id	sid	tid	token	lemma	pos
fcis-29171	1	1	frontiers	frontier	NOUN
fcis-29171	1	2	in	in	ADP
fcis-29171	1	3	computing	computing	NOUN
fcis-29171	1	4	and	and	CCONJ
fcis-29171	1	5	intelligent	intelligent	ADJ
fcis-29171	1	6	systems	system	NOUN
fcis-29171	1	7	issn	issn	VERB
fcis-29171	1	8	:	:	PUNCT
fcis-29171	1	9	2832	2832	NUM
fcis-29171	1	10	-	-	SYM
fcis-29171	1	11	6024	6024	NUM
fcis-29171	1	12	|	|	NOUN
fcis-29171	1	13	vol	vol	NOUN
fcis-29171	1	14	.	.	PROPN
fcis-29171	2	1	11	11	NUM
fcis-29171	2	2	,	,	PUNCT
fcis-29171	2	3	no	no	INTJ
fcis-29171	2	4	.	.	NOUN
fcis-29171	2	5	1	1	NUM
fcis-29171	2	6	,	,	PUNCT
fcis-29171	2	7	2025	2025	NUM
fcis-29171	2	8	22	22	NUM
fcis-29171	2	9	the	the	DET
fcis-29171	2	10	simulation	simulation	NOUN
fcis-29171	2	11	of	of	ADP
fcis-29171	2	12	pose	pose	NOUN
fcis-29171	2	13	control	control	NOUN
fcis-29171	2	14	for	for	ADP
fcis-29171	2	15	stewart	stewart	PROPN
fcis-29171	2	16	platform	platform	NOUN
fcis-29171	2	17	based	base	VERB
fcis-29171	2	18	on	on	ADP
fcis-29171	2	19	gain‐enhanced	gain‐enhance	VERB
fcis-29171	2	20	pid	pid	NOUN
fcis-29171	2	21	with	with	ADP
fcis-29171	2	22	generalized	generalized	ADJ
fcis-29171	2	23	boolean	boolean	ADJ
fcis-29171	2	24	algebra	algebra	PROPN
fcis-29171	2	25	ke	ke	PROPN
fcis-29171	2	26	ouyang	ouyang	PROPN
fcis-29171	2	27	,	,	PUNCT
fcis-29171	3	1	jin	jin	PROPN
fcis-29171	3	2	chen	chen	PROPN
fcis-29171	3	3	*	*	PROPN
fcis-29171	3	4	,	,	PUNCT
fcis-29171	3	5	zhongtao	zhongtao	PROPN
fcis-29171	3	6	cao	cao	PROPN
fcis-29171	3	7	,	,	PUNCT
fcis-29171	3	8	wenqiang	wenqiang	PROPN
fcis-29171	3	9	li	li	PROPN
fcis-29171	3	10	school	school	PROPN
fcis-29171	3	11	of	of	ADP
fcis-29171	3	12	shanghai	shanghai	PROPN
fcis-29171	3	13	polytechnic	polytechnic	PROPN
fcis-29171	3	14	university	university	PROPN
fcis-29171	3	15	,	,	PUNCT
fcis-29171	3	16	shanghai	shanghai	PROPN
fcis-29171	3	17	201209	201209	NUM
fcis-29171	3	18	,	,	PUNCT
fcis-29171	3	19	china	china	PROPN
fcis-29171	3	20	*	*	PUNCT
fcis-29171	3	21	corresponding	correspond	VERB
fcis-29171	3	22	author	author	NOUN
fcis-29171	3	23	:	:	PUNCT
fcis-29171	3	24	jin	jin	PROPN
fcis-29171	3	25	chen	chen	PROPN
fcis-29171	3	26	(	(	PUNCT
fcis-29171	3	27	email	email	NOUN
fcis-29171	3	28	:	:	PUNCT
fcis-29171	3	29	996821784@qq.com	996821784@qq.com	NUM
fcis-29171	3	30	)	)	PUNCT
fcis-29171	3	31	abstract	abstract	NOUN
fcis-29171	3	32	:	:	PUNCT
fcis-29171	3	33	due	due	ADP
fcis-29171	3	34	to	to	ADP
fcis-29171	3	35	the	the	DET
fcis-29171	3	36	nonlinear	nonlinear	ADJ
fcis-29171	3	37	and	and	CCONJ
fcis-29171	3	38	time	time	NOUN
fcis-29171	3	39	-	-	PUNCT
fcis-29171	3	40	varying	vary	VERB
fcis-29171	3	41	uncertainties	uncertainty	NOUN
fcis-29171	3	42	commonly	commonly	ADV
fcis-29171	3	43	present	present	ADJ
fcis-29171	3	44	in	in	ADP
fcis-29171	3	45	practical	practical	ADJ
fcis-29171	3	46	industrial	industrial	ADJ
fcis-29171	3	47	systems	system	NOUN
fcis-29171	3	48	,	,	PUNCT
fcis-29171	3	49	traditional	traditional	ADJ
fcis-29171	3	50	pid	pid	NOUN
fcis-29171	3	51	controllers	controller	NOUN
fcis-29171	3	52	often	often	ADV
fcis-29171	3	53	fail	fail	VERB
fcis-29171	3	54	to	to	PART
fcis-29171	3	55	achieve	achieve	VERB
fcis-29171	3	56	optimal	optimal	ADJ
fcis-29171	3	57	control	control	NOUN
fcis-29171	3	58	performance	performance	NOUN
fcis-29171	3	59	under	under	ADP
fcis-29171	3	60	significant	significant	ADJ
fcis-29171	3	61	input	input	NOUN
fcis-29171	3	62	variations	variation	NOUN
fcis-29171	3	63	.	.	PUNCT
fcis-29171	4	1	this	this	DET
fcis-29171	4	2	paper	paper	NOUN
fcis-29171	4	3	proposes	propose	VERB
fcis-29171	4	4	a	a	DET
fcis-29171	4	5	gainenhanced	gainenhance	VERB
fcis-29171	4	6	pid	pid	NOUN
fcis-29171	4	7	control	control	NOUN
fcis-29171	4	8	method	method	NOUN
fcis-29171	4	9	optimized	optimize	VERB
fcis-29171	4	10	by	by	ADP
fcis-29171	4	11	generalized	generalized	ADJ
fcis-29171	4	12	boolean	boolean	ADJ
fcis-29171	4	13	algebra	algebra	NOUN
fcis-29171	4	14	,	,	PUNCT
fcis-29171	4	15	applying	apply	VERB
fcis-29171	4	16	boolean	boolean	ADJ
fcis-29171	4	17	algebraic	algebraic	ADJ
fcis-29171	4	18	logic	logic	NOUN
fcis-29171	4	19	control	control	NOUN
fcis-29171	4	20	strategies	strategy	NOUN
fcis-29171	4	21	to	to	ADP
fcis-29171	4	22	traditional	traditional	ADJ
fcis-29171	4	23	pid	pid	NOUN
fcis-29171	4	24	control	control	NOUN
fcis-29171	4	25	to	to	PART
fcis-29171	4	26	improve	improve	VERB
fcis-29171	4	27	parameter	parameter	NOUN
fcis-29171	4	28	adaptability	adaptability	NOUN
fcis-29171	4	29	and	and	CCONJ
fcis-29171	4	30	real	real	ADJ
fcis-29171	4	31	-	-	PUNCT
fcis-29171	4	32	time	time	NOUN
fcis-29171	4	33	control	control	NOUN
fcis-29171	4	34	performance	performance	NOUN
fcis-29171	4	35	.	.	PUNCT
fcis-29171	5	1	using	use	VERB
fcis-29171	5	2	matlab	matlab	PROPN
fcis-29171	5	3	/	/	SYM
fcis-29171	5	4	simulink	simulink	PROPN
fcis-29171	5	5	simulation	simulation	NOUN
fcis-29171	5	6	tools	tool	NOUN
fcis-29171	5	7	,	,	PUNCT
fcis-29171	5	8	a	a	DET
fcis-29171	5	9	dual	dual	ADJ
fcis-29171	5	10	-	-	PUNCT
fcis-29171	5	11	loop	loop	NOUN
fcis-29171	5	12	control	control	PROPN
fcis-29171	5	13	simulation	simulation	NOUN
fcis-29171	5	14	model	model	NOUN
fcis-29171	5	15	is	be	AUX
fcis-29171	5	16	established	establish	VERB
fcis-29171	5	17	for	for	ADP
fcis-29171	5	18	the	the	DET
fcis-29171	5	19	stewart	stewart	PROPN
fcis-29171	5	20	platform	platform	NOUN
fcis-29171	5	21	,	,	PUNCT
fcis-29171	5	22	incorporating	incorporate	VERB
fcis-29171	5	23	both	both	CCONJ
fcis-29171	5	24	conventional	conventional	ADJ
fcis-29171	5	25	pid	pid	NOUN
fcis-29171	5	26	control	control	NOUN
fcis-29171	5	27	and	and	CCONJ
fcis-29171	5	28	the	the	DET
fcis-29171	5	29	gain	gain	NOUN
fcis-29171	5	30	-	-	PUNCT
fcis-29171	5	31	enhanced	enhance	VERB
fcis-29171	5	32	pid	pid	NOUN
fcis-29171	5	33	control	control	NOUN
fcis-29171	5	34	optimized	optimize	VERB
fcis-29171	5	35	by	by	ADP
fcis-29171	5	36	generalized	generalized	ADJ
fcis-29171	5	37	boolean	boolean	ADJ
fcis-29171	5	38	algebra	algebra	NOUN
fcis-29171	5	39	.	.	PUNCT
fcis-29171	6	1	both	both	DET
fcis-29171	6	2	models	model	NOUN
fcis-29171	6	3	are	be	AUX
fcis-29171	6	4	configured	configure	VERB
fcis-29171	6	5	with	with	ADP
fcis-29171	6	6	identical	identical	ADJ
fcis-29171	6	7	pid	pid	NOUN
fcis-29171	6	8	parameters	parameter	NOUN
fcis-29171	6	9	for	for	ADP
fcis-29171	6	10	simulation	simulation	NOUN
fcis-29171	6	11	,	,	PUNCT
fcis-29171	6	12	and	and	CCONJ
fcis-29171	6	13	comparative	comparative	ADJ
fcis-29171	6	14	experimental	experimental	ADJ
fcis-29171	6	15	results	result	NOUN
fcis-29171	6	16	are	be	AUX
fcis-29171	6	17	presented	present	VERB
fcis-29171	6	18	.	.	PUNCT
fcis-29171	7	1	the	the	DET
fcis-29171	7	2	experimental	experimental	ADJ
fcis-29171	7	3	results	result	NOUN
fcis-29171	7	4	demonstrate	demonstrate	VERB
fcis-29171	7	5	that	that	SCONJ
fcis-29171	7	6	,	,	PUNCT
fcis-29171	7	7	in	in	ADP
fcis-29171	7	8	the	the	DET
fcis-29171	7	9	simulink	simulink	PROPN
fcis-29171	7	10	simulation	simulation	NOUN
fcis-29171	7	11	model	model	NOUN
fcis-29171	7	12	of	of	ADP
fcis-29171	7	13	the	the	DET
fcis-29171	7	14	stewart	stewart	PROPN
fcis-29171	7	15	platform	platform	PROPN
fcis-29171	7	16	's	's	PART
fcis-29171	7	17	pose	pose	NOUN
fcis-29171	7	18	control	control	NOUN
fcis-29171	7	19	system	system	NOUN
fcis-29171	7	20	,	,	PUNCT
fcis-29171	7	21	the	the	DET
fcis-29171	7	22	proposed	propose	VERB
fcis-29171	7	23	gain	gain	NOUN
fcis-29171	7	24	-	-	PUNCT
fcis-29171	7	25	enhanced	enhance	VERB
fcis-29171	7	26	pid	pid	NOUN
fcis-29171	7	27	control	control	NOUN
fcis-29171	7	28	system	system	NOUN
fcis-29171	7	29	optimized	optimize	VERB
fcis-29171	7	30	by	by	ADP
fcis-29171	7	31	generalized	generalized	ADJ
fcis-29171	7	32	boolean	boolean	ADJ
fcis-29171	7	33	algebra	algebra	NOUN
fcis-29171	7	34	improves	improve	VERB
fcis-29171	7	35	the	the	DET
fcis-29171	7	36	dynamic	dynamic	ADJ
fcis-29171	7	37	performance	performance	NOUN
fcis-29171	7	38	and	and	CCONJ
fcis-29171	7	39	response	response	NOUN
fcis-29171	7	40	speed	speed	NOUN
fcis-29171	7	41	compared	compare	VERB
fcis-29171	7	42	to	to	ADP
fcis-29171	7	43	the	the	DET
fcis-29171	7	44	traditional	traditional	ADJ
fcis-29171	7	45	pid	pid	NOUN
fcis-29171	7	46	control	control	NOUN
fcis-29171	7	47	system	system	NOUN
fcis-29171	7	48	,	,	PUNCT
fcis-29171	7	49	enhancing	enhance	VERB
fcis-29171	7	50	the	the	DET
fcis-29171	7	51	real	real	ADJ
fcis-29171	7	52	-	-	PUNCT
fcis-29171	7	53	time	time	NOUN
fcis-29171	7	54	performance	performance	NOUN
fcis-29171	7	55	and	and	CCONJ
fcis-29171	7	56	stability	stability	NOUN
fcis-29171	7	57	of	of	ADP
fcis-29171	7	58	the	the	DET
fcis-29171	7	59	stewart	stewart	PROPN
fcis-29171	7	60	platform	platform	PROPN
fcis-29171	7	61	control	control	PROPN
fcis-29171	7	62	.	.	PUNCT
fcis-29171	8	1	keywords	keyword	NOUN
fcis-29171	8	2	:	:	PUNCT
fcis-29171	8	3	generalized	generalized	ADJ
fcis-29171	8	4	boolean	boolean	ADJ
fcis-29171	8	5	algebra	algebra	NOUN
fcis-29171	8	6	;	;	PUNCT
fcis-29171	8	7	variable	variable	ADJ
fcis-29171	8	8	gain	gain	NOUN
fcis-29171	8	9	pid	pid	NOUN
fcis-29171	8	10	;	;	PUNCT
fcis-29171	8	11	simulink	simulink	PROPN
fcis-29171	8	12	simulation	simulation	PROPN
fcis-29171	8	13	;	;	PUNCT
fcis-29171	8	14	stewart	stewart	PROPN
fcis-29171	8	15	platform	platform	PROPN
fcis-29171	8	16	.	.	PUNCT
fcis-29171	9	1	1	1	X
fcis-29171	9	2	.	.	X
fcis-29171	9	3	introduction	introduction	NOUN
fcis-29171	9	4	the	the	DET
fcis-29171	9	5	main	main	ADJ
fcis-29171	9	6	components	component	NOUN
fcis-29171	9	7	of	of	ADP
fcis-29171	9	8	the	the	DET
fcis-29171	9	9	stewart	stewart	PROPN
fcis-29171	9	10	platform	platform	PROPN
fcis-29171	9	11	include	include	VERB
fcis-29171	9	12	an	an	DET
fcis-29171	9	13	upper	upper	ADJ
fcis-29171	9	14	platform	platform	NOUN
fcis-29171	9	15	,	,	PUNCT
fcis-29171	9	16	a	a	DET
fcis-29171	9	17	lower	low	ADJ
fcis-29171	9	18	platform	platform	NOUN
fcis-29171	9	19	,	,	PUNCT
fcis-29171	9	20	and	and	CCONJ
fcis-29171	9	21	six	six	NUM
fcis-29171	9	22	actuating	actuate	VERB
fcis-29171	9	23	rods	rod	NOUN
fcis-29171	9	24	that	that	PRON
fcis-29171	9	25	can	can	AUX
fcis-29171	9	26	undergo	undergo	VERB
fcis-29171	9	27	free	free	ADJ
fcis-29171	9	28	extension	extension	NOUN
fcis-29171	9	29	and	and	CCONJ
fcis-29171	9	30	retraction	retraction	NOUN
fcis-29171	9	31	.	.	PUNCT
fcis-29171	10	1	typically	typically	ADV
fcis-29171	10	2	,	,	PUNCT
fcis-29171	10	3	the	the	DET
fcis-29171	10	4	upper	upper	ADJ
fcis-29171	10	5	platform	platform	NOUN
fcis-29171	10	6	serves	serve	VERB
fcis-29171	10	7	as	as	ADP
fcis-29171	10	8	the	the	DET
fcis-29171	10	9	load	load	NOUN
fcis-29171	10	10	platform	platform	NOUN
fcis-29171	10	11	and	and	CCONJ
fcis-29171	10	12	is	be	AUX
fcis-29171	10	13	capable	capable	ADJ
fcis-29171	10	14	of	of	ADP
fcis-29171	10	15	six	six	NUM
fcis-29171	10	16	degrees	degree	NOUN
fcis-29171	10	17	of	of	ADP
fcis-29171	10	18	freedom	freedom	NOUN
fcis-29171	10	19	in	in	ADP
fcis-29171	10	20	motion	motion	NOUN
fcis-29171	10	21	,	,	PUNCT
fcis-29171	10	22	while	while	SCONJ
fcis-29171	10	23	the	the	DET
fcis-29171	10	24	lower	low	ADJ
fcis-29171	10	25	platform	platform	NOUN
fcis-29171	10	26	is	be	AUX
fcis-29171	10	27	fixed	fix	VERB
fcis-29171	10	28	to	to	ADP
fcis-29171	10	29	the	the	DET
fcis-29171	10	30	ground	ground	NOUN
fcis-29171	10	31	[	[	X
fcis-29171	10	32	1	1	NUM
fcis-29171	10	33	]	]	PUNCT
fcis-29171	10	34	.	.	PUNCT
fcis-29171	11	1	compared	compare	VERB
fcis-29171	11	2	to	to	ADP
fcis-29171	11	3	serial	serial	ADJ
fcis-29171	11	4	mechanisms	mechanism	NOUN
fcis-29171	11	5	,	,	PUNCT
fcis-29171	11	6	the	the	DET
fcis-29171	11	7	stewart	stewart	PROPN
fcis-29171	11	8	platform	platform	NOUN
fcis-29171	11	9	offers	offer	VERB
fcis-29171	11	10	advantages	advantage	NOUN
fcis-29171	11	11	such	such	ADJ
fcis-29171	11	12	as	as	ADP
fcis-29171	11	13	superior	superior	ADJ
fcis-29171	11	14	dynamic	dynamic	ADJ
fcis-29171	11	15	performance	performance	NOUN
fcis-29171	11	16	,	,	PUNCT
fcis-29171	11	17	high	high	ADJ
fcis-29171	11	18	rigidity	rigidity	NOUN
fcis-29171	11	19	,	,	PUNCT
fcis-29171	11	20	strong	strong	ADJ
fcis-29171	11	21	load	load	NOUN
fcis-29171	11	22	-	-	PUNCT
fcis-29171	11	23	bearing	bear	VERB
fcis-29171	11	24	capacity	capacity	NOUN
fcis-29171	11	25	,	,	PUNCT
fcis-29171	11	26	compact	compact	ADJ
fcis-29171	11	27	structure	structure	NOUN
fcis-29171	11	28	,	,	PUNCT
fcis-29171	11	29	and	and	CCONJ
fcis-29171	11	30	high	high	ADJ
fcis-29171	11	31	positioning	positioning	NOUN
fcis-29171	11	32	accuracy	accuracy	NOUN
fcis-29171	11	33	[	[	X
fcis-29171	11	34	2	2	NUM
fcis-29171	11	35	]	]	PUNCT
fcis-29171	11	36	.	.	PUNCT
fcis-29171	12	1	these	these	DET
fcis-29171	12	2	features	feature	NOUN
fcis-29171	12	3	make	make	VERB
fcis-29171	12	4	it	it	PRON
fcis-29171	12	5	widely	widely	ADV
fcis-29171	12	6	used	use	VERB
fcis-29171	12	7	in	in	ADP
fcis-29171	12	8	various	various	ADJ
fcis-29171	12	9	fields	field	NOUN
fcis-29171	12	10	such	such	ADJ
fcis-29171	12	11	as	as	ADP
fcis-29171	12	12	entertainment	entertainment	NOUN
fcis-29171	12	13	,	,	PUNCT
fcis-29171	12	14	marine	marine	NOUN
fcis-29171	12	15	,	,	PUNCT
fcis-29171	12	16	aerospace	aerospace	NOUN
fcis-29171	12	17	,	,	PUNCT
fcis-29171	12	18	and	and	CCONJ
fcis-29171	12	19	manufacturing	manufacturing	NOUN
fcis-29171	12	20	.	.	PUNCT
fcis-29171	13	1	due	due	ADP
fcis-29171	13	2	to	to	ADP
fcis-29171	13	3	the	the	DET
fcis-29171	13	4	strong	strong	ADJ
fcis-29171	13	5	coupling	coupling	NOUN
fcis-29171	13	6	,	,	PUNCT
fcis-29171	13	7	nonlinearity	nonlinearity	NOUN
fcis-29171	13	8	,	,	PUNCT
fcis-29171	13	9	significant	significant	ADJ
fcis-29171	13	10	interference	interference	NOUN
fcis-29171	13	11	,	,	PUNCT
fcis-29171	13	12	and	and	CCONJ
fcis-29171	13	13	the	the	DET
fcis-29171	13	14	difficulty	difficulty	NOUN
fcis-29171	13	15	of	of	ADP
fcis-29171	13	16	establishing	establish	VERB
fcis-29171	13	17	mathematical	mathematical	ADJ
fcis-29171	13	18	models	model	NOUN
fcis-29171	13	19	,	,	PUNCT
fcis-29171	13	20	as	as	ADV
fcis-29171	13	21	well	well	ADV
fcis-29171	13	22	as	as	ADP
fcis-29171	13	23	the	the	DET
fcis-29171	13	24	relatively	relatively	ADV
fcis-29171	13	25	poor	poor	ADJ
fcis-29171	13	26	dynamic	dynamic	ADJ
fcis-29171	13	27	performance	performance	NOUN
fcis-29171	13	28	and	and	CCONJ
fcis-29171	13	29	adaptability	adaptability	NOUN
fcis-29171	13	30	of	of	ADP
fcis-29171	13	31	traditional	traditional	ADJ
fcis-29171	13	32	pid	pid	NOUN
fcis-29171	13	33	controllers	controller	NOUN
fcis-29171	13	34	,	,	PUNCT
fcis-29171	13	35	this	this	DET
fcis-29171	13	36	paper	paper	NOUN
fcis-29171	13	37	addresses	address	VERB
fcis-29171	13	38	the	the	DET
fcis-29171	13	39	high	high	ADJ
fcis-29171	13	40	realtime	realtime	NOUN
fcis-29171	13	41	and	and	CCONJ
fcis-29171	13	42	positioning	positioning	NOUN
fcis-29171	13	43	accuracy	accuracy	NOUN
fcis-29171	13	44	requirements	requirement	NOUN
fcis-29171	13	45	of	of	ADP
fcis-29171	13	46	the	the	DET
fcis-29171	13	47	six	six	NUM
fcis-29171	13	48	-	-	PUNCT
fcis-29171	13	49	degreeof	degreeof	ADJ
fcis-29171	13	50	-	-	PUNCT
fcis-29171	13	51	freedom	freedom	NOUN
fcis-29171	13	52	parallel	parallel	NOUN
fcis-29171	13	53	platform	platform	NOUN
fcis-29171	13	54	.	.	PUNCT
fcis-29171	14	1	an	an	DET
fcis-29171	14	2	optimized	optimize	VERB
fcis-29171	14	3	variable	variable	ADJ
fcis-29171	14	4	gain	gain	NOUN
fcis-29171	14	5	pid	pid	NOUN
fcis-29171	14	6	controller	controller	NOUN
fcis-29171	14	7	based	base	VERB
fcis-29171	14	8	on	on	ADP
fcis-29171	14	9	boolean	boolean	ADJ
fcis-29171	14	10	algebra	algebra	NOUN
fcis-29171	14	11	is	be	AUX
fcis-29171	14	12	designed	design	VERB
fcis-29171	14	13	to	to	PART
fcis-29171	14	14	enhance	enhance	VERB
fcis-29171	14	15	the	the	DET
fcis-29171	14	16	system	system	NOUN
fcis-29171	14	17	's	's	PART
fcis-29171	14	18	dynamic	dynamic	ADJ
fcis-29171	14	19	performance	performance	NOUN
fcis-29171	14	20	and	and	CCONJ
fcis-29171	14	21	real	real	ADJ
fcis-29171	14	22	-	-	PUNCT
fcis-29171	14	23	time	time	NOUN
fcis-29171	14	24	response	response	NOUN
fcis-29171	14	25	.	.	PUNCT
fcis-29171	15	1	2	2	X
fcis-29171	15	2	.	.	X
fcis-29171	15	3	electromechanical	electromechanical	ADJ
fcis-29171	15	4	cylinder	cylinder	NOUN
fcis-29171	15	5	-	-	PUNCT
fcis-29171	15	6	driven	drive	VERB
fcis-29171	15	7	stewart	stewart	NOUN
fcis-29171	15	8	platform	platform	PROPN
fcis-29171	15	9	2.1	2.1	NUM
fcis-29171	15	10	.	.	PUNCT
fcis-29171	16	1	kinematic	kinematic	ADJ
fcis-29171	16	2	modeling	modeling	NOUN
fcis-29171	16	3	of	of	ADP
fcis-29171	16	4	the	the	DET
fcis-29171	16	5	stewart	stewart	PROPN
fcis-29171	16	6	platform	platform	NOUN
fcis-29171	16	7	the	the	DET
fcis-29171	16	8	schematic	schematic	ADJ
fcis-29171	16	9	of	of	ADP
fcis-29171	16	10	the	the	DET
fcis-29171	16	11	stewart	stewart	PROPN
fcis-29171	16	12	platform	platform	PROPN
fcis-29171	16	13	under	under	ADP
fcis-29171	16	14	study	study	NOUN
fcis-29171	16	15	is	be	AUX
fcis-29171	16	16	shown	show	VERB
fcis-29171	16	17	in	in	ADP
fcis-29171	16	18	figure	figure	NOUN
fcis-29171	16	19	1	1	NUM
fcis-29171	16	20	.	.	PUNCT
fcis-29171	16	21	before	before	ADP
fcis-29171	16	22	developing	develop	VERB
fcis-29171	16	23	the	the	DET
fcis-29171	16	24	complete	complete	ADJ
fcis-29171	16	25	kinematic	kinematic	ADJ
fcis-29171	16	26	model	model	NOUN
fcis-29171	16	27	,	,	PUNCT
fcis-29171	16	28	the	the	DET
fcis-29171	16	29	following	follow	VERB
fcis-29171	16	30	assumptions	assumption	NOUN
fcis-29171	16	31	are	be	AUX
fcis-29171	16	32	established	establish	VERB
fcis-29171	16	33	:	:	PUNCT
fcis-29171	16	34	the	the	DET
fcis-29171	16	35	center	center	ADJ
fcis-29171	16	36	point	point	NOUN
fcis-29171	16	37	of	of	ADP
fcis-29171	16	38	the	the	DET
fcis-29171	16	39	upper	upper	ADJ
fcis-29171	16	40	platform	platform	NOUN
fcis-29171	16	41	is	be	AUX
fcis-29171	16	42	denoted	denote	VERB
fcis-29171	16	43	as	as	ADP
fcis-29171	16	44	ol=	ol=	NOUN
fcis-29171	16	45	[	[	X
fcis-29171	16	46	x	x	X
fcis-29171	16	47	,	,	PUNCT
fcis-29171	16	48	y	y	PROPN
fcis-29171	16	49	,	,	PUNCT
fcis-29171	16	50	z	z	PROPN
fcis-29171	16	51	,	,	PUNCT
fcis-29171	16	52	α	α	PROPN
fcis-29171	16	53	,	,	PUNCT
fcis-29171	16	54	β	β	X
fcis-29171	16	55	,	,	PUNCT
fcis-29171	16	56	γ	γ	X
fcis-29171	16	57	]	]	X
fcis-29171	16	58	,	,	PUNCT
fcis-29171	16	59	where	where	SCONJ
fcis-29171	16	60	x	x	X
fcis-29171	16	61	,	,	PUNCT
fcis-29171	16	62	y	y	PROPN
fcis-29171	16	63	,	,	PUNCT
fcis-29171	16	64	z	z	PROPN
fcis-29171	16	65	represent	represent	VERB
fcis-29171	16	66	the	the	DET
fcis-29171	16	67	translational	translational	ADJ
fcis-29171	16	68	displacements	displacement	NOUN
fcis-29171	16	69	of	of	ADP
fcis-29171	16	70	the	the	DET
fcis-29171	16	71	center	center	NOUN
fcis-29171	16	72	point	point	NOUN
fcis-29171	16	73	ol	ol	ADJ
fcis-29171	16	74	of	of	ADP
fcis-29171	16	75	the	the	DET
fcis-29171	16	76	upper	upper	ADJ
fcis-29171	16	77	platform	platform	NOUN
fcis-29171	16	78	relative	relative	ADJ
fcis-29171	16	79	to	to	ADP
fcis-29171	16	80	the	the	DET
fcis-29171	16	81	center	center	NOUN
fcis-29171	16	82	point	point	NOUN
fcis-29171	16	83	ow	ow	INTJ
fcis-29171	16	84	of	of	ADP
fcis-29171	16	85	the	the	DET
fcis-29171	16	86	lower	low	ADJ
fcis-29171	16	87	platform	platform	NOUN
fcis-29171	16	88	along	along	ADP
fcis-29171	16	89	the	the	DET
fcis-29171	16	90	x	x	PROPN
fcis-29171	16	91	,	,	PUNCT
fcis-29171	16	92	y	y	PROPN
fcis-29171	16	93	,	,	PUNCT
fcis-29171	16	94	and	and	CCONJ
fcis-29171	16	95	z	z	NOUN
fcis-29171	16	96	axes	axis	NOUN
fcis-29171	16	97	,	,	PUNCT
fcis-29171	16	98	i.e.	i.e.	X
fcis-29171	16	99	,	,	PUNCT
fcis-29171	16	100	the	the	DET
fcis-29171	16	101	movement	movement	NOUN
fcis-29171	16	102	of	of	ADP
fcis-29171	16	103	the	the	DET
fcis-29171	16	104	moving	move	VERB
fcis-29171	16	105	coordinate	coordinate	NOUN
fcis-29171	16	106	system	system	NOUN
fcis-29171	16	107	relative	relative	ADJ
fcis-29171	16	108	to	to	ADP
fcis-29171	16	109	the	the	DET
fcis-29171	16	110	base	base	NOUN
fcis-29171	16	111	coordinate	coordinate	NOUN
fcis-29171	16	112	system	system	NOUN
fcis-29171	16	113	.	.	PUNCT
fcis-29171	17	1	the	the	DET
fcis-29171	17	2	angles	angle	NOUN
fcis-29171	17	3	α	α	NOUN
fcis-29171	17	4	,	,	PUNCT
fcis-29171	17	5	β	β	X
fcis-29171	17	6	,	,	PUNCT
fcis-29171	17	7	γ	γ	PRON
fcis-29171	17	8	represent	represent	VERB
fcis-29171	17	9	the	the	DET
fcis-29171	17	10	rotational	rotational	ADJ
fcis-29171	17	11	angles	angle	NOUN
fcis-29171	17	12	of	of	ADP
fcis-29171	17	13	the	the	DET
fcis-29171	17	14	upper	upper	ADJ
fcis-29171	17	15	platform	platform	NOUN
fcis-29171	17	16	's	's	PART
fcis-29171	17	17	coordinate	coordinate	NOUN
fcis-29171	17	18	system	system	NOUN
fcis-29171	17	19	about	about	ADP
fcis-29171	17	20	the	the	DET
fcis-29171	17	21	x	x	PROPN
fcis-29171	17	22	,	,	PUNCT
fcis-29171	17	23	y	y	PROPN
fcis-29171	17	24	,	,	PUNCT
fcis-29171	17	25	and	and	CCONJ
fcis-29171	17	26	z	z	NOUN
fcis-29171	17	27	axes	axis	NOUN
fcis-29171	17	28	of	of	ADP
fcis-29171	17	29	the	the	DET
fcis-29171	17	30	lower	low	ADJ
fcis-29171	17	31	platform	platform	NOUN
fcis-29171	17	32	,	,	PUNCT
fcis-29171	17	33	i.e.	i.e.	X
fcis-29171	17	34	,	,	PUNCT
fcis-29171	17	35	the	the	DET
fcis-29171	17	36	rotation	rotation	NOUN
fcis-29171	17	37	of	of	ADP
fcis-29171	17	38	the	the	DET
fcis-29171	17	39	moving	move	VERB
fcis-29171	17	40	coordinate	coordinate	NOUN
fcis-29171	17	41	system	system	NOUN
fcis-29171	17	42	relative	relative	ADJ
fcis-29171	17	43	to	to	ADP
fcis-29171	17	44	the	the	DET
fcis-29171	17	45	base	base	NOUN
fcis-29171	17	46	coordinate	coordinate	NOUN
fcis-29171	17	47	system	system	NOUN
fcis-29171	17	48	.	.	PUNCT
fcis-29171	18	1	figure	figure	NOUN
fcis-29171	18	2	1	1	NUM
fcis-29171	18	3	.	.	PUNCT
fcis-29171	18	4	stewart	stewart	PROPN
fcis-29171	18	5	platform	platform	PROPN
fcis-29171	18	6	coordinate	coordinate	NOUN
fcis-29171	18	7	system	system	NOUN
fcis-29171	18	8	diagram	diagram	NOUN
fcis-29171	18	9	in	in	ADP
fcis-29171	18	10	figure	figure	NOUN
fcis-29171	18	11	1	1	NUM
fcis-29171	18	12	,	,	PUNCT
fcis-29171	18	13	w−xyz	w−xyz	NOUN
fcis-29171	18	14	denotes	denote	VERB
fcis-29171	18	15	the	the	DET
fcis-29171	18	16	world	world	NOUN
fcis-29171	18	17	coordinate	coordinate	NOUN
fcis-29171	18	18	system	system	NOUN
fcis-29171	18	19	(	(	PUNCT
fcis-29171	18	20	static	static	ADJ
fcis-29171	18	21	coordinate	coordinate	NOUN
fcis-29171	18	22	system	system	NOUN
fcis-29171	18	23	)	)	PUNCT
fcis-29171	18	24	,	,	PUNCT
fcis-29171	18	25	l−xyz	l−xyz	NOUN
fcis-29171	18	26	represents	represent	VERB
fcis-29171	18	27	the	the	DET
fcis-29171	18	28	relative	relative	ADJ
fcis-29171	18	29	coordinate	coordinate	NOUN
fcis-29171	18	30	system	system	NOUN
fcis-29171	18	31	(	(	PUNCT
fcis-29171	18	32	moving	move	VERB
fcis-29171	18	33	coordinate	coordinate	NOUN
fcis-29171	18	34	system	system	NOUN
fcis-29171	18	35	)	)	PUNCT
fcis-29171	18	36	,	,	PUNCT
fcis-29171	18	37	p1	p1	NOUN
fcis-29171	18	38	,	,	PUNCT
fcis-29171	18	39	p2	p2	NOUN
fcis-29171	18	40	,	,	PUNCT
fcis-29171	18	41	p3	p3	NOUN
fcis-29171	18	42	,	,	PUNCT
fcis-29171	18	43	p4	p4	ADJ
fcis-29171	18	44	,	,	PUNCT
fcis-29171	18	45	p5	p5	ADJ
fcis-29171	18	46	,	,	PUNCT
fcis-29171	18	47	p6	p6	PROPN
fcis-29171	18	48	are	be	AUX
fcis-29171	18	49	the	the	DET
fcis-29171	18	50	hinge	hinge	NOUN
fcis-29171	18	51	points	point	NOUN
fcis-29171	18	52	of	of	ADP
fcis-29171	18	53	the	the	DET
fcis-29171	18	54	upper	upper	ADJ
fcis-29171	18	55	platform	platform	NOUN
fcis-29171	18	56	,	,	PUNCT
fcis-29171	18	57	and	and	CCONJ
fcis-29171	18	58	b1	b1	NOUN
fcis-29171	18	59	,	,	PUNCT
fcis-29171	18	60	b2	b2	NOUN
fcis-29171	18	61	,	,	PUNCT
fcis-29171	18	62	b3	b3	PROPN
fcis-29171	18	63	,	,	PUNCT
fcis-29171	18	64	b4	b4	NOUN
fcis-29171	18	65	,	,	PUNCT
fcis-29171	18	66	b5	b5	PROPN
fcis-29171	18	67	,	,	PUNCT
fcis-29171	18	68	b6	b6	NOUN
fcis-29171	18	69	are	be	AUX
fcis-29171	18	70	the	the	DET
fcis-29171	18	71	hinge	hinge	NOUN
fcis-29171	18	72	points	point	NOUN
fcis-29171	18	73	of	of	ADP
fcis-29171	18	74	the	the	DET
fcis-29171	18	75	lower	low	ADJ
fcis-29171	18	76	platform	platform	NOUN
fcis-29171	18	77	.	.	PUNCT
fcis-29171	19	1	the	the	DET
fcis-29171	19	2	upper	upper	ADJ
fcis-29171	19	3	and	and	CCONJ
fcis-29171	19	4	lower	low	ADJ
fcis-29171	19	5	platforms	platform	NOUN
fcis-29171	19	6	are	be	AUX
fcis-29171	19	7	connected	connect	VERB
fcis-29171	19	8	by	by	ADP
fcis-29171	19	9	linkages	linkage	NOUN
fcis-29171	19	10	and	and	CCONJ
fcis-29171	19	11	electric	electric	ADJ
fcis-29171	19	12	cylinders	cylinder	NOUN
fcis-29171	19	13	,	,	PUNCT
fcis-29171	19	14	where	where	SCONJ
fcis-29171	19	15	the	the	DET
fcis-29171	19	16	linkage	linkage	NOUN
fcis-29171	19	17	vectors	vector	NOUN
fcis-29171	19	18	li	li	X
fcis-29171	19	19	(	(	PUNCT
fcis-29171	19	20	for	for	ADP
fcis-29171	19	21	i=1,2,	i=1,2,	NOUN
fcis-29171	19	22	...	...	PUNCT
fcis-29171	19	23	,6	,6	PUNCT
fcis-29171	19	24	)	)	PUNCT
fcis-29171	19	25	correspond	correspond	VERB
fcis-29171	19	26	to	to	ADP
fcis-29171	19	27	the	the	DET
fcis-29171	19	28	vectors	vector	NOUN
fcis-29171	19	29	bipi	bipi	VERB
fcis-29171	19	30	.	.	PUNCT
fcis-29171	20	1	this	this	DET
fcis-29171	20	2	paper	paper	NOUN
fcis-29171	20	3	uses	use	VERB
fcis-29171	20	4	euler	euler	NOUN
fcis-29171	20	5	angles	angles	PROPN
fcis-29171	20	6	α	α	PROPN
fcis-29171	20	7	,	,	PUNCT
fcis-29171	20	8	β	β	X
fcis-29171	20	9	,	,	PUNCT
fcis-29171	20	10	γ	γ	X
fcis-29171	20	11	to	to	PART
fcis-29171	20	12	describe	describe	VERB
fcis-29171	20	13	the	the	DET
fcis-29171	20	14	rigid	rigid	ADJ
fcis-29171	20	15	body	body	NOUN
fcis-29171	20	16	pose	pose	VERB
fcis-29171	20	17	through	through	ADP
fcis-29171	20	18	rotational	rotational	ADJ
fcis-29171	20	19	transformations	transformation	NOUN
fcis-29171	20	20	about	about	ADP
fcis-29171	20	21	the	the	DET
fcis-29171	20	22	z	z	PROPN
fcis-29171	20	23	,	,	PUNCT
fcis-29171	20	24	y	y	PROPN
fcis-29171	20	25	,	,	PUNCT
fcis-29171	20	26	and	and	CCONJ
fcis-29171	20	27	x	x	NOUN
fcis-29171	20	28	axes	axis	NOUN
fcis-29171	20	29	.	.	PUNCT
fcis-29171	21	1	the	the	DET
fcis-29171	21	2	euler	euler	PROPN
fcis-29171	21	3	transformation	transformation	NOUN
fcis-29171	21	4	r(α	r(α	PROPN
fcis-29171	21	5	,	,	PUNCT
fcis-29171	21	6	β	β	X
fcis-29171	21	7	,	,	PUNCT
fcis-29171	21	8	γ	γ	X
fcis-29171	21	9	)	)	PUNCT
fcis-29171	21	10	is	be	AUX
fcis-29171	21	11	expressed	express	VERB
fcis-29171	21	12	as	as	ADP
fcis-29171	21	13	:	:	PUNCT
fcis-29171	21	14	r	r	NOUN
fcis-29171	21	15	α	α	PROPN
fcis-29171	21	16	,	,	PUNCT
fcis-29171	21	17	β	β	X
fcis-29171	21	18	,	,	PUNCT
fcis-29171	21	19	γ	γ	X
fcis-29171	21	20	=	=	SYM
fcis-29171	21	21	r	r	PROPN
fcis-29171	21	22	z	z	PROPN
fcis-29171	21	23	,	,	PUNCT
fcis-29171	21	24	α	α	PROPN
fcis-29171	21	25	r	r	NOUN
fcis-29171	21	26	y	y	PROPN
fcis-29171	21	27	,	,	PUNCT
fcis-29171	21	28	β	β	X
fcis-29171	21	29	r	r	NOUN
fcis-29171	21	30	x	x	PROPN
fcis-29171	21	31	,	,	PUNCT
fcis-29171	21	32	γ	γ	X
fcis-29171	21	33	(	(	PUNCT
fcis-29171	21	34	1	1	NUM
fcis-29171	21	35	)	)	PUNCT
fcis-29171	21	36	23	23	NUM
fcis-29171	21	37	where	where	SCONJ
fcis-29171	21	38	:	:	PUNCT
fcis-29171	21	39	r	r	NOUN
fcis-29171	21	40	z	z	PROPN
fcis-29171	21	41	,	,	PUNCT
fcis-29171	21	42	α	α	NOUN
fcis-29171	21	43	=	=	NOUN
fcis-29171	21	44	cosγ	cosγ	ADJ
fcis-29171	21	45	-sinγ	-sinγ	NOUN
fcis-29171	21	46	0	0	NUM
fcis-29171	21	47	sinγ	sinγ	NOUN
fcis-29171	21	48	cosγ	cosγ	VERB
fcis-29171	21	49	0	0	NUM
fcis-29171	21	50	0	0	NUM
fcis-29171	21	51	0	0	NUM
fcis-29171	21	52	1	1	NUM
fcis-29171	21	53	(	(	PUNCT
fcis-29171	21	54	2	2	NUM
fcis-29171	21	55	)	)	PUNCT
fcis-29171	21	56	r	r	NOUN
fcis-29171	21	57	y	y	PROPN
fcis-29171	21	58	,	,	PUNCT
fcis-29171	21	59	β	β	X
fcis-29171	21	60	=	=	PUNCT
fcis-29171	21	61	cos	cos	PROPN
fcis-29171	21	62	β	β	X
fcis-29171	21	63	0	0	NUM
fcis-29171	21	64	sinβ	sinβ	NOUN
fcis-29171	21	65	0	0	NUM
fcis-29171	21	66	1	1	NUM
fcis-29171	21	67	0	0	NUM
fcis-29171	21	68	-sinβ	-sinβ	NOUN
fcis-29171	21	69	0	0	NUM
fcis-29171	21	70	cosβ	cosβ	NOUN
fcis-29171	21	71	(	(	PUNCT
fcis-29171	21	72	3	3	X
fcis-29171	21	73	)	)	PUNCT
fcis-29171	21	74	r	r	NOUN
fcis-29171	21	75	x	x	NOUN
fcis-29171	21	76	,	,	PUNCT
fcis-29171	21	77	γ	γ	X
fcis-29171	21	78	=	=	SYM
fcis-29171	21	79	1	1	NUM
fcis-29171	21	80	0	0	NUM
fcis-29171	21	81	0	0	NUM
fcis-29171	21	82	0	0	NUM
fcis-29171	21	83	cosα	cosα	NOUN
fcis-29171	21	84	-sinα	-sinα	PROPN
fcis-29171	21	85	0	0	NUM
fcis-29171	21	86	sinα	sinα	PROPN
fcis-29171	21	87	cosα	cosα	NOUN
fcis-29171	21	88	(	(	PUNCT
fcis-29171	21	89	4	4	NUM
fcis-29171	21	90	)	)	PUNCT
fcis-29171	21	91	from	from	ADP
fcis-29171	21	92	the	the	DET
fcis-29171	21	93	above	above	ADJ
fcis-29171	21	94	equations	equation	NOUN
fcis-29171	21	95	,	,	PUNCT
fcis-29171	21	96	the	the	DET
fcis-29171	21	97	composite	composite	ADJ
fcis-29171	21	98	rotation	rotation	NOUN
fcis-29171	21	99	matrix	matrix	NOUN
fcis-29171	21	100	r(α	r(α	PROPN
fcis-29171	21	101	,	,	PUNCT
fcis-29171	21	102	β	β	X
fcis-29171	21	103	,	,	PUNCT
fcis-29171	21	104	γ	γ	X
fcis-29171	21	105	)	)	PUNCT
fcis-29171	21	106	is	be	AUX
fcis-29171	21	107	given	give	VERB
fcis-29171	21	108	by	by	ADP
fcis-29171	21	109	:	:	PUNCT
fcis-29171	21	110	r	r	NOUN
fcis-29171	21	111	α	α	PROPN
fcis-29171	21	112	,	,	PUNCT
fcis-29171	21	113	β	β	X
fcis-29171	21	114	,	,	PUNCT
fcis-29171	21	115	γ	γ	PROPN
fcis-29171	21	116	=	=	PUNCT
fcis-29171	21	117	cγcβ	cγcβ	PROPN
fcis-29171	22	1	sγsβsα	sγsβsα	NOUN
fcis-29171	22	2	-	-	PUNCT
fcis-29171	22	3	sγcα	sγcα	NOUN
fcis-29171	22	4	cγsβcα+sγsα	cγsβcα+sγsα	PROPN
fcis-29171	22	5	sγcβ	sγcβ	VERB
fcis-29171	22	6	sγsβsα+cwcα	sγsβsα+cwcα	PROPN
fcis-29171	22	7	sγsβcα	sγsβcα	NOUN
fcis-29171	22	8	-	-	PUNCT
fcis-29171	22	9	cγsα	cγsα	NOUN
fcis-29171	22	10	-sβ	-sβ	ADP
fcis-29171	22	11	cβsα	cβsα	PROPN
fcis-29171	22	12	cβcα	cβcα	NOUN
fcis-29171	22	13	(	(	PUNCT
fcis-29171	22	14	5	5	NUM
fcis-29171	22	15	)	)	PUNCT
fcis-29171	22	16	where	where	SCONJ
fcis-29171	22	17	c	c	NOUN
fcis-29171	22	18	and	and	CCONJ
fcis-29171	22	19	s	s	NOUN
fcis-29171	22	20	denote	denote	VERB
fcis-29171	22	21	the	the	DET
fcis-29171	22	22	cosine	cosine	NOUN
fcis-29171	22	23	and	and	CCONJ
fcis-29171	22	24	sine	sine	ADJ
fcis-29171	22	25	functions	function	NOUN
fcis-29171	22	26	,	,	PUNCT
fcis-29171	22	27	respectively	respectively	ADV
fcis-29171	22	28	.	.	PUNCT
fcis-29171	23	1	2.2	2.2	NUM
fcis-29171	23	2	.	.	PUNCT
fcis-29171	23	3	kinematic	kinematic	ADJ
fcis-29171	23	4	inverse	inverse	NOUN
fcis-29171	23	5	solution	solution	NOUN
fcis-29171	23	6	of	of	ADP
fcis-29171	23	7	the	the	DET
fcis-29171	23	8	stewart	stewart	PROPN
fcis-29171	23	9	platform	platform	NOUN
fcis-29171	23	10	when	when	SCONJ
fcis-29171	23	11	the	the	DET
fcis-29171	23	12	center	center	NOUN
fcis-29171	23	13	position	position	NOUN
fcis-29171	23	14	of	of	ADP
fcis-29171	23	15	the	the	DET
fcis-29171	23	16	moving	move	VERB
fcis-29171	23	17	platform	platform	NOUN
fcis-29171	23	18	and	and	CCONJ
fcis-29171	23	19	the	the	DET
fcis-29171	23	20	euler	euler	NOUN
fcis-29171	23	21	angles	angle	NOUN
fcis-29171	23	22	of	of	ADP
fcis-29171	23	23	rotation	rotation	NOUN
fcis-29171	23	24	,	,	PUNCT
fcis-29171	23	25	i.e.	i.e.	X
fcis-29171	23	26	,	,	PUNCT
fcis-29171	23	27	ol=[x	ol=[x	PROPN
fcis-29171	23	28	,	,	PUNCT
fcis-29171	23	29	y	y	PROPN
fcis-29171	23	30	,	,	PUNCT
fcis-29171	23	31	z	z	PROPN
fcis-29171	23	32	,	,	PUNCT
fcis-29171	23	33	α	α	PROPN
fcis-29171	23	34	,	,	PUNCT
fcis-29171	23	35	β	β	X
fcis-29171	23	36	,	,	PUNCT
fcis-29171	23	37	γ	γ	PROPN
fcis-29171	23	38	]	]	X
fcis-29171	23	39	,	,	PUNCT
fcis-29171	23	40	are	be	AUX
fcis-29171	23	41	known	know	VERB
fcis-29171	23	42	,	,	PUNCT
fcis-29171	23	43	the	the	DET
fcis-29171	23	44	task	task	NOUN
fcis-29171	23	45	is	be	AUX
fcis-29171	23	46	to	to	PART
fcis-29171	23	47	solve	solve	VERB
fcis-29171	23	48	for	for	ADP
fcis-29171	23	49	the	the	DET
fcis-29171	23	50	lengths	length	NOUN
fcis-29171	23	51	of	of	ADP
fcis-29171	23	52	the	the	DET
fcis-29171	23	53	actuators	actuator	NOUN
fcis-29171	23	54	.	.	PUNCT
fcis-29171	24	1	this	this	PRON
fcis-29171	24	2	is	be	AUX
fcis-29171	24	3	known	know	VERB
fcis-29171	24	4	as	as	ADP
fcis-29171	24	5	the	the	DET
fcis-29171	24	6	kinematic	kinematic	ADJ
fcis-29171	24	7	inverse	inverse	NOUN
fcis-29171	24	8	solution	solution	NOUN
fcis-29171	24	9	of	of	ADP
fcis-29171	24	10	the	the	DET
fcis-29171	24	11	stewart	stewart	PROPN
fcis-29171	24	12	platform	platform	NOUN
fcis-29171	24	13	.	.	PUNCT
fcis-29171	25	1	in	in	ADP
fcis-29171	25	2	this	this	DET
fcis-29171	25	3	paper	paper	NOUN
fcis-29171	25	4	,	,	PUNCT
fcis-29171	25	5	an	an	DET
fcis-29171	25	6	analytical	analytical	ADJ
fcis-29171	25	7	method	method	NOUN
fcis-29171	25	8	is	be	AUX
fcis-29171	25	9	employed	employ	VERB
fcis-29171	25	10	to	to	PART
fcis-29171	25	11	solve	solve	VERB
fcis-29171	25	12	the	the	DET
fcis-29171	25	13	kinematic	kinematic	ADJ
fcis-29171	25	14	inverse	inverse	NOUN
fcis-29171	25	15	problem	problem	NOUN
fcis-29171	25	16	,	,	PUNCT
fcis-29171	25	17	and	and	CCONJ
fcis-29171	25	18	the	the	DET
fcis-29171	25	19	following	follow	VERB
fcis-29171	25	20	definitions	definition	NOUN
fcis-29171	25	21	are	be	AUX
fcis-29171	25	22	made	make	VERB
fcis-29171	25	23	:	:	PUNCT
fcis-29171	25	24	let	let	VERB
fcis-29171	25	25	i=(i=1,2,	i=(i=1,2,	VERB
fcis-29171	25	26	…	…	X
fcis-29171	25	27	,6	,6	NUM
fcis-29171	25	28	)	)	PUNCT
fcis-29171	25	29	,	,	PUNCT
fcis-29171	25	30	where	where	SCONJ
fcis-29171	25	31	ni	ni	PROPN
fcis-29171	25	32	represents	represent	VERB
fcis-29171	25	33	the	the	DET
fcis-29171	25	34	unit	unit	NOUN
fcis-29171	25	35	vector	vector	NOUN
fcis-29171	25	36	of	of	ADP
fcis-29171	25	37	the	the	DET
fcis-29171	25	38	spatial	spatial	ADJ
fcis-29171	25	39	position	position	NOUN
fcis-29171	25	40	of	of	ADP
fcis-29171	25	41	the	the	DET
fcis-29171	25	42	i	i	PROPN
fcis-29171	25	43	-th	-th	NOUN
fcis-29171	25	44	actuator	actuator	NOUN
fcis-29171	25	45	,	,	PUNCT
fcis-29171	25	46	li	li	PROPN
fcis-29171	25	47	is	be	AUX
fcis-29171	25	48	the	the	DET
fcis-29171	25	49	length	length	NOUN
fcis-29171	25	50	of	of	ADP
fcis-29171	25	51	the	the	DET
fcis-29171	25	52	i	i	PROPN
fcis-29171	25	53	-th	-th	NOUN
fcis-29171	25	54	actuator	actuator	NOUN
fcis-29171	25	55	,	,	PUNCT
fcis-29171	25	56	and	and	CCONJ
fcis-29171	25	57	lini	lini	PROPN
fcis-29171	25	58	corresponds	correspond	VERB
fcis-29171	25	59	tobipi	tobipi	ADJ
fcis-29171	25	60	.	.	PUNCT
fcis-29171	26	1	bi	bi	NOUN
fcis-29171	26	2	represents	represent	VERB
fcis-29171	26	3	biow	biow	PROPN
fcis-29171	26	4	,	,	PUNCT
fcis-29171	26	5	p	p	PROPN
fcis-29171	26	6	is	be	AUX
fcis-29171	26	7	dwdl	dwdl	ADV
fcis-29171	26	8	,	,	PUNCT
fcis-29171	26	9	and	and	CCONJ
fcis-29171	26	10	pi	pi	NOUN
fcis-29171	26	11	is	be	AUX
fcis-29171	26	12	olpi	olpi	NOUN
fcis-29171	26	13	.	.	PUNCT
fcis-29171	27	1	for	for	ADP
fcis-29171	27	2	the	the	DET
fcis-29171	27	3	analysis	analysis	NOUN
fcis-29171	27	4	of	of	ADP
fcis-29171	27	5	the	the	DET
fcis-29171	27	6	spatial	spatial	ADJ
fcis-29171	27	7	vector	vector	NOUN
fcis-29171	27	8	of	of	ADP
fcis-29171	27	9	the	the	DET
fcis-29171	27	10	i	i	PROPN
fcis-29171	27	11	-	-	PUNCT
fcis-29171	27	12	th	th	VERB
fcis-29171	27	13	actuator	actuator	NOUN
fcis-29171	27	14	branch	branch	NOUN
fcis-29171	27	15	,	,	PUNCT
fcis-29171	27	16	as	as	SCONJ
fcis-29171	27	17	shown	show	VERB
fcis-29171	27	18	in	in	ADP
fcis-29171	27	19	figure	figure	NOUN
fcis-29171	27	20	2	2	NUM
fcis-29171	27	21	,	,	PUNCT
fcis-29171	27	22	according	accord	VERB
fcis-29171	27	23	to	to	ADP
fcis-29171	27	24	the	the	DET
fcis-29171	27	25	spatial	spatial	ADJ
fcis-29171	27	26	vector	vector	NOUN
fcis-29171	27	27	law	law	NOUN
fcis-29171	27	28	,	,	PUNCT
fcis-29171	27	29	the	the	DET
fcis-29171	27	30	following	follow	VERB
fcis-29171	27	31	equation	equation	NOUN
fcis-29171	27	32	holds	hold	VERB
fcis-29171	27	33	:	:	PUNCT
fcis-29171	27	34	wbi+li	wbi+li	PROPN
fcis-29171	27	35	wni	wni	PROPN
fcis-29171	27	36	=	=	NOUN
fcis-29171	27	37	wp+wpi	wp+wpi	X
fcis-29171	27	38	(	(	PUNCT
fcis-29171	27	39	6	6	NUM
fcis-29171	27	40	)	)	PUNCT
fcis-29171	27	41	this	this	PRON
fcis-29171	27	42	leads	lead	VERB
fcis-29171	27	43	to	to	ADP
fcis-29171	27	44	the	the	DET
fcis-29171	27	45	expression	expression	NOUN
fcis-29171	27	46	for	for	ADP
fcis-29171	27	47	the	the	DET
fcis-29171	27	48	length	length	NOUN
fcis-29171	27	49	of	of	ADP
fcis-29171	27	50	the	the	DET
fcis-29171	27	51	actuator	actuator	NOUN
fcis-29171	27	52	:	:	PUNCT
fcis-29171	27	53	li=	li=	PROPN
fcis-29171	27	54	wp+wrl	wp+wrl	PROPN
fcis-29171	27	55	lpiwbi	lpiwbi	PROPN
fcis-29171	27	56	t	t	PROPN
fcis-29171	27	57	wp+wrl	wp+wrl	PROPN
fcis-29171	27	58	lpiwbi	lpiwbi	PROPN
fcis-29171	27	59	(	(	PUNCT
fcis-29171	27	60	7	7	NUM
fcis-29171	27	61	)	)	PUNCT
fcis-29171	27	62	where	where	SCONJ
fcis-29171	27	63	wrl	wrl	PROPN
fcis-29171	27	64	is	be	AUX
fcis-29171	27	65	the	the	DET
fcis-29171	27	66	rotation	rotation	NOUN
fcis-29171	27	67	matrix	matrix	NOUN
fcis-29171	27	68	r(α	r(α	PROPN
fcis-29171	27	69	,	,	PUNCT
fcis-29171	27	70	β	β	X
fcis-29171	27	71	,	,	PUNCT
fcis-29171	27	72	γ	γ	NOUN
fcis-29171	27	73	)	)	PUNCT
fcis-29171	27	74	representing	represent	VERB
fcis-29171	27	75	the	the	DET
fcis-29171	27	76	transformation	transformation	NOUN
fcis-29171	27	77	from	from	ADP
fcis-29171	27	78	the	the	DET
fcis-29171	27	79	coordinate	coordinate	NOUN
fcis-29171	27	80	system	system	NOUN
fcis-29171	27	81	{	{	PUNCT
fcis-29171	27	82	ol	ol	ADJ
fcis-29171	27	83	}	}	PUNCT
fcis-29171	27	84	to	to	ADP
fcis-29171	27	85	the	the	DET
fcis-29171	27	86	coordinate	coordinate	NOUN
fcis-29171	27	87	system	system	NOUN
fcis-29171	27	88	{	{	PUNCT
fcis-29171	27	89	ow	ow	INTJ
fcis-29171	27	90	}	}	PUNCT
fcis-29171	27	91	.	.	PUNCT
fcis-29171	28	1	figure	figure	NOUN
fcis-29171	28	2	2	2	NUM
fcis-29171	28	3	.	.	PUNCT
fcis-29171	28	4	vector	vector	NOUN
fcis-29171	28	5	diagram	diagram	NOUN
fcis-29171	28	6	of	of	ADP
fcis-29171	28	7	the	the	DET
fcis-29171	28	8	i	i	PROPN
fcis-29171	28	9	-	-	PUNCT
fcis-29171	28	10	th	th	VERB
fcis-29171	28	11	actuator	actuator	NOUN
fcis-29171	28	12	branch	branch	NOUN
fcis-29171	28	13	2.3	2.3	NUM
fcis-29171	28	14	.	.	PUNCT
fcis-29171	29	1	kinematic	kinematic	VERB
fcis-29171	29	2	forward	forward	ADJ
fcis-29171	29	3	solution	solution	NOUN
fcis-29171	29	4	of	of	ADP
fcis-29171	29	5	the	the	DET
fcis-29171	29	6	stewart	stewart	PROPN
fcis-29171	29	7	platform	platform	NOUN
fcis-29171	29	8	the	the	DET
fcis-29171	29	9	kinematic	kinematic	ADJ
fcis-29171	29	10	forward	forward	ADJ
fcis-29171	29	11	solution	solution	NOUN
fcis-29171	29	12	of	of	ADP
fcis-29171	29	13	the	the	DET
fcis-29171	29	14	stewart	stewart	PROPN
fcis-29171	29	15	parallel	parallel	NOUN
fcis-29171	29	16	mechanism	mechanism	NOUN
fcis-29171	29	17	involves	involve	VERB
fcis-29171	29	18	determining	determine	VERB
fcis-29171	29	19	the	the	DET
fcis-29171	29	20	pose	pose	NOUN
fcis-29171	29	21	of	of	ADP
fcis-29171	29	22	the	the	DET
fcis-29171	29	23	end	end	NOUN
fcis-29171	29	24	-	-	PUNCT
fcis-29171	29	25	effector	effector	NOUN
fcis-29171	29	26	platform	platform	NOUN
fcis-29171	29	27	(	(	PUNCT
fcis-29171	29	28	position	position	NOUN
fcis-29171	29	29	and	and	CCONJ
fcis-29171	29	30	orientation	orientation	NOUN
fcis-29171	29	31	)	)	PUNCT
fcis-29171	29	32	given	give	VERB
fcis-29171	29	33	the	the	DET
fcis-29171	29	34	initial	initial	ADJ
fcis-29171	29	35	lengths	length	NOUN
fcis-29171	29	36	and	and	CCONJ
fcis-29171	29	37	variations	variation	NOUN
fcis-29171	29	38	of	of	ADP
fcis-29171	29	39	the	the	DET
fcis-29171	29	40	actuators	actuator	NOUN
fcis-29171	29	41	.	.	PUNCT
fcis-29171	30	1	the	the	DET
fcis-29171	30	2	kinematic	kinematic	ADJ
fcis-29171	30	3	forward	forward	ADJ
fcis-29171	30	4	problem	problem	NOUN
fcis-29171	30	5	of	of	ADP
fcis-29171	30	6	parallel	parallel	ADJ
fcis-29171	30	7	mechanisms	mechanism	NOUN
fcis-29171	30	8	is	be	AUX
fcis-29171	30	9	quite	quite	ADV
fcis-29171	30	10	complex	complex	ADJ
fcis-29171	30	11	,	,	PUNCT
fcis-29171	30	12	mainly	mainly	ADV
fcis-29171	30	13	due	due	ADP
fcis-29171	30	14	to	to	ADP
fcis-29171	30	15	the	the	DET
fcis-29171	30	16	highly	highly	ADV
fcis-29171	30	17	nonlinear	nonlinear	ADJ
fcis-29171	30	18	nature	nature	NOUN
fcis-29171	30	19	of	of	ADP
fcis-29171	30	20	the	the	DET
fcis-29171	30	21	system	system	NOUN
fcis-29171	30	22	of	of	ADP
fcis-29171	30	23	equations	equation	NOUN
fcis-29171	30	24	,	,	PUNCT
fcis-29171	30	25	the	the	DET
fcis-29171	30	26	large	large	ADJ
fcis-29171	30	27	computational	computational	ADJ
fcis-29171	30	28	load	load	NOUN
fcis-29171	30	29	,	,	PUNCT
fcis-29171	30	30	and	and	CCONJ
fcis-29171	30	31	the	the	DET
fcis-29171	30	32	existence	existence	NOUN
fcis-29171	30	33	of	of	ADP
fcis-29171	30	34	multiple	multiple	ADJ
fcis-29171	30	35	solutions	solution	NOUN
fcis-29171	30	36	,	,	PUNCT
fcis-29171	30	37	which	which	PRON
fcis-29171	30	38	makes	make	VERB
fcis-29171	30	39	it	it	PRON
fcis-29171	30	40	difficult	difficult	ADJ
fcis-29171	30	41	to	to	PART
fcis-29171	30	42	solve	solve	VERB
fcis-29171	30	43	using	use	VERB
fcis-29171	30	44	conventional	conventional	ADJ
fcis-29171	30	45	methods	method	NOUN
fcis-29171	30	46	[	[	X
fcis-29171	30	47	3	3	NUM
fcis-29171	30	48	]	]	PUNCT
fcis-29171	30	49	.	.	PUNCT
fcis-29171	31	1	zhang	zhang	PROPN
fcis-29171	31	2	hui	hui	PROPN
fcis-29171	32	1	[	[	X
fcis-29171	32	2	4	4	X
fcis-29171	32	3	]	]	PUNCT
fcis-29171	32	4	and	and	CCONJ
fcis-29171	32	5	others	other	NOUN
fcis-29171	32	6	from	from	ADP
fcis-29171	32	7	tsinghua	tsinghua	PROPN
fcis-29171	32	8	university	university	PROPN
fcis-29171	32	9	compared	compare	VERB
fcis-29171	32	10	four	four	NUM
fcis-29171	32	11	methods	method	NOUN
fcis-29171	32	12	for	for	ADP
fcis-29171	32	13	solving	solve	VERB
fcis-29171	32	14	the	the	DET
fcis-29171	32	15	kinematic	kinematic	ADJ
fcis-29171	32	16	forward	forward	ADJ
fcis-29171	32	17	problem	problem	NOUN
fcis-29171	32	18	:	:	PUNCT
fcis-29171	32	19	analytical	analytical	ADJ
fcis-29171	32	20	methods	method	NOUN
fcis-29171	32	21	,	,	PUNCT
fcis-29171	32	22	search	search	NOUN
fcis-29171	32	23	methods	method	NOUN
fcis-29171	32	24	,	,	PUNCT
fcis-29171	32	25	optimization	optimization	NOUN
fcis-29171	32	26	methods	method	NOUN
fcis-29171	32	27	,	,	PUNCT
fcis-29171	32	28	and	and	CCONJ
fcis-29171	32	29	iterative	iterative	NOUN
fcis-29171	32	30	methods	method	NOUN
fcis-29171	32	31	.	.	PUNCT
fcis-29171	33	1	they	they	PRON
fcis-29171	33	2	found	find	VERB
fcis-29171	33	3	that	that	SCONJ
fcis-29171	33	4	the	the	DET
fcis-29171	33	5	solution	solution	NOUN
fcis-29171	33	6	obtained	obtain	VERB
fcis-29171	33	7	using	use	VERB
fcis-29171	33	8	the	the	DET
fcis-29171	33	9	newton	newton	PROPN
fcis-29171	33	10	-	-	PUNCT
fcis-29171	33	11	raphson	raphson	PROPN
fcis-29171	33	12	method	method	NOUN
fcis-29171	33	13	converges	converge	VERB
fcis-29171	33	14	quickly	quickly	ADV
fcis-29171	33	15	and	and	CCONJ
fcis-29171	33	16	effectively	effectively	ADV
fcis-29171	33	17	,	,	PUNCT
fcis-29171	33	18	providing	provide	VERB
fcis-29171	33	19	high	high	ADJ
fcis-29171	33	20	accuracy	accuracy	NOUN
fcis-29171	33	21	.	.	PUNCT
fcis-29171	34	1	however	however	ADV
fcis-29171	34	2	,	,	PUNCT
fcis-29171	34	3	this	this	DET
fcis-29171	34	4	method	method	NOUN
fcis-29171	34	5	relies	rely	VERB
fcis-29171	34	6	on	on	ADP
fcis-29171	34	7	the	the	DET
fcis-29171	34	8	choice	choice	NOUN
fcis-29171	34	9	of	of	ADP
fcis-29171	34	10	initial	initial	ADJ
fcis-29171	34	11	guess	guess	NOUN
fcis-29171	34	12	,	,	PUNCT
fcis-29171	34	13	and	and	CCONJ
fcis-29171	34	14	an	an	DET
fcis-29171	34	15	improper	improper	ADJ
fcis-29171	34	16	initial	initial	ADJ
fcis-29171	34	17	guess	guess	NOUN
fcis-29171	34	18	may	may	AUX
fcis-29171	34	19	cause	cause	VERB
fcis-29171	34	20	the	the	DET
fcis-29171	34	21	algorithm	algorithm	NOUN
fcis-29171	34	22	to	to	PART
fcis-29171	34	23	fail	fail	VERB
fcis-29171	34	24	to	to	PART
fcis-29171	34	25	converge	converge	VERB
fcis-29171	34	26	.	.	PUNCT
fcis-29171	35	1	in	in	ADP
fcis-29171	35	2	this	this	DET
fcis-29171	35	3	study	study	NOUN
fcis-29171	35	4	,	,	PUNCT
fcis-29171	35	5	a	a	DET
fcis-29171	35	6	dynamic	dynamic	ADJ
fcis-29171	35	7	initial	initial	ADJ
fcis-29171	35	8	value	value	NOUN
fcis-29171	35	9	correction	correction	NOUN
fcis-29171	35	10	method	method	NOUN
fcis-29171	35	11	is	be	AUX
fcis-29171	35	12	adopted	adopt	VERB
fcis-29171	35	13	.	.	PUNCT
fcis-29171	36	1	if	if	SCONJ
fcis-29171	36	2	non	non	NOUN
fcis-29171	36	3	-	-	ADJ
fcis-29171	36	4	convergence	convergence	NOUN
fcis-29171	36	5	is	be	AUX
fcis-29171	36	6	detected	detect	VERB
fcis-29171	36	7	during	during	ADP
fcis-29171	36	8	iteration	iteration	NOUN
fcis-29171	36	9	,	,	PUNCT
fcis-29171	36	10	the	the	DET
fcis-29171	36	11	initial	initial	ADJ
fcis-29171	36	12	guess	guess	NOUN
fcis-29171	36	13	is	be	AUX
fcis-29171	36	14	corrected	correct	VERB
fcis-29171	36	15	using	use	VERB
fcis-29171	36	16	a	a	DET
fcis-29171	36	17	correction	correction	NOUN
fcis-29171	36	18	coefficient	coefficient	NOUN
fcis-29171	36	19	,	,	PUNCT
fcis-29171	36	20	and	and	CCONJ
fcis-29171	36	21	the	the	DET
fcis-29171	36	22	newton	newton	PROPN
fcis-29171	36	23	iteration	iteration	NOUN
fcis-29171	36	24	is	be	AUX
fcis-29171	36	25	restarted	restart	VERB
fcis-29171	36	26	.	.	PUNCT
fcis-29171	37	1	the	the	DET
fcis-29171	37	2	forward	forward	ADJ
fcis-29171	37	3	kinematic	kinematic	ADJ
fcis-29171	37	4	equation	equation	NOUN
fcis-29171	37	5	can	can	AUX
fcis-29171	37	6	be	be	AUX
fcis-29171	37	7	derived	derive	VERB
fcis-29171	37	8	from	from	ADP
fcis-29171	37	9	the	the	DET
fcis-29171	37	10	inverse	inverse	NOUN
fcis-29171	37	11	kinematic	kinematic	NOUN
fcis-29171	37	12	equation	equation	NOUN
fcis-29171	37	13	,	,	PUNCT
fcis-29171	37	14	i.e.	i.e.	X
fcis-29171	37	15	,	,	PUNCT
fcis-29171	37	16	equation	equation	NOUN
fcis-29171	37	17	(	(	PUNCT
fcis-29171	37	18	4	4	NUM
fcis-29171	37	19	)	)	PUNCT
fcis-29171	37	20	,	,	PUNCT
fcis-29171	37	21	with	with	ADP
fcis-29171	37	22	some	some	DET
fcis-29171	37	23	modifications	modification	NOUN
fcis-29171	37	24	.	.	PUNCT
fcis-29171	38	1	however	however	ADV
fcis-29171	38	2	,	,	PUNCT
fcis-29171	38	3	due	due	ADP
fcis-29171	38	4	to	to	ADP
fcis-29171	38	5	the	the	DET
fcis-29171	38	6	complexity	complexity	NOUN
fcis-29171	38	7	of	of	ADP
fcis-29171	38	8	representing	represent	VERB
fcis-29171	38	9	the	the	DET
fcis-29171	38	10	forward	forward	ADV
fcis-29171	38	11	kinematic	kinematic	ADJ
fcis-29171	38	12	equation	equation	NOUN
fcis-29171	38	13	analytically	analytically	ADV
fcis-29171	38	14	,	,	PUNCT
fcis-29171	38	15	it	it	PRON
fcis-29171	38	16	is	be	AUX
fcis-29171	38	17	expressed	express	VERB
fcis-29171	38	18	using	use	VERB
fcis-29171	38	19	vectors	vector	NOUN
fcis-29171	38	20	or	or	CCONJ
fcis-29171	38	21	matrices	matrix	NOUN
fcis-29171	38	22	.	.	PUNCT
fcis-29171	39	1	let	let	VERB
fcis-29171	39	2	:	:	PUNCT
fcis-29171	39	3	fi	fi	NOUN
fcis-29171	39	4	5	5	NUM
fcis-29171	39	5	i=0	i=0	PROPN
fcis-29171	39	6	x	x	X
fcis-29171	39	7	,	,	PUNCT
fcis-29171	39	8	y	y	PROPN
fcis-29171	39	9	,	,	PUNCT
fcis-29171	39	10	z	z	PROPN
fcis-29171	39	11	,	,	PUNCT
fcis-29171	39	12	α	α	PROPN
fcis-29171	39	13	,	,	PUNCT
fcis-29171	39	14	β	β	X
fcis-29171	39	15	,	,	PUNCT
fcis-29171	39	16	γ	γ	X
fcis-29171	39	17	=	=	SYM
fcis-29171	39	18	wp+wrl	wp+wrl	X
fcis-29171	39	19	lp	lp	NOUN
fcis-29171	39	20	-wbι	-wbι	PUNCT
fcis-29171	39	21	t	t	PROPN
fcis-29171	39	22	wp+wrl	wp+wrl	PROPN
fcis-29171	39	23	lpιwbι	lpιwbι	PROPN
fcis-29171	39	24	-li	-li	PROPN
fcis-29171	39	25	2	2	NUM
fcis-29171	39	26	(	(	PUNCT
fcis-29171	39	27	8)	8)	NUM
fcis-29171	39	28	next	next	ADV
fcis-29171	39	29	,	,	PUNCT
fcis-29171	39	30	we	we	PRON
fcis-29171	39	31	apply	apply	VERB
fcis-29171	39	32	the	the	DET
fcis-29171	39	33	newton	newton	PROPN
fcis-29171	39	34	-	-	PUNCT
fcis-29171	39	35	raphson	raphson	NOUN
fcis-29171	39	36	iteration	iteration	NOUN
fcis-29171	39	37	formula	formula	NOUN
fcis-29171	39	38	:	:	PUNCT
fcis-29171	39	39	xn+1	xn+1	NUM
fcis-29171	39	40	=	=	SYM
fcis-29171	39	41	xn	xn	NOUN
fcis-29171	39	42	-	-	PUNCT
fcis-29171	39	43	f(xn)/f'(xn	f(xn)/f'(xn	X
fcis-29171	39	44	)	)	PUNCT
fcis-29171	39	45	(	(	PUNCT
fcis-29171	39	46	9	9	X
fcis-29171	39	47	)	)	PUNCT
fcis-29171	39	48	iteration	iteration	NOUN
fcis-29171	39	49	is	be	AUX
fcis-29171	39	50	an	an	DET
fcis-29171	39	51	infinite	infinite	ADJ
fcis-29171	39	52	approximation	approximation	NOUN
fcis-29171	39	53	process	process	NOUN
fcis-29171	39	54	.	.	PUNCT
fcis-29171	40	1	however	however	ADV
fcis-29171	40	2	,	,	PUNCT
fcis-29171	40	3	considering	consider	VERB
fcis-29171	40	4	the	the	DET
fcis-29171	40	5	practical	practical	ADJ
fcis-29171	40	6	constraints	constraint	NOUN
fcis-29171	40	7	of	of	ADP
fcis-29171	40	8	control	control	NOUN
fcis-29171	40	9	time	time	NOUN
fcis-29171	40	10	and	and	CCONJ
fcis-29171	40	11	computation	computation	NOUN
fcis-29171	40	12	time	time	NOUN
fcis-29171	40	13	,	,	PUNCT
fcis-29171	40	14	the	the	DET
fcis-29171	40	15	iteration	iteration	NOUN
fcis-29171	40	16	process	process	NOUN
fcis-29171	40	17	is	be	AUX
fcis-29171	40	18	limited	limit	VERB
fcis-29171	40	19	to	to	ADP
fcis-29171	40	20	a	a	DET
fcis-29171	40	21	finite	finite	ADJ
fcis-29171	40	22	number	number	NOUN
fcis-29171	40	23	of	of	ADP
fcis-29171	40	24	steps	step	NOUN
fcis-29171	40	25	.	.	PUNCT
fcis-29171	41	1	in	in	ADP
fcis-29171	41	2	practice	practice	NOUN
fcis-29171	41	3	,	,	PUNCT
fcis-29171	41	4	the	the	DET
fcis-29171	41	5	iteration	iteration	NOUN
fcis-29171	41	6	process	process	NOUN
fcis-29171	41	7	is	be	AUX
fcis-29171	41	8	stopped	stop	VERB
fcis-29171	41	9	when	when	SCONJ
fcis-29171	41	10	the	the	DET
fcis-29171	41	11	absolute	absolute	ADJ
fcis-29171	41	12	difference	difference	NOUN
fcis-29171	41	13	between	between	ADP
fcis-29171	41	14	consecutive	consecutive	ADJ
fcis-29171	41	15	iterations	iteration	NOUN
fcis-29171	41	16	is	be	AUX
fcis-29171	41	17	smaller	small	ADJ
fcis-29171	41	18	than	than	ADP
fcis-29171	41	19	the	the	DET
fcis-29171	41	20	allowed	allow	VERB
fcis-29171	41	21	error	error	NOUN
fcis-29171	41	22	εε	εε	NOUN
fcis-29171	41	23	,	,	PUNCT
fcis-29171	41	24	i.e.	i.e.	X
fcis-29171	41	25	,	,	PUNCT
fcis-29171	41	26	when	when	SCONJ
fcis-29171	41	27	:	:	PUNCT
fcis-29171	41	28	∣xn	∣xn	NOUN
fcis-29171	41	29	-	-	PUNCT
fcis-29171	41	30	xn-1∣<ε	xn-1∣<ε	PROPN
fcis-29171	41	31	(	(	PUNCT
fcis-29171	41	32	10	10	NUM
fcis-29171	41	33	)	)	SYM
fcis-29171	41	34	3	3	NUM
fcis-29171	41	35	.	.	X
fcis-29171	41	36	variable	variable	ADJ
fcis-29171	41	37	gain	gain	NOUN
fcis-29171	41	38	pid	pid	NOUN
fcis-29171	41	39	control	control	NOUN
fcis-29171	41	40	algorithm	algorithm	PROPN
fcis-29171	41	41	optimized	optimize	VERB
fcis-29171	41	42	based	base	VERB
fcis-29171	41	43	on	on	ADP
fcis-29171	41	44	generalized	generalized	ADJ
fcis-29171	41	45	boolean	boolean	ADJ
fcis-29171	41	46	algebra	algebra	NOUN
fcis-29171	41	47	3.1	3.1	NUM
fcis-29171	41	48	.	.	PUNCT
fcis-29171	42	1	principle	principle	NOUN
fcis-29171	42	2	of	of	ADP
fcis-29171	42	3	the	the	DET
fcis-29171	42	4	pid	pid	NOUN
fcis-29171	42	5	control	control	NOUN
fcis-29171	42	6	algorithm	algorithm	PROPN
fcis-29171	42	7	pid	pid	NOUN
fcis-29171	42	8	control	control	NOUN
fcis-29171	42	9	is	be	AUX
fcis-29171	42	10	a	a	DET
fcis-29171	42	11	method	method	NOUN
fcis-29171	42	12	of	of	ADP
fcis-29171	42	13	controlling	control	VERB
fcis-29171	42	14	a	a	DET
fcis-29171	42	15	system	system	NOUN
fcis-29171	42	16	by	by	ADP
fcis-29171	42	17	applying	apply	VERB
fcis-29171	42	18	a	a	DET
fcis-29171	42	19	linear	linear	ADJ
fcis-29171	42	20	combination	combination	NOUN
fcis-29171	42	21	of	of	ADP
fcis-29171	42	22	proportional	proportional	ADJ
fcis-29171	42	23	,	,	PUNCT
fcis-29171	42	24	integral	integral	ADJ
fcis-29171	42	25	,	,	PUNCT
fcis-29171	42	26	and	and	CCONJ
fcis-29171	42	27	derivative	derivative	ADJ
fcis-29171	42	28	operations	operation	NOUN
fcis-29171	42	29	on	on	ADP
fcis-29171	42	30	the	the	DET
fcis-29171	42	31	deviation	deviation	NOUN
fcis-29171	42	32	(	(	PUNCT
fcis-29171	42	33	target	target	NOUN
fcis-29171	42	34	value	value	NOUN
fcis-29171	42	35	actual	actual	ADJ
fcis-29171	42	36	value	value	NOUN
fcis-29171	42	37	)	)	PUNCT
fcis-29171	43	1	[	[	X
fcis-29171	43	2	5	5	NUM
fcis-29171	43	3	]	]	PUNCT
fcis-29171	43	4	.	.	PUNCT
fcis-29171	44	1	the	the	DET
fcis-29171	44	2	structural	structural	ADJ
fcis-29171	44	3	framework	framework	NOUN
fcis-29171	44	4	of	of	ADP
fcis-29171	44	5	the	the	DET
fcis-29171	44	6	pid	pid	NOUN
fcis-29171	44	7	control	control	NOUN
fcis-29171	44	8	algorithm	algorithm	PROPN
fcis-29171	44	9	is	be	AUX
fcis-29171	44	10	shown	show	VERB
fcis-29171	44	11	in	in	ADP
fcis-29171	44	12	figure	figure	NOUN
fcis-29171	44	13	3	3	NUM
fcis-29171	44	14	.	.	PUNCT
fcis-29171	44	15	figure	figure	NOUN
fcis-29171	44	16	3	3	NUM
fcis-29171	44	17	.	.	PUNCT
fcis-29171	44	18	structure	structure	NOUN
fcis-29171	44	19	block	block	NOUN
fcis-29171	44	20	diagram	diagram	NOUN
fcis-29171	44	21	of	of	ADP
fcis-29171	44	22	pid	pid	NOUN
fcis-29171	44	23	control	control	NOUN
fcis-29171	44	24	algorithm	algorithm	PROPN
fcis-29171	44	25	24	24	NUM
fcis-29171	44	26	the	the	DET
fcis-29171	44	27	expression	expression	NOUN
fcis-29171	44	28	of	of	ADP
fcis-29171	44	29	the	the	DET
fcis-29171	44	30	pid	pid	NOUN
fcis-29171	44	31	control	control	NOUN
fcis-29171	44	32	algorithm	algorithm	PROPN
fcis-29171	44	33	is	be	AUX
fcis-29171	44	34	given	give	VERB
fcis-29171	44	35	by	by	ADP
fcis-29171	44	36	:	:	PUNCT
fcis-29171	44	37	u(t)=kpe(t)+ki∫e(t)dt+kd	u(t)=kpe(t)+ki∫e(t)dt+kd	PROPN
fcis-29171	44	38	de(t	de(t	NUM
fcis-29171	44	39	)	)	PUNCT
fcis-29171	44	40	dt	dt	PUNCT
fcis-29171	44	41	(	(	PUNCT
fcis-29171	44	42	11	11	NUM
fcis-29171	44	43	)	)	PUNCT
fcis-29171	44	44	where	where	SCONJ
fcis-29171	44	45	kp	kp	PROPN
fcis-29171	44	46	,	,	PUNCT
fcis-29171	44	47	ki	ki	PROPN
fcis-29171	44	48	,	,	PUNCT
fcis-29171	44	49	and	and	CCONJ
fcis-29171	44	50	kd	kd	PROPN
fcis-29171	44	51	are	be	AUX
fcis-29171	44	52	the	the	DET
fcis-29171	44	53	key	key	ADJ
fcis-29171	44	54	parameters	parameter	NOUN
fcis-29171	44	55	of	of	ADP
fcis-29171	44	56	the	the	DET
fcis-29171	44	57	controller	controller	NOUN
fcis-29171	44	58	,	,	PUNCT
fcis-29171	44	59	representing	represent	VERB
fcis-29171	44	60	the	the	DET
fcis-29171	44	61	proportional	proportional	ADJ
fcis-29171	44	62	,	,	PUNCT
fcis-29171	44	63	integral	integral	ADJ
fcis-29171	44	64	,	,	PUNCT
fcis-29171	44	65	and	and	CCONJ
fcis-29171	44	66	derivative	derivative	ADJ
fcis-29171	44	67	coefficients	coefficient	NOUN
fcis-29171	44	68	,	,	PUNCT
fcis-29171	44	69	respectively	respectively	ADV
fcis-29171	44	70	.	.	PUNCT
fcis-29171	45	1	the	the	DET
fcis-29171	45	2	proportional	proportional	ADJ
fcis-29171	45	3	term	term	NOUN
fcis-29171	45	4	kp	kp	PROPN
fcis-29171	45	5	ensures	ensure	VERB
fcis-29171	45	6	that	that	SCONJ
fcis-29171	45	7	the	the	DET
fcis-29171	45	8	controlled	control	VERB
fcis-29171	45	9	variable	variable	ADJ
fcis-29171	45	10	moves	move	NOUN
fcis-29171	45	11	in	in	ADP
fcis-29171	45	12	the	the	DET
fcis-29171	45	13	direction	direction	NOUN
fcis-29171	45	14	of	of	ADP
fcis-29171	45	15	reducing	reduce	VERB
fcis-29171	45	16	the	the	DET
fcis-29171	45	17	error	error	NOUN
fcis-29171	45	18	.	.	PUNCT
fcis-29171	46	1	the	the	DET
fcis-29171	46	2	integral	integral	ADJ
fcis-29171	46	3	term	term	NOUN
fcis-29171	46	4	ki	ki	PROPN
fcis-29171	46	5	eliminates	eliminate	VERB
fcis-29171	46	6	steady	steady	ADJ
fcis-29171	46	7	-	-	PUNCT
fcis-29171	46	8	state	state	NOUN
fcis-29171	46	9	error	error	NOUN
fcis-29171	46	10	,	,	PUNCT
fcis-29171	46	11	improving	improve	VERB
fcis-29171	46	12	system	system	NOUN
fcis-29171	46	13	accuracy	accuracy	NOUN
fcis-29171	46	14	.	.	PUNCT
fcis-29171	47	1	the	the	DET
fcis-29171	47	2	derivative	derivative	ADJ
fcis-29171	47	3	term	term	NOUN
fcis-29171	47	4	kd	kd	PROPN
fcis-29171	47	5	adjusts	adjust	VERB
fcis-29171	47	6	the	the	DET
fcis-29171	47	7	system	system	NOUN
fcis-29171	47	8	's	's	PART
fcis-29171	47	9	dynamic	dynamic	ADJ
fcis-29171	47	10	performance	performance	NOUN
fcis-29171	47	11	or	or	CCONJ
fcis-29171	47	12	disturbance	disturbance	NOUN
fcis-29171	47	13	rejection	rejection	NOUN
fcis-29171	47	14	capabilities	capability	NOUN
fcis-29171	47	15	.	.	PUNCT
fcis-29171	48	1	3.2	3.2	NUM
fcis-29171	48	2	.	.	PUNCT
fcis-29171	48	3	disadvantages	disadvantage	NOUN
fcis-29171	48	4	of	of	ADP
fcis-29171	48	5	traditional	traditional	ADJ
fcis-29171	48	6	pid	pid	NOUN
fcis-29171	48	7	control	control	NOUN
fcis-29171	48	8	algorithm	algorithm	NOUN
fcis-29171	48	9	in	in	ADP
fcis-29171	48	10	controlling	control	VERB
fcis-29171	48	11	input	input	NOUN
fcis-29171	48	12	timevarying	timevarye	VERB
fcis-29171	48	13	uncertain	uncertain	ADJ
fcis-29171	48	14	systems	system	NOUN
fcis-29171	48	15	traditional	traditional	ADJ
fcis-29171	48	16	non	non	ADJ
fcis-29171	48	17	-	-	ADJ
fcis-29171	48	18	adaptive	adaptive	ADJ
fcis-29171	48	19	pid	pid	NOUN
fcis-29171	48	20	parameters	parameter	NOUN
fcis-29171	48	21	are	be	AUX
fcis-29171	48	22	generally	generally	ADV
fcis-29171	48	23	constant	constant	ADJ
fcis-29171	48	24	,	,	PUNCT
fcis-29171	48	25	and	and	CCONJ
fcis-29171	48	26	once	once	SCONJ
fcis-29171	48	27	they	they	PRON
fcis-29171	48	28	are	be	AUX
fcis-29171	48	29	tuned	tune	VERB
fcis-29171	48	30	and	and	CCONJ
fcis-29171	48	31	set	set	VERB
fcis-29171	48	32	,	,	PUNCT
fcis-29171	48	33	they	they	PRON
fcis-29171	48	34	do	do	AUX
fcis-29171	48	35	not	not	PART
fcis-29171	48	36	change	change	VERB
fcis-29171	48	37	significantly	significantly	ADV
fcis-29171	48	38	.	.	PUNCT
fcis-29171	49	1	this	this	PRON
fcis-29171	49	2	becomes	become	VERB
fcis-29171	49	3	very	very	ADV
fcis-29171	49	4	limiting	limit	VERB
fcis-29171	49	5	for	for	ADP
fcis-29171	49	6	complex	complex	ADJ
fcis-29171	49	7	and	and	CCONJ
fcis-29171	49	8	dynamic	dynamic	ADJ
fcis-29171	49	9	industrial	industrial	ADJ
fcis-29171	49	10	systems	system	NOUN
fcis-29171	49	11	,	,	PUNCT
fcis-29171	49	12	as	as	ADV
fcis-29171	49	13	well	well	ADV
fcis-29171	49	14	as	as	ADP
fcis-29171	49	15	for	for	ADP
fcis-29171	49	16	achieving	achieve	VERB
fcis-29171	49	17	highprecision	highprecision	NOUN
fcis-29171	49	18	control	control	NOUN
fcis-29171	49	19	.	.	PUNCT
fcis-29171	50	1	for	for	ADP
fcis-29171	50	2	example	example	NOUN
fcis-29171	50	3	,	,	PUNCT
fcis-29171	50	4	in	in	ADP
fcis-29171	50	5	a	a	DET
fcis-29171	50	6	two	two	NUM
fcis-29171	50	7	-	-	PUNCT
fcis-29171	50	8	phase	phase	NOUN
fcis-29171	50	9	hybrid	hybrid	ADJ
fcis-29171	50	10	stepper	stepper	NOUN
fcis-29171	50	11	motor	motor	NOUN
fcis-29171	50	12	position	position	NOUN
fcis-29171	50	13	control	control	NOUN
fcis-29171	50	14	system	system	NOUN
fcis-29171	50	15	,	,	PUNCT
fcis-29171	50	16	the	the	DET
fcis-29171	50	17	same	same	ADJ
fcis-29171	50	18	pid	pid	NOUN
fcis-29171	50	19	controller	controller	NOUN
fcis-29171	50	20	parameters	parameter	NOUN
fcis-29171	50	21	kp=26	kp=26	PROPN
fcis-29171	50	22	,	,	PUNCT
fcis-29171	50	23	ki=8.8	ki=8.8	PROPN
fcis-29171	50	24	,	,	PUNCT
fcis-29171	50	25	and	and	CCONJ
fcis-29171	50	26	kd=4.9	kd=4.9	NOUN
fcis-29171	50	27	are	be	AUX
fcis-29171	50	28	used	use	VERB
fcis-29171	50	29	to	to	PART
fcis-29171	50	30	control	control	VERB
fcis-29171	50	31	target	target	NOUN
fcis-29171	50	32	positions	position	NOUN
fcis-29171	50	33	of	of	ADP
fcis-29171	50	34	100	100	NUM
fcis-29171	50	35	mm	mm	NUM
fcis-29171	50	36	and	and	CCONJ
fcis-29171	50	37	200	200	NUM
fcis-29171	50	38	mm	mm	NOUN
fcis-29171	50	39	.	.	PUNCT
fcis-29171	51	1	a	a	DET
fcis-29171	51	2	simulation	simulation	NOUN
fcis-29171	51	3	model	model	NOUN
fcis-29171	51	4	of	of	ADP
fcis-29171	51	5	the	the	DET
fcis-29171	51	6	system	system	NOUN
fcis-29171	51	7	is	be	AUX
fcis-29171	51	8	established	establish	VERB
fcis-29171	51	9	in	in	ADP
fcis-29171	51	10	matlab	matlab	PROPN
fcis-29171	51	11	/	/	SYM
fcis-29171	51	12	simulink	simulink	PROPN
fcis-29171	51	13	,	,	PUNCT
fcis-29171	51	14	and	and	CCONJ
fcis-29171	51	15	the	the	DET
fcis-29171	51	16	control	control	NOUN
fcis-29171	51	17	results	result	NOUN
fcis-29171	51	18	are	be	AUX
fcis-29171	51	19	shown	show	VERB
fcis-29171	51	20	in	in	ADP
fcis-29171	51	21	figure	figure	NOUN
fcis-29171	51	22	4	4	NUM
fcis-29171	51	23	.	.	PUNCT
fcis-29171	52	1	in	in	ADP
fcis-29171	52	2	this	this	DET
fcis-29171	52	3	study	study	NOUN
fcis-29171	52	4	,	,	PUNCT
fcis-29171	52	5	a	a	DET
fcis-29171	52	6	twophase	twophase	NOUN
fcis-29171	52	7	hybrid	hybrid	NOUN
fcis-29171	52	8	stepper	stepper	NOUN
fcis-29171	52	9	motor	motor	NOUN
fcis-29171	52	10	is	be	AUX
fcis-29171	52	11	used	use	VERB
fcis-29171	52	12	to	to	PART
fcis-29171	52	13	control	control	VERB
fcis-29171	52	14	the	the	DET
fcis-29171	52	15	output	output	NOUN
fcis-29171	52	16	rod	rod	NOUN
fcis-29171	52	17	length	length	NOUN
fcis-29171	52	18	.	.	PUNCT
fcis-29171	53	1	therefore	therefore	ADV
fcis-29171	53	2	,	,	PUNCT
fcis-29171	53	3	the	the	DET
fcis-29171	53	4	pid	pid	NOUN
fcis-29171	53	5	controlled	control	VERB
fcis-29171	53	6	system	system	NOUN
fcis-29171	53	7	is	be	AUX
fcis-29171	53	8	modeled	model	VERB
fcis-29171	53	9	by	by	ADP
fcis-29171	53	10	the	the	DET
fcis-29171	53	11	transfer	transfer	NOUN
fcis-29171	53	12	function	function	NOUN
fcis-29171	53	13	of	of	ADP
fcis-29171	53	14	the	the	DET
fcis-29171	53	15	position	position	NOUN
fcis-29171	53	16	loop	loop	NOUN
fcis-29171	53	17	of	of	ADP
fcis-29171	53	18	the	the	DET
fcis-29171	53	19	two	two	NUM
fcis-29171	53	20	-	-	PUNCT
fcis-29171	53	21	phase	phase	NOUN
fcis-29171	53	22	hybrid	hybrid	ADJ
fcis-29171	53	23	stepper	stepper	NOUN
fcis-29171	53	24	motor	motor	NOUN
fcis-29171	53	25	.	.	PUNCT
fcis-29171	54	1	g(s)=	g(s)=	PROPN
fcis-29171	54	2	4.1851	4.1851	NUM
fcis-29171	54	3	s2	s2	PROPN
fcis-29171	54	4	+	+	NOUN
fcis-29171	54	5	0.0283s+4.1851	0.0283s+4.1851	NOUN
fcis-29171	54	6	(	(	PUNCT
fcis-29171	54	7	12	12	NUM
fcis-29171	54	8	)	)	PUNCT
fcis-29171	54	9	figure	figure	NOUN
fcis-29171	54	10	4	4	NUM
fcis-29171	54	11	.	.	PUNCT
fcis-29171	54	12	traditional	traditional	ADJ
fcis-29171	54	13	pid	pid	NOUN
fcis-29171	54	14	control	control	NOUN
fcis-29171	54	15	effect	effect	NOUN
fcis-29171	54	16	with	with	ADP
fcis-29171	54	17	large	large	ADJ
fcis-29171	54	18	input	input	NOUN
fcis-29171	54	19	variation	variation	NOUN
fcis-29171	54	20	as	as	SCONJ
fcis-29171	54	21	can	can	AUX
fcis-29171	54	22	be	be	AUX
fcis-29171	54	23	clearly	clearly	ADV
fcis-29171	54	24	seen	see	VERB
fcis-29171	54	25	from	from	ADP
fcis-29171	54	26	figure	figure	NOUN
fcis-29171	54	27	4	4	NUM
fcis-29171	54	28	,	,	PUNCT
fcis-29171	54	29	the	the	DET
fcis-29171	54	30	controller	controller	NOUN
fcis-29171	54	31	tuning	tune	VERB
fcis-29171	54	32	effect	effect	NOUN
fcis-29171	54	33	for	for	ADP
fcis-29171	54	34	the	the	DET
fcis-29171	54	35	target	target	NOUN
fcis-29171	54	36	value	value	NOUN
fcis-29171	54	37	of	of	ADP
fcis-29171	54	38	100	100	NUM
fcis-29171	54	39	mm	mm	NOUN
fcis-29171	54	40	is	be	AUX
fcis-29171	54	41	very	very	ADV
fcis-29171	54	42	good	good	ADJ
fcis-29171	54	43	with	with	ADP
fcis-29171	54	44	this	this	DET
fcis-29171	54	45	set	set	NOUN
fcis-29171	54	46	of	of	ADP
fcis-29171	54	47	control	control	NOUN
fcis-29171	54	48	parameters	parameter	NOUN
fcis-29171	54	49	.	.	PUNCT
fcis-29171	55	1	however	however	ADV
fcis-29171	55	2	,	,	PUNCT
fcis-29171	55	3	for	for	ADP
fcis-29171	55	4	the	the	DET
fcis-29171	55	5	target	target	NOUN
fcis-29171	55	6	value	value	NOUN
fcis-29171	55	7	of	of	ADP
fcis-29171	55	8	200	200	NUM
fcis-29171	55	9	mm	mm	NOUN
fcis-29171	55	10	,	,	PUNCT
fcis-29171	55	11	the	the	DET
fcis-29171	55	12	same	same	ADJ
fcis-29171	55	13	set	set	NOUN
fcis-29171	55	14	of	of	ADP
fcis-29171	55	15	parameters	parameter	NOUN
fcis-29171	55	16	results	result	VERB
fcis-29171	55	17	in	in	ADP
fcis-29171	55	18	a	a	DET
fcis-29171	55	19	noticeable	noticeable	ADJ
fcis-29171	55	20	delay	delay	NOUN
fcis-29171	55	21	in	in	ADP
fcis-29171	55	22	the	the	DET
fcis-29171	55	23	controller	controller	NOUN
fcis-29171	55	24	's	's	PART
fcis-29171	55	25	output	output	NOUN
fcis-29171	55	26	adjustment	adjustment	NOUN
fcis-29171	55	27	and	and	CCONJ
fcis-29171	55	28	a	a	DET
fcis-29171	55	29	larger	large	ADJ
fcis-29171	55	30	steadystate	steadystate	NOUN
fcis-29171	55	31	error	error	NOUN
fcis-29171	55	32	.	.	PUNCT
fcis-29171	56	1	this	this	DET
fcis-29171	56	2	issue	issue	NOUN
fcis-29171	56	3	arises	arise	VERB
fcis-29171	56	4	from	from	ADP
fcis-29171	56	5	the	the	DET
fcis-29171	56	6	suboptimal	suboptimal	ADJ
fcis-29171	56	7	performance	performance	NOUN
fcis-29171	56	8	of	of	ADP
fcis-29171	56	9	the	the	DET
fcis-29171	56	10	traditional	traditional	ADJ
fcis-29171	56	11	pid	pid	NOUN
fcis-29171	56	12	controller	controller	NOUN
fcis-29171	56	13	when	when	SCONJ
fcis-29171	56	14	applied	apply	VERB
fcis-29171	56	15	to	to	ADP
fcis-29171	56	16	time	time	NOUN
fcis-29171	56	17	-	-	PUNCT
fcis-29171	56	18	varying	vary	VERB
fcis-29171	56	19	and	and	CCONJ
fcis-29171	56	20	uncertain	uncertain	ADJ
fcis-29171	56	21	input	input	NOUN
fcis-29171	56	22	systems	system	NOUN
fcis-29171	56	23	.	.	PUNCT
fcis-29171	57	1	therefore	therefore	ADV
fcis-29171	57	2	,	,	PUNCT
fcis-29171	57	3	this	this	DET
fcis-29171	57	4	study	study	NOUN
fcis-29171	57	5	proposes	propose	VERB
fcis-29171	57	6	a	a	DET
fcis-29171	57	7	variable	variable	ADJ
fcis-29171	57	8	-	-	PUNCT
fcis-29171	57	9	gain	gain	NOUN
fcis-29171	57	10	pid	pid	NOUN
fcis-29171	57	11	control	control	NOUN
fcis-29171	57	12	optimized	optimize	VERB
fcis-29171	57	13	based	base	VERB
fcis-29171	57	14	on	on	ADP
fcis-29171	57	15	general	general	ADJ
fcis-29171	57	16	boolean	boolean	ADJ
fcis-29171	57	17	algebra	algebra	PROPN
fcis-29171	57	18	to	to	PART
fcis-29171	57	19	adapt	adapt	VERB
fcis-29171	57	20	to	to	ADP
fcis-29171	57	21	changes	change	NOUN
fcis-29171	57	22	in	in	ADP
fcis-29171	57	23	the	the	DET
fcis-29171	57	24	controlled	control	VERB
fcis-29171	57	25	object	object	NOUN
fcis-29171	57	26	's	's	PART
fcis-29171	57	27	characteristics	characteristic	NOUN
fcis-29171	57	28	.	.	PUNCT
fcis-29171	58	1	3.3	3.3	NUM
fcis-29171	58	2	.	.	PUNCT
fcis-29171	59	1	the	the	DET
fcis-29171	59	2	principle	principle	NOUN
fcis-29171	59	3	of	of	ADP
fcis-29171	59	4	gain	gain	NOUN
fcis-29171	59	5	-	-	PUNCT
fcis-29171	59	6	varying	vary	VERB
fcis-29171	59	7	pid	pid	NOUN
fcis-29171	59	8	control	control	NOUN
fcis-29171	59	9	optimized	optimize	VERB
fcis-29171	59	10	based	base	VERB
fcis-29171	59	11	on	on	ADP
fcis-29171	59	12	generalized	generalized	ADJ
fcis-29171	59	13	boolean	boolean	ADJ
fcis-29171	59	14	algebra	algebra	NOUN
fcis-29171	59	15	the	the	DET
fcis-29171	59	16	control	control	NOUN
fcis-29171	59	17	strategy	strategy	NOUN
fcis-29171	59	18	based	base	VERB
fcis-29171	59	19	on	on	ADP
fcis-29171	59	20	the	the	DET
fcis-29171	59	21	controller	controller	NOUN
fcis-29171	59	22	designed	design	VERB
fcis-29171	59	23	according	accord	VERB
fcis-29171	59	24	to	to	ADP
fcis-29171	59	25	generalized	generalized	ADJ
fcis-29171	59	26	boolean	boolean	ADJ
fcis-29171	59	27	algebra	algebra	NOUN
fcis-29171	59	28	theory	theory	NOUN
fcis-29171	59	29	is	be	AUX
fcis-29171	59	30	shown	show	VERB
fcis-29171	59	31	in	in	ADP
fcis-29171	59	32	table	table	NOUN
fcis-29171	59	33	1	1	NUM
fcis-29171	59	34	.	.	PUNCT
fcis-29171	60	1	in	in	ADP
fcis-29171	60	2	table	table	NOUN
fcis-29171	60	3	1	1	NUM
fcis-29171	60	4	,	,	PUNCT
fcis-29171	60	5	kn	kn	PROPN
fcis-29171	60	6	(	(	PUNCT
fcis-29171	60	7	where	where	SCONJ
fcis-29171	60	8	n=0,1,	n=0,1,	NOUN
fcis-29171	60	9	…	…	NUM
fcis-29171	60	10	,4	,4	PUNCT
fcis-29171	60	11	)	)	PUNCT
fcis-29171	60	12	represents	represent	VERB
fcis-29171	60	13	the	the	DET
fcis-29171	60	14	coefficients	coefficient	NOUN
fcis-29171	60	15	of	of	ADP
fcis-29171	60	16	the	the	DET
fcis-29171	60	17	five	five	NUM
fcis-29171	60	18	control	control	NOUN
fcis-29171	60	19	strategies	strategy	NOUN
fcis-29171	60	20	adopted	adopt	VERB
fcis-29171	60	21	by	by	ADP
fcis-29171	60	22	the	the	DET
fcis-29171	60	23	generalized	generalized	ADJ
fcis-29171	60	24	boolean	boolean	ADJ
fcis-29171	60	25	controller	controller	NOUN
fcis-29171	60	26	,	,	PUNCT
fcis-29171	60	27	corresponding	correspond	VERB
fcis-29171	60	28	to	to	ADP
fcis-29171	60	29	the	the	DET
fcis-29171	60	30	following	follow	VERB
fcis-29171	60	31	control	control	NOUN
fcis-29171	60	32	actions	action	NOUN
fcis-29171	60	33	:	:	PUNCT
fcis-29171	60	34	hold	hold	VERB
fcis-29171	60	35	,	,	PUNCT
fcis-29171	60	36	fine	fine	ADJ
fcis-29171	60	37	-	-	PUNCT
fcis-29171	60	38	tune	tune	NOUN
fcis-29171	60	39	,	,	PUNCT
fcis-29171	60	40	weak	weak	ADJ
fcis-29171	60	41	-	-	PUNCT
fcis-29171	60	42	tune	tune	NOUN
fcis-29171	60	43	,	,	PUNCT
fcis-29171	60	44	slightly	slightly	ADJ
fcis-29171	60	45	-	-	PUNCT
fcis-29171	60	46	tune	tune	NOUN
fcis-29171	60	47	,	,	PUNCT
fcis-29171	60	48	and	and	CCONJ
fcis-29171	60	49	emphasize	emphasize	VERB
fcis-29171	60	50	.	.	PUNCT
fcis-29171	61	1	the	the	DET
fcis-29171	61	2	subscript	subscript	PROPN
fcis-29171	61	3	nn	nn	PROPN
fcis-29171	61	4	indicates	indicate	VERB
fcis-29171	61	5	the	the	DET
fcis-29171	61	6	strength	strength	NOUN
fcis-29171	61	7	of	of	ADP
fcis-29171	61	8	the	the	DET
fcis-29171	61	9	control	control	NOUN
fcis-29171	61	10	action	action	NOUN
fcis-29171	61	11	.	.	PUNCT
fcis-29171	62	1	the	the	DET
fcis-29171	62	2	input	input	NOUN
fcis-29171	62	3	variables	variable	VERB
fcis-29171	62	4	in	in	ADP
fcis-29171	62	5	table	table	NOUN
fcis-29171	62	6	1	1	NUM
fcis-29171	62	7	are	be	AUX
fcis-29171	62	8	explained	explain	VERB
fcis-29171	62	9	as	as	SCONJ
fcis-29171	62	10	follows	follow	VERB
fcis-29171	62	11	:	:	PUNCT
fcis-29171	62	12	the	the	DET
fcis-29171	62	13	target	target	NOUN
fcis-29171	62	14	rod	rod	NOUN
fcis-29171	62	15	length	length	NOUN
fcis-29171	62	16	r(t	r(t	NOUN
fcis-29171	62	17	)	)	PUNCT
fcis-29171	62	18	,	,	PUNCT
fcis-29171	62	19	which	which	PRON
fcis-29171	62	20	represents	represent	VERB
fcis-29171	62	21	the	the	DET
fcis-29171	62	22	six	six	NUM
fcis-29171	62	23	rod	rod	NOUN
fcis-29171	62	24	length	length	NOUN
fcis-29171	62	25	values	value	NOUN
fcis-29171	62	26	obtained	obtain	VERB
fcis-29171	62	27	from	from	ADP
fcis-29171	62	28	the	the	DET
fcis-29171	62	29	inverse	inverse	NOUN
fcis-29171	62	30	kinematics	kinematic	NOUN
fcis-29171	62	31	algorithm	algorithm	NOUN
fcis-29171	62	32	of	of	ADP
fcis-29171	62	33	the	the	DET
fcis-29171	62	34	stewart	stewart	PROPN
fcis-29171	62	35	platform	platform	NOUN
fcis-29171	62	36	for	for	ADP
fcis-29171	62	37	the	the	DET
fcis-29171	62	38	target	target	NOUN
fcis-29171	62	39	pose	pose	VERB
fcis-29171	62	40	;	;	PUNCT
fcis-29171	62	41	the	the	DET
fcis-29171	62	42	actual	actual	ADJ
fcis-29171	62	43	rod	rod	NOUN
fcis-29171	62	44	length	length	NOUN
fcis-29171	62	45	c(t	c(t	PROPN
fcis-29171	62	46	)	)	PUNCT
fcis-29171	62	47	at	at	ADP
fcis-29171	62	48	a	a	DET
fcis-29171	62	49	given	give	VERB
fcis-29171	62	50	time	time	NOUN
fcis-29171	62	51	;	;	PUNCT
fcis-29171	62	52	the	the	DET
fcis-29171	62	53	rod	rod	NOUN
fcis-29171	62	54	length	length	NOUN
fcis-29171	62	55	error	error	NOUN
fcis-29171	62	56	e(t	e(t	NOUN
fcis-29171	62	57	)	)	PUNCT
fcis-29171	62	58	,	,	PUNCT
fcis-29171	62	59	defined	define	VERB
fcis-29171	62	60	as	as	ADP
fcis-29171	62	61	e(t)=r(t)−c(t)e(t)=r(t)−c(t	e(t)=r(t)−c(t)e(t)=r(t)−c(t	NOUN
fcis-29171	62	62	)	)	PUNCT
fcis-29171	62	63	;	;	PUNCT
fcis-29171	62	64	the	the	DET
fcis-29171	62	65	cumulative	cumulative	ADJ
fcis-29171	62	66	rod	rod	NOUN
fcis-29171	62	67	length	length	NOUN
fcis-29171	62	68	error	error	NOUN
fcis-29171	62	69	∫e(t)d(t	∫e(t)d(t	NUM
fcis-29171	62	70	)	)	PUNCT
fcis-29171	62	71	;	;	PUNCT
fcis-29171	62	72	the	the	DET
fcis-29171	62	73	rate	rate	NOUN
fcis-29171	62	74	of	of	ADP
fcis-29171	62	75	change	change	NOUN
fcis-29171	62	76	of	of	ADP
fcis-29171	62	77	the	the	DET
fcis-29171	62	78	rod	rod	NOUN
fcis-29171	62	79	length	length	NOUN
fcis-29171	62	80	error	error	NOUN
fcis-29171	62	81	de(t	de(t	NOUN
fcis-29171	62	82	)	)	PUNCT
fcis-29171	62	83	d(t	d(t	PROPN
fcis-29171	62	84	)	)	PUNCT
fcis-29171	62	85	;	;	PUNCT
fcis-29171	62	86	the	the	DET
fcis-29171	62	87	dead	dead	ADJ
fcis-29171	62	88	zone	zone	NOUN
fcis-29171	62	89	for	for	ADP
fcis-29171	62	90	the	the	DET
fcis-29171	62	91	error	error	NOUN
fcis-29171	62	92	(	(	PUNCT
fcis-29171	62	93	±ε	±ε	NOUN
fcis-29171	62	94	)	)	PUNCT
fcis-29171	62	95	,	,	PUNCT
fcis-29171	62	96	which	which	PRON
fcis-29171	62	97	defines	define	VERB
fcis-29171	62	98	the	the	DET
fcis-29171	62	99	acceptable	acceptable	ADJ
fcis-29171	62	100	range	range	NOUN
fcis-29171	62	101	of	of	ADP
fcis-29171	62	102	actual	actual	ADJ
fcis-29171	62	103	rod	rod	NOUN
fcis-29171	62	104	length	length	NOUN
fcis-29171	62	105	error	error	NOUN
fcis-29171	62	106	(	(	PUNCT
fcis-29171	62	107	e.g.	e.g.	ADV
fcis-29171	62	108	,±0.1	,±0.1	PUNCT
fcis-29171	62	109	mm	mm	PROPN
fcis-29171	62	110	)	)	PUNCT
fcis-29171	62	111	;	;	PUNCT
fcis-29171	62	112	the	the	DET
fcis-29171	62	113	dead	dead	ADJ
fcis-29171	62	114	zone	zone	NOUN
fcis-29171	62	115	for	for	ADP
fcis-29171	62	116	the	the	DET
fcis-29171	62	117	rate	rate	NOUN
fcis-29171	62	118	of	of	ADP
fcis-29171	62	119	change	change	NOUN
fcis-29171	62	120	of	of	ADP
fcis-29171	62	121	the	the	DET
fcis-29171	62	122	error	error	NOUN
fcis-29171	62	123	(	(	PUNCT
fcis-29171	62	124	±δ	±δ	PROPN
fcis-29171	62	125	)	)	PUNCT
fcis-29171	62	126	,	,	PUNCT
fcis-29171	62	127	which	which	PRON
fcis-29171	62	128	defines	define	VERB
fcis-29171	62	129	the	the	DET
fcis-29171	62	130	acceptable	acceptable	ADJ
fcis-29171	62	131	range	range	NOUN
fcis-29171	62	132	of	of	ADP
fcis-29171	62	133	the	the	DET
fcis-29171	62	134	actual	actual	ADJ
fcis-29171	62	135	rate	rate	NOUN
fcis-29171	62	136	of	of	ADP
fcis-29171	62	137	change	change	NOUN
fcis-29171	62	138	of	of	ADP
fcis-29171	62	139	the	the	DET
fcis-29171	62	140	rod	rod	NOUN
fcis-29171	62	141	length	length	NOUN
fcis-29171	62	142	error	error	NOUN
fcis-29171	62	143	(	(	PUNCT
fcis-29171	62	144	e.g.	e.g.	ADV
fcis-29171	62	145	,	,	PUNCT
fcis-29171	62	146	±0.1	±0.1	PROPN
fcis-29171	62	147	mm	mm	PROPN
fcis-29171	62	148	)	)	PUNCT
fcis-29171	62	149	;	;	PUNCT
fcis-29171	62	150	and	and	CCONJ
fcis-29171	62	151	the	the	DET
fcis-29171	62	152	system	system	NOUN
fcis-29171	62	153	's	's	PART
fcis-29171	62	154	allowable	allowable	ADJ
fcis-29171	62	155	steady	steady	ADJ
fcis-29171	62	156	-	-	PUNCT
fcis-29171	62	157	state	state	NOUN
fcis-29171	62	158	error	error	NOUN
fcis-29171	62	159	[	[	X
fcis-29171	62	160	±e(∞	±e(∞	NOUN
fcis-29171	62	161	)	)	PUNCT
fcis-29171	62	162	]	]	PUNCT
fcis-29171	62	163	,	,	PUNCT
fcis-29171	62	164	which	which	PRON
fcis-29171	62	165	defines	define	VERB
fcis-29171	62	166	the	the	DET
fcis-29171	62	167	acceptable	acceptable	ADJ
fcis-29171	62	168	range	range	NOUN
fcis-29171	62	169	for	for	ADP
fcis-29171	62	170	the	the	DET
fcis-29171	62	171	cumulative	cumulative	ADJ
fcis-29171	62	172	rod	rod	NOUN
fcis-29171	62	173	length	length	NOUN
fcis-29171	62	174	error	error	NOUN
fcis-29171	62	175	(	(	PUNCT
fcis-29171	62	176	e.g.	e.g.	ADV
fcis-29171	62	177	,	,	PUNCT
fcis-29171	62	178	±0.1	±0.1	PROPN
fcis-29171	62	179	mm	mm	NOUN
fcis-29171	62	180	)	)	PUNCT
fcis-29171	63	1	[	[	X
fcis-29171	63	2	7][8][8][9	7][8][8][9	NUM
fcis-29171	63	3	]	]	PUNCT
fcis-29171	63	4	.	.	PUNCT
fcis-29171	64	1	the	the	DET
fcis-29171	64	2	controller	controller	NOUN
fcis-29171	64	3	output	output	NOUN
fcis-29171	64	4	variable	variable	NOUN
fcis-29171	64	5	is	be	AUX
fcis-29171	64	6	the	the	DET
fcis-29171	64	7	rod	rod	NOUN
fcis-29171	64	8	length	length	NOUN
fcis-29171	64	9	at	at	ADP
fcis-29171	64	10	the	the	DET
fcis-29171	64	11	current	current	ADJ
fcis-29171	64	12	time	time	NOUN
fcis-29171	64	13	,	,	PUNCT
fcis-29171	64	14	expressed	express	VERB
fcis-29171	64	15	as	as	ADP
fcis-29171	64	16	:	:	PUNCT
fcis-29171	64	17	kn(pid)=kn[kpe(t)+ki∫e(t)dt+kdde(t)/dt	kn(pid)=kn[kpe(t)+ki∫e(t)dt+kdde(t)/dt	PROPN
fcis-29171	64	18	]	]	X
fcis-29171	64	19	(	(	PUNCT
fcis-29171	64	20	n=0,1	n=0,1	ADV
fcis-29171	64	21	…	…	SYM
fcis-29171	64	22	4	4	NUM
fcis-29171	64	23	)	)	PUNCT
fcis-29171	64	24	(	(	PUNCT
fcis-29171	64	25	13	13	NUM
fcis-29171	64	26	)	)	PUNCT
fcis-29171	64	27	for	for	ADP
fcis-29171	64	28	different	different	ADJ
fcis-29171	64	29	motion	motion	NOUN
fcis-29171	64	30	characteristics	characteristic	NOUN
fcis-29171	64	31	of	of	ADP
fcis-29171	64	32	the	the	DET
fcis-29171	64	33	generalized	generalize	VERB
fcis-29171	64	34	boolean	boolean	ADJ
fcis-29171	64	35	control	control	NOUN
fcis-29171	64	36	system	system	NOUN
fcis-29171	64	37	at	at	ADP
fcis-29171	64	38	a	a	DET
fcis-29171	64	39	given	give	VERB
fcis-29171	64	40	moment	moment	NOUN
fcis-29171	64	41	,	,	PUNCT
fcis-29171	64	42	the	the	DET
fcis-29171	64	43	control	control	NOUN
fcis-29171	64	44	process	process	NOUN
fcis-29171	64	45	can	can	AUX
fcis-29171	64	46	be	be	AUX
fcis-29171	64	47	illustrated	illustrate	VERB
fcis-29171	64	48	as	as	SCONJ
fcis-29171	64	49	follows	follow	VERB
fcis-29171	64	50	:	:	PUNCT
fcis-29171	64	51	when	when	SCONJ
fcis-29171	64	52	e(t)>0.1,∫e(t)dt≤0.1,and	e(t)>0.1,∫e(t)dt≤0.1,and	PRON
fcis-29171	64	53	de(t	de(t	X
fcis-29171	64	54	)	)	PUNCT
fcis-29171	64	55	d(t	d(t	PROPN
fcis-29171	64	56	)	)	PUNCT
fcis-29171	64	57	>	>	X
fcis-29171	64	58	0.1	0.1	NUM
fcis-29171	64	59	,	,	PUNCT
fcis-29171	64	60	this	this	DET
fcis-29171	64	61	motion	motion	NOUN
fcis-29171	64	62	characteristic	characteristic	ADJ
fcis-29171	64	63	indicates	indicate	VERB
fcis-29171	64	64	that	that	SCONJ
fcis-29171	64	65	the	the	DET
fcis-29171	64	66	controller	controller	NOUN
fcis-29171	64	67	's	's	PART
fcis-29171	64	68	output	output	NOUN
fcis-29171	64	69	needs	need	VERB
fcis-29171	64	70	to	to	PART
fcis-29171	64	71	be	be	AUX
fcis-29171	64	72	strengthened	strengthen	VERB
fcis-29171	64	73	to	to	PART
fcis-29171	64	74	adjust	adjust	VERB
fcis-29171	64	75	the	the	DET
fcis-29171	64	76	rod	rod	NOUN
fcis-29171	64	77	length	length	NOUN
fcis-29171	64	78	more	more	ADV
fcis-29171	64	79	aggressively	aggressively	ADV
fcis-29171	64	80	.	.	PUNCT
fcis-29171	65	1	in	in	ADP
fcis-29171	65	2	this	this	DET
fcis-29171	65	3	case	case	NOUN
fcis-29171	65	4	,	,	PUNCT
fcis-29171	65	5	the	the	DET
fcis-29171	65	6	"	"	PUNCT
fcis-29171	65	7	emphasize	emphasize	VERB
fcis-29171	65	8	"	"	PUNCT
fcis-29171	65	9	control	control	NOUN
fcis-29171	65	10	strategy	strategy	NOUN
fcis-29171	65	11	should	should	AUX
fcis-29171	65	12	be	be	AUX
fcis-29171	65	13	applied	apply	VERB
fcis-29171	65	14	,	,	PUNCT
fcis-29171	65	15	selecting	select	VERB
fcis-29171	65	16	k3	k3	ADJ
fcis-29171	65	17	as	as	ADP
fcis-29171	65	18	the	the	DET
fcis-29171	65	19	gain	gain	NOUN
fcis-29171	65	20	coefficient	coefficient	NOUN
fcis-29171	65	21	for	for	ADP
fcis-29171	65	22	the	the	DET
fcis-29171	65	23	pid	pid	NOUN
fcis-29171	65	24	calculation	calculation	NOUN
fcis-29171	65	25	,	,	PUNCT
fcis-29171	65	26	i.e.	i.e.	X
fcis-29171	65	27	,	,	PUNCT
fcis-29171	65	28	the	the	DET
fcis-29171	65	29	controller	controller	NOUN
fcis-29171	65	30	output	output	NOUN
fcis-29171	65	31	will	will	AUX
fcis-29171	65	32	be	be	AUX
fcis-29171	65	33	:	:	PUNCT
fcis-29171	65	34	k3(pid)=k3[kpe(t)+ki∫e(t)dt+kdde(t)/dt	k3(pid)=k3[kpe(t)+ki∫e(t)dt+kdde(t)/dt	NOUN
fcis-29171	65	35	]	]	PUNCT
fcis-29171	65	36	table	table	NOUN
fcis-29171	65	37	1	1	NUM
fcis-29171	65	38	.	.	PUNCT
fcis-29171	65	39	generalized	generalize	VERB
fcis-29171	65	40	boolean	boolean	ADJ
fcis-29171	65	41	pid	pid	NOUN
fcis-29171	65	42	control	control	NOUN
fcis-29171	65	43	truth	truth	NOUN
fcis-29171	65	44	table	table	NOUN
fcis-29171	65	45	e(t	e(t	PROPN
fcis-29171	65	46	)	)	PUNCT
fcis-29171	65	47	∫e(t)dt	∫e(t)dt	PROPN
fcis-29171	65	48	de(t)/dt	de(t)/dt	VERB
fcis-29171	65	49	>	>	PUNCT
fcis-29171	65	50	δ	δ	PROPN
fcis-29171	65	51	≤δ	≤δ	PROPN
fcis-29171	65	52	<	<	X
fcis-29171	65	53	-δ	-δ	PUNCT
fcis-29171	65	54	>	>	PUNCT
fcis-29171	65	55	ε	ε	PROPN
fcis-29171	65	56	>	>	PUNCT
fcis-29171	65	57	e(∞	e(∞	PROPN
fcis-29171	65	58	)	)	PUNCT
fcis-29171	65	59	k4(pid	k4(pid	PROPN
fcis-29171	65	60	)	)	PUNCT
fcis-29171	65	61	k4(pid	k4(pid	PROPN
fcis-29171	65	62	)	)	PUNCT
fcis-29171	65	63	k3(pid	k3(pid	PROPN
fcis-29171	65	64	)	)	PUNCT
fcis-29171	65	65	≤e(∞	≤e(∞	NOUN
fcis-29171	65	66	)	)	PUNCT
fcis-29171	65	67	k3(pid	k3(pid	NOUN
fcis-29171	65	68	)	)	PUNCT
fcis-29171	65	69	k3(pid	k3(pid	NOUN
fcis-29171	65	70	)	)	PUNCT
fcis-29171	65	71	k3(pid	k3(pid	NOUN
fcis-29171	65	72	)	)	PUNCT
fcis-29171	65	73	<	<	X
fcis-29171	65	74	-e(∞	-e(∞	ADJ
fcis-29171	65	75	)	)	PUNCT
fcis-29171	65	76	k3(pid	k3(pid	NOUN
fcis-29171	65	77	)	)	PUNCT
fcis-29171	65	78	k3(pid	k3(pid	NOUN
fcis-29171	65	79	)	)	PUNCT
fcis-29171	65	80	k3(pid	k3(pid	NOUN
fcis-29171	65	81	)	)	PUNCT
fcis-29171	66	1	≤ε	≤ε	NOUN
fcis-29171	66	2	>	>	SYM
fcis-29171	66	3	e(∞	e(∞	PROPN
fcis-29171	66	4	)	)	PUNCT
fcis-29171	66	5	k2(pid	k2(pid	PROPN
fcis-29171	66	6	)	)	PUNCT
fcis-29171	66	7	k1(pid	k1(pid	NOUN
fcis-29171	66	8	)	)	PUNCT
fcis-29171	66	9	k1(pid	k1(pid	NOUN
fcis-29171	66	10	)	)	PUNCT
fcis-29171	66	11	≤e(∞	≤e(∞	PROPN
fcis-29171	66	12	)	)	PUNCT
fcis-29171	66	13	k1(pid	k1(pid	NOUN
fcis-29171	66	14	)	)	PUNCT
fcis-29171	66	15	k0(pid	k0(pid	PROPN
fcis-29171	66	16	)	)	PUNCT
fcis-29171	66	17	k1(pid	k1(pid	PROPN
fcis-29171	66	18	)	)	PUNCT
fcis-29171	66	19	<	<	X
fcis-29171	66	20	-e(∞	-e(∞	ADJ
fcis-29171	66	21	)	)	PUNCT
fcis-29171	66	22	k1(pid	k1(pid	NOUN
fcis-29171	66	23	)	)	PUNCT
fcis-29171	66	24	k1(pid	k1(pid	NOUN
fcis-29171	66	25	)	)	PUNCT
fcis-29171	66	26	k2(pid	k2(pid	PROPN
fcis-29171	66	27	)	)	PUNCT
fcis-29171	66	28	<	<	X
fcis-29171	66	29	-ε	-ε	X
fcis-29171	66	30	>	>	SYM
fcis-29171	66	31	e(∞	e(∞	NOUN
fcis-29171	66	32	)	)	PUNCT
fcis-29171	66	33	k4(pid	k4(pid	PROPN
fcis-29171	66	34	)	)	PUNCT
fcis-29171	66	35	k4(pid	k4(pid	PROPN
fcis-29171	66	36	)	)	PUNCT
fcis-29171	66	37	k3(pid	k3(pid	PROPN
fcis-29171	66	38	)	)	PUNCT
fcis-29171	66	39	≤e(∞	≤e(∞	NOUN
fcis-29171	66	40	)	)	PUNCT
fcis-29171	66	41	k3(pid	k3(pid	NOUN
fcis-29171	66	42	)	)	PUNCT
fcis-29171	66	43	k3(pid	k3(pid	NOUN
fcis-29171	66	44	)	)	PUNCT
fcis-29171	66	45	k3(pid	k3(pid	NOUN
fcis-29171	66	46	)	)	PUNCT
fcis-29171	66	47	<	<	X
fcis-29171	66	48	-e(∞	-e(∞	ADJ
fcis-29171	66	49	)	)	PUNCT
fcis-29171	66	50	k3(pid	k3(pid	NOUN
fcis-29171	66	51	)	)	PUNCT
fcis-29171	66	52	k3(pid	k3(pid	NOUN
fcis-29171	66	53	)	)	PUNCT
fcis-29171	66	54	k3(pid	k3(pid	NOUN
fcis-29171	66	55	)	)	PUNCT
fcis-29171	66	56	25	25	NUM
fcis-29171	66	57	on	on	ADP
fcis-29171	66	58	the	the	DET
fcis-29171	66	59	other	other	ADJ
fcis-29171	66	60	hand	hand	NOUN
fcis-29171	66	61	,	,	PUNCT
fcis-29171	66	62	when	when	SCONJ
fcis-29171	66	63	e(t)≤0.1	e(t)≤0.1	PROPN
fcis-29171	66	64	,	,	PUNCT
fcis-29171	66	65	∫e(t)dt≤0.1	∫e(t)dt≤0.1	PROPN
fcis-29171	66	66	,	,	PUNCT
fcis-29171	66	67	and	and	CCONJ
fcis-29171	66	68	>	>	SYM
fcis-29171	66	69	0.1	0.1	NUM
fcis-29171	66	70	,	,	PUNCT
fcis-29171	66	71	this	this	DET
fcis-29171	66	72	motion	motion	NOUN
fcis-29171	66	73	characteristic	characteristic	ADJ
fcis-29171	66	74	indicates	indicate	VERB
fcis-29171	66	75	that	that	SCONJ
fcis-29171	66	76	the	the	DET
fcis-29171	66	77	current	current	ADJ
fcis-29171	66	78	controller	controller	NOUN
fcis-29171	66	79	output	output	NOUN
fcis-29171	66	80	is	be	AUX
fcis-29171	66	81	already	already	ADV
fcis-29171	66	82	very	very	ADV
fcis-29171	66	83	close	close	ADJ
fcis-29171	66	84	to	to	ADP
fcis-29171	66	85	the	the	DET
fcis-29171	66	86	target	target	NOUN
fcis-29171	66	87	rod	rod	NOUN
fcis-29171	66	88	length	length	NOUN
fcis-29171	66	89	,	,	PUNCT
fcis-29171	66	90	and	and	CCONJ
fcis-29171	66	91	only	only	ADV
fcis-29171	66	92	a	a	DET
fcis-29171	66	93	fine	fine	ADV
fcis-29171	66	94	-	-	PUNCT
fcis-29171	66	95	tuning	tune	VERB
fcis-29171	66	96	control	control	NOUN
fcis-29171	66	97	strategy	strategy	NOUN
fcis-29171	66	98	is	be	AUX
fcis-29171	66	99	required	require	VERB
fcis-29171	66	100	.	.	PUNCT
fcis-29171	67	1	in	in	ADP
fcis-29171	67	2	this	this	DET
fcis-29171	67	3	case	case	NOUN
fcis-29171	67	4	,	,	PUNCT
fcis-29171	67	5	k1	k1	PROPN
fcis-29171	67	6	should	should	AUX
fcis-29171	67	7	be	be	AUX
fcis-29171	67	8	selected	select	VERB
fcis-29171	67	9	as	as	ADP
fcis-29171	67	10	the	the	DET
fcis-29171	67	11	gain	gain	NOUN
fcis-29171	67	12	coefficient	coefficient	NOUN
fcis-29171	67	13	for	for	ADP
fcis-29171	67	14	the	the	DET
fcis-29171	67	15	pid	pid	NOUN
fcis-29171	67	16	calculation	calculation	NOUN
fcis-29171	67	17	,	,	PUNCT
fcis-29171	67	18	so	so	CCONJ
fcis-29171	67	19	the	the	DET
fcis-29171	67	20	controller	controller	NOUN
fcis-29171	67	21	output	output	NOUN
fcis-29171	67	22	will	will	AUX
fcis-29171	67	23	be	be	AUX
fcis-29171	67	24	:	:	PUNCT
fcis-29171	67	25	k1(pid)=k1[kpe(t)+ki∫e(t)dt+kdde(t)/dt	k1(pid)=k1[kpe(t)+ki∫e(t)dt+kdde(t)/dt	NOUN
fcis-29171	67	26	]	]	X
fcis-29171	67	27	4	4	NUM
fcis-29171	67	28	.	.	X
fcis-29171	68	1	design	design	NOUN
fcis-29171	68	2	of	of	ADP
fcis-29171	68	3	pose	pose	NOUN
fcis-29171	68	4	control	control	NOUN
fcis-29171	68	5	system	system	NOUN
fcis-29171	68	6	for	for	ADP
fcis-29171	68	7	stewart	stewart	PROPN
fcis-29171	68	8	platform	platform	NOUN
fcis-29171	68	9	and	and	CCONJ
fcis-29171	68	10	its	its	PRON
fcis-29171	68	11	simulink	simulink	PROPN
fcis-29171	68	12	simulation	simulation	NOUN
fcis-29171	68	13	implementation	implementation	NOUN
fcis-29171	68	14	4.1	4.1	NUM
fcis-29171	68	15	.	.	PUNCT
fcis-29171	69	1	design	design	NOUN
fcis-29171	69	2	of	of	ADP
fcis-29171	69	3	dual	dual	ADJ
fcis-29171	69	4	-	-	PUNCT
fcis-29171	69	5	loop	loop	NOUN
fcis-29171	69	6	control	control	NOUN
fcis-29171	69	7	system	system	NOUN
fcis-29171	69	8	for	for	ADP
fcis-29171	69	9	attitude	attitude	NOUN
fcis-29171	69	10	and	and	CCONJ
fcis-29171	69	11	position	position	NOUN
fcis-29171	69	12	loops	loop	NOUN
fcis-29171	69	13	in	in	ADP
fcis-29171	69	14	stewart	stewart	PROPN
fcis-29171	69	15	platform	platform	NOUN
fcis-29171	69	16	this	this	DET
fcis-29171	69	17	paper	paper	NOUN
fcis-29171	69	18	presents	present	VERB
fcis-29171	69	19	a	a	DET
fcis-29171	69	20	dual	dual	ADJ
fcis-29171	69	21	-	-	PUNCT
fcis-29171	69	22	loop	loop	NOUN
fcis-29171	69	23	control	control	NOUN
fcis-29171	69	24	system	system	NOUN
fcis-29171	69	25	for	for	ADP
fcis-29171	69	26	the	the	DET
fcis-29171	69	27	pose	pose	NOUN
fcis-29171	69	28	control	control	NOUN
fcis-29171	69	29	of	of	ADP
fcis-29171	69	30	a	a	DET
fcis-29171	69	31	parallel	parallel	ADJ
fcis-29171	69	32	six	six	NUM
fcis-29171	69	33	-	-	PUNCT
fcis-29171	69	34	degree	degree	NOUN
fcis-29171	69	35	-	-	PUNCT
fcis-29171	69	36	of	of	ADP
fcis-29171	69	37	-	-	PUNCT
fcis-29171	69	38	freedom	freedom	NOUN
fcis-29171	69	39	platform	platform	NOUN
fcis-29171	69	40	,	,	PUNCT
fcis-29171	69	41	where	where	SCONJ
fcis-29171	69	42	the	the	DET
fcis-29171	69	43	attitude	attitude	NOUN
fcis-29171	69	44	loop	loop	NOUN
fcis-29171	69	45	is	be	AUX
fcis-29171	69	46	the	the	DET
fcis-29171	69	47	outer	outer	ADJ
fcis-29171	69	48	pid	pid	NOUN
fcis-29171	69	49	loop	loop	NOUN
fcis-29171	69	50	and	and	CCONJ
fcis-29171	69	51	the	the	DET
fcis-29171	69	52	motor	motor	NOUN
fcis-29171	69	53	-	-	PUNCT
fcis-29171	69	54	driven	drive	VERB
fcis-29171	69	55	rod	rod	NOUN
fcis-29171	69	56	length	length	NOUN
fcis-29171	69	57	position	position	NOUN
fcis-29171	69	58	loop	loop	NOUN
fcis-29171	69	59	is	be	AUX
fcis-29171	69	60	the	the	DET
fcis-29171	69	61	inner	inner	ADJ
fcis-29171	69	62	loop	loop	NOUN
fcis-29171	69	63	.	.	PUNCT
fcis-29171	70	1	the	the	DET
fcis-29171	70	2	control	control	NOUN
fcis-29171	70	3	system	system	NOUN
fcis-29171	70	4	design	design	NOUN
fcis-29171	70	5	structure	structure	NOUN
fcis-29171	70	6	is	be	AUX
fcis-29171	70	7	shown	show	VERB
fcis-29171	70	8	in	in	ADP
fcis-29171	70	9	figure	figure	NOUN
fcis-29171	70	10	4	4	NUM
fcis-29171	70	11	.	.	PUNCT
fcis-29171	70	12	from	from	ADP
fcis-29171	70	13	a	a	DET
fcis-29171	70	14	closed	closed	ADJ
fcis-29171	70	15	-	-	PUNCT
fcis-29171	70	16	loop	loop	NOUN
fcis-29171	70	17	structure	structure	NOUN
fcis-29171	70	18	perspective	perspective	NOUN
fcis-29171	70	19	,	,	PUNCT
fcis-29171	70	20	the	the	DET
fcis-29171	70	21	dual	dual	ADJ
fcis-29171	70	22	-	-	PUNCT
fcis-29171	70	23	loop	loop	NOUN
fcis-29171	70	24	control	control	NOUN
fcis-29171	70	25	system	system	NOUN
fcis-29171	70	26	consists	consist	VERB
fcis-29171	70	27	of	of	ADP
fcis-29171	70	28	two	two	NUM
fcis-29171	70	29	negative	negative	ADJ
fcis-29171	70	30	feedback	feedback	NOUN
fcis-29171	70	31	loops	loop	NOUN
fcis-29171	70	32	.	.	PUNCT
fcis-29171	71	1	the	the	DET
fcis-29171	71	2	attitude	attitude	NOUN
fcis-29171	71	3	loop	loop	NOUN
fcis-29171	71	4	pid	pid	NOUN
fcis-29171	71	5	controller	controller	NOUN
fcis-29171	71	6	and	and	CCONJ
fcis-29171	71	7	the	the	DET
fcis-29171	71	8	position	position	NOUN
fcis-29171	71	9	loop	loop	NOUN
fcis-29171	71	10	are	be	AUX
fcis-29171	71	11	connected	connect	VERB
fcis-29171	71	12	in	in	ADP
fcis-29171	71	13	a	a	DET
fcis-29171	71	14	cascade	cascade	NOUN
fcis-29171	71	15	configuration	configuration	NOUN
fcis-29171	71	16	,	,	PUNCT
fcis-29171	71	17	with	with	ADP
fcis-29171	71	18	the	the	DET
fcis-29171	71	19	position	position	NOUN
fcis-29171	71	20	loops	loop	NOUN
fcis-29171	71	21	based	base	VERB
fcis-29171	71	22	on	on	ADP
fcis-29171	71	23	the	the	DET
fcis-29171	71	24	generalized	generalized	ADJ
fcis-29171	71	25	boolean	boolean	ADJ
fcis-29171	71	26	algebra	algebra	NOUN
fcis-29171	71	27	-	-	PUNCT
fcis-29171	71	28	optimized	optimize	VERB
fcis-29171	71	29	variable	variable	NOUN
fcis-29171	71	30	-	-	PUNCT
fcis-29171	71	31	gain	gain	NOUN
fcis-29171	71	32	pid	pid	NOUN
fcis-29171	71	33	controllers	controller	NOUN
fcis-29171	71	34	.	.	PUNCT
fcis-29171	72	1	the	the	DET
fcis-29171	72	2	six	six	NUM
fcis-29171	72	3	position	position	NOUN
fcis-29171	72	4	loops	loop	NOUN
fcis-29171	72	5	are	be	AUX
fcis-29171	72	6	connected	connect	VERB
fcis-29171	72	7	in	in	ADP
fcis-29171	72	8	parallel	parallel	NOUN
fcis-29171	72	9	,	,	PUNCT
fcis-29171	72	10	each	each	PRON
fcis-29171	72	11	using	use	VERB
fcis-29171	72	12	a	a	DET
fcis-29171	72	13	generalized	generalized	ADJ
fcis-29171	72	14	boolean	boolean	ADJ
fcis-29171	72	15	algebra	algebra	NOUN
fcis-29171	72	16	-	-	PUNCT
fcis-29171	72	17	optimized	optimize	VERB
fcis-29171	72	18	variable	variable	NOUN
fcis-29171	72	19	-	-	PUNCT
fcis-29171	72	20	gain	gain	NOUN
fcis-29171	72	21	pid	pid	NOUN
fcis-29171	72	22	controller	controller	NOUN
fcis-29171	72	23	.	.	PUNCT
fcis-29171	73	1	for	for	ADP
fcis-29171	73	2	a	a	DET
fcis-29171	73	3	given	give	VERB
fcis-29171	73	4	set	set	NOUN
fcis-29171	73	5	of	of	ADP
fcis-29171	73	6	target	target	NOUN
fcis-29171	73	7	platform	platform	NOUN
fcis-29171	73	8	pose	pose	NOUN
fcis-29171	73	9	values	value	NOUN
fcis-29171	73	10	(	(	PUNCT
fcis-29171	73	11	x	x	X
fcis-29171	73	12	,	,	PUNCT
fcis-29171	73	13	y	y	PROPN
fcis-29171	73	14	,	,	PUNCT
fcis-29171	73	15	z	z	PROPN
fcis-29171	73	16	,	,	PUNCT
fcis-29171	73	17	α	α	PROPN
fcis-29171	73	18	,	,	PUNCT
fcis-29171	73	19	β	β	X
fcis-29171	73	20	,	,	PUNCT
fcis-29171	73	21	γ	γ	NOUN
fcis-29171	73	22	)	)	PUNCT
fcis-29171	73	23	,	,	PUNCT
fcis-29171	73	24	the	the	DET
fcis-29171	73	25	current	current	ADJ
fcis-29171	73	26	platform	platform	NOUN
fcis-29171	73	27	pose	pose	NOUN
fcis-29171	73	28	is	be	AUX
fcis-29171	73	29	obtained	obtain	VERB
fcis-29171	73	30	either	either	CCONJ
fcis-29171	73	31	through	through	ADP
fcis-29171	73	32	the	the	DET
fcis-29171	73	33	stewart	stewart	PROPN
fcis-29171	73	34	kinematics	kinematics	PROPN
fcis-29171	73	35	forward	forward	ADV
fcis-29171	73	36	solution	solution	NOUN
fcis-29171	73	37	module	module	NOUN
fcis-29171	73	38	or	or	CCONJ
fcis-29171	73	39	pose	pose	VERB
fcis-29171	73	40	sensors	sensor	NOUN
fcis-29171	73	41	.	.	PUNCT
fcis-29171	74	1	the	the	DET
fcis-29171	74	2	current	current	ADJ
fcis-29171	74	3	pose	pose	NOUN
fcis-29171	74	4	is	be	AUX
fcis-29171	74	5	then	then	ADV
fcis-29171	74	6	compared	compare	VERB
fcis-29171	74	7	with	with	ADP
fcis-29171	74	8	the	the	DET
fcis-29171	74	9	target	target	NOUN
fcis-29171	74	10	pose	pose	VERB
fcis-29171	74	11	to	to	PART
fcis-29171	74	12	form	form	VERB
fcis-29171	74	13	the	the	DET
fcis-29171	74	14	attitude	attitude	NOUN
fcis-29171	74	15	loop	loop	NOUN
fcis-29171	74	16	pid	pid	NOUN
fcis-29171	74	17	control	control	PROPN
fcis-29171	74	18	.	.	PUNCT
fcis-29171	75	1	the	the	DET
fcis-29171	75	2	output	output	NOUN
fcis-29171	75	3	of	of	ADP
fcis-29171	75	4	the	the	DET
fcis-29171	75	5	attitude	attitude	NOUN
fcis-29171	75	6	loop	loop	NOUN
fcis-29171	75	7	pid	pid	NOUN
fcis-29171	75	8	controller	controller	NOUN
fcis-29171	75	9	is	be	AUX
fcis-29171	75	10	processed	process	VERB
fcis-29171	75	11	through	through	ADP
fcis-29171	75	12	the	the	DET
fcis-29171	75	13	stewart	stewart	PROPN
fcis-29171	75	14	kinematics	kinematics	PROPN
fcis-29171	75	15	inverse	inverse	NOUN
fcis-29171	75	16	solution	solution	NOUN
fcis-29171	75	17	module	module	NOUN
fcis-29171	75	18	to	to	PART
fcis-29171	75	19	calculate	calculate	VERB
fcis-29171	75	20	the	the	DET
fcis-29171	75	21	required	require	VERB
fcis-29171	75	22	rod	rod	NOUN
fcis-29171	75	23	lengths	length	NOUN
fcis-29171	75	24	for	for	ADP
fcis-29171	75	25	the	the	DET
fcis-29171	75	26	six	six	NUM
fcis-29171	75	27	actuators	actuator	NOUN
fcis-29171	75	28	.	.	PUNCT
fcis-29171	76	1	these	these	DET
fcis-29171	76	2	calculated	calculate	VERB
fcis-29171	76	3	rod	rod	NOUN
fcis-29171	76	4	lengths	length	NOUN
fcis-29171	76	5	are	be	AUX
fcis-29171	76	6	then	then	ADV
fcis-29171	76	7	fed	feed	VERB
fcis-29171	76	8	as	as	ADP
fcis-29171	76	9	inputs	input	NOUN
fcis-29171	76	10	to	to	ADP
fcis-29171	76	11	the	the	DET
fcis-29171	76	12	six	six	NUM
fcis-29171	76	13	motor	motor	NOUN
fcis-29171	76	14	position	position	NOUN
fcis-29171	76	15	loops	loop	NOUN
fcis-29171	76	16	,	,	PUNCT
fcis-29171	76	17	each	each	PRON
fcis-29171	76	18	based	base	VERB
fcis-29171	76	19	on	on	ADP
fcis-29171	76	20	the	the	DET
fcis-29171	76	21	generalized	generalized	ADJ
fcis-29171	76	22	boolean	boolean	ADJ
fcis-29171	76	23	algebra	algebra	NOUN
fcis-29171	76	24	-	-	PUNCT
fcis-29171	76	25	optimized	optimize	VERB
fcis-29171	76	26	variable	variable	NOUN
fcis-29171	76	27	-	-	PUNCT
fcis-29171	76	28	gain	gain	NOUN
fcis-29171	76	29	pid	pid	NOUN
fcis-29171	76	30	controllers	controller	NOUN
fcis-29171	76	31	.	.	PUNCT
fcis-29171	77	1	the	the	DET
fcis-29171	77	2	output	output	NOUN
fcis-29171	77	3	of	of	ADP
fcis-29171	77	4	these	these	DET
fcis-29171	77	5	controllers	controller	NOUN
fcis-29171	77	6	,	,	PUNCT
fcis-29171	77	7	representing	represent	VERB
fcis-29171	77	8	the	the	DET
fcis-29171	77	9	current	current	ADJ
fcis-29171	77	10	rod	rod	NOUN
fcis-29171	77	11	lengths	length	NOUN
fcis-29171	77	12	,	,	PUNCT
fcis-29171	77	13	is	be	AUX
fcis-29171	77	14	compared	compare	VERB
fcis-29171	77	15	with	with	ADP
fcis-29171	77	16	the	the	DET
fcis-29171	77	17	target	target	NOUN
fcis-29171	77	18	rod	rod	NOUN
fcis-29171	77	19	lengths	length	NOUN
fcis-29171	77	20	to	to	PART
fcis-29171	77	21	form	form	VERB
fcis-29171	77	22	the	the	DET
fcis-29171	77	23	closed	close	VERB
fcis-29171	77	24	-	-	PUNCT
fcis-29171	77	25	loop	loop	NOUN
fcis-29171	77	26	control	control	NOUN
fcis-29171	77	27	of	of	ADP
fcis-29171	77	28	the	the	DET
fcis-29171	77	29	position	position	NOUN
fcis-29171	77	30	loops	loop	NOUN
fcis-29171	77	31	.	.	PUNCT
fcis-29171	78	1	figure	figure	NOUN
fcis-29171	78	2	5	5	NUM
fcis-29171	78	3	.	.	PUNCT
fcis-29171	78	4	structural	structural	ADJ
fcis-29171	78	5	block	block	NOUN
fcis-29171	78	6	diagram	diagram	NOUN
fcis-29171	78	7	of	of	ADP
fcis-29171	78	8	the	the	DET
fcis-29171	78	9	pose	pose	NOUN
fcis-29171	78	10	control	control	NOUN
fcis-29171	78	11	system	system	NOUN
fcis-29171	78	12	for	for	ADP
fcis-29171	78	13	a	a	DET
fcis-29171	78	14	stewart	stewart	PROPN
fcis-29171	78	15	platform	platform	NOUN
fcis-29171	78	16	4.2	4.2	NUM
fcis-29171	78	17	.	.	PUNCT
fcis-29171	79	1	simulink	simulink	PROPN
fcis-29171	79	2	simulation	simulation	PROPN
fcis-29171	79	3	implementation	implementation	NOUN
fcis-29171	79	4	based	base	VERB
fcis-29171	79	5	on	on	ADP
fcis-29171	79	6	the	the	DET
fcis-29171	79	7	previously	previously	ADV
fcis-29171	79	8	discussed	discuss	VERB
fcis-29171	79	9	forward	forward	ADV
fcis-29171	79	10	and	and	CCONJ
fcis-29171	79	11	inverse	inverse	ADJ
fcis-29171	79	12	kinematics	kinematic	NOUN
fcis-29171	79	13	of	of	ADP
fcis-29171	79	14	the	the	DET
fcis-29171	79	15	stewart	stewart	PROPN
fcis-29171	79	16	platform	platform	PROPN
fcis-29171	79	17	and	and	CCONJ
fcis-29171	79	18	the	the	DET
fcis-29171	79	19	variable	variable	ADJ
fcis-29171	79	20	gain	gain	NOUN
fcis-29171	79	21	pid	pid	NOUN
fcis-29171	79	22	control	control	NOUN
fcis-29171	79	23	principle	principle	NOUN
fcis-29171	79	24	optimized	optimize	VERB
fcis-29171	79	25	by	by	ADP
fcis-29171	79	26	generalized	generalized	ADJ
fcis-29171	79	27	boolean	boolean	ADJ
fcis-29171	79	28	algebra	algebra	NOUN
fcis-29171	79	29	,	,	PUNCT
fcis-29171	79	30	a	a	DET
fcis-29171	79	31	matlab	matlab	PROPN
fcis-29171	79	32	/	/	SYM
fcis-29171	79	33	simulink	simulink	NOUN
fcis-29171	79	34	model	model	NOUN
fcis-29171	79	35	for	for	ADP
fcis-29171	79	36	the	the	DET
fcis-29171	79	37	pose	pose	NOUN
fcis-29171	79	38	control	control	NOUN
fcis-29171	79	39	of	of	ADP
fcis-29171	79	40	the	the	DET
fcis-29171	79	41	parallel	parallel	ADJ
fcis-29171	79	42	six	six	NUM
fcis-29171	79	43	-	-	PUNCT
fcis-29171	79	44	degree	degree	NOUN
fcis-29171	79	45	-	-	PUNCT
fcis-29171	79	46	of	of	ADP
fcis-29171	79	47	-	-	PUNCT
fcis-29171	79	48	freedom	freedom	NOUN
fcis-29171	79	49	platform	platform	NOUN
fcis-29171	79	50	is	be	AUX
fcis-29171	79	51	established	establish	VERB
fcis-29171	79	52	,	,	PUNCT
fcis-29171	79	53	as	as	SCONJ
fcis-29171	79	54	shown	show	VERB
fcis-29171	79	55	in	in	ADP
fcis-29171	79	56	figure	figure	NOUN
fcis-29171	79	57	6	6	NUM
fcis-29171	79	58	.	.	PUNCT
fcis-29171	80	1	the	the	DET
fcis-29171	80	2	forward	forward	ADJ
fcis-29171	80	3	and	and	CCONJ
fcis-29171	80	4	inverse	inverse	ADJ
fcis-29171	80	5	kinematics	kinematic	NOUN
fcis-29171	80	6	of	of	ADP
fcis-29171	80	7	the	the	DET
fcis-29171	80	8	stewart	stewart	PROPN
fcis-29171	80	9	platform	platform	NOUN
fcis-29171	80	10	are	be	AUX
fcis-29171	80	11	implemented	implement	VERB
fcis-29171	80	12	by	by	ADP
fcis-29171	80	13	coding	code	VERB
fcis-29171	80	14	in	in	ADP
fcis-29171	80	15	the	the	DET
fcis-29171	80	16	sfunction	sfunction	NOUN
fcis-29171	80	17	module	module	NOUN
fcis-29171	80	18	in	in	ADP
fcis-29171	80	19	simulink	simulink	PROPN
fcis-29171	80	20	,	,	PUNCT
fcis-29171	80	21	with	with	ADP
fcis-29171	80	22	the	the	DET
fcis-29171	80	23	radius	radius	NOUN
fcis-29171	80	24	of	of	ADP
fcis-29171	80	25	the	the	DET
fcis-29171	80	26	lower	low	ADJ
fcis-29171	80	27	platform	platform	NOUN
fcis-29171	80	28	set	set	VERB
fcis-29171	80	29	to	to	ADP
fcis-29171	80	30	r=175	r=175	PROPN
fcis-29171	80	31	 	 	SPACE
fcis-29171	80	32	mm	mm	PROPN
fcis-29171	80	33	and	and	CCONJ
fcis-29171	80	34	the	the	DET
fcis-29171	80	35	radius	radius	NOUN
fcis-29171	80	36	of	of	ADP
fcis-29171	80	37	the	the	DET
fcis-29171	80	38	upper	upper	ADJ
fcis-29171	80	39	platform	platform	NOUN
fcis-29171	80	40	set	set	VERB
fcis-29171	80	41	to	to	ADP
fcis-29171	80	42	r=135	r=135	NOUN
fcis-29171	80	43	 	 	SPACE
fcis-29171	80	44	mm	mm	INTJ
fcis-29171	80	45	.	.	PUNCT
fcis-29171	81	1	as	as	SCONJ
fcis-29171	81	2	described	describe	VERB
fcis-29171	81	3	earlier	early	ADV
fcis-29171	81	4	,	,	PUNCT
fcis-29171	81	5	the	the	DET
fcis-29171	81	6	positions	position	NOUN
fcis-29171	81	7	of	of	ADP
fcis-29171	81	8	the	the	DET
fcis-29171	81	9	joint	joint	ADJ
fcis-29171	81	10	points	point	NOUN
fcis-29171	81	11	in	in	ADP
fcis-29171	81	12	their	their	PRON
fcis-29171	81	13	respective	respective	ADJ
fcis-29171	81	14	coordinate	coordinate	NOUN
fcis-29171	81	15	systems	system	NOUN
fcis-29171	81	16	are	be	AUX
fcis-29171	81	17	obtained	obtain	VERB
fcis-29171	81	18	,	,	PUNCT
fcis-29171	81	19	and	and	CCONJ
fcis-29171	81	20	the	the	DET
fcis-29171	81	21	pose	pose	NOUN
fcis-29171	81	22	inverse	inverse	NOUN
fcis-29171	81	23	kinematics	kinematic	NOUN
fcis-29171	81	24	of	of	ADP
fcis-29171	81	25	the	the	DET
fcis-29171	81	26	stewart	stewart	PROPN
fcis-29171	81	27	platform	platform	NOUN
fcis-29171	81	28	can	can	AUX
fcis-29171	81	29	be	be	AUX
fcis-29171	81	30	derived	derive	VERB
fcis-29171	81	31	through	through	ADP
fcis-29171	81	32	analytical	analytical	ADJ
fcis-29171	81	33	methods	method	NOUN
fcis-29171	81	34	.	.	PUNCT
fcis-29171	82	1	the	the	DET
fcis-29171	82	2	forward	forward	ADJ
fcis-29171	82	3	kinematics	kinematic	NOUN
fcis-29171	82	4	are	be	AUX
fcis-29171	82	5	similarly	similarly	ADV
fcis-29171	82	6	derived	derive	VERB
fcis-29171	82	7	and	and	CCONJ
fcis-29171	82	8	will	will	AUX
fcis-29171	82	9	not	not	PART
fcis-29171	82	10	be	be	AUX
fcis-29171	82	11	repeated	repeat	VERB
fcis-29171	82	12	here	here	ADV
fcis-29171	82	13	.	.	PUNCT
fcis-29171	83	1	figure	figure	VERB
fcis-29171	83	2	6	6	NUM
fcis-29171	83	3	.	.	PUNCT
fcis-29171	84	1	simulink	simulink	PROPN
fcis-29171	84	2	simulation	simulation	PROPN
fcis-29171	84	3	model	model	NOUN
fcis-29171	84	4	for	for	ADP
fcis-29171	84	5	stewart	stewart	PROPN
fcis-29171	84	6	platform	platform	PROPN
fcis-29171	84	7	pose	pose	NOUN
fcis-29171	84	8	control	control	NOUN
fcis-29171	84	9	26	26	NUM
fcis-29171	84	10	the	the	DET
fcis-29171	84	11	simulink	simulink	PROPN
fcis-29171	84	12	simulation	simulation	NOUN
fcis-29171	84	13	models	model	NOUN
fcis-29171	84	14	of	of	ADP
fcis-29171	84	15	the	the	DET
fcis-29171	84	16	generalized	generalized	ADJ
fcis-29171	84	17	boolean	boolean	ADJ
fcis-29171	84	18	pid	pid	NOUN
fcis-29171	84	19	controller	controller	NOUN
fcis-29171	84	20	are	be	AUX
fcis-29171	84	21	shown	show	VERB
fcis-29171	84	22	in	in	ADP
fcis-29171	84	23	figures	figure	NOUN
fcis-29171	84	24	7	7	NUM
fcis-29171	84	25	,	,	PUNCT
fcis-29171	84	26	8and9	8and9	NUM
fcis-29171	84	27	.	.	PUNCT
fcis-29171	85	1	figure	figure	VERB
fcis-29171	85	2	7	7	NUM
fcis-29171	85	3	.	.	PUNCT
fcis-29171	86	1	the	the	DET
fcis-29171	86	2	simulink	simulink	NOUN
fcis-29171	86	3	-	-	PUNCT
fcis-29171	86	4	based	base	VERB
fcis-29171	86	5	partial	partial	ADJ
fcis-29171	86	6	simulation	simulation	NOUN
fcis-29171	86	7	model	model	NOUN
fcis-29171	86	8	of	of	ADP
fcis-29171	86	9	the	the	DET
fcis-29171	86	10	gain	gain	NOUN
fcis-29171	86	11	-	-	PUNCT
fcis-29171	86	12	enhanced	enhance	VERB
fcis-29171	86	13	pid	pid	NOUN
fcis-29171	86	14	with	with	ADP
fcis-29171	86	15	generalized	generalized	ADJ
fcis-29171	86	16	boolean	boolean	ADJ
fcis-29171	86	17	algebra	algebra	NOUN
fcis-29171	86	18	figure	figure	NOUN
fcis-29171	86	19	8	8	NUM
fcis-29171	86	20	.	.	PUNCT
fcis-29171	87	1	the	the	DET
fcis-29171	87	2	simulink	simulink	NOUN
fcis-29171	87	3	-	-	PUNCT
fcis-29171	87	4	based	base	VERB
fcis-29171	87	5	partial	partial	ADJ
fcis-29171	87	6	simulation	simulation	NOUN
fcis-29171	87	7	model	model	NOUN
fcis-29171	87	8	of	of	ADP
fcis-29171	87	9	the	the	DET
fcis-29171	87	10	gain	gain	NOUN
fcis-29171	87	11	-	-	PUNCT
fcis-29171	87	12	enhanced	enhance	VERB
fcis-29171	87	13	pid	pid	NOUN
fcis-29171	87	14	with	with	ADP
fcis-29171	87	15	generalized	generalized	ADJ
fcis-29171	87	16	boolean	boolean	ADJ
fcis-29171	87	17	algebra	algebra	NOUN
fcis-29171	87	18	figure	figure	NOUN
fcis-29171	87	19	9	9	NUM
fcis-29171	87	20	.	.	PUNCT
fcis-29171	88	1	the	the	DET
fcis-29171	88	2	simulink	simulink	NOUN
fcis-29171	88	3	-	-	PUNCT
fcis-29171	88	4	based	base	VERB
fcis-29171	88	5	partial	partial	ADJ
fcis-29171	88	6	simulation	simulation	NOUN
fcis-29171	88	7	model	model	NOUN
fcis-29171	88	8	of	of	ADP
fcis-29171	88	9	the	the	DET
fcis-29171	88	10	gain	gain	NOUN
fcis-29171	88	11	-	-	PUNCT
fcis-29171	88	12	enhanced	enhance	VERB
fcis-29171	88	13	pid	pid	NOUN
fcis-29171	88	14	with	with	ADP
fcis-29171	88	15	generalized	generalized	ADJ
fcis-29171	88	16	boolean	boolean	ADJ
fcis-29171	88	17	algebra	algebra	NOUN
fcis-29171	88	18	5	5	NUM
fcis-29171	88	19	.	.	NOUN
fcis-29171	88	20	comparison	comparison	NOUN
fcis-29171	88	21	and	and	CCONJ
fcis-29171	88	22	analysis	analysis	NOUN
fcis-29171	88	23	of	of	ADP
fcis-29171	88	24	controller	controller	NOUN
fcis-29171	88	25	performance	performance	NOUN
fcis-29171	88	26	in	in	ADP
fcis-29171	88	27	this	this	DET
fcis-29171	88	28	study	study	NOUN
fcis-29171	88	29	,	,	PUNCT
fcis-29171	88	30	the	the	DET
fcis-29171	88	31	simulink	simulink	PROPN
fcis-29171	88	32	simulation	simulation	PROPN
fcis-29171	88	33	solver	solver	PROPN
fcis-29171	88	34	is	be	AUX
fcis-29171	88	35	configured	configure	VERB
fcis-29171	88	36	to	to	PART
fcis-29171	88	37	use	use	VERB
fcis-29171	88	38	a	a	DET
fcis-29171	88	39	variable	variable	ADJ
fcis-29171	88	40	-	-	PUNCT
fcis-29171	88	41	step	step	NOUN
fcis-29171	88	42	solver	solver	NOUN
fcis-29171	88	43	,	,	PUNCT
fcis-29171	88	44	specifically	specifically	ADV
fcis-29171	88	45	the	the	DET
fcis-29171	88	46	ode45	ode45	NOUN
fcis-29171	88	47	(	(	PUNCT
fcis-29171	88	48	dormand	dormand	NOUN
fcis-29171	88	49	-	-	PUNCT
fcis-29171	88	50	prince	prince	NOUN
fcis-29171	88	51	)	)	PUNCT
fcis-29171	88	52	solver	solver	ADV
fcis-29171	88	53	.	.	PUNCT
fcis-29171	89	1	the	the	DET
fcis-29171	89	2	minimum	minimum	ADJ
fcis-29171	89	3	step	step	NOUN
fcis-29171	89	4	size	size	NOUN
fcis-29171	89	5	is	be	AUX
fcis-29171	89	6	set	set	VERB
fcis-29171	89	7	to	to	ADP
fcis-29171	89	8	0.01	0.01	NUM
fcis-29171	89	9	,	,	PUNCT
fcis-29171	89	10	and	and	CCONJ
fcis-29171	89	11	the	the	DET
fcis-29171	89	12	maximum	maximum	ADJ
fcis-29171	89	13	step	step	NOUN
fcis-29171	89	14	size	size	NOUN
fcis-29171	89	15	is	be	AUX
fcis-29171	89	16	set	set	VERB
fcis-29171	89	17	to	to	ADP
fcis-29171	89	18	"	"	PUNCT
fcis-29171	89	19	auto	auto	NOUN
fcis-29171	89	20	.	.	PUNCT
fcis-29171	89	21	"	"	PUNCT
fcis-29171	90	1	the	the	DET
fcis-29171	90	2	parameters	parameter	NOUN
fcis-29171	90	3	of	of	ADP
fcis-29171	90	4	the	the	DET
fcis-29171	90	5	boolean	boolean	ADJ
fcis-29171	90	6	algebra	algebra	NOUN
fcis-29171	90	7	-	-	PUNCT
fcis-29171	90	8	optimized	optimize	VERB
fcis-29171	90	9	variable	variable	NOUN
fcis-29171	90	10	-	-	PUNCT
fcis-29171	90	11	gain	gain	NOUN
fcis-29171	90	12	pid	pid	NOUN
fcis-29171	90	13	controller	controller	NOUN
fcis-29171	90	14	are	be	AUX
fcis-29171	90	15	set	set	VERB
fcis-29171	90	16	as	as	SCONJ
fcis-29171	90	17	follows	follow	VERB
fcis-29171	90	18	:	:	PUNCT
fcis-29171	90	19	kp=26	kp=26	PROPN
fcis-29171	90	20	,	,	PUNCT
fcis-29171	90	21	ki=8.8	ki=8.8	PROPN
fcis-29171	90	22	,	,	PUNCT
fcis-29171	90	23	kd=5.8	kd=5.8	PROPN
fcis-29171	90	24	,	,	PUNCT
fcis-29171	90	25	k0=1,k1=1.2,k2=1.4,k3=1.6,and	k0=1,k1=1.2,k2=1.4,k3=1.6,and	PROPN
fcis-29171	90	26	k4=1.8	k4=1.8	PROPN
fcis-29171	90	27	.	.	PUNCT
fcis-29171	91	1	to	to	PART
fcis-29171	91	2	compare	compare	VERB
fcis-29171	91	3	the	the	DET
fcis-29171	91	4	control	control	NOUN
fcis-29171	91	5	performance	performance	NOUN
fcis-29171	91	6	of	of	ADP
fcis-29171	91	7	the	the	DET
fcis-29171	91	8	boolean	boolean	ADJ
fcis-29171	91	9	algebra	algebra	NOUN
fcis-29171	91	10	-	-	PUNCT
fcis-29171	91	11	optimized	optimize	VERB
fcis-29171	91	12	variable	variable	NOUN
fcis-29171	91	13	-	-	PUNCT
fcis-29171	91	14	gain	gain	NOUN
fcis-29171	91	15	pid	pid	NOUN
fcis-29171	91	16	controller	controller	NOUN
fcis-29171	91	17	with	with	ADP
fcis-29171	91	18	the	the	DET
fcis-29171	91	19	traditional	traditional	ADJ
fcis-29171	91	20	pid	pid	NOUN
fcis-29171	91	21	controller	controller	NOUN
fcis-29171	91	22	,	,	PUNCT
fcis-29171	91	23	the	the	DET
fcis-29171	91	24	parameters	parameter	NOUN
fcis-29171	91	25	of	of	ADP
fcis-29171	91	26	the	the	DET
fcis-29171	91	27	traditional	traditional	ADJ
fcis-29171	91	28	pid	pid	NOUN
fcis-29171	91	29	controller	controller	NOUN
fcis-29171	91	30	are	be	AUX
fcis-29171	91	31	set	set	VERB
fcis-29171	91	32	to	to	ADP
fcis-29171	91	33	kp=26	kp=26	PROPN
fcis-29171	91	34	,	,	PUNCT
fcis-29171	91	35	ki=8.8	ki=8.8	PROPN
fcis-29171	91	36	,	,	PUNCT
fcis-29171	91	37	and	and	CCONJ
fcis-29171	91	38	kd=5.8	kd=5.8	AUX
fcis-29171	91	39	based	base	VERB
fcis-29171	91	40	on	on	ADP
fcis-29171	91	41	the	the	DET
fcis-29171	91	42	principle	principle	NOUN
fcis-29171	91	43	of	of	ADP
fcis-29171	91	44	single	single	ADJ
fcis-29171	91	45	-	-	PUNCT
fcis-29171	91	46	variable	variable	ADJ
fcis-29171	91	47	testing	testing	NOUN
fcis-29171	91	48	.	.	PUNCT
fcis-29171	92	1	the	the	DET
fcis-29171	92	2	simulation	simulation	NOUN
fcis-29171	92	3	experiments	experiment	NOUN
fcis-29171	92	4	compare	compare	VERB
fcis-29171	92	5	the	the	DET
fcis-29171	92	6	control	control	NOUN
fcis-29171	92	7	performance	performance	NOUN
fcis-29171	92	8	of	of	ADP
fcis-29171	92	9	both	both	DET
fcis-29171	92	10	controllers	controller	NOUN
fcis-29171	92	11	on	on	ADP
fcis-29171	92	12	a	a	DET
fcis-29171	92	13	stewart	stewart	NOUN
fcis-29171	92	14	platform	platform	NOUN
fcis-29171	92	15	with	with	ADP
fcis-29171	92	16	a	a	DET
fcis-29171	92	17	target	target	NOUN
fcis-29171	92	18	pose	pose	NOUN
fcis-29171	92	19	of	of	ADP
fcis-29171	92	20	(	(	PUNCT
fcis-29171	92	21	x	x	NOUN
fcis-29171	92	22	,	,	PUNCT
fcis-29171	92	23	y	y	PROPN
fcis-29171	92	24	,	,	PUNCT
fcis-29171	92	25	z	z	PROPN
fcis-29171	92	26	,	,	PUNCT
fcis-29171	92	27	α	α	PROPN
fcis-29171	92	28	,	,	PUNCT
fcis-29171	92	29	β	β	X
fcis-29171	92	30	,	,	PUNCT
fcis-29171	92	31	γ)=(22.9098,−17.8869,97.6143	γ)=(22.9098,−17.8869,97.6143	NOUN
fcis-29171	92	32	,	,	PUNCT
fcis-29171	92	33	−3.9260,2.3843,18.3712	−3.9260,2.3843,18.3712	NOUN
fcis-29171	92	34	)	)	PUNCT
fcis-29171	92	35	.	.	PUNCT
fcis-29171	93	1	the	the	DET
fcis-29171	93	2	inverse	inverse	NOUN
fcis-29171	93	3	kinematics	kinematic	NOUN
fcis-29171	93	4	calculation	calculation	NOUN
fcis-29171	93	5	for	for	ADP
fcis-29171	93	6	this	this	DET
fcis-29171	93	7	pose	pose	NOUN
fcis-29171	93	8	yields	yield	NOUN
fcis-29171	93	9	the	the	DET
fcis-29171	93	10	following	follow	VERB
fcis-29171	93	11	six	six	NUM
fcis-29171	93	12	leg	leg	NOUN
fcis-29171	93	13	lengths	length	NOUN
fcis-29171	93	14	(	(	PUNCT
fcis-29171	93	15	in	in	ADP
fcis-29171	93	16	mm	mm	PROPN
fcis-29171	93	17	):	):	PUNCT
fcis-29171	93	18	200.6856	200.6856	NUM
fcis-29171	93	19	,	,	PUNCT
fcis-29171	93	20	108.6878	108.6878	NUM
fcis-29171	93	21	,	,	PUNCT
fcis-29171	93	22	168.4683	168.4683	NUM
fcis-29171	93	23	,	,	PUNCT
fcis-29171	93	24	130.0941	130.0941	NUM
fcis-29171	93	25	,	,	PUNCT
fcis-29171	93	26	158.3568	158.3568	NUM
fcis-29171	93	27	,	,	PUNCT
fcis-29171	93	28	and	and	CCONJ
fcis-29171	93	29	115.0001	115.0001	NUM
fcis-29171	93	30	.	.	PUNCT
fcis-29171	94	1	the	the	DET
fcis-29171	94	2	control	control	NOUN
fcis-29171	94	3	effects	effect	NOUN
fcis-29171	94	4	for	for	ADP
fcis-29171	94	5	the	the	DET
fcis-29171	94	6	stewart	stewart	PROPN
fcis-29171	94	7	platform	platform	NOUN
fcis-29171	94	8	pose	pose	VERB
fcis-29171	94	9	using	use	VERB
fcis-29171	94	10	the	the	DET
fcis-29171	94	11	boolean	boolean	ADJ
fcis-29171	94	12	algebra	algebra	NOUN
fcis-29171	94	13	-	-	PUNCT
fcis-29171	94	14	optimized	optimize	VERB
fcis-29171	94	15	variable	variable	NOUN
fcis-29171	94	16	-	-	PUNCT
fcis-29171	94	17	gain	gain	NOUN
fcis-29171	94	18	pid	pid	NOUN
fcis-29171	94	19	controller	controller	NOUN
fcis-29171	94	20	are	be	AUX
fcis-29171	94	21	shown	show	VERB
fcis-29171	94	22	in	in	ADP
fcis-29171	94	23	figure	figure	NOUN
fcis-29171	94	24	10	10	NUM
fcis-29171	94	25	,	,	PUNCT
fcis-29171	94	26	while	while	SCONJ
fcis-29171	94	27	the	the	DET
fcis-29171	94	28	results	result	NOUN
fcis-29171	94	29	for	for	ADP
fcis-29171	94	30	the	the	DET
fcis-29171	94	31	traditional	traditional	ADJ
fcis-29171	94	32	pid	pid	NOUN
fcis-29171	94	33	controller	controller	NOUN
fcis-29171	94	34	are	be	AUX
fcis-29171	94	35	shown	show	VERB
fcis-29171	94	36	in	in	ADP
fcis-29171	94	37	figure	figure	NOUN
fcis-29171	94	38	11	11	NUM
fcis-29171	94	39	.	.	PUNCT
fcis-29171	95	1	the	the	DET
fcis-29171	95	2	27	27	NUM
fcis-29171	95	3	comparison	comparison	NOUN
fcis-29171	95	4	of	of	ADP
fcis-29171	95	5	the	the	DET
fcis-29171	95	6	actuator	actuator	NOUN
fcis-29171	95	7	control	control	NOUN
fcis-29171	95	8	effects	effect	NOUN
fcis-29171	95	9	for	for	ADP
fcis-29171	95	10	the	the	DET
fcis-29171	95	11	individual	individual	ADJ
fcis-29171	95	12	branches	branch	NOUN
fcis-29171	95	13	,	,	PUNCT
fcis-29171	95	14	using	use	VERB
fcis-29171	95	15	both	both	CCONJ
fcis-29171	95	16	the	the	DET
fcis-29171	95	17	boolean	boolean	ADJ
fcis-29171	95	18	algebra	algebra	NOUN
fcis-29171	95	19	-	-	PUNCT
fcis-29171	95	20	optimized	optimize	VERB
fcis-29171	95	21	variablegain	variablegain	NOUN
fcis-29171	95	22	pid	pid	NOUN
fcis-29171	95	23	controller	controller	NOUN
fcis-29171	95	24	and	and	CCONJ
fcis-29171	95	25	the	the	DET
fcis-29171	95	26	traditional	traditional	ADJ
fcis-29171	95	27	pid	pid	NOUN
fcis-29171	95	28	controller	controller	NOUN
fcis-29171	95	29	,	,	PUNCT
fcis-29171	95	30	is	be	AUX
fcis-29171	95	31	provided	provide	VERB
fcis-29171	95	32	in	in	ADP
fcis-29171	95	33	figures	figure	NOUN
fcis-29171	95	34	12	12	NUM
fcis-29171	95	35	-	-	SYM
fcis-29171	95	36	17	17	NUM
fcis-29171	95	37	.	.	PUNCT
fcis-29171	96	1	in	in	ADP
fcis-29171	96	2	terms	term	NOUN
fcis-29171	96	3	of	of	ADP
fcis-29171	96	4	attitude	attitude	NOUN
fcis-29171	96	5	control	control	NOUN
fcis-29171	96	6	for	for	ADP
fcis-29171	96	7	the	the	DET
fcis-29171	96	8	stewart	stewart	PROPN
fcis-29171	96	9	platform	platform	NOUN
fcis-29171	96	10	,	,	PUNCT
fcis-29171	96	11	the	the	DET
fcis-29171	96	12	boolean	boolean	ADJ
fcis-29171	96	13	algebra	algebra	NOUN
fcis-29171	96	14	-	-	PUNCT
fcis-29171	96	15	optimized	optimize	VERB
fcis-29171	96	16	pid	pid	NOUN
fcis-29171	96	17	controller	controller	NOUN
fcis-29171	96	18	clearly	clearly	ADV
fcis-29171	96	19	demonstrates	demonstrate	VERB
fcis-29171	96	20	faster	fast	ADJ
fcis-29171	96	21	convergence	convergence	NOUN
fcis-29171	96	22	.	.	PUNCT
fcis-29171	97	1	specifically	specifically	ADV
fcis-29171	97	2	,	,	PUNCT
fcis-29171	97	3	the	the	DET
fcis-29171	97	4	six	six	NUM
fcis-29171	97	5	system	system	NOUN
fcis-29171	97	6	outputs	output	NOUN
fcis-29171	97	7	for	for	ADP
fcis-29171	97	8	the	the	DET
fcis-29171	97	9	target	target	NOUN
fcis-29171	97	10	pose	pose	VERB
fcis-29171	97	11	(	(	PUNCT
fcis-29171	97	12	x	x	X
fcis-29171	97	13	,	,	PUNCT
fcis-29171	97	14	y	y	PROPN
fcis-29171	97	15	,	,	PUNCT
fcis-29171	97	16	z	z	PROPN
fcis-29171	97	17	,	,	PUNCT
fcis-29171	97	18	α	α	PROPN
fcis-29171	97	19	,	,	PUNCT
fcis-29171	97	20	β	β	X
fcis-29171	97	21	,	,	PUNCT
fcis-29171	97	22	γ	γ	NOUN
fcis-29171	97	23	)	)	PUNCT
fcis-29171	97	24	converge	converge	NOUN
fcis-29171	97	25	to	to	ADP
fcis-29171	97	26	the	the	DET
fcis-29171	97	27	target	target	NOUN
fcis-29171	97	28	values	value	NOUN
fcis-29171	97	29	in	in	ADP
fcis-29171	97	30	approximately	approximately	ADV
fcis-29171	97	31	1.2	1.2	NUM
fcis-29171	97	32	seconds	second	NOUN
fcis-29171	97	33	,	,	PUNCT
fcis-29171	97	34	whereas	whereas	SCONJ
fcis-29171	97	35	the	the	DET
fcis-29171	97	36	outputs	output	NOUN
fcis-29171	97	37	for	for	ADP
fcis-29171	97	38	the	the	DET
fcis-29171	97	39	traditional	traditional	ADJ
fcis-29171	97	40	pid	pid	NOUN
fcis-29171	97	41	controller	controller	NOUN
fcis-29171	97	42	in	in	ADP
fcis-29171	97	43	the	the	DET
fcis-29171	97	44	x	x	PROPN
fcis-29171	97	45	,	,	PUNCT
fcis-29171	97	46	y	y	PROPN
fcis-29171	97	47	,	,	PUNCT
fcis-29171	97	48	α	α	PROPN
fcis-29171	97	49	,	,	PUNCT
fcis-29171	97	50	β	β	NOUN
fcis-29171	97	51	,	,	PUNCT
fcis-29171	97	52	and	and	CCONJ
fcis-29171	97	53	γ	γ	PROPN
fcis-29171	97	54	directions	direction	NOUN
fcis-29171	97	55	take	take	VERB
fcis-29171	97	56	at	at	ADV
fcis-29171	97	57	least	least	ADV
fcis-29171	97	58	1.4	1.4	NUM
fcis-29171	97	59	seconds	second	NOUN
fcis-29171	97	60	to	to	PART
fcis-29171	97	61	reach	reach	VERB
fcis-29171	97	62	the	the	DET
fcis-29171	97	63	target	target	NOUN
fcis-29171	97	64	values	value	NOUN
fcis-29171	97	65	.	.	PUNCT
fcis-29171	98	1	the	the	DET
fcis-29171	98	2	zdirection	zdirection	NOUN
fcis-29171	98	3	output	output	NOUN
fcis-29171	98	4	of	of	ADP
fcis-29171	98	5	the	the	DET
fcis-29171	98	6	traditional	traditional	ADJ
fcis-29171	98	7	pid	pid	NOUN
fcis-29171	98	8	controller	controller	NOUN
fcis-29171	98	9	takes	take	VERB
fcis-29171	98	10	approximately	approximately	ADV
fcis-29171	98	11	2	2	NUM
fcis-29171	98	12	seconds	second	NOUN
fcis-29171	98	13	to	to	PART
fcis-29171	98	14	begin	begin	VERB
fcis-29171	98	15	converging	converge	VERB
fcis-29171	98	16	toward	toward	ADP
fcis-29171	98	17	the	the	DET
fcis-29171	98	18	target	target	NOUN
fcis-29171	98	19	value	value	NOUN
fcis-29171	98	20	of	of	ADP
fcis-29171	98	21	97.6143	97.6143	NUM
fcis-29171	98	22	.	.	PUNCT
fcis-29171	99	1	the	the	DET
fcis-29171	99	2	direct	direct	ADJ
fcis-29171	99	3	outputs	output	NOUN
fcis-29171	99	4	of	of	ADP
fcis-29171	99	5	the	the	DET
fcis-29171	99	6	position	position	NOUN
fcis-29171	99	7	control	control	NOUN
fcis-29171	99	8	loop	loop	NOUN
fcis-29171	99	9	for	for	ADP
fcis-29171	99	10	the	the	DET
fcis-29171	99	11	actuators	actuator	NOUN
fcis-29171	99	12	in	in	ADP
fcis-29171	99	13	the	the	DET
fcis-29171	99	14	inner	inner	ADJ
fcis-29171	99	15	loop	loop	NOUN
fcis-29171	99	16	provide	provide	VERB
fcis-29171	99	17	a	a	DET
fcis-29171	99	18	more	more	ADV
fcis-29171	99	19	straightforward	straightforward	ADJ
fcis-29171	99	20	view	view	NOUN
fcis-29171	99	21	of	of	ADP
fcis-29171	99	22	the	the	DET
fcis-29171	99	23	control	control	NOUN
fcis-29171	99	24	performance	performance	NOUN
fcis-29171	99	25	.	.	PUNCT
fcis-29171	100	1	it	it	PRON
fcis-29171	100	2	is	be	AUX
fcis-29171	100	3	evident	evident	ADJ
fcis-29171	100	4	that	that	SCONJ
fcis-29171	100	5	the	the	DET
fcis-29171	100	6	boolean	boolean	ADJ
fcis-29171	100	7	algebra	algebra	NOUN
fcis-29171	100	8	-	-	PUNCT
fcis-29171	100	9	optimized	optimize	VERB
fcis-29171	100	10	variablegain	variablegain	NOUN
fcis-29171	100	11	pid	pid	NOUN
fcis-29171	100	12	controller	controller	NOUN
fcis-29171	100	13	offers	offer	VERB
fcis-29171	100	14	superior	superior	ADJ
fcis-29171	100	15	dynamic	dynamic	ADJ
fcis-29171	100	16	performance	performance	NOUN
fcis-29171	100	17	,	,	PUNCT
fcis-29171	100	18	stability	stability	NOUN
fcis-29171	100	19	,	,	PUNCT
fcis-29171	100	20	real	real	ADJ
fcis-29171	100	21	-	-	PUNCT
fcis-29171	100	22	time	time	NOUN
fcis-29171	100	23	response	response	NOUN
fcis-29171	100	24	,	,	PUNCT
fcis-29171	100	25	and	and	CCONJ
fcis-29171	100	26	accuracy	accuracy	NOUN
fcis-29171	100	27	compared	compare	VERB
fcis-29171	100	28	to	to	ADP
fcis-29171	100	29	the	the	DET
fcis-29171	100	30	traditional	traditional	ADJ
fcis-29171	100	31	pid	pid	NOUN
fcis-29171	100	32	controller	controller	NOUN
fcis-29171	100	33	.	.	PUNCT
fcis-29171	101	1	figure	figure	NOUN
fcis-29171	101	2	10	10	NUM
fcis-29171	101	3	.	.	PUNCT
fcis-29171	102	1	the	the	DET
fcis-29171	102	2	control	control	NOUN
fcis-29171	102	3	performance	performance	NOUN
fcis-29171	102	4	of	of	ADP
fcis-29171	102	5	the	the	DET
fcis-29171	102	6	boolean	boolean	ADJ
fcis-29171	102	7	algebraoptimized	algebraoptimize	VERB
fcis-29171	102	8	variable	variable	NOUN
fcis-29171	102	9	-	-	PUNCT
fcis-29171	102	10	gain	gain	NOUN
fcis-29171	102	11	pid	pid	NOUN
fcis-29171	102	12	controller	controller	NOUN
fcis-29171	102	13	for	for	ADP
fcis-29171	102	14	the	the	DET
fcis-29171	102	15	stewart	stewart	PROPN
fcis-29171	102	16	platform	platform	PROPN
fcis-29171	102	17	pose	pose	NOUN
fcis-29171	102	18	figure	figure	NOUN
fcis-29171	102	19	11	11	NUM
fcis-29171	102	20	.	.	PUNCT
fcis-29171	103	1	the	the	DET
fcis-29171	103	2	control	control	NOUN
fcis-29171	103	3	performance	performance	NOUN
fcis-29171	103	4	of	of	ADP
fcis-29171	103	5	the	the	DET
fcis-29171	103	6	traditional	traditional	ADJ
fcis-29171	103	7	pid	pid	NOUN
fcis-29171	103	8	controller	controller	NOUN
fcis-29171	103	9	for	for	ADP
fcis-29171	103	10	the	the	DET
fcis-29171	103	11	stewart	stewart	PROPN
fcis-29171	103	12	platform	platform	PROPN
fcis-29171	103	13	pose	pose	NOUN
fcis-29171	103	14	figure	figure	NOUN
fcis-29171	103	15	12	12	NUM
fcis-29171	103	16	.	.	PUNCT
fcis-29171	104	1	comparison	comparison	NOUN
fcis-29171	104	2	of	of	ADP
fcis-29171	104	3	the	the	DET
fcis-29171	104	4	control	control	NOUN
fcis-29171	104	5	effects	effect	NOUN
fcis-29171	104	6	of	of	ADP
fcis-29171	104	7	the	the	DET
fcis-29171	104	8	boolean	boolean	ADJ
fcis-29171	104	9	algebra	algebra	NOUN
fcis-29171	104	10	-	-	PUNCT
fcis-29171	104	11	optimized	optimize	VERB
fcis-29171	104	12	variable	variable	NOUN
fcis-29171	104	13	-	-	PUNCT
fcis-29171	104	14	gain	gain	NOUN
fcis-29171	104	15	pid	pid	NOUN
fcis-29171	104	16	and	and	CCONJ
fcis-29171	104	17	traditional	traditional	ADJ
fcis-29171	104	18	pid	pid	NOUN
fcis-29171	104	19	controllers	controller	NOUN
fcis-29171	104	20	for	for	ADP
fcis-29171	104	21	the	the	DET
fcis-29171	104	22	first	first	ADJ
fcis-29171	104	23	branch	branch	NOUN
fcis-29171	104	24	leg	leg	NOUN
fcis-29171	104	25	length	length	NOUN
fcis-29171	104	26	figure	figure	NOUN
fcis-29171	104	27	13	13	NUM
fcis-29171	104	28	.	.	PUNCT
fcis-29171	105	1	comparison	comparison	NOUN
fcis-29171	105	2	of	of	ADP
fcis-29171	105	3	the	the	DET
fcis-29171	105	4	control	control	NOUN
fcis-29171	105	5	effects	effect	NOUN
fcis-29171	105	6	of	of	ADP
fcis-29171	105	7	the	the	DET
fcis-29171	105	8	boolean	boolean	ADJ
fcis-29171	105	9	algebra	algebra	NOUN
fcis-29171	105	10	-	-	PUNCT
fcis-29171	105	11	optimized	optimize	VERB
fcis-29171	105	12	variable	variable	NOUN
fcis-29171	105	13	-	-	PUNCT
fcis-29171	105	14	gain	gain	NOUN
fcis-29171	105	15	pid	pid	NOUN
fcis-29171	105	16	and	and	CCONJ
fcis-29171	105	17	traditional	traditional	ADJ
fcis-29171	105	18	pid	pid	NOUN
fcis-29171	105	19	controllers	controller	NOUN
fcis-29171	105	20	for	for	ADP
fcis-29171	105	21	the	the	DET
fcis-29171	105	22	second	second	ADJ
fcis-29171	105	23	branch	branch	NOUN
fcis-29171	105	24	leg	leg	NOUN
fcis-29171	105	25	length	length	NOUN
fcis-29171	105	26	figure	figure	NOUN
fcis-29171	105	27	14	14	NUM
fcis-29171	105	28	.	.	PUNCT
fcis-29171	106	1	comparison	comparison	NOUN
fcis-29171	106	2	of	of	ADP
fcis-29171	106	3	the	the	DET
fcis-29171	106	4	control	control	NOUN
fcis-29171	106	5	effects	effect	NOUN
fcis-29171	106	6	of	of	ADP
fcis-29171	106	7	the	the	DET
fcis-29171	106	8	boolean	boolean	ADJ
fcis-29171	106	9	algebra	algebra	NOUN
fcis-29171	106	10	-	-	PUNCT
fcis-29171	106	11	optimized	optimize	VERB
fcis-29171	106	12	variable	variable	NOUN
fcis-29171	106	13	-	-	PUNCT
fcis-29171	106	14	gain	gain	NOUN
fcis-29171	106	15	pid	pid	NOUN
fcis-29171	106	16	and	and	CCONJ
fcis-29171	106	17	traditional	traditional	ADJ
fcis-29171	106	18	pid	pid	NOUN
fcis-29171	106	19	controllers	controller	NOUN
fcis-29171	106	20	for	for	ADP
fcis-29171	106	21	the	the	DET
fcis-29171	106	22	third	third	ADJ
fcis-29171	106	23	branch	branch	NOUN
fcis-29171	106	24	leg	leg	NOUN
fcis-29171	106	25	length	length	NOUN
fcis-29171	106	26	figure	figure	NOUN
fcis-29171	106	27	15	15	NUM
fcis-29171	106	28	.	.	PUNCT
fcis-29171	107	1	comparison	comparison	NOUN
fcis-29171	107	2	of	of	ADP
fcis-29171	107	3	the	the	DET
fcis-29171	107	4	control	control	NOUN
fcis-29171	107	5	effects	effect	NOUN
fcis-29171	107	6	of	of	ADP
fcis-29171	107	7	the	the	DET
fcis-29171	107	8	boolean	boolean	ADJ
fcis-29171	107	9	algebra	algebra	NOUN
fcis-29171	107	10	-	-	PUNCT
fcis-29171	107	11	optimized	optimize	VERB
fcis-29171	107	12	variable	variable	NOUN
fcis-29171	107	13	-	-	PUNCT
fcis-29171	107	14	gain	gain	NOUN
fcis-29171	107	15	pid	pid	NOUN
fcis-29171	107	16	and	and	CCONJ
fcis-29171	107	17	traditional	traditional	ADJ
fcis-29171	107	18	pid	pid	NOUN
fcis-29171	107	19	controllers	controller	NOUN
fcis-29171	107	20	for	for	ADP
fcis-29171	107	21	the	the	DET
fcis-29171	107	22	fourth	fourth	ADJ
fcis-29171	107	23	branch	branch	NOUN
fcis-29171	107	24	leg	leg	NOUN
fcis-29171	107	25	length	length	NOUN
fcis-29171	107	26	figure	figure	NOUN
fcis-29171	107	27	16	16	NUM
fcis-29171	107	28	.	.	PUNCT
fcis-29171	108	1	comparison	comparison	NOUN
fcis-29171	108	2	of	of	ADP
fcis-29171	108	3	the	the	DET
fcis-29171	108	4	control	control	NOUN
fcis-29171	108	5	effects	effect	NOUN
fcis-29171	108	6	of	of	ADP
fcis-29171	108	7	the	the	DET
fcis-29171	108	8	boolean	boolean	ADJ
fcis-29171	108	9	algebra	algebra	NOUN
fcis-29171	108	10	-	-	PUNCT
fcis-29171	108	11	optimized	optimize	VERB
fcis-29171	108	12	variable	variable	NOUN
fcis-29171	108	13	-	-	PUNCT
fcis-29171	108	14	gain	gain	NOUN
fcis-29171	108	15	pid	pid	NOUN
fcis-29171	108	16	and	and	CCONJ
fcis-29171	108	17	traditional	traditional	ADJ
fcis-29171	108	18	pid	pid	NOUN
fcis-29171	108	19	controllers	controller	NOUN
fcis-29171	108	20	for	for	ADP
fcis-29171	108	21	the	the	DET
fcis-29171	108	22	fifth	fifth	ADJ
fcis-29171	108	23	branch	branch	NOUN
fcis-29171	108	24	leg	leg	NOUN
fcis-29171	108	25	length	length	NOUN
fcis-29171	108	26	figure	figure	NOUN
fcis-29171	108	27	17	17	NUM
fcis-29171	108	28	.	.	PUNCT
fcis-29171	109	1	comparison	comparison	NOUN
fcis-29171	109	2	of	of	ADP
fcis-29171	109	3	the	the	DET
fcis-29171	109	4	control	control	NOUN
fcis-29171	109	5	effects	effect	NOUN
fcis-29171	109	6	of	of	ADP
fcis-29171	109	7	the	the	DET
fcis-29171	109	8	boolean	boolean	ADJ
fcis-29171	109	9	algebra	algebra	NOUN
fcis-29171	109	10	-	-	PUNCT
fcis-29171	109	11	optimized	optimize	VERB
fcis-29171	109	12	variable	variable	NOUN
fcis-29171	109	13	-	-	PUNCT
fcis-29171	109	14	gain	gain	NOUN
fcis-29171	109	15	pid	pid	NOUN
fcis-29171	109	16	and	and	CCONJ
fcis-29171	109	17	traditional	traditional	ADJ
fcis-29171	109	18	pid	pid	NOUN
fcis-29171	109	19	controllers	controller	NOUN
fcis-29171	109	20	for	for	ADP
fcis-29171	109	21	the	the	DET
fcis-29171	109	22	sixth	sixth	ADJ
fcis-29171	109	23	branch	branch	NOUN
fcis-29171	109	24	leg	leg	NOUN
fcis-29171	109	25	length	length	NOUN
fcis-29171	109	26	6	6	NUM
fcis-29171	109	27	.	.	PUNCT
fcis-29171	110	1	conclusion	conclusion	NOUN
fcis-29171	110	2	this	this	DET
fcis-29171	110	3	paper	paper	NOUN
fcis-29171	110	4	addresses	address	VERB
fcis-29171	110	5	the	the	DET
fcis-29171	110	6	issue	issue	NOUN
fcis-29171	110	7	that	that	SCONJ
fcis-29171	110	8	traditional	traditional	ADJ
fcis-29171	110	9	pid	pid	NOUN
fcis-29171	110	10	controllers	controller	NOUN
fcis-29171	110	11	can	can	AUX
fcis-29171	110	12	not	not	PART
fcis-29171	110	13	achieve	achieve	VERB
fcis-29171	110	14	ideal	ideal	ADJ
fcis-29171	110	15	control	control	NOUN
fcis-29171	110	16	performance	performance	NOUN
fcis-29171	110	17	when	when	SCONJ
fcis-29171	110	18	there	there	PRON
fcis-29171	110	19	are	be	VERB
fcis-29171	110	20	large	large	ADJ
fcis-29171	110	21	variations	variation	NOUN
fcis-29171	110	22	in	in	ADP
fcis-29171	110	23	the	the	DET
fcis-29171	110	24	input	input	NOUN
fcis-29171	110	25	.	.	PUNCT
fcis-29171	111	1	to	to	PART
fcis-29171	111	2	solve	solve	VERB
fcis-29171	111	3	this	this	DET
fcis-29171	111	4	problem	problem	NOUN
fcis-29171	111	5	,	,	PUNCT
fcis-29171	111	6	a	a	DET
fcis-29171	111	7	boolean	boolean	ADJ
fcis-29171	111	8	algebra	algebra	NOUN
fcis-29171	111	9	-	-	PUNCT
fcis-29171	111	10	optimized	optimize	VERB
fcis-29171	111	11	variable	variable	NOUN
fcis-29171	111	12	-	-	PUNCT
fcis-29171	111	13	gain	gain	NOUN
fcis-29171	111	14	pid	pid	NOUN
fcis-29171	111	15	control	control	NOUN
fcis-29171	111	16	algorithm	algorithm	PROPN
fcis-29171	111	17	is	be	AUX
fcis-29171	111	18	proposed	propose	VERB
fcis-29171	111	19	.	.	PUNCT
fcis-29171	112	1	this	this	DET
fcis-29171	112	2	approach	approach	NOUN
fcis-29171	112	3	integrates	integrate	VERB
fcis-29171	112	4	traditional	traditional	ADJ
fcis-29171	112	5	pid	pid	NOUN
fcis-29171	112	6	control	control	NOUN
fcis-29171	112	7	techniques	technique	NOUN
fcis-29171	112	8	with	with	ADP
fcis-29171	112	9	a	a	DET
fcis-29171	112	10	boolean	boolean	ADJ
fcis-29171	112	11	algebra	algebra	NOUN
fcis-29171	112	12	logic	logic	NOUN
fcis-29171	112	13	control	control	NOUN
fcis-29171	112	14	system	system	NOUN
fcis-29171	112	15	.	.	PUNCT
fcis-29171	113	1	by	by	ADP
fcis-29171	113	2	leveraging	leverage	VERB
fcis-29171	113	3	the	the	DET
fcis-29171	113	4	disturbance	disturbance	NOUN
fcis-29171	113	5	rejection	rejection	NOUN
fcis-29171	113	6	and	and	CCONJ
fcis-29171	113	7	real	real	ADJ
fcis-29171	113	8	-	-	PUNCT
fcis-29171	113	9	time	time	NOUN
fcis-29171	113	10	capabilities	capability	NOUN
fcis-29171	113	11	of	of	ADP
fcis-29171	113	12	boolean	boolean	ADJ
fcis-29171	113	13	algebra	algebra	NOUN
fcis-29171	113	14	logic	logic	NOUN
fcis-29171	113	15	control	control	NOUN
fcis-29171	113	16	,	,	PUNCT
fcis-29171	113	17	the	the	DET
fcis-29171	113	18	algorithm	algorithm	NOUN
fcis-29171	113	19	enhances	enhance	VERB
fcis-29171	113	20	the	the	DET
fcis-29171	113	21	dynamic	dynamic	ADJ
fcis-29171	113	22	performance	performance	NOUN
fcis-29171	113	23	,	,	PUNCT
fcis-29171	113	24	real	real	ADJ
fcis-29171	113	25	-	-	PUNCT
fcis-29171	113	26	time	time	NOUN
fcis-29171	113	27	response	response	NOUN
fcis-29171	113	28	,	,	PUNCT
fcis-29171	113	29	and	and	CCONJ
fcis-29171	113	30	control	control	NOUN
fcis-29171	113	31	accuracy	accuracy	NOUN
fcis-29171	113	32	of	of	ADP
fcis-29171	113	33	the	the	DET
fcis-29171	113	34	traditional	traditional	ADJ
fcis-29171	113	35	pid	pid	NOUN
fcis-29171	113	36	control	control	NOUN
fcis-29171	113	37	method	method	NOUN
fcis-29171	113	38	.	.	PUNCT
fcis-29171	114	1	in	in	ADP
fcis-29171	114	2	the	the	DET
fcis-29171	114	3	study	study	NOUN
fcis-29171	114	4	,	,	PUNCT
fcis-29171	114	5	a	a	DET
fcis-29171	114	6	simulink	simulink	PROPN
fcis-29171	114	7	simulation	simulation	NOUN
fcis-29171	114	8	model	model	NOUN
fcis-29171	114	9	of	of	ADP
fcis-29171	114	10	a	a	DET
fcis-29171	114	11	parallel	parallel	ADJ
fcis-29171	114	12	sixdegree	sixdegree	ADJ
fcis-29171	114	13	-	-	PUNCT
fcis-29171	114	14	of	of	ADP
fcis-29171	114	15	-	-	PUNCT
fcis-29171	114	16	freedom	freedom	NOUN
fcis-29171	114	17	platform	platform	NOUN
fcis-29171	114	18	pose	pose	NOUN
fcis-29171	114	19	control	control	NOUN
fcis-29171	114	20	system	system	NOUN
fcis-29171	114	21	is	be	AUX
fcis-29171	114	22	developed	develop	VERB
fcis-29171	114	23	in	in	ADP
fcis-29171	114	24	the	the	DET
fcis-29171	114	25	matlab	matlab	PROPN
fcis-29171	114	26	environment	environment	NOUN
fcis-29171	114	27	to	to	PART
fcis-29171	114	28	compare	compare	VERB
fcis-29171	114	29	the	the	DET
fcis-29171	114	30	performance	performance	NOUN
fcis-29171	114	31	of	of	ADP
fcis-29171	114	32	the	the	DET
fcis-29171	114	33	two	two	NUM
fcis-29171	114	34	controllers	controller	NOUN
fcis-29171	114	35	in	in	ADP
fcis-29171	114	36	controlling	control	VERB
fcis-29171	114	37	the	the	DET
fcis-29171	114	38	stewart	stewart	PROPN
fcis-29171	114	39	platform	platform	NOUN
fcis-29171	114	40	,	,	PUNCT
fcis-29171	114	41	which	which	PRON
fcis-29171	114	42	exhibits	exhibit	VERB
fcis-29171	114	43	high	high	ADJ
fcis-29171	114	44	coupling	coupling	NOUN
fcis-29171	114	45	,	,	PUNCT
fcis-29171	114	46	low	low	ADJ
fcis-29171	114	47	linearity	linearity	NOUN
fcis-29171	114	48	,	,	PUNCT
fcis-29171	114	49	and	and	CCONJ
fcis-29171	114	50	time	time	NOUN
fcis-29171	114	51	-	-	PUNCT
fcis-29171	114	52	varying	varying	NOUN
fcis-29171	114	53	adopts	adopt	VERB
fcis-29171	114	54	a	a	DET
fcis-29171	114	55	uncertainties	uncertainty	NOUN
fcis-29171	114	56	.	.	PUNCT
fcis-29171	115	1	the	the	DET
fcis-29171	115	2	control	control	NOUN
fcis-29171	115	3	strategy	strategy	NOUN
fcis-29171	115	4	cascaded	cascade	VERB
fcis-29171	115	5	dual	dual	ADJ
fcis-29171	115	6	-	-	PUNCT
fcis-29171	115	7	loop	loop	NOUN
fcis-29171	115	8	28	28	NUM
fcis-29171	115	9	control	control	NOUN
fcis-29171	115	10	system	system	NOUN
fcis-29171	115	11	consisting	consist	VERB
fcis-29171	115	12	of	of	ADP
fcis-29171	115	13	the	the	DET
fcis-29171	115	14	platform	platform	NOUN
fcis-29171	115	15	attitude	attitude	NOUN
fcis-29171	115	16	loop	loop	NOUN
fcis-29171	115	17	and	and	CCONJ
fcis-29171	115	18	the	the	DET
fcis-29171	115	19	motor	motor	NOUN
fcis-29171	115	20	-	-	PUNCT
fcis-29171	115	21	driven	drive	VERB
fcis-29171	115	22	leg	leg	NOUN
fcis-29171	115	23	position	position	NOUN
fcis-29171	115	24	loop	loop	NOUN
fcis-29171	115	25	.	.	PUNCT
fcis-29171	116	1	the	the	DET
fcis-29171	116	2	results	result	NOUN
fcis-29171	116	3	show	show	VERB
fcis-29171	116	4	that	that	SCONJ
fcis-29171	116	5	,	,	PUNCT
fcis-29171	116	6	compared	compare	VERB
fcis-29171	116	7	to	to	ADP
fcis-29171	116	8	the	the	DET
fcis-29171	116	9	traditional	traditional	ADJ
fcis-29171	116	10	pid	pid	NOUN
fcis-29171	116	11	control	control	NOUN
fcis-29171	116	12	system	system	NOUN
fcis-29171	116	13	,	,	PUNCT
fcis-29171	116	14	the	the	DET
fcis-29171	116	15	boolean	boolean	ADJ
fcis-29171	116	16	algebra	algebra	NOUN
fcis-29171	116	17	-	-	PUNCT
fcis-29171	116	18	optimized	optimize	VERB
fcis-29171	116	19	pid	pid	NOUN
fcis-29171	116	20	control	control	NOUN
fcis-29171	116	21	system	system	NOUN
fcis-29171	116	22	offers	offer	VERB
fcis-29171	116	23	superior	superior	ADJ
fcis-29171	116	24	dynamic	dynamic	ADJ
fcis-29171	116	25	performance	performance	NOUN
fcis-29171	116	26	,	,	PUNCT
fcis-29171	116	27	improved	improve	VERB
fcis-29171	116	28	stability	stability	NOUN
fcis-29171	116	29	,	,	PUNCT
fcis-29171	116	30	and	and	CCONJ
fcis-29171	116	31	better	well	ADJ
fcis-29171	116	32	real	real	ADJ
fcis-29171	116	33	-	-	PUNCT
fcis-29171	116	34	time	time	NOUN
fcis-29171	116	35	response	response	NOUN
fcis-29171	116	36	.	.	PUNCT
fcis-29171	117	1	references	reference	NOUN
fcis-29171	117	2	[	[	X
fcis-29171	117	3	1	1	NUM
fcis-29171	117	4	]	]	PUNCT
fcis-29171	117	5	wart	wart	NOUN
fcis-29171	117	6	d.a	d.a	PROPN
fcis-29171	117	7	platform	platform	NOUN
fcis-29171	117	8	with	with	ADP
fcis-29171	117	9	six	six	NUM
fcis-29171	117	10	degrees	degree	NOUN
fcis-29171	117	11	of	of	ADP
fcis-29171	117	12	freedom[j].proceedings	freedom[j].proceeding	NOUN
fcis-29171	117	13	of	of	ADP
fcis-29171	117	14	the	the	DET
fcis-29171	117	15	institution	institution	NOUN
fcis-29171	117	16	of	of	ADP
fcis-29171	117	17	mechanical	mechanical	ADJ
fcis-29171	117	18	engineers.part	engineers.part	PROPN
fcis-29171	117	19	a	a	DET
fcis-29171	117	20	:	:	PUNCT
fcis-29171	117	21	jour	jour	ADJ
fcis-29171	117	22	—	—	PUNCT
fcis-29171	117	23	nal	nal	ADJ
fcis-29171	117	24	ofpower	ofpower	NOUN
fcis-29171	117	25	and	and	CCONJ
fcis-29171	117	26	energy,1965,180(15):371	energy,1965,180(15):371	NOUN
fcis-29171	117	27	-	-	PUNCT
fcis-29171	117	28	386	386	NUM
fcis-29171	117	29	.	.	PUNCT
fcis-29171	118	1	[	[	X
fcis-29171	118	2	2	2	NUM
fcis-29171	118	3	]	]	X
fcis-29171	118	4	wang	wang	PROPN
fcis-29171	118	5	,	,	PUNCT
fcis-29171	118	6	h.	h.	PROPN
fcis-29171	118	7	(	(	PUNCT
fcis-29171	118	8	2019	2019	NUM
fcis-29171	118	9	)	)	PUNCT
fcis-29171	118	10	.	.	PUNCT
fcis-29171	119	1	research	research	NOUN
fcis-29171	119	2	on	on	ADP
fcis-29171	119	3	precise	precise	ADJ
fcis-29171	119	4	calibration	calibration	NOUN
fcis-29171	119	5	of	of	ADP
fcis-29171	119	6	stewart	stewart	PROPN
fcis-29171	119	7	platform	platform	NOUN
fcis-29171	119	8	based	base	VERB
fcis-29171	119	9	on	on	ADP
fcis-29171	119	10	improved	improved	ADJ
fcis-29171	119	11	cuckoo	cuckoo	NOUN
fcis-29171	119	12	algorithm	algorithm	NOUN
fcis-29171	119	13	(	(	PUNCT
fcis-29171	119	14	master	master	NOUN
fcis-29171	119	15	's	's	PART
fcis-29171	119	16	thesis	thesis	NOUN
fcis-29171	119	17	)	)	PUNCT
fcis-29171	119	18	.	.	PUNCT
fcis-29171	120	1	university	university	NOUN
fcis-29171	120	2	of	of	ADP
fcis-29171	120	3	chinese	chinese	PROPN
fcis-29171	120	4	academy	academy	PROPN
fcis-29171	120	5	of	of	ADP
fcis-29171	120	6	sciences	sciences	PROPN
fcis-29171	120	7	,	,	PUNCT
fcis-29171	120	8	beijing	beijing	PROPN
fcis-29171	120	9	.	.	PUNCT
fcis-29171	121	1	[	[	X
fcis-29171	121	2	3	3	NUM
fcis-29171	121	3	]	]	X
fcis-29171	121	4	geng	geng	PROPN
fcis-29171	121	5	,	,	PUNCT
fcis-29171	121	6	m.	m.	NOUN
fcis-29171	121	7	,	,	PUNCT
fcis-29171	121	8	zhao	zhao	PROPN
fcis-29171	121	9	,	,	PUNCT
fcis-29171	121	10	t.	t.	PROPN
fcis-29171	121	11	,	,	PUNCT
fcis-29171	121	12	wang	wang	PROPN
fcis-29171	121	13	,	,	PUNCT
fcis-29171	121	14	c.	c.	PROPN
fcis-29171	121	15	,	,	PUNCT
fcis-29171	121	16	et	et	PROPN
fcis-29171	121	17	al	al	PROPN
fcis-29171	121	18	.	.	PUNCT
fcis-29171	121	19	(	(	PUNCT
fcis-29171	121	20	2015	2015	NUM
fcis-29171	121	21	)	)	PUNCT
fcis-29171	121	22	.	.	PUNCT
fcis-29171	122	1	forward	forward	ADJ
fcis-29171	122	2	kinematics	kinematic	NOUN
fcis-29171	122	3	solution	solution	NOUN
fcis-29171	122	4	of	of	ADP
fcis-29171	122	5	parallel	parallel	ADJ
fcis-29171	122	6	mechanisms	mechanism	NOUN
fcis-29171	122	7	based	base	VERB
fcis-29171	122	8	on	on	ADP
fcis-29171	122	9	quasinewton	quasinewton	PROPN
fcis-29171	122	10	method	method	NOUN
fcis-29171	122	11	.	.	PUNCT
fcis-29171	123	1	journal	journal	NOUN
fcis-29171	123	2	of	of	ADP
fcis-29171	123	3	mechanical	mechanical	ADJ
fcis-29171	123	4	engineering	engineering	NOUN
fcis-29171	123	5	,	,	PUNCT
fcis-29171	123	6	51(9	51(9	NOUN
fcis-29171	123	7	)	)	PUNCT
fcis-29171	123	8	,	,	PUNCT
fcis-29171	123	9	28	28	NUM
fcis-29171	123	10	-	-	SYM
fcis-29171	123	11	36	36	NUM
fcis-29171	123	12	.	.	PUNCT
fcis-29171	124	1	[	[	X
fcis-29171	124	2	4	4	NUM
fcis-29171	124	3	]	]	X
fcis-29171	124	4	zhang	zhang	PROPN
fcis-29171	124	5	,	,	PUNCT
fcis-29171	124	6	h.	h.	PROPN
fcis-29171	124	7	,	,	PUNCT
fcis-29171	124	8	wang	wang	PROPN
fcis-29171	124	9	,	,	PUNCT
fcis-29171	124	10	q.	q.	PROPN
fcis-29171	124	11	,	,	PUNCT
fcis-29171	124	12	ye	ye	PROPN
fcis-29171	124	13	,	,	PUNCT
fcis-29171	124	14	p.	p.	PROPN
fcis-29171	124	15	,	,	PUNCT
fcis-29171	124	16	et	et	PROPN
fcis-29171	124	17	al	al	PROPN
fcis-29171	124	18	.	.	PUNCT
fcis-29171	125	1	(	(	PUNCT
fcis-29171	125	2	2002	2002	NUM
fcis-29171	125	3	)	)	PUNCT
fcis-29171	125	4	.	.	PUNCT
fcis-29171	126	1	general	general	PROPN
fcis-29171	126	2	kinematic	kinematic	VERB
fcis-29171	126	3	forward	forward	ADV
fcis-29171	126	4	numerical	numerical	ADJ
fcis-29171	126	5	solution	solution	NOUN
fcis-29171	126	6	method	method	NOUN
fcis-29171	126	7	and	and	CCONJ
fcis-29171	126	8	its	its	PRON
fcis-29171	126	9	application	application	NOUN
fcis-29171	126	10	for	for	ADP
fcis-29171	126	11	stewart	stewart	PROPN
fcis-29171	126	12	platform	platform	PROPN
fcis-29171	126	13	.	.	PUNCT
fcis-29171	127	1	journal	journal	NOUN
fcis-29171	127	2	of	of	ADP
fcis-29171	127	3	mechanical	mechanical	ADJ
fcis-29171	127	4	engineering	engineering	NOUN
fcis-29171	127	5	,	,	PUNCT
fcis-29171	127	6	38(supplement	38(supplement	NUM
fcis-29171	127	7	)	)	PUNCT
fcis-29171	127	8	,	,	PUNCT
fcis-29171	127	9	108	108	NUM
fcis-29171	127	10	-	-	SYM
fcis-29171	127	11	111	111	NUM
fcis-29171	127	12	.	.	PUNCT
fcis-29171	128	1	[	[	X
fcis-29171	128	2	5	5	NUM
fcis-29171	128	3	]	]	X
fcis-29171	128	4	guo	guo	PROPN
fcis-29171	128	5	l.	l.	PROPN
fcis-29171	128	6	feedback	feedback	NOUN
fcis-29171	128	7	and	and	CCONJ
fcis-29171	128	8	uncertainty	uncertainty	NOUN
fcis-29171	128	9	:	:	PUNCT
fcis-29171	128	10	some	some	DET
fcis-29171	128	11	basic	basic	ADJ
fcis-29171	128	12	problems	problem	NOUN
fcis-29171	128	13	and	and	CCONJ
fcis-29171	128	14	results	result	NOUN
fcis-29171	128	15	.	.	PUNCT
fcis-29171	129	1	annual	annual	ADJ
fcis-29171	129	2	reviews	review	NOUN
fcis-29171	129	3	in	in	ADP
fcis-29171	129	4	control	control	NOUN
fcis-29171	129	5	,	,	PUNCT
fcis-29171	129	6	2020,49	2020,49	NUM
fcis-29171	129	7	:	:	PUNCT
fcis-29171	129	8	27	27	NUM
fcis-29171	129	9	-	-	SYM
fcis-29171	129	10	36	36	NUM
fcis-29171	129	11	.	.	PUNCT
fcis-29171	130	1	[	[	X
fcis-29171	130	2	6	6	NUM
fcis-29171	130	3	]	]	X
fcis-29171	130	4	zhang	zhang	PROPN
fcis-29171	130	5	,	,	PUNCT
fcis-29171	130	6	n.	n.	PROPN
fcis-29171	130	7	(	(	PUNCT
fcis-29171	130	8	2005	2005	NUM
fcis-29171	130	9	)	)	PUNCT
fcis-29171	130	10	.	.	PUNCT
fcis-29171	131	1	new	new	ADJ
fcis-29171	131	2	control	control	NOUN
fcis-29171	131	3	principles	principle	NOUN
fcis-29171	131	4	[	[	X
fcis-29171	131	5	m	m	X
fcis-29171	131	6	]	]	X
fcis-29171	131	7	.	.	PUNCT
fcis-29171	132	1	beijing	beijing	PROPN
fcis-29171	132	2	:	:	PUNCT
fcis-29171	132	3	national	national	ADJ
fcis-29171	132	4	defense	defense	PROPN
fcis-29171	132	5	industry	industry	NOUN
fcis-29171	132	6	press	press	NOUN
fcis-29171	132	7	.	.	PUNCT
fcis-29171	133	1	[	[	X
fcis-29171	133	2	7	7	NUM
fcis-29171	133	3	]	]	X
fcis-29171	133	4	chen	chen	PROPN
fcis-29171	133	5	,	,	PUNCT
fcis-29171	133	6	j.	j.	PROPN
fcis-29171	133	7	,	,	PUNCT
fcis-29171	133	8	chen	chen	PROPN
fcis-29171	133	9	,	,	PUNCT
fcis-29171	133	10	g.	g.	PROPN
fcis-29171	133	11	,	,	PUNCT
fcis-29171	133	12	wang	wang	PROPN
fcis-29171	133	13	,	,	PUNCT
fcis-29171	133	14	z.	z.	PROPN
fcis-29171	133	15	,	,	PUNCT
fcis-29171	133	16	et	et	PROPN
fcis-29171	133	17	al	al	PROPN
fcis-29171	133	18	.	.	PUNCT
fcis-29171	134	1	(	(	PUNCT
fcis-29171	134	2	2011	2011	NUM
fcis-29171	134	3	)	)	PUNCT
fcis-29171	134	4	.	.	PUNCT
fcis-29171	135	1	parameter	parameter	NOUN
fcis-29171	135	2	space	space	NOUN
fcis-29171	135	3	analysis	analysis	NOUN
fcis-29171	135	4	of	of	ADP
fcis-29171	135	5	pid	pid	NOUN
fcis-29171	135	6	generalized	generalized	ADJ
fcis-29171	135	7	boolean	boolean	ADJ
fcis-29171	135	8	algebra	algebra	NOUN
fcis-29171	135	9	controller	controller	NOUN
fcis-29171	135	10	.	.	PUNCT
fcis-29171	136	1	in	in	ADP
fcis-29171	136	2	proceedings	proceeding	NOUN
fcis-29171	136	3	of	of	ADP
fcis-29171	136	4	the	the	DET
fcis-29171	136	5	30th	30th	ADJ
fcis-29171	136	6	chinese	chinese	PROPN
fcis-29171	136	7	control	control	PROPN
fcis-29171	136	8	conference	conference	PROPN
fcis-29171	136	9	,	,	PUNCT
fcis-29171	136	10	vol	vol	NOUN
fcis-29171	136	11	.	.	PUNCT
fcis-29171	137	1	d	d	X
fcis-29171	137	2	(	(	PUNCT
fcis-29171	137	3	pp	pp	ADJ
fcis-29171	137	4	.	.	PUNCT
fcis-29171	138	1	xxx	xxx	NOUN
fcis-29171	138	2	-	-	PUNCT
fcis-29171	138	3	xxx	xxx	NOUN
fcis-29171	138	4	)	)	PUNCT
fcis-29171	138	5	.	.	PUNCT
fcis-29171	139	1	beijing	beijing	PROPN
fcis-29171	139	2	:	:	PUNCT
fcis-29171	139	3	control	control	PROPN
fcis-29171	139	4	theory	theory	PROPN
fcis-29171	139	5	professional	professional	PROPN
fcis-29171	139	6	committee	committee	NOUN
fcis-29171	139	7	,	,	PUNCT
fcis-29171	139	8	chinese	chinese	ADJ
fcis-29171	139	9	association	association	NOUN
fcis-29171	139	10	of	of	ADP
fcis-29171	139	11	automation	automation	NOUN
fcis-29171	139	12	.	.	PUNCT
fcis-29171	140	1	[	[	X
fcis-29171	140	2	8	8	NUM
fcis-29171	140	3	]	]	SYM
fcis-29171	140	4	li	li	PROPN
fcis-29171	140	5	,	,	PUNCT
fcis-29171	140	6	h.	h.	PROPN
fcis-29171	140	7	,	,	PUNCT
fcis-29171	140	8	yang	yang	PROPN
fcis-29171	140	9	,	,	PUNCT
fcis-29171	140	10	t.	t.	PROPN
fcis-29171	140	11	,	,	PUNCT
fcis-29171	140	12	peng	peng	PROPN
fcis-29171	140	13	,	,	PUNCT
fcis-29171	140	14	d.	d.	PROPN
fcis-29171	140	15	(	(	PUNCT
fcis-29171	140	16	2016	2016	NUM
fcis-29171	140	17	)	)	PUNCT
fcis-29171	140	18	.	.	PUNCT
fcis-29171	141	1	research	research	NOUN
fcis-29171	141	2	and	and	CCONJ
fcis-29171	141	3	development	development	NOUN
fcis-29171	141	4	of	of	ADP
fcis-29171	141	5	a	a	DET
fcis-29171	141	6	temperature	temperature	NOUN
fcis-29171	141	7	controller	controller	NOUN
fcis-29171	141	8	based	base	VERB
fcis-29171	141	9	on	on	ADP
fcis-29171	141	10	embedded	embed	VERB
fcis-29171	141	11	arm	arm	NOUN
fcis-29171	141	12	platform	platform	NOUN
fcis-29171	141	13	.	.	PUNCT
fcis-29171	142	1	automation	automation	NOUN
fcis-29171	142	2	instrumentation	instrumentation	NOUN
fcis-29171	142	3	,	,	PUNCT
fcis-29171	142	4	37(3	37(3	NUM
fcis-29171	142	5	)	)	PUNCT
fcis-29171	142	6	,	,	PUNCT
fcis-29171	142	7	95	95	NUM
fcis-29171	142	8	-	-	SYM
fcis-29171	142	9	98	98	NUM
fcis-29171	142	10	.	.	PUNCT
fcis-29171	143	1	[	[	X
fcis-29171	143	2	9	9	NUM
fcis-29171	143	3	]	]	X
fcis-29171	143	4	liu	liu	PROPN
fcis-29171	143	5	,	,	PUNCT
fcis-29171	143	6	k.	k.	PROPN
fcis-29171	143	7	(	(	PUNCT
fcis-29171	143	8	2012	2012	NUM
fcis-29171	143	9	)	)	PUNCT
fcis-29171	143	10	.	.	PUNCT
fcis-29171	144	1	research	research	NOUN
fcis-29171	144	2	on	on	ADP
fcis-29171	144	3	iterative	iterative	NOUN
fcis-29171	144	4	learning	learning	NOUN
fcis-29171	144	5	control	control	NOUN
fcis-29171	144	6	algorithm	algorithm	NOUN
fcis-29171	144	7	for	for	ADP
fcis-29171	144	8	direct	direct	ADJ
fcis-29171	144	9	blowing	blow	VERB
fcis-29171	144	10	pulverizing	pulverizing	NOUN
fcis-29171	144	11	system	system	NOUN
fcis-29171	144	12	(	(	PUNCT
fcis-29171	144	13	master	master	NOUN
fcis-29171	144	14	's	's	PART
fcis-29171	144	15	thesis	thesis	NOUN
fcis-29171	144	16	)	)	PUNCT
fcis-29171	144	17	.	.	PUNCT
fcis-29171	145	1	changsha	changsha	PROPN
fcis-29171	145	2	university	university	PROPN
fcis-29171	145	3	of	of	ADP
fcis-29171	145	4	science	science	NOUN
fcis-29171	145	5	and	and	CCONJ
fcis-29171	145	6	technology	technology	NOUN
fcis-29171	145	7	,	,	PUNCT
fcis-29171	145	8	changsha	changsha	PROPN