id	sid	tid	token	lemma	pos
fcis-29170	1	1	frontiers	frontier	NOUN
fcis-29170	1	2	in	in	ADP
fcis-29170	1	3	computing	computing	NOUN
fcis-29170	1	4	and	and	CCONJ
fcis-29170	1	5	intelligent	intelligent	ADJ
fcis-29170	1	6	systems	system	NOUN
fcis-29170	1	7	issn	issn	VERB
fcis-29170	1	8	:	:	PUNCT
fcis-29170	1	9	2832	2832	NUM
fcis-29170	1	10	-	-	SYM
fcis-29170	1	11	6024	6024	NUM
fcis-29170	1	12	|	|	NOUN
fcis-29170	1	13	vol	vol	NOUN
fcis-29170	1	14	.	.	PROPN
fcis-29170	2	1	11	11	NUM
fcis-29170	2	2	,	,	PUNCT
fcis-29170	2	3	no	no	INTJ
fcis-29170	2	4	.	.	NOUN
fcis-29170	2	5	1	1	NUM
fcis-29170	2	6	,	,	PUNCT
fcis-29170	2	7	2025	2025	NUM
fcis-29170	2	8	12	12	NUM
fcis-29170	2	9	research	research	NOUN
fcis-29170	2	10	on	on	ADP
fcis-29170	2	11	sensorless	sensorless	NOUN
fcis-29170	2	12	foc	foc	ADJ
fcis-29170	2	13	method	method	NOUN
fcis-29170	2	14	of	of	ADP
fcis-29170	2	15	pmsm	pmsm	NOUN
fcis-29170	2	16	based	base	VERB
fcis-29170	2	17	on	on	ADP
fcis-29170	2	18	adrc	adrc	PROPN
fcis-29170	2	19	xin	xin	PROPN
fcis-29170	2	20	zhang	zhang	PROPN
fcis-29170	2	21	1	1	NUM
fcis-29170	2	22	,	,	PUNCT
fcis-29170	2	23	2	2	NUM
fcis-29170	2	24	,	,	PUNCT
fcis-29170	2	25	miao	miao	PROPN
fcis-29170	2	26	huang	huang	PROPN
fcis-29170	2	27	1	1	NUM
fcis-29170	2	28	,	,	PUNCT
fcis-29170	2	29	*	*	PUNCT
fcis-29170	2	30	,	,	PUNCT
fcis-29170	2	31	lili	lili	NOUN
fcis-29170	2	32	tao	tao	PROPN
fcis-29170	2	33	1	1	NUM
fcis-29170	2	34	,	,	PUNCT
fcis-29170	2	35	shuping	shupe	VERB
fcis-29170	2	36	zhang	zhang	PROPN
fcis-29170	2	37	1	1	NUM
fcis-29170	2	38	,	,	PUNCT
fcis-29170	2	39	zhihua	zhihua	PROPN
fcis-29170	2	40	hu	hu	PROPN
fcis-29170	2	41	1	1	NUM
fcis-29170	2	42	1	1	NUM
fcis-29170	2	43	school	school	NOUN
fcis-29170	2	44	of	of	ADP
fcis-29170	2	45	intelligent	intelligent	ADJ
fcis-29170	2	46	manufacturing	manufacturing	NOUN
fcis-29170	2	47	and	and	CCONJ
fcis-29170	2	48	control	control	PROPN
fcis-29170	2	49	engineering	engineering	PROPN
fcis-29170	2	50	,	,	PUNCT
fcis-29170	2	51	shanghai	shanghai	PROPN
fcis-29170	2	52	polytechnic	polytechnic	PROPN
fcis-29170	2	53	university	university	PROPN
fcis-29170	2	54	,	,	PUNCT
fcis-29170	2	55	shanghai	shanghai	PROPN
fcis-29170	2	56	,	,	PUNCT
fcis-29170	2	57	201209	201209	NUM
fcis-29170	2	58	,	,	PUNCT
fcis-29170	2	59	china	china	PROPN
fcis-29170	2	60	2	2	NUM
fcis-29170	2	61	vocational	vocational	PROPN
fcis-29170	2	62	&	&	CCONJ
fcis-29170	2	63	technical	technical	ADJ
fcis-29170	2	64	teacher	teacher	NOUN
fcis-29170	2	65	education	education	PROPN
fcis-29170	2	66	school	school	NOUN
fcis-29170	2	67	,	,	PUNCT
fcis-29170	2	68	shanghai	shanghai	PROPN
fcis-29170	2	69	polytechnic	polytechnic	PROPN
fcis-29170	2	70	university	university	PROPN
fcis-29170	2	71	,	,	PUNCT
fcis-29170	2	72	shanghai	shanghai	PROPN
fcis-29170	2	73	,	,	PUNCT
fcis-29170	2	74	201209	201209	NUM
fcis-29170	2	75	,	,	PUNCT
fcis-29170	2	76	china	china	PROPN
fcis-29170	2	77	*	*	PUNCT
fcis-29170	2	78	corresponding	correspond	VERB
fcis-29170	2	79	author	author	NOUN
fcis-29170	2	80	:	:	PUNCT
fcis-29170	2	81	miao	miao	PROPN
fcis-29170	2	82	huang	huang	PROPN
fcis-29170	2	83	(	(	PUNCT
fcis-29170	2	84	email	email	NOUN
fcis-29170	2	85	:	:	PUNCT
fcis-29170	2	86	huangmiao@sspu.edu.cn	huangmiao@sspu.edu.cn	NOUN
fcis-29170	2	87	)	)	PUNCT
fcis-29170	2	88	abstract	abstract	NOUN
fcis-29170	2	89	:	:	PUNCT
fcis-29170	2	90	this	this	DET
fcis-29170	2	91	paper	paper	NOUN
fcis-29170	2	92	addresses	address	VERB
fcis-29170	2	93	the	the	DET
fcis-29170	2	94	issues	issue	NOUN
fcis-29170	2	95	of	of	ADP
fcis-29170	2	96	low	low	ADJ
fcis-29170	2	97	observer	observer	NOUN
fcis-29170	2	98	estimation	estimation	NOUN
fcis-29170	2	99	accuracy	accuracy	NOUN
fcis-29170	2	100	,	,	PUNCT
fcis-29170	2	101	high	high	ADJ
fcis-29170	2	102	speed	speed	NOUN
fcis-29170	2	103	overshoot	overshoot	NOUN
fcis-29170	2	104	,	,	PUNCT
fcis-29170	2	105	narrow	narrow	ADJ
fcis-29170	2	106	speed	speed	NOUN
fcis-29170	2	107	range	range	NOUN
fcis-29170	2	108	,	,	PUNCT
fcis-29170	2	109	and	and	CCONJ
fcis-29170	2	110	poor	poor	ADJ
fcis-29170	2	111	anti	anti	ADJ
fcis-29170	2	112	-	-	ADJ
fcis-29170	2	113	disturbance	disturbance	ADJ
fcis-29170	2	114	performance	performance	NOUN
fcis-29170	2	115	in	in	ADP
fcis-29170	2	116	traditional	traditional	ADJ
fcis-29170	2	117	sensorless	sensorless	NOUN
fcis-29170	2	118	permanent	permanent	ADJ
fcis-29170	2	119	magnetic	magnetic	ADJ
fcis-29170	2	120	synchronous	synchronous	ADJ
fcis-29170	2	121	motor	motor	NOUN
fcis-29170	2	122	(	(	PUNCT
fcis-29170	2	123	pmsm	pmsm	NOUN
fcis-29170	2	124	)	)	PUNCT
fcis-29170	2	125	field	field	NOUN
fcis-29170	2	126	oriented	orient	VERB
fcis-29170	2	127	control	control	NOUN
fcis-29170	2	128	(	(	PUNCT
fcis-29170	2	129	foc	foc	ADJ
fcis-29170	2	130	)	)	PUNCT
fcis-29170	2	131	systems	system	NOUN
fcis-29170	2	132	.	.	PUNCT
fcis-29170	3	1	it	it	PRON
fcis-29170	3	2	proposes	propose	VERB
fcis-29170	3	3	two	two	NUM
fcis-29170	3	4	control	control	NOUN
fcis-29170	3	5	methods	method	NOUN
fcis-29170	3	6	combining	combine	VERB
fcis-29170	3	7	the	the	DET
fcis-29170	3	8	extended	extended	ADJ
fcis-29170	3	9	kalman	kalman	NOUN
fcis-29170	3	10	filter	filter	PROPN
fcis-29170	3	11	(	(	PUNCT
fcis-29170	3	12	ekf	ekf	PROPN
fcis-29170	3	13	)	)	PUNCT
fcis-29170	3	14	observer	observer	NOUN
fcis-29170	3	15	with	with	ADP
fcis-29170	3	16	linear	linear	ADJ
fcis-29170	3	17	active	active	ADJ
fcis-29170	3	18	disturbance	disturbance	NOUN
fcis-29170	3	19	rejection	rejection	NOUN
fcis-29170	3	20	control	control	NOUN
fcis-29170	3	21	(	(	PUNCT
fcis-29170	3	22	ladrc	ladrc	NOUN
fcis-29170	3	23	)	)	PUNCT
fcis-29170	3	24	and	and	CCONJ
fcis-29170	3	25	nonlinear	nonlinear	ADJ
fcis-29170	3	26	active	active	ADJ
fcis-29170	3	27	disturbance	disturbance	NOUN
fcis-29170	3	28	rejection	rejection	NOUN
fcis-29170	3	29	control	control	NOUN
fcis-29170	3	30	(	(	PUNCT
fcis-29170	3	31	nladrc	nladrc	PROPN
fcis-29170	3	32	)	)	PUNCT
fcis-29170	3	33	.	.	PUNCT
fcis-29170	4	1	the	the	DET
fcis-29170	4	2	ekf	ekf	NOUN
fcis-29170	4	3	is	be	AUX
fcis-29170	4	4	used	use	VERB
fcis-29170	4	5	to	to	PART
fcis-29170	4	6	estimate	estimate	VERB
fcis-29170	4	7	rotor	rotor	NOUN
fcis-29170	4	8	position	position	NOUN
fcis-29170	4	9	and	and	CCONJ
fcis-29170	4	10	speed	speed	NOUN
fcis-29170	4	11	,	,	PUNCT
fcis-29170	4	12	while	while	SCONJ
fcis-29170	4	13	ladrc	ladrc	NOUN
fcis-29170	4	14	and	and	CCONJ
fcis-29170	4	15	nladrc	nladrc	PROPN
fcis-29170	4	16	controllers	controller	NOUN
fcis-29170	4	17	compensate	compensate	VERB
fcis-29170	4	18	for	for	ADP
fcis-29170	4	19	load	load	NOUN
fcis-29170	4	20	disturbances	disturbance	NOUN
fcis-29170	4	21	in	in	ADP
fcis-29170	4	22	the	the	DET
fcis-29170	4	23	speed	speed	NOUN
fcis-29170	4	24	loop	loop	NOUN
fcis-29170	4	25	.	.	PUNCT
fcis-29170	5	1	ekf	ekf	PROPN
fcis-29170	5	2	outputs	output	NOUN
fcis-29170	5	3	are	be	AUX
fcis-29170	5	4	used	use	VERB
fcis-29170	5	5	for	for	ADP
fcis-29170	5	6	feedforward	feedforward	NOUN
fcis-29170	5	7	compensation	compensation	NOUN
fcis-29170	5	8	in	in	ADP
fcis-29170	5	9	the	the	DET
fcis-29170	5	10	current	current	ADJ
fcis-29170	5	11	loop	loop	NOUN
fcis-29170	5	12	,	,	PUNCT
fcis-29170	5	13	eliminating	eliminate	VERB
fcis-29170	5	14	the	the	DET
fcis-29170	5	15	coupling	coupling	NOUN
fcis-29170	5	16	between	between	ADP
fcis-29170	5	17	d	d	NOUN
fcis-29170	5	18	-	-	PUNCT
fcis-29170	5	19	axis	axis	ADJ
fcis-29170	5	20	and	and	CCONJ
fcis-29170	5	21	q	q	ADJ
fcis-29170	5	22	-	-	PUNCT
fcis-29170	5	23	axis	axis	ADJ
fcis-29170	5	24	voltages	voltage	NOUN
fcis-29170	5	25	.	.	PUNCT
fcis-29170	6	1	simulation	simulation	NOUN
fcis-29170	6	2	results	result	NOUN
fcis-29170	6	3	show	show	VERB
fcis-29170	6	4	that	that	SCONJ
fcis-29170	6	5	both	both	DET
fcis-29170	6	6	methods	method	NOUN
fcis-29170	6	7	offer	offer	VERB
fcis-29170	6	8	strong	strong	ADJ
fcis-29170	6	9	anti	anti	ADJ
fcis-29170	6	10	-	-	ADJ
fcis-29170	6	11	disturbance	disturbance	ADJ
fcis-29170	6	12	performance	performance	NOUN
fcis-29170	6	13	,	,	PUNCT
fcis-29170	6	14	a	a	DET
fcis-29170	6	15	wide	wide	ADJ
fcis-29170	6	16	speed	speed	NOUN
fcis-29170	6	17	range	range	NOUN
fcis-29170	6	18	,	,	PUNCT
fcis-29170	6	19	strong	strong	ADJ
fcis-29170	6	20	speed	speed	NOUN
fcis-29170	6	21	overshoot	overshoot	NOUN
fcis-29170	6	22	suppression	suppression	NOUN
fcis-29170	6	23	,	,	PUNCT
fcis-29170	6	24	and	and	CCONJ
fcis-29170	6	25	accurate	accurate	ADJ
fcis-29170	6	26	estimation	estimation	NOUN
fcis-29170	6	27	of	of	ADP
fcis-29170	6	28	motor	motor	NOUN
fcis-29170	6	29	speed	speed	NOUN
fcis-29170	6	30	and	and	CCONJ
fcis-29170	6	31	rotor	rotor	NOUN
fcis-29170	6	32	position	position	NOUN
fcis-29170	6	33	,	,	PUNCT
fcis-29170	6	34	thereby	thereby	ADV
fcis-29170	6	35	enhancing	enhance	VERB
fcis-29170	6	36	the	the	DET
fcis-29170	6	37	operational	operational	ADJ
fcis-29170	6	38	stability	stability	NOUN
fcis-29170	6	39	of	of	ADP
fcis-29170	6	40	the	the	DET
fcis-29170	6	41	pmsm	pmsm	NOUN
fcis-29170	6	42	system	system	NOUN
fcis-29170	6	43	.	.	PUNCT
fcis-29170	7	1	keywords	keyword	NOUN
fcis-29170	7	2	:	:	PUNCT
fcis-29170	7	3	pmsm	pmsm	NOUN
fcis-29170	7	4	;	;	PUNCT
fcis-29170	7	5	ekf	ekf	PROPN
fcis-29170	7	6	;	;	PUNCT
fcis-29170	7	7	adrc	adrc	NOUN
fcis-29170	7	8	;	;	PUNCT
fcis-29170	7	9	foc	foc	X
fcis-29170	7	10	;	;	PUNCT
fcis-29170	7	11	voltage	voltage	NOUN
fcis-29170	7	12	feed	feed	NOUN
fcis-29170	7	13	-	-	PUNCT
fcis-29170	7	14	forward	forward	NOUN
fcis-29170	7	15	control	control	NOUN
fcis-29170	7	16	;	;	PUNCT
fcis-29170	7	17	sensorless	sensorless	NOUN
fcis-29170	7	18	control	control	NOUN
fcis-29170	7	19	.	.	PUNCT
fcis-29170	8	1	1	1	X
fcis-29170	8	2	.	.	X
fcis-29170	8	3	introduction	introduction	NOUN
fcis-29170	8	4	pmsm	pmsm	NOUN
fcis-29170	8	5	(	(	PUNCT
fcis-29170	8	6	permanent	permanent	ADJ
fcis-29170	8	7	magnet	magnet	NOUN
fcis-29170	8	8	synchronous	synchronous	PROPN
fcis-29170	8	9	motors	motor	NOUN
fcis-29170	8	10	)	)	PUNCT
fcis-29170	8	11	are	be	AUX
fcis-29170	8	12	widely	widely	ADV
fcis-29170	8	13	used	use	VERB
fcis-29170	8	14	in	in	ADP
fcis-29170	8	15	industrial	industrial	ADJ
fcis-29170	8	16	control	control	NOUN
fcis-29170	8	17	,	,	PUNCT
fcis-29170	8	18	medical	medical	ADJ
fcis-29170	8	19	machinery	machinery	NOUN
fcis-29170	8	20	,	,	PUNCT
fcis-29170	8	21	automotive	automotive	ADJ
fcis-29170	8	22	manufacturing	manufacturing	NOUN
fcis-29170	8	23	,	,	PUNCT
fcis-29170	8	24	and	and	CCONJ
fcis-29170	8	25	other	other	ADJ
fcis-29170	8	26	fields	field	NOUN
fcis-29170	8	27	due	due	ADP
fcis-29170	8	28	to	to	ADP
fcis-29170	8	29	their	their	PRON
fcis-29170	8	30	advantages	advantage	NOUN
fcis-29170	8	31	such	such	ADJ
fcis-29170	8	32	as	as	ADP
fcis-29170	8	33	simple	simple	ADJ
fcis-29170	8	34	structure	structure	NOUN
fcis-29170	8	35	,	,	PUNCT
fcis-29170	8	36	high	high	ADJ
fcis-29170	8	37	power	power	NOUN
fcis-29170	8	38	density	density	NOUN
fcis-29170	8	39	,	,	PUNCT
fcis-29170	8	40	and	and	CCONJ
fcis-29170	8	41	low	low	ADJ
fcis-29170	8	42	manufacturing	manufacturing	NOUN
fcis-29170	8	43	cost	cost	NOUN
fcis-29170	8	44	.	.	PUNCT
fcis-29170	9	1	traditional	traditional	ADJ
fcis-29170	9	2	pmsm	pmsm	NOUN
fcis-29170	9	3	control	control	NOUN
fcis-29170	9	4	strategies	strategy	NOUN
fcis-29170	9	5	include	include	VERB
fcis-29170	9	6	sine	sine	ADJ
fcis-29170	9	7	pulse	pulse	NOUN
fcis-29170	9	8	width	width	ADJ
fcis-29170	9	9	modulation	modulation	NOUN
fcis-29170	9	10	(	(	PUNCT
fcis-29170	9	11	spwm	spwm	NOUN
fcis-29170	9	12	)	)	PUNCT
fcis-29170	9	13	,	,	PUNCT
fcis-29170	9	14	field	field	NOUN
fcis-29170	9	15	-	-	PUNCT
fcis-29170	9	16	oriented	orient	VERB
fcis-29170	9	17	control	control	NOUN
fcis-29170	9	18	(	(	PUNCT
fcis-29170	9	19	foc	foc	PROPN
fcis-29170	9	20	)	)	PUNCT
fcis-29170	9	21	,	,	PUNCT
fcis-29170	9	22	direct	direct	ADJ
fcis-29170	9	23	torque	torque	NOUN
fcis-29170	9	24	control	control	NOUN
fcis-29170	9	25	(	(	PUNCT
fcis-29170	9	26	dtc	dtc	PROPN
fcis-29170	9	27	)	)	PUNCT
fcis-29170	9	28	,	,	PUNCT
fcis-29170	9	29	etc	etc	X
fcis-29170	9	30	.	.	X
fcis-29170	10	1	among	among	ADP
fcis-29170	10	2	these	these	PRON
fcis-29170	10	3	,	,	PUNCT
fcis-29170	10	4	foc	foc	ADJ
fcis-29170	10	5	technology	technology	NOUN
fcis-29170	10	6	offers	offer	VERB
fcis-29170	10	7	advantages	advantage	NOUN
fcis-29170	10	8	like	like	ADP
fcis-29170	10	9	fast	fast	ADJ
fcis-29170	10	10	response	response	NOUN
fcis-29170	10	11	,	,	PUNCT
fcis-29170	10	12	high	high	ADJ
fcis-29170	10	13	voltage	voltage	NOUN
fcis-29170	10	14	utilization	utilization	NOUN
fcis-29170	10	15	,	,	PUNCT
fcis-29170	10	16	a	a	DET
fcis-29170	10	17	wide	wide	ADJ
fcis-29170	10	18	speed	speed	NOUN
fcis-29170	10	19	range	range	NOUN
fcis-29170	10	20	,	,	PUNCT
fcis-29170	10	21	and	and	CCONJ
fcis-29170	10	22	high	high	ADJ
fcis-29170	10	23	control	control	NOUN
fcis-29170	10	24	accuracy	accuracy	NOUN
fcis-29170	10	25	.	.	PUNCT
fcis-29170	11	1	however	however	ADV
fcis-29170	11	2	,	,	PUNCT
fcis-29170	11	3	traditional	traditional	ADJ
fcis-29170	11	4	foc	foc	PROPN
fcis-29170	11	5	relies	rely	VERB
fcis-29170	11	6	on	on	ADP
fcis-29170	11	7	position	position	NOUN
fcis-29170	11	8	sensors	sensor	NOUN
fcis-29170	11	9	to	to	PART
fcis-29170	11	10	obtain	obtain	VERB
fcis-29170	11	11	rotor	rotor	NOUN
fcis-29170	11	12	angle	angle	NOUN
fcis-29170	11	13	,	,	PUNCT
fcis-29170	11	14	which	which	PRON
fcis-29170	11	15	increases	increase	VERB
fcis-29170	11	16	motor	motor	NOUN
fcis-29170	11	17	cost	cost	NOUN
fcis-29170	11	18	and	and	CCONJ
fcis-29170	11	19	size	size	NOUN
fcis-29170	11	20	,	,	PUNCT
fcis-29170	11	21	and	and	CCONJ
fcis-29170	11	22	significantly	significantly	ADV
fcis-29170	11	23	reduces	reduce	VERB
fcis-29170	11	24	motor	motor	NOUN
fcis-29170	11	25	adaptability	adaptability	NOUN
fcis-29170	11	26	.	.	PUNCT
fcis-29170	12	1	to	to	PART
fcis-29170	12	2	solve	solve	VERB
fcis-29170	12	3	these	these	DET
fcis-29170	12	4	issues	issue	NOUN
fcis-29170	12	5	,	,	PUNCT
fcis-29170	12	6	sensorless	sensorless	NOUN
fcis-29170	12	7	foc	foc	PROPN
fcis-29170	12	8	has	have	AUX
fcis-29170	12	9	emerged	emerge	VERB
fcis-29170	12	10	.	.	PUNCT
fcis-29170	13	1	sensorless	sensorless	NOUN
fcis-29170	13	2	foc	foc	PROPN
fcis-29170	13	3	utilizes	utilize	VERB
fcis-29170	13	4	state	state	NOUN
fcis-29170	13	5	observation	observation	NOUN
fcis-29170	13	6	algorithms	algorithm	NOUN
fcis-29170	13	7	to	to	PART
fcis-29170	13	8	establish	establish	VERB
fcis-29170	13	9	rotor	rotor	NOUN
fcis-29170	13	10	speed	speed	NOUN
fcis-29170	13	11	and	and	CCONJ
fcis-29170	13	12	position	position	NOUN
fcis-29170	13	13	observers	observer	NOUN
fcis-29170	13	14	to	to	PART
fcis-29170	13	15	replace	replace	VERB
fcis-29170	13	16	position	position	NOUN
fcis-29170	13	17	sensors	sensor	NOUN
fcis-29170	13	18	.	.	PUNCT
fcis-29170	14	1	common	common	ADJ
fcis-29170	14	2	state	state	NOUN
fcis-29170	14	3	observation	observation	NOUN
fcis-29170	14	4	algorithms	algorithm	NOUN
fcis-29170	14	5	used	use	VERB
fcis-29170	14	6	in	in	ADP
fcis-29170	14	7	sensorless	sensorless	NOUN
fcis-29170	14	8	foc	foc	PROPN
fcis-29170	14	9	include	include	VERB
fcis-29170	14	10	the	the	DET
fcis-29170	14	11	extended	extended	ADJ
fcis-29170	14	12	kalman	kalman	NOUN
fcis-29170	14	13	filter	filter	PROPN
fcis-29170	14	14	(	(	PUNCT
fcis-29170	14	15	ekf	ekf	PROPN
fcis-29170	14	16	)	)	PUNCT
fcis-29170	14	17	observer	observer	NOUN
fcis-29170	14	18	,	,	PUNCT
fcis-29170	14	19	luenberger	luenberger	PROPN
fcis-29170	14	20	observer	observer	NOUN
fcis-29170	14	21	,	,	PUNCT
fcis-29170	14	22	and	and	CCONJ
fcis-29170	14	23	others	other	NOUN
fcis-29170	14	24	.	.	PUNCT
fcis-29170	15	1	the	the	DET
fcis-29170	15	2	ekf	ekf	PROPN
fcis-29170	15	3	observer	observer	NOUN
fcis-29170	15	4	is	be	AUX
fcis-29170	15	5	based	base	VERB
fcis-29170	15	6	on	on	ADP
fcis-29170	15	7	the	the	DET
fcis-29170	15	8	minimum	minimum	ADJ
fcis-29170	15	9	variance	variance	NOUN
fcis-29170	15	10	estimation	estimation	NOUN
fcis-29170	15	11	theory	theory	NOUN
fcis-29170	15	12	and	and	CCONJ
fcis-29170	15	13	achieves	achieve	VERB
fcis-29170	15	14	accurate	accurate	ADJ
fcis-29170	15	15	estimation	estimation	NOUN
fcis-29170	15	16	of	of	ADP
fcis-29170	15	17	state	state	NOUN
fcis-29170	15	18	variables	variable	NOUN
fcis-29170	15	19	through	through	ADP
fcis-29170	15	20	data	datum	NOUN
fcis-29170	15	21	fusion	fusion	NOUN
fcis-29170	15	22	.	.	PUNCT
fcis-29170	16	1	it	it	PRON
fcis-29170	16	2	can	can	AUX
fcis-29170	16	3	operate	operate	VERB
fcis-29170	16	4	over	over	ADP
fcis-29170	16	5	a	a	DET
fcis-29170	16	6	wide	wide	ADJ
fcis-29170	16	7	speed	speed	NOUN
fcis-29170	16	8	range	range	NOUN
fcis-29170	16	9	,	,	PUNCT
fcis-29170	16	10	has	have	VERB
fcis-29170	16	11	filtering	filter	VERB
fcis-29170	16	12	capabilities	capability	NOUN
fcis-29170	16	13	,	,	PUNCT
fcis-29170	16	14	and	and	CCONJ
fcis-29170	16	15	is	be	AUX
fcis-29170	16	16	adaptive	adaptive	ADJ
fcis-29170	16	17	with	with	ADP
fcis-29170	16	18	low	low	ADJ
fcis-29170	16	19	requirements	requirement	NOUN
fcis-29170	16	20	for	for	ADP
fcis-29170	16	21	initial	initial	ADJ
fcis-29170	16	22	state	state	NOUN
fcis-29170	16	23	estimation	estimation	NOUN
fcis-29170	16	24	.	.	PUNCT
fcis-29170	17	1	for	for	ADP
fcis-29170	17	2	instance	instance	NOUN
fcis-29170	17	3	,	,	PUNCT
fcis-29170	17	4	changchang	changchang	PROPN
fcis-29170	17	5	jiang	jiang	PROPN
fcis-29170	17	6	et	et	PROPN
fcis-29170	17	7	al	al	PROPN
fcis-29170	17	8	.	.	PROPN
fcis-29170	17	9	proposed	propose	VERB
fcis-29170	17	10	a	a	DET
fcis-29170	17	11	sensorless	sensorless	NOUN
fcis-29170	17	12	vector	vector	NOUN
fcis-29170	17	13	control	control	NOUN
fcis-29170	17	14	strategy	strategy	NOUN
fcis-29170	17	15	based	base	VERB
fcis-29170	17	16	on	on	ADP
fcis-29170	17	17	the	the	DET
fcis-29170	17	18	ekf	ekf	NOUN
fcis-29170	17	19	observer	observer	NOUN
fcis-29170	17	20	and	and	CCONJ
fcis-29170	17	21	used	use	VERB
fcis-29170	17	22	a	a	DET
fcis-29170	17	23	luenberger	luenberg	ADJ
fcis-29170	17	24	observer	observer	NOUN
fcis-29170	17	25	to	to	PART
fcis-29170	17	26	track	track	VERB
fcis-29170	17	27	load	load	NOUN
fcis-29170	17	28	changes	change	NOUN
fcis-29170	17	29	,	,	PUNCT
fcis-29170	17	30	providing	provide	VERB
fcis-29170	17	31	feedforward	feedforward	NOUN
fcis-29170	17	32	compensation	compensation	NOUN
fcis-29170	17	33	for	for	ADP
fcis-29170	17	34	the	the	DET
fcis-29170	17	35	current	current	ADJ
fcis-29170	17	36	loop	loop	NOUN
fcis-29170	17	37	pi	pi	PROPN
fcis-29170	17	38	controller	controller	NOUN
fcis-29170	17	39	,	,	PUNCT
fcis-29170	17	40	thereby	thereby	ADV
fcis-29170	17	41	enhancing	enhance	VERB
fcis-29170	17	42	the	the	DET
fcis-29170	17	43	tracking	tracking	NOUN
fcis-29170	17	44	and	and	CCONJ
fcis-29170	17	45	disturbance	disturbance	NOUN
fcis-29170	17	46	rejection	rejection	NOUN
fcis-29170	17	47	capabilities	capability	NOUN
fcis-29170	17	48	of	of	ADP
fcis-29170	17	49	the	the	DET
fcis-29170	17	50	ekf	ekf	NOUN
fcis-29170	17	51	observer	observer	NOUN
fcis-29170	18	1	[	[	X
fcis-29170	18	2	1	1	NUM
fcis-29170	18	3	]	]	PUNCT
fcis-29170	18	4	.	.	PUNCT
fcis-29170	19	1	shijiao	shijiao	PROPN
fcis-29170	19	2	wang	wang	PROPN
fcis-29170	19	3	et	et	PROPN
fcis-29170	19	4	al	al	PROPN
fcis-29170	19	5	.	.	PROPN
fcis-29170	19	6	proposed	propose	VERB
fcis-29170	19	7	a	a	DET
fcis-29170	19	8	particle	particle	NOUN
fcis-29170	19	9	swarm	swarm	NOUN
fcis-29170	19	10	optimization	optimization	NOUN
fcis-29170	19	11	-	-	PUNCT
fcis-29170	19	12	based	base	VERB
fcis-29170	19	13	fuzzy	fuzzy	ADJ
fcis-29170	19	14	pi	pi	PROPN
fcis-29170	19	15	control	control	NOUN
fcis-29170	19	16	method	method	NOUN
fcis-29170	19	17	,	,	PUNCT
fcis-29170	19	18	which	which	PRON
fcis-29170	19	19	improves	improve	VERB
fcis-29170	19	20	the	the	DET
fcis-29170	19	21	dynamic	dynamic	ADJ
fcis-29170	19	22	and	and	CCONJ
fcis-29170	19	23	disturbance	disturbance	NOUN
fcis-29170	19	24	rejection	rejection	NOUN
fcis-29170	19	25	performance	performance	NOUN
fcis-29170	19	26	of	of	ADP
fcis-29170	19	27	the	the	DET
fcis-29170	19	28	system[2	system[2	NOUN
fcis-29170	19	29	]	]	PUNCT
fcis-29170	19	30	.	.	PUNCT
fcis-29170	20	1	weilin	weilin	PROPN
fcis-29170	20	2	yang	yang	PROPN
fcis-29170	20	3	et	et	PROPN
fcis-29170	20	4	al	al	PROPN
fcis-29170	20	5	.	.	PROPN
fcis-29170	20	6	proposed	propose	VERB
fcis-29170	20	7	a	a	DET
fcis-29170	20	8	control	control	NOUN
fcis-29170	20	9	strategy	strategy	NOUN
fcis-29170	20	10	for	for	ADP
fcis-29170	20	11	pmsm	pmsm	NOUN
fcis-29170	20	12	based	base	VERB
fcis-29170	20	13	on	on	ADP
fcis-29170	20	14	an	an	DET
fcis-29170	20	15	improved	improve	VERB
fcis-29170	20	16	neural	neural	ADJ
fcis-29170	20	17	network[3	network[3	PROPN
fcis-29170	20	18	]	]	PUNCT
fcis-29170	20	19	.	.	PUNCT
fcis-29170	21	1	lin	lin	PROPN
fcis-29170	21	2	liu	liu	PROPN
fcis-29170	21	3	et	et	PROPN
fcis-29170	21	4	al	al	PROPN
fcis-29170	21	5	.	.	PROPN
fcis-29170	21	6	proposed	propose	VERB
fcis-29170	21	7	a	a	DET
fcis-29170	21	8	pi	pi	NOUN
fcis-29170	21	9	control	control	NOUN
fcis-29170	21	10	parameter	parameter	NOUN
fcis-29170	21	11	self	self	NOUN
fcis-29170	21	12	-	-	PUNCT
fcis-29170	21	13	tuning	tuning	NOUN
fcis-29170	21	14	and	and	CCONJ
fcis-29170	21	15	optimization	optimization	NOUN
fcis-29170	21	16	method	method	NOUN
fcis-29170	21	17	combining	combine	VERB
fcis-29170	21	18	model	model	NOUN
fcis-29170	21	19	and	and	CCONJ
fcis-29170	21	20	rule	rule	NOUN
fcis-29170	21	21	-	-	PUNCT
fcis-29170	21	22	based	base	VERB
fcis-29170	21	23	approaches[4	approaches[4	NOUN
fcis-29170	21	24	]	]	PUNCT
fcis-29170	21	25	.	.	PUNCT
fcis-29170	22	1	jiaxuan	jiaxuan	PROPN
fcis-29170	22	2	li	li	PROPN
fcis-29170	22	3	et	et	PROPN
fcis-29170	22	4	al	al	PROPN
fcis-29170	22	5	.	.	PROPN
fcis-29170	22	6	designed	design	VERB
fcis-29170	22	7	an	an	DET
fcis-29170	22	8	adaptive	adaptive	ADJ
fcis-29170	22	9	pi	pi	NOUN
fcis-29170	22	10	controller	controller	NOUN
fcis-29170	22	11	based	base	VERB
fcis-29170	22	12	on	on	ADP
fcis-29170	22	13	bp	bp	PROPN
fcis-29170	22	14	neural	neural	ADJ
fcis-29170	22	15	networks	network	NOUN
fcis-29170	22	16	and	and	CCONJ
fcis-29170	22	17	improved	improve	VERB
fcis-29170	22	18	the	the	DET
fcis-29170	22	19	traditional	traditional	ADJ
fcis-29170	22	20	foc	foc	ADJ
fcis-29170	22	21	model	model	NOUN
fcis-29170	22	22	to	to	PART
fcis-29170	22	23	enhance	enhance	VERB
fcis-29170	22	24	system	system	NOUN
fcis-29170	22	25	response	response	NOUN
fcis-29170	22	26	speed	speed	NOUN
fcis-29170	22	27	and	and	CCONJ
fcis-29170	22	28	robustness[5	robustness[5	NOUN
fcis-29170	22	29	]	]	PUNCT
fcis-29170	22	30	.	.	PUNCT
fcis-29170	23	1	these	these	DET
fcis-29170	23	2	scholars	scholar	NOUN
fcis-29170	23	3	have	have	AUX
fcis-29170	23	4	used	use	VERB
fcis-29170	23	5	modern	modern	ADJ
fcis-29170	23	6	control	control	NOUN
fcis-29170	23	7	theory	theory	NOUN
fcis-29170	23	8	and	and	CCONJ
fcis-29170	23	9	intelligent	intelligent	ADJ
fcis-29170	23	10	algorithms	algorithm	NOUN
fcis-29170	23	11	to	to	PART
fcis-29170	23	12	improve	improve	VERB
fcis-29170	23	13	traditional	traditional	ADJ
fcis-29170	23	14	pi	pi	NOUN
fcis-29170	23	15	controllers	controller	NOUN
fcis-29170	23	16	.	.	PUNCT
fcis-29170	24	1	although	although	SCONJ
fcis-29170	24	2	the	the	DET
fcis-29170	24	3	improvements	improvement	NOUN
fcis-29170	24	4	are	be	AUX
fcis-29170	24	5	significant	significant	ADJ
fcis-29170	24	6	,	,	PUNCT
fcis-29170	24	7	the	the	DET
fcis-29170	24	8	contradiction	contradiction	NOUN
fcis-29170	24	9	between	between	ADP
fcis-29170	24	10	overshoot	overshoot	NOUN
fcis-29170	24	11	and	and	CCONJ
fcis-29170	24	12	speed	speed	NOUN
fcis-29170	24	13	remains	remain	VERB
fcis-29170	24	14	unresolved	unresolved	ADJ
fcis-29170	24	15	.	.	PUNCT
fcis-29170	25	1	furthermore	furthermore	ADV
fcis-29170	25	2	,	,	PUNCT
fcis-29170	25	3	the	the	DET
fcis-29170	25	4	rapid	rapid	ADJ
fcis-29170	25	5	development	development	NOUN
fcis-29170	25	6	of	of	ADP
fcis-29170	25	7	modern	modern	ADJ
fcis-29170	25	8	control	control	NOUN
fcis-29170	25	9	theory	theory	NOUN
fcis-29170	25	10	has	have	AUX
fcis-29170	25	11	led	lead	VERB
fcis-29170	25	12	to	to	ADP
fcis-29170	25	13	the	the	DET
fcis-29170	25	14	design	design	NOUN
fcis-29170	25	15	of	of	ADP
fcis-29170	25	16	various	various	ADJ
fcis-29170	25	17	motor	motor	NOUN
fcis-29170	25	18	control	control	NOUN
fcis-29170	25	19	algorithms	algorithm	NOUN
fcis-29170	25	20	,	,	PUNCT
fcis-29170	25	21	such	such	ADJ
fcis-29170	25	22	as	as	ADP
fcis-29170	25	23	sliding	slide	VERB
fcis-29170	25	24	mode	mode	NOUN
fcis-29170	25	25	control	control	NOUN
fcis-29170	25	26	,	,	PUNCT
fcis-29170	25	27	model	model	NOUN
fcis-29170	25	28	reference	reference	NOUN
fcis-29170	25	29	adaptive	adaptive	PROPN
fcis-29170	25	30	control	control	NOUN
fcis-29170	25	31	,	,	PUNCT
fcis-29170	25	32	robust	robust	ADJ
fcis-29170	25	33	control	control	NOUN
fcis-29170	25	34	,	,	PUNCT
fcis-29170	25	35	internal	internal	ADJ
fcis-29170	25	36	model	model	NOUN
fcis-29170	25	37	control	control	NOUN
fcis-29170	25	38	,	,	PUNCT
fcis-29170	25	39	and	and	CCONJ
fcis-29170	25	40	disturbance	disturbance	NOUN
fcis-29170	25	41	-	-	PUNCT
fcis-29170	25	42	free	free	ADJ
fcis-29170	25	43	control	control	NOUN
fcis-29170	25	44	,	,	PUNCT
fcis-29170	25	45	to	to	PART
fcis-29170	25	46	replace	replace	VERB
fcis-29170	25	47	traditional	traditional	ADJ
fcis-29170	25	48	pi	pi	NOUN
fcis-29170	25	49	control	control	NOUN
fcis-29170	26	1	[	[	X
fcis-29170	26	2	6,7,8	6,7,8	NUM
fcis-29170	26	3	]	]	PUNCT
fcis-29170	26	4	.	.	PUNCT
fcis-29170	27	1	in	in	ADP
fcis-29170	27	2	the	the	DET
fcis-29170	27	3	1980s	1980	NOUN
fcis-29170	27	4	,	,	PUNCT
fcis-29170	27	5	professor	professor	NOUN
fcis-29170	27	6	jingqing	jingqing	NOUN
fcis-29170	27	7	han	han	PROPN
fcis-29170	27	8	analyzed	analyze	VERB
fcis-29170	27	9	the	the	DET
fcis-29170	27	10	drawbacks	drawback	NOUN
fcis-29170	27	11	of	of	ADP
fcis-29170	27	12	modern	modern	ADJ
fcis-29170	27	13	control	control	NOUN
fcis-29170	27	14	theory	theory	NOUN
fcis-29170	27	15	's	's	PART
fcis-29170	27	16	over	over	NOUN
fcis-29170	27	17	-	-	PUNCT
fcis-29170	27	18	reliance	reliance	NOUN
fcis-29170	27	19	on	on	ADP
fcis-29170	27	20	mathematical	mathematical	ADJ
fcis-29170	27	21	models	model	NOUN
fcis-29170	27	22	and	and	CCONJ
fcis-29170	27	23	studied	study	VERB
fcis-29170	27	24	traditional	traditional	ADJ
fcis-29170	27	25	control	control	NOUN
fcis-29170	27	26	methods	method	NOUN
fcis-29170	27	27	for	for	ADP
fcis-29170	27	28	error	error	NOUN
fcis-29170	27	29	suppression	suppression	NOUN
fcis-29170	27	30	through	through	ADP
fcis-29170	27	31	system	system	NOUN
fcis-29170	27	32	feedback[9	feedback[9	PROPN
fcis-29170	27	33	]	]	X
fcis-29170	27	34	.	.	PUNCT
fcis-29170	28	1	in	in	ADP
fcis-29170	28	2	1998	1998	NUM
fcis-29170	28	3	,	,	PUNCT
fcis-29170	28	4	he	he	PRON
fcis-29170	28	5	proposed	propose	VERB
fcis-29170	28	6	the	the	DET
fcis-29170	28	7	active	active	ADJ
fcis-29170	28	8	disturbance	disturbance	NOUN
fcis-29170	28	9	rejection	rejection	NOUN
fcis-29170	28	10	control	control	NOUN
fcis-29170	28	11	(	(	PUNCT
fcis-29170	28	12	adrc	adrc	NOUN
fcis-29170	28	13	)	)	PUNCT
fcis-29170	28	14	theory	theory	NOUN
fcis-29170	28	15	and	and	CCONJ
fcis-29170	28	16	published	publish	VERB
fcis-29170	28	17	a	a	DET
fcis-29170	28	18	monograph[10	monograph[10	NOUN
fcis-29170	28	19	]	]	PUNCT
fcis-29170	28	20	.	.	PUNCT
fcis-29170	29	1	this	this	DET
fcis-29170	29	2	control	control	NOUN
fcis-29170	29	3	method	method	NOUN
fcis-29170	29	4	not	not	PART
fcis-29170	29	5	only	only	ADV
fcis-29170	29	6	has	have	VERB
fcis-29170	29	7	a	a	DET
fcis-29170	29	8	simple	simple	ADJ
fcis-29170	29	9	algorithm	algorithm	NOUN
fcis-29170	29	10	but	but	CCONJ
fcis-29170	29	11	also	also	ADV
fcis-29170	29	12	detects	detect	NOUN
fcis-29170	29	13	and	and	CCONJ
fcis-29170	29	14	compensates	compensate	NOUN
fcis-29170	29	15	for	for	ADP
fcis-29170	29	16	internal	internal	ADJ
fcis-29170	29	17	and	and	CCONJ
fcis-29170	29	18	external	external	ADJ
fcis-29170	29	19	disturbances	disturbance	NOUN
fcis-29170	29	20	,	,	PUNCT
fcis-29170	29	21	enabling	enable	VERB
fcis-29170	29	22	the	the	DET
fcis-29170	29	23	system	system	NOUN
fcis-29170	29	24	to	to	PART
fcis-29170	29	25	promptly	promptly	ADV
fcis-29170	29	26	respond	respond	VERB
fcis-29170	29	27	to	to	ADP
fcis-29170	29	28	disturbances	disturbance	NOUN
fcis-29170	29	29	and	and	CCONJ
fcis-29170	29	30	parameter	parameter	NOUN
fcis-29170	29	31	changes	change	NOUN
fcis-29170	29	32	.	.	PUNCT
fcis-29170	30	1	adrc	adrc	PROPN
fcis-29170	30	2	is	be	AUX
fcis-29170	30	3	characterized	characterize	VERB
fcis-29170	30	4	by	by	ADP
fcis-29170	30	5	strong	strong	ADJ
fcis-29170	30	6	disturbance	disturbance	NOUN
fcis-29170	30	7	suppression	suppression	NOUN
fcis-29170	30	8	,	,	PUNCT
fcis-29170	30	9	high	high	ADJ
fcis-29170	30	10	robustness	robustness	NOUN
fcis-29170	30	11	,	,	PUNCT
fcis-29170	30	12	and	and	CCONJ
fcis-29170	30	13	good	good	ADJ
fcis-29170	30	14	operability[11,12	operability[11,12	PROPN
fcis-29170	30	15	]	]	PUNCT
fcis-29170	30	16	.	.	PUNCT
fcis-29170	31	1	for	for	ADP
fcis-29170	31	2	example	example	NOUN
fcis-29170	31	3	,	,	PUNCT
fcis-29170	31	4	shiwei	shiwei	NOUN
fcis-29170	31	5	chi	chi	PROPN
fcis-29170	31	6	et	et	PROPN
fcis-29170	31	7	al	al	PROPN
fcis-29170	31	8	.	.	PROPN
fcis-29170	31	9	proposed	propose	VERB
fcis-29170	31	10	a	a	DET
fcis-29170	31	11	feedforward	feedforward	NOUN
fcis-29170	31	12	compensation	compensation	NOUN
fcis-29170	31	13	-	-	PUNCT
fcis-29170	31	14	based	base	VERB
fcis-29170	31	15	adrc	adrc	NOUN
fcis-29170	31	16	strategy	strategy	NOUN
fcis-29170	31	17	for	for	ADP
fcis-29170	31	18	pmsms	pmsm	NOUN
fcis-29170	31	19	to	to	PART
fcis-29170	31	20	suppress	suppress	VERB
fcis-29170	31	21	speed	speed	NOUN
fcis-29170	31	22	fluctuations	fluctuation	NOUN
fcis-29170	31	23	caused	cause	VERB
fcis-29170	31	24	by	by	ADP
fcis-29170	31	25	sudden	sudden	ADJ
fcis-29170	31	26	load	load	NOUN
fcis-29170	31	27	torque	torque	NOUN
fcis-29170	31	28	changes	change	NOUN
fcis-29170	31	29	,	,	PUNCT
fcis-29170	31	30	optimizing	optimize	VERB
fcis-29170	31	31	the	the	DET
fcis-29170	31	32	control	control	NOUN
fcis-29170	31	33	performance[13	performance[13	NOUN
fcis-29170	31	34	]	]	X
fcis-29170	31	35	.	.	PUNCT
fcis-29170	32	1	zixin	zixin	PROPN
fcis-29170	32	2	li	li	PROPN
fcis-29170	32	3	et	et	PROPN
fcis-29170	32	4	al	al	PROPN
fcis-29170	32	5	.	.	PROPN
fcis-29170	32	6	proposed	propose	VERB
fcis-29170	32	7	a	a	DET
fcis-29170	32	8	parameter	parameter	NOUN
fcis-29170	32	9	self	self	NOUN
fcis-29170	32	10	-	-	PUNCT
fcis-29170	32	11	tuning	tune	VERB
fcis-29170	32	12	strategy	strategy	NOUN
fcis-29170	32	13	based	base	VERB
fcis-29170	32	14	on	on	ADP
fcis-29170	32	15	bp	bp	PROPN
fcis-29170	32	16	neural	neural	ADJ
fcis-29170	32	17	networks	network	NOUN
fcis-29170	32	18	to	to	PART
fcis-29170	32	19	address	address	VERB
fcis-29170	32	20	the	the	DET
fcis-29170	32	21	difficulty	difficulty	NOUN
fcis-29170	32	22	of	of	ADP
fcis-29170	32	23	tuning	tune	VERB
fcis-29170	32	24	adrc	adrc	PRON
fcis-29170	32	25	parameters	parameter	NOUN
fcis-29170	32	26	,	,	PUNCT
fcis-29170	32	27	effectively	effectively	ADV
fcis-29170	32	28	reducing	reduce	VERB
fcis-29170	32	29	the	the	DET
fcis-29170	32	30	complexity	complexity	NOUN
fcis-29170	32	31	of	of	ADP
fcis-29170	32	32	parameter	parameter	NOUN
fcis-29170	32	33	tuning	tuning	NOUN
fcis-29170	32	34	while	while	SCONJ
fcis-29170	32	35	improving	improve	VERB
fcis-29170	32	36	system	system	NOUN
fcis-29170	32	37	performance	performance	NOUN
fcis-29170	32	38	and	and	CCONJ
fcis-29170	32	39	lowering	lower	VERB
fcis-29170	32	40	the	the	DET
fcis-29170	32	41	difficulty	difficulty	NOUN
fcis-29170	32	42	of	of	ADP
fcis-29170	32	43	applying	apply	VERB
fcis-29170	32	44	adrc	adrc	NOUN
fcis-29170	32	45	in	in	ADP
fcis-29170	32	46	engineering[14	engineering[14	PROPN
fcis-29170	32	47	]	]	PUNCT
fcis-29170	32	48	.	.	PUNCT
fcis-29170	33	1	yicheng	yicheng	PROPN
fcis-29170	33	2	wang	wang	PROPN
fcis-29170	33	3	et	et	PROPN
fcis-29170	33	4	al	al	PROPN
fcis-29170	33	5	.	.	PROPN
fcis-29170	33	6	proposed	propose	VERB
fcis-29170	33	7	an	an	DET
fcis-29170	33	8	improved	improved	ADJ
fcis-29170	33	9	pmsm	pmsm	NOUN
fcis-29170	33	10	weak	weak	ADJ
fcis-29170	33	11	magnetic	magnetic	ADJ
fcis-29170	33	12	adrc	adrc	PROPN
fcis-29170	33	13	method	method	NOUN
fcis-29170	33	14	to	to	PART
fcis-29170	33	15	meet	meet	VERB
fcis-29170	33	16	the	the	DET
fcis-29170	33	17	high	high	ADJ
fcis-29170	33	18	-	-	PUNCT
fcis-29170	33	19	speed	speed	NOUN
fcis-29170	33	20	,	,	PUNCT
fcis-29170	33	21	high	high	ADJ
fcis-29170	33	22	-	-	PUNCT
fcis-29170	33	23	stability	stability	NOUN
fcis-29170	33	24	,	,	PUNCT
fcis-29170	33	25	and	and	CCONJ
fcis-29170	33	26	fast	fast	ADJ
fcis-29170	33	27	-	-	PUNCT
fcis-29170	33	28	response	response	NOUN
fcis-29170	33	29	requirements	requirement	NOUN
fcis-29170	33	30	of	of	ADP
fcis-29170	33	31	multi	multi	ADJ
fcis-29170	33	32	-	-	ADJ
fcis-29170	33	33	electric	electric	ADJ
fcis-29170	33	34	aircraft	aircraft	NOUN
fcis-29170	33	35	,	,	PUNCT
fcis-29170	33	36	and	and	CCONJ
fcis-29170	33	37	demonstrated	demonstrate	VERB
fcis-29170	33	38	its	its	PRON
fcis-29170	33	39	superior	superior	ADJ
fcis-29170	33	40	performance	performance	NOUN
fcis-29170	33	41	through	through	ADP
fcis-29170	33	42	comparisons	comparison	NOUN
fcis-29170	33	43	with	with	ADP
fcis-29170	33	44	traditional	traditional	ADJ
fcis-29170	33	45	weak	weak	ADJ
fcis-29170	33	46	magnetic	magnetic	ADJ
fcis-29170	33	47	control	control	NOUN
fcis-29170	33	48	and	and	CCONJ
fcis-29170	33	49	adrc	adrc	DET
fcis-29170	33	50	weak	weak	ADJ
fcis-29170	33	51	magnetic	magnetic	ADJ
fcis-29170	33	52	control	control	NOUN
fcis-29170	33	53	[	[	X
fcis-29170	33	54	15	15	NUM
fcis-29170	33	55	]	]	PUNCT
fcis-29170	33	56	.	.	PUNCT
fcis-29170	34	1	this	this	DET
fcis-29170	34	2	paper	paper	NOUN
fcis-29170	34	3	proposes	propose	VERB
fcis-29170	34	4	a	a	DET
fcis-29170	34	5	sensorless	sensorless	NOUN
fcis-29170	34	6	adrc	adrc	NOUN
fcis-29170	34	7	strategy	strategy	NOUN
fcis-29170	34	8	for	for	ADP
fcis-29170	34	9	13	13	NUM
fcis-29170	34	10	pmsms	pmsm	NOUN
fcis-29170	34	11	based	base	VERB
fcis-29170	34	12	on	on	ADP
fcis-29170	34	13	the	the	DET
fcis-29170	34	14	ekf	ekf	NOUN
fcis-29170	34	15	observer	observer	NOUN
fcis-29170	34	16	to	to	PART
fcis-29170	34	17	address	address	VERB
fcis-29170	34	18	issues	issue	NOUN
fcis-29170	34	19	such	such	ADJ
fcis-29170	34	20	as	as	ADP
fcis-29170	34	21	load	load	NOUN
fcis-29170	34	22	disturbance	disturbance	NOUN
fcis-29170	34	23	impact	impact	NOUN
fcis-29170	34	24	on	on	ADP
fcis-29170	34	25	pmsm	pmsm	NOUN
fcis-29170	34	26	system	system	NOUN
fcis-29170	34	27	stability	stability	NOUN
fcis-29170	34	28	,	,	PUNCT
fcis-29170	34	29	the	the	DET
fcis-29170	34	30	tradeoff	tradeoff	NOUN
fcis-29170	34	31	between	between	ADP
fcis-29170	34	32	response	response	NOUN
fcis-29170	34	33	speed	speed	NOUN
fcis-29170	34	34	and	and	CCONJ
fcis-29170	34	35	overshoot	overshoot	NOUN
fcis-29170	34	36	in	in	ADP
fcis-29170	34	37	pmsm	pmsm	NOUN
fcis-29170	34	38	systems	system	NOUN
fcis-29170	34	39	,	,	PUNCT
fcis-29170	34	40	and	and	CCONJ
fcis-29170	34	41	the	the	DET
fcis-29170	34	42	high	high	ADJ
fcis-29170	34	43	cost	cost	NOUN
fcis-29170	34	44	and	and	CCONJ
fcis-29170	34	45	poor	poor	ADJ
fcis-29170	34	46	adaptability	adaptability	NOUN
fcis-29170	34	47	caused	cause	VERB
fcis-29170	34	48	by	by	ADP
fcis-29170	34	49	position	position	NOUN
fcis-29170	34	50	sensors	sensor	NOUN
fcis-29170	34	51	.	.	PUNCT
fcis-29170	35	1	the	the	DET
fcis-29170	35	2	speed	speed	NOUN
fcis-29170	35	3	loop	loop	NOUN
fcis-29170	35	4	replaces	replace	VERB
fcis-29170	35	5	the	the	DET
fcis-29170	35	6	pi	pi	NOUN
fcis-29170	35	7	controller	controller	NOUN
fcis-29170	35	8	with	with	ADP
fcis-29170	35	9	an	an	DET
fcis-29170	35	10	adrc	adrc	ADJ
fcis-29170	35	11	controller	controller	NOUN
fcis-29170	35	12	,	,	PUNCT
fcis-29170	35	13	and	and	CCONJ
fcis-29170	35	14	the	the	DET
fcis-29170	35	15	ekf	ekf	NOUN
fcis-29170	35	16	observer	observer	NOUN
fcis-29170	35	17	estimates	estimate	VERB
fcis-29170	35	18	speed	speed	NOUN
fcis-29170	35	19	and	and	CCONJ
fcis-29170	35	20	angle	angle	NOUN
fcis-29170	35	21	.	.	PUNCT
fcis-29170	36	1	the	the	DET
fcis-29170	36	2	current	current	ADJ
fcis-29170	36	3	loop	loop	NOUN
fcis-29170	36	4	implements	implement	NOUN
fcis-29170	36	5	decoupling	decoupling	NOUN
fcis-29170	36	6	of	of	ADP
fcis-29170	36	7	the	the	DET
fcis-29170	36	8	d	d	NOUN
fcis-29170	36	9	-	-	PUNCT
fcis-29170	36	10	axis	axis	ADJ
fcis-29170	36	11	and	and	CCONJ
fcis-29170	36	12	q	q	ADJ
fcis-29170	36	13	-	-	PUNCT
fcis-29170	36	14	axis	axis	ADJ
fcis-29170	36	15	voltages	voltage	NOUN
fcis-29170	36	16	through	through	ADP
fcis-29170	36	17	feedforward	feedforward	NOUN
fcis-29170	36	18	compensation	compensation	NOUN
fcis-29170	36	19	.	.	PUNCT
fcis-29170	37	1	finally	finally	ADV
fcis-29170	37	2	,	,	PUNCT
fcis-29170	37	3	comparative	comparative	ADJ
fcis-29170	37	4	experiments	experiment	NOUN
fcis-29170	37	5	are	be	AUX
fcis-29170	37	6	conducted	conduct	VERB
fcis-29170	37	7	on	on	ADP
fcis-29170	37	8	three	three	NUM
fcis-29170	37	9	control	control	NOUN
fcis-29170	37	10	strategies	strategy	NOUN
fcis-29170	37	11	:	:	PUNCT
fcis-29170	37	12	pi	pi	NOUN
fcis-29170	37	13	+	+	CCONJ
fcis-29170	37	14	foc	foc	PROPN
fcis-29170	37	15	+	+	X
fcis-29170	37	16	ekf	ekf	PROPN
fcis-29170	37	17	,	,	PUNCT
fcis-29170	37	18	ladrc	ladrc	NOUN
fcis-29170	37	19	+	+	CCONJ
fcis-29170	37	20	foc	foc	PROPN
fcis-29170	37	21	+	+	X
fcis-29170	37	22	ekf	ekf	PROPN
fcis-29170	37	23	,	,	PUNCT
fcis-29170	37	24	and	and	CCONJ
fcis-29170	37	25	nladrc	nladrc	PROPN
fcis-29170	37	26	+	+	CCONJ
fcis-29170	37	27	foc	foc	PROPN
fcis-29170	37	28	+	+	X
fcis-29170	37	29	ekf	ekf	PROPN
fcis-29170	37	30	,	,	PUNCT
fcis-29170	37	31	to	to	PART
fcis-29170	37	32	verify	verify	VERB
fcis-29170	37	33	the	the	DET
fcis-29170	37	34	control	control	NOUN
fcis-29170	37	35	effect	effect	NOUN
fcis-29170	37	36	of	of	ADP
fcis-29170	37	37	the	the	DET
fcis-29170	37	38	proposed	propose	VERB
fcis-29170	37	39	method	method	NOUN
fcis-29170	37	40	.	.	PUNCT
fcis-29170	38	1	2	2	X
fcis-29170	38	2	.	.	X
fcis-29170	38	3	mathematical	mathematical	ADJ
fcis-29170	38	4	model	model	NOUN
fcis-29170	38	5	of	of	ADP
fcis-29170	38	6	pmsm	pmsm	NOUN
fcis-29170	38	7	the	the	DET
fcis-29170	38	8	following	follow	VERB
fcis-29170	38	9	assumptions	assumption	NOUN
fcis-29170	38	10	are	be	AUX
fcis-29170	38	11	made	make	VERB
fcis-29170	38	12	for	for	ADP
fcis-29170	38	13	the	the	DET
fcis-29170	38	14	pmsm	pmsm	NOUN
fcis-29170	38	15	model	model	NOUN
fcis-29170	38	16	:	:	PUNCT
fcis-29170	38	17	(	(	PUNCT
fcis-29170	38	18	1	1	X
fcis-29170	38	19	)	)	PUNCT
fcis-29170	38	20	the	the	DET
fcis-29170	38	21	rotor	rotor	NOUN
fcis-29170	38	22	permanent	permanent	ADJ
fcis-29170	38	23	magnet	magnet	NOUN
fcis-29170	38	24	's	's	PART
fcis-29170	38	25	magnetic	magnetic	ADJ
fcis-29170	38	26	field	field	NOUN
fcis-29170	38	27	distribution	distribution	NOUN
fcis-29170	38	28	is	be	AUX
fcis-29170	38	29	sinusoidal	sinusoidal	ADJ
fcis-29170	38	30	.	.	PUNCT
fcis-29170	39	1	(	(	PUNCT
fcis-29170	39	2	2	2	X
fcis-29170	39	3	)	)	PUNCT
fcis-29170	39	4	the	the	DET
fcis-29170	39	5	back	back	ADJ
fcis-29170	39	6	electromotive	electromotive	ADJ
fcis-29170	39	7	force	force	NOUN
fcis-29170	39	8	(	(	PUNCT
fcis-29170	39	9	emf	emf	NOUN
fcis-29170	39	10	)	)	PUNCT
fcis-29170	39	11	in	in	ADP
fcis-29170	39	12	the	the	DET
fcis-29170	39	13	stator	stator	NOUN
fcis-29170	39	14	windings	winding	NOUN
fcis-29170	39	15	is	be	AUX
fcis-29170	39	16	sinusoidal	sinusoidal	ADJ
fcis-29170	39	17	.	.	PUNCT
fcis-29170	40	1	(	(	PUNCT
fcis-29170	40	2	3	3	X
fcis-29170	40	3	)	)	PUNCT
fcis-29170	40	4	the	the	DET
fcis-29170	40	5	stator	stator	NOUN
fcis-29170	40	6	core	core	NOUN
fcis-29170	40	7	saturation	saturation	NOUN
fcis-29170	40	8	,	,	PUNCT
fcis-29170	40	9	as	as	ADV
fcis-29170	40	10	well	well	ADV
fcis-29170	40	11	as	as	ADP
fcis-29170	40	12	eddy	eddy	PROPN
fcis-29170	40	13	current	current	ADJ
fcis-29170	40	14	and	and	CCONJ
fcis-29170	40	15	hysteresis	hysteresis	NOUN
fcis-29170	40	16	losses	loss	NOUN
fcis-29170	40	17	in	in	ADP
fcis-29170	40	18	the	the	DET
fcis-29170	40	19	core	core	NOUN
fcis-29170	40	20	,	,	PUNCT
fcis-29170	40	21	are	be	AUX
fcis-29170	40	22	neglected	neglect	VERB
fcis-29170	40	23	.	.	PUNCT
fcis-29170	41	1	(	(	PUNCT
fcis-29170	41	2	4	4	X
fcis-29170	41	3	)	)	PUNCT
fcis-29170	41	4	there	there	PRON
fcis-29170	41	5	are	be	VERB
fcis-29170	41	6	no	no	DET
fcis-29170	41	7	damper	damper	NOUN
fcis-29170	41	8	windings	winding	NOUN
fcis-29170	41	9	on	on	ADP
fcis-29170	41	10	the	the	DET
fcis-29170	41	11	rotor	rotor	NOUN
fcis-29170	41	12	.	.	PUNCT
fcis-29170	42	1	the	the	DET
fcis-29170	42	2	stator	stator	NOUN
fcis-29170	42	3	voltage	voltage	NOUN
fcis-29170	42	4	equation	equation	NOUN
fcis-29170	42	5	of	of	ADP
fcis-29170	42	6	the	the	DET
fcis-29170	42	7	pmsm	pmsm	NOUN
fcis-29170	42	8	in	in	ADP
fcis-29170	42	9	a	a	DET
fcis-29170	42	10	synchronous	synchronous	ADJ
fcis-29170	42	11	rotating	rotating	NOUN
fcis-29170	42	12	coordinate	coordinate	NOUN
fcis-29170	42	13	system	system	NOUN
fcis-29170	42	14	is	be	AUX
fcis-29170	42	15	:	:	PUNCT
fcis-29170	42	16	d	d	X
fcis-29170	42	17	d	d	X
fcis-29170	42	18	d	d	X
fcis-29170	42	19	e	e	X
fcis-29170	42	20	q	q	NOUN
fcis-29170	42	21	q	q	X
fcis-29170	42	22	q	q	X
fcis-29170	42	23	q	q	X
fcis-29170	42	24	e	e	X
fcis-29170	42	25	d	d	X
fcis-29170	42	26	d	d	X
fcis-29170	42	27	u	u	X
fcis-29170	42	28	ri	ri	NOUN
fcis-29170	42	29	dt	dt	X
fcis-29170	43	1	d	d	X
fcis-29170	43	2	u	u	X
fcis-29170	43	3	ri	ri	NOUN
fcis-29170	43	4	dt	dt	NOUN
fcis-29170	44	1			PROPN
fcis-29170	44	2			X
fcis-29170	44	3			PROPN
fcis-29170	44	4			PROPN
fcis-29170	44	5			PUNCT
fcis-29170	44	6			PROPN
fcis-29170	44	7			ADP
fcis-29170	44	8			PROPN
fcis-29170	44	9			ADJ
fcis-29170	44	10			PROPN
fcis-29170	44	11			PROPN
fcis-29170	45	1			NUM
fcis-29170	45	2			PROPN
fcis-29170	45	3			PROPN
fcis-29170	45	4			PROPN
fcis-29170	45	5	(	(	PUNCT
fcis-29170	45	6	1	1	NUM
fcis-29170	45	7	)	)	PUNCT
fcis-29170	45	8	the	the	DET
fcis-29170	45	9	flux	flux	NOUN
fcis-29170	45	10	linkage	linkage	NOUN
fcis-29170	45	11	equations	equation	NOUN
fcis-29170	45	12	are	be	AUX
fcis-29170	45	13	as	as	SCONJ
fcis-29170	45	14	follows	follow	VERB
fcis-29170	45	15	:	:	PUNCT
fcis-29170	46	1	d	d	PROPN
fcis-29170	46	2	d	d	X
fcis-29170	47	1	d	d	X
fcis-29170	47	2	f	f	X
fcis-29170	47	3	q	q	NOUN
fcis-29170	47	4	q	q	X
fcis-29170	47	5	q	q	X
fcis-29170	47	6	l	l	NOUN
fcis-29170	48	1	i	i	NOUN
fcis-29170	48	2	l	l	NOUN
fcis-29170	48	3	i	i	VERB
fcis-29170	48	4			ADJ
fcis-29170	48	5			PROPN
fcis-29170	48	6			PROPN
fcis-29170	48	7			PROPN
fcis-29170	48	8			PROPN
fcis-29170	48	9			NUM
fcis-29170	48	10			NOUN
fcis-29170	48	11	(	(	PUNCT
fcis-29170	48	12	2	2	NUM
fcis-29170	48	13	)	)	PUNCT
fcis-29170	48	14	and	and	CCONJ
fcis-29170	48	15	are	be	AUX
fcis-29170	48	16	the	the	DET
fcis-29170	48	17	voltage	voltage	NOUN
fcis-29170	48	18	components	component	NOUN
fcis-29170	48	19	of	of	ADP
fcis-29170	48	20	the	the	DET
fcis-29170	48	21	stator	stator	NOUN
fcis-29170	48	22	in	in	ADP
fcis-29170	48	23	the	the	DET
fcis-29170	48	24	axis	axis	NOUN
fcis-29170	48	25	and	and	CCONJ
fcis-29170	48	26	axis	axis	NOUN
fcis-29170	48	27	,	,	PUNCT
fcis-29170	48	28	respectively	respectively	ADV
fcis-29170	48	29	;	;	PUNCT
fcis-29170	48	30	and	and	CCONJ
fcis-29170	48	31	are	be	AUX
fcis-29170	48	32	the	the	DET
fcis-29170	48	33	current	current	ADJ
fcis-29170	48	34	components	component	NOUN
fcis-29170	48	35	of	of	ADP
fcis-29170	48	36	the	the	DET
fcis-29170	48	37	stator	stator	NOUN
fcis-29170	48	38	in	in	ADP
fcis-29170	48	39	the	the	DET
fcis-29170	48	40	axis	axis	NOUN
fcis-29170	48	41	and	and	CCONJ
fcis-29170	48	42	axis	axis	NOUN
fcis-29170	48	43	,	,	PUNCT
fcis-29170	48	44	respectively	respectively	ADV
fcis-29170	48	45	;	;	PUNCT
fcis-29170	48	46	and	and	CCONJ
fcis-29170	48	47	are	be	AUX
fcis-29170	48	48	the	the	DET
fcis-29170	48	49	flux	flux	NOUN
fcis-29170	48	50	linkage	linkage	NOUN
fcis-29170	48	51	components	component	NOUN
fcis-29170	48	52	of	of	ADP
fcis-29170	48	53	the	the	DET
fcis-29170	48	54	stator	stator	NOUN
fcis-29170	48	55	in	in	ADP
fcis-29170	48	56	the	the	DET
fcis-29170	48	57	axis	axis	NOUN
fcis-29170	48	58	and	and	CCONJ
fcis-29170	48	59	axis	axis	NOUN
fcis-29170	48	60	,	,	PUNCT
fcis-29170	48	61	respectively	respectively	ADV
fcis-29170	48	62	;	;	PUNCT
fcis-29170	48	63	and	and	CCONJ
fcis-29170	48	64	are	be	AUX
fcis-29170	48	65	the	the	DET
fcis-29170	48	66	inductance	inductance	ADJ
fcis-29170	48	67	components	component	NOUN
fcis-29170	48	68	of	of	ADP
fcis-29170	48	69	the	the	DET
fcis-29170	48	70	stator	stator	NOUN
fcis-29170	48	71	in	in	ADP
fcis-29170	48	72	the	the	DET
fcis-29170	48	73	axis	axis	NOUN
fcis-29170	48	74	and	and	CCONJ
fcis-29170	48	75	axis	axis	NOUN
fcis-29170	48	76	,	,	PUNCT
fcis-29170	48	77	respectively	respectively	ADV
fcis-29170	48	78	;	;	PUNCT
fcis-29170	48	79	,	,	PUNCT
fcis-29170	48	80	and	and	CCONJ
fcis-29170	48	81	are	be	AUX
fcis-29170	48	82	the	the	DET
fcis-29170	48	83	stator	stator	NOUN
fcis-29170	48	84	resistance	resistance	NOUN
fcis-29170	48	85	,	,	PUNCT
fcis-29170	48	86	electrical	electrical	ADJ
fcis-29170	48	87	angular	angular	ADJ
fcis-29170	48	88	velocity	velocity	NOUN
fcis-29170	48	89	,	,	PUNCT
fcis-29170	48	90	and	and	CCONJ
fcis-29170	48	91	permanent	permanent	ADJ
fcis-29170	48	92	magnet	magnet	NOUN
fcis-29170	48	93	flux	flux	PROPN
fcis-29170	48	94	linkage	linkage	NOUN
fcis-29170	48	95	,	,	PUNCT
fcis-29170	48	96	respectively	respectively	ADV
fcis-29170	48	97	.	.	PUNCT
fcis-29170	49	1	the	the	DET
fcis-29170	49	2	electromagnetic	electromagnetic	ADJ
fcis-29170	49	3	torque	torque	NOUN
fcis-29170	49	4	equation	equation	NOUN
fcis-29170	49	5	of	of	ADP
fcis-29170	49	6	the	the	DET
fcis-29170	49	7	motor	motor	NOUN
fcis-29170	49	8	is	be	AUX
fcis-29170	49	9	:	:	PUNCT
fcis-29170	49	10	(	(	PUNCT
fcis-29170	49	11	)	)	PUNCT
fcis-29170	49	12	[	[	PUNCT
fcis-29170	49	13	(	(	PUNCT
fcis-29170	49	14	)	)	PUNCT
fcis-29170	49	15	]	]	PUNCT
fcis-29170	49	16	e	e	X
fcis-29170	49	17	n	n	PROPN
fcis-29170	49	18	d	d	X
fcis-29170	49	19	q	q	X
fcis-29170	49	20	q	q	X
fcis-29170	49	21	d	d	X
fcis-29170	49	22	n	n	NOUN
fcis-29170	49	23	f	f	NOUN
fcis-29170	49	24	q	q	PROPN
fcis-29170	50	1	d	d	X
fcis-29170	50	2	q	q	X
fcis-29170	50	3	d	d	X
fcis-29170	50	4	qt	qt	ADP
fcis-29170	50	5	p	p	NOUN
fcis-29170	51	1	i	i	PRON
fcis-29170	52	1	i	i	PRON
fcis-29170	53	1	p	p	X
fcis-29170	54	1	i	i	NOUN
fcis-29170	54	2	l	l	NOUN
fcis-29170	54	3	l	l	NOUN
fcis-29170	55	1	i	i	PRON
fcis-29170	55	2	i	i	ADP
fcis-29170	55	3			PROPN
fcis-29170	55	4			PROPN
fcis-29170	55	5			PROPN
fcis-29170	55	6			NUM
fcis-29170	55	7			ADJ
fcis-29170	55	8			X
fcis-29170	55	9	(	(	PUNCT
fcis-29170	55	10	3	3	NUM
fcis-29170	55	11	)	)	PUNCT
fcis-29170	55	12	is	be	AUX
fcis-29170	55	13	the	the	DET
fcis-29170	55	14	pole	pole	ADJ
fcis-29170	55	15	number	number	NOUN
fcis-29170	55	16	,	,	PUNCT
fcis-29170	55	17	and	and	CCONJ
fcis-29170	55	18	is	be	AUX
fcis-29170	55	19	the	the	DET
fcis-29170	55	20	electromagnetic	electromagnetic	ADJ
fcis-29170	55	21	torque	torque	NOUN
fcis-29170	55	22	.	.	PUNCT
fcis-29170	56	1	the	the	DET
fcis-29170	56	2	conversion	conversion	NOUN
fcis-29170	56	3	relationships	relationship	NOUN
fcis-29170	56	4	between	between	ADP
fcis-29170	56	5	the	the	DET
fcis-29170	56	6	mechanical	mechanical	ADJ
fcis-29170	56	7	angular	angular	ADJ
fcis-29170	56	8	velocity	velocity	NOUN
fcis-29170	56	9	(	(	PUNCT
fcis-29170	56	10	rad·s⁻¹	rad·s⁻¹	ADJ
fcis-29170	56	11	)	)	PUNCT
fcis-29170	56	12	,	,	PUNCT
fcis-29170	56	13	mechanical	mechanical	ADJ
fcis-29170	56	14	speed	speed	NOUN
fcis-29170	56	15	(	(	PUNCT
fcis-29170	56	16	r·min⁻¹	r·min⁻¹	NUM
fcis-29170	56	17	)	)	PUNCT
fcis-29170	56	18	,	,	PUNCT
fcis-29170	56	19	electrical	electrical	ADJ
fcis-29170	56	20	angular	angular	ADJ
fcis-29170	56	21	velocity	velocity	NOUN
fcis-29170	56	22	(	(	PUNCT
fcis-29170	56	23	rad·s⁻¹	rad·s⁻¹	ADJ
fcis-29170	56	24	)	)	PUNCT
fcis-29170	56	25	,	,	PUNCT
fcis-29170	56	26	and	and	CCONJ
fcis-29170	56	27	electrical	electrical	ADJ
fcis-29170	56	28	angle	angle	NOUN
fcis-29170	56	29	(	(	PUNCT
fcis-29170	56	30	rad	rad	NOUN
fcis-29170	56	31	)	)	PUNCT
fcis-29170	56	32	are	be	AUX
fcis-29170	56	33	as	as	SCONJ
fcis-29170	56	34	follows	follow	VERB
fcis-29170	56	35	:	:	PUNCT
fcis-29170	56	36	30	30	NUM
fcis-29170	56	37	e	e	NOUN
fcis-29170	56	38	n	n	VERB
fcis-29170	56	39	m	m	VERB
fcis-29170	56	40	r	r	NOUN
fcis-29170	56	41	m	m	NOUN
fcis-29170	56	42	e	e	X
fcis-29170	56	43	e	e	NOUN
fcis-29170	56	44	p	p	NOUN
fcis-29170	56	45	n	n	PRON
fcis-29170	56	46	dt	dt	NOUN
fcis-29170	56	47			X
fcis-29170	56	48			X
fcis-29170	56	49			X
fcis-29170	56	50			PROPN
fcis-29170	56	51			X
fcis-29170	56	52			X
fcis-29170	56	53			ADP
fcis-29170	56	54			NUM
fcis-29170	56	55			NUM
fcis-29170	56	56			NUM
fcis-29170	56	57			PROPN
fcis-29170	56	58			NUM
fcis-29170	56	59			NUM
fcis-29170	56	60			NOUN
fcis-29170	56	61			X
fcis-29170	56	62	(	(	PUNCT
fcis-29170	56	63	4	4	X
fcis-29170	56	64	)	)	PUNCT
fcis-29170	56	65	is	be	AUX
fcis-29170	56	66	the	the	DET
fcis-29170	56	67	mechanical	mechanical	ADJ
fcis-29170	56	68	angular	angular	ADJ
fcis-29170	56	69	velocity	velocity	NOUN
fcis-29170	56	70	of	of	ADP
fcis-29170	56	71	the	the	DET
fcis-29170	56	72	motor	motor	NOUN
fcis-29170	56	73	,	,	PUNCT
fcis-29170	56	74	is	be	AUX
fcis-29170	56	75	the	the	DET
fcis-29170	56	76	mechanical	mechanical	ADJ
fcis-29170	56	77	speed	speed	NOUN
fcis-29170	56	78	of	of	ADP
fcis-29170	56	79	the	the	DET
fcis-29170	56	80	motor	motor	NOUN
fcis-29170	56	81	,	,	PUNCT
fcis-29170	56	82	and	and	CCONJ
fcis-29170	56	83	is	be	AUX
fcis-29170	56	84	the	the	DET
fcis-29170	56	85	electrical	electrical	ADJ
fcis-29170	56	86	angle	angle	NOUN
fcis-29170	56	87	of	of	ADP
fcis-29170	56	88	the	the	DET
fcis-29170	56	89	motor	motor	NOUN
fcis-29170	56	90	.	.	PUNCT
fcis-29170	57	1	the	the	DET
fcis-29170	57	2	mechanical	mechanical	ADJ
fcis-29170	57	3	motion	motion	NOUN
fcis-29170	57	4	equation	equation	NOUN
fcis-29170	57	5	of	of	ADP
fcis-29170	57	6	the	the	DET
fcis-29170	57	7	motor	motor	NOUN
fcis-29170	57	8	is	be	AUX
fcis-29170	57	9	:	:	PUNCT
fcis-29170	57	10	m	m	VERB
fcis-29170	57	11	e	e	X
fcis-29170	57	12	l	l	NOUN
fcis-29170	57	13	m	m	VERB
fcis-29170	57	14	d	d	X
fcis-29170	57	15	j	j	PROPN
fcis-29170	57	16	t	t	PROPN
fcis-29170	57	17	t	t	PROPN
fcis-29170	58	1	b	b	X
fcis-29170	58	2	dt	dt	X
fcis-29170	59	1			X
fcis-29170	59	2			PUNCT
fcis-29170	59	3			PROPN
fcis-29170	59	4			PROPN
fcis-29170	59	5	(	(	PUNCT
fcis-29170	59	6	5	5	NUM
fcis-29170	59	7	)	)	PUNCT
fcis-29170	59	8	is	be	AUX
fcis-29170	59	9	the	the	DET
fcis-29170	59	10	moment	moment	NOUN
fcis-29170	59	11	of	of	ADP
fcis-29170	59	12	inertia	inertia	NOUN
fcis-29170	59	13	;	;	PUNCT
fcis-29170	59	14	is	be	AUX
fcis-29170	59	15	the	the	DET
fcis-29170	59	16	damping	damp	VERB
fcis-29170	59	17	coefficient	coefficient	NOUN
fcis-29170	59	18	;	;	PUNCT
fcis-29170	59	19	is	be	AUX
fcis-29170	59	20	the	the	DET
fcis-29170	59	21	load	load	NOUN
fcis-29170	59	22	torque	torque	NOUN
fcis-29170	59	23	.	.	PUNCT
fcis-29170	60	1	this	this	DET
fcis-29170	60	2	paper	paper	NOUN
fcis-29170	60	3	combines	combine	VERB
fcis-29170	60	4	the	the	DET
fcis-29170	60	5	ekf	ekf	NOUN
fcis-29170	60	6	algorithm	algorithm	NOUN
fcis-29170	60	7	and	and	CCONJ
fcis-29170	60	8	adrc	adrc	PROPN
fcis-29170	60	9	theory	theory	NOUN
fcis-29170	60	10	to	to	PART
fcis-29170	60	11	propose	propose	VERB
fcis-29170	60	12	a	a	DET
fcis-29170	60	13	sensorless	sensorless	NOUN
fcis-29170	60	14	control	control	NOUN
fcis-29170	60	15	method	method	NOUN
fcis-29170	60	16	for	for	ADP
fcis-29170	60	17	pmsm	pmsm	NOUN
fcis-29170	60	18	.	.	PUNCT
fcis-29170	61	1	the	the	DET
fcis-29170	61	2	rotor	rotor	NOUN
fcis-29170	61	3	position	position	NOUN
fcis-29170	61	4	and	and	CCONJ
fcis-29170	61	5	speed	speed	NOUN
fcis-29170	61	6	are	be	AUX
fcis-29170	61	7	estimated	estimate	VERB
fcis-29170	61	8	through	through	ADP
fcis-29170	61	9	emf	emf	NOUN
fcis-29170	61	10	,	,	PUNCT
fcis-29170	61	11	enhancing	enhance	VERB
fcis-29170	61	12	the	the	DET
fcis-29170	61	13	system	system	NOUN
fcis-29170	61	14	's	's	PART
fcis-29170	61	15	stability	stability	NOUN
fcis-29170	61	16	and	and	CCONJ
fcis-29170	61	17	accuracy	accuracy	NOUN
fcis-29170	61	18	,	,	PUNCT
fcis-29170	61	19	while	while	SCONJ
fcis-29170	61	20	addressing	address	VERB
fcis-29170	61	21	the	the	DET
fcis-29170	61	22	trade	trade	NOUN
fcis-29170	61	23	-	-	PUNCT
fcis-29170	61	24	off	off	NOUN
fcis-29170	61	25	between	between	ADP
fcis-29170	61	26	response	response	NOUN
fcis-29170	61	27	speed	speed	NOUN
fcis-29170	61	28	and	and	CCONJ
fcis-29170	61	29	overshoot	overshoot	NOUN
fcis-29170	61	30	.	.	PUNCT
fcis-29170	62	1	3	3	X
fcis-29170	62	2	.	.	X
fcis-29170	62	3	the	the	DET
fcis-29170	62	4	design	design	NOUN
fcis-29170	62	5	of	of	ADP
fcis-29170	62	6	the	the	DET
fcis-29170	62	7	improved	improve	VERB
fcis-29170	62	8	foc	foc	ADJ
fcis-29170	62	9	control	control	NOUN
fcis-29170	62	10	scheme	scheme	VERB
fcis-29170	62	11	the	the	DET
fcis-29170	62	12	core	core	NOUN
fcis-29170	62	13	of	of	ADP
fcis-29170	62	14	foc	foc	PROPN
fcis-29170	62	15	is	be	AUX
fcis-29170	62	16	to	to	PART
fcis-29170	62	17	use	use	VERB
fcis-29170	62	18	coordinate	coordinate	NOUN
fcis-29170	62	19	transformation	transformation	NOUN
fcis-29170	62	20	to	to	PART
fcis-29170	62	21	degrade	degrade	VERB
fcis-29170	62	22	and	and	CCONJ
fcis-29170	62	23	decouple	decouple	VERB
fcis-29170	62	24	the	the	DET
fcis-29170	62	25	complex	complex	ADJ
fcis-29170	62	26	and	and	CCONJ
fcis-29170	62	27	strongly	strongly	ADV
fcis-29170	62	28	coupled	couple	VERB
fcis-29170	62	29	pmsm	pmsm	NOUN
fcis-29170	62	30	model	model	NOUN
fcis-29170	62	31	in	in	ADP
fcis-29170	62	32	the	the	DET
fcis-29170	62	33	natural	natural	ADJ
fcis-29170	62	34	coordinate	coordinate	NOUN
fcis-29170	62	35	system	system	NOUN
fcis-29170	62	36	.	.	PUNCT
fcis-29170	63	1	ultimately	ultimately	ADV
fcis-29170	63	2	,	,	PUNCT
fcis-29170	63	3	the	the	DET
fcis-29170	63	4	motor	motor	NOUN
fcis-29170	63	5	model	model	NOUN
fcis-29170	63	6	is	be	AUX
fcis-29170	63	7	transformed	transform	VERB
fcis-29170	63	8	into	into	ADP
fcis-29170	63	9	the	the	DET
fcis-29170	63	10	pmsm	pmsm	NOUN
fcis-29170	63	11	model	model	NOUN
fcis-29170	63	12	shown	show	VERB
fcis-29170	63	13	in	in	ADP
fcis-29170	63	14	equations	equation	NOUN
fcis-29170	63	15	(	(	PUNCT
fcis-29170	63	16	1	1	NUM
fcis-29170	63	17	)	)	PUNCT
fcis-29170	63	18	to	to	ADP
fcis-29170	63	19	(	(	PUNCT
fcis-29170	63	20	5	5	NUM
fcis-29170	63	21	)	)	PUNCT
fcis-29170	63	22	,	,	PUNCT
fcis-29170	63	23	achieving	achieve	VERB
fcis-29170	63	24	decoupled	decouple	VERB
fcis-29170	63	25	control	control	NOUN
fcis-29170	63	26	of	of	ADP
fcis-29170	63	27	the	the	DET
fcis-29170	63	28	excitation	excitation	NOUN
fcis-29170	63	29	current	current	ADJ
fcis-29170	63	30	and	and	CCONJ
fcis-29170	63	31	torque	torque	NOUN
fcis-29170	63	32	current	current	NOUN
fcis-29170	63	33	.	.	PUNCT
fcis-29170	64	1	the	the	DET
fcis-29170	64	2	main	main	ADJ
fcis-29170	64	3	steps	step	NOUN
fcis-29170	64	4	are	be	AUX
fcis-29170	64	5	as	as	SCONJ
fcis-29170	64	6	follows	follow	VERB
fcis-29170	64	7	:	:	PUNCT
fcis-29170	64	8	(	(	PUNCT
fcis-29170	64	9	1	1	X
fcis-29170	64	10	)	)	PUNCT
fcis-29170	64	11	the	the	DET
fcis-29170	64	12	equal	equal	ADJ
fcis-29170	64	13	-	-	PUNCT
fcis-29170	64	14	magnitude	magnitude	NOUN
fcis-29170	64	15	clarke	clarke	NOUN
fcis-29170	64	16	transform	transform	NOUN
fcis-29170	64	17	converts	convert	NOUN
fcis-29170	64	18	the	the	DET
fcis-29170	64	19	sampled	sample	VERB
fcis-29170	64	20	three	three	NUM
fcis-29170	64	21	-	-	PUNCT
fcis-29170	64	22	phase	phase	NOUN
fcis-29170	64	23	current	current	NOUN
fcis-29170	64	24	into	into	ADP
fcis-29170	64	25	a	a	DET
fcis-29170	64	26	two	two	NUM
fcis-29170	64	27	-	-	PUNCT
fcis-29170	64	28	phase	phase	NOUN
fcis-29170	64	29	stationary	stationary	ADJ
fcis-29170	64	30	coordinate	coordinate	NOUN
fcis-29170	64	31	system	system	NOUN
fcis-29170	64	32	,	,	PUNCT
fcis-29170	64	33	represented	represent	VERB
fcis-29170	64	34	as	as	ADP
fcis-29170	64	35	,	,	PUNCT
fcis-29170	64	36	.	.	PUNCT
fcis-29170	65	1	the	the	DET
fcis-29170	65	2	formula	formula	NOUN
fcis-29170	65	3	for	for	ADP
fcis-29170	65	4	the	the	DET
fcis-29170	65	5	equal	equal	ADJ
fcis-29170	65	6	-	-	PUNCT
fcis-29170	65	7	magnitude	magnitude	NOUN
fcis-29170	65	8	clarke	clarke	NOUN
fcis-29170	65	9	transform	transform	NOUN
fcis-29170	65	10	is	be	AUX
fcis-29170	65	11	as	as	SCONJ
fcis-29170	65	12	follows	follow	VERB
fcis-29170	65	13	:	:	PUNCT
fcis-29170	65	14	2	2	NUM
fcis-29170	65	15	(	(	PUNCT
fcis-29170	65	16	cos0	cos0	NOUN
fcis-29170	65	17	cos120	cos120	PROPN
fcis-29170	65	18	cos240	cos240	PROPN
fcis-29170	65	19	)	)	PUNCT
fcis-29170	65	20	3	3	NUM
fcis-29170	65	21	2	2	NUM
fcis-29170	65	22	(	(	PUNCT
fcis-29170	65	23	sin	sin	NOUN
fcis-29170	65	24	0	0	NUM
fcis-29170	65	25	sin120	sin120	PROPN
fcis-29170	65	26	sin	sin	NOUN
fcis-29170	65	27	240	240	NUM
fcis-29170	65	28	)	)	PUNCT
fcis-29170	65	29	3	3	NUM
fcis-29170	65	30	a	a	DET
fcis-29170	65	31	b	b	NOUN
fcis-29170	65	32	c	c	NOUN
fcis-29170	65	33	a	a	DET
fcis-29170	65	34	b	b	NOUN
fcis-29170	66	1	c	c	NOUN
fcis-29170	67	1	i	i	PRON
fcis-29170	68	1	i	i	PRON
fcis-29170	69	1	i	i	PRON
fcis-29170	70	1	i	i	PRON
fcis-29170	71	1	i	i	PRON
fcis-29170	72	1	i	i	PRON
fcis-29170	73	1	i	i	VERB
fcis-29170	74	1	i	i	PRON
fcis-29170	74	2			X
fcis-29170	74	3			VERB
fcis-29170	74	4			ADJ
fcis-29170	74	5			PROPN
fcis-29170	74	6			PROPN
fcis-29170	74	7			PROPN
fcis-29170	74	8			PROPN
fcis-29170	74	9			PROPN
fcis-29170	74	10			PROPN
fcis-29170	75	1			NUM
fcis-29170	75	2			NUM
fcis-29170	75	3			NOUN
fcis-29170	75	4			PROPN
fcis-29170	75	5			PROPN
fcis-29170	75	6			PROPN
fcis-29170	75	7			PROPN
fcis-29170	75	8			PROPN
fcis-29170	75	9			PROPN
fcis-29170	75	10			PROPN
fcis-29170	75	11			PROPN
fcis-29170	75	12			PROPN
fcis-29170	75	13			PROPN
fcis-29170	75	14			PROPN
fcis-29170	75	15			PROPN
fcis-29170	75	16	(	(	PUNCT
fcis-29170	75	17	6	6	NUM
fcis-29170	75	18	)	)	PUNCT
fcis-29170	75	19	after	after	ADP
fcis-29170	75	20	simplification	simplification	NOUN
fcis-29170	75	21	,	,	PUNCT
fcis-29170	75	22	the	the	DET
fcis-29170	75	23	clarke	clarke	NOUN
fcis-29170	75	24	transform	transform	VERB
fcis-29170	75	25	formula	formula	NOUN
fcis-29170	75	26	becomes	become	VERB
fcis-29170	75	27	:	:	PUNCT
fcis-29170	75	28	2	2	NUM
fcis-29170	75	29	1	1	NUM
fcis-29170	75	30	1	1	NUM
fcis-29170	75	31	(	(	PUNCT
fcis-29170	75	32	)	)	PUNCT
fcis-29170	75	33	3	3	NUM
fcis-29170	75	34	2	2	NUM
fcis-29170	75	35	2	2	NUM
fcis-29170	75	36	2	2	NUM
fcis-29170	75	37	3	3	NUM
fcis-29170	75	38	3	3	NUM
fcis-29170	75	39	(	(	PUNCT
fcis-29170	75	40	)	)	PUNCT
fcis-29170	75	41	3	3	NUM
fcis-29170	75	42	2	2	NUM
fcis-29170	75	43	2	2	NUM
fcis-29170	75	44	a	a	DET
fcis-29170	75	45	b	b	NOUN
fcis-29170	75	46	c	c	NOUN
fcis-29170	75	47	b	b	PROPN
fcis-29170	76	1	c	c	NOUN
fcis-29170	77	1	i	i	PRON
fcis-29170	78	1	i	i	PRON
fcis-29170	79	1	i	i	PRON
fcis-29170	80	1	i	i	PRON
fcis-29170	81	1	i	i	PRON
fcis-29170	82	1	i	i	VERB
fcis-29170	83	1	i	i	PRON
fcis-29170	83	2			X
fcis-29170	83	3			VERB
fcis-29170	83	4			ADJ
fcis-29170	83	5			PROPN
fcis-29170	83	6			PROPN
fcis-29170	83	7			NOUN
fcis-29170	83	8			NOUN
fcis-29170	83	9			NUM
fcis-29170	83	10			PROPN
fcis-29170	83	11			PROPN
fcis-29170	83	12	(	(	PUNCT
fcis-29170	83	13	7	7	NUM
fcis-29170	83	14	)	)	PUNCT
fcis-29170	83	15	(	(	PUNCT
fcis-29170	83	16	2	2	NUM
fcis-29170	83	17	)	)	PUNCT
fcis-29170	83	18	through	through	ADP
fcis-29170	83	19	the	the	DET
fcis-29170	83	20	park	park	NOUN
fcis-29170	83	21	transform	transform	NOUN
fcis-29170	83	22	,	,	PUNCT
fcis-29170	83	23	using	use	VERB
fcis-29170	83	24	the	the	DET
fcis-29170	83	25	rotor	rotor	NOUN
fcis-29170	83	26	angle	angle	NOUN
fcis-29170	83	27	information	information	NOUN
fcis-29170	83	28	,	,	PUNCT
fcis-29170	83	29	obtained	obtain	VERB
fcis-29170	83	30	by	by	ADP
fcis-29170	83	31	the	the	DET
fcis-29170	83	32	observer	observer	NOUN
fcis-29170	83	33	or	or	CCONJ
fcis-29170	83	34	sensor	sensor	NOUN
fcis-29170	83	35	,	,	PUNCT
fcis-29170	83	36	the	the	DET
fcis-29170	83	37	current	current	ADJ
fcis-29170	83	38	components	component	NOUN
fcis-29170	83	39	,	,	PUNCT
fcis-29170	83	40	in	in	ADP
fcis-29170	83	41	the	the	DET
fcis-29170	83	42	coordinate	coordinate	NOUN
fcis-29170	83	43	system	system	NOUN
fcis-29170	83	44	are	be	AUX
fcis-29170	83	45	transformed	transform	VERB
fcis-29170	83	46	into	into	ADP
fcis-29170	83	47	the	the	DET
fcis-29170	83	48	coordinate	coordinate	NOUN
fcis-29170	83	49	system	system	NOUN
fcis-29170	83	50	,	,	PUNCT
fcis-29170	83	51	which	which	PRON
fcis-29170	83	52	is	be	AUX
fcis-29170	83	53	aligned	align	VERB
fcis-29170	83	54	with	with	ADP
fcis-29170	83	55	the	the	DET
fcis-29170	83	56	rotor	rotor	NOUN
fcis-29170	83	57	flux	flux	PROPN
fcis-29170	83	58	position	position	NOUN
fcis-29170	83	59	,	,	PUNCT
fcis-29170	83	60	resulting	result	VERB
fcis-29170	83	61	in	in	ADP
fcis-29170	83	62	and	and	CCONJ
fcis-29170	83	63	.	.	PUNCT
fcis-29170	84	1	the	the	DET
fcis-29170	84	2	park	park	NOUN
fcis-29170	84	3	transform	transform	NOUN
fcis-29170	84	4	formula	formula	NOUN
fcis-29170	84	5	is	be	AUX
fcis-29170	84	6	as	as	SCONJ
fcis-29170	84	7	follows	follow	VERB
fcis-29170	84	8	:	:	PUNCT
fcis-29170	84	9	cos	cos	SCONJ
fcis-29170	84	10	sin	sin	PROPN
fcis-29170	84	11	sin	sin	NOUN
fcis-29170	84	12	cos	cos	PROPN
fcis-29170	85	1	d	d	X
fcis-29170	85	2	q	q	X
fcis-29170	86	1	i	i	PRON
fcis-29170	86	2	i	i	PRON
fcis-29170	87	1	i	i	PRON
fcis-29170	87	2	i	i	PRON
fcis-29170	88	1	i	i	VERB
fcis-29170	88	2	i	i	PRON
fcis-29170	88	3			X
fcis-29170	88	4			NOUN
fcis-29170	88	5			NUM
fcis-29170	88	6			NOUN
fcis-29170	88	7			NOUN
fcis-29170	88	8			X
fcis-29170	88	9			PROPN
fcis-29170	88	10			X
fcis-29170	89	1			PROPN
fcis-29170	89	2			PROPN
fcis-29170	89	3			PROPN
fcis-29170	89	4			PROPN
fcis-29170	90	1			NUM
fcis-29170	90	2			PROPN
fcis-29170	90	3			PROPN
fcis-29170	90	4			PROPN
fcis-29170	90	5			PROPN
fcis-29170	90	6			NOUN
fcis-29170	90	7	(	(	PUNCT
fcis-29170	90	8	8)	8)	NUM
fcis-29170	90	9	(	(	PUNCT
fcis-29170	90	10	3	3	NUM
fcis-29170	90	11	)	)	PUNCT
fcis-29170	90	12	the	the	DET
fcis-29170	90	13	differences	difference	NOUN
fcis-29170	90	14	between	between	ADP
fcis-29170	90	15	,	,	PUNCT
fcis-29170	90	16	and	and	CCONJ
fcis-29170	90	17	the	the	DET
fcis-29170	90	18	current	current	ADJ
fcis-29170	90	19	reference	reference	NOUN
fcis-29170	90	20	values	value	NOUN
fcis-29170	90	21	,	,	PUNCT
fcis-29170	90	22	from	from	ADP
fcis-29170	90	23	the	the	DET
fcis-29170	90	24	speed	speed	NOUN
fcis-29170	90	25	loop	loop	NOUN
fcis-29170	90	26	output	output	NOUN
fcis-29170	90	27	are	be	AUX
fcis-29170	90	28	sent	send	VERB
fcis-29170	90	29	into	into	ADP
fcis-29170	90	30	the	the	DET
fcis-29170	90	31	current	current	ADJ
fcis-29170	90	32	loop	loop	NOUN
fcis-29170	90	33	controller	controller	NOUN
fcis-29170	90	34	to	to	PART
fcis-29170	90	35	calculate	calculate	VERB
fcis-29170	90	36	the	the	DET
fcis-29170	90	37	next	next	ADJ
fcis-29170	90	38	voltage	voltage	NOUN
fcis-29170	90	39	vectors	vector	NOUN
fcis-29170	90	40	and	and	CCONJ
fcis-29170	90	41	.	.	PUNCT
fcis-29170	91	1	aligns	align	VERB
fcis-29170	91	2	with	with	ADP
fcis-29170	91	3	the	the	DET
fcis-29170	91	4	rotor	rotor	NOUN
fcis-29170	91	5	flux	flux	NOUN
fcis-29170	91	6	to	to	PART
fcis-29170	91	7	control	control	VERB
fcis-29170	91	8	the	the	DET
fcis-29170	91	9	flux	flux	NOUN
fcis-29170	91	10	,	,	PUNCT
fcis-29170	91	11	and	and	CCONJ
fcis-29170	91	12	is	be	AUX
fcis-29170	91	13	generally	generally	ADV
fcis-29170	91	14	set	set	VERB
fcis-29170	91	15	to	to	ADP
fcis-29170	91	16	0	0	NUM
fcis-29170	91	17	.	.	PUNCT
fcis-29170	92	1	is	be	AUX
fcis-29170	92	2	perpendicular	perpendicular	ADJ
fcis-29170	92	3	to	to	ADP
fcis-29170	92	4	the	the	DET
fcis-29170	92	5	rotor	rotor	NOUN
fcis-29170	92	6	flux	flux	NOUN
fcis-29170	92	7	to	to	PART
fcis-29170	92	8	control	control	VERB
fcis-29170	92	9	the	the	DET
fcis-29170	92	10	output	output	NOUN
fcis-29170	92	11	torque	torque	NOUN
fcis-29170	92	12	.	.	PUNCT
fcis-29170	93	1	(	(	PUNCT
fcis-29170	93	2	4	4	X
fcis-29170	93	3	)	)	PUNCT
fcis-29170	93	4	using	use	VERB
fcis-29170	93	5	the	the	DET
fcis-29170	93	6	inverse	inverse	NOUN
fcis-29170	93	7	park	park	NOUN
fcis-29170	93	8	transformation	transformation	NOUN
fcis-29170	93	9	,	,	PUNCT
fcis-29170	93	10	the	the	DET
fcis-29170	93	11	newly	newly	ADV
fcis-29170	93	12	estimated	estimate	VERB
fcis-29170	93	13	electrical	electrical	ADJ
fcis-29170	93	14	angle	angle	NOUN
fcis-29170	93	15	is	be	AUX
fcis-29170	93	16	used	use	VERB
fcis-29170	93	17	to	to	PART
fcis-29170	93	18	transform	transform	VERB
fcis-29170	93	19	and	and	CCONJ
fcis-29170	93	20	into	into	ADP
fcis-29170	93	21	the	the	DET
fcis-29170	93	22	two	two	NUM
fcis-29170	93	23	-	-	PUNCT
fcis-29170	93	24	phase	phase	NOUN
fcis-29170	93	25	stationary	stationary	ADJ
fcis-29170	93	26	reference	reference	NOUN
fcis-29170	93	27	frame	frame	NOUN
fcis-29170	93	28	,	,	PUNCT
fcis-29170	93	29	resulting	result	VERB
fcis-29170	93	30	in	in	ADP
fcis-29170	93	31	and	and	CCONJ
fcis-29170	93	32	.	.	PUNCT
fcis-29170	94	1	the	the	DET
fcis-29170	94	2	formula	formula	NOUN
fcis-29170	94	3	for	for	ADP
fcis-29170	94	4	the	the	DET
fcis-29170	94	5	inverse	inverse	NOUN
fcis-29170	94	6	park	park	NOUN
fcis-29170	94	7	transformation	transformation	NOUN
fcis-29170	94	8	is	be	AUX
fcis-29170	94	9	as	as	SCONJ
fcis-29170	94	10	follows	follow	VERB
fcis-29170	94	11	:	:	PUNCT
fcis-29170	94	12	cos	cos	ADP
fcis-29170	94	13	sin	sin	PROPN
fcis-29170	94	14	sin	sin	NOUN
fcis-29170	94	15	cos	cos	PROPN
fcis-29170	95	1	d	d	NOUN
fcis-29170	95	2	q	q	PROPN
fcis-29170	95	3	d	d	X
fcis-29170	95	4	q	q	X
fcis-29170	95	5	v	v	NUM
fcis-29170	95	6	v	v	NUM
fcis-29170	95	7	v	v	NUM
fcis-29170	95	8	v	v	NUM
fcis-29170	95	9	v	v	NOUN
fcis-29170	95	10	v	v	NOUN
fcis-29170	95	11			NOUN
fcis-29170	95	12			NOUN
fcis-29170	95	13			PROPN
fcis-29170	95	14			X
fcis-29170	96	1			PROPN
fcis-29170	96	2			X
fcis-29170	97	1			PROPN
fcis-29170	97	2			PROPN
fcis-29170	97	3			PROPN
fcis-29170	97	4			PROPN
fcis-29170	98	1			NUM
fcis-29170	98	2			NOUN
fcis-29170	98	3			NOUN
fcis-29170	98	4			PROPN
fcis-29170	98	5			NOUN
fcis-29170	99	1	(	(	PUNCT
fcis-29170	99	2	9	9	NUM
fcis-29170	99	3	)	)	PUNCT
fcis-29170	99	4	(	(	PUNCT
fcis-29170	99	5	5	5	NUM
fcis-29170	99	6	)	)	PUNCT
fcis-29170	99	7	through	through	ADP
fcis-29170	99	8	the	the	DET
fcis-29170	99	9	clarke	clarke	PROPN
fcis-29170	99	10	inverse	inverse	NOUN
fcis-29170	99	11	transformation	transformation	NOUN
fcis-29170	99	12	,	,	PUNCT
fcis-29170	99	13	and	and	CCONJ
fcis-29170	99	14	are	be	AUX
fcis-29170	99	15	converted	convert	VERB
fcis-29170	99	16	into	into	ADP
fcis-29170	99	17	,	,	PUNCT
fcis-29170	99	18	and	and	CCONJ
fcis-29170	99	19	in	in	ADP
fcis-29170	99	20	the	the	DET
fcis-29170	99	21	natural	natural	ADJ
fcis-29170	99	22	coordinate	coordinate	NOUN
fcis-29170	99	23	system	system	NOUN
fcis-29170	99	24	,	,	PUNCT
fcis-29170	99	25	and	and	CCONJ
fcis-29170	99	26	then	then	ADV
fcis-29170	99	27	sent	send	VERB
fcis-29170	99	28	to	to	ADP
fcis-29170	99	29	the	the	DET
fcis-29170	99	30	svpwm	svpwm	NOUN
fcis-29170	99	31	module	module	NOUN
fcis-29170	99	32	to	to	PART
fcis-29170	99	33	generate	generate	VERB
fcis-29170	99	34	the	the	DET
fcis-29170	99	35	svpwm	svpwm	NOUN
fcis-29170	99	36	wave	wave	NOUN
fcis-29170	99	37	,	,	PUNCT
fcis-29170	99	38	which	which	PRON
fcis-29170	99	39	is	be	AUX
fcis-29170	99	40	output	output	NOUN
fcis-29170	99	41	to	to	ADP
fcis-29170	99	42	the	the	DET
fcis-29170	99	43	three	three	NUM
fcis-29170	99	44	-	-	PUNCT
fcis-29170	99	45	phase	phase	NOUN
fcis-29170	99	46	inverter	inverter	NOUN
fcis-29170	99	47	bridge	bridge	NOUN
fcis-29170	99	48	.	.	PUNCT
fcis-29170	100	1	the	the	DET
fcis-29170	100	2	formula	formula	NOUN
fcis-29170	100	3	for	for	ADP
fcis-29170	100	4	the	the	DET
fcis-29170	100	5	clarke	clarke	PROPN
fcis-29170	100	6	inverse	inverse	PROPN
fcis-29170	100	7	transformation	transformation	NOUN
fcis-29170	100	8	is	be	AUX
fcis-29170	100	9	as	as	SCONJ
fcis-29170	100	10	follows	follow	VERB
fcis-29170	100	11	:	:	PUNCT
fcis-29170	100	12	14	14	NUM
fcis-29170	100	13	sin30	sin30	VERB
fcis-29170	100	14	cos30	cos30	PROPN
fcis-29170	100	15	sin30	sin30	VERB
fcis-29170	100	16	cos30	cos30	PRON
fcis-29170	100	17	a	a	DET
fcis-29170	100	18	b	b	X
fcis-29170	100	19	c	c	NOUN
fcis-29170	100	20	v	v	ADP
fcis-29170	100	21	v	v	NUM
fcis-29170	100	22	v	v	NUM
fcis-29170	100	23	v	v	NUM
fcis-29170	100	24	v	v	NUM
fcis-29170	100	25	v	v	NUM
fcis-29170	100	26	v	v	NOUN
fcis-29170	100	27	v	v	NOUN
fcis-29170	100	28			NOUN
fcis-29170	100	29			X
fcis-29170	100	30			PROPN
fcis-29170	100	31			NUM
fcis-29170	100	32			NOUN
fcis-29170	100	33			NOUN
fcis-29170	101	1			NUM
fcis-29170	102	1			NUM
fcis-29170	103	1			PROPN
fcis-29170	103	2			PROPN
fcis-29170	103	3			NOUN
fcis-29170	103	4			PROPN
fcis-29170	103	5			PROPN
fcis-29170	103	6			NUM
fcis-29170	103	7			PROPN
fcis-29170	103	8			PROPN
fcis-29170	103	9			PROPN
fcis-29170	103	10			PROPN
fcis-29170	103	11			NOUN
fcis-29170	104	1			AUX
fcis-29170	104	2			PROPN
fcis-29170	104	3			PROPN
fcis-29170	104	4			PROPN
fcis-29170	104	5	(	(	PUNCT
fcis-29170	104	6	10	10	NUM
fcis-29170	104	7	)	)	PUNCT
fcis-29170	104	8	after	after	ADP
fcis-29170	104	9	simplification	simplification	NOUN
fcis-29170	104	10	,	,	PUNCT
fcis-29170	104	11	it	it	PRON
fcis-29170	104	12	becomes	become	VERB
fcis-29170	104	13	:	:	PUNCT
fcis-29170	104	14	1	1	NUM
fcis-29170	104	15	3	3	NUM
fcis-29170	104	16	2	2	NUM
fcis-29170	104	17	2	2	NUM
fcis-29170	104	18	1	1	NUM
fcis-29170	104	19	3	3	NUM
fcis-29170	104	20	2	2	NUM
fcis-29170	104	21	2	2	NUM
fcis-29170	104	22	a	a	DET
fcis-29170	104	23	b	b	NOUN
fcis-29170	104	24	c	c	NOUN
fcis-29170	104	25	v	v	ADP
fcis-29170	104	26	v	v	NUM
fcis-29170	104	27	v	v	NUM
fcis-29170	104	28	v	v	NUM
fcis-29170	104	29	v	v	NUM
fcis-29170	104	30	v	v	NUM
fcis-29170	104	31	v	v	NOUN
fcis-29170	104	32	v	v	NOUN
fcis-29170	104	33			NOUN
fcis-29170	104	34			X
fcis-29170	104	35			PROPN
fcis-29170	104	36			NUM
fcis-29170	104	37			NOUN
fcis-29170	104	38			NOUN
fcis-29170	104	39			NUM
fcis-29170	104	40			NUM
fcis-29170	104	41			NUM
fcis-29170	104	42			NUM
fcis-29170	104	43			PROPN
fcis-29170	104	44			PROPN
fcis-29170	104	45			VERB
fcis-29170	104	46			NUM
fcis-29170	104	47			NUM
fcis-29170	104	48			PROPN
fcis-29170	104	49			PROPN
fcis-29170	104	50			PROPN
fcis-29170	104	51			PROPN
fcis-29170	104	52	(	(	PUNCT
fcis-29170	104	53	11	11	NUM
fcis-29170	104	54	)	)	PUNCT
fcis-29170	104	55	(	(	PUNCT
fcis-29170	104	56	6	6	NUM
fcis-29170	104	57	)	)	PUNCT
fcis-29170	104	58	in	in	ADP
fcis-29170	104	59	the	the	DET
fcis-29170	104	60	speed	speed	NOUN
fcis-29170	104	61	loop	loop	NOUN
fcis-29170	104	62	,	,	PUNCT
fcis-29170	104	63	the	the	DET
fcis-29170	104	64	speed	speed	NOUN
fcis-29170	104	65	information	information	NOUN
fcis-29170	104	66	obtained	obtain	VERB
fcis-29170	104	67	by	by	ADP
fcis-29170	104	68	the	the	DET
fcis-29170	104	69	observer	observer	NOUN
fcis-29170	104	70	and	and	CCONJ
fcis-29170	104	71	the	the	DET
fcis-29170	104	72	error	error	NOUN
fcis-29170	104	73	between	between	ADP
fcis-29170	104	74	the	the	DET
fcis-29170	104	75	given	give	VERB
fcis-29170	104	76	speed	speed	NOUN
fcis-29170	104	77	reference	reference	NOUN
fcis-29170	104	78	are	be	AUX
fcis-29170	104	79	fed	feed	VERB
fcis-29170	104	80	into	into	ADP
fcis-29170	104	81	the	the	DET
fcis-29170	104	82	speed	speed	NOUN
fcis-29170	104	83	loop	loop	NOUN
fcis-29170	104	84	controller	controller	NOUN
fcis-29170	104	85	to	to	PART
fcis-29170	104	86	obtain	obtain	VERB
fcis-29170	104	87	.	.	PUNCT
fcis-29170	105	1	from	from	ADP
fcis-29170	105	2	equation	equation	NOUN
fcis-29170	105	3	(	(	PUNCT
fcis-29170	105	4	3	3	NUM
fcis-29170	105	5	)	)	PUNCT
fcis-29170	105	6	,	,	PUNCT
fcis-29170	105	7	it	it	PRON
fcis-29170	105	8	can	can	AUX
fcis-29170	105	9	be	be	AUX
fcis-29170	105	10	seen	see	VERB
fcis-29170	105	11	that	that	SCONJ
fcis-29170	105	12	the	the	DET
fcis-29170	105	13	motor	motor	NOUN
fcis-29170	105	14	model	model	NOUN
fcis-29170	105	15	after	after	SCONJ
fcis-29170	105	16	the	the	DET
fcis-29170	105	17	foc	foc	ADJ
fcis-29170	105	18	transformation	transformation	NOUN
fcis-29170	105	19	is	be	AUX
fcis-29170	105	20	not	not	PART
fcis-29170	105	21	completely	completely	ADV
fcis-29170	105	22	decoupled	decouple	VERB
fcis-29170	105	23	,	,	PUNCT
fcis-29170	105	24	as	as	ADP
fcis-29170	105	25	and	and	CCONJ
fcis-29170	105	26	contain	contain	VERB
fcis-29170	105	27	components	component	NOUN
fcis-29170	105	28	of	of	ADP
fcis-29170	105	29	each	each	DET
fcis-29170	105	30	other	other	ADJ
fcis-29170	105	31	.	.	PUNCT
fcis-29170	106	1	this	this	DET
fcis-29170	106	2	results	result	VERB
fcis-29170	106	3	in	in	ADP
fcis-29170	106	4	the	the	DET
fcis-29170	106	5	inability	inability	NOUN
fcis-29170	106	6	to	to	PART
fcis-29170	106	7	achieve	achieve	VERB
fcis-29170	106	8	independent	independent	ADJ
fcis-29170	106	9	control	control	NOUN
fcis-29170	106	10	and	and	CCONJ
fcis-29170	106	11	causes	cause	VERB
fcis-29170	106	12	highfrequency	highfrequency	NOUN
fcis-29170	106	13	oscillations	oscillation	NOUN
fcis-29170	106	14	.	.	PUNCT
fcis-29170	107	1	therefore	therefore	ADV
fcis-29170	107	2	,	,	PUNCT
fcis-29170	107	3	by	by	ADP
fcis-29170	107	4	introducing	introduce	VERB
fcis-29170	107	5	feedforward	feedforward	NOUN
fcis-29170	107	6	compensation	compensation	NOUN
fcis-29170	107	7	signals	signal	NOUN
fcis-29170	107	8	equal	equal	ADJ
fcis-29170	107	9	to	to	ADP
fcis-29170	107	10	the	the	DET
fcis-29170	107	11	coupling	coupling	NOUN
fcis-29170	107	12	terms	term	NOUN
fcis-29170	107	13	into	into	ADP
fcis-29170	107	14	the	the	DET
fcis-29170	107	15	outputs	output	NOUN
fcis-29170	107	16	of	of	ADP
fcis-29170	107	17	the	the	DET
fcis-29170	107	18	axis	axis	ADJ
fcis-29170	107	19	and	and	CCONJ
fcis-29170	107	20	axis	axis	NOUN
fcis-29170	107	21	controllers	controller	NOUN
fcis-29170	107	22	,	,	PUNCT
fcis-29170	107	23	decoupled	decouple	VERB
fcis-29170	107	24	control	control	NOUN
fcis-29170	107	25	of	of	ADP
fcis-29170	107	26	torque	torque	NOUN
fcis-29170	107	27	and	and	CCONJ
fcis-29170	107	28	magnetizing	magnetize	VERB
fcis-29170	107	29	current	current	NOUN
fcis-29170	107	30	is	be	AUX
fcis-29170	107	31	achieved	achieve	VERB
fcis-29170	107	32	.	.	PUNCT
fcis-29170	108	1	the	the	DET
fcis-29170	108	2	control	control	NOUN
fcis-29170	108	3	system	system	NOUN
fcis-29170	108	4	block	block	NOUN
fcis-29170	108	5	diagram	diagram	NOUN
fcis-29170	108	6	is	be	AUX
fcis-29170	108	7	shown	show	VERB
fcis-29170	108	8	in	in	ADP
fcis-29170	108	9	figure	figure	NOUN
fcis-29170	108	10	1	1	NUM
fcis-29170	108	11	:	:	PUNCT
fcis-29170	108	12	figure	figure	NOUN
fcis-29170	108	13	1	1	NUM
fcis-29170	108	14	.	.	PUNCT
fcis-29170	108	15	block	block	NOUN
fcis-29170	108	16	diagram	diagram	NOUN
fcis-29170	108	17	of	of	ADP
fcis-29170	108	18	the	the	DET
fcis-29170	108	19	improved	improve	VERB
fcis-29170	108	20	foc	foc	ADJ
fcis-29170	108	21	control	control	NOUN
fcis-29170	108	22	system	system	NOUN
fcis-29170	108	23	4	4	NUM
fcis-29170	108	24	.	.	PUNCT
fcis-29170	109	1	design	design	NOUN
fcis-29170	109	2	of	of	ADP
fcis-29170	109	3	speed	speed	NOUN
fcis-29170	109	4	and	and	CCONJ
fcis-29170	109	5	position	position	NOUN
fcis-29170	109	6	observer	observer	NOUN
fcis-29170	109	7	based	base	VERB
fcis-29170	109	8	on	on	ADP
fcis-29170	109	9	ekf	ekf	PROPN
fcis-29170	109	10	algorithm	algorithm	PROPN
fcis-29170	109	11	the	the	DET
fcis-29170	109	12	pmsm	pmsm	NOUN
fcis-29170	109	13	system	system	NOUN
fcis-29170	109	14	is	be	AUX
fcis-29170	109	15	a	a	DET
fcis-29170	109	16	typical	typical	ADJ
fcis-29170	109	17	nonlinear	nonlinear	ADJ
fcis-29170	109	18	system	system	NOUN
fcis-29170	109	19	,	,	PUNCT
fcis-29170	109	20	and	and	CCONJ
fcis-29170	109	21	its	its	PRON
fcis-29170	109	22	state	state	NOUN
fcis-29170	109	23	-	-	PUNCT
fcis-29170	109	24	space	space	NOUN
fcis-29170	109	25	expression	expression	NOUN
fcis-29170	109	26	is	be	AUX
fcis-29170	109	27	:	:	PUNCT
fcis-29170	109	28	[	[	PUNCT
fcis-29170	109	29	]	]	X
fcis-29170	109	30	[	[	PUNCT
fcis-29170	109	31	1	1	NUM
fcis-29170	109	32	]	]	PUNCT
fcis-29170	109	33	[	[	PUNCT
fcis-29170	109	34	1	1	NUM
fcis-29170	109	35	]	]	PUNCT
fcis-29170	109	36	[	[	PUNCT
fcis-29170	109	37	1	1	NUM
fcis-29170	109	38	]	]	PUNCT
fcis-29170	109	39	(	(	PUNCT
fcis-29170	109	40	,	,	PUNCT
fcis-29170	109	41	,	,	PUNCT
fcis-29170	109	42	)	)	PUNCT
fcis-29170	110	1	k	k	PROPN
fcis-29170	111	1	k	k	PROPN
fcis-29170	111	2	k	k	PROPN
fcis-29170	112	1	kx	kx	PROPN
fcis-29170	112	2	f	f	PROPN
fcis-29170	112	3	x	x	SYM
fcis-29170	112	4	u	u	PROPN
fcis-29170	112	5	w	w	NOUN
fcis-29170	112	6			PROPN
fcis-29170	112	7			PROPN
fcis-29170	112	8	(	(	PUNCT
fcis-29170	112	9	12	12	NUM
fcis-29170	112	10	)	)	PUNCT
fcis-29170	112	11	[	[	PUNCT
fcis-29170	112	12	]	]	X
fcis-29170	112	13	[	[	PUNCT
fcis-29170	112	14	]	]	X
fcis-29170	112	15	[	[	PUNCT
fcis-29170	112	16	]	]	X
fcis-29170	112	17	(	(	PUNCT
fcis-29170	112	18	,	,	PUNCT
fcis-29170	112	19	)	)	PUNCT
fcis-29170	112	20	k	k	PROPN
fcis-29170	112	21	k	k	PROPN
fcis-29170	112	22	kz	kz	PROPN
fcis-29170	112	23	h	h	PROPN
fcis-29170	112	24	x	x	PROPN
fcis-29170	112	25	v	v	ADV
fcis-29170	112	26	(	(	PUNCT
fcis-29170	112	27	13	13	NUM
fcis-29170	112	28	)	)	PUNCT
fcis-29170	112	29	in	in	ADP
fcis-29170	112	30	this	this	DET
fcis-29170	112	31	expression	expression	NOUN
fcis-29170	112	32	,	,	PUNCT
fcis-29170	112	33	and	and	CCONJ
fcis-29170	112	34	are	be	AUX
fcis-29170	112	35	nonlinear	nonlinear	ADJ
fcis-29170	112	36	equations	equation	NOUN
fcis-29170	112	37	,	,	PUNCT
fcis-29170	112	38	~	~	PUNCT
fcis-29170	112	39	0	0	PUNCT
fcis-29170	112	40	,	,	PUNCT
fcis-29170	112	41	and	and	CCONJ
fcis-29170	112	42	~	~	PUNCT
fcis-29170	112	43	0	0	X
fcis-29170	112	44	,	,	PUNCT
fcis-29170	112	45	represent	represent	VERB
fcis-29170	112	46	the	the	DET
fcis-29170	112	47	system	system	NOUN
fcis-29170	112	48	noise	noise	NOUN
fcis-29170	112	49	and	and	CCONJ
fcis-29170	112	50	measurement	measurement	NOUN
fcis-29170	112	51	noise	noise	NOUN
fcis-29170	112	52	,	,	PUNCT
fcis-29170	112	53	respectively	respectively	ADV
fcis-29170	112	54	,	,	PUNCT
fcis-29170	112	55	which	which	PRON
fcis-29170	112	56	follow	follow	VERB
fcis-29170	112	57	a	a	DET
fcis-29170	112	58	normal	normal	ADJ
fcis-29170	112	59	distribution	distribution	NOUN
fcis-29170	112	60	.	.	PUNCT
fcis-29170	113	1	4.1	4.1	NUM
fcis-29170	113	2	.	.	PUNCT
fcis-29170	114	1	the	the	DET
fcis-29170	114	2	core	core	ADJ
fcis-29170	114	3	algorithm	algorithm	NOUN
fcis-29170	114	4	of	of	ADP
fcis-29170	114	5	the	the	DET
fcis-29170	114	6	ekf	ekf	PROPN
fcis-29170	114	7	observer	observer	NOUN
fcis-29170	114	8	the	the	DET
fcis-29170	114	9	ekf	ekf	PROPN
fcis-29170	114	10	observation	observation	NOUN
fcis-29170	114	11	algorithm	algorithm	NOUN
fcis-29170	114	12	is	be	AUX
fcis-29170	114	13	divided	divide	VERB
fcis-29170	114	14	into	into	ADP
fcis-29170	114	15	two	two	NUM
fcis-29170	114	16	main	main	ADJ
fcis-29170	114	17	steps	step	NOUN
fcis-29170	114	18	:	:	PUNCT
fcis-29170	114	19	prediction	prediction	NOUN
fcis-29170	114	20	and	and	CCONJ
fcis-29170	114	21	correction	correction	NOUN
fcis-29170	114	22	:	:	PUNCT
fcis-29170	114	23	prediction	prediction	NOUN
fcis-29170	114	24	stage	stage	NOUN
fcis-29170	114	25	(	(	PUNCT
fcis-29170	114	26	time	time	NOUN
fcis-29170	114	27	update	update	NOUN
fcis-29170	114	28	stage	stage	NOUN
fcis-29170	114	29	):	):	PUNCT
fcis-29170	114	30	(	(	PUNCT
fcis-29170	114	31	1	1	X
fcis-29170	114	32	)	)	PUNCT
fcis-29170	114	33	calculate	calculate	VERB
fcis-29170	114	34	the	the	DET
fcis-29170	114	35	prior	prior	ADJ
fcis-29170	114	36	state	state	NOUN
fcis-29170	114	37	estimate	estimate	NOUN
fcis-29170	114	38	.	.	PUNCT
fcis-29170	115	1	[	[	PUNCT
fcis-29170	115	2	]	]	X
fcis-29170	115	3	[	[	PUNCT
fcis-29170	115	4	1	1	NUM
fcis-29170	115	5	]	]	PUNCT
fcis-29170	115	6	[	[	PUNCT
fcis-29170	115	7	1]ˆ	1]ˆ	NUM
fcis-29170	115	8	ˆ	ˆ	PRON
fcis-29170	115	9	(	(	PUNCT
fcis-29170	115	10	,	,	PUNCT
fcis-29170	115	11	,	,	PUNCT
fcis-29170	115	12	0)k	0)k	NOUN
fcis-29170	115	13	k	k	PROPN
fcis-29170	116	1	kx	kx	PROPN
fcis-29170	116	2	f	f	PROPN
fcis-29170	116	3	x	x	PUNCT
fcis-29170	116	4	u	u	X
fcis-29170	116	5			PROPN
fcis-29170	116	6			PROPN
fcis-29170	116	7	(	(	PUNCT
fcis-29170	116	8	14	14	NUM
fcis-29170	116	9	)	)	PUNCT
fcis-29170	116	10	is	be	AUX
fcis-29170	116	11	the	the	DET
fcis-29170	116	12	prior	prior	ADJ
fcis-29170	116	13	state	state	NOUN
fcis-29170	116	14	estimate	estimate	NOUN
fcis-29170	116	15	at	at	ADP
fcis-29170	116	16	time	time	NOUN
fcis-29170	116	17	k	k	NOUN
fcis-29170	116	18	,	,	PUNCT
fcis-29170	116	19	is	be	AUX
fcis-29170	116	20	the	the	DET
fcis-29170	116	21	posterior	posterior	ADJ
fcis-29170	116	22	state	state	NOUN
fcis-29170	116	23	estimate	estimate	NOUN
fcis-29170	116	24	at	at	ADP
fcis-29170	116	25	time	time	NOUN
fcis-29170	116	26	k-1	k-1	PROPN
fcis-29170	116	27	,	,	PUNCT
fcis-29170	116	28	and	and	CCONJ
fcis-29170	116	29	is	be	AUX
fcis-29170	116	30	the	the	DET
fcis-29170	116	31	system	system	NOUN
fcis-29170	116	32	input	input	NOUN
fcis-29170	116	33	at	at	ADP
fcis-29170	116	34	time	time	NOUN
fcis-29170	116	35	k-1	k-1	PROPN
fcis-29170	116	36	.	.	PUNCT
fcis-29170	117	1	in	in	ADP
fcis-29170	117	2	the	the	DET
fcis-29170	117	3	prior	prior	ADJ
fcis-29170	117	4	state	state	NOUN
fcis-29170	117	5	estimation	estimation	NOUN
fcis-29170	117	6	,	,	PUNCT
fcis-29170	117	7	the	the	DET
fcis-29170	117	8	system	system	NOUN
fcis-29170	117	9	error	error	NOUN
fcis-29170	117	10	is	be	AUX
fcis-29170	117	11	assumed	assume	VERB
fcis-29170	117	12	to	to	PART
fcis-29170	117	13	be	be	AUX
fcis-29170	117	14	zero	zero	NUM
fcis-29170	117	15	.	.	PUNCT
fcis-29170	118	1	the	the	DET
fcis-29170	118	2	initial	initial	ADJ
fcis-29170	118	3	state	state	NOUN
fcis-29170	118	4	estimate	estimate	NOUN
fcis-29170	118	5	is	be	AUX
fcis-29170	118	6	denoted	denote	VERB
fcis-29170	118	7	as	as	ADP
fcis-29170	118	8	.	.	PUNCT
fcis-29170	119	1	(	(	PUNCT
fcis-29170	119	2	2	2	X
fcis-29170	119	3	)	)	PUNCT
fcis-29170	119	4	calculate	calculate	NOUN
fcis-29170	119	5	the	the	DET
fcis-29170	119	6	jacobian	jacobian	ADJ
fcis-29170	119	7	matrix	matrix	NOUN
fcis-29170	119	8	(	(	PUNCT
fcis-29170	119	9	linearization	linearization	NOUN
fcis-29170	119	10	of	of	ADP
fcis-29170	119	11	the	the	DET
fcis-29170	119	12	nonlinear	nonlinear	ADJ
fcis-29170	119	13	system	system	NOUN
fcis-29170	119	14	)	)	PUNCT
fcis-29170	119	15	.	.	PUNCT
fcis-29170	120	1	the	the	DET
fcis-29170	120	2	ekf	ekf	PROPN
fcis-29170	120	3	algorithm	algorithm	PROPN
fcis-29170	120	4	uses	use	VERB
fcis-29170	120	5	the	the	DET
fcis-29170	120	6	taylor	taylor	PROPN
fcis-29170	120	7	series	series	PROPN
fcis-29170	120	8	expansion	expansion	NOUN
fcis-29170	120	9	method	method	NOUN
fcis-29170	120	10	to	to	PART
fcis-29170	120	11	linearize	linearize	VERB
fcis-29170	120	12	the	the	DET
fcis-29170	120	13	nonlinear	nonlinear	ADJ
fcis-29170	120	14	system	system	NOUN
fcis-29170	120	15	.	.	PUNCT
fcis-29170	121	1	the	the	DET
fcis-29170	121	2	equation	equation	NOUN
fcis-29170	121	3	(	(	PUNCT
fcis-29170	121	4	12	12	NUM
fcis-29170	121	5	)	)	PUNCT
fcis-29170	121	6	is	be	AUX
fcis-29170	121	7	expanded	expand	VERB
fcis-29170	121	8	in	in	ADP
fcis-29170	121	9	a	a	DET
fcis-29170	121	10	taylor	taylor	PROPN
fcis-29170	121	11	series	series	NOUN
fcis-29170	121	12	around	around	ADP
fcis-29170	121	13	the	the	DET
fcis-29170	121	14	posterior	posterior	ADJ
fcis-29170	121	15	state	state	NOUN
fcis-29170	121	16	estimate	estimate	NOUN
fcis-29170	121	17	,	,	PUNCT
fcis-29170	121	18	ignoring	ignore	VERB
fcis-29170	121	19	the	the	DET
fcis-29170	121	20	higher	high	ADJ
fcis-29170	121	21	-	-	PUNCT
fcis-29170	121	22	order	order	NOUN
fcis-29170	121	23	terms	term	NOUN
fcis-29170	121	24	in	in	ADP
fcis-29170	121	25	the	the	DET
fcis-29170	121	26	taylor	taylor	PROPN
fcis-29170	121	27	expansion	expansion	NOUN
fcis-29170	121	28	and	and	CCONJ
fcis-29170	121	29	assuming	assume	VERB
fcis-29170	121	30	that	that	SCONJ
fcis-29170	121	31	the	the	DET
fcis-29170	121	32	system	system	NOUN
fcis-29170	121	33	error	error	NOUN
fcis-29170	121	34	around	around	ADV
fcis-29170	121	35	is	be	AUX
fcis-29170	121	36	zero	zero	NUM
fcis-29170	121	37	.	.	PUNCT
fcis-29170	122	1	[	[	PUNCT
fcis-29170	122	2	]	]	X
fcis-29170	122	3	[	[	PUNCT
fcis-29170	122	4	1	1	NUM
fcis-29170	122	5	]	]	PUNCT
fcis-29170	122	6	[	[	PUNCT
fcis-29170	122	7	1	1	NUM
fcis-29170	122	8	]	]	PUNCT
fcis-29170	122	9	[	[	PUNCT
fcis-29170	122	10	1	1	NUM
fcis-29170	122	11	]	]	PUNCT
fcis-29170	122	12	[	[	PUNCT
fcis-29170	122	13	1	1	NUM
fcis-29170	122	14	]	]	PUNCT
fcis-29170	122	15	[	[	PUNCT
fcis-29170	122	16	1	1	NUM
fcis-29170	122	17	]	]	PUNCT
fcis-29170	122	18	[	[	PUNCT
fcis-29170	122	19	]	]	X
fcis-29170	122	20	[	[	PUNCT
fcis-29170	122	21	1	1	NUM
fcis-29170	122	22	]	]	PUNCT
fcis-29170	122	23	[	[	PUNCT
fcis-29170	122	24	1	1	NUM
fcis-29170	122	25	]	]	PUNCT
fcis-29170	122	26	[	[	PUNCT
fcis-29170	122	27	]	]	X
fcis-29170	122	28	[	[	PUNCT
fcis-29170	122	29	1	1	NUM
fcis-29170	122	30	]	]	PUNCT
fcis-29170	122	31	(	(	PUNCT
fcis-29170	122	32	,	,	PUNCT
fcis-29170	122	33	,	,	PUNCT
fcis-29170	122	34	)	)	PUNCT
fcis-29170	122	35	ˆ	ˆ	X
fcis-29170	122	36	ˆ	ˆ	PROPN
fcis-29170	122	37	(	(	PUNCT
fcis-29170	122	38	,	,	PUNCT
fcis-29170	122	39	,	,	PUNCT
fcis-29170	122	40	0	0	NUM
fcis-29170	122	41	)	)	PUNCT
fcis-29170	122	42	(	(	PUNCT
fcis-29170	122	43	)	)	PUNCT
fcis-29170	122	44	(	(	PUNCT
fcis-29170	122	45	0	0	NUM
fcis-29170	122	46	)	)	PUNCT
fcis-29170	122	47	k	k	NOUN
fcis-29170	123	1	k	k	PROPN
fcis-29170	124	1	k	k	PROPN
fcis-29170	125	1	k	k	PROPN
fcis-29170	126	1	k	k	PROPN
fcis-29170	127	1	k	k	PROPN
fcis-29170	128	1	k	k	PROPN
fcis-29170	129	1	k	k	PROPN
fcis-29170	130	1	k	k	PROPN
fcis-29170	131	1	k	k	PROPN
fcis-29170	131	2	k	k	PUNCT
fcis-29170	131	3	x	x	PUNCT
fcis-29170	131	4	f	f	X
fcis-29170	131	5	x	x	SYM
fcis-29170	131	6	u	u	NOUN
fcis-29170	131	7	w	w	NOUN
fcis-29170	131	8	f	f	PROPN
fcis-29170	131	9	x	x	X
fcis-29170	131	10	u	u	NOUN
fcis-29170	131	11	a	a	X
fcis-29170	131	12	x	x	X
fcis-29170	131	13	x	x	X
fcis-29170	131	14	w	w	PROPN
fcis-29170	131	15	w	w	PROPN
fcis-29170	131	16			PROPN
fcis-29170	131	17			PROPN
fcis-29170	131	18			PROPN
fcis-29170	131	19			PROPN
fcis-29170	131	20			PROPN
fcis-29170	131	21			PROPN
fcis-29170	131	22			PROPN
fcis-29170	131	23			NOUN
fcis-29170	131	24			PRON
fcis-29170	131	25			X
fcis-29170	131	26			ADJ
fcis-29170	131	27			PROPN
fcis-29170	131	28			VERB
fcis-29170	131	29			NOUN
fcis-29170	131	30	(	(	PUNCT
fcis-29170	131	31	15	15	NUM
fcis-29170	131	32	)	)	PUNCT
fcis-29170	131	33	[	[	PUNCT
fcis-29170	131	34	]	]	X
fcis-29170	131	35	[	[	PUNCT
fcis-29170	131	36	1	1	NUM
fcis-29170	131	37	]	]	PUNCT
fcis-29170	131	38	[	[	PUNCT
fcis-29170	131	39	1]ˆ	1]ˆ	NUM
fcis-29170	131	40	(	(	PUNCT
fcis-29170	131	41	,	,	PUNCT
fcis-29170	131	42	,	,	PUNCT
fcis-29170	131	43	0)k	0)k	NOUN
fcis-29170	132	1	k	k	PROPN
fcis-29170	133	1	k	k	PROPN
fcis-29170	133	2	f	f	PROPN
fcis-29170	134	1	a	a	DET
fcis-29170	134	2	x	x	SYM
fcis-29170	134	3	u	u	PROPN
fcis-29170	134	4	x	x	X
fcis-29170	134	5			PROPN
fcis-29170	134	6			PROPN
fcis-29170	134	7			PROPN
fcis-29170	134	8			PROPN
fcis-29170	134	9			ADJ
fcis-29170	134	10	(	(	PUNCT
fcis-29170	134	11	16	16	NUM
fcis-29170	134	12	)	)	PUNCT
fcis-29170	134	13	[	[	PUNCT
fcis-29170	134	14	]	]	X
fcis-29170	134	15	[	[	PUNCT
fcis-29170	134	16	1	1	NUM
fcis-29170	134	17	]	]	PUNCT
fcis-29170	134	18	[	[	PUNCT
fcis-29170	134	19	1]ˆ	1]ˆ	NUM
fcis-29170	134	20	(	(	PUNCT
fcis-29170	134	21	,	,	PUNCT
fcis-29170	134	22	,	,	PUNCT
fcis-29170	134	23	0)k	0)k	NOUN
fcis-29170	134	24	k	k	PROPN
fcis-29170	135	1	k	k	PROPN
fcis-29170	135	2	f	f	PROPN
fcis-29170	135	3	w	w	PROPN
fcis-29170	135	4	x	x	PUNCT
fcis-29170	135	5	u	u	PROPN
fcis-29170	135	6	w	w	PROPN
fcis-29170	135	7			PROPN
fcis-29170	135	8			PROPN
fcis-29170	135	9			PROPN
fcis-29170	136	1			PROPN
fcis-29170	136	2			ADJ
fcis-29170	136	3	(	(	PUNCT
fcis-29170	136	4	17	17	NUM
fcis-29170	136	5	)	)	PUNCT
fcis-29170	136	6	equations	equation	NOUN
fcis-29170	136	7	(	(	PUNCT
fcis-29170	136	8	16	16	NUM
fcis-29170	136	9	)	)	PUNCT
fcis-29170	136	10	and	and	CCONJ
fcis-29170	136	11	(	(	PUNCT
fcis-29170	136	12	17	17	NUM
fcis-29170	136	13	)	)	PUNCT
fcis-29170	136	14	represent	represent	VERB
fcis-29170	136	15	the	the	DET
fcis-29170	136	16	jacobian	jacobian	ADJ
fcis-29170	136	17	matrices	matrix	NOUN
fcis-29170	136	18	of	of	ADP
fcis-29170	136	19	the	the	DET
fcis-29170	136	20	first	first	ADJ
fcis-29170	136	21	-	-	PUNCT
fcis-29170	136	22	order	order	NOUN
fcis-29170	136	23	partial	partial	ADJ
fcis-29170	136	24	derivatives	derivative	NOUN
fcis-29170	136	25	of	of	ADP
fcis-29170	136	26	with	with	ADP
fcis-29170	136	27	respect	respect	NOUN
fcis-29170	136	28	to	to	ADP
fcis-29170	136	29	the	the	DET
fcis-29170	136	30	system	system	NOUN
fcis-29170	136	31	state	state	NOUN
fcis-29170	136	32	and	and	CCONJ
fcis-29170	136	33	the	the	DET
fcis-29170	136	34	system	system	NOUN
fcis-29170	136	35	error	error	NOUN
fcis-29170	136	36	,	,	PUNCT
fcis-29170	136	37	respectively	respectively	ADV
fcis-29170	136	38	.	.	PUNCT
fcis-29170	137	1	(	(	PUNCT
fcis-29170	137	2	3	3	X
fcis-29170	137	3	)	)	PUNCT
fcis-29170	137	4	calculate	calculate	NOUN
fcis-29170	137	5	the	the	DET
fcis-29170	137	6	covariance	covariance	NOUN
fcis-29170	137	7	matrix	matrix	NOUN
fcis-29170	137	8	of	of	ADP
fcis-29170	137	9	the	the	DET
fcis-29170	137	10	prior	prior	ADJ
fcis-29170	137	11	state	state	NOUN
fcis-29170	137	12	estimate	estimate	NOUN
fcis-29170	137	13	error	error	NOUN
fcis-29170	137	14	.	.	PUNCT
fcis-29170	138	1	[	[	PUNCT
fcis-29170	138	2	]	]	X
fcis-29170	138	3	[	[	PUNCT
fcis-29170	138	4	]	]	X
fcis-29170	138	5	[	[	PUNCT
fcis-29170	138	6	]	]	X
fcis-29170	138	7	[	[	PUNCT
fcis-29170	138	8	1	1	NUM
fcis-29170	138	9	]	]	PUNCT
fcis-29170	138	10	[	[	PUNCT
fcis-29170	138	11	]	]	X
fcis-29170	138	12	[	[	PUNCT
fcis-29170	138	13	]	]	X
fcis-29170	138	14	t	t	X
fcis-29170	138	15	t	t	PROPN
fcis-29170	138	16	k	k	PROPN
fcis-29170	138	17	k	k	PROPN
fcis-29170	138	18	k	k	PROPN
fcis-29170	138	19	k	k	PROPN
fcis-29170	138	20	k	k	PROPN
fcis-29170	138	21	kp	kp	PROPN
fcis-29170	138	22	a	a	DET
fcis-29170	138	23	p	p	X
fcis-29170	138	24	a	a	DET
fcis-29170	138	25	w	w	NOUN
fcis-29170	138	26	qw	qw	X
fcis-29170	138	27			PROPN
fcis-29170	138	28			X
fcis-29170	138	29	(	(	PUNCT
fcis-29170	138	30	18	18	NUM
fcis-29170	138	31	)	)	PUNCT
fcis-29170	138	32	the	the	DET
fcis-29170	138	33	covariance	covariance	NOUN
fcis-29170	138	34	matrix	matrix	NOUN
fcis-29170	138	35	of	of	ADP
fcis-29170	138	36	the	the	DET
fcis-29170	138	37	system	system	NOUN
fcis-29170	138	38	noise	noise	NOUN
fcis-29170	138	39	and	and	CCONJ
fcis-29170	138	40	the	the	DET
fcis-29170	138	41	covariance	covariance	NOUN
fcis-29170	138	42	matrix	matrix	NOUN
fcis-29170	138	43	of	of	ADP
fcis-29170	138	44	the	the	DET
fcis-29170	138	45	initial	initial	ADJ
fcis-29170	138	46	state	state	NOUN
fcis-29170	138	47	estimation	estimation	NOUN
fcis-29170	138	48	error	error	NOUN
fcis-29170	138	49	are	be	AUX
fcis-29170	138	50	denoted	denote	VERB
fcis-29170	138	51	as	as	ADP
fcis-29170	138	52	and	and	CCONJ
fcis-29170	138	53	.	.	PUNCT
fcis-29170	139	1	correction	correction	NOUN
fcis-29170	139	2	stage	stage	NOUN
fcis-29170	139	3	(	(	PUNCT
fcis-29170	139	4	measurement	measurement	NOUN
fcis-29170	139	5	update	update	NOUN
fcis-29170	139	6	):	):	PUNCT
fcis-29170	139	7	(	(	PUNCT
fcis-29170	139	8	1	1	X
fcis-29170	139	9	)	)	PUNCT
fcis-29170	139	10	calculate	calculate	VERB
fcis-29170	139	11	the	the	DET
fcis-29170	139	12	jacobian	jacobian	ADJ
fcis-29170	139	13	matrix	matrix	NOUN
fcis-29170	139	14	.	.	PUNCT
fcis-29170	140	1	expand	expand	VERB
fcis-29170	140	2	equation	equation	NOUN
fcis-29170	140	3	(	(	PUNCT
fcis-29170	140	4	13	13	NUM
fcis-29170	140	5	)	)	PUNCT
fcis-29170	140	6	around	around	ADV
fcis-29170	140	7	,	,	PUNCT
fcis-29170	140	8	that	that	ADV
fcis-29170	140	9	is	is	ADV
fcis-29170	140	10	,	,	PUNCT
fcis-29170	140	11	[	[	PUNCT
fcis-29170	140	12	]	]	X
fcis-29170	140	13	[	[	PUNCT
fcis-29170	140	14	]	]	X
fcis-29170	140	15	[	[	PUNCT
fcis-29170	140	16	]	]	X
fcis-29170	140	17	[	[	PUNCT
fcis-29170	140	18	]	]	X
fcis-29170	140	19	[	[	PUNCT
fcis-29170	140	20	]	]	X
fcis-29170	140	21	[	[	PUNCT
fcis-29170	140	22	]	]	X
fcis-29170	140	23	[	[	PUNCT
fcis-29170	140	24	]	]	X
fcis-29170	140	25	[	[	PUNCT
fcis-29170	140	26	]	]	X
fcis-29170	140	27	[	[	PUNCT
fcis-29170	140	28	]	]	X
fcis-29170	140	29	ˆ	ˆ	PRON
fcis-29170	140	30	ˆ	ˆ	ADJ
fcis-29170	140	31	(	(	PUNCT
fcis-29170	140	32	,	,	PUNCT
fcis-29170	140	33	)	)	PUNCT
fcis-29170	140	34	(	(	PUNCT
fcis-29170	140	35	,	,	PUNCT
fcis-29170	140	36	0	0	NUM
fcis-29170	140	37	)	)	PUNCT
fcis-29170	140	38	(	(	PUNCT
fcis-29170	140	39	)	)	PUNCT
fcis-29170	140	40	(	(	PUNCT
fcis-29170	140	41	0)k	0)k	NOUN
fcis-29170	140	42	k	k	PROPN
fcis-29170	141	1	k	k	PROPN
fcis-29170	142	1	k	k	PROPN
fcis-29170	142	2	m	m	VERB
fcis-29170	142	3	k	k	X
fcis-29170	142	4	k	k	PROPN
fcis-29170	142	5	k	k	PROPN
fcis-29170	142	6	k	k	PROPN
fcis-29170	142	7	kz	kz	PROPN
fcis-29170	142	8	h	h	NOUN
fcis-29170	142	9	x	x	PROPN
fcis-29170	142	10	v	v	NUM
fcis-29170	142	11	h	h	NOUN
fcis-29170	142	12	x	x	NOUN
fcis-29170	142	13	h	h	NOUN
fcis-29170	142	14	x	x	X
fcis-29170	142	15	x	x	SYM
fcis-29170	142	16	v	v	X
fcis-29170	142	17	v	v	NOUN
fcis-29170	142	18			PROPN
fcis-29170	142	19			X
fcis-29170	142	20			ADJ
fcis-29170	142	21			PROPN
fcis-29170	142	22			VERB
fcis-29170	142	23			NOUN
fcis-29170	142	24	(	(	PUNCT
fcis-29170	142	25	19	19	NUM
fcis-29170	142	26	)	)	PUNCT
fcis-29170	142	27	[	[	PUNCT
fcis-29170	142	28	]	]	X
fcis-29170	142	29	[	[	PUNCT
fcis-29170	142	30	]	]	X
fcis-29170	142	31	ˆ	ˆ	X
fcis-29170	142	32	(	(	PUNCT
fcis-29170	142	33	,	,	PUNCT
fcis-29170	142	34	0	0	NUM
fcis-29170	142	35	)	)	PUNCT
fcis-29170	142	36	km	km	NOUN
fcis-29170	142	37	k	k	NOUN
fcis-29170	143	1	h	h	NOUN
fcis-29170	143	2	h	h	NOUN
fcis-29170	143	3	x	x	PUNCT
fcis-29170	144	1	x	x	X
fcis-29170	144	2			PROPN
fcis-29170	144	3			NUM
fcis-29170	144	4			ADJ
fcis-29170	144	5	(	(	PUNCT
fcis-29170	144	6	20	20	NUM
fcis-29170	144	7	)	)	PUNCT
fcis-29170	144	8	[	[	PUNCT
fcis-29170	144	9	]	]	X
fcis-29170	144	10	[	[	PUNCT
fcis-29170	144	11	]	]	X
fcis-29170	144	12	ˆ	ˆ	X
fcis-29170	144	13	(	(	PUNCT
fcis-29170	144	14	,	,	PUNCT
fcis-29170	144	15	0)k	0)k	NOUN
fcis-29170	144	16	k	k	PROPN
fcis-29170	144	17	h	h	NOUN
fcis-29170	144	18	v	v	NOUN
fcis-29170	144	19	x	x	SYM
fcis-29170	144	20	v	v	ADP
fcis-29170	144	21			PROPN
fcis-29170	145	1			PROPN
fcis-29170	145	2			ADJ
fcis-29170	145	3	(	(	PUNCT
fcis-29170	145	4	21	21	NUM
fcis-29170	145	5	)	)	PUNCT
fcis-29170	146	1	and	and	CCONJ
fcis-29170	146	2	are	be	AUX
fcis-29170	146	3	the	the	DET
fcis-29170	146	4	jacobian	jacobian	ADJ
fcis-29170	146	5	matrices	matrix	NOUN
fcis-29170	146	6	of	of	ADP
fcis-29170	146	7	with	with	ADP
fcis-29170	146	8	respect	respect	NOUN
fcis-29170	146	9	to	to	ADP
fcis-29170	146	10	and	and	CCONJ
fcis-29170	146	11	,	,	PUNCT
fcis-29170	146	12	respectively	respectively	ADV
fcis-29170	146	13	.	.	PUNCT
fcis-29170	147	1	equations	equation	NOUN
fcis-29170	147	2	(	(	PUNCT
fcis-29170	147	3	15	15	NUM
fcis-29170	147	4	)	)	PUNCT
fcis-29170	147	5	and	and	CCONJ
fcis-29170	147	6	(	(	PUNCT
fcis-29170	147	7	19	19	NUM
fcis-29170	147	8	)	)	PUNCT
fcis-29170	147	9	form	form	VERB
fcis-29170	147	10	the	the	DET
fcis-29170	147	11	system	system	NOUN
fcis-29170	147	12	state	state	NOUN
fcis-29170	147	13	-	-	PUNCT
fcis-29170	147	14	space	space	NOUN
fcis-29170	147	15	equations	equation	NOUN
fcis-29170	147	16	after	after	ADP
fcis-29170	147	17	linearization	linearization	NOUN
fcis-29170	147	18	,	,	PUNCT
fcis-29170	147	19	which	which	PRON
fcis-29170	147	20	can	can	AUX
fcis-29170	147	21	be	be	AUX
fcis-29170	147	22	simplified	simplify	VERB
fcis-29170	147	23	as	as	ADP
fcis-29170	147	24	:	:	PUNCT
fcis-29170	147	25	[	[	PUNCT
fcis-29170	147	26	]	]	X
fcis-29170	147	27	[	[	PUNCT
fcis-29170	147	28	]	]	X
fcis-29170	147	29	[	[	PUNCT
fcis-29170	147	30	1	1	NUM
fcis-29170	147	31	]	]	PUNCT
fcis-29170	147	32	[	[	PUNCT
fcis-29170	147	33	]	]	X
fcis-29170	147	34	[	[	PUNCT
fcis-29170	147	35	1	1	NUM
fcis-29170	147	36	]	]	PUNCT
fcis-29170	147	37	[	[	PUNCT
fcis-29170	147	38	]	]	X
fcis-29170	147	39	[	[	PUNCT
fcis-29170	147	40	]	]	X
fcis-29170	147	41	[	[	PUNCT
fcis-29170	147	42	1]ˆ	1]ˆ	NUM
fcis-29170	147	43	ˆ	ˆ	NOUN
fcis-29170	147	44	(	(	PUNCT
fcis-29170	147	45	)	)	PUNCT
fcis-29170	148	1	k	k	PROPN
fcis-29170	149	1	k	k	PROPN
fcis-29170	149	2	k	k	PROPN
fcis-29170	150	1	k	k	PROPN
fcis-29170	150	2	k	k	PROPN
fcis-29170	151	1	k	k	PROPN
fcis-29170	151	2	k	k	PROPN
fcis-29170	151	3	kx	kx	PROPN
fcis-29170	152	1	a	a	DET
fcis-29170	152	2	x	x	X
fcis-29170	152	3	w	w	PROPN
fcis-29170	152	4	w	w	PROPN
fcis-29170	152	5	x	x	DET
fcis-29170	152	6	a	a	DET
fcis-29170	152	7	x	x	PROPN
fcis-29170	152	8			PROPN
fcis-29170	152	9			PROPN
fcis-29170	152	10			PROPN
fcis-29170	152	11			PUNCT
fcis-29170	152	12			ADJ
fcis-29170	152	13			X
fcis-29170	152	14	(	(	PUNCT
fcis-29170	152	15	22	22	NUM
fcis-29170	152	16	)	)	PUNCT
fcis-29170	152	17	[	[	PUNCT
fcis-29170	152	18	]	]	X
fcis-29170	152	19	[	[	PUNCT
fcis-29170	152	20	]	]	X
fcis-29170	152	21	[	[	X
fcis-29170	152	22	]	]	X
fcis-29170	152	23	[	[	PUNCT
fcis-29170	152	24	]	]	X
fcis-29170	152	25	[	[	PUNCT
fcis-29170	152	26	]	]	X
fcis-29170	152	27	[	[	PUNCT
fcis-29170	152	28	]	]	X
fcis-29170	152	29	[	[	PUNCT
fcis-29170	152	30	]	]	X
fcis-29170	152	31	[	[	PUNCT
fcis-29170	152	32	]	]	X
fcis-29170	152	33	ˆ	ˆ	PRON
fcis-29170	152	34	ˆ	ˆ	ADJ
fcis-29170	152	35	(	(	PUNCT
fcis-29170	152	36	(	(	PUNCT
fcis-29170	152	37	,	,	PUNCT
fcis-29170	152	38	0	0	NUM
fcis-29170	152	39	)	)	PUNCT
fcis-29170	152	40	)	)	PUNCT
fcis-29170	153	1	k	k	PROPN
fcis-29170	154	1	kk	kk	INTJ
fcis-29170	154	2	m	m	VERB
fcis-29170	154	3	k	k	PROPN
fcis-29170	155	1	k	k	PROPN
fcis-29170	155	2	k	k	PROPN
fcis-29170	156	1	k	k	PROPN
fcis-29170	156	2	m	m	VERB
fcis-29170	156	3	kz	kz	PROPN
fcis-29170	156	4	h	h	NOUN
fcis-29170	156	5	x	x	PROPN
fcis-29170	157	1	v	v	ADP
fcis-29170	157	2	v	v	NUM
fcis-29170	157	3	h	h	NOUN
fcis-29170	157	4	x	x	NOUN
fcis-29170	157	5	h	h	PROPN
fcis-29170	157	6	x	x	PROPN
fcis-29170	157	7			PROPN
fcis-29170	157	8			PUNCT
fcis-29170	157	9			ADJ
fcis-29170	157	10			X
fcis-29170	157	11	(	(	PUNCT
fcis-29170	157	12	23	23	NUM
fcis-29170	157	13	)	)	PUNCT
fcis-29170	157	14	this	this	PRON
fcis-29170	157	15	is	be	AUX
fcis-29170	157	16	a	a	DET
fcis-29170	157	17	linear	linear	ADJ
fcis-29170	157	18	equation	equation	NOUN
fcis-29170	157	19	,	,	PUNCT
fcis-29170	157	20	so	so	CCONJ
fcis-29170	157	21	the	the	DET
fcis-29170	157	22	noise	noise	NOUN
fcis-29170	157	23	15	15	NUM
fcis-29170	157	24	[	[	PUNCT
fcis-29170	157	25	]	]	X
fcis-29170	157	26	[	[	PUNCT
fcis-29170	157	27	1	1	NUM
fcis-29170	157	28	]	]	PUNCT
fcis-29170	157	29	[	[	PUNCT
fcis-29170	157	30	]	]	X
fcis-29170	157	31	[	[	PUNCT
fcis-29170	157	32	]	]	X
fcis-29170	157	33	~	~	PUNCT
fcis-29170	157	34	(	(	PUNCT
fcis-29170	157	35	0	0	NUM
fcis-29170	157	36	,	,	PUNCT
fcis-29170	157	37	)	)	PUNCT
fcis-29170	158	1	t	t	PROPN
fcis-29170	159	1	k	k	PROPN
fcis-29170	159	2	k	k	PROPN
fcis-29170	159	3	k	k	PROPN
fcis-29170	159	4	kw	kw	INTJ
fcis-29170	159	5	w	w	PROPN
fcis-29170	159	6	n	n	PROPN
fcis-29170	159	7	w	w	NOUN
fcis-29170	159	8	qw	qw	NOUN
fcis-29170	159	9	,	,	PUNCT
fcis-29170	159	10	[	[	PUNCT
fcis-29170	159	11	]	]	X
fcis-29170	159	12	[	[	PUNCT
fcis-29170	159	13	]	]	X
fcis-29170	159	14	[	[	PUNCT
fcis-29170	159	15	]	]	X
fcis-29170	159	16	[	[	PUNCT
fcis-29170	159	17	]	]	X
fcis-29170	159	18	~	~	PUNCT
fcis-29170	159	19	(	(	PUNCT
fcis-29170	159	20	0	0	NUM
fcis-29170	159	21	,	,	PUNCT
fcis-29170	159	22	)	)	PUNCT
fcis-29170	159	23	tk	tk	PROPN
fcis-29170	159	24	k	k	PROPN
fcis-29170	159	25	k	k	PROPN
fcis-29170	159	26	kv	kv	PROPN
fcis-29170	159	27	v	v	ADP
fcis-29170	159	28	n	n	PROPN
fcis-29170	159	29	v	v	NOUN
fcis-29170	159	30	rv	rv	NOUN
fcis-29170	159	31	are	be	AUX
fcis-29170	159	32	assumed	assume	VERB
fcis-29170	159	33	to	to	PART
fcis-29170	159	34	follow	follow	VERB
fcis-29170	159	35	a	a	DET
fcis-29170	159	36	normal	normal	ADJ
fcis-29170	159	37	distribution	distribution	NOUN
fcis-29170	159	38	.	.	PUNCT
fcis-29170	160	1	(	(	PUNCT
fcis-29170	160	2	2	2	X
fcis-29170	160	3	)	)	PUNCT
fcis-29170	160	4	calculate	calculate	NOUN
fcis-29170	160	5	the	the	DET
fcis-29170	160	6	kalman	kalman	NOUN
fcis-29170	160	7	gain	gain	VERB
fcis-29170	160	8	.	.	PUNCT
fcis-29170	161	1	[	[	PUNCT
fcis-29170	161	2	]	]	X
fcis-29170	161	3	[	[	PUNCT
fcis-29170	161	4	]	]	X
fcis-29170	161	5	[	[	PUNCT
fcis-29170	161	6	]	]	X
fcis-29170	161	7	[	[	PUNCT
fcis-29170	161	8	]	]	X
fcis-29170	161	9	[	[	PUNCT
fcis-29170	161	10	]	]	X
fcis-29170	161	11	[	[	PUNCT
fcis-29170	161	12	]	]	X
fcis-29170	161	13	[	[	PUNCT
fcis-29170	161	14	]	]	X
fcis-29170	161	15	[	[	PUNCT
fcis-29170	161	16	]	]	X
fcis-29170	161	17	k	k	PROPN
fcis-29170	161	18	k	k	PROPN
fcis-29170	162	1	k	k	PROPN
fcis-29170	162	2	t	t	PROPN
fcis-29170	163	1	k	k	NOUN
fcis-29170	163	2	m	m	VERB
fcis-29170	163	3	k	k	PROPN
fcis-29170	164	1	t	t	PROPN
fcis-29170	164	2	t	t	PROPN
fcis-29170	164	3	m	m	VERB
fcis-29170	164	4	k	k	NOUN
fcis-29170	164	5	m	m	VERB
fcis-29170	164	6	k	k	X
fcis-29170	165	1	k	k	PROPN
fcis-29170	165	2	p	p	PROPN
fcis-29170	166	1	h	h	NOUN
fcis-29170	167	1	k	k	NOUN
fcis-29170	167	2	h	h	NOUN
fcis-29170	168	1	p	p	NOUN
fcis-29170	168	2	h	h	NOUN
fcis-29170	168	3	v	v	ADP
fcis-29170	168	4	rv	rv	PROPN
fcis-29170	168	5			PROPN
fcis-29170	168	6			PROPN
fcis-29170	168	7			X
fcis-29170	168	8	(	(	PUNCT
fcis-29170	168	9	24	24	NUM
fcis-29170	168	10	)	)	PUNCT
fcis-29170	168	11	(	(	PUNCT
fcis-29170	168	12	3	3	X
fcis-29170	168	13	)	)	PUNCT
fcis-29170	168	14	calculate	calculate	NOUN
fcis-29170	168	15	the	the	DET
fcis-29170	168	16	posterior	posterior	ADJ
fcis-29170	168	17	state	state	NOUN
fcis-29170	168	18	estimate	estimate	NOUN
fcis-29170	168	19	.	.	PUNCT
fcis-29170	169	1	[	[	PUNCT
fcis-29170	169	2	]	]	X
fcis-29170	169	3	[	[	PUNCT
fcis-29170	169	4	]	]	X
fcis-29170	169	5	[	[	PUNCT
fcis-29170	169	6	]	]	X
fcis-29170	169	7	[	[	PUNCT
fcis-29170	169	8	]	]	X
fcis-29170	169	9	[	[	PUNCT
fcis-29170	169	10	]	]	X
fcis-29170	169	11	ˆ	ˆ	NOUN
fcis-29170	169	12	ˆ	ˆ	NOUN
fcis-29170	169	13	ˆ	ˆ	ADJ
fcis-29170	169	14	[	[	PUNCT
fcis-29170	169	15	(	(	PUNCT
fcis-29170	169	16	,	,	PUNCT
fcis-29170	169	17	0)]k	0)]k	NOUN
fcis-29170	170	1	k	k	PROPN
fcis-29170	170	2	k	k	PROPN
fcis-29170	171	1	k	k	PROPN
fcis-29170	171	2	kx	kx	PROPN
fcis-29170	172	1	x	x	X
fcis-29170	173	1	k	k	PROPN
fcis-29170	173	2	z	z	NOUN
fcis-29170	173	3	h	h	PROPN
fcis-29170	173	4	x	x	PROPN
fcis-29170	173	5			PROPN
fcis-29170	173	6			PUNCT
fcis-29170	173	7			PROPN
fcis-29170	173	8	(	(	PUNCT
fcis-29170	173	9	25	25	NUM
fcis-29170	173	10	)	)	PUNCT
fcis-29170	173	11	(	(	PUNCT
fcis-29170	173	12	4	4	X
fcis-29170	173	13	)	)	PUNCT
fcis-29170	173	14	update	update	VERB
fcis-29170	173	15	the	the	DET
fcis-29170	173	16	posterior	posterior	ADJ
fcis-29170	173	17	state	state	NOUN
fcis-29170	173	18	estimate	estimate	NOUN
fcis-29170	173	19	error	error	NOUN
fcis-29170	173	20	covariance	covariance	NOUN
fcis-29170	173	21	matrix	matrix	NOUN
fcis-29170	173	22	.	.	PUNCT
fcis-29170	174	1	[	[	PUNCT
fcis-29170	174	2	]	]	X
fcis-29170	174	3	[	[	X
fcis-29170	174	4	]	]	X
fcis-29170	174	5	[	[	PUNCT
fcis-29170	174	6	]	]	X
fcis-29170	174	7	[	[	PUNCT
fcis-29170	174	8	]	]	X
fcis-29170	174	9	(	(	PUNCT
fcis-29170	174	10	)	)	PUNCT
fcis-29170	174	11	kk	kk	PROPN
fcis-29170	174	12	k	k	NOUN
fcis-29170	174	13	m	m	VERB
fcis-29170	174	14	kp	kp	INTJ
fcis-29170	175	1	i	i	PRON
fcis-29170	175	2	k	k	PROPN
fcis-29170	175	3	h	h	PROPN
fcis-29170	175	4	p	p	PROPN
fcis-29170	175	5			PROPN
fcis-29170	175	6	(	(	PUNCT
fcis-29170	175	7	26	26	NUM
fcis-29170	175	8	)	)	PUNCT
fcis-29170	175	9	equations	equation	NOUN
fcis-29170	175	10	(	(	PUNCT
fcis-29170	175	11	14	14	NUM
fcis-29170	175	12	)	)	PUNCT
fcis-29170	175	13	and	and	CCONJ
fcis-29170	175	14	(	(	PUNCT
fcis-29170	175	15	25	25	NUM
fcis-29170	175	16	)	)	PUNCT
fcis-29170	175	17	use	use	VERB
fcis-29170	175	18	the	the	DET
fcis-29170	175	19	noiseless	noiseless	ADJ
fcis-29170	175	20	nonlinear	nonlinear	ADJ
fcis-29170	175	21	system	system	NOUN
fcis-29170	175	22	model	model	NOUN
fcis-29170	175	23	to	to	PART
fcis-29170	175	24	obtain	obtain	VERB
fcis-29170	175	25	the	the	DET
fcis-29170	175	26	prior	prior	ADJ
fcis-29170	175	27	and	and	CCONJ
fcis-29170	175	28	posterior	posterior	ADJ
fcis-29170	175	29	estimates	estimate	NOUN
fcis-29170	175	30	.	.	PUNCT
fcis-29170	176	1	equations	equation	NOUN
fcis-29170	176	2	(	(	PUNCT
fcis-29170	176	3	18	18	NUM
fcis-29170	176	4	)	)	PUNCT
fcis-29170	176	5	,	,	PUNCT
fcis-29170	176	6	(	(	PUNCT
fcis-29170	176	7	24	24	NUM
fcis-29170	176	8	)	)	PUNCT
fcis-29170	176	9	,	,	PUNCT
fcis-29170	176	10	and	and	CCONJ
fcis-29170	176	11	(	(	PUNCT
fcis-29170	176	12	25	25	NUM
fcis-29170	176	13	)	)	PUNCT
fcis-29170	176	14	all	all	PRON
fcis-29170	176	15	use	use	VERB
fcis-29170	176	16	the	the	DET
fcis-29170	176	17	linearized	linearize	VERB
fcis-29170	176	18	model	model	NOUN
fcis-29170	176	19	for	for	ADP
fcis-29170	176	20	calculations	calculation	NOUN
fcis-29170	176	21	.	.	PUNCT
fcis-29170	177	1	4.2	4.2	NUM
fcis-29170	177	2	.	.	PUNCT
fcis-29170	178	1	design	design	NOUN
fcis-29170	178	2	of	of	ADP
fcis-29170	178	3	the	the	DET
fcis-29170	178	4	speed	speed	NOUN
fcis-29170	178	5	and	and	CCONJ
fcis-29170	178	6	position	position	NOUN
fcis-29170	178	7	observer	observer	NOUN
fcis-29170	178	8	the	the	DET
fcis-29170	178	9	ekf	ekf	NOUN
fcis-29170	178	10	is	be	AUX
fcis-29170	178	11	a	a	DET
fcis-29170	178	12	state	state	NOUN
fcis-29170	178	13	observer	observer	NOUN
fcis-29170	178	14	that	that	PRON
fcis-29170	178	15	relies	rely	VERB
fcis-29170	178	16	on	on	ADP
fcis-29170	178	17	the	the	DET
fcis-29170	178	18	motor	motor	NOUN
fcis-29170	178	19	model	model	NOUN
fcis-29170	178	20	and	and	CCONJ
fcis-29170	178	21	can	can	AUX
fcis-29170	178	22	perform	perform	VERB
fcis-29170	178	23	estimations	estimation	NOUN
fcis-29170	178	24	in	in	ADP
fcis-29170	178	25	both	both	CCONJ
fcis-29170	178	26	synchronous	synchronous	ADJ
fcis-29170	178	27	rotating	rotating	NOUN
fcis-29170	178	28	and	and	CCONJ
fcis-29170	178	29	stationary	stationary	ADJ
fcis-29170	178	30	reference	reference	NOUN
fcis-29170	178	31	frames	frame	NOUN
fcis-29170	178	32	.	.	PUNCT
fcis-29170	179	1	the	the	DET
fcis-29170	179	2	synchronous	synchronous	ADJ
fcis-29170	179	3	reference	reference	NOUN
fcis-29170	179	4	frame	frame	NOUN
fcis-29170	179	5	requires	require	VERB
fcis-29170	179	6	multiple	multiple	ADJ
fcis-29170	179	7	coordinate	coordinate	NOUN
fcis-29170	179	8	transformations	transformation	NOUN
fcis-29170	179	9	and	and	CCONJ
fcis-29170	179	10	involves	involve	VERB
fcis-29170	179	11	trigonometric	trigonometric	ADJ
fcis-29170	179	12	functions	function	NOUN
fcis-29170	179	13	(	(	PUNCT
fcis-29170	179	14	sine	sine	NOUN
fcis-29170	179	15	and	and	CCONJ
fcis-29170	179	16	cosine	cosine	NOUN
fcis-29170	179	17	)	)	PUNCT
fcis-29170	179	18	,	,	PUNCT
fcis-29170	179	19	which	which	PRON
fcis-29170	179	20	increase	increase	VERB
fcis-29170	179	21	nonlinearity	nonlinearity	NOUN
fcis-29170	179	22	and	and	CCONJ
fcis-29170	179	23	computational	computational	ADJ
fcis-29170	179	24	complexity	complexity	NOUN
fcis-29170	179	25	,	,	PUNCT
fcis-29170	179	26	thereby	thereby	ADV
fcis-29170	179	27	extending	extend	VERB
fcis-29170	179	28	the	the	DET
fcis-29170	179	29	recursion	recursion	NOUN
fcis-29170	179	30	time	time	NOUN
fcis-29170	179	31	.	.	PUNCT
fcis-29170	180	1	in	in	ADP
fcis-29170	180	2	contrast	contrast	NOUN
fcis-29170	180	3	,	,	PUNCT
fcis-29170	180	4	the	the	DET
fcis-29170	180	5	stationary	stationary	ADJ
fcis-29170	180	6	reference	reference	NOUN
fcis-29170	180	7	frame	frame	NOUN
fcis-29170	180	8	only	only	ADV
fcis-29170	180	9	requires	require	VERB
fcis-29170	180	10	a	a	DET
fcis-29170	180	11	clarke	clarke	PROPN
fcis-29170	180	12	transformation	transformation	NOUN
fcis-29170	180	13	,	,	PUNCT
fcis-29170	180	14	which	which	PRON
fcis-29170	180	15	reduces	reduce	VERB
fcis-29170	180	16	the	the	DET
fcis-29170	180	17	model	model	NOUN
fcis-29170	180	18	's	's	PART
fcis-29170	180	19	nonlinearity	nonlinearity	NOUN
fcis-29170	180	20	and	and	CCONJ
fcis-29170	180	21	improves	improve	VERB
fcis-29170	180	22	estimation	estimation	NOUN
fcis-29170	180	23	accuracy	accuracy	NOUN
fcis-29170	180	24	.	.	PUNCT
fcis-29170	181	1	the	the	DET
fcis-29170	181	2	structure	structure	NOUN
fcis-29170	181	3	diagram	diagram	NOUN
fcis-29170	181	4	of	of	ADP
fcis-29170	181	5	the	the	DET
fcis-29170	181	6	ekf	ekf	PROPN
fcis-29170	181	7	observer	observer	NOUN
fcis-29170	181	8	is	be	AUX
fcis-29170	181	9	shown	show	VERB
fcis-29170	181	10	in	in	ADP
fcis-29170	181	11	figure	figure	NOUN
fcis-29170	181	12	2	2	NUM
fcis-29170	181	13	.	.	PUNCT
fcis-29170	181	14	figure	figure	NOUN
fcis-29170	181	15	2	2	NUM
fcis-29170	181	16	.	.	PUNCT
fcis-29170	181	17	block	block	NOUN
fcis-29170	181	18	diagram	diagram	NOUN
fcis-29170	181	19	of	of	ADP
fcis-29170	181	20	extended	extended	ADJ
fcis-29170	181	21	kalman	kalman	NOUN
fcis-29170	181	22	filter	filter	NOUN
fcis-29170	181	23	observer	observer	NOUN
fcis-29170	181	24	structure	structure	NOUN
fcis-29170	181	25	the	the	DET
fcis-29170	181	26	voltage	voltage	NOUN
fcis-29170	181	27	equations	equation	NOUN
fcis-29170	181	28	of	of	ADP
fcis-29170	181	29	the	the	DET
fcis-29170	181	30	pmsm	pmsm	NOUN
fcis-29170	181	31	in	in	ADP
fcis-29170	181	32	the	the	DET
fcis-29170	181	33	stationary	stationary	ADJ
fcis-29170	181	34	reference	reference	NOUN
fcis-29170	181	35	frame	frame	NOUN
fcis-29170	181	36	is	be	AUX
fcis-29170	181	37	:	:	PUNCT
fcis-29170	181	38	sins	sin	NOUN
fcis-29170	181	39	e	e	X
fcis-29170	181	40	f	f	X
fcis-29170	181	41	e	e	X
fcis-29170	181	42	di	di	X
fcis-29170	181	43	u	u	PROPN
fcis-29170	181	44	ri	ri	PROPN
fcis-29170	181	45	l	l	NOUN
fcis-29170	181	46	dt	dt	X
fcis-29170	181	47			X
fcis-29170	181	48			X
fcis-29170	181	49			X
fcis-29170	181	50			DET
fcis-29170	181	51			PROPN
fcis-29170	181	52			PROPN
fcis-29170	181	53			X
fcis-29170	181	54			X
fcis-29170	181	55	(	(	PUNCT
fcis-29170	181	56	27	27	NUM
fcis-29170	181	57	)	)	PUNCT
fcis-29170	181	58	coss	coss	PROPN
fcis-29170	181	59	e	e	PROPN
fcis-29170	181	60	f	f	PROPN
fcis-29170	181	61	e	e	X
fcis-29170	181	62	di	di	X
fcis-29170	181	63	u	u	PROPN
fcis-29170	181	64	ri	ri	PROPN
fcis-29170	181	65	l	l	NOUN
fcis-29170	181	66	dt	dt	PROPN
fcis-29170	182	1			PROPN
fcis-29170	182	2			PROPN
fcis-29170	182	3			PROPN
fcis-29170	182	4			PROPN
fcis-29170	182	5			PROPN
fcis-29170	182	6			PROPN
fcis-29170	182	7			PUNCT
fcis-29170	182	8			X
fcis-29170	182	9	(	(	PUNCT
fcis-29170	182	10	28	28	NUM
fcis-29170	182	11	)	)	PUNCT
fcis-29170	182	12	the	the	DET
fcis-29170	182	13	relationship	relationship	NOUN
fcis-29170	182	14	between	between	ADP
fcis-29170	182	15	the	the	DET
fcis-29170	182	16	electrical	electrical	ADJ
fcis-29170	182	17	angle	angle	NOUN
fcis-29170	182	18	and	and	CCONJ
fcis-29170	182	19	the	the	DET
fcis-29170	182	20	electrical	electrical	ADJ
fcis-29170	182	21	angular	angular	ADJ
fcis-29170	182	22	velocity	velocity	NOUN
fcis-29170	182	23	is	be	AUX
fcis-29170	182	24	as	as	SCONJ
fcis-29170	182	25	follows	follow	VERB
fcis-29170	182	26	:	:	PUNCT
fcis-29170	182	27	0e	0e	NOUN
fcis-29170	182	28	e	e	NOUN
fcis-29170	182	29	e	e	NOUN
fcis-29170	182	30	d	d	X
fcis-29170	182	31	dt	dt	X
fcis-29170	183	1	d	d	X
fcis-29170	183	2	dt	dt	X
fcis-29170	183	3			X
fcis-29170	183	4			X
fcis-29170	183	5			X
fcis-29170	183	6			ADV
fcis-29170	183	7			VERB
fcis-29170	183	8			NOUN
fcis-29170	183	9			NUM
fcis-29170	183	10			PROPN
fcis-29170	183	11			PROPN
fcis-29170	183	12	(	(	PUNCT
fcis-29170	183	13	29	29	NUM
fcis-29170	183	14	)	)	PUNCT
fcis-29170	183	15	equations	equation	NOUN
fcis-29170	183	16	(	(	PUNCT
fcis-29170	183	17	27	27	NUM
fcis-29170	183	18	)	)	PUNCT
fcis-29170	183	19	,	,	PUNCT
fcis-29170	183	20	(	(	PUNCT
fcis-29170	183	21	28	28	NUM
fcis-29170	183	22	)	)	PUNCT
fcis-29170	183	23	,	,	PUNCT
fcis-29170	183	24	and	and	CCONJ
fcis-29170	183	25	(	(	PUNCT
fcis-29170	183	26	29	29	NUM
fcis-29170	183	27	)	)	PUNCT
fcis-29170	183	28	represent	represent	VERB
fcis-29170	183	29	the	the	DET
fcis-29170	183	30	state	state	NOUN
fcis-29170	183	31	equations	equation	NOUN
fcis-29170	183	32	of	of	ADP
fcis-29170	183	33	the	the	DET
fcis-29170	183	34	pmsm	pmsm	NOUN
fcis-29170	183	35	system	system	NOUN
fcis-29170	183	36	in	in	ADP
fcis-29170	183	37	the	the	DET
fcis-29170	183	38	stationary	stationary	ADJ
fcis-29170	183	39	reference	reference	NOUN
fcis-29170	183	40	frame	frame	NOUN
fcis-29170	183	41	.	.	PUNCT
fcis-29170	184	1	let	let	VERB
fcis-29170	184	2	,	,	PUNCT
fcis-29170	184	3	,	,	PUNCT
fcis-29170	184	4	,	,	PUNCT
fcis-29170	184	5	represent	represent	VERB
fcis-29170	184	6	the	the	DET
fcis-29170	184	7	state	state	NOUN
fcis-29170	184	8	variables	variable	NOUN
fcis-29170	184	9	of	of	ADP
fcis-29170	184	10	the	the	DET
fcis-29170	184	11	observation	observation	NOUN
fcis-29170	184	12	system	system	NOUN
fcis-29170	184	13	,	,	PUNCT
fcis-29170	184	14	,	,	PUNCT
fcis-29170	184	15	the	the	DET
fcis-29170	184	16	input	input	NOUN
fcis-29170	184	17	of	of	ADP
fcis-29170	184	18	the	the	DET
fcis-29170	184	19	observation	observation	NOUN
fcis-29170	184	20	system	system	NOUN
fcis-29170	184	21	,	,	PUNCT
fcis-29170	184	22	and	and	CCONJ
fcis-29170	184	23	,	,	PUNCT
fcis-29170	184	24	the	the	DET
fcis-29170	184	25	output	output	NOUN
fcis-29170	184	26	of	of	ADP
fcis-29170	184	27	the	the	DET
fcis-29170	184	28	observation	observation	NOUN
fcis-29170	184	29	system	system	NOUN
fcis-29170	184	30	.	.	PUNCT
fcis-29170	185	1	the	the	DET
fcis-29170	185	2	state	state	NOUN
fcis-29170	185	3	equations	equation	NOUN
fcis-29170	185	4	of	of	ADP
fcis-29170	185	5	the	the	DET
fcis-29170	185	6	pmsm	pmsm	NOUN
fcis-29170	185	7	can	can	AUX
fcis-29170	185	8	then	then	ADV
fcis-29170	185	9	be	be	AUX
fcis-29170	185	10	written	write	VERB
fcis-29170	185	11	as	as	ADP
fcis-29170	185	12	:	:	PUNCT
fcis-29170	185	13	(	(	PUNCT
fcis-29170	185	14	)	)	PUNCT
fcis-29170	185	15	x	x	SYM
fcis-29170	185	16	f	f	X
fcis-29170	185	17	x	x	PUNCT
fcis-29170	185	18	bu	bu	PROPN
fcis-29170	185	19			PUNCT
fcis-29170	185	20			ADJ
fcis-29170	185	21			NOUN
fcis-29170	185	22	(	(	PUNCT
fcis-29170	185	23	30	30	NUM
fcis-29170	185	24	)	)	PUNCT
fcis-29170	185	25	in	in	ADP
fcis-29170	185	26	the	the	DET
fcis-29170	185	27	equation	equation	NOUN
fcis-29170	185	28	:	:	PUNCT
fcis-29170	185	29	represents	represent	VERB
fcis-29170	185	30	the	the	DET
fcis-29170	185	31	system	system	NOUN
fcis-29170	185	32	noise	noise	NOUN
fcis-29170	185	33	.	.	PUNCT
fcis-29170	186	1	0	0	NUM
fcis-29170	186	2	0	0	NUM
fcis-29170	187	1	0	0	NUM
fcis-29170	187	2	0	0	NUM
fcis-29170	187	3	0	0	NUM
fcis-29170	187	4	0	0	NUM
fcis-29170	187	5	represents	represent	VERB
fcis-29170	187	6	the	the	DET
fcis-29170	187	7	input	input	NOUN
fcis-29170	187	8	matrix	matrix	NOUN
fcis-29170	187	9	,	,	PUNCT
fcis-29170	187	10	sin	sin	NOUN
fcis-29170	187	11	cos	cos	PROPN
fcis-29170	187	12	0	0	PROPN
fcis-29170	187	13	.	.	PUNCT
fcis-29170	188	1	since	since	ADV
fcis-29170	188	2	and	and	CCONJ
fcis-29170	188	3	can	can	AUX
fcis-29170	188	4	be	be	AUX
fcis-29170	188	5	directly	directly	ADV
fcis-29170	188	6	measured	measure	VERB
fcis-29170	188	7	,	,	PUNCT
fcis-29170	188	8	the	the	DET
fcis-29170	188	9	measurement	measurement	NOUN
fcis-29170	188	10	equation	equation	NOUN
fcis-29170	188	11	is	be	AUX
fcis-29170	188	12	defined	define	VERB
fcis-29170	188	13	as	as	ADP
fcis-29170	188	14	:	:	PUNCT
fcis-29170	188	15	y	y	PROPN
fcis-29170	188	16	cx	cx	PROPN
fcis-29170	188	17	v	v	ADV
fcis-29170	188	18			PROPN
fcis-29170	188	19	(	(	PUNCT
fcis-29170	188	20	31	31	NUM
fcis-29170	188	21	)	)	PUNCT
fcis-29170	188	22	in	in	ADP
fcis-29170	188	23	the	the	DET
fcis-29170	188	24	equation	equation	NOUN
fcis-29170	188	25	:	:	PUNCT
fcis-29170	188	26	1	1	NUM
fcis-29170	188	27	0	0	NUM
fcis-29170	188	28	0	0	NUM
fcis-29170	188	29	1	1	NUM
fcis-29170	188	30	0	0	NUM
fcis-29170	188	31	0	0	NUM
fcis-29170	188	32	0	0	NUM
fcis-29170	188	33	0	0	NUM
fcis-29170	188	34	represents	represent	VERB
fcis-29170	188	35	the	the	DET
fcis-29170	188	36	output	output	NOUN
fcis-29170	188	37	matrix	matrix	NOUN
fcis-29170	188	38	.	.	PUNCT
fcis-29170	189	1	the	the	DET
fcis-29170	189	2	jacobian	jacobian	ADJ
fcis-29170	189	3	matrix	matrix	NOUN
fcis-29170	189	4	of	of	ADP
fcis-29170	189	5	the	the	DET
fcis-29170	189	6	system	system	NOUN
fcis-29170	189	7	's	's	PART
fcis-29170	189	8	state	state	NOUN
fcis-29170	189	9	equations	equation	NOUN
fcis-29170	189	10	is	be	AUX
fcis-29170	189	11	:	:	PUNCT
fcis-29170	189	12	(	(	PUNCT
fcis-29170	189	13	)	)	PUNCT
fcis-29170	189	14	(	(	PUNCT
fcis-29170	189	15	)	)	PUNCT
fcis-29170	189	16	(	(	PUNCT
fcis-29170	189	17	)	)	PUNCT
fcis-29170	189	18	ˆ	ˆ	NOUN
fcis-29170	189	19	(	(	PUNCT
fcis-29170	189	20	)	)	PUNCT
fcis-29170	189	21	(	(	PUNCT
fcis-29170	189	22	)	)	PUNCT
fcis-29170	189	23	ˆ	ˆ	X
fcis-29170	189	24	ˆˆ0	ˆˆ0	NOUN
fcis-29170	189	25	sin	sin	PROPN
fcis-29170	189	26	cos	cos	PROPN
fcis-29170	189	27	(	(	PUNCT
fcis-29170	189	28	)	)	PUNCT
fcis-29170	189	29	ˆ	ˆ	NOUN
fcis-29170	189	30	ˆ0	ˆ0	NOUN
fcis-29170	189	31	ˆ	ˆ	ADP
fcis-29170	189	32	(	(	PUNCT
fcis-29170	189	33	)	)	PUNCT
fcis-29170	190	1	|	|	ADV
fcis-29170	190	2	cos	cos	ADP
fcis-29170	190	3	sin	sin	VERB
fcis-29170	190	4	0	0	NUM
fcis-29170	190	5	0	0	NUM
fcis-29170	190	6	0	0	NUM
fcis-29170	190	7	0	0	NUM
fcis-29170	190	8	0	0	NUM
fcis-29170	190	9	0	0	NUM
fcis-29170	190	10	1	1	NUM
fcis-29170	190	11	0	0	NUM
fcis-29170	190	12	k	k	NOUN
fcis-29170	190	13	f	f	X
fcis-29170	190	14	f	f	PROPN
fcis-29170	190	15	e	e	X
fcis-29170	190	16	k	k	PROPN
fcis-29170	190	17	e	e	PROPN
fcis-29170	190	18	e	e	PROPN
fcis-29170	190	19	k	k	PROPN
fcis-29170	190	20	s	s	PROPN
fcis-29170	190	21	s	s	X
fcis-29170	190	22	s	s	X
fcis-29170	190	23	f	f	X
fcis-29170	190	24	f	f	NOUN
fcis-29170	190	25	x	x	PUNCT
fcis-29170	190	26	x	x	PUNCT
fcis-29170	190	27	e	e	X
fcis-29170	190	28	k	k	PROPN
fcis-29170	190	29	e	e	PROPN
fcis-29170	190	30	e	e	PROPN
fcis-29170	190	31	k	k	PROPN
fcis-29170	190	32	s	s	PROPN
fcis-29170	190	33	s	s	X
fcis-29170	190	34	s	s	NOUN
fcis-29170	190	35	r	r	NOUN
fcis-29170	190	36	l	l	NOUN
fcis-29170	190	37	l	l	NOUN
fcis-29170	190	38	l	l	NOUN
fcis-29170	190	39	rf	rf	NOUN
fcis-29170	190	40	x	x	X
fcis-29170	190	41	f	f	X
fcis-29170	190	42	k	k	PROPN
fcis-29170	190	43	lx	lx	NOUN
fcis-29170	190	44	l	l	PROPN
fcis-29170	190	45	l	l	NOUN
fcis-29170	190	46			PROPN
fcis-29170	190	47			PROPN
fcis-29170	190	48			PROPN
fcis-29170	190	49			X
fcis-29170	190	50			X
fcis-29170	191	1			PROPN
fcis-29170	191	2			PROPN
fcis-29170	191	3			PROPN
fcis-29170	191	4			PROPN
fcis-29170	191	5			PROPN
fcis-29170	191	6			NOUN
fcis-29170	192	1			PROPN
fcis-29170	192	2			PROPN
fcis-29170	192	3			PROPN
fcis-29170	193	1			PROPN
fcis-29170	194	1			INTJ
fcis-29170	195	1			PROPN
fcis-29170	196	1			PROPN
fcis-29170	196	2			NOUN
fcis-29170	196	3			VERB
fcis-29170	197	1			PROPN
fcis-29170	197	2			PROPN
fcis-29170	197	3			PROPN
fcis-29170	197	4			PROPN
fcis-29170	197	5			PROPN
fcis-29170	198	1			PROPN
fcis-29170	199	1			INTJ
fcis-29170	200	1			PROPN
fcis-29170	201	1			INTJ
fcis-29170	202	1			PROPN
fcis-29170	202	2			PROPN
fcis-29170	203	1			PROPN
fcis-29170	203	2			NUM
fcis-29170	203	3	4.3	4.3	NUM
fcis-29170	203	4	.	.	PUNCT
fcis-29170	204	1	the	the	DET
fcis-29170	204	2	selection	selection	NOUN
fcis-29170	204	3	of	of	ADP
fcis-29170	204	4	the	the	DET
fcis-29170	204	5	noise	noise	NOUN
fcis-29170	204	6	covariance	covariance	NOUN
fcis-29170	204	7	matrix	matrix	NOUN
fcis-29170	204	8	in	in	ADP
fcis-29170	204	9	the	the	DET
fcis-29170	204	10	ekf	ekf	PROPN
fcis-29170	204	11	algorithm	algorithm	PROPN
fcis-29170	204	12	's	's	PART
fcis-29170	204	13	estimation	estimation	NOUN
fcis-29170	204	14	process	process	NOUN
fcis-29170	204	15	,	,	PUNCT
fcis-29170	204	16	the	the	DET
fcis-29170	204	17	covariance	covariance	NOUN
fcis-29170	204	18	matrices	matrix	NOUN
fcis-29170	204	19	of	of	ADP
fcis-29170	204	20	the	the	DET
fcis-29170	204	21	noise	noise	NOUN
fcis-29170	204	22	and	and	CCONJ
fcis-29170	204	23	are	be	AUX
fcis-29170	204	24	required	require	VERB
fcis-29170	204	25	.	.	PUNCT
fcis-29170	205	1	the	the	DET
fcis-29170	205	2	definitions	definition	NOUN
fcis-29170	205	3	of	of	ADP
fcis-29170	205	4	the	the	DET
fcis-29170	205	5	covariance	covariance	NOUN
fcis-29170	205	6	matrices	matrix	NOUN
fcis-29170	205	7	and	and	CCONJ
fcis-29170	205	8	are	be	AUX
fcis-29170	205	9	as	as	SCONJ
fcis-29170	205	10	follows	follow	VERB
fcis-29170	205	11	:	:	PUNCT
fcis-29170	205	12			PROPN
fcis-29170	205	13			PROPN
fcis-29170	205	14			PROPN
fcis-29170	205	15			PROPN
fcis-29170	205	16	t	t	PROPN
fcis-29170	205	17	t	t	NOUN
fcis-29170	205	18	q	q	PROPN
fcis-29170	205	19	e	e	X
fcis-29170	205	20	ww	ww	PROPN
fcis-29170	205	21	r	r	PROPN
fcis-29170	205	22	e	e	NOUN
fcis-29170	205	23	vv	vv	NOUN
fcis-29170	205	24			ADV
fcis-29170	205	25			VERB
fcis-29170	205	26			NUM
fcis-29170	205	27			NOUN
fcis-29170	205	28	(	(	PUNCT
fcis-29170	205	29	32	32	NUM
fcis-29170	205	30	)	)	PUNCT
fcis-29170	205	31	the	the	DET
fcis-29170	205	32	initial	initial	ADJ
fcis-29170	205	33	state	state	NOUN
fcis-29170	205	34	random	random	ADJ
fcis-29170	205	35	vector	vector	NOUN
fcis-29170	205	36	and	and	CCONJ
fcis-29170	205	37	the	the	DET
fcis-29170	205	38	noise	noise	NOUN
fcis-29170	205	39	vectors	vector	NOUN
fcis-29170	205	40	and	and	CCONJ
fcis-29170	205	41	are	be	AUX
fcis-29170	205	42	mutually	mutually	ADV
fcis-29170	205	43	independent	independent	ADJ
fcis-29170	205	44	.	.	PUNCT
fcis-29170	206	1	since	since	SCONJ
fcis-29170	206	2	the	the	DET
fcis-29170	206	3	off	off	ADV
fcis-29170	206	4	-	-	PUNCT
fcis-29170	206	5	diagonal	diagonal	ADJ
fcis-29170	206	6	elements	element	NOUN
fcis-29170	206	7	have	have	VERB
fcis-29170	206	8	a	a	DET
fcis-29170	206	9	negligible	negligible	ADJ
fcis-29170	206	10	impact	impact	NOUN
fcis-29170	206	11	on	on	ADP
fcis-29170	206	12	the	the	DET
fcis-29170	206	13	system	system	NOUN
fcis-29170	206	14	,	,	PUNCT
fcis-29170	206	15	,	,	PUNCT
fcis-29170	206	16	and	and	CCONJ
fcis-29170	206	17	are	be	AUX
fcis-29170	206	18	generally	generally	ADV
fcis-29170	206	19	taken	take	VERB
fcis-29170	206	20	as	as	ADP
fcis-29170	206	21	diagonal	diagonal	ADJ
fcis-29170	206	22	matrices	matrix	NOUN
fcis-29170	206	23	.	.	PUNCT
fcis-29170	207	1	from	from	ADP
fcis-29170	207	2	equations	equation	NOUN
fcis-29170	207	3	(	(	PUNCT
fcis-29170	207	4	18	18	NUM
fcis-29170	207	5	)	)	PUNCT
fcis-29170	207	6	and	and	CCONJ
fcis-29170	207	7	(	(	PUNCT
fcis-29170	207	8	24	24	NUM
fcis-29170	207	9	)	)	PUNCT
fcis-29170	207	10	,	,	PUNCT
fcis-29170	207	11	it	it	PRON
fcis-29170	207	12	is	be	AUX
fcis-29170	207	13	known	know	VERB
fcis-29170	207	14	that	that	SCONJ
fcis-29170	207	15	the	the	DET
fcis-29170	207	16	matrix	matrix	NOUN
fcis-29170	207	17	and	and	CCONJ
fcis-29170	207	18	the	the	DET
fcis-29170	207	19	matrix	matrix	NOUN
fcis-29170	207	20	adjust	adjust	VERB
fcis-29170	207	21	the	the	DET
fcis-29170	207	22	kalman	kalman	NOUN
fcis-29170	207	23	gain	gain	NOUN
fcis-29170	207	24	,	,	PUNCT
fcis-29170	207	25	affecting	affect	VERB
fcis-29170	207	26	the	the	DET
fcis-29170	207	27	weight	weight	NOUN
fcis-29170	207	28	of	of	ADP
fcis-29170	207	29	the	the	DET
fcis-29170	207	30	estimated	estimate	VERB
fcis-29170	207	31	values	value	NOUN
fcis-29170	207	32	and	and	CCONJ
fcis-29170	207	33	the	the	DET
fcis-29170	207	34	measurement	measurement	NOUN
fcis-29170	207	35	values	value	NOUN
fcis-29170	207	36	.	.	PUNCT
fcis-29170	208	1	increasing	increase	VERB
fcis-29170	208	2	leads	lead	NOUN
fcis-29170	208	3	to	to	ADP
fcis-29170	208	4	a	a	DET
fcis-29170	208	5	higher	high	ADJ
fcis-29170	208	6	kalman	kalman	NOUN
fcis-29170	208	7	gain	gain	NOUN
fcis-29170	208	8	,	,	PUNCT
fcis-29170	208	9	increasing	increase	VERB
fcis-29170	208	10	the	the	DET
fcis-29170	208	11	weight	weight	NOUN
fcis-29170	208	12	of	of	ADP
fcis-29170	208	13	the	the	DET
fcis-29170	208	14	measurement	measurement	NOUN
fcis-29170	208	15	values	value	NOUN
fcis-29170	208	16	;	;	PUNCT
fcis-29170	208	17	increasing	increase	VERB
fcis-29170	208	18	leads	lead	VERB
fcis-29170	208	19	to	to	ADP
fcis-29170	208	20	a	a	DET
fcis-29170	208	21	lower	low	ADJ
fcis-29170	208	22	kalman	kalman	NOUN
fcis-29170	208	23	gain	gain	NOUN
fcis-29170	208	24	,	,	PUNCT
fcis-29170	208	25	increasing	increase	VERB
fcis-29170	208	26	the	the	DET
fcis-29170	208	27	weight	weight	NOUN
fcis-29170	208	28	of	of	ADP
fcis-29170	208	29	the	the	DET
fcis-29170	208	30	estimated	estimate	VERB
fcis-29170	208	31	values	value	NOUN
fcis-29170	208	32	.	.	PUNCT
fcis-29170	209	1	a	a	DET
fcis-29170	209	2	larger	large	ADJ
fcis-29170	209	3	allows	allow	VERB
fcis-29170	209	4	the	the	DET
fcis-29170	209	5	system	system	NOUN
fcis-29170	209	6	to	to	PART
fcis-29170	209	7	converge	converge	VERB
fcis-29170	209	8	faster	fast	ADV
fcis-29170	209	9	but	but	CCONJ
fcis-29170	209	10	becomes	become	VERB
fcis-29170	209	11	less	less	ADV
fcis-29170	209	12	reliable	reliable	ADJ
fcis-29170	209	13	;	;	PUNCT
fcis-29170	209	14	a	a	DET
fcis-29170	209	15	larger	large	ADJ
fcis-29170	209	16	causes	cause	VERB
fcis-29170	209	17	the	the	DET
fcis-29170	209	18	observer	observer	NOUN
fcis-29170	209	19	's	's	PART
fcis-29170	209	20	output	output	NOUN
fcis-29170	209	21	to	to	PART
fcis-29170	209	22	lag	lag	VERB
fcis-29170	209	23	,	,	PUNCT
fcis-29170	209	24	deteriorating	deteriorate	VERB
fcis-29170	209	25	dynamic	dynamic	ADJ
fcis-29170	209	26	performance	performance	NOUN
fcis-29170	209	27	.	.	PUNCT
fcis-29170	210	1	the	the	DET
fcis-29170	210	2	pmsm	pmsm	NOUN
fcis-29170	210	3	model	model	NOUN
fcis-29170	210	4	is	be	AUX
fcis-29170	210	5	complex	complex	ADJ
fcis-29170	210	6	,	,	PUNCT
fcis-29170	210	7	and	and	CCONJ
fcis-29170	210	8	selecting	select	VERB
fcis-29170	210	9	the	the	DET
fcis-29170	210	10	appropriate	appropriate	ADJ
fcis-29170	210	11	and	and	CCONJ
fcis-29170	210	12	matrices	matrix	NOUN
fcis-29170	210	13	is	be	AUX
fcis-29170	210	14	difficult	difficult	ADJ
fcis-29170	210	15	.	.	PUNCT
fcis-29170	211	1	particle	particle	NOUN
fcis-29170	211	2	swarm	swarm	NOUN
fcis-29170	211	3	optimization	optimization	NOUN
fcis-29170	211	4	(	(	PUNCT
fcis-29170	211	5	pso	pso	NOUN
fcis-29170	211	6	)	)	PUNCT
fcis-29170	211	7	,	,	PUNCT
fcis-29170	211	8	grey	grey	PROPN
fcis-29170	211	9	wolf	wolf	PROPN
fcis-29170	211	10	optimization	optimization	NOUN
fcis-29170	211	11	(	(	PUNCT
fcis-29170	211	12	gwo	gwo	PROPN
fcis-29170	211	13	)	)	PUNCT
fcis-29170	211	14	,	,	PUNCT
fcis-29170	211	15	and	and	CCONJ
fcis-29170	211	16	other	other	ADJ
fcis-29170	211	17	algorithms	algorithm	NOUN
fcis-29170	211	18	can	can	AUX
fcis-29170	211	19	be	be	AUX
fcis-29170	211	20	used	use	VERB
fcis-29170	211	21	to	to	PART
fcis-29170	211	22	optimize	optimize	VERB
fcis-29170	211	23	the	the	DET
fcis-29170	211	24	elements	element	NOUN
fcis-29170	211	25	of	of	ADP
fcis-29170	211	26	the	the	PRON
fcis-29170	211	27	and	and	CCONJ
fcis-29170	211	28	matrices	matrix	NOUN
fcis-29170	211	29	.	.	PUNCT
fcis-29170	212	1	in	in	ADP
fcis-29170	212	2	simulations	simulation	NOUN
fcis-29170	212	3	,	,	PUNCT
fcis-29170	212	4	the	the	DET
fcis-29170	212	5	ekf	ekf	NOUN
fcis-29170	212	6	outputs	output	VERB
fcis-29170	212	7	the	the	DET
fcis-29170	212	8	optimal	optimal	ADJ
fcis-29170	212	9	estimated	estimate	VERB
fcis-29170	212	10	values	value	NOUN
fcis-29170	212	11	of	of	ADP
fcis-29170	212	12	the	the	DET
fcis-29170	212	13	motor	motor	NOUN
fcis-29170	212	14	model	model	NOUN
fcis-29170	212	15	,	,	PUNCT
fcis-29170	212	16	not	not	PART
fcis-29170	212	17	the	the	DET
fcis-29170	212	18	actual	actual	ADJ
fcis-29170	212	19	optimal	optimal	ADJ
fcis-29170	212	20	estimates	estimate	NOUN
fcis-29170	212	21	of	of	ADP
fcis-29170	212	22	the	the	DET
fcis-29170	212	23	real	real	ADJ
fcis-29170	212	24	motor	motor	NOUN
fcis-29170	212	25	system	system	NOUN
fcis-29170	212	26	,	,	PUNCT
fcis-29170	212	27	so	so	SCONJ
fcis-29170	212	28	there	there	PRON
fcis-29170	212	29	may	may	AUX
fcis-29170	212	30	be	be	AUX
fcis-29170	212	31	some	some	DET
fcis-29170	212	32	deviation	deviation	NOUN
fcis-29170	212	33	between	between	ADP
fcis-29170	212	34	the	the	DET
fcis-29170	212	35	estimated	estimate	VERB
fcis-29170	212	36	values	value	NOUN
fcis-29170	212	37	and	and	CCONJ
fcis-29170	212	38	the	the	DET
fcis-29170	212	39	actual	actual	ADJ
fcis-29170	212	40	feedback	feedback	NOUN
fcis-29170	212	41	values	value	NOUN
fcis-29170	212	42	.	.	PUNCT
fcis-29170	213	1	5	5	X
fcis-29170	213	2	.	.	X
fcis-29170	213	3	design	design	NOUN
fcis-29170	213	4	of	of	ADP
fcis-29170	213	5	the	the	DET
fcis-29170	213	6	speed	speed	NOUN
fcis-29170	213	7	loop	loop	NOUN
fcis-29170	213	8	controller	controller	NOUN
fcis-29170	213	9	based	base	VERB
fcis-29170	213	10	on	on	ADP
fcis-29170	213	11	adrc	adrc	PROPN
fcis-29170	213	12	the	the	DET
fcis-29170	213	13	tracking	tracking	NOUN
fcis-29170	213	14	differentiator	differentiator	NOUN
fcis-29170	213	15	(	(	PUNCT
fcis-29170	213	16	td	td	NOUN
fcis-29170	213	17	)	)	PUNCT
fcis-29170	213	18	,	,	PUNCT
fcis-29170	213	19	extended	extend	VERB
fcis-29170	213	20	state	state	NOUN
fcis-29170	213	21	observer	observer	NOUN
fcis-29170	213	22	16	16	NUM
fcis-29170	213	23	(	(	PUNCT
fcis-29170	213	24	eso	eso	NOUN
fcis-29170	213	25	)	)	PUNCT
fcis-29170	213	26	,	,	PUNCT
fcis-29170	213	27	and	and	CCONJ
fcis-29170	213	28	nonlinear	nonlinear	ADJ
fcis-29170	213	29	state	state	NOUN
fcis-29170	213	30	error	error	NOUN
fcis-29170	213	31	feedback	feedback	NOUN
fcis-29170	213	32	control	control	NOUN
fcis-29170	213	33	law	law	NOUN
fcis-29170	213	34	(	(	PUNCT
fcis-29170	213	35	nlsef	nlsef	NOUN
fcis-29170	213	36	)	)	PUNCT
fcis-29170	213	37	form	form	VERB
fcis-29170	213	38	the	the	DET
fcis-29170	213	39	active	active	ADJ
fcis-29170	213	40	disturbance	disturbance	NOUN
fcis-29170	213	41	rejection	rejection	NOUN
fcis-29170	213	42	controller	controller	NOUN
fcis-29170	213	43	(	(	PUNCT
fcis-29170	213	44	adrc	adrc	NOUN
fcis-29170	213	45	)	)	PUNCT
fcis-29170	214	1	[	[	X
fcis-29170	214	2	16	16	NUM
fcis-29170	214	3	]	]	PUNCT
fcis-29170	214	4	.	.	PUNCT
fcis-29170	215	1	its	its	PRON
fcis-29170	215	2	structure	structure	NOUN
fcis-29170	215	3	is	be	AUX
fcis-29170	215	4	shown	show	VERB
fcis-29170	215	5	in	in	ADP
fcis-29170	215	6	figure	figure	NOUN
fcis-29170	215	7	3	3	NUM
fcis-29170	215	8	.	.	PUNCT
fcis-29170	215	9	figure	figure	NOUN
fcis-29170	215	10	3	3	NUM
fcis-29170	215	11	.	.	PUNCT
fcis-29170	215	12	nladrc	nladrc	PROPN
fcis-29170	215	13	controller	controller	NOUN
fcis-29170	215	14	structure	structure	NOUN
fcis-29170	215	15	diagram	diagram	NOUN
fcis-29170	215	16	the	the	DET
fcis-29170	215	17	td	td	NOUN
fcis-29170	215	18	quickly	quickly	ADV
fcis-29170	215	19	tracks	track	VERB
fcis-29170	215	20	the	the	DET
fcis-29170	215	21	desired	desire	VERB
fcis-29170	215	22	signal	signal	NOUN
fcis-29170	215	23	using	use	VERB
fcis-29170	215	24	the	the	DET
fcis-29170	215	25	fastest	fast	ADJ
fcis-29170	215	26	synthesis	synthesis	NOUN
fcis-29170	215	27	function	function	NOUN
fcis-29170	215	28	and	and	CCONJ
fcis-29170	215	29	synchronizes	synchronize	VERB
fcis-29170	215	30	the	the	DET
fcis-29170	215	31	output	output	NOUN
fcis-29170	215	32	differential	differential	NOUN
fcis-29170	215	33	signal	signal	NOUN
fcis-29170	215	34	,	,	PUNCT
fcis-29170	215	35	reducing	reduce	VERB
fcis-29170	215	36	noise	noise	NOUN
fcis-29170	215	37	amplification	amplification	NOUN
fcis-29170	215	38	and	and	CCONJ
fcis-29170	215	39	steady	steady	ADJ
fcis-29170	215	40	-	-	PUNCT
fcis-29170	215	41	state	state	NOUN
fcis-29170	215	42	errors	error	NOUN
fcis-29170	215	43	.	.	PUNCT
fcis-29170	216	1	by	by	ADP
fcis-29170	216	2	performing	perform	VERB
fcis-29170	216	3	multi	multi	ADJ
fcis-29170	216	4	-	-	ADJ
fcis-29170	216	5	order	order	NOUN
fcis-29170	216	6	planning	planning	NOUN
fcis-29170	216	7	on	on	ADP
fcis-29170	216	8	the	the	DET
fcis-29170	216	9	desired	desire	VERB
fcis-29170	216	10	signal	signal	NOUN
fcis-29170	216	11	,	,	PUNCT
fcis-29170	216	12	it	it	PRON
fcis-29170	216	13	reduces	reduce	VERB
fcis-29170	216	14	the	the	DET
fcis-29170	216	15	impact	impact	NOUN
fcis-29170	216	16	of	of	ADP
fcis-29170	216	17	the	the	DET
fcis-29170	216	18	input	input	NOUN
fcis-29170	216	19	signal	signal	NOUN
fcis-29170	216	20	on	on	ADP
fcis-29170	216	21	the	the	DET
fcis-29170	216	22	system	system	NOUN
fcis-29170	216	23	,	,	PUNCT
fcis-29170	216	24	achieving	achieve	VERB
fcis-29170	216	25	smooth	smooth	ADJ
fcis-29170	216	26	input	input	NOUN
fcis-29170	216	27	and	and	CCONJ
fcis-29170	216	28	thereby	thereby	ADV
fcis-29170	216	29	reducing	reduce	VERB
fcis-29170	216	30	overshoot	overshoot	NOUN
fcis-29170	216	31	.	.	PUNCT
fcis-29170	217	1	the	the	DET
fcis-29170	217	2	discrete	discrete	ADJ
fcis-29170	217	3	mathematical	mathematical	ADJ
fcis-29170	217	4	model	model	NOUN
fcis-29170	217	5	of	of	ADP
fcis-29170	217	6	the	the	DET
fcis-29170	217	7	td	td	NOUN
fcis-29170	217	8	is	be	AUX
fcis-29170	217	9	:	:	PUNCT
fcis-29170	217	10	1	1	NUM
fcis-29170	217	11	2	2	NUM
fcis-29170	217	12	0	0	NUM
fcis-29170	217	13	0	0	NUM
fcis-29170	217	14	1	1	NUM
fcis-29170	217	15	1	1	NUM
fcis-29170	217	16	2	2	NUM
fcis-29170	217	17	2	2	NUM
fcis-29170	217	18	2	2	NUM
fcis-29170	217	19	(	(	PUNCT
fcis-29170	217	20	(	(	PUNCT
fcis-29170	217	21	)	)	PUNCT
fcis-29170	217	22	(	(	PUNCT
fcis-29170	217	23	)	)	PUNCT
fcis-29170	217	24	,	,	PUNCT
fcis-29170	217	25	(	(	PUNCT
fcis-29170	217	26	)	)	PUNCT
fcis-29170	217	27	,	,	PUNCT
fcis-29170	217	28	,	,	PUNCT
fcis-29170	217	29	)	)	PUNCT
fcis-29170	217	30	(	(	PUNCT
fcis-29170	217	31	1	1	X
fcis-29170	217	32	)	)	PUNCT
fcis-29170	217	33	(	(	PUNCT
fcis-29170	217	34	)	)	PUNCT
fcis-29170	217	35	(	(	PUNCT
fcis-29170	217	36	)	)	PUNCT
fcis-29170	217	37	(	(	PUNCT
fcis-29170	217	38	1	1	X
fcis-29170	217	39	)	)	PUNCT
fcis-29170	217	40	(	(	PUNCT
fcis-29170	217	41	)	)	PUNCT
fcis-29170	217	42	fh	fh	INTJ
fcis-29170	217	43	fhan	fhan	INTJ
fcis-29170	217	44	x	x	SYM
fcis-29170	218	1	k	k	PROPN
fcis-29170	218	2	v	v	X
fcis-29170	218	3	k	k	NOUN
fcis-29170	218	4	x	x	X
fcis-29170	218	5	k	k	NOUN
fcis-29170	218	6	r	r	NOUN
fcis-29170	218	7	h	h	NOUN
fcis-29170	219	1	x	x	X
fcis-29170	219	2	k	k	NOUN
fcis-29170	219	3	x	x	X
fcis-29170	220	1	k	k	PROPN
fcis-29170	220	2	hx	hx	PROPN
fcis-29170	220	3	k	k	NOUN
fcis-29170	220	4	x	x	X
fcis-29170	220	5	k	k	NOUN
fcis-29170	220	6	x	x	X
fcis-29170	220	7	k	k	PROPN
fcis-29170	220	8	hfh	hfh	PROPN
fcis-29170	220	9			PROPN
fcis-29170	220	10			PROPN
fcis-29170	220	11			NUM
fcis-29170	220	12			X
fcis-29170	220	13			NUM
fcis-29170	220	14			NOUN
fcis-29170	220	15			NUM
fcis-29170	220	16			ADV
fcis-29170	220	17			ADJ
fcis-29170	220	18			NOUN
fcis-29170	220	19	(	(	PUNCT
fcis-29170	220	20	33	33	NUM
fcis-29170	220	21	)	)	PUNCT
fcis-29170	220	22	where	where	SCONJ
fcis-29170	220	23	:	:	PUNCT
fcis-29170	220	24	2	2	NUM
fcis-29170	220	25	0	0	NUM
fcis-29170	220	26	0	0	NUM
fcis-29170	220	27	0	0	NUM
fcis-29170	220	28	0	0	NUM
fcis-29170	220	29	2	2	NUM
fcis-29170	220	30	1	1	NUM
fcis-29170	220	31	0	0	NUM
fcis-29170	220	32	1	1	NUM
fcis-29170	220	33	1	1	NUM
fcis-29170	220	34	2	2	NUM
fcis-29170	220	35	0	0	NUM
fcis-29170	220	36	1	1	NUM
fcis-29170	220	37	2	2	NUM
fcis-29170	220	38	0	0	NUM
fcis-29170	220	39	0	0	NUM
fcis-29170	220	40	0	0	NUM
fcis-29170	220	41	2	2	NUM
fcis-29170	220	42	2	2	NUM
fcis-29170	220	43	0	0	NUM
fcis-29170	220	44	(	(	PUNCT
fcis-29170	220	45	8	8	NUM
fcis-29170	220	46	)	)	PUNCT
fcis-29170	220	47	(	(	PUNCT
fcis-29170	220	48	)	)	PUNCT
fcis-29170	220	49	(	(	PUNCT
fcis-29170	220	50	)	)	PUNCT
fcis-29170	220	51	2	2	NUM
fcis-29170	220	52	(	(	PUNCT
fcis-29170	220	53	,	,	PUNCT
fcis-29170	220	54	,	,	PUNCT
fcis-29170	220	55	,	,	PUNCT
fcis-29170	220	56	)	)	PUNCT
fcis-29170	220	57	(	(	PUNCT
fcis-29170	220	58	)	)	PUNCT
fcis-29170	220	59	(	(	PUNCT
fcis-29170	220	60	)	)	PUNCT
fcis-29170	220	61	2	2	NUM
fcis-29170	220	62	(	(	PUNCT
fcis-29170	220	63	)	)	PUNCT
fcis-29170	220	64	(	(	PUNCT
fcis-29170	220	65	)	)	PUNCT
fcis-29170	220	66	(	(	PUNCT
fcis-29170	220	67	)	)	PUNCT
fcis-29170	220	68	2	2	NUM
fcis-29170	220	69	(	(	PUNCT
fcis-29170	220	70	)	)	PUNCT
fcis-29170	220	71	(	(	PUNCT
fcis-29170	220	72	)	)	PUNCT
fcis-29170	221	1	y	y	PROPN
fcis-29170	221	2	y	y	PROPN
fcis-29170	222	1	a	a	DET
fcis-29170	222	2	a	a	PROPN
fcis-29170	222	3	d	d	X
fcis-29170	222	4	r	r	NOUN
fcis-29170	222	5	h	h	NOUN
fcis-29170	222	6	a	a	DET
fcis-29170	222	7	h	h	NOUN
fcis-29170	222	8	x	x	PUNCT
fcis-29170	222	9	y	y	NOUN
fcis-29170	222	10	x	x	PROPN
fcis-29170	222	11	a	a	PRON
fcis-29170	222	12	a	a	PROPN
fcis-29170	222	13	d	d	X
fcis-29170	222	14	d	d	X
fcis-29170	222	15	y	y	PROPN
fcis-29170	222	16	sign	sign	VERB
fcis-29170	222	17	y	y	PROPN
fcis-29170	222	18	a	a	PRON
fcis-29170	222	19	d	d	PROPN
fcis-29170	222	20	a	a	PRON
fcis-29170	222	21	a	a	DET
fcis-29170	222	22	fhan	fhan	NOUN
fcis-29170	222	23	x	x	SYM
fcis-29170	222	24	x	x	SYM
fcis-29170	222	25	r	r	NOUN
fcis-29170	222	26	h	h	NOUN
fcis-29170	222	27	sign	sign	VERB
fcis-29170	222	28	y	y	PROPN
fcis-29170	222	29	d	d	AUX
fcis-29170	222	30	sign	sign	VERB
fcis-29170	222	31	y	y	PROPN
fcis-29170	222	32	d	d	PROPN
fcis-29170	222	33	s	s	PROPN
fcis-29170	222	34	a	a	PRON
fcis-29170	222	35	a	a	DET
fcis-29170	222	36	y	y	NOUN
fcis-29170	223	1	a	a	PRON
fcis-29170	223	2	s	s	X
fcis-29170	223	3	a	a	DET
fcis-29170	223	4	sign	sign	NOUN
fcis-29170	223	5	a	a	DET
fcis-29170	223	6	d	d	NOUN
fcis-29170	223	7	sign	sign	NOUN
fcis-29170	223	8	a	a	DET
fcis-29170	223	9	d	d	X
fcis-29170	223	10	s	s	PROPN
fcis-29170	223	11	a	a	DET
fcis-29170	223	12	fhan	fhan	NOUN
fcis-29170	223	13	r	r	NOUN
fcis-29170	223	14	sign	sign	NOUN
fcis-29170	223	15	a	a	DET
fcis-29170	223	16	s	s	NOUN
fcis-29170	223	17	r	r	NOUN
fcis-29170	223	18	sign	sign	NOUN
fcis-29170	223	19	a	a	DET
fcis-29170	223	20	d	d	NOUN
fcis-29170	223	21			ADP
fcis-29170	223	22			PRON
fcis-29170	223	23			NUM
fcis-29170	223	24			NOUN
fcis-29170	223	25			NUM
fcis-29170	223	26			NOUN
fcis-29170	223	27			NOUN
fcis-29170	224	1			NUM
fcis-29170	224	2			NUM
fcis-29170	224	3			NOUN
fcis-29170	224	4			NUM
fcis-29170	224	5			VERB
fcis-29170	224	6			PRON
fcis-29170	224	7			NOUN
fcis-29170	225	1			PROPN
fcis-29170	225	2			NUM
fcis-29170	225	3			PUNCT
fcis-29170	225	4			PROPN
fcis-29170	225	5			VERB
fcis-29170	225	6			PRON
fcis-29170	225	7			NUM
fcis-29170	225	8			NUM
fcis-29170	225	9			PROPN
fcis-29170	225	10			ADJ
fcis-29170	225	11			PROPN
fcis-29170	225	12			VERB
fcis-29170	225	13			PRON
fcis-29170	225	14			NUM
fcis-29170	225	15			X
fcis-29170	225	16			PROPN
fcis-29170	225	17			PROPN
fcis-29170	225	18			NOUN
fcis-29170	225	19			NUM
fcis-29170	225	20			DET
fcis-29170	225	21			PROPN
fcis-29170	225	22			PROPN
fcis-29170	225	23			PROPN
fcis-29170	225	24			PROPN
fcis-29170	225	25			PROPN
fcis-29170	225	26			NOUN
fcis-29170	225	27			NUM
fcis-29170	225	28			PROPN
fcis-29170	225	29	(	(	PUNCT
fcis-29170	225	30	34	34	NUM
fcis-29170	225	31	)	)	PUNCT
fcis-29170	225	32	,	,	PUNCT
fcis-29170	225	33	are	be	AUX
fcis-29170	225	34	the	the	DET
fcis-29170	225	35	target	target	NOUN
fcis-29170	225	36	control	control	NOUN
fcis-29170	225	37	variables	variable	NOUN
fcis-29170	225	38	and	and	CCONJ
fcis-29170	225	39	their	their	PRON
fcis-29170	225	40	derivatives	derivative	NOUN
fcis-29170	225	41	,	,	PUNCT
fcis-29170	225	42	,	,	PUNCT
fcis-29170	225	43	are	be	AUX
fcis-29170	225	44	the	the	DET
fcis-29170	225	45	control	control	NOUN
fcis-29170	225	46	parameters	parameter	NOUN
fcis-29170	225	47	of	of	ADP
fcis-29170	225	48	the	the	DET
fcis-29170	225	49	function	function	NOUN
fcis-29170	225	50	.	.	PUNCT
fcis-29170	226	1	controls	control	VERB
fcis-29170	226	2	the	the	DET
fcis-29170	226	3	tracking	tracking	NOUN
fcis-29170	226	4	speed	speed	NOUN
fcis-29170	226	5	:	:	PUNCT
fcis-29170	226	6	the	the	DET
fcis-29170	226	7	larger	large	ADJ
fcis-29170	226	8	is	be	AUX
fcis-29170	226	9	,	,	PUNCT
fcis-29170	226	10	the	the	PRON
fcis-29170	226	11	faster	fast	ADJ
fcis-29170	226	12	the	the	DET
fcis-29170	226	13	tracking	tracking	NOUN
fcis-29170	226	14	,	,	PUNCT
fcis-29170	226	15	but	but	CCONJ
fcis-29170	226	16	the	the	DET
fcis-29170	226	17	noise	noise	NOUN
fcis-29170	226	18	amplification	amplification	NOUN
fcis-29170	226	19	effect	effect	NOUN
fcis-29170	226	20	and	and	CCONJ
fcis-29170	226	21	overshoot	overshoot	NOUN
fcis-29170	226	22	will	will	AUX
fcis-29170	226	23	also	also	ADV
fcis-29170	226	24	increase	increase	VERB
fcis-29170	226	25	.	.	PUNCT
fcis-29170	227	1	if	if	SCONJ
fcis-29170	227	2	is	be	AUX
fcis-29170	227	3	too	too	ADV
fcis-29170	227	4	large	large	ADJ
fcis-29170	227	5	,	,	PUNCT
fcis-29170	227	6	it	it	PRON
fcis-29170	227	7	may	may	AUX
fcis-29170	227	8	cause	cause	VERB
fcis-29170	227	9	system	system	NOUN
fcis-29170	227	10	oscillation	oscillation	NOUN
fcis-29170	227	11	.	.	PUNCT
fcis-29170	228	1	typically	typically	ADV
fcis-29170	228	2	,	,	PUNCT
fcis-29170	228	3	in	in	ADP
fcis-29170	228	4	the	the	DET
fcis-29170	228	5	pmsm	pmsm	NOUN
fcis-29170	228	6	system	system	NOUN
fcis-29170	228	7	,	,	PUNCT
fcis-29170	228	8	∈	∈	PROPN
fcis-29170	228	9	0,1000	0,1000	PROPN
fcis-29170	228	10	is	be	AUX
fcis-29170	228	11	acceptable	acceptable	ADJ
fcis-29170	228	12	.	.	PUNCT
fcis-29170	229	1	controls	control	VERB
fcis-29170	229	2	the	the	DET
fcis-29170	229	3	internal	internal	ADJ
fcis-29170	229	4	iteration	iteration	NOUN
fcis-29170	229	5	step	step	NOUN
fcis-29170	229	6	size	size	NOUN
fcis-29170	229	7	of	of	ADP
fcis-29170	229	8	,	,	PUNCT
fcis-29170	229	9	which	which	PRON
fcis-29170	229	10	is	be	AUX
fcis-29170	229	11	similar	similar	ADJ
fcis-29170	229	12	to	to	ADP
fcis-29170	229	13	the	the	DET
fcis-29170	229	14	system	system	NOUN
fcis-29170	229	15	sampling	sample	VERB
fcis-29170	229	16	period	period	NOUN
fcis-29170	229	17	.	.	PUNCT
fcis-29170	230	1	to	to	PART
fcis-29170	230	2	avoid	avoid	VERB
fcis-29170	230	3	noise	noise	NOUN
fcis-29170	230	4	amplification	amplification	NOUN
fcis-29170	230	5	,	,	PUNCT
fcis-29170	230	6	is	be	AUX
fcis-29170	230	7	usually	usually	ADV
fcis-29170	230	8	selected	select	VERB
fcis-29170	230	9	as	as	ADP
fcis-29170	230	10	an	an	DET
fcis-29170	230	11	integer	integer	NOUN
fcis-29170	230	12	multiple	multiple	NOUN
fcis-29170	230	13	of	of	ADP
fcis-29170	230	14	the	the	DET
fcis-29170	230	15	sampling	sampling	NOUN
fcis-29170	230	16	period	period	NOUN
fcis-29170	230	17	.	.	PUNCT
fcis-29170	231	1	the	the	DET
fcis-29170	231	2	discrete	discrete	ADJ
fcis-29170	231	3	mathematical	mathematical	ADJ
fcis-29170	231	4	model	model	NOUN
fcis-29170	231	5	of	of	ADP
fcis-29170	231	6	the	the	DET
fcis-29170	231	7	nonlinear	nonlinear	ADJ
fcis-29170	231	8	extended	extend	VERB
fcis-29170	231	9	state	state	NOUN
fcis-29170	231	10	observer	observer	NOUN
fcis-29170	231	11	(	(	PUNCT
fcis-29170	231	12	eso	eso	NOUN
fcis-29170	231	13	)	)	PUNCT
fcis-29170	231	14	is	be	AUX
fcis-29170	231	15	:	:	PUNCT
fcis-29170	231	16	1	1	NUM
fcis-29170	231	17	1	1	NUM
fcis-29170	231	18	1	1	NUM
fcis-29170	231	19	2	2	NUM
fcis-29170	231	20	01	01	NUM
fcis-29170	231	21	2	2	NUM
fcis-29170	231	22	2	2	NUM
fcis-29170	231	23	3	3	NUM
fcis-29170	231	24	02	02	NUM
fcis-29170	231	25	1	1	NUM
fcis-29170	231	26	3	3	NUM
fcis-29170	231	27	3	3	NUM
fcis-29170	231	28	03	03	NUM
fcis-29170	231	29	2	2	NUM
fcis-29170	231	30	(	(	PUNCT
fcis-29170	231	31	)	)	PUNCT
fcis-29170	231	32	(	(	PUNCT
fcis-29170	231	33	)	)	PUNCT
fcis-29170	231	34	(	(	PUNCT
fcis-29170	231	35	)	)	PUNCT
fcis-29170	231	36	(	(	PUNCT
fcis-29170	231	37	1	1	X
fcis-29170	231	38	)	)	PUNCT
fcis-29170	231	39	(	(	PUNCT
fcis-29170	231	40	)	)	PUNCT
fcis-29170	231	41	[	[	PUNCT
fcis-29170	231	42	(	(	PUNCT
fcis-29170	231	43	)	)	PUNCT
fcis-29170	231	44	(	(	PUNCT
fcis-29170	231	45	)	)	PUNCT
fcis-29170	231	46	]	]	PUNCT
fcis-29170	232	1	(	(	PUNCT
fcis-29170	232	2	1	1	X
fcis-29170	232	3	)	)	PUNCT
fcis-29170	232	4	(	(	PUNCT
fcis-29170	232	5	)	)	PUNCT
fcis-29170	232	6	[	[	PUNCT
fcis-29170	232	7	(	(	PUNCT
fcis-29170	232	8	)	)	PUNCT
fcis-29170	232	9	(	(	PUNCT
fcis-29170	232	10	,	,	PUNCT
fcis-29170	232	11	,	,	PUNCT
fcis-29170	232	12	)	)	PUNCT
fcis-29170	232	13	]	]	PUNCT
fcis-29170	232	14	(	(	PUNCT
fcis-29170	232	15	1	1	X
fcis-29170	232	16	)	)	PUNCT
fcis-29170	232	17	(	(	PUNCT
fcis-29170	232	18	)	)	PUNCT
fcis-29170	232	19	(	(	PUNCT
fcis-29170	232	20	,	,	PUNCT
fcis-29170	232	21	,	,	PUNCT
fcis-29170	232	22	)	)	PUNCT
fcis-29170	233	1	e	e	X
fcis-29170	233	2	k	k	NOUN
fcis-29170	233	3	z	z	PROPN
fcis-29170	233	4	k	k	PROPN
fcis-29170	234	1	y	y	PROPN
fcis-29170	234	2	k	k	PROPN
fcis-29170	234	3	z	z	PROPN
fcis-29170	235	1	k	k	PROPN
fcis-29170	235	2	z	z	PUNCT
fcis-29170	236	1	k	k	PROPN
fcis-29170	236	2	h	h	NOUN
fcis-29170	236	3	z	z	NOUN
fcis-29170	237	1	k	k	PROPN
fcis-29170	237	2	e	e	X
fcis-29170	238	1	k	k	PROPN
fcis-29170	238	2	z	z	PROPN
fcis-29170	239	1	k	k	PROPN
fcis-29170	239	2	z	z	PUNCT
fcis-29170	240	1	k	k	PROPN
fcis-29170	240	2	h	h	PROPN
fcis-29170	240	3	z	z	PROPN
fcis-29170	240	4	k	k	PROPN
fcis-29170	241	1	fal	fal	X
fcis-29170	241	2	e	e	X
fcis-29170	241	3	a	a	PRON
fcis-29170	241	4	bu	bu	PROPN
fcis-29170	241	5	z	z	PROPN
fcis-29170	241	6	k	k	PROPN
fcis-29170	242	1	z	z	PUNCT
fcis-29170	242	2	k	k	PROPN
fcis-29170	242	3	h	h	NOUN
fcis-29170	242	4	fal	fal	PROPN
fcis-29170	242	5	e	e	PROPN
fcis-29170	242	6	a	a	DET
fcis-29170	242	7			PROPN
fcis-29170	242	8			PROPN
fcis-29170	242	9			PROPN
fcis-29170	242	10			PROPN
fcis-29170	242	11			NUM
fcis-29170	242	12			PROPN
fcis-29170	242	13			NOUN
fcis-29170	242	14			NUM
fcis-29170	242	15			PROPN
fcis-29170	242	16			PROPN
fcis-29170	242	17			ADV
fcis-29170	242	18			NOUN
fcis-29170	242	19			NUM
fcis-29170	242	20			ADV
fcis-29170	242	21			NUM
fcis-29170	242	22			ADJ
fcis-29170	242	23			NOUN
fcis-29170	242	24			NOUN
fcis-29170	242	25			NUM
fcis-29170	242	26			X
fcis-29170	242	27			PROPN
fcis-29170	242	28			CCONJ
fcis-29170	242	29	(	(	PUNCT
fcis-29170	242	30	35	35	NUM
fcis-29170	242	31	)	)	PUNCT
fcis-29170	242	32	where	where	SCONJ
fcis-29170	242	33	,	,	PUNCT
fcis-29170	242	34	is	be	AUX
fcis-29170	242	35	the	the	DET
fcis-29170	242	36	nonlinear	nonlinear	ADJ
fcis-29170	242	37	function	function	NOUN
fcis-29170	242	38	:	:	PUNCT
fcis-29170	242	39	(	(	PUNCT
fcis-29170	242	40	1	1	X
fcis-29170	242	41	)	)	PUNCT
fcis-29170	242	42	,	,	PUNCT
fcis-29170	242	43	(	(	PUNCT
fcis-29170	242	44	,	,	PUNCT
fcis-29170	242	45	,	,	PUNCT
fcis-29170	242	46	)	)	PUNCT
fcis-29170	242	47	(	(	PUNCT
fcis-29170	242	48	)	)	PUNCT
fcis-29170	242	49	,	,	PUNCT
fcis-29170	242	50	a	a	DET
fcis-29170	242	51	a	a	PRON
fcis-29170	242	52	x	x	SYM
fcis-29170	242	53	x	x	SYM
fcis-29170	242	54	fal	fal	X
fcis-29170	242	55	x	x	PUNCT
fcis-29170	242	56	a	a	DET
fcis-29170	242	57	sign	sign	NOUN
fcis-29170	242	58	x	x	X
fcis-29170	242	59	x	x	PUNCT
fcis-29170	242	60	x	x	SYM
fcis-29170	242	61			NUM
fcis-29170	242	62			NUM
fcis-29170	242	63			NUM
fcis-29170	242	64			NUM
fcis-29170	242	65			NOUN
fcis-29170	242	66			ADP
fcis-29170	242	67			ADV
fcis-29170	242	68			NUM
fcis-29170	242	69			NUM
fcis-29170	242	70			PROPN
fcis-29170	242	71	(	(	PUNCT
fcis-29170	242	72	36	36	NUM
fcis-29170	242	73	)	)	PUNCT
fcis-29170	242	74	the	the	DET
fcis-29170	242	75	function	function	NOUN
fcis-29170	242	76	,	,	PUNCT
fcis-29170	242	77	,	,	PUNCT
fcis-29170	242	78	ensures	ensure	VERB
fcis-29170	242	79	that	that	SCONJ
fcis-29170	242	80	the	the	DET
fcis-29170	242	81	eso	eso	NOUN
fcis-29170	242	82	state	state	NOUN
fcis-29170	242	83	variables	variable	NOUN
fcis-29170	242	84	can	can	AUX
fcis-29170	242	85	closely	closely	ADV
fcis-29170	242	86	approximate	approximate	VERB
fcis-29170	242	87	the	the	DET
fcis-29170	242	88	system	system	NOUN
fcis-29170	242	89	state	state	NOUN
fcis-29170	242	90	variables	variable	NOUN
fcis-29170	242	91	,	,	PUNCT
fcis-29170	242	92	and	and	CCONJ
fcis-29170	242	93	have	have	VERB
fcis-29170	242	94	a	a	DET
fcis-29170	242	95	larger	large	ADJ
fcis-29170	242	96	adaptation	adaptation	NOUN
fcis-29170	242	97	range	range	NOUN
fcis-29170	242	98	.	.	PUNCT
fcis-29170	243	1	the	the	DET
fcis-29170	243	2	parameters	parameter	NOUN
fcis-29170	243	3	that	that	PRON
fcis-29170	243	4	need	need	VERB
fcis-29170	243	5	to	to	PART
fcis-29170	243	6	be	be	AUX
fcis-29170	243	7	tuned	tune	VERB
fcis-29170	243	8	in	in	ADP
fcis-29170	243	9	equation	equation	NOUN
fcis-29170	243	10	(	(	PUNCT
fcis-29170	243	11	35	35	NUM
fcis-29170	243	12	)	)	PUNCT
fcis-29170	243	13	include	include	VERB
fcis-29170	243	14	:	:	PUNCT
fcis-29170	243	15	,	,	PUNCT
fcis-29170	243	16	,	,	PUNCT
fcis-29170	243	17	,	,	PUNCT
fcis-29170	243	18	,	,	PUNCT
fcis-29170	243	19	,	,	PUNCT
fcis-29170	243	20	,	,	PUNCT
fcis-29170	243	21	.	.	PUNCT
fcis-29170	244	1	and	and	CCONJ
fcis-29170	244	2	are	be	AUX
fcis-29170	244	3	nonlinear	nonlinear	ADJ
fcis-29170	244	4	factors	factor	NOUN
fcis-29170	244	5	,	,	PUNCT
fcis-29170	244	6	with	with	ADP
fcis-29170	244	7	values	value	NOUN
fcis-29170	244	8	in	in	ADP
fcis-29170	244	9	the	the	DET
fcis-29170	244	10	range	range	NOUN
fcis-29170	244	11	∈	∈	NOUN
fcis-29170	244	12	0,1	0,1	NUM
fcis-29170	244	13	,	,	PUNCT
fcis-29170	244	14	and	and	CCONJ
fcis-29170	244	15	.	.	PUNCT
fcis-29170	245	1	is	be	AUX
fcis-29170	245	2	the	the	DET
fcis-29170	245	3	filtering	filter	VERB
fcis-29170	245	4	factor	factor	NOUN
fcis-29170	245	5	,	,	PUNCT
fcis-29170	245	6	with	with	ADP
fcis-29170	245	7	values	value	NOUN
fcis-29170	245	8	in	in	ADP
fcis-29170	245	9	the	the	DET
fcis-29170	245	10	range	range	NOUN
fcis-29170	245	11	∈	∈	NOUN
fcis-29170	245	12	0,0.1	0,0.1	NOUN
fcis-29170	245	13	.	.	PUNCT
fcis-29170	246	1	the	the	DET
fcis-29170	246	2	error	error	NOUN
fcis-29170	246	3	gain	gain	NOUN
fcis-29170	246	4	parameters	parameter	NOUN
fcis-29170	246	5	,	,	PUNCT
fcis-29170	246	6	,	,	PUNCT
fcis-29170	246	7	need	need	VERB
fcis-29170	246	8	to	to	PART
fcis-29170	246	9	be	be	AUX
fcis-29170	246	10	analyzed	analyze	VERB
fcis-29170	246	11	based	base	VERB
fcis-29170	246	12	on	on	ADP
fcis-29170	246	13	the	the	DET
fcis-29170	246	14	specific	specific	ADJ
fcis-29170	246	15	system	system	NOUN
fcis-29170	246	16	characteristics	characteristic	NOUN
fcis-29170	246	17	.	.	PUNCT
fcis-29170	247	1	generally	generally	ADV
fcis-29170	247	2	,	,	PUNCT
fcis-29170	247	3	the	the	DET
fcis-29170	247	4	relationship	relationship	NOUN
fcis-29170	247	5	among	among	ADP
fcis-29170	247	6	their	their	PRON
fcis-29170	247	7	values	value	NOUN
fcis-29170	247	8	is	be	AUX
fcis-29170	247	9	:	:	PUNCT
fcis-29170	247	10	02	02	NUM
fcis-29170	247	11	01	01	NUM
fcis-29170	247	12	2	2	NUM
fcis-29170	247	13	03	03	NUM
fcis-29170	247	14	01	01	NUM
fcis-29170	248	1	10	10	NUM
fcis-29170	248	2			PROPN
fcis-29170	248	3			PROPN
fcis-29170	248	4			PROPN
fcis-29170	248	5			PROPN
fcis-29170	248	6			NUM
fcis-29170	248	7			NOUN
fcis-29170	248	8	(	(	PUNCT
fcis-29170	248	9	37	37	NUM
fcis-29170	248	10	)	)	PUNCT
fcis-29170	248	11	the	the	DET
fcis-29170	248	12	compensation	compensation	NOUN
fcis-29170	248	13	factor	factor	NOUN
fcis-29170	248	14	needs	need	VERB
fcis-29170	248	15	to	to	PART
fcis-29170	248	16	be	be	AUX
fcis-29170	248	17	analyzed	analyze	VERB
fcis-29170	248	18	based	base	VERB
fcis-29170	248	19	on	on	ADP
fcis-29170	248	20	the	the	DET
fcis-29170	248	21	output	output	NOUN
fcis-29170	248	22	waveform	waveform	NOUN
fcis-29170	248	23	of	of	ADP
fcis-29170	248	24	the	the	DET
fcis-29170	248	25	controller	controller	NOUN
fcis-29170	248	26	.	.	PUNCT
fcis-29170	249	1	increasing	increase	VERB
fcis-29170	249	2	can	can	AUX
fcis-29170	249	3	reduce	reduce	VERB
fcis-29170	249	4	chattering	chattering	NOUN
fcis-29170	249	5	caused	cause	VERB
fcis-29170	249	6	by	by	ADP
fcis-29170	249	7	an	an	DET
fcis-29170	249	8	increased	increase	VERB
fcis-29170	249	9	controller	controller	NOUN
fcis-29170	249	10	bandwidth	bandwidth	NOUN
fcis-29170	249	11	,	,	PUNCT
fcis-29170	249	12	but	but	CCONJ
fcis-29170	249	13	an	an	DET
fcis-29170	249	14	excessively	excessively	ADV
fcis-29170	249	15	large	large	ADJ
fcis-29170	249	16	will	will	AUX
fcis-29170	249	17	decrease	decrease	VERB
fcis-29170	249	18	the	the	DET
fcis-29170	249	19	disturbance	disturbance	NOUN
fcis-29170	249	20	compensation	compensation	NOUN
fcis-29170	249	21	amount	amount	NOUN
fcis-29170	249	22	,	,	PUNCT
fcis-29170	249	23	reducing	reduce	VERB
fcis-29170	249	24	the	the	DET
fcis-29170	249	25	effectiveness	effectiveness	NOUN
fcis-29170	249	26	of	of	ADP
fcis-29170	249	27	disturbance	disturbance	NOUN
fcis-29170	249	28	suppression	suppression	NOUN
fcis-29170	249	29	.	.	PUNCT
fcis-29170	250	1	the	the	DET
fcis-29170	250	2	combination	combination	NOUN
fcis-29170	250	3	relationship	relationship	NOUN
fcis-29170	250	4	of	of	ADP
fcis-29170	250	5	the	the	DET
fcis-29170	250	6	nlsef	nlsef	NOUN
fcis-29170	250	7	is	be	AUX
fcis-29170	250	8	:	:	PUNCT
fcis-29170	250	9	0	0	NUM
fcis-29170	250	10	1	1	NUM
fcis-29170	250	11	1	1	NUM
fcis-29170	250	12	1	1	NUM
fcis-29170	250	13	2	2	NUM
fcis-29170	250	14	2	2	NUM
fcis-29170	250	15	2	2	NUM
fcis-29170	250	16	(	(	PUNCT
fcis-29170	250	17	,	,	PUNCT
fcis-29170	250	18	,	,	PUNCT
fcis-29170	250	19	)	)	PUNCT
fcis-29170	250	20	(	(	PUNCT
fcis-29170	250	21	,	,	PUNCT
fcis-29170	250	22	,	,	PUNCT
fcis-29170	250	23	)	)	PUNCT
fcis-29170	250	24	u	u	NOUN
fcis-29170	250	25	fal	fal	X
fcis-29170	250	26	e	e	X
fcis-29170	250	27	a	a	DET
fcis-29170	250	28	fal	fal	X
fcis-29170	250	29	e	e	X
fcis-29170	250	30	a	a	PROPN
fcis-29170	250	31			PROPN
fcis-29170	250	32			PROPN
fcis-29170	250	33			PROPN
fcis-29170	250	34			PUNCT
fcis-29170	250	35	(	(	PUNCT
fcis-29170	250	36	38	38	NUM
fcis-29170	250	37	)	)	PUNCT
fcis-29170	250	38	the	the	DET
fcis-29170	250	39	tunable	tunable	ADJ
fcis-29170	250	40	parameters	parameter	NOUN
fcis-29170	250	41	in	in	ADP
fcis-29170	250	42	nlsef	nlsef	PROPN
fcis-29170	250	43	include	include	VERB
fcis-29170	250	44	the	the	DET
fcis-29170	250	45	error	error	NOUN
fcis-29170	250	46	gains	gain	NOUN
fcis-29170	250	47	and	and	CCONJ
fcis-29170	250	48	.	.	PUNCT
fcis-29170	251	1	increasing	increase	VERB
fcis-29170	251	2	and	and	CCONJ
fcis-29170	251	3	accelerates	accelerate	VERB
fcis-29170	251	4	the	the	DET
fcis-29170	251	5	speed	speed	NOUN
fcis-29170	251	6	response	response	NOUN
fcis-29170	251	7	,	,	PUNCT
fcis-29170	251	8	but	but	CCONJ
fcis-29170	251	9	excessive	excessive	ADJ
fcis-29170	251	10	values	value	NOUN
fcis-29170	251	11	can	can	AUX
fcis-29170	251	12	lead	lead	VERB
fcis-29170	251	13	to	to	ADP
fcis-29170	251	14	overshoot	overshoot	NOUN
fcis-29170	251	15	,	,	PUNCT
fcis-29170	251	16	while	while	SCONJ
fcis-29170	251	17	smaller	small	ADJ
fcis-29170	251	18	values	value	NOUN
fcis-29170	251	19	may	may	AUX
fcis-29170	251	20	result	result	VERB
fcis-29170	251	21	in	in	ADP
fcis-29170	251	22	steady	steady	ADJ
fcis-29170	251	23	-	-	PUNCT
fcis-29170	251	24	state	state	NOUN
fcis-29170	251	25	errors	error	NOUN
fcis-29170	251	26	in	in	ADP
fcis-29170	251	27	speed	speed	NOUN
fcis-29170	251	28	.	.	PUNCT
fcis-29170	252	1	during	during	ADP
fcis-29170	252	2	parameter	parameter	NOUN
fcis-29170	252	3	tuning	tuning	NOUN
fcis-29170	252	4	,	,	PUNCT
fcis-29170	252	5	increments	increment	NOUN
fcis-29170	252	6	are	be	AUX
fcis-29170	252	7	usually	usually	ADV
fcis-29170	252	8	made	make	VERB
fcis-29170	252	9	in	in	ADP
fcis-29170	252	10	orders	order	NOUN
fcis-29170	252	11	of	of	ADP
fcis-29170	252	12	magnitude	magnitude	NOUN
fcis-29170	252	13	until	until	SCONJ
fcis-29170	252	14	overshoot	overshoot	NOUN
fcis-29170	252	15	appears	appear	VERB
fcis-29170	252	16	,	,	PUNCT
fcis-29170	252	17	and	and	CCONJ
fcis-29170	252	18	then	then	ADV
fcis-29170	252	19	the	the	DET
fcis-29170	252	20	values	value	NOUN
fcis-29170	252	21	are	be	AUX
fcis-29170	252	22	gradually	gradually	ADV
fcis-29170	252	23	reduced	reduce	VERB
fcis-29170	252	24	to	to	ADP
fcis-29170	252	25	the	the	DET
fcis-29170	252	26	optimal	optimal	ADJ
fcis-29170	252	27	level	level	NOUN
fcis-29170	252	28	.	.	PUNCT
fcis-29170	253	1	the	the	DET
fcis-29170	253	2	tuning	tuning	NOUN
fcis-29170	253	3	methods	method	NOUN
fcis-29170	253	4	for	for	ADP
fcis-29170	253	5	,	,	PUNCT
fcis-29170	253	6	and	and	CCONJ
fcis-29170	253	7	are	be	AUX
fcis-29170	253	8	similar	similar	ADJ
fcis-29170	253	9	to	to	ADP
fcis-29170	253	10	those	those	PRON
fcis-29170	253	11	used	use	VERB
fcis-29170	253	12	in	in	ADP
fcis-29170	253	13	eso	eso	NOUN
fcis-29170	253	14	,	,	PUNCT
fcis-29170	253	15	but	but	CCONJ
fcis-29170	253	16	in	in	ADP
fcis-29170	253	17	nlsef	nlsef	NOUN
fcis-29170	253	18	,	,	PUNCT
fcis-29170	253	19	the	the	DET
fcis-29170	253	20	value	value	NOUN
fcis-29170	253	21	range	range	NOUN
fcis-29170	253	22	of	of	ADP
fcis-29170	253	23	is	be	AUX
fcis-29170	253	24	∈	∈	NOUN
fcis-29170	253	25	0,1	0,1	NUM
fcis-29170	253	26	,	,	PUNCT
fcis-29170	253	27	and	and	CCONJ
fcis-29170	253	28	for	for	ADP
fcis-29170	253	29	,	,	PUNCT
fcis-29170	253	30	∈	∈	PROPN
fcis-29170	253	31	1	1	NUM
fcis-29170	253	32	,	,	PUNCT
fcis-29170	253	33	∞	∞	PROPN
fcis-29170	253	34	.	.	PUNCT
fcis-29170	254	1	linear	linear	ADJ
fcis-29170	254	2	active	active	ADJ
fcis-29170	254	3	disturbance	disturbance	NOUN
fcis-29170	254	4	rejection	rejection	NOUN
fcis-29170	254	5	control	control	NOUN
fcis-29170	254	6	(	(	PUNCT
fcis-29170	254	7	ladrc	ladrc	NOUN
fcis-29170	254	8	)	)	PUNCT
fcis-29170	254	9	simplifies	simplify	VERB
fcis-29170	254	10	the	the	DET
fcis-29170	254	11	nladrc	nladrc	NOUN
fcis-29170	254	12	by	by	ADP
fcis-29170	254	13	replacing	replace	VERB
fcis-29170	254	14	the	the	DET
fcis-29170	254	15	td	td	NOUN
fcis-29170	254	16	and	and	CCONJ
fcis-29170	254	17	nlsef	nlsef	VERB
fcis-29170	254	18	with	with	ADP
fcis-29170	254	19	pd	pd	PROPN
fcis-29170	254	20	control	control	PROPN
fcis-29170	254	21	.	.	PUNCT
fcis-29170	255	1	this	this	DET
fcis-29170	255	2	approach	approach	NOUN
fcis-29170	255	3	associates	associate	VERB
fcis-29170	255	4	the	the	DET
fcis-29170	255	5	tunable	tunable	ADJ
fcis-29170	255	6	parameters	parameter	NOUN
fcis-29170	255	7	with	with	ADP
fcis-29170	255	8	the	the	DET
fcis-29170	255	9	frequency	frequency	NOUN
fcis-29170	255	10	-	-	PUNCT
fcis-29170	255	11	domain	domain	NOUN
fcis-29170	255	12	bandwidth	bandwidth	NOUN
fcis-29170	255	13	of	of	ADP
fcis-29170	255	14	the	the	DET
fcis-29170	255	15	controller	controller	NOUN
fcis-29170	255	16	,	,	PUNCT
fcis-29170	255	17	simplifying	simplify	VERB
fcis-29170	255	18	the	the	DET
fcis-29170	255	19	controller	controller	NOUN
fcis-29170	255	20	design	design	NOUN
fcis-29170	255	21	process	process	NOUN
fcis-29170	255	22	.	.	PUNCT
fcis-29170	256	1	the	the	DET
fcis-29170	256	2	basic	basic	ADJ
fcis-29170	256	3	structure	structure	NOUN
fcis-29170	256	4	of	of	ADP
fcis-29170	256	5	ladrc	ladrc	PROPN
fcis-29170	256	6	is	be	AUX
fcis-29170	256	7	shown	show	VERB
fcis-29170	256	8	in	in	ADP
fcis-29170	256	9	figure	figure	NOUN
fcis-29170	256	10	4	4	NUM
fcis-29170	256	11	.	.	PUNCT
fcis-29170	256	12	figure	figure	VERB
fcis-29170	256	13	4	4	NUM
fcis-29170	256	14	.	.	PUNCT
fcis-29170	256	15	ladrc	ladrc	NOUN
fcis-29170	256	16	controller	controller	NOUN
fcis-29170	256	17	structure	structure	NOUN
fcis-29170	256	18	diagram	diagram	VERB
fcis-29170	256	19	the	the	DET
fcis-29170	256	20	parameter	parameter	NOUN
fcis-29170	256	21	tuning	tuning	NOUN
fcis-29170	256	22	of	of	ADP
fcis-29170	256	23	nladrc	nladrc	PROPN
fcis-29170	256	24	and	and	CCONJ
fcis-29170	256	25	ladrc	ladrc	PROPN
fcis-29170	256	26	controllers	controller	NOUN
fcis-29170	256	27	is	be	AUX
fcis-29170	256	28	relatively	relatively	ADV
fcis-29170	256	29	challenging	challenging	ADJ
fcis-29170	256	30	.	.	PUNCT
fcis-29170	257	1	optimization	optimization	NOUN
fcis-29170	257	2	algorithms	algorithm	NOUN
fcis-29170	257	3	such	such	ADJ
fcis-29170	257	4	as	as	ADP
fcis-29170	257	5	whale	whale	NOUN
fcis-29170	257	6	optimization	optimization	NOUN
fcis-29170	257	7	algorithm	algorithm	NOUN
fcis-29170	257	8	(	(	PUNCT
fcis-29170	257	9	woa	woa	PROPN
fcis-29170	257	10	)	)	PUNCT
fcis-29170	257	11	,	,	PUNCT
fcis-29170	257	12	grey	grey	ADJ
fcis-29170	257	13	wolf	wolf	PROPN
fcis-29170	257	14	optimization	optimization	NOUN
fcis-29170	257	15	(	(	PUNCT
fcis-29170	257	16	gwo	gwo	PROPN
fcis-29170	257	17	)	)	PUNCT
fcis-29170	257	18	,	,	PUNCT
fcis-29170	257	19	and	and	CCONJ
fcis-29170	257	20	reinforcement	reinforcement	NOUN
fcis-29170	257	21	learning	learning	NOUN
fcis-29170	257	22	(	(	PUNCT
fcis-29170	257	23	rl	rl	NOUN
fcis-29170	257	24	)	)	PUNCT
fcis-29170	257	25	can	can	AUX
fcis-29170	257	26	be	be	AUX
fcis-29170	257	27	used	use	VERB
fcis-29170	257	28	for	for	ADP
fcis-29170	257	29	automatic	automatic	ADJ
fcis-29170	257	30	parameter	parameter	NOUN
fcis-29170	257	31	tuning	tuning	NOUN
fcis-29170	257	32	,	,	PUNCT
fcis-29170	257	33	significantly	significantly	ADV
fcis-29170	257	34	reducing	reduce	VERB
fcis-29170	257	35	the	the	DET
fcis-29170	257	36	workload	workload	NOUN
fcis-29170	257	37	involved	involve	VERB
fcis-29170	257	38	in	in	ADP
fcis-29170	257	39	the	the	DET
fcis-29170	257	40	tuning	tuning	NOUN
fcis-29170	257	41	process	process	NOUN
fcis-29170	257	42	.	.	PUNCT
fcis-29170	258	1	17	17	NUM
fcis-29170	258	2	6	6	NUM
fcis-29170	258	3	.	.	PUNCT
fcis-29170	258	4	simulation	simulation	NOUN
fcis-29170	258	5	testing	testing	NOUN
fcis-29170	258	6	and	and	CCONJ
fcis-29170	258	7	results	result	VERB
fcis-29170	258	8	analysis	analysis	NOUN
fcis-29170	258	9	6.1	6.1	NUM
fcis-29170	258	10	.	.	PUNCT
fcis-29170	259	1	construction	construction	NOUN
fcis-29170	259	2	of	of	ADP
fcis-29170	259	3	the	the	DET
fcis-29170	259	4	simulink	simulink	PROPN
fcis-29170	259	5	simulation	simulation	PROPN
fcis-29170	259	6	model	model	NOUN
fcis-29170	259	7	based	base	VERB
fcis-29170	259	8	on	on	ADP
fcis-29170	259	9	the	the	DET
fcis-29170	259	10	above	above	ADJ
fcis-29170	259	11	content	content	NOUN
fcis-29170	259	12	,	,	PUNCT
fcis-29170	259	13	construct	construct	VERB
fcis-29170	259	14	a	a	DET
fcis-29170	259	15	graphical	graphical	ADJ
fcis-29170	259	16	simulation	simulation	NOUN
fcis-29170	259	17	control	control	NOUN
fcis-29170	259	18	model	model	NOUN
fcis-29170	259	19	for	for	ADP
fcis-29170	259	20	pmsm	pmsm	NOUN
fcis-29170	259	21	in	in	ADP
fcis-29170	259	22	the	the	DET
fcis-29170	259	23	matlab	matlab	PROPN
fcis-29170	259	24	/	/	SYM
fcis-29170	259	25	simulink	simulink	PROPN
fcis-29170	259	26	environment	environment	NOUN
fcis-29170	259	27	.	.	PUNCT
fcis-29170	260	1	perform	perform	VERB
fcis-29170	260	2	comparative	comparative	ADJ
fcis-29170	260	3	simulation	simulation	NOUN
fcis-29170	260	4	experiments	experiment	NOUN
fcis-29170	260	5	for	for	ADP
fcis-29170	260	6	three	three	NUM
fcis-29170	260	7	control	control	NOUN
fcis-29170	260	8	systems	system	NOUN
fcis-29170	260	9	:	:	PUNCT
fcis-29170	260	10	pi+ekf	pi+ekf	PROPN
fcis-29170	260	11	,	,	PUNCT
fcis-29170	260	12	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	260	13	,	,	PUNCT
fcis-29170	260	14	and	and	CCONJ
fcis-29170	260	15	nladrc+ekf	nladrc+ekf	PROPN
fcis-29170	260	16	.	.	PUNCT
fcis-29170	261	1	the	the	DET
fcis-29170	261	2	model	model	NOUN
fcis-29170	261	3	uses	use	VERB
fcis-29170	261	4	a	a	DET
fcis-29170	261	5	fixed	fix	VERB
fcis-29170	261	6	step	step	NOUN
fcis-29170	261	7	size	size	NOUN
fcis-29170	261	8	of	of	ADP
fcis-29170	261	9	2e-6s	2e-6s	NOUN
fcis-29170	261	10	,	,	PUNCT
fcis-29170	261	11	the	the	DET
fcis-29170	261	12	ode23	ode23	PROPN
fcis-29170	261	13	tb	tb	X
fcis-29170	261	14	solver	solver	NOUN
fcis-29170	261	15	,	,	PUNCT
fcis-29170	261	16	and	and	CCONJ
fcis-29170	261	17	a	a	DET
fcis-29170	261	18	simulation	simulation	NOUN
fcis-29170	261	19	duration	duration	NOUN
fcis-29170	261	20	of	of	ADP
fcis-29170	261	21	0.6s	0.6s	NOUN
fcis-29170	261	22	.	.	PUNCT
fcis-29170	262	1	tables	table	NOUN
fcis-29170	262	2	1~4	1~4	NUM
fcis-29170	262	3	detail	detail	NOUN
fcis-29170	262	4	the	the	DET
fcis-29170	262	5	parameters	parameter	NOUN
fcis-29170	262	6	of	of	ADP
fcis-29170	262	7	each	each	DET
fcis-29170	262	8	part	part	NOUN
fcis-29170	262	9	of	of	ADP
fcis-29170	262	10	the	the	DET
fcis-29170	262	11	model	model	NOUN
fcis-29170	262	12	,	,	PUNCT
fcis-29170	262	13	and	and	CCONJ
fcis-29170	262	14	the	the	DET
fcis-29170	262	15	model	model	NOUN
fcis-29170	262	16	structure	structure	NOUN
fcis-29170	262	17	is	be	AUX
fcis-29170	262	18	illustrated	illustrate	VERB
fcis-29170	262	19	in	in	ADP
fcis-29170	262	20	figures	figure	NOUN
fcis-29170	262	21	5~7	5~7	NUM
fcis-29170	262	22	.	.	PUNCT
fcis-29170	262	23	figure	figure	NOUN
fcis-29170	262	24	5	5	NUM
fcis-29170	262	25	.	.	PUNCT
fcis-29170	262	26	simulation	simulation	NOUN
fcis-29170	262	27	model	model	PROPN
fcis-29170	262	28	diagram	diagram	PROPN
fcis-29170	262	29	of	of	ADP
fcis-29170	262	30	pi+ekf	pi+ekf	PROPN
fcis-29170	262	31	control	control	NOUN
fcis-29170	262	32	system	system	NOUN
fcis-29170	262	33	figure	figure	NOUN
fcis-29170	262	34	6	6	NUM
fcis-29170	262	35	.	.	PUNCT
fcis-29170	262	36	simulation	simulation	NOUN
fcis-29170	262	37	model	model	PROPN
fcis-29170	262	38	diagram	diagram	PROPN
fcis-29170	262	39	of	of	ADP
fcis-29170	262	40	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	262	41	control	control	NOUN
fcis-29170	262	42	system	system	NOUN
fcis-29170	262	43	figure	figure	NOUN
fcis-29170	262	44	7	7	NUM
fcis-29170	262	45	.	.	PUNCT
fcis-29170	262	46	simulation	simulation	NOUN
fcis-29170	262	47	model	model	PROPN
fcis-29170	262	48	diagram	diagram	PROPN
fcis-29170	262	49	of	of	ADP
fcis-29170	262	50	nladrc+ekf	nladrc+ekf	PROPN
fcis-29170	262	51	control	control	PROPN
fcis-29170	262	52	system	system	NOUN
fcis-29170	262	53	18	18	NUM
fcis-29170	262	54	table	table	NOUN
fcis-29170	262	55	1	1	NUM
fcis-29170	262	56	.	.	PUNCT
fcis-29170	262	57	motor	motor	PROPN
fcis-29170	262	58	simulation	simulation	PROPN
fcis-29170	262	59	model	model	PROPN
fcis-29170	262	60	parameter	parameter	PROPN
fcis-29170	262	61	table	table	NOUN
fcis-29170	262	62	name	name	NOUN
fcis-29170	262	63	value	value	NOUN
fcis-29170	262	64	dc	dc	PROPN
fcis-29170	262	65	-	-	PUNCT
fcis-29170	262	66	side	side	NOUN
fcis-29170	262	67	supply	supply	NOUN
fcis-29170	262	68	voltage	voltage	NOUN
fcis-29170	262	69	(	(	PUNCT
fcis-29170	262	70	vdc	vdc	PROPN
fcis-29170	262	71	/	/	SYM
fcis-29170	262	72	v	v	NOUN
fcis-29170	262	73	)	)	PUNCT
fcis-29170	262	74	311	311	NUM
fcis-29170	262	75	number	number	NOUN
fcis-29170	262	76	of	of	ADP
fcis-29170	262	77	motor	motor	NOUN
fcis-29170	262	78	pole	pole	NOUN
fcis-29170	262	79	pairs	pair	NOUN
fcis-29170	262	80	(	(	PUNCT
fcis-29170	262	81	pn	pn	NOUN
fcis-29170	262	82	)	)	PUNCT
fcis-29170	262	83	4	4	NUM
fcis-29170	262	84	per	per	ADP
fcis-29170	262	85	-	-	PUNCT
fcis-29170	262	86	phase	phase	NOUN
fcis-29170	262	87	stator	stator	NOUN
fcis-29170	262	88	resistance	resistance	NOUN
fcis-29170	262	89	(	(	PUNCT
fcis-29170	262	90	r	r	NOUN
fcis-29170	262	91	/	/	SYM
fcis-29170	262	92	ω	ω	NOUN
fcis-29170	262	93	)	)	PUNCT
fcis-29170	262	94	2.8750	2.8750	NUM
fcis-29170	262	95	moment	moment	NOUN
fcis-29170	262	96	of	of	ADP
fcis-29170	262	97	inertia	inertia	NOUN
fcis-29170	262	98	j/(kg·m-2	j/(kg·m-2	NOUN
fcis-29170	262	99	)	)	PUNCT
fcis-29170	262	100	0.001	0.001	NUM
fcis-29170	262	101	stator	stator	NOUN
fcis-29170	262	102	inductance	inductance	NOUN
fcis-29170	262	103	l	l	PROPN
fcis-29170	262	104	/	/	SYM
fcis-29170	262	105	mh	mh	PROPN
fcis-29170	262	106	0.0085	0.0085	NUM
fcis-29170	262	107	rotor	rotor	NOUN
fcis-29170	262	108	flux	flux	NOUN
fcis-29170	262	109	linkage	linkage	PROPN
fcis-29170	262	110	ψ	ψ	PROPN
fcis-29170	262	111	/	/	SYM
fcis-29170	262	112	wb	wb	PROPN
fcis-29170	262	113	0.175	0.175	NUM
fcis-29170	262	114	table	table	NOUN
fcis-29170	262	115	2	2	NUM
fcis-29170	262	116	.	.	PUNCT
fcis-29170	263	1	eso	eso	NOUN
fcis-29170	263	2	parameter	parameter	NOUN
fcis-29170	263	3	table	table	NOUN
fcis-29170	263	4	name	name	NOUN
fcis-29170	263	5	value	value	NOUN
fcis-29170	263	6	q11	q11	NOUN
fcis-29170	263	7	1.5	1.5	NUM
fcis-29170	263	8	q22	q22	NOUN
fcis-29170	263	9	1.5	1.5	NUM
fcis-29170	263	10	q33	q33	NOUN
fcis-29170	263	11	26	26	NUM
fcis-29170	263	12	q44	q44	NOUN
fcis-29170	263	13	0.2	0.2	NUM
fcis-29170	263	14	p11	p11	NOUN
fcis-29170	263	15	0.1	0.1	NUM
fcis-29170	263	16	p22	p22	NOUN
fcis-29170	263	17	0.1	0.1	NUM
fcis-29170	263	18	r11	r11	NOUN
fcis-29170	263	19	20.9	20.9	NUM
fcis-29170	263	20	r22	r22	NOUN
fcis-29170	263	21	20.9	20.9	NUM
fcis-29170	263	22	table	table	NOUN
fcis-29170	263	23	3	3	NUM
fcis-29170	263	24	.	.	X
fcis-29170	263	25	ladrc	ladrc	PROPN
fcis-29170	263	26	parameter	parameter	PROPN
fcis-29170	263	27	table	table	NOUN
fcis-29170	263	28	name	name	NOUN
fcis-29170	263	29	value	value	NOUN
fcis-29170	263	30	b0	b0	PROPN
fcis-29170	263	31	1096	1096	NUM
fcis-29170	263	32	kp	kp	PROPN
fcis-29170	263	33	0.17	0.17	NUM
fcis-29170	263	34	3600	3600	NUM
fcis-29170	263	35	3239049	3239049	NUM
fcis-29170	263	36	table	table	NOUN
fcis-29170	263	37	4	4	NUM
fcis-29170	263	38	.	.	PUNCT
fcis-29170	263	39	nladrc	nladrc	PROPN
fcis-29170	263	40	parameter	parameter	PROPN
fcis-29170	263	41	table	table	NOUN
fcis-29170	263	42	name	name	NOUN
fcis-29170	263	43	value	value	NOUN
fcis-29170	263	44	r0	r0	NOUN
fcis-29170	263	45	600	600	NUM
fcis-29170	263	46	h0	h0	NOUN
fcis-29170	263	47	0.01	0.01	NUM
fcis-29170	263	48	a1	a1	NOUN
fcis-29170	263	49	0.5	0.5	NUM
fcis-29170	263	50	a2	a2	PROPN
fcis-29170	263	51	0.25	0.25	NUM
fcis-29170	263	52	0.015	0.015	NUM
fcis-29170	263	53	300	300	NUM
fcis-29170	263	54	3520	3520	NUM
fcis-29170	263	55	115300	115300	NUM
fcis-29170	263	56	300	300	NUM
fcis-29170	263	57	11000	11000	NUM
fcis-29170	263	58	60	60	NUM
fcis-29170	263	59	6.2	6.2	NUM
fcis-29170	263	60	.	.	PUNCT
fcis-29170	264	1	simulation	simulation	NOUN
fcis-29170	264	2	results	result	VERB
fcis-29170	264	3	the	the	DET
fcis-29170	264	4	initial	initial	ADJ
fcis-29170	264	5	speed	speed	NOUN
fcis-29170	264	6	for	for	ADP
fcis-29170	264	7	all	all	DET
fcis-29170	264	8	three	three	NUM
fcis-29170	264	9	models	model	NOUN
fcis-29170	264	10	is	be	AUX
fcis-29170	264	11	set	set	VERB
fcis-29170	264	12	to	to	ADP
fcis-29170	264	13	1500	1500	NUM
fcis-29170	264	14	rpm	rpm	NOUN
fcis-29170	264	15	.	.	PUNCT
fcis-29170	265	1	at	at	ADP
fcis-29170	265	2	0.2s	0.2s	PROPN
fcis-29170	265	3	,	,	PUNCT
fcis-29170	265	4	the	the	DET
fcis-29170	265	5	load	load	NOUN
fcis-29170	265	6	increases	increase	VERB
fcis-29170	265	7	by	by	ADP
fcis-29170	265	8	2	2	NUM
fcis-29170	265	9	n·m	n·m	PROPN
fcis-29170	265	10	,	,	PUNCT
fcis-29170	265	11	and	and	CCONJ
fcis-29170	265	12	at	at	ADP
fcis-29170	265	13	0.4s	0.4s	PROPN
fcis-29170	265	14	,	,	PUNCT
fcis-29170	265	15	the	the	DET
fcis-29170	265	16	speed	speed	NOUN
fcis-29170	265	17	is	be	AUX
fcis-29170	265	18	reduced	reduce	VERB
fcis-29170	265	19	to	to	ADP
fcis-29170	265	20	1000	1000	NUM
fcis-29170	265	21	rpm	rpm	NOUN
fcis-29170	265	22	.	.	PUNCT
fcis-29170	266	1	the	the	DET
fcis-29170	266	2	speed	speed	NOUN
fcis-29170	266	3	waveform	waveform	VERB
fcis-29170	266	4	comparison	comparison	NOUN
fcis-29170	266	5	is	be	AUX
fcis-29170	266	6	shown	show	VERB
fcis-29170	266	7	in	in	ADP
fcis-29170	266	8	figure	figure	NOUN
fcis-29170	266	9	8	8	NUM
fcis-29170	266	10	.	.	PUNCT
fcis-29170	267	1	figure	figure	NOUN
fcis-29170	267	2	8	8	NUM
fcis-29170	267	3	.	.	PUNCT
fcis-29170	268	1	comparison	comparison	NOUN
fcis-29170	268	2	of	of	ADP
fcis-29170	268	3	motor	motor	NOUN
fcis-29170	268	4	speed	speed	NOUN
fcis-29170	268	5	waveforms	waveform	NOUN
fcis-29170	268	6	for	for	ADP
fcis-29170	268	7	the	the	DET
fcis-29170	268	8	three	three	NUM
fcis-29170	268	9	control	control	NOUN
fcis-29170	268	10	strategies	strategy	NOUN
fcis-29170	268	11	as	as	SCONJ
fcis-29170	268	12	shown	show	VERB
fcis-29170	268	13	in	in	ADP
fcis-29170	268	14	the	the	DET
fcis-29170	268	15	figure	figure	NOUN
fcis-29170	268	16	,	,	PUNCT
fcis-29170	268	17	when	when	SCONJ
fcis-29170	268	18	the	the	DET
fcis-29170	268	19	reference	reference	NOUN
fcis-29170	268	20	speed	speed	NOUN
fcis-29170	268	21	is	be	AUX
fcis-29170	268	22	set	set	VERB
fcis-29170	268	23	to	to	ADP
fcis-29170	268	24	1500	1500	NUM
fcis-29170	268	25	rpm	rpm	NOUN
fcis-29170	268	26	within	within	ADP
fcis-29170	268	27	the	the	DET
fcis-29170	268	28	first	first	ADJ
fcis-29170	268	29	0.4	0.4	NUM
fcis-29170	268	30	seconds	second	NOUN
fcis-29170	268	31	:	:	PUNCT
fcis-29170	268	32	pi+ekf	pi+ekf	NOUN
fcis-29170	268	33	system	system	NOUN
fcis-29170	268	34	overshoots	overshoot	NOUN
fcis-29170	268	35	to	to	ADP
fcis-29170	268	36	1821	1821	NUM
fcis-29170	268	37	rpm	rpm	NOUN
fcis-29170	268	38	at	at	ADP
fcis-29170	268	39	0.0089	0.0089	NUM
fcis-29170	268	40	seconds	second	NOUN
fcis-29170	268	41	and	and	CCONJ
fcis-29170	268	42	stabilizes	stabilize	VERB
fcis-29170	268	43	at	at	ADP
fcis-29170	268	44	1500	1500	NUM
fcis-29170	268	45	rpm	rpm	NOUN
fcis-29170	268	46	in	in	ADP
fcis-29170	268	47	0.1	0.1	NUM
fcis-29170	268	48	seconds	second	NOUN
fcis-29170	268	49	;	;	PUNCT
fcis-29170	268	50	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	268	51	system	system	NOUN
fcis-29170	268	52	exhibits	exhibit	VERB
fcis-29170	268	53	no	no	DET
fcis-29170	268	54	overshoot	overshoot	NOUN
fcis-29170	268	55	and	and	CCONJ
fcis-29170	268	56	stabilizes	stabilize	VERB
fcis-29170	268	57	at	at	ADP
fcis-29170	268	58	0.047	0.047	NUM
fcis-29170	268	59	seconds	second	NOUN
fcis-29170	268	60	;	;	PUNCT
fcis-29170	268	61	nladrc+ekf	nladrc+ekf	NOUN
fcis-29170	268	62	system	system	NOUN
fcis-29170	268	63	also	also	ADV
fcis-29170	268	64	shows	show	VERB
fcis-29170	268	65	no	no	DET
fcis-29170	268	66	overshoot	overshoot	NOUN
fcis-29170	268	67	and	and	CCONJ
fcis-29170	268	68	stabilizes	stabilize	VERB
fcis-29170	268	69	at	at	ADP
fcis-29170	268	70	0.035	0.035	NUM
fcis-29170	268	71	seconds	second	NOUN
fcis-29170	268	72	.	.	PUNCT
fcis-29170	269	1	at	at	ADP
fcis-29170	269	2	0.2	0.2	NUM
fcis-29170	269	3	seconds	second	NOUN
fcis-29170	269	4	,	,	PUNCT
fcis-29170	269	5	when	when	SCONJ
fcis-29170	269	6	a	a	DET
fcis-29170	269	7	2	2	NUM
fcis-29170	269	8	n·m	n·m	NOUN
fcis-29170	269	9	load	load	NOUN
fcis-29170	269	10	is	be	AUX
fcis-29170	269	11	applied	apply	VERB
fcis-29170	269	12	:	:	PUNCT
fcis-29170	269	13	pi+ekf	pi+ekf	NOUN
fcis-29170	269	14	system	system	NOUN
fcis-29170	269	15	takes	take	VERB
fcis-29170	269	16	0.07	0.07	NUM
fcis-29170	269	17	seconds	second	NOUN
fcis-29170	269	18	to	to	PART
fcis-29170	269	19	return	return	VERB
fcis-29170	269	20	to	to	ADP
fcis-29170	269	21	1500	1500	NUM
fcis-29170	269	22	rpm	rpm	NOUN
fcis-29170	269	23	;	;	PUNCT
fcis-29170	269	24	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	269	25	system	system	NOUN
fcis-29170	269	26	takes	take	VERB
fcis-29170	269	27	0.016	0.016	NUM
fcis-29170	269	28	seconds	second	NOUN
fcis-29170	269	29	;	;	PUNCT
fcis-29170	269	30	nladrc+ekf	nladrc+ekf	NOUN
fcis-29170	269	31	system	system	NOUN
fcis-29170	269	32	takes	take	VERB
fcis-29170	269	33	only	only	ADV
fcis-29170	269	34	0.002	0.002	NUM
fcis-29170	269	35	seconds	second	NOUN
fcis-29170	269	36	.	.	PUNCT
fcis-29170	270	1	at	at	ADP
fcis-29170	270	2	0.4	0.4	NUM
fcis-29170	270	3	seconds	second	NOUN
fcis-29170	270	4	,	,	PUNCT
fcis-29170	270	5	when	when	SCONJ
fcis-29170	270	6	the	the	DET
fcis-29170	270	7	reference	reference	NOUN
fcis-29170	270	8	speed	speed	VERB
fcis-29170	270	9	drops	drop	VERB
fcis-29170	270	10	to	to	ADP
fcis-29170	270	11	1000	1000	NUM
fcis-29170	270	12	rpm	rpm	NOUN
fcis-29170	270	13	:	:	PUNCT
fcis-29170	270	14	pi+ekf	pi+ekf	NOUN
fcis-29170	270	15	system	system	NOUN
fcis-29170	270	16	responds	respond	VERB
fcis-29170	270	17	the	the	DET
fcis-29170	270	18	fastest	fast	ADJ
fcis-29170	270	19	but	but	CCONJ
fcis-29170	270	20	overshoots	overshoot	NOUN
fcis-29170	270	21	to	to	ADP
fcis-29170	270	22	906	906	NUM
fcis-29170	270	23	rpm	rpm	NOUN
fcis-29170	270	24	and	and	CCONJ
fcis-29170	270	25	stabilizes	stabilize	VERB
fcis-29170	270	26	in	in	ADP
fcis-29170	270	27	0.053	0.053	NUM
fcis-29170	270	28	seconds	second	NOUN
fcis-29170	270	29	;	;	PUNCT
fcis-29170	270	30	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	270	31	and	and	CCONJ
fcis-29170	270	32	nladrc+ekf	nladrc+ekf	PROPN
fcis-29170	270	33	systems	system	NOUN
fcis-29170	270	34	show	show	VERB
fcis-29170	270	35	no	no	DET
fcis-29170	270	36	overshoot	overshoot	NOUN
fcis-29170	270	37	and	and	CCONJ
fcis-29170	270	38	stabilize	stabilize	VERB
fcis-29170	270	39	in	in	ADP
fcis-29170	270	40	0.039	0.039	NUM
fcis-29170	270	41	seconds	second	NOUN
fcis-29170	270	42	and	and	CCONJ
fcis-29170	270	43	0.02	0.02	NUM
fcis-29170	270	44	seconds	second	NOUN
fcis-29170	270	45	,	,	PUNCT
fcis-29170	270	46	respectively	respectively	ADV
fcis-29170	270	47	.	.	PUNCT
fcis-29170	271	1	figures	figure	NOUN
fcis-29170	271	2	9	9	NUM
fcis-29170	271	3	to	to	PART
fcis-29170	271	4	11	11	NUM
fcis-29170	271	5	illustrate	illustrate	VERB
fcis-29170	271	6	the	the	DET
fcis-29170	271	7	current	current	ADJ
fcis-29170	271	8	waveforms	waveform	NOUN
fcis-29170	271	9	of	of	ADP
fcis-29170	271	10	the	the	DET
fcis-29170	271	11	pi+ekf	pi+ekf	PROPN
fcis-29170	271	12	,	,	PUNCT
fcis-29170	271	13	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	271	14	,	,	PUNCT
fcis-29170	271	15	and	and	CCONJ
fcis-29170	271	16	nladrc+ekf	nladrc+ekf	PROPN
fcis-29170	271	17	systems	system	NOUN
fcis-29170	271	18	,	,	PUNCT
fcis-29170	271	19	respectively	respectively	ADV
fcis-29170	271	20	.	.	PUNCT
fcis-29170	272	1	from	from	ADP
fcis-29170	272	2	figures	figure	NOUN
fcis-29170	272	3	9	9	NUM
fcis-29170	272	4	to	to	PART
fcis-29170	272	5	11	11	NUM
fcis-29170	272	6	,	,	PUNCT
fcis-29170	272	7	under	under	ADP
fcis-29170	272	8	a	a	DET
fcis-29170	272	9	load	load	NOUN
fcis-29170	272	10	of	of	ADP
fcis-29170	272	11	3	3	NUM
fcis-29170	272	12	n·m	n·m	NOUN
fcis-29170	272	13	during	during	ADP
fcis-29170	272	14	motor	motor	NOUN
fcis-29170	272	15	start	start	NOUN
fcis-29170	272	16	-	-	PUNCT
fcis-29170	272	17	up	up	NOUN
fcis-29170	272	18	:	:	PUNCT
fcis-29170	272	19	pi+ekf	pi+ekf	NOUN
fcis-29170	272	20	system	system	NOUN
fcis-29170	272	21	's	's	PART
fcis-29170	272	22	current	current	NOUN
fcis-29170	272	23	stabilizes	stabilize	VERB
fcis-29170	272	24	after	after	ADP
fcis-29170	272	25	0.052	0.052	NUM
fcis-29170	272	26	seconds	second	NOUN
fcis-29170	272	27	,	,	PUNCT
fcis-29170	272	28	with	with	ADP
fcis-29170	272	29	significant	significant	ADJ
fcis-29170	272	30	overshoot	overshoot	NOUN
fcis-29170	272	31	;	;	PUNCT
fcis-29170	272	32	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	272	33	system	system	NOUN
fcis-29170	272	34	exhibits	exhibit	VERB
fcis-29170	272	35	reduced	reduce	VERB
fcis-29170	272	36	current	current	ADJ
fcis-29170	272	37	overshoot	overshoot	NOUN
fcis-29170	272	38	and	and	CCONJ
fcis-29170	272	39	stabilizes	stabilize	VERB
fcis-29170	272	40	after	after	ADP
fcis-29170	272	41	0.035	0.035	NUM
fcis-29170	272	42	seconds	second	NOUN
fcis-29170	272	43	;	;	PUNCT
fcis-29170	272	44	nladrc+ekf	nladrc+ekf	NOUN
fcis-29170	272	45	system	system	NOUN
fcis-29170	272	46	shows	show	VERB
fcis-29170	272	47	the	the	DET
fcis-29170	272	48	smallest	small	ADJ
fcis-29170	272	49	current	current	ADJ
fcis-29170	272	50	overshoot	overshoot	NOUN
fcis-29170	272	51	and	and	CCONJ
fcis-29170	272	52	stabilizes	stabilize	VERB
fcis-29170	272	53	after	after	ADP
fcis-29170	272	54	0.033	0.033	NUM
fcis-29170	272	55	seconds	second	NOUN
fcis-29170	272	56	.	.	PUNCT
fcis-29170	273	1	when	when	SCONJ
fcis-29170	273	2	the	the	DET
fcis-29170	273	3	reference	reference	NOUN
fcis-29170	273	4	speed	speed	VERB
fcis-29170	273	5	drops	drop	VERB
fcis-29170	273	6	to	to	ADP
fcis-29170	273	7	1000	1000	NUM
fcis-29170	273	8	rpm	rpm	NOUN
fcis-29170	273	9	at	at	ADP
fcis-29170	273	10	0.4	0.4	NUM
fcis-29170	273	11	seconds	second	NOUN
fcis-29170	273	12	:	:	PUNCT
fcis-29170	273	13	pi+ekf	pi+ekf	NOUN
fcis-29170	273	14	system	system	NOUN
fcis-29170	273	15	's	's	PART
fcis-29170	273	16	current	current	NOUN
fcis-29170	273	17	stabilizes	stabilize	VERB
fcis-29170	273	18	in	in	ADP
fcis-29170	273	19	0.024	0.024	NUM
fcis-29170	273	20	seconds	second	NOUN
fcis-29170	273	21	;	;	PUNCT
fcis-29170	273	22	ladrc+ekf	ladrc+ekf	ADJ
fcis-29170	273	23	system	system	NOUN
fcis-29170	273	24	stabilizes	stabilize	VERB
fcis-29170	273	25	in	in	ADP
fcis-29170	273	26	0.02	0.02	NUM
fcis-29170	273	27	seconds	second	NOUN
fcis-29170	273	28	;	;	PUNCT
fcis-29170	273	29	nladrc+ekf	nladrc+ekf	NOUN
fcis-29170	273	30	system	system	NOUN
fcis-29170	273	31	stabilizes	stabilize	VERB
fcis-29170	273	32	in	in	ADP
fcis-29170	273	33	0.022	0.022	NUM
fcis-29170	273	34	seconds	second	NOUN
fcis-29170	273	35	.	.	PUNCT
fcis-29170	274	1	in	in	ADP
fcis-29170	274	2	summary	summary	NOUN
fcis-29170	274	3	,	,	PUNCT
fcis-29170	274	4	the	the	DET
fcis-29170	274	5	nladrc+ekf	nladrc+ekf	ADJ
fcis-29170	274	6	system	system	NOUN
fcis-29170	274	7	demonstrates	demonstrate	VERB
fcis-29170	274	8	superior	superior	ADJ
fcis-29170	274	9	performance	performance	NOUN
fcis-29170	274	10	but	but	CCONJ
fcis-29170	274	11	poses	pose	VERB
fcis-29170	274	12	greater	great	ADJ
fcis-29170	274	13	challenges	challenge	NOUN
fcis-29170	274	14	in	in	ADP
fcis-29170	274	15	parameter	parameter	NOUN
fcis-29170	274	16	tuning	tuning	NOUN
fcis-29170	274	17	.	.	PUNCT
fcis-29170	275	1	the	the	DET
fcis-29170	275	2	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	275	3	system	system	NOUN
fcis-29170	275	4	performs	perform	VERB
fcis-29170	275	5	19	19	NUM
fcis-29170	275	6	slightly	slightly	ADV
fcis-29170	275	7	less	less	ADV
fcis-29170	275	8	effectively	effectively	ADV
fcis-29170	275	9	but	but	CCONJ
fcis-29170	275	10	is	be	AUX
fcis-29170	275	11	easier	easy	ADJ
fcis-29170	275	12	to	to	PART
fcis-29170	275	13	tune	tune	VERB
fcis-29170	275	14	,	,	PUNCT
fcis-29170	275	15	making	make	VERB
fcis-29170	275	16	it	it	PRON
fcis-29170	275	17	more	more	ADV
fcis-29170	275	18	convenient	convenient	ADJ
fcis-29170	275	19	for	for	ADP
fcis-29170	275	20	engineering	engineering	NOUN
fcis-29170	275	21	applications	application	NOUN
fcis-29170	275	22	.	.	PUNCT
fcis-29170	276	1	figure	figure	NOUN
fcis-29170	276	2	9	9	NUM
fcis-29170	276	3	.	.	PUNCT
fcis-29170	276	4	current	current	ADJ
fcis-29170	276	5	waveform	waveform	NOUN
fcis-29170	276	6	based	base	VERB
fcis-29170	276	7	on	on	ADP
fcis-29170	276	8	pi+ekf	pi+ekf	PROPN
fcis-29170	276	9	system	system	NOUN
fcis-29170	276	10	figure	figure	NOUN
fcis-29170	276	11	10	10	NUM
fcis-29170	276	12	.	.	PUNCT
fcis-29170	277	1	current	current	ADJ
fcis-29170	277	2	waveform	waveform	NOUN
fcis-29170	277	3	based	base	VERB
fcis-29170	277	4	on	on	ADP
fcis-29170	277	5	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	277	6	system	system	NOUN
fcis-29170	277	7	figure	figure	NOUN
fcis-29170	277	8	11	11	NUM
fcis-29170	277	9	.	.	PUNCT
fcis-29170	278	1	current	current	ADJ
fcis-29170	278	2	waveform	waveform	NOUN
fcis-29170	278	3	based	base	VERB
fcis-29170	278	4	on	on	ADP
fcis-29170	278	5	nladrc+ekf	nladrc+ekf	PROPN
fcis-29170	278	6	system	system	NOUN
fcis-29170	278	7	figure	figure	NOUN
fcis-29170	278	8	12	12	NUM
fcis-29170	278	9	.	.	PUNCT
fcis-29170	279	1	comparison	comparison	NOUN
fcis-29170	279	2	of	of	ADP
fcis-29170	279	3	ekf	ekf	PROPN
fcis-29170	279	4	estimated	estimate	VERB
fcis-29170	279	5	angular	angular	ADJ
fcis-29170	279	6	velocity	velocity	NOUN
fcis-29170	279	7	and	and	CCONJ
fcis-29170	279	8	the	the	DET
fcis-29170	279	9	real	real	ADJ
fcis-29170	279	10	angular	angular	ADJ
fcis-29170	279	11	velocity	velocity	NOUN
fcis-29170	279	12	20	20	NUM
fcis-29170	279	13	figure	figure	NOUN
fcis-29170	279	14	13	13	NUM
fcis-29170	279	15	.	.	PUNCT
fcis-29170	280	1	comparison	comparison	NOUN
fcis-29170	280	2	of	of	ADP
fcis-29170	280	3	the	the	DET
fcis-29170	280	4	ekf	ekf	NOUN
fcis-29170	280	5	estimated	estimate	VERB
fcis-29170	280	6	rotor	rotor	NOUN
fcis-29170	280	7	electrical	electrical	ADJ
fcis-29170	280	8	angle	angle	NOUN
fcis-29170	280	9	with	with	ADP
fcis-29170	280	10	the	the	DET
fcis-29170	280	11	true	true	ADJ
fcis-29170	280	12	electrical	electrical	ADJ
fcis-29170	280	13	angle	angle	NOUN
fcis-29170	280	14	figures	figure	NOUN
fcis-29170	280	15	12	12	NUM
fcis-29170	280	16	and	and	CCONJ
fcis-29170	280	17	13	13	NUM
fcis-29170	280	18	respectively	respectively	ADV
fcis-29170	280	19	show	show	VERB
fcis-29170	280	20	the	the	DET
fcis-29170	280	21	comparison	comparison	NOUN
fcis-29170	280	22	between	between	ADP
fcis-29170	280	23	the	the	DET
fcis-29170	280	24	ekf	ekf	PROPN
fcis-29170	280	25	-	-	PUNCT
fcis-29170	280	26	estimated	estimated	ADJ
fcis-29170	280	27	and	and	CCONJ
fcis-29170	280	28	actual	actual	ADJ
fcis-29170	280	29	angular	angular	ADJ
fcis-29170	280	30	velocity	velocity	NOUN
fcis-29170	280	31	,	,	PUNCT
fcis-29170	280	32	as	as	ADV
fcis-29170	280	33	well	well	ADV
fcis-29170	280	34	as	as	ADP
fcis-29170	280	35	the	the	DET
fcis-29170	280	36	comparison	comparison	NOUN
fcis-29170	280	37	between	between	ADP
fcis-29170	280	38	the	the	DET
fcis-29170	280	39	actual	actual	ADJ
fcis-29170	280	40	and	and	CCONJ
fcis-29170	280	41	estimated	estimate	VERB
fcis-29170	280	42	electrical	electrical	ADJ
fcis-29170	280	43	angles	angle	NOUN
fcis-29170	280	44	.	.	PUNCT
fcis-29170	281	1	figure	figure	NOUN
fcis-29170	281	2	12	12	NUM
fcis-29170	281	3	shows	show	VERB
fcis-29170	281	4	that	that	SCONJ
fcis-29170	281	5	during	during	ADP
fcis-29170	281	6	the	the	DET
fcis-29170	281	7	first	first	ADJ
fcis-29170	281	8	0.049	0.049	NUM
fcis-29170	281	9	seconds	second	NOUN
fcis-29170	281	10	,	,	PUNCT
fcis-29170	281	11	the	the	DET
fcis-29170	281	12	estimated	estimate	VERB
fcis-29170	281	13	speed	speed	NOUN
fcis-29170	281	14	value	value	NOUN
fcis-29170	281	15	lags	lag	VERB
fcis-29170	281	16	behind	behind	ADP
fcis-29170	281	17	the	the	DET
fcis-29170	281	18	actual	actual	ADJ
fcis-29170	281	19	value	value	NOUN
fcis-29170	281	20	,	,	PUNCT
fcis-29170	281	21	and	and	CCONJ
fcis-29170	281	22	after	after	ADP
fcis-29170	281	23	that	that	PRON
fcis-29170	281	24	,	,	PUNCT
fcis-29170	281	25	the	the	DET
fcis-29170	281	26	error	error	NOUN
fcis-29170	281	27	approaches	approach	VERB
fcis-29170	281	28	zero	zero	NUM
fcis-29170	281	29	.	.	PUNCT
fcis-29170	282	1	figure	figure	NOUN
fcis-29170	282	2	13	13	NUM
fcis-29170	282	3	shows	show	VERB
fcis-29170	282	4	that	that	SCONJ
fcis-29170	282	5	the	the	DET
fcis-29170	282	6	estimated	estimate	VERB
fcis-29170	282	7	rotor	rotor	NOUN
fcis-29170	282	8	electrical	electrical	ADJ
fcis-29170	282	9	angle	angle	NOUN
fcis-29170	282	10	fits	fit	VERB
fcis-29170	282	11	well	well	ADV
fcis-29170	282	12	with	with	ADP
fcis-29170	282	13	the	the	DET
fcis-29170	282	14	actual	actual	ADJ
fcis-29170	282	15	electrical	electrical	ADJ
fcis-29170	282	16	angle	angle	NOUN
fcis-29170	282	17	from	from	ADP
fcis-29170	282	18	the	the	DET
fcis-29170	282	19	start	start	NOUN
fcis-29170	282	20	,	,	PUNCT
fcis-29170	282	21	indicating	indicate	VERB
fcis-29170	282	22	that	that	SCONJ
fcis-29170	282	23	the	the	DET
fcis-29170	282	24	ekf	ekf	NOUN
fcis-29170	282	25	is	be	AUX
fcis-29170	282	26	able	able	ADJ
fcis-29170	282	27	to	to	PART
fcis-29170	282	28	track	track	VERB
fcis-29170	282	29	the	the	DET
fcis-29170	282	30	rotor	rotor	NOUN
fcis-29170	282	31	position	position	NOUN
fcis-29170	282	32	effectively	effectively	ADV
fcis-29170	282	33	.	.	PUNCT
fcis-29170	283	1	due	due	ADP
fcis-29170	283	2	to	to	ADP
fcis-29170	283	3	the	the	DET
fcis-29170	283	4	excellent	excellent	ADJ
fcis-29170	283	5	dynamic	dynamic	ADJ
fcis-29170	283	6	stability	stability	NOUN
fcis-29170	283	7	and	and	CCONJ
fcis-29170	283	8	compensation	compensation	NOUN
fcis-29170	283	9	performance	performance	NOUN
fcis-29170	283	10	of	of	ADP
fcis-29170	283	11	the	the	DET
fcis-29170	283	12	adrc	adrc	ADJ
fcis-29170	283	13	controller	controller	NOUN
fcis-29170	283	14	,	,	PUNCT
fcis-29170	283	15	the	the	DET
fcis-29170	283	16	ekf	ekf	NOUN
fcis-29170	283	17	estimation	estimation	NOUN
fcis-29170	283	18	will	will	AUX
fcis-29170	283	19	become	become	VERB
fcis-29170	283	20	increasingly	increasingly	ADV
fcis-29170	283	21	closer	close	ADJ
fcis-29170	283	22	to	to	ADP
fcis-29170	283	23	the	the	DET
fcis-29170	283	24	actual	actual	ADJ
fcis-29170	283	25	value	value	NOUN
fcis-29170	283	26	as	as	ADP
fcis-29170	283	27	the	the	DET
fcis-29170	283	28	operating	operating	NOUN
fcis-29170	283	29	time	time	NOUN
fcis-29170	283	30	increases	increase	NOUN
fcis-29170	283	31	.	.	PUNCT
fcis-29170	284	1	7	7	X
fcis-29170	284	2	.	.	X
fcis-29170	284	3	experimental	experimental	ADJ
fcis-29170	284	4	verification	verification	NOUN
fcis-29170	284	5	7.1	7.1	NUM
fcis-29170	284	6	.	.	PUNCT
fcis-29170	285	1	experimental	experimental	ADJ
fcis-29170	285	2	verification	verification	NOUN
fcis-29170	285	3	to	to	PART
fcis-29170	285	4	verify	verify	VERB
fcis-29170	285	5	the	the	DET
fcis-29170	285	6	performance	performance	NOUN
fcis-29170	285	7	of	of	ADP
fcis-29170	285	8	the	the	DET
fcis-29170	285	9	controller	controller	NOUN
fcis-29170	285	10	designed	design	VERB
fcis-29170	285	11	in	in	ADP
fcis-29170	285	12	this	this	DET
fcis-29170	285	13	paper	paper	NOUN
fcis-29170	285	14	,	,	PUNCT
fcis-29170	285	15	an	an	DET
fcis-29170	285	16	experimental	experimental	ADJ
fcis-29170	285	17	setup	setup	NOUN
fcis-29170	285	18	was	be	AUX
fcis-29170	285	19	built	build	VERB
fcis-29170	285	20	as	as	SCONJ
fcis-29170	285	21	shown	show	VERB
fcis-29170	285	22	in	in	ADP
fcis-29170	285	23	figure	figure	NOUN
fcis-29170	285	24	14	14	NUM
fcis-29170	285	25	.	.	PUNCT
fcis-29170	286	1	the	the	DET
fcis-29170	286	2	main	main	ADJ
fcis-29170	286	3	control	control	NOUN
fcis-29170	286	4	chip	chip	NOUN
fcis-29170	286	5	used	use	VERB
fcis-29170	286	6	is	be	AUX
fcis-29170	286	7	the	the	DET
fcis-29170	286	8	stm32f407igt6	stm32f407igt6	PROPN
fcis-29170	286	9	.	.	PUNCT
fcis-29170	287	1	the	the	DET
fcis-29170	287	2	inverter	inverter	NOUN
fcis-29170	287	3	adopts	adopt	VERB
fcis-29170	287	4	a	a	DET
fcis-29170	287	5	three	three	NUM
fcis-29170	287	6	-	-	PUNCT
fcis-29170	287	7	phase	phase	NOUN
fcis-29170	287	8	bridge	bridge	NOUN
fcis-29170	287	9	inverter	inverter	ADJ
fcis-29170	287	10	circuit	circuit	NOUN
fcis-29170	287	11	.	.	PUNCT
fcis-29170	288	1	the	the	DET
fcis-29170	288	2	control	control	PROPN
fcis-29170	288	3	board	board	PROPN
fcis-29170	288	4	is	be	AUX
fcis-29170	288	5	connected	connect	VERB
fcis-29170	288	6	to	to	ADP
fcis-29170	288	7	a	a	DET
fcis-29170	288	8	pc	pc	NOUN
fcis-29170	288	9	host	host	NOUN
fcis-29170	288	10	via	via	ADP
fcis-29170	288	11	a	a	DET
fcis-29170	288	12	serial	serial	ADJ
fcis-29170	288	13	port	port	NOUN
fcis-29170	288	14	,	,	PUNCT
fcis-29170	288	15	allowing	allow	VERB
fcis-29170	288	16	real	real	ADJ
fcis-29170	288	17	-	-	PUNCT
fcis-29170	288	18	time	time	NOUN
fcis-29170	288	19	transmission	transmission	NOUN
fcis-29170	288	20	of	of	ADP
fcis-29170	288	21	motor	motor	NOUN
fcis-29170	288	22	parameters	parameter	NOUN
fcis-29170	288	23	to	to	ADP
fcis-29170	288	24	the	the	DET
fcis-29170	288	25	host	host	NOUN
fcis-29170	288	26	for	for	ADP
fcis-29170	288	27	graphical	graphical	ADJ
fcis-29170	288	28	display	display	NOUN
fcis-29170	288	29	.	.	PUNCT
fcis-29170	289	1	the	the	DET
fcis-29170	289	2	controller	controller	NOUN
fcis-29170	289	3	is	be	AUX
fcis-29170	289	4	designed	design	VERB
fcis-29170	289	5	and	and	CCONJ
fcis-29170	289	6	the	the	DET
fcis-29170	289	7	parameters	parameter	NOUN
fcis-29170	289	8	are	be	AUX
fcis-29170	289	9	tuned	tune	VERB
fcis-29170	289	10	as	as	SCONJ
fcis-29170	289	11	described	describe	VERB
fcis-29170	289	12	in	in	ADP
fcis-29170	289	13	the	the	DET
fcis-29170	289	14	previous	previous	ADJ
fcis-29170	289	15	sections	section	NOUN
fcis-29170	289	16	.	.	PUNCT
fcis-29170	290	1	figure	figure	VERB
fcis-29170	290	2	14	14	NUM
fcis-29170	290	3	.	.	PUNCT
fcis-29170	291	1	diagram	diagram	NOUN
fcis-29170	291	2	of	of	ADP
fcis-29170	291	3	the	the	DET
fcis-29170	291	4	experimental	experimental	ADJ
fcis-29170	291	5	platform	platform	NOUN
fcis-29170	291	6	the	the	DET
fcis-29170	291	7	pmsm	pmsm	NOUN
fcis-29170	291	8	motor	motor	NOUN
fcis-29170	291	9	parameters	parameter	NOUN
fcis-29170	291	10	used	use	VERB
fcis-29170	291	11	in	in	ADP
fcis-29170	291	12	the	the	DET
fcis-29170	291	13	experiment	experiment	NOUN
fcis-29170	291	14	are	be	AUX
fcis-29170	291	15	shown	show	VERB
fcis-29170	291	16	in	in	ADP
fcis-29170	291	17	table	table	NOUN
fcis-29170	291	18	5	5	NUM
fcis-29170	291	19	.	.	PUNCT
fcis-29170	291	20	table	table	NOUN
fcis-29170	291	21	5	5	NUM
fcis-29170	291	22	.	.	PUNCT
fcis-29170	292	1	pmsm	pmsm	NOUN
fcis-29170	292	2	parameter	parameter	NOUN
fcis-29170	292	3	table	table	NOUN
fcis-29170	292	4	parameter	parameter	NOUN
fcis-29170	292	5	value	value	NOUN
fcis-29170	292	6	rated	rate	VERB
fcis-29170	292	7	power	power	NOUN
fcis-29170	292	8	pe	pe	PROPN
fcis-29170	292	9	/	/	SYM
fcis-29170	292	10	w	w	PROPN
fcis-29170	292	11	100	100	NUM
fcis-29170	292	12	rated	rate	VERB
fcis-29170	292	13	voltage	voltage	NOUN
fcis-29170	292	14	ve	ve	PROPN
fcis-29170	292	15	/	/	SYM
fcis-29170	292	16	v	v	NOUN
fcis-29170	292	17	24	24	NUM
fcis-29170	292	18	rated	rate	VERB
fcis-29170	292	19	speed	speed	NOUN
fcis-29170	292	20	n	n	CCONJ
fcis-29170	292	21	/	/	SYM
fcis-29170	292	22	rpm	rpm	PROPN
fcis-29170	292	23	4500	4500	NUM
fcis-29170	292	24	rated	rate	VERB
fcis-29170	292	25	current	current	ADJ
fcis-29170	292	26	ie	ie	X
fcis-29170	292	27	/	/	SYM
fcis-29170	292	28	a	a	DET
fcis-29170	292	29	6	6	NUM
fcis-29170	292	30	stator	stator	NOUN
fcis-29170	292	31	resistance	resistance	NOUN
fcis-29170	292	32	rs	rs	PROPN
fcis-29170	292	33	/	/	SYM
fcis-29170	292	34	ω	ω	NOUN
fcis-29170	292	35	0.42	0.42	NUM
fcis-29170	292	36	number	number	NOUN
fcis-29170	292	37	of	of	ADP
fcis-29170	292	38	pole	pole	NOUN
fcis-29170	292	39	pairs	pair	NOUN
fcis-29170	292	40	pn	pn	PROPN
fcis-29170	292	41	4	4	NUM
fcis-29170	292	42	stator	stator	NOUN
fcis-29170	292	43	inductance	inductance	NOUN
fcis-29170	292	44	ls	ls	PROPN
fcis-29170	292	45	/	/	SYM
fcis-29170	292	46	mh	mh	PROPN
fcis-29170	292	47	1.24	1.24	NUM
fcis-29170	292	48	rated	rate	VERB
fcis-29170	292	49	torque	torque	NOUN
fcis-29170	292	50	(	(	PUNCT
fcis-29170	292	51	n·m	n·m	NOUN
fcis-29170	292	52	)	)	PUNCT
fcis-29170	292	53	0.38	0.38	NUM
fcis-29170	292	54	7.2	7.2	NUM
fcis-29170	292	55	.	.	PUNCT
fcis-29170	293	1	experimental	experimental	ADJ
fcis-29170	293	2	results	result	NOUN
fcis-29170	293	3	the	the	DET
fcis-29170	293	4	target	target	NOUN
fcis-29170	293	5	speed	speed	NOUN
fcis-29170	293	6	of	of	ADP
fcis-29170	293	7	the	the	DET
fcis-29170	293	8	motor	motor	NOUN
fcis-29170	293	9	is	be	AUX
fcis-29170	293	10	set	set	VERB
fcis-29170	293	11	to	to	ADP
fcis-29170	293	12	4500	4500	NUM
fcis-29170	293	13	rpm	rpm	NOUN
fcis-29170	293	14	.	.	PUNCT
fcis-29170	294	1	at	at	ADP
fcis-29170	294	2	3	3	NUM
fcis-29170	294	3	seconds	second	NOUN
fcis-29170	294	4	,	,	PUNCT
fcis-29170	294	5	the	the	DET
fcis-29170	294	6	load	load	NOUN
fcis-29170	294	7	is	be	AUX
fcis-29170	294	8	increased	increase	VERB
fcis-29170	294	9	by	by	ADP
fcis-29170	294	10	2	2	NUM
fcis-29170	294	11	n·m	n·m	PROPN
fcis-29170	294	12	.	.	PUNCT
fcis-29170	295	1	from	from	ADP
fcis-29170	295	2	6	6	NUM
fcis-29170	295	3	seconds	second	NOUN
fcis-29170	295	4	to	to	ADP
fcis-29170	295	5	20	20	NUM
fcis-29170	295	6	seconds	second	NOUN
fcis-29170	295	7	,	,	PUNCT
fcis-29170	295	8	the	the	DET
fcis-29170	295	9	target	target	NOUN
fcis-29170	295	10	speed	speed	NOUN
fcis-29170	295	11	of	of	ADP
fcis-29170	295	12	the	the	DET
fcis-29170	295	13	motor	motor	NOUN
fcis-29170	295	14	gradually	gradually	ADV
fcis-29170	295	15	decreases	decrease	VERB
fcis-29170	295	16	from	from	ADP
fcis-29170	295	17	4500	4500	NUM
fcis-29170	295	18	rpm	rpm	NOUN
fcis-29170	295	19	to	to	ADP
fcis-29170	295	20	500	500	NUM
fcis-29170	295	21	rpm	rpm	NOUN
fcis-29170	295	22	in	in	ADP
fcis-29170	295	23	steps	step	NOUN
fcis-29170	295	24	of	of	ADP
fcis-29170	295	25	1000	1000	NUM
fcis-29170	295	26	rpm	rpm	NOUN
fcis-29170	295	27	,	,	PUNCT
fcis-29170	295	28	and	and	CCONJ
fcis-29170	295	29	then	then	ADV
fcis-29170	295	30	stops	stop	VERB
fcis-29170	295	31	.	.	PUNCT
fcis-29170	296	1	the	the	DET
fcis-29170	296	2	speed	speed	NOUN
fcis-29170	296	3	waveforms	waveform	VERB
fcis-29170	296	4	for	for	ADP
fcis-29170	296	5	the	the	DET
fcis-29170	296	6	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	296	7	and	and	CCONJ
fcis-29170	296	8	nladrc+ekf	nladrc+ekf	PROPN
fcis-29170	296	9	systems	system	NOUN
fcis-29170	296	10	are	be	AUX
fcis-29170	296	11	shown	show	VERB
fcis-29170	296	12	in	in	ADP
fcis-29170	296	13	figures	figure	NOUN
fcis-29170	296	14	15	15	NUM
fcis-29170	296	15	and	and	CCONJ
fcis-29170	296	16	16	16	NUM
fcis-29170	296	17	,	,	PUNCT
fcis-29170	296	18	respectively	respectively	ADV
fcis-29170	296	19	.	.	PUNCT
fcis-29170	297	1	figure	figure	NOUN
fcis-29170	297	2	15	15	NUM
fcis-29170	297	3	.	.	PUNCT
fcis-29170	298	1	speed	speed	NOUN
fcis-29170	298	2	waveform	waveform	NOUN
fcis-29170	298	3	based	base	VERB
fcis-29170	298	4	on	on	ADP
fcis-29170	298	5	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	298	6	system	system	NOUN
fcis-29170	298	7	as	as	SCONJ
fcis-29170	298	8	shown	show	VERB
fcis-29170	298	9	in	in	ADP
fcis-29170	298	10	figure	figure	NOUN
fcis-29170	298	11	15	15	NUM
fcis-29170	298	12	,	,	PUNCT
fcis-29170	298	13	within	within	ADP
fcis-29170	298	14	the	the	DET
fcis-29170	298	15	first	first	ADJ
fcis-29170	298	16	6	6	NUM
fcis-29170	298	17	seconds	second	NOUN
fcis-29170	298	18	,	,	PUNCT
fcis-29170	298	19	when	when	SCONJ
fcis-29170	298	20	the	the	DET
fcis-29170	298	21	reference	reference	NOUN
fcis-29170	298	22	speed	speed	NOUN
fcis-29170	298	23	is	be	AUX
fcis-29170	298	24	set	set	VERB
fcis-29170	298	25	to	to	ADP
fcis-29170	298	26	4500	4500	NUM
fcis-29170	298	27	rpm	rpm	NOUN
fcis-29170	298	28	,	,	PUNCT
fcis-29170	298	29	the	the	DET
fcis-29170	298	30	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	298	31	system	system	NOUN
fcis-29170	298	32	exhibits	exhibit	VERB
fcis-29170	298	33	no	no	DET
fcis-29170	298	34	overshoot	overshoot	NOUN
fcis-29170	298	35	,	,	PUNCT
fcis-29170	298	36	and	and	CCONJ
fcis-29170	298	37	the	the	DET
fcis-29170	298	38	speed	speed	NOUN
fcis-29170	298	39	stabilizes	stabilize	VERB
fcis-29170	298	40	at	at	ADP
fcis-29170	298	41	4500	4500	NUM
fcis-29170	298	42	rpm	rpm	NOUN
fcis-29170	298	43	in	in	ADP
fcis-29170	298	44	0.7	0.7	NUM
fcis-29170	298	45	seconds	second	NOUN
fcis-29170	298	46	.	.	PUNCT
fcis-29170	299	1	at	at	ADP
fcis-29170	299	2	3	3	NUM
fcis-29170	299	3	seconds	second	NOUN
fcis-29170	299	4	,	,	PUNCT
fcis-29170	299	5	a	a	DET
fcis-29170	299	6	2	2	NUM
fcis-29170	299	7	n·m	n·m	NOUN
fcis-29170	299	8	load	load	NOUN
fcis-29170	299	9	is	be	AUX
fcis-29170	299	10	applied	apply	VERB
fcis-29170	299	11	.	.	PUNCT
fcis-29170	300	1	the	the	DET
fcis-29170	300	2	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	300	3	system	system	NOUN
fcis-29170	300	4	takes	take	VERB
fcis-29170	300	5	1.2	1.2	NUM
fcis-29170	300	6	seconds	second	NOUN
fcis-29170	300	7	to	to	PART
fcis-29170	300	8	return	return	VERB
fcis-29170	300	9	to	to	ADP
fcis-29170	300	10	4500	4500	NUM
fcis-29170	300	11	rpm	rpm	NOUN
fcis-29170	300	12	,	,	PUNCT
fcis-29170	300	13	with	with	ADP
fcis-29170	300	14	an	an	DET
fcis-29170	300	15	overshoot	overshoot	NOUN
fcis-29170	300	16	of	of	ADP
fcis-29170	300	17	4560	4560	NUM
fcis-29170	300	18	rpm	rpm	NOUN
fcis-29170	300	19	during	during	ADP
fcis-29170	300	20	the	the	DET
fcis-29170	300	21	recovery	recovery	NOUN
fcis-29170	300	22	process	process	NOUN
fcis-29170	300	23	.	.	PUNCT
fcis-29170	301	1	from	from	ADP
fcis-29170	301	2	6	6	NUM
fcis-29170	301	3	seconds	second	NOUN
fcis-29170	301	4	onwards	onwards	ADV
fcis-29170	301	5	,	,	PUNCT
fcis-29170	301	6	the	the	DET
fcis-29170	301	7	target	target	NOUN
fcis-29170	301	8	speed	speed	NOUN
fcis-29170	301	9	gradually	gradually	ADV
fcis-29170	301	10	decreases	decrease	VERB
fcis-29170	301	11	by	by	ADP
fcis-29170	301	12	1000	1000	NUM
fcis-29170	301	13	rpm	rpm	NOUN
fcis-29170	301	14	steps	step	NOUN
fcis-29170	301	15	down	down	ADV
fcis-29170	301	16	to	to	ADP
fcis-29170	301	17	500	500	NUM
fcis-29170	301	18	rpm	rpm	NOUN
fcis-29170	301	19	.	.	PUNCT
fcis-29170	302	1	the	the	DET
fcis-29170	302	2	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	302	3	system	system	NOUN
fcis-29170	302	4	follows	follow	VERB
fcis-29170	302	5	each	each	DET
fcis-29170	302	6	speed	speed	NOUN
fcis-29170	302	7	change	change	NOUN
fcis-29170	302	8	in	in	ADP
fcis-29170	302	9	0.2	0.2	NUM
fcis-29170	302	10	seconds	second	NOUN
fcis-29170	302	11	.	.	PUNCT
fcis-29170	303	1	however	however	ADV
fcis-29170	303	2	,	,	PUNCT
fcis-29170	303	3	when	when	SCONJ
fcis-29170	303	4	the	the	DET
fcis-29170	303	5	speed	speed	NOUN
fcis-29170	303	6	decreases	decrease	VERB
fcis-29170	303	7	to	to	ADP
fcis-29170	303	8	1500	1500	NUM
fcis-29170	303	9	rpm	rpm	NOUN
fcis-29170	303	10	and	and	CCONJ
fcis-29170	303	11	500	500	NUM
fcis-29170	303	12	rpm	rpm	NOUN
fcis-29170	303	13	,	,	PUNCT
fcis-29170	303	14	there	there	PRON
fcis-29170	303	15	is	be	VERB
fcis-29170	303	16	a	a	DET
fcis-29170	303	17	noticeable	noticeable	ADJ
fcis-29170	303	18	overshoot	overshoot	NOUN
fcis-29170	303	19	.	.	PUNCT
fcis-29170	304	1	subsequently	subsequently	ADV
fcis-29170	304	2	,	,	PUNCT
fcis-29170	304	3	when	when	SCONJ
fcis-29170	304	4	the	the	DET
fcis-29170	304	5	motor	motor	NOUN
fcis-29170	304	6	stops	stop	VERB
fcis-29170	304	7	,	,	PUNCT
fcis-29170	304	8	the	the	DET
fcis-29170	304	9	speed	speed	NOUN
fcis-29170	304	10	change	change	NOUN
fcis-29170	304	11	is	be	AUX
fcis-29170	304	12	smooth	smooth	ADJ
fcis-29170	304	13	,	,	PUNCT
fcis-29170	304	14	and	and	CCONJ
fcis-29170	304	15	no	no	DET
fcis-29170	304	16	21	21	NUM
fcis-29170	304	17	reversal	reversal	NOUN
fcis-29170	304	18	occurs	occur	VERB
fcis-29170	304	19	.	.	PUNCT
fcis-29170	305	1	figure	figure	VERB
fcis-29170	305	2	16	16	NUM
fcis-29170	305	3	.	.	PUNCT
fcis-29170	306	1	speed	speed	NOUN
fcis-29170	306	2	waveform	waveform	NOUN
fcis-29170	306	3	based	base	VERB
fcis-29170	306	4	on	on	ADP
fcis-29170	306	5	nladrc+ekf	nladrc+ekf	PROPN
fcis-29170	306	6	system	system	NOUN
fcis-29170	306	7	as	as	SCONJ
fcis-29170	306	8	shown	show	VERB
fcis-29170	306	9	in	in	ADP
fcis-29170	306	10	figure	figure	NOUN
fcis-29170	306	11	16	16	NUM
fcis-29170	306	12	,	,	PUNCT
fcis-29170	306	13	within	within	ADP
fcis-29170	306	14	the	the	DET
fcis-29170	306	15	first	first	ADJ
fcis-29170	306	16	6	6	NUM
fcis-29170	306	17	seconds	second	NOUN
fcis-29170	306	18	,	,	PUNCT
fcis-29170	306	19	when	when	SCONJ
fcis-29170	306	20	the	the	DET
fcis-29170	306	21	reference	reference	NOUN
fcis-29170	306	22	speed	speed	NOUN
fcis-29170	306	23	is	be	AUX
fcis-29170	306	24	set	set	VERB
fcis-29170	306	25	to	to	ADP
fcis-29170	306	26	4500	4500	NUM
fcis-29170	306	27	rpm	rpm	NOUN
fcis-29170	306	28	,	,	PUNCT
fcis-29170	306	29	the	the	DET
fcis-29170	306	30	nladrc+ekf	nladrc+ekf	PROPN
fcis-29170	306	31	system	system	NOUN
fcis-29170	306	32	exhibits	exhibit	VERB
fcis-29170	306	33	no	no	DET
fcis-29170	306	34	overshoot	overshoot	NOUN
fcis-29170	306	35	,	,	PUNCT
fcis-29170	306	36	and	and	CCONJ
fcis-29170	306	37	the	the	DET
fcis-29170	306	38	speed	speed	NOUN
fcis-29170	306	39	stabilizes	stabilize	VERB
fcis-29170	306	40	at	at	ADP
fcis-29170	306	41	4500	4500	NUM
fcis-29170	306	42	rpm	rpm	NOUN
fcis-29170	306	43	in	in	ADP
fcis-29170	306	44	0.9	0.9	NUM
fcis-29170	306	45	seconds	second	NOUN
fcis-29170	306	46	.	.	PUNCT
fcis-29170	307	1	at	at	ADP
fcis-29170	307	2	4	4	NUM
fcis-29170	307	3	seconds	second	NOUN
fcis-29170	307	4	,	,	PUNCT
fcis-29170	307	5	2	2	NUM
fcis-29170	307	6	n·m	n·m	PRON
fcis-29170	307	7	load	load	NOUN
fcis-29170	307	8	is	be	AUX
fcis-29170	307	9	applied	apply	VERB
fcis-29170	307	10	.	.	PUNCT
fcis-29170	308	1	the	the	DET
fcis-29170	308	2	nladrc+ekf	nladrc+ekf	PROPN
fcis-29170	308	3	system	system	NOUN
fcis-29170	308	4	takes	take	VERB
fcis-29170	308	5	0.6	0.6	NUM
fcis-29170	308	6	seconds	second	NOUN
fcis-29170	308	7	to	to	PART
fcis-29170	308	8	return	return	VERB
fcis-29170	308	9	to	to	ADP
fcis-29170	308	10	4500	4500	NUM
fcis-29170	308	11	rpm	rpm	NOUN
fcis-29170	308	12	without	without	ADP
fcis-29170	308	13	any	any	DET
fcis-29170	308	14	overshoot	overshoot	NOUN
fcis-29170	308	15	during	during	ADP
fcis-29170	308	16	the	the	DET
fcis-29170	308	17	recovery	recovery	NOUN
fcis-29170	308	18	process	process	NOUN
fcis-29170	308	19	.	.	PUNCT
fcis-29170	309	1	from	from	ADP
fcis-29170	309	2	7	7	NUM
fcis-29170	309	3	seconds	second	NOUN
fcis-29170	309	4	onwards	onwards	ADV
fcis-29170	309	5	,	,	PUNCT
fcis-29170	309	6	the	the	DET
fcis-29170	309	7	target	target	NOUN
fcis-29170	309	8	speed	speed	NOUN
fcis-29170	309	9	gradually	gradually	ADV
fcis-29170	309	10	decreases	decrease	VERB
fcis-29170	309	11	by	by	ADP
fcis-29170	309	12	1000	1000	NUM
fcis-29170	309	13	rpm	rpm	NOUN
fcis-29170	309	14	steps	step	NOUN
fcis-29170	309	15	down	down	ADV
fcis-29170	309	16	to	to	ADP
fcis-29170	309	17	500	500	NUM
fcis-29170	309	18	rpm	rpm	NOUN
fcis-29170	309	19	.	.	PUNCT
fcis-29170	310	1	the	the	DET
fcis-29170	310	2	nladrc+ekf	nladrc+ekf	PROPN
fcis-29170	310	3	system	system	NOUN
fcis-29170	310	4	follows	follow	VERB
fcis-29170	310	5	each	each	DET
fcis-29170	310	6	speed	speed	NOUN
fcis-29170	310	7	change	change	NOUN
fcis-29170	310	8	in	in	ADP
fcis-29170	310	9	about	about	ADV
fcis-29170	310	10	0.3	0.3	NUM
fcis-29170	310	11	seconds	second	NOUN
fcis-29170	310	12	,	,	PUNCT
fcis-29170	310	13	without	without	ADP
fcis-29170	310	14	overshoot	overshoot	NOUN
fcis-29170	310	15	during	during	ADP
fcis-29170	310	16	the	the	DET
fcis-29170	310	17	process	process	NOUN
fcis-29170	310	18	.	.	PUNCT
fcis-29170	311	1	subsequently	subsequently	ADV
fcis-29170	311	2	,	,	PUNCT
fcis-29170	311	3	when	when	SCONJ
fcis-29170	311	4	the	the	DET
fcis-29170	311	5	motor	motor	NOUN
fcis-29170	311	6	stops	stop	VERB
fcis-29170	311	7	,	,	PUNCT
fcis-29170	311	8	the	the	DET
fcis-29170	311	9	speed	speed	NOUN
fcis-29170	311	10	change	change	NOUN
fcis-29170	311	11	is	be	AUX
fcis-29170	311	12	smooth	smooth	ADJ
fcis-29170	311	13	,	,	PUNCT
fcis-29170	311	14	and	and	CCONJ
fcis-29170	311	15	no	no	DET
fcis-29170	311	16	reversal	reversal	NOUN
fcis-29170	311	17	occurs	occur	VERB
fcis-29170	311	18	.	.	PUNCT
fcis-29170	312	1	8	8	X
fcis-29170	312	2	.	.	X
fcis-29170	312	3	conclusion	conclusion	NOUN
fcis-29170	312	4	this	this	DET
fcis-29170	312	5	paper	paper	NOUN
fcis-29170	312	6	focuses	focus	VERB
fcis-29170	312	7	on	on	ADP
fcis-29170	312	8	pmsm	pmsm	NOUN
fcis-29170	312	9	and	and	CCONJ
fcis-29170	312	10	proposes	propose	VERB
fcis-29170	312	11	two	two	NUM
fcis-29170	312	12	novel	novel	ADJ
fcis-29170	312	13	sensorless	sensorless	NOUN
fcis-29170	312	14	control	control	NOUN
fcis-29170	312	15	methods	method	NOUN
fcis-29170	312	16	for	for	ADP
fcis-29170	312	17	pmsm	pmsm	NOUN
fcis-29170	312	18	by	by	ADP
fcis-29170	312	19	combining	combine	VERB
fcis-29170	312	20	the	the	DET
fcis-29170	312	21	ekf	ekf	NOUN
fcis-29170	312	22	observation	observation	NOUN
fcis-29170	312	23	algorithm	algorithm	NOUN
fcis-29170	312	24	and	and	CCONJ
fcis-29170	312	25	the	the	DET
fcis-29170	312	26	active	active	ADJ
fcis-29170	312	27	disturbance	disturbance	NOUN
fcis-29170	312	28	rejection	rejection	NOUN
fcis-29170	312	29	control	control	NOUN
fcis-29170	312	30	(	(	PUNCT
fcis-29170	312	31	adrc	adrc	NOUN
fcis-29170	312	32	)	)	PUNCT
fcis-29170	312	33	theory	theory	NOUN
fcis-29170	312	34	.	.	PUNCT
fcis-29170	313	1	simulation	simulation	NOUN
fcis-29170	313	2	and	and	CCONJ
fcis-29170	313	3	experimental	experimental	ADJ
fcis-29170	313	4	results	result	NOUN
fcis-29170	313	5	show	show	VERB
fcis-29170	313	6	that	that	SCONJ
fcis-29170	313	7	both	both	CCONJ
fcis-29170	313	8	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	313	9	and	and	CCONJ
fcis-29170	313	10	nladrc+ekf	nladrc+ekf	PROPN
fcis-29170	313	11	systems	system	NOUN
fcis-29170	313	12	outperform	outperform	VERB
fcis-29170	313	13	the	the	DET
fcis-29170	313	14	pi+ekf	pi+ekf	NOUN
fcis-29170	313	15	system	system	NOUN
fcis-29170	313	16	in	in	ADP
fcis-29170	313	17	terms	term	NOUN
fcis-29170	313	18	of	of	ADP
fcis-29170	313	19	disturbance	disturbance	NOUN
fcis-29170	313	20	rejection	rejection	NOUN
fcis-29170	313	21	performance	performance	NOUN
fcis-29170	313	22	,	,	PUNCT
fcis-29170	313	23	compensation	compensation	NOUN
fcis-29170	313	24	ability	ability	NOUN
fcis-29170	313	25	,	,	PUNCT
fcis-29170	313	26	speed	speed	NOUN
fcis-29170	313	27	regulation	regulation	NOUN
fcis-29170	313	28	range	range	NOUN
fcis-29170	313	29	,	,	PUNCT
fcis-29170	313	30	parameter	parameter	NOUN
fcis-29170	313	31	estimation	estimation	NOUN
fcis-29170	313	32	accuracy	accuracy	NOUN
fcis-29170	313	33	,	,	PUNCT
fcis-29170	313	34	and	and	CCONJ
fcis-29170	313	35	control	control	NOUN
fcis-29170	313	36	precision	precision	NOUN
fcis-29170	313	37	.	.	PUNCT
fcis-29170	314	1	the	the	DET
fcis-29170	314	2	nladrc+ekf	nladrc+ekf	PROPN
fcis-29170	314	3	system	system	NOUN
fcis-29170	314	4	performs	perform	VERB
fcis-29170	314	5	better	well	ADJ
fcis-29170	314	6	than	than	ADP
fcis-29170	314	7	the	the	DET
fcis-29170	314	8	ladrc+ekf	ladrc+ekf	PROPN
fcis-29170	314	9	system	system	NOUN
fcis-29170	314	10	,	,	PUNCT
fcis-29170	314	11	but	but	CCONJ
fcis-29170	314	12	its	its	PRON
fcis-29170	314	13	parameter	parameter	NOUN
fcis-29170	314	14	tuning	tuning	NOUN
fcis-29170	314	15	is	be	AUX
fcis-29170	314	16	more	more	ADV
fcis-29170	314	17	complex	complex	ADJ
fcis-29170	314	18	.	.	PUNCT
fcis-29170	315	1	the	the	DET
fcis-29170	315	2	former	former	ADJ
fcis-29170	315	3	is	be	AUX
fcis-29170	315	4	suitable	suitable	ADJ
fcis-29170	315	5	for	for	ADP
fcis-29170	315	6	high	high	ADJ
fcis-29170	315	7	-	-	PUNCT
fcis-29170	315	8	precision	precision	NOUN
fcis-29170	315	9	and	and	CCONJ
fcis-29170	315	10	highdisturbance	highdisturbance	NOUN
fcis-29170	315	11	rejection	rejection	NOUN
fcis-29170	315	12	scenarios	scenario	NOUN
fcis-29170	315	13	,	,	PUNCT
fcis-29170	315	14	while	while	SCONJ
fcis-29170	315	15	the	the	DET
fcis-29170	315	16	latter	latter	NOUN
fcis-29170	315	17	is	be	AUX
fcis-29170	315	18	more	more	ADV
fcis-29170	315	19	suitable	suitable	ADJ
fcis-29170	315	20	for	for	ADP
fcis-29170	315	21	general	general	ADJ
fcis-29170	315	22	pmsm	pmsm	NOUN
fcis-29170	315	23	applications	application	NOUN
fcis-29170	315	24	,	,	PUNCT
fcis-29170	315	25	offering	offer	VERB
fcis-29170	315	26	a	a	DET
fcis-29170	315	27	higher	high	ADJ
fcis-29170	315	28	cost	cost	NOUN
fcis-29170	315	29	-	-	PUNCT
fcis-29170	315	30	performance	performance	NOUN
fcis-29170	315	31	ratio	ratio	NOUN
fcis-29170	315	32	and	and	CCONJ
fcis-29170	315	33	better	well	ADJ
fcis-29170	315	34	potential	potential	NOUN
fcis-29170	315	35	for	for	ADP
fcis-29170	315	36	engineering	engineering	NOUN
fcis-29170	315	37	promotion	promotion	NOUN
fcis-29170	315	38	.	.	PUNCT
fcis-29170	316	1	references	reference	NOUN
fcis-29170	316	2	[	[	X
fcis-29170	316	3	1	1	NUM
fcis-29170	316	4	]	]	X
fcis-29170	316	5	jiang	jiang	PROPN
fcis-29170	316	6	,	,	PUNCT
fcis-29170	316	7	c.	c.	PROPN
fcis-29170	316	8	,	,	PUNCT
fcis-29170	316	9	&	&	CCONJ
fcis-29170	316	10	jia	jia	PROPN
fcis-29170	316	11	,	,	PUNCT
fcis-29170	316	12	h.	h.	PROPN
fcis-29170	316	13	(	(	PUNCT
fcis-29170	316	14	2023	2023	NUM
fcis-29170	316	15	)	)	PUNCT
fcis-29170	316	16	.	.	PUNCT
fcis-29170	317	1	research	research	NOUN
fcis-29170	317	2	on	on	ADP
fcis-29170	317	3	vector	vector	NOUN
fcis-29170	317	4	control	control	NOUN
fcis-29170	317	5	system	system	NOUN
fcis-29170	317	6	of	of	ADP
fcis-29170	317	7	permanent	permanent	ADJ
fcis-29170	317	8	magnet	magnet	NOUN
fcis-29170	317	9	synchronous	synchronous	ADJ
fcis-29170	317	10	motor	motor	NOUN
fcis-29170	317	11	based	base	VERB
fcis-29170	317	12	on	on	ADP
fcis-29170	317	13	strong	strong	ADJ
fcis-29170	317	14	tracking	tracking	PROPN
fcis-29170	317	15	ekf	ekf	PROPN
fcis-29170	317	16	.	.	PUNCT
fcis-29170	317	17	journal	journal	PROPN
fcis-29170	317	18	of	of	ADP
fcis-29170	317	19	combined	combined	ADJ
fcis-29170	317	20	machine	machine	NOUN
fcis-29170	317	21	tools	tool	NOUN
fcis-29170	317	22	and	and	CCONJ
fcis-29170	317	23	automation	automation	NOUN
fcis-29170	317	24	processing	processing	NOUN
fcis-29170	317	25	technology	technology	NOUN
fcis-29170	317	26	,	,	PUNCT
fcis-29170	317	27	2023(1	2023(1	PROPN
fcis-29170	317	28	)	)	PUNCT
fcis-29170	317	29	,	,	PUNCT
fcis-29170	317	30	46	46	NUM
fcis-29170	317	31	-	-	SYM
fcis-29170	317	32	49	49	NUM
fcis-29170	317	33	.	.	PUNCT
fcis-29170	318	1	https://	https://	PROPN
fcis-29170	318	2	doi	doi	PROPN
fcis-29170	318	3	.	.	PUNCT
fcis-29170	319	1	org/10.13462	org/10.13462	PROPN
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fcis-29170	319	4	.	.	PUNCT
fcis-29170	320	1	[	[	X
fcis-29170	320	2	2	2	X
fcis-29170	320	3	]	]	PUNCT
fcis-29170	320	4	wang	wang	PROPN
fcis-29170	320	5	s	s	PROPN
fcis-29170	320	6	,	,	PUNCT
fcis-29170	320	7	jiang	jiang	PROPN
fcis-29170	320	8	c	c	PROPN
fcis-29170	320	9	,	,	PUNCT
fcis-29170	320	10	tu	tu	PROPN
fcis-29170	320	11	q	q	PROPN
fcis-29170	320	12	,	,	PUNCT
fcis-29170	320	13	et	et	PROPN
fcis-29170	320	14	al	al	PROPN
fcis-29170	320	15	.	.	PROPN
fcis-29170	320	16	particle	particle	NOUN
fcis-29170	320	17	swarm	swarm	NOUN
fcis-29170	320	18	optimization	optimization	NOUN
fcis-29170	320	19	of	of	ADP
fcis-29170	320	20	fuzzy	fuzzy	ADJ
fcis-29170	320	21	pi	pi	NOUN
fcis-29170	320	22	control	control	NOUN
fcis-29170	320	23	for	for	ADP
fcis-29170	320	24	pmsms[j	pmsms[j	PROPN
fcis-29170	320	25	]	]	PUNCT
fcis-29170	320	26	.	.	PUNCT
fcis-29170	321	1	journal	journal	PROPN
fcis-29170	321	2	of	of	ADP
fcis-29170	321	3	power	power	NOUN
fcis-29170	321	4	electronics	electronic	NOUN
fcis-29170	321	5	,	,	PUNCT
fcis-29170	321	6	2023	2023	NUM
fcis-29170	321	7	,	,	PUNCT
fcis-29170	321	8	23(10	23(10	NUM
fcis-29170	321	9	):	):	PUNCT
fcis-29170	321	10	1585	1585	NUM
fcis-29170	321	11	-	-	SYM
fcis-29170	321	12	1593	1593	NUM
fcis-29170	321	13	.	.	PUNCT
fcis-29170	322	1	[	[	X
fcis-29170	322	2	3	3	X
fcis-29170	322	3	]	]	X
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fcis-29170	322	5	w	w	PROPN
fcis-29170	322	6	,	,	PUNCT
fcis-29170	322	7	fan	fan	PROPN
fcis-29170	322	8	y	y	PROPN
fcis-29170	322	9	,	,	PUNCT
fcis-29170	322	10	xu	xu	PROPN
fcis-29170	323	1	d	d	PROPN
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fcis-29170	323	3	et	et	PROPN
fcis-29170	323	4	al	al	PROPN
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fcis-29170	324	1	an	an	DET
fcis-29170	324	2	improved	improve	VERB
fcis-29170	324	3	neural	neural	ADJ
fcis-29170	324	4	networksbased	networksbase	VERB
fcis-29170	324	5	vector	vector	NOUN
fcis-29170	324	6	control	control	NOUN
fcis-29170	324	7	approach	approach	NOUN
fcis-29170	324	8	for	for	ADP
fcis-29170	324	9	permanent	permanent	ADJ
fcis-29170	324	10	magnet	magnet	NOUN
fcis-29170	324	11	linear	linear	PROPN
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fcis-29170	324	15	.	.	PUNCT
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fcis-29170	325	4	franklin	franklin	PROPN
fcis-29170	325	5	institute	institute	PROPN
fcis-29170	325	6	,	,	PUNCT
fcis-29170	325	7	2023	2023	NUM
fcis-29170	325	8	.	.	PUNCT
fcis-29170	326	1	[	[	X
fcis-29170	326	2	4	4	NUM
fcis-29170	326	3	]	]	X
fcis-29170	326	4	liu	liu	PROPN
fcis-29170	326	5	,	,	PUNCT
fcis-29170	326	6	l.	l.	PROPN
fcis-29170	326	7	,	,	PUNCT
fcis-29170	326	8	cao	cao	PROPN
fcis-29170	326	9	,	,	PUNCT
fcis-29170	326	10	x.	x.	PROPN
fcis-29170	326	11	,	,	PUNCT
fcis-29170	326	12	qian	qian	PROPN
fcis-29170	326	13	,	,	PUNCT
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fcis-29170	326	20	2023	2023	NUM
fcis-29170	326	21	)	)	PUNCT
fcis-29170	326	22	.	.	PUNCT
fcis-29170	327	1	tuning	tuning	NOUN
fcis-29170	327	2	and	and	CCONJ
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fcis-29170	327	7	controller	controller	NOUN
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fcis-29170	327	9	current	current	ADJ
fcis-29170	327	10	loop	loop	NOUN
fcis-29170	327	11	in	in	ADP
fcis-29170	327	12	permanent	permanent	ADJ
fcis-29170	327	13	magnet	magnet	NOUN
fcis-29170	327	14	synchronous	synchronous	ADJ
fcis-29170	327	15	motor	motor	NOUN
fcis-29170	327	16	.	.	PUNCT
fcis-29170	328	1	journal	journal	PROPN
fcis-29170	328	2	of	of	ADP
fcis-29170	328	3	electrical	electrical	ADJ
fcis-29170	328	4	machines	machine	NOUN
fcis-29170	328	5	and	and	CCONJ
fcis-29170	328	6	control	control	NOUN
fcis-29170	328	7	,	,	PUNCT
fcis-29170	328	8	27(10	27(10	PROPN
fcis-29170	328	9	)	)	PUNCT
fcis-29170	328	10	,	,	PUNCT
fcis-29170	328	11	131	131	NUM
fcis-29170	328	12	-	-	SYM
fcis-29170	328	13	140	140	NUM
fcis-29170	328	14	.	.	PUNCT
fcis-29170	329	1	https://doi.org/	https://doi.org/	PROPN
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fcis-29170	330	1	2023	2023	NUM
fcis-29170	330	2	.	.	PUNCT
fcis-29170	331	1	10.013	10.013	NUM
fcis-29170	331	2	.	.	PUNCT
fcis-29170	332	1	[	[	X
fcis-29170	332	2	5	5	NUM
fcis-29170	332	3	]	]	SYM
fcis-29170	332	4	li	li	PROPN
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fcis-29170	332	6	j.	j.	PROPN
fcis-29170	332	7	,	,	PUNCT
fcis-29170	332	8	&	&	CCONJ
fcis-29170	332	9	nan	nan	PROPN
fcis-29170	332	10	,	,	PUNCT
fcis-29170	332	11	l.	l.	PROPN
fcis-29170	332	12	(	(	PUNCT
fcis-29170	332	13	2023	2023	NUM
fcis-29170	332	14	)	)	PUNCT
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fcis-29170	333	1	simulation	simulation	NOUN
fcis-29170	333	2	analysis	analysis	NOUN
fcis-29170	333	3	of	of	ADP
fcis-29170	333	4	adaptive	adaptive	ADJ
fcis-29170	333	5	pi	pi	NOUN
fcis-29170	333	6	control	control	NOUN
fcis-29170	333	7	for	for	ADP
fcis-29170	333	8	permanent	permanent	ADJ
fcis-29170	333	9	magnet	magnet	NOUN
fcis-29170	333	10	synchronous	synchronous	ADJ
fcis-29170	333	11	motor	motor	NOUN
fcis-29170	333	12	in	in	ADP
fcis-29170	333	13	electric	electric	ADJ
fcis-29170	333	14	vehicles	vehicle	NOUN
fcis-29170	333	15	.	.	PUNCT
fcis-29170	334	1	automobile	automobile	NOUN
fcis-29170	334	2	practical	practical	ADJ
fcis-29170	334	3	technology	technology	NOUN
fcis-29170	334	4	,	,	PUNCT
fcis-29170	334	5	48(8	48(8	NUM
fcis-29170	334	6	)	)	PUNCT
fcis-29170	334	7	,	,	PUNCT
fcis-29170	334	8	22	22	NUM
fcis-29170	334	9	-	-	SYM
fcis-29170	334	10	26	26	NUM
fcis-29170	334	11	.	.	PUNCT
fcis-29170	335	1	https://doi.org/10.16638/j.cnki.1671-7988.2023.08.004	https://doi.org/10.16638/j.cnki.1671-7988.2023.08.004	X
fcis-29170	335	2	.	.	PUNCT
fcis-29170	336	1	[	[	X
fcis-29170	336	2	6	6	NUM
fcis-29170	336	3	]	]	SYM
fcis-29170	336	4	lü	lü	PROPN
fcis-29170	336	5	,	,	PUNCT
fcis-29170	336	6	d.	d.	PROPN
fcis-29170	336	7	,	,	PUNCT
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fcis-29170	336	9	,	,	PUNCT
fcis-29170	336	10	z.	z.	PROPN
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fcis-29170	336	12	&	&	CCONJ
fcis-29170	336	13	xu	xu	PROPN
fcis-29170	336	14	,	,	PUNCT
fcis-29170	336	15	x.	x.	NOUN
fcis-29170	336	16	(	(	PUNCT
fcis-29170	336	17	2023	2023	NUM
fcis-29170	336	18	)	)	PUNCT
fcis-29170	336	19	.	.	PUNCT
fcis-29170	336	20	improved	improve	VERB
fcis-29170	336	21	mras	mras	ADJ
fcis-29170	336	22	observer	observer	NOUN
fcis-29170	336	23	control	control	NOUN
fcis-29170	336	24	for	for	ADP
fcis-29170	336	25	permanent	permanent	ADJ
fcis-29170	336	26	magnet	magnet	NOUN
fcis-29170	336	27	synchronous	synchronous	ADJ
fcis-29170	336	28	motor	motor	NOUN
fcis-29170	336	29	with	with	ADP
fcis-29170	336	30	load	load	NOUN
fcis-29170	336	31	disturbance	disturbance	NOUN
fcis-29170	336	32	compensation	compensation	NOUN
fcis-29170	336	33	.	.	PUNCT
fcis-29170	337	1	journal	journal	NOUN
fcis-29170	337	2	of	of	ADP
fcis-29170	337	3	electrical	electrical	ADJ
fcis-29170	337	4	machines	machine	NOUN
fcis-29170	337	5	and	and	CCONJ
fcis-29170	337	6	control	control	NOUN
fcis-29170	337	7	,	,	PUNCT
fcis-29170	337	8	27(6	27(6	NUM
fcis-29170	337	9	)	)	PUNCT
fcis-29170	337	10	,	,	PUNCT
fcis-29170	337	11	46	46	NUM
fcis-29170	337	12	-	-	SYM
fcis-29170	337	13	54	54	NUM
fcis-29170	337	14	.	.	PUNCT
fcis-29170	337	15	https://doi.org/	https://doi.org/	VERB
fcis-29170	337	16	10.15938/	10.15938/	NUM
fcis-29170	337	17	j.emc	j.emc	PROPN
fcis-29170	337	18	.	.	PROPN
fcis-29170	338	1	2023	2023	NUM
fcis-29170	338	2	.	.	PUNCT
fcis-29170	339	1	06.006	06.006	NUM
fcis-29170	339	2	.	.	PUNCT
fcis-29170	340	1	[	[	X
fcis-29170	340	2	7	7	NUM
fcis-29170	340	3	]	]	X
fcis-29170	340	4	wang	wang	PROPN
fcis-29170	340	5	,	,	PUNCT
fcis-29170	340	6	h.	h.	PROPN
fcis-29170	340	7	,	,	PUNCT
fcis-29170	340	8	zhou	zhou	PROPN
fcis-29170	340	9	,	,	PUNCT
fcis-29170	340	10	b.	b.	PROPN
fcis-29170	340	11	,	,	PUNCT
fcis-29170	340	12	&	&	CCONJ
fcis-29170	340	13	fang	fang	PROPN
fcis-29170	340	14	,	,	PUNCT
fcis-29170	340	15	s.	s.	PROPN
fcis-29170	340	16	(	(	PUNCT
fcis-29170	340	17	2009	2009	NUM
fcis-29170	340	18	)	)	PUNCT
fcis-29170	340	19	.	.	PUNCT
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fcis-29170	341	2	mode	mode	NOUN
fcis-29170	341	3	control	control	NOUN
fcis-29170	341	4	of	of	ADP
fcis-29170	341	5	permanent	permanent	ADJ
fcis-29170	341	6	magnet	magnet	NOUN
fcis-29170	341	7	synchronous	synchronous	ADJ
fcis-29170	341	8	motor	motor	NOUN
fcis-29170	341	9	speed	speed	NOUN
fcis-29170	341	10	control	control	NOUN
fcis-29170	341	11	system	system	NOUN
fcis-29170	341	12	.	.	PUNCT
fcis-29170	342	1	transactions	transaction	NOUN
fcis-29170	342	2	of	of	ADP
fcis-29170	342	3	china	china	PROPN
fcis-29170	342	4	electrotechnical	electrotechnical	ADJ
fcis-29170	342	5	society	society	NOUN
fcis-29170	342	6	,	,	PUNCT
fcis-29170	342	7	24(9	24(9	NUM
fcis-29170	342	8	)	)	PUNCT
fcis-29170	342	9	,	,	PUNCT
fcis-29170	342	10	71	71	NUM
fcis-29170	342	11	-	-	SYM
fcis-29170	342	12	77	77	NUM
fcis-29170	342	13	.	.	PUNCT
fcis-29170	343	1	https://doi.org/10.3321/j.issn:1000-6753.2009.09.011	https://doi.org/10.3321/j.issn:1000-6753.2009.09.011	X
fcis-29170	343	2	.	.	PUNCT
fcis-29170	344	1	[	[	X
fcis-29170	344	2	8	8	NUM
fcis-29170	344	3	]	]	SYM
fcis-29170	344	4	li	li	PROPN
fcis-29170	344	5	,	,	PUNCT
fcis-29170	344	6	t.	t.	PROPN
fcis-29170	344	7	(	(	PUNCT
fcis-29170	344	8	2022	2022	NUM
fcis-29170	344	9	)	)	PUNCT
fcis-29170	344	10	.	.	PUNCT
fcis-29170	345	1	robust	robust	ADJ
fcis-29170	345	2	control	control	NOUN
fcis-29170	345	3	method	method	NOUN
fcis-29170	345	4	for	for	ADP
fcis-29170	345	5	cnc	cnc	PROPN
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