchmarke	VERB
fcis-20715	273	11	against	against	ADP
fcis-20715	273	12	a	a	DET
fcis-20715	273	13	controller	controller	NOUN
fcis-20715	273	14	employing	employ	VERB
fcis-20715	273	15	a	a	DET
fcis-20715	273	16	line	line	NOUN
fcis-20715	273	17	-	-	PUNCT
fcis-20715	273	18	of	of	ADP
fcis-20715	273	19	-	-	PUNCT
fcis-20715	273	20	sight	sight	NOUN
fcis-20715	273	21	(	(	PUNCT
fcis-20715	273	22	los	los	PROPN
fcis-20715	273	23	)	)	PUNCT
fcis-20715	273	24	plus	plus	CCONJ
fcis-20715	273	25	proportional	proportional	ADJ
fcis-20715	273	26	-	-	PUNCT
fcis-20715	273	27	integral	integral	ADJ
fcis-20715	273	28	-	-	PUNCT
fcis-20715	273	29	derivative	derivative	ADJ
fcis-20715	273	30	(	(	PUNCT
fcis-20715	273	31	pid	pid	NOUN
fcis-20715	273	32	)	)	PUNCT
fcis-20715	273	33	control	control	NOUN
fcis-20715	273	34	strategy	strategy	NOUN
fcis-20715	273	35	.	.	PUNCT
fcis-20715	274	1	the	the	DET
fcis-20715	274	2	experimental	experimental	ADJ
fcis-20715	274	3	results	result	NOUN
fcis-20715	274	4	demonstrate	demonstrate	VERB
fcis-20715	274	5	the	the	DET
fcis-20715	274	6	significant	significant	ADJ
fcis-20715	274	7	superiority	superiority	NOUN
fcis-20715	274	8	of	of	ADP
fcis-20715	274	9	our	our	PRON
fcis-20715	274	10	tiltrotor	tiltrotor	PROPN
fcis-20715	274	11	uav	uav	PROPN
fcis-20715	274	12	control	control	PROPN
fcis-20715	274	13	strategy	strategy	NOUN
fcis-20715	274	14	,	,	PUNCT
fcis-20715	274	15	which	which	PRON
fcis-20715	274	16	leverages	leverage	VERB
fcis-20715	274	17	mpc	mpc	NOUN
fcis-20715	274	18	and	and	CCONJ
fcis-20715	274	19	sliding	slide	VERB
fcis-20715	274	20	mode	mode	NOUN
fcis-20715	274	21	control	control	NOUN
fcis-20715	274	22	,	,	PUNCT
fcis-20715	274	23	in	in	ADP
fcis-20715	274	24	terms	term	NOUN
fcis-20715	274	25	of	of	ADP
fcis-20715	274	26	both	both	DET
fcis-20715	274	27	flight	flight	NOUN
fcis-20715	274	28	path	path	NOUN
fcis-20715	274	29	tracking	tracking	NOUN
fcis-20715	274	30	precision	precision	NOUN
fcis-20715	274	31	and	and	CCONJ
fcis-20715	274	32	stability	stability	NOUN
fcis-20715	274	33	,	,	PUNCT
fcis-20715	274	34	outperforming	outperform	VERB
fcis-20715	274	35	the	the	DET
fcis-20715	274	36	los+pid	los+pid	PROPN
fcis-20715	274	37	control	control	NOUN
fcis-20715	274	38	strategy	strategy	NOUN
fcis-20715	274	39	.	.	PUNCT
fcis-20715	275	1	the	the	DET
fcis-20715	275	2	research	research	NOUN
fcis-20715	275	3	work	work	NOUN
fcis-20715	275	4	in	in	ADP
fcis-20715	275	5	this	this	DET
fcis-20715	275	6	chapter	chapter	NOUN
fcis-20715	275	7	not	not	PART
fcis-20715	275	8	only	only	ADV
fcis-20715	275	9	enhances	enhance	VERB
fcis-20715	275	10	the	the	DET
fcis-20715	275	11	stability	stability	NOUN
fcis-20715	275	12	and	and	CCONJ
fcis-20715	275	13	precision	precision	NOUN
fcis-20715	275	14	of	of	ADP
fcis-20715	275	15	tiltrotor	tiltrotor	PROPN
fcis-20715	275	16	uav	uav	PROPN
fcis-20715	275	17	flying	fly	VERB
fcis-20715	275	18	in	in	ADP
fcis-20715	275	19	complex	complex	ADJ
fcis-20715	275	20	environments	environment	NOUN
fcis-20715	275	21	but	but	CCONJ
fcis-20715	275	22	also	also	ADV
fcis-20715	275	23	showcases	showcase	VERB
fcis-20715	275	24	the	the	DET
fcis-20715	275	25	considerable	considerable	ADJ
fcis-20715	275	26	potential	potential	NOUN
fcis-20715	275	27	of	of	ADP
fcis-20715	275	28	model	model	NOUN
fcis-20715	275	29	predictive	predictive	ADJ
fcis-20715	275	30	control	control	NOUN
fcis-20715	275	31	and	and	CCONJ
fcis-20715	275	32	sliding	slide	VERB
fcis-20715	275	33	mode	mode	NOUN
fcis-20715	275	34	control	control	NOUN
fcis-20715	275	35	in	in	ADP
fcis-20715	275	36	practical	practical	ADJ
fcis-20715	275	37	applications	application	NOUN
fcis-20715	275	38	.	.	PUNCT
fcis-20715	276	1	these	these	DET
fcis-20715	276	2	research	research	NOUN
fcis-20715	276	3	findings	finding	NOUN
fcis-20715	276	4	lay	lie	VERB
fcis-20715	276	5	an	an	DET
fcis-20715	276	6	important	important	ADJ
fcis-20715	276	7	foundation	foundation	NOUN
fcis-20715	276	8	for	for	ADP
fcis-20715	276	9	the	the	DET
fcis-20715	276	10	design	design	NOUN
fcis-20715	276	11	and	and	CCONJ
fcis-20715	276	12	optimization	optimization	NOUN
fcis-20715	276	13	of	of	ADP
fcis-20715	276	14	uav	uav	PROPN
fcis-20715	276	15	flight	flight	NOUN
fcis-20715	276	16	control	control	NOUN
fcis-20715	276	17	strategies	strategy	NOUN
fcis-20715	276	18	in	in	ADP
fcis-20715	276	19	the	the	DET
fcis-20715	276	20	future	future	NOUN
fcis-20715	276	21	.	.	PUNCT
fcis-20715	277	1	references	reference	NOUN
fcis-20715	277	2	[	[	X
fcis-20715	277	3	1	1	NUM
fcis-20715	277	4	]	]	PUNCT
fcis-20715	277	5	hoffmann	hoffmann	PROPN
fcis-20715	277	6	g	g	PROPN
fcis-20715	277	7	m	m	PROPN
fcis-20715	277	8	,	,	PUNCT
fcis-20715	277	9	waslander	waslander	PROPN
fcis-20715	277	10	s	s	PART
fcis-20715	277	11	l	l	NOUN
fcis-20715	277	12	,	,	PUNCT
fcis-20715	277	13	tomlin	tomlin	PROPN
fcis-20715	277	14	c	c	PROPN
fcis-20715	277	15	j.	j.	PROPN
fcis-20715	277	16	quadrotor	quadrotor	PROPN
fcis-20715	277	17	helicopter	helicopter	NOUN
fcis-20715	277	18	trajectory	trajectory	NOUN
fcis-20715	277	19	tracking	track	VERB
fcis-20715	277	20	control[c]//aiaa	control[c]//aiaa	PROPN
fcis-20715	277	21	guidance	guidance	NOUN
fcis-20715	277	22	,	,	PUNCT
fcis-20715	277	23	navigation	navigation	NOUN
fcis-20715	277	24	and	and	CCONJ
fcis-20715	277	25	control	control	PROPN
fcis-20715	277	26	conference	conference	NOUN
fcis-20715	277	27	and	and	CCONJ
fcis-20715	277	28	exhibit	exhibit	NOUN
fcis-20715	277	29	.	.	PUNCT
fcis-20715	278	1	2008	2008	NUM
fcis-20715	278	2	:	:	PUNCT
fcis-20715	279	1	1	1	NUM
fcis-20715	279	2	-	-	SYM
fcis-20715	279	3	14	14	NUM
fcis-20715	279	4	.	.	PUNCT
fcis-20715	280	1	[	[	X
fcis-20715	280	2	2	2	NUM
fcis-20715	280	3	]	]	PUNCT
fcis-20715	280	4	bouktir	bouktir	NOUN
fcis-20715	280	5	y	y	PROPN
fcis-20715	280	6	,	,	PUNCT
fcis-20715	280	7	haddad	haddad	PROPN
fcis-20715	280	8	m	m	PROPN
fcis-20715	280	9	,	,	PUNCT
fcis-20715	280	10	chettibi	chettibi	PROPN
fcis-20715	280	11	t.	t.	PROPN
fcis-20715	280	12	trajectory	trajectory	NOUN
fcis-20715	280	13	planning	planning	NOUN
fcis-20715	280	14	for	for	ADP
fcis-20715	280	15	a	a	DET
fcis-20715	280	16	quadrotorhelicopter	quadrotorhelicopter	NOUN
fcis-20715	280	17	[	[	X
fcis-20715	280	18	c]//control	c]//control	NOUN
fcis-20715	280	19	and	and	CCONJ
fcis-20715	280	20	automation	automation	NOUN
fcis-20715	280	21	,	,	PUNCT
fcis-20715	280	22	2008	2008	NUM
fcis-20715	280	23	16th	16th	NOUN
fcis-20715	280	24	mediterranean	mediterranean	PROPN
fcis-20715	280	25	conference	conference	NOUN
fcis-20715	280	26	on	on	ADP
fcis-20715	280	27	.	.	PUNCT
fcis-20715	281	1	ieee	ieee	PROPN
fcis-20715	281	2	,	,	PUNCT
fcis-20715	281	3	2008	2008	NUM
fcis-20715	281	4	:	:	PUNCT
fcis-20715	281	5	1258	1258	NUM
fcis-20715	281	6	-	-	SYM
fcis-20715	281	7	1263	1263	NUM
fcis-20715	281	8	.	.	PUNCT
fcis-20715	282	1	[	[	X
fcis-20715	282	2	3	3	X
fcis-20715	282	3	]	]	X
fcis-20715	282	4	chamseddine	chamseddine	NOUN
fcis-20715	282	5	a	a	PROPN
fcis-20715	282	6	,	,	PUNCT
fcis-20715	282	7	zhang	zhang	PROPN
fcis-20715	282	8	y	y	PROPN
fcis-20715	282	9	,	,	PUNCT
fcis-20715	282	10	rabbath	rabbath	NOUN
fcis-20715	282	11	c	c	NOUN
fcis-20715	282	12	a	a	X
fcis-20715	282	13	,	,	PUNCT
fcis-20715	282	14	et	et	PROPN
fcis-20715	282	15	al	al	PROPN
fcis-20715	282	16	.	.	PROPN
fcis-20715	282	17	flatness	flatness	NOUN
fcis-20715	282	18	-	-	PUNCT
fcis-20715	282	19	based	base	VERB
fcis-20715	282	20	trajectory	trajectory	NOUN
fcis-20715	282	21	planning	planning	NOUN
fcis-20715	282	22	/	/	SYM
fcis-20715	282	23	replanning	replanne	VERB
fcis-20715	282	24	for	for	ADP
fcis-20715	282	25	a	a	DET
fcis-20715	282	26	quadrotor	quadrotor	NOUN
fcis-20715	282	27	unmanned	unmanned	ADJ
fcis-20715	282	28	aerial	aerial	ADJ
fcis-20715	282	29	vehicle	vehicle	NOUN
fcis-20715	283	1	[	[	X
fcis-20715	283	2	j	j	X
fcis-20715	283	3	]	]	X
fcis-20715	283	4	.	.	PUNCT
fcis-20715	283	5	aerospace	aerospace	NOUN
fcis-20715	283	6	and	and	CCONJ
fcis-20715	283	7	electronic	electronic	ADJ
fcis-20715	283	8	systems	system	NOUN
fcis-20715	283	9	,	,	PUNCT
fcis-20715	283	10	ieee	ieee	NOUN
fcis-20715	283	11	transactions	transaction	NOUN
fcis-20715	283	12	on	on	ADP
fcis-20715	283	13	,	,	PUNCT
fcis-20715	283	14	2012	2012	NUM
fcis-20715	283	15	,	,	PUNCT
fcis-20715	283	16	48(4	48(4	NUM
fcis-20715	283	17	):	):	PUNCT
fcis-20715	283	18	2832	2832	NUM
fcis-20715	283	19	-	-	SYM
fcis-20715	283	20	2848	2848	NUM
fcis-20715	283	21	.	.	PUNCT
fcis-20715	284	1	[	[	X
fcis-20715	284	2	4	4	NUM
fcis-20715	284	3	]	]	PUNCT
fcis-20715	284	4	mofid	mofid	NOUN
fcis-20715	284	5	o	o	NOUN
fcis-20715	284	6	,	,	PUNCT
fcis-20715	284	7	mobayen	mobayen	PROPN
fcis-20715	284	8	s	s	PART
fcis-20715	284	9	,	,	PUNCT
fcis-20715	284	10	zhang	zhang	PROPN
fcis-20715	284	11	c	c	PROPN
fcis-20715	284	12	w	w	PROPN
fcis-20715	284	13	,	,	PUNCT
fcis-20715	284	14	et	et	PROPN
fcis-20715	284	15	al	al	PROPN
fcis-20715	284	16	.	.	PROPN
fcis-20715	284	17	desired	desire	VERB
fcis-20715	284	18	tracking	tracking	NOUN
fcis-20715	284	19	of	of	ADP
fcis-20715	284	20	delayed	delay	VERB
fcis-20715	284	21	quadrotor	quadrotor	PROPN
fcis-20715	284	22	uav	uav	PROPN
fcis-20715	284	23	under	under	ADP
fcis-20715	284	24	model	model	NOUN
fcis-20715	284	25	uncertainty	uncertainty	NOUN
fcis-20715	284	26	and	and	CCONJ
fcis-20715	284	27	wind	wind	NOUN
fcis-20715	284	28	disturbance	disturbance	NOUN
fcis-20715	284	29	using	use	VERB
fcis-20715	284	30	adaptive	adaptive	ADJ
fcis-20715	284	31	super	super	ADJ
fcis-20715	284	32	-	-	ADJ
fcis-20715	284	33	twisting	twisting	ADJ
fcis-20715	284	34	terminal	terminal	NOUN
fcis-20715	284	35	sliding	slide	VERB
fcis-20715	284	36	mode	mode	NOUN
fcis-20715	284	37	control[j	control[j	PROPN
fcis-20715	284	38	]	]	PUNCT
fcis-20715	284	39	.	.	PUNCT
fcis-20715	285	1	isa	isa	NOUN
fcis-20715	285	2	transactions	transaction	NOUN
fcis-20715	285	3	,	,	PUNCT
fcis-20715	285	4	2022	2022	NUM
fcis-20715	285	5	,	,	PUNCT
fcis-20715	285	6	123	123	NUM
fcis-20715	285	7	:	:	PUNCT
fcis-20715	285	8	455	455	NUM
fcis-20715	285	9	-	-	SYM
fcis-20715	285	10	471	471	NUM
fcis-20715	285	11	.	.	PUNCT
fcis-20715	286	1	[	[	X
fcis-20715	286	2	5	5	NUM
fcis-20715	286	3	]	]	X
fcis-20715	286	4	m.r	m.r	PROPN
fcis-20715	286	5	.	.	PROPN
fcis-20715	286	6	mortazavi	mortazavi	PROPN
fcis-20715	286	7	,	,	PUNCT
fcis-20715	286	8	a.	a.	NOUN
fcis-20715	286	9	naghash	naghash	PROPN
fcis-20715	286	10	,	,	PUNCT
fcis-20715	286	11	pitch	pitch	NOUN
fcis-20715	286	12	and	and	CCONJ
fcis-20715	286	13	flight	flight	NOUN
fcis-20715	286	14	path	path	NOUN
fcis-20715	286	15	controller	controller	NOUN
fcis-20715	286	16	design	design	NOUN
fcis-20715	286	17	for	for	ADP
fcis-20715	286	18	f-16	f-16	PROPN
fcis-20715	286	19	aircraft	aircraft	NOUN
fcis-20715	286	20	using	use	VERB
fcis-20715	286	21	combination	combination	NOUN
fcis-20715	286	22	of	of	ADP
fcis-20715	286	23	lqr	lqr	NOUN
fcis-20715	286	24	and	and	CCONJ
fcis-20715	286	25	ea	ea	ADP
fcis-20715	286	26	techniques	technique	NOUN
fcis-20715	286	27	,	,	PUNCT
fcis-20715	286	28	proc	proc	NOUN
fcis-20715	286	29	.	.	PUNCT
fcis-20715	286	30	imeche	imeche	PROPN
fcis-20715	286	31	part	part	NOUN
fcis-20715	286	32	g	g	PROPN
fcis-20715	286	33	232	232	NUM
fcis-20715	286	34	(	(	PUNCT
fcis-20715	286	35	10	10	NUM
fcis-20715	286	36	)	)	PUNCT
fcis-20715	286	37	(	(	PUNCT
fcis-20715	286	38	2018	2018	NUM
fcis-20715	286	39	)	)	PUNCT
fcis-20715	286	40	1831–1843	1831–1843	NUM
fcis-20715	286	41	.	.	PUNCT
fcis-20715	287	1	[	[	X
fcis-20715	287	2	6	6	NUM
fcis-20715	287	3	]	]	PUNCT
fcis-20715	287	4	silvestre	silvestre	NOUN
fcis-20715	287	5	c	c	NOUN
fcis-20715	287	6	,	,	PUNCT
fcis-20715	287	7	pascoal	pascoal	NOUN
fcis-20715	287	8	a	a	NOUN
fcis-20715	287	9	,	,	PUNCT
fcis-20715	287	10	kaminer	kamin	ADJ
fcis-20715	287	11	i	i	PRON
fcis-20715	287	12	(	(	PUNCT
fcis-20715	287	13	2002	2002	NUM
fcis-20715	287	14	)	)	PUNCT
fcis-20715	287	15	on	on	ADP
fcis-20715	287	16	the	the	DET
fcis-20715	287	17	design	design	NOUN
fcis-20715	287	18	of	of	ADP
fcis-20715	287	19	gainscheduled	gainschedule	VERB
fcis-20715	287	20	trajectory	trajectory	NOUN
fcis-20715	287	21	tracking	tracking	NOUN
fcis-20715	287	22	controllers	controller	NOUN
fcis-20715	287	23	.	.	PUNCT
fcis-20715	288	1	int	int	NOUN
fcis-20715	288	2	j	j	PROPN
fcis-20715	288	3	robust	robust	ADJ
fcis-20715	288	4	nonlinear	nonlinear	ADJ
fcis-20715	288	5	control	control	NOUN
fcis-20715	288	6	12(9):797–839	12(9):797–839	NUM
fcis-20715	288	7	.	.	PUNCT
fcis-20715	289	1	[	[	X
fcis-20715	289	2	7	7	X
fcis-20715	289	3	]	]	PUNCT
fcis-20715	289	4	antonelli	antonelli	PROPN
fcis-20715	289	5	g	g	PROPN
fcis-20715	289	6	,	,	PUNCT
fcis-20715	289	7	caccavale	caccavale	PROPN
fcis-20715	289	8	f	f	PROPN
fcis-20715	289	9	,	,	PUNCT
fcis-20715	289	10	chiaverini	chiaverini	PROPN
fcis-20715	289	11	s	s	PROPN
fcis-20715	289	12	,	,	PUNCT
fcis-20715	289	13	fusco	fusco	NOUN
fcis-20715	289	14	g	g	PROPN
fcis-20715	289	15	(	(	PUNCT
fcis-20715	289	16	2003	2003	NUM
fcis-20715	289	17	)	)	PUNCT
fcis-20715	289	18	a	a	DET
fcis-20715	289	19	novel	novel	ADJ
fcis-20715	289	20	adaptive	adaptive	ADJ
fcis-20715	289	21	control	control	NOUN
fcis-20715	289	22	law	law	NOUN
fcis-20715	289	23	for	for	ADP
fcis-20715	289	24	underwater	underwater	ADJ
fcis-20715	289	25	vehicles	vehicle	NOUN
fcis-20715	289	26	.	.	PUNCT
fcis-20715	290	1	ieee	ieee	PROPN
fcis-20715	290	2	trans	trans	PROPN
fcis-20715	290	3	control	control	PROPN
fcis-20715	290	4	syst	syst	PROPN
fcis-20715	290	5	technol	technol	PROPN
fcis-20715	290	6	11(2):221–232	11(2):221–232	PROPN
fcis-20715	290	7	.	.	PUNCT
fcis-20715	291	1	[	[	X
fcis-20715	291	2	8	8	NUM
fcis-20715	291	3	]	]	X
fcis-20715	291	4	li	li	PROPN
fcis-20715	291	5	jh	jh	PROPN
fcis-20715	291	6	,	,	PUNCT
fcis-20715	291	7	lee	lee	PROPN
fcis-20715	291	8	pm	pm	PROPN
fcis-20715	291	9	(	(	PUNCT
fcis-20715	291	10	2005	2005	NUM
fcis-20715	291	11	)	)	PUNCT
fcis-20715	291	12	design	design	NOUN
fcis-20715	291	13	of	of	ADP
fcis-20715	291	14	an	an	DET
fcis-20715	291	15	adaptive	adaptive	ADJ
fcis-20715	291	16	nonlinear	nonlinear	ADJ
fcis-20715	291	17	controller	controller	NOUN
fcis-20715	291	18	for	for	ADP
fcis-20715	291	19	depth	depth	NOUN
fcis-20715	291	20	control	control	NOUN
fcis-20715	291	21	of	of	ADP
fcis-20715	291	22	an	an	DET
fcis-20715	291	23	autonomous	autonomous	ADJ
fcis-20715	291	24	underwater	underwater	ADJ
fcis-20715	291	25	vehicle	vehicle	NOUN
fcis-20715	291	26	.	.	PUNCT
fcis-20715	292	1	ocean	ocean	PROPN
fcis-20715	292	2	eng	eng	PROPN
fcis-20715	292	3	32(17–18):2165–2181	32(17–18):2165–2181	NUM
fcis-20715	292	4	.	.	PUNCT
fcis-20715	293	1	[	[	X
fcis-20715	293	2	9	9	NUM
fcis-20715	293	3	]	]	X
fcis-20715	293	4	zhang	zhang	PROPN
fcis-20715	293	5	lj	lj	PROPN
fcis-20715	293	6	,	,	PUNCT
fcis-20715	293	7	qi	qi	PROPN
fcis-20715	293	8	x	x	PROPN
fcis-20715	293	9	,	,	PUNCT
fcis-20715	293	10	pang	pang	PROPN
fcis-20715	293	11	yj	yj	PROPN
fcis-20715	293	12	(	(	PUNCT
fcis-20715	293	13	2009	2009	NUM
fcis-20715	293	14	)	)	PUNCT
fcis-20715	293	15	adaptive	adaptive	ADJ
fcis-20715	293	16	output	output	NOUN
fcis-20715	293	17	feedback	feedback	NOUN
fcis-20715	293	18	control	control	NOUN
fcis-20715	293	19	based	base	VERB
fcis-20715	293	20	on	on	ADP
fcis-20715	293	21	drfnn	drfnn	NOUN
fcis-20715	293	22	for	for	ADP
fcis-20715	293	23	auv	auv	PROPN
fcis-20715	293	24	.	.	PUNCT
fcis-20715	294	1	ocean	ocean	PROPN
fcis-20715	294	2	eng	eng	PROPN
fcis-20715	294	3	36(9):716–722	36(9):716–722	PROPN
fcis-20715	294	4	.	.	PUNCT
fcis-20715	295	1	[	[	X
fcis-20715	295	2	10	10	NUM
fcis-20715	295	3	]	]	PUNCT
fcis-20715	295	4	fossen	fossen	VERB
fcis-20715	295	5	ti	ti	NOUN
fcis-20715	295	6	,	,	PUNCT
fcis-20715	295	7	lekkas	lekkas	X
fcis-20715	295	8	am	be	AUX
fcis-20715	295	9	(	(	PUNCT
fcis-20715	295	10	2017	2017	NUM
fcis-20715	295	11	)	)	PUNCT
fcis-20715	295	12	direct	direct	ADJ
fcis-20715	295	13	and	and	CCONJ
fcis-20715	295	14	indirect	indirect	ADJ
fcis-20715	295	15	adaptive	adaptive	ADJ
fcis-20715	295	16	integral	integral	ADJ
fcis-20715	295	17	line	line	NOUN
fcis-20715	295	18	-	-	PUNCT
fcis-20715	295	19	of	of	ADP
fcis-20715	295	20	-	-	PUNCT
fcis-20715	295	21	sight	sight	NOUN
fcis-20715	295	22	path	path	NOUN
fcis-20715	295	23	-	-	PUNCT
fcis-20715	295	24	following	follow	VERB
fcis-20715	295	25	controllers	controller	NOUN
fcis-20715	295	26	for	for	ADP
fcis-20715	295	27	marine	marine	ADJ
fcis-20715	295	28	68	68	NUM
fcis-20715	295	29	craft	craft	NOUN
fcis-20715	295	30	exposed	expose	VERB
fcis-20715	295	31	to	to	ADP
fcis-20715	295	32	ocean	ocean	NOUN
fcis-20715	295	33	currents	current	NOUN
fcis-20715	295	34	.	.	PUNCT
fcis-20715	296	1	int	int	NOUN
fcis-20715	296	2	j	j	PROPN
fcis-20715	296	3	adapt	adapt	VERB
fcis-20715	296	4	control	control	NOUN
fcis-20715	296	5	signal	signal	NOUN
fcis-20715	296	6	process	process	NOUN
fcis-20715	296	7	31(4):445–463	31(4):445–463	PROPN
fcis-20715	296	8	.	.	PUNCT
fcis-20715	297	1	[	[	X
fcis-20715	297	2	11	11	NUM
fcis-20715	297	3	]	]	X
fcis-20715	297	4	ji	ji	PROPN
fcis-20715	297	5	dx	dx	PROPN
fcis-20715	297	6	,	,	PUNCT
fcis-20715	297	7	liu	liu	PROPN
fcis-20715	297	8	j	j	PROPN
fcis-20715	297	9	,	,	PUNCT
fcis-20715	297	10	zhao	zhao	PROPN
fcis-20715	297	11	hy	hy	PROPN
fcis-20715	297	12	,	,	PUNCT
fcis-20715	297	13	wang	wang	PROPN
fcis-20715	297	14	yq	yq	PROPN
fcis-20715	297	15	(	(	PUNCT
fcis-20715	297	16	2014	2014	NUM
fcis-20715	297	17	)	)	PUNCT
fcis-20715	297	18	path	path	NOUN
fcis-20715	297	19	following	follow	VERB
fcis-20715	297	20	of	of	ADP
fcis-20715	297	21	autonomous	autonomous	ADJ
fcis-20715	297	22	vehicle	vehicle	NOUN
fcis-20715	297	23	in	in	ADP
fcis-20715	297	24	2d	2d	NUM
fcis-20715	297	25	space	space	NOUN
fcis-20715	297	26	using	use	VERB
fcis-20715	297	27	multivariable	multivariable	ADJ
fcis-20715	297	28	sliding	slide	VERB
fcis-20715	297	29	mode	mode	NOUN
fcis-20715	297	30	control	control	NOUN
fcis-20715	297	31	.	.	PUNCT
fcis-20715	298	1	j	j	PROPN
fcis-20715	298	2	robot	robot	NOUN
fcis-20715	298	3	2014:1–6	2014:1–6	NUM
fcis-20715	298	4	.	.	PUNCT
fcis-20715	299	1	[	[	X
fcis-20715	299	2	12	12	NUM
fcis-20715	299	3	]	]	PUNCT
fcis-20715	299	4	xu	xu	PROPN
fcis-20715	299	5	j	j	PROPN
fcis-20715	299	6	,	,	PUNCT
fcis-20715	299	7	wang	wang	PROPN
fcis-20715	299	8	m	m	PROPN
fcis-20715	299	9	,	,	PUNCT
fcis-20715	299	10	qiao	qiao	PROPN
fcis-20715	299	11	l	l	PROPN
fcis-20715	299	12	(	(	PUNCT
fcis-20715	299	13	2015	2015	NUM
fcis-20715	299	14	)	)	PUNCT
fcis-20715	299	15	dynamical	dynamical	ADJ
fcis-20715	299	16	sliding	slide	VERB
fcis-20715	299	17	mode	mode	NOUN
fcis-20715	299	18	control	control	NOUN
fcis-20715	299	19	for	for	ADP
fcis-20715	299	20	the	the	DET
fcis-20715	299	21	trajectory	trajectory	NOUN
fcis-20715	299	22	tracking	tracking	NOUN
fcis-20715	299	23	of	of	ADP
fcis-20715	299	24	underactuated	underactuated	ADJ
fcis-20715	299	25	unmanned	unmanned	ADJ
fcis-20715	299	26	underwater	underwater	ADJ
fcis-20715	299	27	vehicles	vehicle	NOUN
fcis-20715	299	28	.	.	PUNCT
fcis-20715	300	1	ocean	ocean	PROPN
fcis-20715	300	2	eng	eng	PROPN
fcis-20715	300	3	105:54–63	105:54–63	NUM
fcis-20715	300	4	.	.	PUNCT
fcis-20715	301	1	[	[	X
fcis-20715	301	2	13	13	NUM
fcis-20715	301	3	]	]	SYM
fcis-20715	301	4	pan	pan	NOUN
fcis-20715	301	5	cz	cz	PROPN
fcis-20715	301	6	,	,	PUNCT
fcis-20715	301	7	lai	lai	PROPN
fcis-20715	301	8	xz	xz	PROPN
fcis-20715	301	9	,	,	PUNCT
fcis-20715	301	10	yang	yang	PROPN
fcis-20715	301	11	sx	sx	PROPN
fcis-20715	301	12	,	,	PUNCT
fcis-20715	301	13	wu	wu	PROPN
fcis-20715	301	14	m	m	PROPN
fcis-20715	301	15	(	(	PUNCT
fcis-20715	301	16	2015	2015	NUM
fcis-20715	301	17	)	)	PUNCT
fcis-20715	301	18	a	a	DET
fcis-20715	301	19	bioinspired	bioinspire	VERB
fcis-20715	301	20	neural	neural	ADJ
fcis-20715	301	21	dynamics	dynamic	NOUN
fcis-20715	301	22	-	-	PUNCT
fcis-20715	301	23	based	base	VERB
fcis-20715	301	24	approach	approach	NOUN
fcis-20715	301	25	to	to	ADP
fcis-20715	301	26	tracking	tracking	NOUN
fcis-20715	301	27	control	control	NOUN
fcis-20715	301	28	of	of	ADP
fcis-20715	301	29	autonomous	autonomous	ADJ
fcis-20715	301	30	surface	surface	NOUN
fcis-20715	301	31	vehicles	vehicle	NOUN
fcis-20715	301	32	subject	subject	ADJ
fcis-20715	301	33	to	to	ADP
fcis-20715	301	34	unknown	unknown	ADJ
fcis-20715	301	35	ocean	ocean	NOUN
fcis-20715	301	36	currents	current	NOUN
fcis-20715	301	37	.	.	PUNCT
fcis-20715	302	1	neural	neural	ADJ
fcis-20715	302	2	comput	comput	PROPN
fcis-20715	302	3	appl	appl	PROPN
fcis-20715	302	4	26(8):1929–1938	26(8):1929–1938	PROPN
fcis-20715	302	5	.	.	PUNCT
fcis-20715	303	1	[	[	X
fcis-20715	303	2	14	14	NUM
fcis-20715	303	3	]	]	X
fcis-20715	303	4	yao	yao	PROPN
fcis-20715	303	5	xl	xl	PROPN
fcis-20715	303	6	,	,	PUNCT
fcis-20715	303	7	yang	yang	PROPN
fcis-20715	303	8	gy	gy	PROPN
fcis-20715	303	9	,	,	PUNCT
fcis-20715	303	10	peng	peng	PROPN
fcis-20715	303	11	y	y	PROPN
fcis-20715	303	12	(	(	PUNCT
fcis-20715	303	13	2017	2017	NUM
fcis-20715	303	14	)	)	PUNCT
fcis-20715	303	15	nonlinear	nonlinear	ADJ
fcis-20715	303	16	reduced	reduce	VERB
fcis-20715	303	17	-	-	PUNCT
fcis-20715	303	18	order	order	NOUN
fcis-20715	303	19	observer	observer	NOUN
fcis-20715	303	20	-	-	PUNCT
fcis-20715	303	21	based	base	VERB
fcis-20715	303	22	predictive	predictive	ADJ
fcis-20715	303	23	control	control	NOUN
fcis-20715	303	24	for	for	ADP
fcis-20715	303	25	diving	diving	NOUN
fcis-20715	303	26	of	of	ADP
fcis-20715	303	27	an	an	DET
fcis-20715	303	28	autonomous	autonomous	ADJ
fcis-20715	303	29	underwater	underwater	ADJ
fcis-20715	303	30	vehicle	vehicle	NOUN
fcis-20715	303	31	.	.	PUNCT
fcis-20715	304	1	discrete	discrete	ADJ
fcis-20715	304	2	dyn	dyn	PROPN
fcis-20715	304	3	nat	nat	PROPN
fcis-20715	304	4	soc	soc	PROPN
fcis-20715	304	5	2017:1–15	2017:1–15	NUM
fcis-20715	304	6	.	.	PUNCT