id	sid	tid	token	lemma	pos
fcis-29831	1	1	frontiers	frontier	NOUN
fcis-29831	1	2	in	in	ADP
fcis-29831	1	3	computing	computing	NOUN
fcis-29831	1	4	and	and	CCONJ
fcis-29831	1	5	intelligent	intelligent	ADJ
fcis-29831	1	6	systems	system	NOUN
fcis-29831	1	7	issn	issn	VERB
fcis-29831	1	8	:	:	PUNCT
fcis-29831	1	9	2832	2832	NUM
fcis-29831	1	10	-	-	SYM
fcis-29831	1	11	6024	6024	NUM
fcis-29831	1	12	|	|	NOUN
fcis-29831	1	13	vol	vol	NOUN
fcis-29831	1	14	.	.	PROPN
fcis-29831	2	1	11	11	NUM
fcis-29831	2	2	,	,	PUNCT
fcis-29831	2	3	no	no	INTJ
fcis-29831	2	4	.	.	NOUN
fcis-29831	2	5	2	2	NUM
fcis-29831	2	6	,	,	PUNCT
fcis-29831	2	7	2025	2025	NUM
fcis-29831	2	8	89	89	NUM
fcis-29831	2	9	higher	high	ADJ
fcis-29831	2	10	order	order	NOUN
fcis-29831	2	11	predefined‐time	predefined‐time	NOUN
fcis-29831	2	12	sliding	slide	VERB
fcis-29831	2	13	mode	mode	NOUN
fcis-29831	2	14	control	control	NOUN
fcis-29831	2	15	for	for	ADP
fcis-29831	2	16	pmsm	pmsm	NOUN
fcis-29831	2	17	with	with	ADP
fcis-29831	2	18	uncertain	uncertain	ADJ
fcis-29831	2	19	disturbance	disturbance	NOUN
fcis-29831	2	20	shitian	shitian	PROPN
fcis-29831	2	21	chen	chen	PROPN
fcis-29831	2	22	,	,	PUNCT
fcis-29831	2	23	chengyue	chengyue	PROPN
fcis-29831	2	24	su	su	PROPN
fcis-29831	2	25	school	school	PROPN
fcis-29831	2	26	of	of	ADP
fcis-29831	2	27	physics	physics	NOUN
fcis-29831	2	28	and	and	CCONJ
fcis-29831	2	29	optoelectronic	optoelectronic	ADJ
fcis-29831	2	30	engineering	engineering	NOUN
fcis-29831	2	31	,	,	PUNCT
fcis-29831	2	32	guangdong	guangdong	PROPN
fcis-29831	2	33	university	university	PROPN
fcis-29831	2	34	of	of	ADP
fcis-29831	2	35	technology	technology	PROPN
fcis-29831	2	36	,	,	PUNCT
fcis-29831	2	37	guangzhou	guangzhou	PROPN
fcis-29831	2	38	guangdong	guangdong	PROPN
fcis-29831	2	39	,	,	PUNCT
fcis-29831	2	40	510006	510006	NUM
fcis-29831	2	41	,	,	PUNCT
fcis-29831	2	42	china	china	PROPN
fcis-29831	2	43	abstract	abstract	PROPN
fcis-29831	2	44	:	:	PUNCT
fcis-29831	2	45	permanent	permanent	ADJ
fcis-29831	2	46	magnet	magnet	NOUN
fcis-29831	2	47	synchronous	synchronous	ADJ
fcis-29831	2	48	motors	motor	NOUN
fcis-29831	2	49	(	(	PUNCT
fcis-29831	2	50	pmsm	pmsm	NOUN
fcis-29831	2	51	)	)	PUNCT
fcis-29831	2	52	offer	offer	VERB
fcis-29831	2	53	several	several	ADJ
fcis-29831	2	54	inherent	inherent	ADJ
fcis-29831	2	55	advantages	advantage	NOUN
fcis-29831	2	56	,	,	PUNCT
fcis-29831	2	57	such	such	ADJ
fcis-29831	2	58	as	as	ADP
fcis-29831	2	59	higher	high	ADJ
fcis-29831	2	60	power	power	NOUN
fcis-29831	2	61	density	density	NOUN
fcis-29831	2	62	,	,	PUNCT
fcis-29831	2	63	greater	great	ADJ
fcis-29831	2	64	efficiency	efficiency	NOUN
fcis-29831	2	65	and	and	CCONJ
fcis-29831	2	66	reliability	reliability	NOUN
fcis-29831	2	67	,	,	PUNCT
fcis-29831	2	68	more	more	ADV
fcis-29831	2	69	precise	precise	ADJ
fcis-29831	2	70	and	and	CCONJ
fcis-29831	2	71	rapid	rapid	ADJ
fcis-29831	2	72	torque	torque	NOUN
fcis-29831	2	73	control	control	NOUN
fcis-29831	2	74	,	,	PUNCT
fcis-29831	2	75	higher	high	ADJ
fcis-29831	2	76	power	power	NOUN
fcis-29831	2	77	factor	factor	NOUN
fcis-29831	2	78	,	,	PUNCT
fcis-29831	2	79	and	and	CCONJ
fcis-29831	2	80	longer	long	ADV
fcis-29831	2	81	bearing	bear	VERB
fcis-29831	2	82	and	and	CCONJ
fcis-29831	2	83	insulation	insulation	NOUN
fcis-29831	2	84	lifespans	lifespan	NOUN
fcis-29831	2	85	.	.	PUNCT
fcis-29831	3	1	as	as	ADP
fcis-29831	3	2	a	a	DET
fcis-29831	3	3	result	result	NOUN
fcis-29831	3	4	,	,	PUNCT
fcis-29831	3	5	they	they	PRON
fcis-29831	3	6	have	have	AUX
fcis-29831	3	7	been	be	AUX
fcis-29831	3	8	widely	widely	ADV
fcis-29831	3	9	used	use	VERB
fcis-29831	3	10	in	in	ADP
fcis-29831	3	11	adjustable	adjustable	ADJ
fcis-29831	3	12	-	-	PUNCT
fcis-29831	3	13	speed	speed	NOUN
fcis-29831	3	14	traction	traction	NOUN
fcis-29831	3	15	motor	motor	NOUN
fcis-29831	3	16	drives	drive	NOUN
fcis-29831	3	17	.	.	PUNCT
fcis-29831	4	1	however	however	ADV
fcis-29831	4	2	,	,	PUNCT
fcis-29831	4	3	during	during	ADP
fcis-29831	4	4	operation	operation	NOUN
fcis-29831	4	5	,	,	PUNCT
fcis-29831	4	6	these	these	DET
fcis-29831	4	7	motors	motor	NOUN
fcis-29831	4	8	are	be	AUX
fcis-29831	4	9	often	often	ADV
fcis-29831	4	10	subject	subject	ADJ
fcis-29831	4	11	to	to	ADP
fcis-29831	4	12	external	external	ADJ
fcis-29831	4	13	load	load	NOUN
fcis-29831	4	14	disturbances	disturbance	NOUN
fcis-29831	4	15	and	and	CCONJ
fcis-29831	4	16	parameter	parameter	NOUN
fcis-29831	4	17	variations	variation	NOUN
fcis-29831	4	18	,	,	PUNCT
fcis-29831	4	19	which	which	PRON
fcis-29831	4	20	severely	severely	ADV
fcis-29831	4	21	affect	affect	VERB
fcis-29831	4	22	the	the	DET
fcis-29831	4	23	robustness	robustness	NOUN
fcis-29831	4	24	of	of	ADP
fcis-29831	4	25	the	the	DET
fcis-29831	4	26	control	control	NOUN
fcis-29831	4	27	system	system	NOUN
fcis-29831	4	28	.	.	PUNCT
fcis-29831	5	1	to	to	PART
fcis-29831	5	2	address	address	VERB
fcis-29831	5	3	this	this	PRON
fcis-29831	5	4	,	,	PUNCT
fcis-29831	5	5	an	an	DET
fcis-29831	5	6	adaptive	adaptive	ADJ
fcis-29831	5	7	predefined	predefine	VERB
fcis-29831	5	8	-	-	PUNCT
fcis-29831	5	9	time	time	NOUN
fcis-29831	5	10	disturbance	disturbance	NOUN
fcis-29831	5	11	observer	observer	NOUN
fcis-29831	5	12	(	(	PUNCT
fcis-29831	5	13	aptdo	aptdo	PROPN
fcis-29831	5	14	)	)	PUNCT
fcis-29831	5	15	is	be	AUX
fcis-29831	5	16	designed	design	VERB
fcis-29831	5	17	to	to	PART
fcis-29831	5	18	track	track	VERB
fcis-29831	5	19	the	the	DET
fcis-29831	5	20	disturbances	disturbance	NOUN
fcis-29831	5	21	in	in	ADP
fcis-29831	5	22	real	real	ADJ
fcis-29831	5	23	-	-	PUNCT
fcis-29831	5	24	time	time	NOUN
fcis-29831	5	25	and	and	CCONJ
fcis-29831	5	26	feed	feed	VERB
fcis-29831	5	27	them	they	PRON
fcis-29831	5	28	back	back	ADV
fcis-29831	5	29	into	into	ADP
fcis-29831	5	30	the	the	DET
fcis-29831	5	31	controller	controller	NOUN
fcis-29831	5	32	for	for	ADP
fcis-29831	5	33	disturbance	disturbance	NOUN
fcis-29831	5	34	compensation	compensation	NOUN
fcis-29831	5	35	.	.	PUNCT
fcis-29831	6	1	furthermore	furthermore	ADV
fcis-29831	6	2	,	,	PUNCT
fcis-29831	6	3	to	to	PART
fcis-29831	6	4	improve	improve	VERB
fcis-29831	6	5	the	the	DET
fcis-29831	6	6	control	control	NOUN
fcis-29831	6	7	performance	performance	NOUN
fcis-29831	6	8	,	,	PUNCT
fcis-29831	6	9	a	a	DET
fcis-29831	6	10	higher	high	ADJ
fcis-29831	6	11	order	order	NOUN
fcis-29831	6	12	predefined	predefine	VERB
fcis-29831	6	13	-	-	PUNCT
fcis-29831	6	14	time	time	NOUN
fcis-29831	6	15	sliding	slide	VERB
fcis-29831	6	16	mode	mode	NOUN
fcis-29831	6	17	controller	controller	NOUN
fcis-29831	6	18	(	(	PUNCT
fcis-29831	6	19	ho	ho	ADJ
fcis-29831	6	20	-	-	PUNCT
fcis-29831	6	21	ptsmc	ptsmc	NOUN
fcis-29831	6	22	)	)	PUNCT
fcis-29831	6	23	is	be	AUX
fcis-29831	6	24	designed	design	VERB
fcis-29831	6	25	for	for	ADP
fcis-29831	6	26	the	the	DET
fcis-29831	6	27	pmsm	pmsm	NOUN
fcis-29831	6	28	control	control	NOUN
fcis-29831	6	29	system	system	NOUN
fcis-29831	6	30	.	.	PUNCT
fcis-29831	7	1	compared	compare	VERB
fcis-29831	7	2	to	to	ADP
fcis-29831	7	3	traditional	traditional	ADJ
fcis-29831	7	4	super	super	ADJ
fcis-29831	7	5	-	-	ADJ
fcis-29831	7	6	twisting	twisting	ADJ
fcis-29831	7	7	sliding	slide	VERB
fcis-29831	7	8	mode	mode	NOUN
fcis-29831	7	9	control	control	NOUN
fcis-29831	7	10	(	(	PUNCT
fcis-29831	7	11	stsmc	stsmc	NOUN
fcis-29831	7	12	)	)	PUNCT
fcis-29831	7	13	methods	method	NOUN
fcis-29831	7	14	,	,	PUNCT
fcis-29831	7	15	the	the	DET
fcis-29831	7	16	field	field	NOUN
fcis-29831	7	17	-	-	PUNCT
fcis-29831	7	18	oriented	orient	VERB
fcis-29831	7	19	sliding	slide	VERB
fcis-29831	7	20	mode	mode	NOUN
fcis-29831	7	21	control	control	NOUN
fcis-29831	7	22	approach	approach	NOUN
fcis-29831	7	23	proposed	propose	VERB
fcis-29831	7	24	in	in	ADP
fcis-29831	7	25	this	this	DET
fcis-29831	7	26	paper	paper	NOUN
fcis-29831	7	27	significantly	significantly	ADV
fcis-29831	7	28	improves	improve	VERB
fcis-29831	7	29	dynamic	dynamic	ADJ
fcis-29831	7	30	torque	torque	NOUN
fcis-29831	7	31	and	and	CCONJ
fcis-29831	7	32	speed	speed	NOUN
fcis-29831	7	33	responses	response	NOUN
fcis-29831	7	34	and	and	CCONJ
fcis-29831	7	35	enhances	enhance	VERB
fcis-29831	7	36	the	the	DET
fcis-29831	7	37	system	system	NOUN
fcis-29831	7	38	's	's	PART
fcis-29831	7	39	robustness	robustness	NOUN
fcis-29831	7	40	under	under	ADP
fcis-29831	7	41	uncertain	uncertain	ADJ
fcis-29831	7	42	disturbances	disturbance	NOUN
fcis-29831	7	43	.	.	PUNCT
fcis-29831	8	1	the	the	DET
fcis-29831	8	2	new	new	ADJ
fcis-29831	8	3	sliding	slide	VERB
fcis-29831	8	4	mode	mode	NOUN
fcis-29831	8	5	algorithm	algorithm	NOUN
fcis-29831	8	6	,	,	PUNCT
fcis-29831	8	7	being	be	AUX
fcis-29831	8	8	a	a	DET
fcis-29831	8	9	fully	fully	ADV
fcis-29831	8	10	continuous	continuous	ADJ
fcis-29831	8	11	smooth	smooth	ADJ
fcis-29831	8	12	function	function	NOUN
fcis-29831	8	13	,	,	PUNCT
fcis-29831	8	14	effectively	effectively	ADV
fcis-29831	8	15	suppresses	suppress	VERB
fcis-29831	8	16	the	the	DET
fcis-29831	8	17	chattering	chatter	VERB
fcis-29831	8	18	phenomenon	phenomenon	NOUN
fcis-29831	8	19	inherent	inherent	ADJ
fcis-29831	8	20	in	in	ADP
fcis-29831	8	21	traditional	traditional	ADJ
fcis-29831	8	22	sliding	slide	VERB
fcis-29831	8	23	mode	mode	NOUN
fcis-29831	8	24	algorithms	algorithm	NOUN
fcis-29831	8	25	,	,	PUNCT
fcis-29831	8	26	thereby	thereby	ADV
fcis-29831	8	27	significantly	significantly	ADV
fcis-29831	8	28	improving	improve	VERB
fcis-29831	8	29	the	the	DET
fcis-29831	8	30	steady	steady	ADJ
fcis-29831	8	31	-	-	PUNCT
fcis-29831	8	32	state	state	NOUN
fcis-29831	8	33	performance	performance	NOUN
fcis-29831	8	34	of	of	ADP
fcis-29831	8	35	the	the	DET
fcis-29831	8	36	system	system	NOUN
fcis-29831	8	37	.	.	PUNCT
fcis-29831	9	1	finally	finally	ADV
fcis-29831	9	2	,	,	PUNCT
fcis-29831	9	3	simulations	simulation	NOUN
fcis-29831	9	4	are	be	AUX
fcis-29831	9	5	conducted	conduct	VERB
fcis-29831	9	6	on	on	ADP
fcis-29831	9	7	the	the	DET
fcis-29831	9	8	matlab	matlab	PROPN
fcis-29831	9	9	simulink	simulink	PROPN
fcis-29831	9	10	platform	platform	NOUN
fcis-29831	9	11	,	,	PUNCT
fcis-29831	9	12	which	which	PRON
fcis-29831	9	13	validate	validate	VERB
fcis-29831	9	14	the	the	DET
fcis-29831	9	15	superiority	superiority	NOUN
fcis-29831	9	16	of	of	ADP
fcis-29831	9	17	the	the	DET
fcis-29831	9	18	proposed	propose	VERB
fcis-29831	9	19	algorithm	algorithm	NOUN
fcis-29831	9	20	.	.	PUNCT
fcis-29831	10	1	keywords	keyword	NOUN
fcis-29831	10	2	:	:	PUNCT
fcis-29831	10	3	permanent	permanent	ADJ
fcis-29831	10	4	magnet	magnet	NOUN
fcis-29831	10	5	synchronous	synchronous	ADJ
fcis-29831	10	6	motors	motor	NOUN
fcis-29831	10	7	(	(	PUNCT
fcis-29831	10	8	pmsm	pmsm	NOUN
fcis-29831	10	9	)	)	PUNCT
fcis-29831	10	10	;	;	PUNCT
fcis-29831	10	11	predefined	predefine	VERB
fcis-29831	10	12	-	-	PUNCT
fcis-29831	10	13	time	time	NOUN
fcis-29831	10	14	sliding	slide	VERB
fcis-29831	10	15	mode	mode	NOUN
fcis-29831	10	16	control	control	NOUN
fcis-29831	10	17	;	;	PUNCT
fcis-29831	10	18	field	field	NOUN
fcis-29831	10	19	-	-	PUNCT
fcis-29831	10	20	oriented	orient	VERB
fcis-29831	10	21	control	control	NOUN
fcis-29831	10	22	.	.	PUNCT
fcis-29831	11	1	1	1	X
fcis-29831	11	2	.	.	X
fcis-29831	11	3	introduction	introduction	NOUN
fcis-29831	11	4	permanent	permanent	ADJ
fcis-29831	11	5	magnet	magnet	NOUN
fcis-29831	11	6	synchronous	synchronous	ADJ
fcis-29831	11	7	motors	motor	NOUN
fcis-29831	11	8	(	(	PUNCT
fcis-29831	11	9	pmsm	pmsm	NOUN
fcis-29831	11	10	)	)	PUNCT
fcis-29831	11	11	are	be	AUX
fcis-29831	11	12	widely	widely	ADV
fcis-29831	11	13	used	use	VERB
fcis-29831	11	14	in	in	ADP
fcis-29831	11	15	applications	application	NOUN
fcis-29831	11	16	such	such	ADJ
fcis-29831	11	17	as	as	ADP
fcis-29831	11	18	electric	electric	ADJ
fcis-29831	11	19	vehicles	vehicle	NOUN
fcis-29831	11	20	,	,	PUNCT
fcis-29831	11	21	rail	rail	NOUN
fcis-29831	11	22	transportation	transportation	NOUN
fcis-29831	11	23	,	,	PUNCT
fcis-29831	11	24	and	and	CCONJ
fcis-29831	11	25	marine	marine	ADJ
fcis-29831	11	26	propulsion	propulsion	NOUN
fcis-29831	11	27	,	,	PUNCT
fcis-29831	11	28	owing	owe	VERB
fcis-29831	11	29	to	to	ADP
fcis-29831	11	30	their	their	PRON
fcis-29831	11	31	high	high	ADJ
fcis-29831	11	32	efficiency	efficiency	NOUN
fcis-29831	11	33	,	,	PUNCT
fcis-29831	11	34	high	high	ADJ
fcis-29831	11	35	power	power	NOUN
fcis-29831	11	36	density	density	NOUN
fcis-29831	11	37	,	,	PUNCT
fcis-29831	11	38	excellent	excellent	ADJ
fcis-29831	11	39	overload	overload	NOUN
fcis-29831	11	40	capability	capability	NOUN
fcis-29831	11	41	,	,	PUNCT
fcis-29831	11	42	and	and	CCONJ
fcis-29831	11	43	outstanding	outstanding	ADJ
fcis-29831	11	44	performance[1	performance[1	PRON
fcis-29831	11	45	]	]	PUNCT
fcis-29831	11	46	.	.	PUNCT
fcis-29831	12	1	however	however	ADV
fcis-29831	12	2	,	,	PUNCT
fcis-29831	12	3	the	the	DET
fcis-29831	12	4	dynamic	dynamic	ADJ
fcis-29831	12	5	model	model	NOUN
fcis-29831	12	6	of	of	ADP
fcis-29831	12	7	a	a	DET
fcis-29831	12	8	pmsm	pmsm	NOUN
fcis-29831	12	9	is	be	AUX
fcis-29831	12	10	a	a	DET
fcis-29831	12	11	highly	highly	ADV
fcis-29831	12	12	coupled	couple	VERB
fcis-29831	12	13	,	,	PUNCT
fcis-29831	12	14	multivariable	multivariable	ADJ
fcis-29831	12	15	,	,	PUNCT
fcis-29831	12	16	and	and	CCONJ
fcis-29831	12	17	nonlinear	nonlinear	ADJ
fcis-29831	12	18	complex	complex	ADJ
fcis-29831	12	19	system	system	NOUN
fcis-29831	12	20	.	.	PUNCT
fcis-29831	13	1	under	under	ADP
fcis-29831	13	2	practical	practical	ADJ
fcis-29831	13	3	operating	operating	NOUN
fcis-29831	13	4	conditions	condition	NOUN
fcis-29831	13	5	,	,	PUNCT
fcis-29831	13	6	the	the	DET
fcis-29831	13	7	performance	performance	NOUN
fcis-29831	13	8	of	of	ADP
fcis-29831	13	9	the	the	DET
fcis-29831	13	10	control	control	NOUN
fcis-29831	13	11	system	system	NOUN
fcis-29831	13	12	is	be	AUX
fcis-29831	13	13	highly	highly	ADV
fcis-29831	13	14	susceptible	susceptible	ADJ
fcis-29831	13	15	to	to	ADP
fcis-29831	13	16	significant	significant	ADJ
fcis-29831	13	17	disturbances	disturbance	NOUN
fcis-29831	13	18	such	such	ADJ
fcis-29831	13	19	as	as	ADP
fcis-29831	13	20	parameter	parameter	NOUN
fcis-29831	13	21	variations	variation	NOUN
fcis-29831	13	22	,	,	PUNCT
fcis-29831	13	23	external	external	ADJ
fcis-29831	13	24	disturbances	disturbance	NOUN
fcis-29831	13	25	,	,	PUNCT
fcis-29831	13	26	and	and	CCONJ
fcis-29831	13	27	unmodeled	unmodeled	ADJ
fcis-29831	13	28	dynamics[2	dynamics[2	PROPN
fcis-29831	13	29	]	]	PUNCT
fcis-29831	13	30	.	.	PUNCT
fcis-29831	14	1	to	to	PART
fcis-29831	14	2	achieve	achieve	VERB
fcis-29831	14	3	robust	robust	ADJ
fcis-29831	14	4	speed	speed	NOUN
fcis-29831	14	5	control	control	NOUN
fcis-29831	14	6	performance	performance	NOUN
fcis-29831	14	7	,	,	PUNCT
fcis-29831	14	8	various	various	ADJ
fcis-29831	14	9	nonlinear	nonlinear	ADJ
fcis-29831	14	10	algorithms	algorithm	NOUN
fcis-29831	14	11	have	have	AUX
fcis-29831	14	12	been	be	AUX
fcis-29831	14	13	proposed	propose	VERB
fcis-29831	14	14	,	,	PUNCT
fcis-29831	14	15	including	include	VERB
fcis-29831	14	16	model	model	NOUN
fcis-29831	14	17	predictive	predictive	ADJ
fcis-29831	14	18	control	control	NOUN
fcis-29831	15	1	[	[	X
fcis-29831	15	2	3	3	NUM
fcis-29831	15	3	]	]	PUNCT
fcis-29831	15	4	,	,	PUNCT
fcis-29831	15	5	fuzzy	fuzzy	ADJ
fcis-29831	15	6	control	control	NOUN
fcis-29831	16	1	[	[	X
fcis-29831	16	2	4	4	NUM
fcis-29831	16	3	]	]	PUNCT
fcis-29831	16	4	,	,	PUNCT
fcis-29831	16	5	finite	finite	ADJ
fcis-29831	16	6	-	-	PUNCT
fcis-29831	16	7	time	time	NOUN
fcis-29831	16	8	control	control	NOUN
fcis-29831	17	1	[	[	X
fcis-29831	17	2	5	5	NUM
fcis-29831	17	3	]	]	PUNCT
fcis-29831	17	4	,	,	PUNCT
fcis-29831	17	5	robust	robust	ADJ
fcis-29831	17	6	control	control	NOUN
fcis-29831	18	1	[	[	X
fcis-29831	18	2	6	6	NUM
fcis-29831	18	3	]	]	PUNCT
fcis-29831	18	4	,	,	PUNCT
fcis-29831	18	5	and	and	CCONJ
fcis-29831	18	6	sliding	slide	VERB
fcis-29831	18	7	mode	mode	NOUN
fcis-29831	18	8	control	control	NOUN
fcis-29831	18	9	(	(	PUNCT
fcis-29831	18	10	smc	smc	PROPN
fcis-29831	18	11	)	)	PUNCT
fcis-29831	19	1	[	[	X
fcis-29831	19	2	7	7	NUM
fcis-29831	19	3	]	]	PUNCT
fcis-29831	19	4	.	.	PUNCT
fcis-29831	20	1	among	among	ADP
fcis-29831	20	2	various	various	ADJ
fcis-29831	20	3	control	control	NOUN
fcis-29831	20	4	methods	method	NOUN
fcis-29831	20	5	,	,	PUNCT
fcis-29831	20	6	sliding	slide	VERB
fcis-29831	20	7	mode	mode	NOUN
fcis-29831	20	8	control	control	NOUN
fcis-29831	20	9	(	(	PUNCT
fcis-29831	20	10	smc	smc	PROPN
fcis-29831	20	11	)	)	PUNCT
fcis-29831	20	12	is	be	AUX
fcis-29831	20	13	considered	consider	VERB
fcis-29831	20	14	one	one	NUM
fcis-29831	20	15	of	of	ADP
fcis-29831	20	16	the	the	DET
fcis-29831	20	17	most	most	ADV
fcis-29831	20	18	effective	effective	ADJ
fcis-29831	20	19	approaches	approach	NOUN
fcis-29831	20	20	for	for	ADP
fcis-29831	20	21	handling	handle	VERB
fcis-29831	20	22	system	system	NOUN
fcis-29831	20	23	uncertainties	uncertainty	NOUN
fcis-29831	20	24	.	.	PUNCT
fcis-29831	21	1	due	due	ADP
fcis-29831	21	2	to	to	ADP
fcis-29831	21	3	its	its	PRON
fcis-29831	21	4	fast	fast	ADJ
fcis-29831	21	5	response	response	NOUN
fcis-29831	21	6	,	,	PUNCT
fcis-29831	21	7	high	high	ADJ
fcis-29831	21	8	accuracy	accuracy	NOUN
fcis-29831	21	9	,	,	PUNCT
fcis-29831	21	10	and	and	CCONJ
fcis-29831	21	11	strong	strong	ADJ
fcis-29831	21	12	robustness	robustness	NOUN
fcis-29831	21	13	,	,	PUNCT
fcis-29831	21	14	it	it	PRON
fcis-29831	21	15	has	have	AUX
fcis-29831	21	16	been	be	AUX
fcis-29831	21	17	widely	widely	ADV
fcis-29831	21	18	applied	apply	VERB
fcis-29831	21	19	in	in	ADP
fcis-29831	21	20	motor	motor	NOUN
fcis-29831	21	21	control	control	NOUN
fcis-29831	21	22	fields	field	NOUN
fcis-29831	21	23	.	.	PUNCT
fcis-29831	22	1	in	in	ADP
fcis-29831	22	2	[	[	X
fcis-29831	22	3	8	8	NUM
fcis-29831	22	4	]	]	PUNCT
fcis-29831	22	5	,	,	PUNCT
fcis-29831	22	6	a	a	DET
fcis-29831	22	7	novel	novel	NOUN
fcis-29831	22	8	higher	high	ADJ
fcis-29831	22	9	-	-	PUNCT
fcis-29831	22	10	order	order	NOUN
fcis-29831	22	11	super	super	ADJ
fcis-29831	22	12	twisting	twist	VERB
fcis-29831	22	13	sliding	slide	VERB
fcis-29831	22	14	mode	mode	NOUN
fcis-29831	22	15	control	control	NOUN
fcis-29831	22	16	(	(	PUNCT
fcis-29831	22	17	ho	ho	ADJ
fcis-29831	22	18	-	-	PUNCT
fcis-29831	22	19	stsmc	stsmc	NOUN
fcis-29831	22	20	)	)	PUNCT
fcis-29831	22	21	was	be	AUX
fcis-29831	22	22	proposed	propose	VERB
fcis-29831	22	23	to	to	PART
fcis-29831	22	24	achieve	achieve	VERB
fcis-29831	22	25	speed	speed	NOUN
fcis-29831	22	26	control	control	NOUN
fcis-29831	22	27	of	of	ADP
fcis-29831	22	28	the	the	DET
fcis-29831	22	29	permanent	permanent	ADJ
fcis-29831	22	30	magnet	magnet	NOUN
fcis-29831	22	31	synchronous	synchronous	ADJ
fcis-29831	22	32	motor	motor	NOUN
fcis-29831	22	33	(	(	PUNCT
fcis-29831	22	34	pmsm	pmsm	NOUN
fcis-29831	22	35	)	)	PUNCT
fcis-29831	22	36	with	with	ADP
fcis-29831	22	37	finite	finite	ADJ
fcis-29831	22	38	-	-	PUNCT
fcis-29831	22	39	time	time	NOUN
fcis-29831	22	40	convergence	convergence	NOUN
fcis-29831	22	41	.	.	PUNCT
fcis-29831	23	1	however	however	ADV
fcis-29831	23	2	,	,	PUNCT
fcis-29831	23	3	the	the	DET
fcis-29831	23	4	upper	upper	ADJ
fcis-29831	23	5	bound	bound	NOUN
fcis-29831	23	6	of	of	ADP
fcis-29831	23	7	the	the	DET
fcis-29831	23	8	settling	settling	NOUN
fcis-29831	23	9	time	time	NOUN
fcis-29831	23	10	depends	depend	VERB
fcis-29831	23	11	on	on	ADP
fcis-29831	23	12	the	the	DET
fcis-29831	23	13	system	system	NOUN
fcis-29831	23	14	's	's	PART
fcis-29831	23	15	initial	initial	ADJ
fcis-29831	23	16	conditions	condition	NOUN
fcis-29831	23	17	,	,	PUNCT
fcis-29831	23	18	which	which	PRON
fcis-29831	23	19	limits	limit	VERB
fcis-29831	23	20	its	its	PRON
fcis-29831	23	21	applicability	applicability	NOUN
fcis-29831	23	22	for	for	ADP
fcis-29831	23	23	improving	improve	VERB
fcis-29831	23	24	productivity	productivity	NOUN
fcis-29831	23	25	in	in	ADP
fcis-29831	23	26	practical	practical	ADJ
fcis-29831	23	27	applications	application	NOUN
fcis-29831	23	28	.	.	PUNCT
fcis-29831	24	1	to	to	PART
fcis-29831	24	2	achieve	achieve	VERB
fcis-29831	24	3	better	well	ADJ
fcis-29831	24	4	convergence	convergence	NOUN
fcis-29831	24	5	performance	performance	NOUN
fcis-29831	24	6	,	,	PUNCT
fcis-29831	24	7	[	[	X
fcis-29831	24	8	9	9	NUM
fcis-29831	24	9	]	]	PUNCT
fcis-29831	24	10	designed	design	VERB
fcis-29831	24	11	an	an	DET
fcis-29831	24	12	improved	improved	ADJ
fcis-29831	24	13	second	second	ADJ
fcis-29831	24	14	-	-	PUNCT
fcis-29831	24	15	order	order	NOUN
fcis-29831	24	16	fixed	fix	VERB
fcis-29831	24	17	-	-	PUNCT
fcis-29831	24	18	time	time	NOUN
fcis-29831	24	19	sliding	slide	VERB
fcis-29831	24	20	mode	mode	NOUN
fcis-29831	24	21	control	control	NOUN
fcis-29831	24	22	(	(	PUNCT
fcis-29831	24	23	ftsmc	ftsmc	NOUN
fcis-29831	24	24	)	)	PUNCT
fcis-29831	24	25	to	to	PART
fcis-29831	24	26	ensure	ensure	VERB
fcis-29831	24	27	global	global	ADJ
fcis-29831	24	28	fixed	fix	VERB
fcis-29831	24	29	-	-	PUNCT
fcis-29831	24	30	time	time	NOUN
fcis-29831	24	31	stability	stability	NOUN
fcis-29831	24	32	of	of	ADP
fcis-29831	24	33	the	the	DET
fcis-29831	24	34	closed	closed	ADJ
fcis-29831	24	35	-	-	PUNCT
fcis-29831	24	36	loop	loop	NOUN
fcis-29831	24	37	system	system	NOUN
fcis-29831	24	38	,	,	PUNCT
fcis-29831	24	39	where	where	SCONJ
fcis-29831	24	40	the	the	DET
fcis-29831	24	41	settling	settling	NOUN
fcis-29831	24	42	time	time	NOUN
fcis-29831	24	43	is	be	AUX
fcis-29831	24	44	bounded	bound	VERB
fcis-29831	24	45	and	and	CCONJ
fcis-29831	24	46	independent	independent	ADJ
fcis-29831	24	47	of	of	ADP
fcis-29831	24	48	the	the	DET
fcis-29831	24	49	initial	initial	ADJ
fcis-29831	24	50	conditions	condition	NOUN
fcis-29831	24	51	.	.	PUNCT
fcis-29831	25	1	in	in	ADP
fcis-29831	25	2	[	[	X
fcis-29831	25	3	10	10	NUM
fcis-29831	25	4	]	]	PUNCT
fcis-29831	25	5	,	,	PUNCT
fcis-29831	25	6	a	a	DET
fcis-29831	25	7	composite	composite	ADJ
fcis-29831	25	8	control	control	NOUN
fcis-29831	25	9	strategy	strategy	NOUN
fcis-29831	25	10	was	be	AUX
fcis-29831	25	11	proposed	propose	VERB
fcis-29831	25	12	,	,	PUNCT
fcis-29831	25	13	combining	combine	VERB
fcis-29831	25	14	an	an	DET
fcis-29831	25	15	enhanced	enhanced	ADJ
fcis-29831	25	16	non	non	ADJ
fcis-29831	25	17	-	-	ADJ
fcis-29831	25	18	singular	singular	ADJ
fcis-29831	25	19	fast	fast	ADJ
fcis-29831	25	20	terminal	terminal	NOUN
fcis-29831	25	21	sliding	slide	VERB
fcis-29831	25	22	mode	mode	NOUN
fcis-29831	25	23	control	control	NOUN
fcis-29831	25	24	(	(	PUNCT
fcis-29831	25	25	nftsmc	nftsmc	NOUN
fcis-29831	25	26	)	)	PUNCT
fcis-29831	25	27	with	with	ADP
fcis-29831	25	28	a	a	DET
fcis-29831	25	29	disturbance	disturbance	NOUN
fcis-29831	25	30	observer	observer	NOUN
fcis-29831	25	31	.	.	PUNCT
fcis-29831	26	1	this	this	DET
fcis-29831	26	2	method	method	NOUN
fcis-29831	26	3	aims	aim	VERB
fcis-29831	26	4	to	to	PART
fcis-29831	26	5	ensure	ensure	VERB
fcis-29831	26	6	fixed	fix	VERB
fcis-29831	26	7	-	-	PUNCT
fcis-29831	26	8	time	time	NOUN
fcis-29831	26	9	convergence	convergence	NOUN
fcis-29831	26	10	while	while	SCONJ
fcis-29831	26	11	enhancing	enhance	VERB
fcis-29831	26	12	the	the	DET
fcis-29831	26	13	system	system	NOUN
fcis-29831	26	14	’s	’s	PART
fcis-29831	26	15	disturbance	disturbance	NOUN
fcis-29831	26	16	rejection	rejection	NOUN
fcis-29831	26	17	capabilities	capability	NOUN
fcis-29831	26	18	.	.	PUNCT
fcis-29831	27	1	however	however	ADV
fcis-29831	27	2	,	,	PUNCT
fcis-29831	27	3	the	the	DET
fcis-29831	27	4	fixed	fix	VERB
fcis-29831	27	5	-	-	PUNCT
fcis-29831	27	6	time	time	NOUN
fcis-29831	27	7	sliding	slide	VERB
fcis-29831	27	8	mode	mode	NOUN
fcis-29831	27	9	control	control	NOUN
fcis-29831	27	10	(	(	PUNCT
fcis-29831	27	11	ftsmc	ftsmc	NOUN
fcis-29831	27	12	)	)	PUNCT
fcis-29831	27	13	algorithm	algorithm	NOUN
fcis-29831	27	14	has	have	VERB
fcis-29831	27	15	two	two	NUM
fcis-29831	27	16	main	main	ADJ
fcis-29831	27	17	issues	issue	NOUN
fcis-29831	27	18	:	:	PUNCT
fcis-29831	27	19	first	first	ADV
fcis-29831	27	20	,	,	PUNCT
fcis-29831	27	21	the	the	DET
fcis-29831	27	22	estimation	estimation	NOUN
fcis-29831	27	23	of	of	ADP
fcis-29831	27	24	the	the	DET
fcis-29831	27	25	convergence	convergence	NOUN
fcis-29831	27	26	time	time	NOUN
fcis-29831	27	27	is	be	AUX
fcis-29831	27	28	conservative	conservative	ADJ
fcis-29831	27	29	,	,	PUNCT
fcis-29831	27	30	and	and	CCONJ
fcis-29831	27	31	second	second	ADJ
fcis-29831	27	32	,	,	PUNCT
fcis-29831	27	33	there	there	PRON
fcis-29831	27	34	is	be	VERB
fcis-29831	27	35	no	no	DET
fcis-29831	27	36	clear	clear	ADJ
fcis-29831	27	37	relationship	relationship	NOUN
fcis-29831	27	38	between	between	ADP
fcis-29831	27	39	the	the	DET
fcis-29831	27	40	convergence	convergence	NOUN
fcis-29831	27	41	time	time	NOUN
fcis-29831	27	42	and	and	CCONJ
fcis-29831	27	43	the	the	DET
fcis-29831	27	44	adjustable	adjustable	ADJ
fcis-29831	27	45	parameters	parameter	NOUN
fcis-29831	27	46	of	of	ADP
fcis-29831	27	47	the	the	DET
fcis-29831	27	48	controller	controller	NOUN
fcis-29831	27	49	.	.	PUNCT
fcis-29831	28	1	to	to	PART
fcis-29831	28	2	address	address	VERB
fcis-29831	28	3	these	these	DET
fcis-29831	28	4	issues	issue	NOUN
fcis-29831	28	5	,	,	PUNCT
fcis-29831	28	6	the	the	DET
fcis-29831	28	7	application	application	NOUN
fcis-29831	28	8	and	and	CCONJ
fcis-29831	28	9	development	development	NOUN
fcis-29831	28	10	of	of	ADP
fcis-29831	28	11	predefined	predefine	VERB
fcis-29831	28	12	-	-	PUNCT
fcis-29831	28	13	time	time	NOUN
fcis-29831	28	14	control	control	NOUN
fcis-29831	28	15	methods	method	NOUN
fcis-29831	28	16	are	be	AUX
fcis-29831	28	17	necessary	necessary	ADJ
fcis-29831	28	18	[	[	X
fcis-29831	28	19	11	11	NUM
fcis-29831	28	20	-	-	SYM
fcis-29831	28	21	12	12	NUM
fcis-29831	28	22	]	]	PUNCT
fcis-29831	28	23	.	.	PUNCT
fcis-29831	29	1	compared	compare	VERB
fcis-29831	29	2	to	to	ADP
fcis-29831	29	3	fixedtime	fixedtime	PROPN
fcis-29831	29	4	control	control	NOUN
fcis-29831	29	5	,	,	PUNCT
fcis-29831	29	6	predefined	predefine	VERB
fcis-29831	29	7	-	-	PUNCT
fcis-29831	29	8	time	time	NOUN
fcis-29831	29	9	control	control	NOUN
fcis-29831	29	10	effectively	effectively	ADV
fcis-29831	29	11	resolves	resolve	VERB
fcis-29831	29	12	these	these	DET
fcis-29831	29	13	problems	problem	NOUN
fcis-29831	29	14	.	.	PUNCT
fcis-29831	30	1	firstly	firstly	ADV
fcis-29831	30	2	,	,	PUNCT
fcis-29831	30	3	the	the	DET
fcis-29831	30	4	adjustable	adjustable	ADJ
fcis-29831	30	5	parameters	parameter	NOUN
fcis-29831	30	6	of	of	ADP
fcis-29831	30	7	the	the	DET
fcis-29831	30	8	controller	controller	NOUN
fcis-29831	30	9	determine	determine	VERB
fcis-29831	30	10	the	the	DET
fcis-29831	30	11	upper	upper	ADJ
fcis-29831	30	12	bound	bound	NOUN
fcis-29831	30	13	of	of	ADP
fcis-29831	30	14	the	the	DET
fcis-29831	30	15	predefined	predefine	VERB
fcis-29831	30	16	settling	settling	NOUN
fcis-29831	30	17	time	time	NOUN
fcis-29831	30	18	,	,	PUNCT
fcis-29831	30	19	avoiding	avoid	VERB
fcis-29831	30	20	the	the	DET
fcis-29831	30	21	overestimation	overestimation	NOUN
fcis-29831	30	22	of	of	ADP
fcis-29831	30	23	the	the	DET
fcis-29831	30	24	convergence	convergence	NOUN
fcis-29831	30	25	time	time	NOUN
fcis-29831	30	26	.	.	PUNCT
fcis-29831	31	1	secondly	secondly	ADV
fcis-29831	31	2	,	,	PUNCT
fcis-29831	31	3	the	the	DET
fcis-29831	31	4	predefined	predefine	VERB
fcis-29831	31	5	stable	stable	ADJ
fcis-29831	31	6	convergence	convergence	NOUN
fcis-29831	31	7	time	time	NOUN
fcis-29831	31	8	is	be	AUX
fcis-29831	31	9	bounded	bound	VERB
fcis-29831	31	10	by	by	ADP
fcis-29831	31	11	the	the	DET
fcis-29831	31	12	controller	controller	NOUN
fcis-29831	31	13	's	's	PART
fcis-29831	31	14	adjustable	adjustable	ADJ
fcis-29831	31	15	parameters	parameter	NOUN
fcis-29831	31	16	,	,	PUNCT
fcis-29831	31	17	facilitating	facilitate	VERB
fcis-29831	31	18	the	the	DET
fcis-29831	31	19	design	design	NOUN
fcis-29831	31	20	of	of	ADP
fcis-29831	31	21	controllers	controller	NOUN
fcis-29831	31	22	that	that	PRON
fcis-29831	31	23	meet	meet	VERB
fcis-29831	31	24	specific	specific	ADJ
fcis-29831	31	25	requirements	requirement	NOUN
fcis-29831	31	26	.	.	PUNCT
fcis-29831	32	1	in	in	ADP
fcis-29831	32	2	[	[	X
fcis-29831	32	3	13	13	NUM
fcis-29831	32	4	]	]	PUNCT
fcis-29831	32	5	,	,	PUNCT
fcis-29831	32	6	a	a	DET
fcis-29831	32	7	novel	novel	NOUN
fcis-29831	32	8	predefined	predefine	VERB
fcis-29831	32	9	-	-	PUNCT
fcis-29831	32	10	time	time	NOUN
fcis-29831	32	11	sliding	slide	VERB
fcis-29831	32	12	mode	mode	NOUN
fcis-29831	32	13	control	control	NOUN
fcis-29831	32	14	scheme	scheme	NOUN
fcis-29831	32	15	was	be	AUX
fcis-29831	32	16	proposed	propose	VERB
fcis-29831	32	17	for	for	ADP
fcis-29831	32	18	chaotic	chaotic	ADJ
fcis-29831	32	19	systems	system	NOUN
fcis-29831	32	20	.	.	PUNCT
fcis-29831	33	1	simulation	simulation	NOUN
fcis-29831	33	2	results	result	NOUN
fcis-29831	33	3	show	show	VERB
fcis-29831	33	4	that	that	SCONJ
fcis-29831	33	5	this	this	DET
fcis-29831	33	6	method	method	NOUN
fcis-29831	33	7	has	have	VERB
fcis-29831	33	8	a	a	DET
fcis-29831	33	9	faster	fast	ADJ
fcis-29831	33	10	convergence	convergence	NOUN
fcis-29831	33	11	rate	rate	NOUN
fcis-29831	33	12	compared	compare	VERB
fcis-29831	33	13	to	to	ADP
fcis-29831	33	14	traditional	traditional	ADJ
fcis-29831	33	15	finite	finite	ADJ
fcis-29831	33	16	-	-	PUNCT
fcis-29831	33	17	time	time	NOUN
fcis-29831	33	18	smc	smc	PROPN
fcis-29831	33	19	and	and	CCONJ
fcis-29831	33	20	fixed	fix	VERB
fcis-29831	33	21	-	-	PUNCT
fcis-29831	33	22	time	time	NOUN
fcis-29831	33	23	smc	smc	PROPN
fcis-29831	33	24	,	,	PUNCT
fcis-29831	33	25	which	which	PRON
fcis-29831	33	26	is	be	AUX
fcis-29831	33	27	particularly	particularly	ADV
fcis-29831	33	28	suitable	suitable	ADJ
fcis-29831	33	29	for	for	ADP
fcis-29831	33	30	systems	system	NOUN
fcis-29831	33	31	like	like	ADP
fcis-29831	33	32	permanent	permanent	ADJ
fcis-29831	33	33	magnet	magnet	NOUN
fcis-29831	33	34	synchronous	synchronous	ADJ
fcis-29831	33	35	motors	motor	NOUN
fcis-29831	33	36	(	(	PUNCT
fcis-29831	33	37	pmsm	pmsm	NOUN
fcis-29831	33	38	)	)	PUNCT
fcis-29831	33	39	that	that	PRON
fcis-29831	33	40	require	require	VERB
fcis-29831	33	41	high	high	ADJ
fcis-29831	33	42	dynamic	dynamic	ADJ
fcis-29831	33	43	performance	performance	NOUN
fcis-29831	33	44	.	.	PUNCT
fcis-29831	34	1	however	however	ADV
fcis-29831	34	2	,	,	PUNCT
fcis-29831	34	3	the	the	DET
fcis-29831	34	4	introduction	introduction	NOUN
fcis-29831	34	5	of	of	ADP
fcis-29831	34	6	the	the	DET
fcis-29831	34	7	sign	sign	NOUN
fcis-29831	34	8	function	function	NOUN
fcis-29831	34	9	on	on	ADP
fcis-29831	34	10	the	the	DET
fcis-29831	34	11	sliding	slide	VERB
fcis-29831	34	12	surface	surface	NOUN
fcis-29831	34	13	may	may	AUX
fcis-29831	34	14	lead	lead	VERB
fcis-29831	34	15	to	to	ADP
fcis-29831	34	16	undesirable	undesirable	ADJ
fcis-29831	34	17	chattering	chatter	VERB
fcis-29831	34	18	phenomena	phenomenon	NOUN
fcis-29831	34	19	.	.	PUNCT
fcis-29831	35	1	in	in	ADP
fcis-29831	35	2	[	[	X
fcis-29831	35	3	14	14	NUM
fcis-29831	35	4	]	]	X
fcis-29831	35	5	,	,	PUNCT
fcis-29831	35	6	an	an	DET
fcis-29831	35	7	adaptive	adaptive	ADJ
fcis-29831	35	8	practical	practical	ADJ
fcis-29831	35	9	predefined	predefine	VERB
fcis-29831	35	10	-	-	PUNCT
fcis-29831	35	11	time	time	NOUN
fcis-29831	35	12	sliding	slide	VERB
fcis-29831	35	13	mode	mode	NOUN
fcis-29831	35	14	control	control	NOUN
fcis-29831	35	15	strategy	strategy	NOUN
fcis-29831	35	16	was	be	AUX
fcis-29831	35	17	proposed	propose	VERB
fcis-29831	35	18	for	for	ADP
fcis-29831	35	19	second	second	ADJ
fcis-29831	35	20	-	-	PUNCT
fcis-29831	35	21	order	order	NOUN
fcis-29831	35	22	mas	mas	PROPN
fcis-29831	35	23	systems	system	NOUN
fcis-29831	35	24	under	under	ADP
fcis-29831	35	25	uncertain	uncertain	ADJ
fcis-29831	35	26	disturbances	disturbance	NOUN
fcis-29831	35	27	,	,	PUNCT
fcis-29831	35	28	effectively	effectively	ADV
fcis-29831	35	29	addressing	address	VERB
fcis-29831	35	30	the	the	DET
fcis-29831	35	31	issues	issue	NOUN
fcis-29831	35	32	of	of	ADP
fcis-29831	35	33	chattering	chattering	NOUN
fcis-29831	35	34	and	and	CCONJ
fcis-29831	35	35	singularity	singularity	NOUN
fcis-29831	35	36	.	.	PUNCT
fcis-29831	36	1	by	by	ADP
fcis-29831	36	2	introducing	introduce	VERB
fcis-29831	36	3	a	a	DET
fcis-29831	36	4	tanh	tanh	NOUN
fcis-29831	36	5	function	function	NOUN
fcis-29831	36	6	,	,	PUNCT
fcis-29831	36	7	the	the	DET
fcis-29831	36	8	strategy	strategy	NOUN
fcis-29831	36	9	suppressed	suppress	VERB
fcis-29831	36	10	the	the	DET
fcis-29831	36	11	chattering	chatter	VERB
fcis-29831	36	12	effect	effect	NOUN
fcis-29831	36	13	and	and	CCONJ
fcis-29831	36	14	improved	improve	VERB
fcis-29831	36	15	the	the	DET
fcis-29831	36	16	system	system	NOUN
fcis-29831	36	17	's	's	PART
fcis-29831	36	18	steady	steady	ADJ
fcis-29831	36	19	-	-	PUNCT
fcis-29831	36	20	state	state	NOUN
fcis-29831	36	21	performance	performance	NOUN
fcis-29831	36	22	.	.	PUNCT
fcis-29831	37	1	these	these	DET
fcis-29831	37	2	controllers	controller	NOUN
fcis-29831	37	3	,	,	PUNCT
fcis-29831	37	4	due	due	ADP
fcis-29831	37	5	to	to	ADP
fcis-29831	37	6	their	their	PRON
fcis-29831	37	7	excellent	excellent	ADJ
fcis-29831	37	8	performance	performance	NOUN
fcis-29831	37	9	,	,	PUNCT
fcis-29831	37	10	are	be	AUX
fcis-29831	37	11	particularly	particularly	ADV
fcis-29831	37	12	suitable	suitable	ADJ
fcis-29831	37	13	for	for	ADP
fcis-29831	37	14	complex	complex	ADJ
fcis-29831	37	15	nonlinear	nonlinear	ADJ
fcis-29831	37	16	control	control	NOUN
fcis-29831	37	17	systems	system	NOUN
fcis-29831	37	18	such	such	ADJ
fcis-29831	37	19	as	as	ADP
fcis-29831	37	20	pmsm	pmsm	NOUN
fcis-29831	37	21	.	.	PUNCT
fcis-29831	38	1	currently	currently	ADV
fcis-29831	38	2	,	,	PUNCT
fcis-29831	38	3	the	the	DET
fcis-29831	38	4	application	application	NOUN
fcis-29831	38	5	of	of	ADP
fcis-29831	38	6	predefined	predefine	VERB
fcis-29831	38	7	-	-	PUNCT
fcis-29831	38	8	time	time	NOUN
fcis-29831	38	9	sliding	slide	VERB
fcis-29831	38	10	mode	mode	NOUN
fcis-29831	38	11	control	control	NOUN
fcis-29831	38	12	algorithms	algorithm	NOUN
fcis-29831	38	13	in	in	ADP
fcis-29831	38	14	pmsm	pmsm	NOUN
fcis-29831	38	15	control	control	NOUN
fcis-29831	38	16	systems	system	NOUN
fcis-29831	38	17	holds	hold	VERB
fcis-29831	38	18	great	great	ADJ
fcis-29831	38	19	promise	promise	NOUN
fcis-29831	38	20	.	.	PUNCT
fcis-29831	39	1	on	on	ADP
fcis-29831	39	2	the	the	DET
fcis-29831	39	3	other	other	ADJ
fcis-29831	39	4	hand	hand	NOUN
fcis-29831	39	5	,	,	PUNCT
fcis-29831	39	6	in	in	ADP
fcis-29831	39	7	practical	practical	ADJ
fcis-29831	39	8	drive	drive	NOUN
fcis-29831	39	9	systems	system	NOUN
fcis-29831	39	10	with	with	ADP
fcis-29831	39	11	high	high	ADJ
fcis-29831	39	12	90	90	NUM
fcis-29831	39	13	utilization	utilization	NOUN
fcis-29831	39	14	,	,	PUNCT
fcis-29831	39	15	permanent	permanent	ADJ
fcis-29831	39	16	magnet	magnet	NOUN
fcis-29831	39	17	synchronous	synchronous	ADJ
fcis-29831	39	18	motors	motor	NOUN
fcis-29831	39	19	(	(	PUNCT
fcis-29831	39	20	pmsm	pmsm	NOUN
fcis-29831	39	21	)	)	PUNCT
fcis-29831	39	22	experience	experience	NOUN
fcis-29831	39	23	nonlinear	nonlinear	ADJ
fcis-29831	39	24	effects	effect	NOUN
fcis-29831	39	25	such	such	ADJ
fcis-29831	39	26	as	as	ADP
fcis-29831	39	27	rapidly	rapidly	ADV
fcis-29831	39	28	changing	change	VERB
fcis-29831	39	29	external	external	ADJ
fcis-29831	39	30	loads	load	NOUN
fcis-29831	39	31	,	,	PUNCT
fcis-29831	39	32	inaccurate	inaccurate	ADJ
fcis-29831	39	33	measurement	measurement	NOUN
fcis-29831	39	34	of	of	ADP
fcis-29831	39	35	nominal	nominal	ADJ
fcis-29831	39	36	parameters	parameter	NOUN
fcis-29831	39	37	,	,	PUNCT
fcis-29831	39	38	and	and	CCONJ
fcis-29831	39	39	parameter	parameter	NOUN
fcis-29831	39	40	perturbations	perturbation	NOUN
fcis-29831	39	41	.	.	PUNCT
fcis-29831	40	1	in	in	ADP
fcis-29831	40	2	such	such	ADJ
fcis-29831	40	3	cases	case	NOUN
fcis-29831	40	4	,	,	PUNCT
fcis-29831	40	5	the	the	DET
fcis-29831	40	6	presence	presence	NOUN
fcis-29831	40	7	of	of	ADP
fcis-29831	40	8	uncertain	uncertain	ADJ
fcis-29831	40	9	disturbances	disturbance	NOUN
fcis-29831	40	10	significantly	significantly	ADV
fcis-29831	40	11	reduces	reduce	VERB
fcis-29831	40	12	the	the	DET
fcis-29831	40	13	performance	performance	NOUN
fcis-29831	40	14	and	and	CCONJ
fcis-29831	40	15	stability	stability	NOUN
fcis-29831	40	16	of	of	ADP
fcis-29831	40	17	the	the	DET
fcis-29831	40	18	system	system	NOUN
fcis-29831	40	19	,	,	PUNCT
fcis-29831	40	20	becoming	become	VERB
fcis-29831	40	21	a	a	DET
fcis-29831	40	22	major	major	ADJ
fcis-29831	40	23	weakness	weakness	NOUN
fcis-29831	40	24	in	in	ADP
fcis-29831	40	25	pmsm	pmsm	NOUN
fcis-29831	40	26	drives	drive	NOUN
fcis-29831	40	27	.	.	PUNCT
fcis-29831	41	1	to	to	PART
fcis-29831	41	2	address	address	VERB
fcis-29831	41	3	these	these	DET
fcis-29831	41	4	issues	issue	NOUN
fcis-29831	41	5	,	,	PUNCT
fcis-29831	41	6	disturbance	disturbance	NOUN
fcis-29831	41	7	observers	observer	NOUN
fcis-29831	41	8	have	have	AUX
fcis-29831	41	9	attracted	attract	VERB
fcis-29831	41	10	significant	significant	ADJ
fcis-29831	41	11	attention	attention	NOUN
fcis-29831	41	12	from	from	ADP
fcis-29831	41	13	researchers	researcher	NOUN
fcis-29831	41	14	,	,	PUNCT
fcis-29831	41	15	leading	lead	VERB
fcis-29831	41	16	to	to	ADP
fcis-29831	41	17	many	many	ADJ
fcis-29831	41	18	interesting	interesting	ADJ
fcis-29831	41	19	results	result	NOUN
fcis-29831	41	20	,	,	PUNCT
fcis-29831	41	21	such	such	ADJ
fcis-29831	41	22	as	as	ADP
fcis-29831	41	23	nonlinear	nonlinear	ADJ
fcis-29831	41	24	disturbance	disturbance	NOUN
fcis-29831	41	25	observers	observer	NOUN
fcis-29831	41	26	[	[	X
fcis-29831	41	27	15	15	NUM
fcis-29831	41	28	]	]	PUNCT
fcis-29831	41	29	,	,	PUNCT
fcis-29831	41	30	fuzzy	fuzzy	ADJ
fcis-29831	41	31	disturbance	disturbance	NOUN
fcis-29831	41	32	observers	observer	NOUN
fcis-29831	42	1	[	[	X
fcis-29831	42	2	16	16	NUM
fcis-29831	42	3	]	]	PUNCT
fcis-29831	42	4	,	,	PUNCT
fcis-29831	42	5	and	and	CCONJ
fcis-29831	42	6	extended	extend	VERB
fcis-29831	42	7	state	state	NOUN
fcis-29831	42	8	observers	observer	NOUN
fcis-29831	42	9	[	[	X
fcis-29831	42	10	17	17	NUM
fcis-29831	42	11	]	]	PUNCT
fcis-29831	42	12	.	.	PUNCT
fcis-29831	43	1	however	however	ADV
fcis-29831	43	2	,	,	PUNCT
fcis-29831	43	3	the	the	DET
fcis-29831	43	4	convergence	convergence	NOUN
fcis-29831	43	5	of	of	ADP
fcis-29831	43	6	the	the	DET
fcis-29831	43	7	disturbance	disturbance	NOUN
fcis-29831	43	8	observation	observation	NOUN
fcis-29831	43	9	errors	error	NOUN
fcis-29831	43	10	in	in	ADP
fcis-29831	43	11	these	these	DET
fcis-29831	43	12	approaches	approach	NOUN
fcis-29831	43	13	is	be	AUX
fcis-29831	43	14	typically	typically	ADV
fcis-29831	43	15	achieved	achieve	VERB
fcis-29831	43	16	over	over	ADP
fcis-29831	43	17	an	an	DET
fcis-29831	43	18	infinite	infinite	ADJ
fcis-29831	43	19	time	time	NOUN
fcis-29831	43	20	span	span	NOUN
fcis-29831	43	21	.	.	PUNCT
fcis-29831	44	1	to	to	PART
fcis-29831	44	2	obtain	obtain	VERB
fcis-29831	44	3	precise	precise	ADJ
fcis-29831	44	4	disturbance	disturbance	NOUN
fcis-29831	44	5	estimation	estimation	NOUN
fcis-29831	44	6	,	,	PUNCT
fcis-29831	44	7	finite	finite	ADJ
fcis-29831	44	8	-	-	PUNCT
fcis-29831	44	9	time	time	NOUN
fcis-29831	44	10	and	and	CCONJ
fcis-29831	44	11	fixed	fix	VERB
fcis-29831	44	12	-	-	PUNCT
fcis-29831	44	13	time	time	NOUN
fcis-29831	44	14	control	control	NOUN
fcis-29831	44	15	techniques	technique	NOUN
fcis-29831	44	16	have	have	AUX
fcis-29831	44	17	been	be	AUX
fcis-29831	44	18	employed	employ	VERB
fcis-29831	44	19	to	to	PART
fcis-29831	44	20	design	design	VERB
fcis-29831	44	21	disturbance	disturbance	NOUN
fcis-29831	44	22	observers	observer	NOUN
fcis-29831	44	23	.	.	PUNCT
fcis-29831	45	1	in	in	ADP
fcis-29831	45	2	[	[	X
fcis-29831	45	3	18	18	NUM
fcis-29831	45	4	]	]	X
fcis-29831	45	5	,	,	PUNCT
fcis-29831	45	6	a	a	DET
fcis-29831	45	7	finite	finite	ADJ
fcis-29831	45	8	-	-	PUNCT
fcis-29831	45	9	time	time	NOUN
fcis-29831	45	10	sliding	slide	VERB
fcis-29831	45	11	mode	mode	NOUN
fcis-29831	45	12	disturbance	disturbance	NOUN
fcis-29831	45	13	observer	observer	NOUN
fcis-29831	45	14	was	be	AUX
fcis-29831	45	15	designed	design	VERB
fcis-29831	45	16	,	,	PUNCT
fcis-29831	45	17	where	where	SCONJ
fcis-29831	45	18	the	the	DET
fcis-29831	45	19	observation	observation	NOUN
fcis-29831	45	20	error	error	NOUN
fcis-29831	45	21	converges	converge	VERB
fcis-29831	45	22	to	to	ADP
fcis-29831	45	23	zero	zero	NUM
fcis-29831	45	24	within	within	ADP
fcis-29831	45	25	a	a	DET
fcis-29831	45	26	finite	finite	ADJ
fcis-29831	45	27	time	time	NOUN
fcis-29831	45	28	.	.	PUNCT
fcis-29831	46	1	however	however	ADV
fcis-29831	46	2	,	,	PUNCT
fcis-29831	46	3	these	these	DET
fcis-29831	46	4	observers	observer	NOUN
fcis-29831	46	5	use	use	VERB
fcis-29831	46	6	discontinuous	discontinuous	ADJ
fcis-29831	46	7	sign	sign	NOUN
fcis-29831	46	8	functions	function	NOUN
fcis-29831	46	9	,	,	PUNCT
fcis-29831	46	10	which	which	PRON
fcis-29831	46	11	can	can	AUX
fcis-29831	46	12	lead	lead	VERB
fcis-29831	46	13	to	to	ADP
fcis-29831	46	14	chattering	chatter	VERB
fcis-29831	46	15	phenomena	phenomenon	NOUN
fcis-29831	46	16	.	.	PUNCT
fcis-29831	47	1	in	in	ADP
fcis-29831	47	2	[	[	X
fcis-29831	47	3	19	19	NUM
fcis-29831	47	4	]	]	PUNCT
fcis-29831	47	5	,	,	PUNCT
fcis-29831	47	6	a	a	DET
fcis-29831	47	7	novel	novel	ADJ
fcis-29831	47	8	nonlinear	nonlinear	ADJ
fcis-29831	47	9	fixed	fix	VERB
fcis-29831	47	10	-	-	PUNCT
fcis-29831	47	11	time	time	NOUN
fcis-29831	47	12	disturbance	disturbance	NOUN
fcis-29831	47	13	observer	observer	NOUN
fcis-29831	47	14	(	(	PUNCT
fcis-29831	47	15	ftdo	ftdo	PROPN
fcis-29831	47	16	)	)	PUNCT
fcis-29831	47	17	was	be	AUX
fcis-29831	47	18	proposed	propose	VERB
fcis-29831	47	19	,	,	PUNCT
fcis-29831	47	20	which	which	PRON
fcis-29831	47	21	improves	improve	VERB
fcis-29831	47	22	convergence	convergence	NOUN
fcis-29831	47	23	speed	speed	NOUN
fcis-29831	47	24	while	while	SCONJ
fcis-29831	47	25	avoiding	avoid	VERB
fcis-29831	47	26	the	the	DET
fcis-29831	47	27	use	use	NOUN
fcis-29831	47	28	of	of	ADP
fcis-29831	47	29	discontinuous	discontinuous	ADJ
fcis-29831	47	30	functions	function	NOUN
fcis-29831	47	31	like	like	ADP
fcis-29831	47	32	the	the	DET
fcis-29831	47	33	sign	sign	NOUN
fcis-29831	47	34	function	function	NOUN
fcis-29831	47	35	,	,	PUNCT
fcis-29831	47	36	thereby	thereby	ADV
fcis-29831	47	37	reducing	reduce	VERB
fcis-29831	47	38	chattering	chatter	VERB
fcis-29831	47	39	and	and	CCONJ
fcis-29831	47	40	improving	improve	VERB
fcis-29831	47	41	observation	observation	NOUN
fcis-29831	47	42	accuracy	accuracy	NOUN
fcis-29831	47	43	.	.	PUNCT
fcis-29831	48	1	subsequently	subsequently	ADV
fcis-29831	48	2	,	,	PUNCT
fcis-29831	48	3	research	research	NOUN
fcis-29831	48	4	on	on	ADP
fcis-29831	48	5	predefined	predefine	VERB
fcis-29831	48	6	-	-	PUNCT
fcis-29831	48	7	time	time	NOUN
fcis-29831	48	8	sliding	slide	VERB
fcis-29831	48	9	mode	mode	NOUN
fcis-29831	48	10	disturbance	disturbance	NOUN
fcis-29831	48	11	observers	observer	NOUN
fcis-29831	48	12	has	have	AUX
fcis-29831	48	13	gained	gain	VERB
fcis-29831	48	14	attention	attention	NOUN
fcis-29831	48	15	.	.	PUNCT
fcis-29831	49	1	in	in	ADP
fcis-29831	49	2	[	[	X
fcis-29831	49	3	20	20	NUM
fcis-29831	49	4	]	]	PUNCT
fcis-29831	49	5	,	,	PUNCT
fcis-29831	49	6	a	a	DET
fcis-29831	49	7	predefined	predefine	VERB
fcis-29831	49	8	-	-	PUNCT
fcis-29831	49	9	time	time	NOUN
fcis-29831	49	10	attitude	attitude	NOUN
fcis-29831	49	11	stabilization	stabilization	NOUN
fcis-29831	49	12	strategy	strategy	NOUN
fcis-29831	49	13	based	base	VERB
fcis-29831	49	14	on	on	ADP
fcis-29831	49	15	a	a	DET
fcis-29831	49	16	disturbance	disturbance	NOUN
fcis-29831	49	17	observer	observer	NOUN
fcis-29831	49	18	was	be	AUX
fcis-29831	49	19	proposed	propose	VERB
fcis-29831	49	20	for	for	ADP
fcis-29831	49	21	rigid	rigid	ADJ
fcis-29831	49	22	spacecraft	spacecraft	NOUN
fcis-29831	49	23	with	with	ADP
fcis-29831	49	24	external	external	ADJ
fcis-29831	49	25	disturbances	disturbance	NOUN
fcis-29831	49	26	and	and	CCONJ
fcis-29831	49	27	inertial	inertial	ADJ
fcis-29831	49	28	uncertainties	uncertainty	NOUN
fcis-29831	49	29	.	.	PUNCT
fcis-29831	50	1	the	the	DET
fcis-29831	50	2	method	method	NOUN
fcis-29831	50	3	achieves	achieve	VERB
fcis-29831	50	4	disturbance	disturbance	NOUN
fcis-29831	50	5	suppression	suppression	NOUN
fcis-29831	50	6	by	by	ADP
fcis-29831	50	7	constructing	construct	VERB
fcis-29831	50	8	a	a	DET
fcis-29831	50	9	predefined	predefine	VERB
fcis-29831	50	10	-	-	PUNCT
fcis-29831	50	11	time	time	NOUN
fcis-29831	50	12	nonlinear	nonlinear	ADJ
fcis-29831	50	13	disturbance	disturbance	NOUN
fcis-29831	50	14	observer	observer	NOUN
fcis-29831	50	15	(	(	PUNCT
fcis-29831	50	16	ptndo	ptndo	PROPN
fcis-29831	50	17	)	)	PUNCT
fcis-29831	50	18	and	and	CCONJ
fcis-29831	50	19	ensures	ensure	VERB
fcis-29831	50	20	the	the	DET
fcis-29831	50	21	rapid	rapid	ADJ
fcis-29831	50	22	and	and	CCONJ
fcis-29831	50	23	accurate	accurate	ADJ
fcis-29831	50	24	convergence	convergence	NOUN
fcis-29831	50	25	of	of	ADP
fcis-29831	50	26	the	the	DET
fcis-29831	50	27	disturbance	disturbance	NOUN
fcis-29831	50	28	estimation	estimation	NOUN
fcis-29831	50	29	error	error	NOUN
fcis-29831	50	30	.	.	PUNCT
fcis-29831	51	1	it	it	PRON
fcis-29831	51	2	is	be	AUX
fcis-29831	51	3	important	important	ADJ
fcis-29831	51	4	to	to	PART
fcis-29831	51	5	note	note	VERB
fcis-29831	51	6	that	that	SCONJ
fcis-29831	51	7	the	the	DET
fcis-29831	51	8	aforementioned	aforementioned	ADJ
fcis-29831	51	9	observers	observer	NOUN
fcis-29831	51	10	assume	assume	VERB
fcis-29831	51	11	an	an	DET
fcis-29831	51	12	upper	upper	ADJ
fcis-29831	51	13	bound	bind	VERB
fcis-29831	51	14	for	for	ADP
fcis-29831	51	15	disturbances	disturbance	NOUN
fcis-29831	51	16	,	,	PUNCT
fcis-29831	51	17	which	which	PRON
fcis-29831	51	18	is	be	AUX
fcis-29831	51	19	not	not	PART
fcis-29831	51	20	suitable	suitable	ADJ
fcis-29831	51	21	for	for	ADP
fcis-29831	51	22	pmsm	pmsm	NOUN
fcis-29831	51	23	drive	drive	NOUN
fcis-29831	51	24	systems	system	NOUN
fcis-29831	51	25	,	,	PUNCT
fcis-29831	51	26	as	as	SCONJ
fcis-29831	51	27	the	the	DET
fcis-29831	51	28	motor	motor	NOUN
fcis-29831	51	29	load	load	NOUN
fcis-29831	51	30	disturbances	disturbance	NOUN
fcis-29831	51	31	can	can	AUX
fcis-29831	51	32	vary	vary	VERB
fcis-29831	51	33	greatly	greatly	ADV
fcis-29831	51	34	in	in	ADP
fcis-29831	51	35	practical	practical	ADJ
fcis-29831	51	36	applications	application	NOUN
fcis-29831	51	37	.	.	PUNCT
fcis-29831	52	1	using	use	VERB
fcis-29831	52	2	a	a	DET
fcis-29831	52	3	large	large	ADJ
fcis-29831	52	4	upper	upper	ADJ
fcis-29831	52	5	bound	bind	VERB
fcis-29831	52	6	as	as	ADP
fcis-29831	52	7	a	a	DET
fcis-29831	52	8	parameter	parameter	NOUN
fcis-29831	52	9	for	for	ADP
fcis-29831	52	10	the	the	DET
fcis-29831	52	11	observer	observer	NOUN
fcis-29831	52	12	can	can	AUX
fcis-29831	52	13	cause	cause	VERB
fcis-29831	52	14	chattering	chatter	VERB
fcis-29831	52	15	,	,	PUNCT
fcis-29831	52	16	which	which	PRON
fcis-29831	52	17	negatively	negatively	ADV
fcis-29831	52	18	impacts	impact	VERB
fcis-29831	52	19	control	control	NOUN
fcis-29831	52	20	accuracy	accuracy	NOUN
fcis-29831	52	21	.	.	PUNCT
fcis-29831	53	1	adaptive	adaptive	ADJ
fcis-29831	53	2	strategies	strategy	NOUN
fcis-29831	53	3	can	can	AUX
fcis-29831	53	4	effectively	effectively	ADV
fcis-29831	53	5	resolve	resolve	VERB
fcis-29831	53	6	this	this	DET
fcis-29831	53	7	issue	issue	NOUN
fcis-29831	53	8	.	.	PUNCT
fcis-29831	54	1	inspired	inspire	VERB
fcis-29831	54	2	by	by	ADP
fcis-29831	54	3	the	the	DET
fcis-29831	54	4	above	above	ADJ
fcis-29831	54	5	studies	study	NOUN
fcis-29831	54	6	,	,	PUNCT
fcis-29831	54	7	this	this	DET
fcis-29831	54	8	paper	paper	NOUN
fcis-29831	54	9	proposes	propose	VERB
fcis-29831	54	10	a	a	DET
fcis-29831	54	11	highorder	highorder	NOUN
fcis-29831	54	12	predefined	predefine	VERB
fcis-29831	54	13	-	-	PUNCT
fcis-29831	54	14	time	time	NOUN
fcis-29831	54	15	sliding	slide	VERB
fcis-29831	54	16	mode	mode	NOUN
fcis-29831	54	17	control	control	NOUN
fcis-29831	54	18	(	(	PUNCT
fcis-29831	54	19	ho	ho	ADJ
fcis-29831	54	20	-	-	PUNCT
fcis-29831	54	21	ptsmc	ptsmc	NOUN
fcis-29831	54	22	)	)	PUNCT
fcis-29831	54	23	method	method	NOUN
fcis-29831	54	24	based	base	VERB
fcis-29831	54	25	on	on	ADP
fcis-29831	54	26	an	an	DET
fcis-29831	54	27	adaptive	adaptive	ADJ
fcis-29831	54	28	predefined	predefine	VERB
fcis-29831	54	29	-	-	PUNCT
fcis-29831	54	30	time	time	NOUN
fcis-29831	54	31	disturbance	disturbance	NOUN
fcis-29831	54	32	observer	observer	NOUN
fcis-29831	54	33	(	(	PUNCT
fcis-29831	54	34	aptdo	aptdo	PROPN
fcis-29831	54	35	)	)	PUNCT
fcis-29831	54	36	for	for	ADP
fcis-29831	54	37	pmsm	pmsm	NOUN
fcis-29831	54	38	drive	drive	NOUN
fcis-29831	54	39	systems	system	NOUN
fcis-29831	54	40	.	.	PUNCT
fcis-29831	55	1	simulation	simulation	NOUN
fcis-29831	55	2	results	result	NOUN
fcis-29831	55	3	demonstrate	demonstrate	VERB
fcis-29831	55	4	that	that	SCONJ
fcis-29831	55	5	the	the	DET
fcis-29831	55	6	new	new	ADJ
fcis-29831	55	7	control	control	NOUN
fcis-29831	55	8	method	method	NOUN
fcis-29831	55	9	effectively	effectively	ADV
fcis-29831	55	10	enhances	enhance	VERB
fcis-29831	55	11	the	the	DET
fcis-29831	55	12	anti	anti	ADJ
fcis-29831	55	13	-	-	ADJ
fcis-29831	55	14	disturbance	disturbance	ADJ
fcis-29831	55	15	performance	performance	NOUN
fcis-29831	55	16	of	of	ADP
fcis-29831	55	17	pmsms	pmsm	NOUN
fcis-29831	55	18	under	under	ADP
fcis-29831	55	19	uncertain	uncertain	ADJ
fcis-29831	55	20	disturbances	disturbance	NOUN
fcis-29831	55	21	.	.	PUNCT
fcis-29831	56	1	the	the	DET
fcis-29831	56	2	highlights	highlight	NOUN
fcis-29831	56	3	of	of	ADP
fcis-29831	56	4	this	this	DET
fcis-29831	56	5	work	work	NOUN
fcis-29831	56	6	are	be	AUX
fcis-29831	56	7	as	as	SCONJ
fcis-29831	56	8	follows	follow	VERB
fcis-29831	56	9	:	:	PUNCT
fcis-29831	57	1	1	1	X
fcis-29831	57	2	.	.	PUNCT
fcis-29831	57	3	the	the	DET
fcis-29831	57	4	aptdo	aptdo	NOUN
fcis-29831	57	5	is	be	AUX
fcis-29831	57	6	designed	design	VERB
fcis-29831	57	7	to	to	PART
fcis-29831	57	8	track	track	VERB
fcis-29831	57	9	the	the	DET
fcis-29831	57	10	uncertain	uncertain	ADJ
fcis-29831	57	11	disturbances	disturbance	NOUN
fcis-29831	57	12	present	present	ADJ
fcis-29831	57	13	in	in	ADP
fcis-29831	57	14	the	the	DET
fcis-29831	57	15	motor	motor	NOUN
fcis-29831	57	16	,	,	PUNCT
fcis-29831	57	17	ensuring	ensure	VERB
fcis-29831	57	18	that	that	SCONJ
fcis-29831	57	19	disturbances	disturbance	NOUN
fcis-29831	57	20	converge	converge	VERB
fcis-29831	57	21	within	within	ADP
fcis-29831	57	22	a	a	DET
fcis-29831	57	23	predefined	predefine	VERB
fcis-29831	57	24	time	time	NOUN
fcis-29831	57	25	.	.	PUNCT
fcis-29831	58	1	moreover	moreover	ADV
fcis-29831	58	2	,	,	PUNCT
fcis-29831	58	3	this	this	DET
fcis-29831	58	4	method	method	NOUN
fcis-29831	58	5	adopts	adopt	VERB
fcis-29831	58	6	an	an	DET
fcis-29831	58	7	adaptive	adaptive	ADJ
fcis-29831	58	8	control	control	NOUN
fcis-29831	58	9	strategy	strategy	NOUN
fcis-29831	58	10	that	that	PRON
fcis-29831	58	11	does	do	AUX
fcis-29831	58	12	not	not	PART
fcis-29831	58	13	require	require	VERB
fcis-29831	58	14	prior	prior	ADJ
fcis-29831	58	15	knowledge	knowledge	NOUN
fcis-29831	58	16	of	of	ADP
fcis-29831	58	17	the	the	DET
fcis-29831	58	18	disturbance	disturbance	NOUN
fcis-29831	58	19	upper	upper	ADJ
fcis-29831	58	20	bound	bind	VERB
fcis-29831	58	21	.	.	PUNCT
fcis-29831	59	1	the	the	DET
fcis-29831	59	2	adaptive	adaptive	ADJ
fcis-29831	59	3	gain	gain	NOUN
fcis-29831	59	4	varies	vary	VERB
fcis-29831	59	5	with	with	ADP
fcis-29831	59	6	the	the	DET
fcis-29831	59	7	system	system	NOUN
fcis-29831	59	8	state	state	NOUN
fcis-29831	59	9	,	,	PUNCT
fcis-29831	59	10	preventing	prevent	VERB
fcis-29831	59	11	overestimation	overestimation	NOUN
fcis-29831	59	12	.	.	PUNCT
fcis-29831	60	1	2	2	X
fcis-29831	60	2	.	.	X
fcis-29831	60	3	the	the	DET
fcis-29831	60	4	ho	ho	ADJ
fcis-29831	60	5	-	-	PUNCT
fcis-29831	60	6	ptsmc	ptsmc	NOUN
fcis-29831	60	7	is	be	AUX
fcis-29831	60	8	designed	design	VERB
fcis-29831	60	9	to	to	PART
fcis-29831	60	10	track	track	VERB
fcis-29831	60	11	the	the	DET
fcis-29831	60	12	speed	speed	NOUN
fcis-29831	60	13	and	and	CCONJ
fcis-29831	60	14	current	current	ADJ
fcis-29831	60	15	loop	loop	NOUN
fcis-29831	60	16	errors	error	NOUN
fcis-29831	60	17	of	of	ADP
fcis-29831	60	18	the	the	DET
fcis-29831	60	19	pmsm	pmsm	NOUN
fcis-29831	60	20	.	.	PUNCT
fcis-29831	61	1	this	this	DET
fcis-29831	61	2	controller	controller	NOUN
fcis-29831	61	3	demonstrates	demonstrate	VERB
fcis-29831	61	4	a	a	DET
fcis-29831	61	5	better	well	ADJ
fcis-29831	61	6	convergence	convergence	NOUN
fcis-29831	61	7	speed	speed	NOUN
fcis-29831	61	8	and	and	CCONJ
fcis-29831	61	9	anti	anti	ADJ
fcis-29831	61	10	-	-	ADJ
fcis-29831	61	11	disturbance	disturbance	ADJ
fcis-29831	61	12	performance	performance	NOUN
fcis-29831	61	13	.	.	PUNCT
fcis-29831	62	1	compared	compare	VERB
fcis-29831	62	2	to	to	ADP
fcis-29831	62	3	traditional	traditional	ADJ
fcis-29831	62	4	sliding	slide	VERB
fcis-29831	62	5	mode	mode	NOUN
fcis-29831	62	6	algorithms	algorithm	NOUN
fcis-29831	62	7	,	,	PUNCT
fcis-29831	62	8	it	it	PRON
fcis-29831	62	9	uses	use	VERB
fcis-29831	62	10	a	a	DET
fcis-29831	62	11	fully	fully	ADV
fcis-29831	62	12	continuous	continuous	ADJ
fcis-29831	62	13	smooth	smooth	ADJ
fcis-29831	62	14	function	function	NOUN
fcis-29831	62	15	,	,	PUNCT
fcis-29831	62	16	effectively	effectively	ADV
fcis-29831	62	17	suppressing	suppress	VERB
fcis-29831	62	18	the	the	DET
fcis-29831	62	19	chattering	chatter	VERB
fcis-29831	62	20	effect	effect	NOUN
fcis-29831	62	21	of	of	ADP
fcis-29831	62	22	sliding	slide	VERB
fcis-29831	62	23	mode	mode	NOUN
fcis-29831	62	24	algorithms	algorithm	NOUN
fcis-29831	62	25	and	and	CCONJ
fcis-29831	62	26	improving	improve	VERB
fcis-29831	62	27	the	the	DET
fcis-29831	62	28	steady	steady	ADJ
fcis-29831	62	29	-	-	PUNCT
fcis-29831	62	30	state	state	NOUN
fcis-29831	62	31	performance	performance	NOUN
fcis-29831	62	32	of	of	ADP
fcis-29831	62	33	the	the	DET
fcis-29831	62	34	system	system	NOUN
fcis-29831	62	35	.	.	PUNCT
fcis-29831	63	1	3	3	X
fcis-29831	63	2	.	.	X
fcis-29831	63	3	both	both	PRON
fcis-29831	63	4	ho	ho	ADJ
fcis-29831	63	5	-	-	PUNCT
fcis-29831	63	6	ptsmc	ptsmc	NOUN
fcis-29831	63	7	and	and	CCONJ
fcis-29831	63	8	aptdo	aptdo	NOUN
fcis-29831	63	9	employ	employ	VERB
fcis-29831	63	10	a	a	DET
fcis-29831	63	11	novel	novel	ADJ
fcis-29831	63	12	practical	practical	ADJ
fcis-29831	63	13	predefined	predefine	VERB
fcis-29831	63	14	-	-	PUNCT
fcis-29831	63	15	time	time	NOUN
fcis-29831	63	16	sliding	slide	VERB
fcis-29831	63	17	mode	mode	NOUN
fcis-29831	63	18	algorithm	algorithm	NOUN
fcis-29831	63	19	.	.	PUNCT
fcis-29831	64	1	this	this	DET
fcis-29831	64	2	algorithm	algorithm	NOUN
fcis-29831	64	3	treats	treat	VERB
fcis-29831	64	4	time	time	NOUN
fcis-29831	64	5	as	as	ADP
fcis-29831	64	6	an	an	DET
fcis-29831	64	7	explicit	explicit	ADJ
fcis-29831	64	8	design	design	NOUN
fcis-29831	64	9	parameter	parameter	NOUN
fcis-29831	64	10	,	,	PUNCT
fcis-29831	64	11	allowing	allow	VERB
fcis-29831	64	12	more	more	ADV
fcis-29831	64	13	precise	precise	ADJ
fcis-29831	64	14	determination	determination	NOUN
fcis-29831	64	15	of	of	ADP
fcis-29831	64	16	the	the	DET
fcis-29831	64	17	sliding	slide	VERB
fcis-29831	64	18	surface	surface	NOUN
fcis-29831	64	19	and	and	CCONJ
fcis-29831	64	20	switching	switch	VERB
fcis-29831	64	21	control	control	NOUN
fcis-29831	64	22	timing	timing	NOUN
fcis-29831	64	23	during	during	ADP
fcis-29831	64	24	system	system	NOUN
fcis-29831	64	25	design	design	NOUN
fcis-29831	64	26	.	.	PUNCT
fcis-29831	65	1	as	as	ADP
fcis-29831	65	2	a	a	DET
fcis-29831	65	3	result	result	NOUN
fcis-29831	65	4	,	,	PUNCT
fcis-29831	65	5	the	the	DET
fcis-29831	65	6	design	design	NOUN
fcis-29831	65	7	process	process	NOUN
fcis-29831	65	8	is	be	AUX
fcis-29831	65	9	simplified	simplify	VERB
fcis-29831	65	10	,	,	PUNCT
fcis-29831	65	11	and	and	CCONJ
fcis-29831	65	12	the	the	DET
fcis-29831	65	13	design	design	NOUN
fcis-29831	65	14	becomes	become	VERB
fcis-29831	65	15	more	more	ADV
fcis-29831	65	16	controllable	controllable	ADJ
fcis-29831	65	17	and	and	CCONJ
fcis-29831	65	18	adjustable	adjustable	ADJ
fcis-29831	65	19	.	.	PUNCT
fcis-29831	66	1	2	2	X
fcis-29831	66	2	.	.	X
fcis-29831	66	3	spmsm	spmsm	PROPN
fcis-29831	66	4	mathematical	mathematical	PROPN
fcis-29831	66	5	model	model	NOUN
fcis-29831	66	6	2.1	2.1	NUM
fcis-29831	66	7	.	.	PUNCT
fcis-29831	66	8	conventional	conventional	ADJ
fcis-29831	66	9	model	model	NOUN
fcis-29831	66	10	description	description	NOUN
fcis-29831	66	11	the	the	DET
fcis-29831	66	12	dynamical	dynamical	ADJ
fcis-29831	66	13	model	model	NOUN
fcis-29831	66	14	of	of	ADP
fcis-29831	66	15	a	a	DET
fcis-29831	66	16	pmsm	pmsm	NOUN
fcis-29831	66	17	in	in	ADP
fcis-29831	66	18	synchronous	synchronous	ADJ
fcis-29831	66	19	reference	reference	NOUN
fcis-29831	66	20	frame	frame	NOUN
fcis-29831	66	21	is	be	AUX
fcis-29831	66	22	given	give	VERB
fcis-29831	66	23	by	by	ADP
fcis-29831	66	24	the	the	DET
fcis-29831	66	25	following	follow	VERB
fcis-29831	66	26	:	:	PUNCT
fcis-29831	66	27			NOUN
fcis-29831	66	28			PUNCT
fcis-29831	66	29	r	r	NOUN
fcis-29831	66	30	e	e	NOUN
fcis-29831	66	31	r	r	NOUN
fcis-29831	66	32	l	l	NOUN
fcis-29831	66	33	e	e	NOUN
fcis-29831	66	34	n	n	NOUN
fcis-29831	66	35	f	f	PROPN
fcis-29831	67	1	d	d	X
fcis-29831	67	2	q	q	X
fcis-29831	67	3	q	q	X
fcis-29831	67	4	j	j	PROPN
fcis-29831	67	5	t	t	PROPN
fcis-29831	67	6	b	b	PROPN
fcis-29831	67	7	t	t	PROPN
fcis-29831	67	8	t	t	PROPN
fcis-29831	67	9	1.5p	1.5p	NUM
fcis-29831	67	10	(	(	PUNCT
fcis-29831	67	11	l	l	NOUN
fcis-29831	67	12	l	l	NOUN
fcis-29831	67	13	)	)	PUNCT
fcis-29831	68	1	i	i	PRON
fcis-29831	68	2			PROPN
fcis-29831	68	3			NUM
fcis-29831	68	4			NUM
fcis-29831	68	5			NUM
fcis-29831	68	6			PROPN
fcis-29831	68	7			PROPN
fcis-29831	68	8			PROPN
fcis-29831	68	9			PROPN
fcis-29831	68	10			NOUN
fcis-29831	68	11			ADV
fcis-29831	68	12			NUM
fcis-29831	68	13			NUM
fcis-29831	68	14			PROPN
fcis-29831	68	15			NOUN
fcis-29831	68	16	(	(	PUNCT
fcis-29831	68	17	1	1	NUM
fcis-29831	68	18	)	)	PUNCT
fcis-29831	68	19	q	q	NOUN
fcis-29831	69	1	d	d	PROPN
fcis-29831	69	2	d	d	PROPN
fcis-29831	69	3	n	n	NOUN
fcis-29831	69	4	r	r	NOUN
fcis-29831	69	5	q	q	NOUN
fcis-29831	70	1	d	d	NOUN
fcis-29831	70	2	d	d	X
fcis-29831	70	3	d	d	X
fcis-29831	70	4	d	d	X
fcis-29831	70	5	lr	lr	X
fcis-29831	70	6	1	1	NUM
fcis-29831	71	1	i	i	PRON
fcis-29831	72	1	i	i	PRON
fcis-29831	73	1	p	p	VERB
fcis-29831	74	1	i	i	PRON
fcis-29831	74	2	u	u	NOUN
fcis-29831	74	3	l	l	NOUN
fcis-29831	74	4	l	l	NOUN
fcis-29831	74	5	l	l	NOUN
fcis-29831	75	1			PROPN
fcis-29831	75	2			NOUN
fcis-29831	75	3			VERB
fcis-29831	75	4			PRON
fcis-29831	75	5			NOUN
fcis-29831	75	6	(	(	PUNCT
fcis-29831	75	7	2	2	NUM
fcis-29831	75	8	)	)	PUNCT
fcis-29831	75	9	d	d	NOUN
fcis-29831	76	1	f	f	X
fcis-29831	76	2	q	q	X
fcis-29831	76	3	q	q	NOUN
fcis-29831	76	4	r	r	NOUN
fcis-29831	76	5	d	d	NOUN
fcis-29831	76	6	r	r	NOUN
fcis-29831	76	7	q	q	X
fcis-29831	76	8	q	q	X
fcis-29831	76	9	q	q	X
fcis-29831	76	10	q	q	X
fcis-29831	76	11	q	q	X
fcis-29831	76	12	lr	lr	INTJ
fcis-29831	76	13	1	1	NUM
fcis-29831	77	1	i	i	PRON
fcis-29831	78	1	i	i	PRON
fcis-29831	79	1	p	p	VERB
fcis-29831	80	1	i	i	PRON
fcis-29831	80	2	p	p	X
fcis-29831	80	3	u	u	NOUN
fcis-29831	80	4	l	l	NOUN
fcis-29831	80	5	l	l	NOUN
fcis-29831	80	6	l	l	NOUN
fcis-29831	80	7	l	l	NOUN
fcis-29831	81	1			NOUN
fcis-29831	82	1			PROPN
fcis-29831	82	2			PROPN
fcis-29831	82	3			PROPN
fcis-29831	82	4			X
fcis-29831	82	5			PROPN
fcis-29831	82	6			PROPN
fcis-29831	82	7			NOUN
fcis-29831	82	8	(	(	PUNCT
fcis-29831	82	9	3	3	NUM
fcis-29831	82	10	)	)	PUNCT
fcis-29831	82	11	surface	surface	NOUN
fcis-29831	82	12	-	-	PUNCT
fcis-29831	82	13	mounted	mount	VERB
fcis-29831	82	14	pmsm(spmsm	pmsm(spmsm	NOUN
fcis-29831	82	15	)	)	PUNCT
fcis-29831	82	16	meets	meet	VERB
fcis-29831	82	17	d	d	X
fcis-29831	82	18	q	q	X
fcis-29831	82	19	e	e	NOUN
fcis-29831	82	20	n	n	CCONJ
fcis-29831	82	21	f	f	PROPN
fcis-29831	82	22	q	q	PROPN
fcis-29831	82	23	3	3	NUM
fcis-29831	82	24	l	l	NOUN
fcis-29831	82	25	l	l	NOUN
fcis-29831	82	26	l	l	NOUN
fcis-29831	82	27	,	,	PUNCT
fcis-29831	82	28	t	t	PROPN
fcis-29831	83	1	p	p	X
fcis-29831	84	1	i	i	PROPN
fcis-29831	85	1	2	2	NUM
fcis-29831	86	1			NUM
fcis-29831	86	2			NOUN
fcis-29831	87	1			NOUN
fcis-29831	88	1			NOUN
fcis-29831	88	2	,	,	PUNCT
fcis-29831	88	3	it	it	PRON
fcis-29831	88	4	can	can	AUX
fcis-29831	88	5	be	be	AUX
fcis-29831	88	6	rewritten	rewrite	VERB
fcis-29831	88	7	as	as	ADP
fcis-29831	88	8	:	:	PUNCT
fcis-29831	88	9	r	r	NOUN
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fcis-29831	88	12	q	q	NOUN
fcis-29831	89	1	r	r	NOUN
fcis-29831	89	2	lj	lj	VERB
fcis-29831	89	3	1.5p	1.5p	NUM
fcis-29831	90	1	i	i	PRON
fcis-29831	90	2	b	b	X
fcis-29831	90	3	t	t	NOUN
fcis-29831	91	1			NUM
fcis-29831	91	2			NOUN
fcis-29831	91	3			PROPN
fcis-29831	91	4			PROPN
fcis-29831	91	5	(	(	PUNCT
fcis-29831	91	6	4	4	NUM
fcis-29831	91	7	)	)	PUNCT
fcis-29831	91	8	d	d	NOUN
fcis-29831	91	9	d	d	PROPN
fcis-29831	91	10	n	n	NOUN
fcis-29831	91	11	r	r	NOUN
fcis-29831	91	12	q	q	NOUN
fcis-29831	91	13	d	d	NOUN
fcis-29831	91	14	r	r	NOUN
fcis-29831	91	15	1	1	NUM
fcis-29831	92	1	i	i	PRON
fcis-29831	92	2	i	i	PRON
fcis-29831	93	1	p	p	VERB
fcis-29831	94	1	i	i	PRON
fcis-29831	94	2	u	u	NOUN
fcis-29831	94	3	l	l	NOUN
fcis-29831	94	4	l	l	NOUN
fcis-29831	95	1			PROPN
fcis-29831	95	2			NOUN
fcis-29831	95	3			VERB
fcis-29831	95	4			PRON
fcis-29831	95	5			NOUN
fcis-29831	95	6	(	(	PUNCT
fcis-29831	95	7	5	5	NUM
fcis-29831	95	8	)	)	PUNCT
fcis-29831	95	9	f	f	NOUN
fcis-29831	95	10	q	q	NOUN
fcis-29831	95	11	q	q	NOUN
fcis-29831	95	12	r	r	NOUN
fcis-29831	95	13	d	d	NOUN
fcis-29831	95	14	r	r	NOUN
fcis-29831	95	15	q	q	NOUN
fcis-29831	95	16	r	r	NOUN
fcis-29831	95	17	1	1	NUM
fcis-29831	96	1	i	i	PRON
fcis-29831	97	1	i	i	PRON
fcis-29831	98	1	p	p	VERB
fcis-29831	99	1	i	i	PRON
fcis-29831	99	2	p	p	X
fcis-29831	99	3	u	u	NOUN
fcis-29831	99	4	l	l	NOUN
fcis-29831	99	5	l	l	NOUN
fcis-29831	99	6	l	l	NOUN
fcis-29831	100	1			NOUN
fcis-29831	100	2			PROPN
fcis-29831	100	3			PROPN
fcis-29831	100	4			PROPN
fcis-29831	100	5			X
fcis-29831	100	6			PROPN
fcis-29831	100	7			PROPN
fcis-29831	100	8			NOUN
fcis-29831	100	9	(	(	PUNCT
fcis-29831	100	10	6	6	NUM
fcis-29831	100	11	)	)	PUNCT
fcis-29831	100	12	here	here	ADV
fcis-29831	100	13	,	,	PUNCT
fcis-29831	100	14	r	r	PROPN
fcis-29831	100	15	is	be	AUX
fcis-29831	100	16	the	the	DET
fcis-29831	100	17	mechanical	mechanical	ADJ
fcis-29831	100	18	angular	angular	ADJ
fcis-29831	100	19	velocity	velocity	NOUN
fcis-29831	100	20	,	,	PUNCT
fcis-29831	100	21	f	f	PROPN
fcis-29831	100	22	is	be	AUX
fcis-29831	100	23	the	the	DET
fcis-29831	100	24	magnetic	magnetic	ADJ
fcis-29831	100	25	chain	chain	NOUN
fcis-29831	100	26	,	,	PUNCT
fcis-29831	100	27	np	np	INTJ
fcis-29831	100	28	is	be	AUX
fcis-29831	100	29	the	the	DET
fcis-29831	100	30	number	number	NOUN
fcis-29831	100	31	of	of	ADP
fcis-29831	100	32	pole	pole	NOUN
fcis-29831	100	33	pairs	pair	NOUN
fcis-29831	100	34	,	,	PUNCT
fcis-29831	100	35	dl	dl	PROPN
fcis-29831	100	36	,	,	PUNCT
fcis-29831	100	37	ql	ql	X
fcis-29831	100	38	is	be	AUX
fcis-29831	100	39	the	the	DET
fcis-29831	100	40	shaft	shaft	NOUN
fcis-29831	100	41	stator	stator	NOUN
fcis-29831	100	42	inductance	inductance	NOUN
fcis-29831	100	43	,	,	PUNCT
fcis-29831	100	44	b	b	PROPN
fcis-29831	100	45	is	be	AUX
fcis-29831	100	46	the	the	DET
fcis-29831	100	47	damping	damp	VERB
fcis-29831	100	48	friction	friction	NOUN
fcis-29831	100	49	coefficient	coefficient	NOUN
fcis-29831	100	50	,	,	PUNCT
fcis-29831	100	51	qi	qi	PROPN
fcis-29831	100	52	is	be	AUX
fcis-29831	100	53	the	the	DET
fcis-29831	100	54	q	q	ADJ
fcis-29831	100	55	-	-	PUNCT
fcis-29831	100	56	axis	axis	ADJ
fcis-29831	100	57	stator	stator	NOUN
fcis-29831	100	58	current	current	NOUN
fcis-29831	100	59	,	,	PUNCT
fcis-29831	100	60	lt	lt	PRON
fcis-29831	100	61	is	be	AUX
fcis-29831	100	62	the	the	DET
fcis-29831	100	63	load	load	NOUN
fcis-29831	100	64	torque	torque	NOUN
fcis-29831	100	65	,	,	PUNCT
fcis-29831	100	66	and	and	CCONJ
fcis-29831	100	67	j	j	PROPN
fcis-29831	100	68	is	be	AUX
fcis-29831	100	69	the	the	DET
fcis-29831	100	70	moment	moment	NOUN
fcis-29831	100	71	of	of	ADP
fcis-29831	100	72	inertia	inertia	NOUN
fcis-29831	100	73	.	.	PUNCT
fcis-29831	101	1	2.2	2.2	NUM
fcis-29831	101	2	.	.	PUNCT
fcis-29831	101	3	improved	improve	VERB
fcis-29831	101	4	model	model	NOUN
fcis-29831	101	5	description	description	NOUN
fcis-29831	101	6	with	with	ADP
fcis-29831	101	7	uncertain	uncertain	ADJ
fcis-29831	101	8	disturbance	disturbance	NOUN
fcis-29831	101	9	in	in	ADP
fcis-29831	101	10	practical	practical	ADJ
fcis-29831	101	11	systems	system	NOUN
fcis-29831	101	12	,	,	PUNCT
fcis-29831	101	13	measurement	measurement	NOUN
fcis-29831	101	14	inaccuracies	inaccuracy	NOUN
fcis-29831	101	15	always	always	ADV
fcis-29831	101	16	lead	lead	VERB
fcis-29831	101	17	to	to	ADP
fcis-29831	101	18	discrepancies	discrepancy	NOUN
fcis-29831	101	19	between	between	ADP
fcis-29831	101	20	nominal	nominal	ADJ
fcis-29831	101	21	and	and	CCONJ
fcis-29831	101	22	actual	actual	ADJ
fcis-29831	101	23	parameters	parameter	NOUN
fcis-29831	101	24	.	.	PUNCT
fcis-29831	102	1	moreover	moreover	ADV
fcis-29831	102	2	,	,	PUNCT
fcis-29831	102	3	during	during	ADP
fcis-29831	102	4	motor	motor	NOUN
fcis-29831	102	5	operation	operation	NOUN
fcis-29831	102	6	,	,	PUNCT
fcis-29831	102	7	the	the	DET
fcis-29831	102	8	parameters	parameter	NOUN
fcis-29831	102	9	of	of	ADP
fcis-29831	102	10	the	the	DET
fcis-29831	102	11	motor	motor	NOUN
fcis-29831	102	12	may	may	AUX
fcis-29831	102	13	change	change	VERB
fcis-29831	102	14	.	.	PUNCT
fcis-29831	103	1	these	these	DET
fcis-29831	103	2	factors	factor	NOUN
fcis-29831	103	3	result	result	VERB
fcis-29831	103	4	in	in	ADP
fcis-29831	103	5	models	model	NOUN
fcis-29831	103	6	that	that	PRON
fcis-29831	103	7	may	may	AUX
fcis-29831	103	8	not	not	PART
fcis-29831	103	9	accurately	accurately	ADV
fcis-29831	103	10	reflect	reflect	VERB
fcis-29831	103	11	the	the	DET
fcis-29831	103	12	actual	actual	ADJ
fcis-29831	103	13	behavior	behavior	NOUN
fcis-29831	103	14	of	of	ADP
fcis-29831	103	15	the	the	DET
fcis-29831	103	16	system	system	NOUN
fcis-29831	103	17	,	,	PUNCT
fcis-29831	103	18	and	and	CCONJ
fcis-29831	103	19	under	under	ADP
fcis-29831	103	20	certain	certain	ADJ
fcis-29831	103	21	operating	operating	NOUN
fcis-29831	103	22	conditions	condition	NOUN
fcis-29831	103	23	,	,	PUNCT
fcis-29831	103	24	the	the	DET
fcis-29831	103	25	model	model	NOUN
fcis-29831	103	26	may	may	AUX
fcis-29831	103	27	differ	differ	VERB
fcis-29831	103	28	from	from	ADP
fcis-29831	103	29	the	the	DET
fcis-29831	103	30	system	system	NOUN
fcis-29831	103	31	's	's	PART
fcis-29831	103	32	actual	actual	ADJ
fcis-29831	103	33	response	response	NOUN
fcis-29831	103	34	.	.	PUNCT
fcis-29831	104	1	therefore	therefore	ADV
fcis-29831	104	2	,	,	PUNCT
fcis-29831	104	3	the	the	DET
fcis-29831	104	4	control	control	NOUN
fcis-29831	104	5	system	system	NOUN
fcis-29831	104	6	designed	design	VERB
fcis-29831	104	7	must	must	AUX
fcis-29831	104	8	exhibit	exhibit	VERB
fcis-29831	104	9	robustness	robustness	NOUN
fcis-29831	104	10	in	in	ADP
fcis-29831	104	11	the	the	DET
fcis-29831	104	12	presence	presence	NOUN
fcis-29831	104	13	of	of	ADP
fcis-29831	104	14	parameter	parameter	NOUN
fcis-29831	104	15	uncertainties	uncertainty	NOUN
fcis-29831	104	16	.	.	PUNCT
fcis-29831	105	1	to	to	PART
fcis-29831	105	2	address	address	VERB
fcis-29831	105	3	these	these	DET
fcis-29831	105	4	uncertainties	uncertainty	NOUN
fcis-29831	105	5	,	,	PUNCT
fcis-29831	105	6	the	the	DET
fcis-29831	105	7	model	model	NOUN
fcis-29831	105	8	takes	take	VERB
fcis-29831	105	9	into	into	ADP
fcis-29831	105	10	full	full	ADJ
fcis-29831	105	11	account	account	NOUN
fcis-29831	105	12	the	the	DET
fcis-29831	105	13	uncertainties	uncertainty	NOUN
fcis-29831	105	14	in	in	ADP
fcis-29831	105	15	parameters	parameter	NOUN
fcis-29831	105	16	such	such	ADJ
fcis-29831	105	17	as	as	ADP
fcis-29831	105	18	flux	flux	NOUN
fcis-29831	105	19	linkage	linkage	NOUN
fcis-29831	105	20	,	,	PUNCT
fcis-29831	105	21	stator	stator	NOUN
fcis-29831	105	22	inductance	inductance	NOUN
fcis-29831	105	23	,	,	PUNCT
fcis-29831	105	24	moment	moment	NOUN
fcis-29831	105	25	of	of	ADP
fcis-29831	105	26	inertia	inertia	NOUN
fcis-29831	105	27	,	,	PUNCT
fcis-29831	105	28	damping	damp	VERB
fcis-29831	105	29	friction	friction	NOUN
fcis-29831	105	30	coefficient	coefficient	NOUN
fcis-29831	105	31	,	,	PUNCT
fcis-29831	105	32	and	and	CCONJ
fcis-29831	105	33	stator	stator	NOUN
fcis-29831	105	34	resistance	resistance	NOUN
fcis-29831	105	35	.	.	PUNCT
fcis-29831	106	1	the	the	DET
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fcis-29831	106	3	model	model	NOUN
fcis-29831	106	4	,	,	PUNCT
fcis-29831	106	5	considering	consider	VERB
fcis-29831	106	6	parameter	parameter	NOUN
fcis-29831	106	7	uncertainties	uncertainty	NOUN
fcis-29831	106	8	,	,	PUNCT
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fcis-29831	106	10	expressed	express	VERB
fcis-29831	106	11	as	as	SCONJ
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fcis-29831	106	13	:	:	PUNCT
fcis-29831	106	14			NOUN
fcis-29831	107	1			SYM
fcis-29831	107	2			NOUN
fcis-29831	107	3			SYM
fcis-29831	107	4			NOUN
fcis-29831	107	5	r	r	DET
fcis-29831	107	6	n	n	NOUN
fcis-29831	107	7	f	f	X
fcis-29831	107	8	f	f	X
fcis-29831	107	9	q	q	NOUN
fcis-29831	107	10	r	r	NOUN
fcis-29831	107	11	lj	lj	PROPN
fcis-29831	107	12	j	j	PROPN
fcis-29831	107	13	1.5p	1.5p	NUM
fcis-29831	108	1	i	i	NOUN
fcis-29831	108	2	b	b	NOUN
fcis-29831	108	3	b	b	X
fcis-29831	108	4	t	t	PRON
fcis-29831	108	5			PUNCT
fcis-29831	109	1			X
fcis-29831	109	2			PROPN
fcis-29831	109	3			NOUN
fcis-29831	109	4			ADV
fcis-29831	109	5			X
fcis-29831	109	6			PROPN
fcis-29831	109	7			VERB
fcis-29831	109	8			PUNCT
fcis-29831	109	9			PROPN
fcis-29831	109	10			X
fcis-29831	109	11	(	(	PUNCT
fcis-29831	109	12	7	7	NUM
fcis-29831	109	13	)	)	PUNCT
fcis-29831	109	14	91	91	NUM
fcis-29831	109	15	the	the	DET
fcis-29831	109	16	improved	improved	ADJ
fcis-29831	109	17	model	model	NOUN
fcis-29831	109	18	,	,	PUNCT
fcis-29831	109	19	considering	consider	VERB
fcis-29831	109	20	parameter	parameter	NOUN
fcis-29831	109	21	uncertainties	uncertainty	NOUN
fcis-29831	109	22	,	,	PUNCT
fcis-29831	109	23	is	be	AUX
fcis-29831	109	24	expressed	express	VERB
fcis-29831	109	25	as	as	SCONJ
fcis-29831	109	26	follows	follow	VERB
fcis-29831	109	27	:	:	PUNCT
fcis-29831	109	28			PROPN
fcis-29831	109	29			NOUN
fcis-29831	110	1			PUNCT
fcis-29831	110	2	*	*	PUNCT
fcis-29831	110	3	r	r	NOUN
fcis-29831	110	4	q	q	NOUN
fcis-29831	110	5	*	*	PUNCT
fcis-29831	110	6	q	q	PUNCT
fcis-29831	110	7	q	q	X
fcis-29831	110	8	r	r	NOUN
fcis-29831	110	9	l	l	NOUN
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fcis-29831	110	11	f	f	NOUN
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fcis-29831	110	13	r	r	NOUN
fcis-29831	111	1	i	i	PRON
fcis-29831	111	2	g	g	NOUN
fcis-29831	111	3	1	1	NUM
fcis-29831	111	4	g	g	NOUN
fcis-29831	111	5	a(i	a(i	NOUN
fcis-29831	111	6	i	i	PRON
fcis-29831	111	7	)	)	PUNCT
fcis-29831	112	1	b	b	PROPN
fcis-29831	112	2	b	b	PROPN
fcis-29831	112	3	t	t	NUM
fcis-29831	112	4	1.5p	1.5p	NUM
fcis-29831	113	1	i	i	PRON
fcis-29831	113	2	j	j	PROPN
fcis-29831	114	1	j	j	INTJ
fcis-29831	114	2			PROPN
fcis-29831	114	3			PROPN
fcis-29831	114	4			ADP
fcis-29831	114	5			X
fcis-29831	114	6			NUM
fcis-29831	114	7			NUM
fcis-29831	114	8			PROPN
fcis-29831	114	9			PROPN
fcis-29831	114	10			PROPN
fcis-29831	114	11			VERB
fcis-29831	114	12			PUNCT
fcis-29831	114	13			PROPN
fcis-29831	114	14			PUNCT
fcis-29831	114	15			PROPN
fcis-29831	114	16			PROPN
fcis-29831	114	17			ADV
fcis-29831	114	18			NOUN
fcis-29831	114	19			PUNCT
fcis-29831	114	20			PUNCT
fcis-29831	114	21			ADJ
fcis-29831	114	22			NOUN
fcis-29831	114	23	(	(	PUNCT
fcis-29831	114	24	8)	8)	NUM
fcis-29831	114	25	here	here	ADV
fcis-29831	114	26	,	,	PUNCT
fcis-29831	114	27	n	n	PROPN
fcis-29831	114	28	f	f	PROPN
fcis-29831	114	29	j1.5p	j1.5p	PROPN
fcis-29831	114	30	/	/	PUNCT
fcis-29831	115	1			NUM
fcis-29831	115	2			NOUN
fcis-29831	115	3	,	,	PUNCT
fcis-29831	115	4	g	g	PROPN
fcis-29831	115	5	is	be	AUX
fcis-29831	115	6	the	the	DET
fcis-29831	115	7	total	total	ADJ
fcis-29831	115	8	uncertain	uncertain	ADJ
fcis-29831	115	9	disturbance	disturbance	NOUN
fcis-29831	115	10	,	,	PUNCT
fcis-29831	115	11	which	which	PRON
fcis-29831	115	12	is	be	AUX
fcis-29831	115	13	influenced	influence	VERB
fcis-29831	115	14	by	by	ADP
fcis-29831	115	15	motor	motor	NOUN
fcis-29831	115	16	speed	speed	NOUN
fcis-29831	115	17	,	,	PUNCT
fcis-29831	115	18	external	external	ADJ
fcis-29831	115	19	load	load	NOUN
fcis-29831	115	20	,	,	PUNCT
fcis-29831	115	21	current	current	ADJ
fcis-29831	115	22	errors	error	NOUN
fcis-29831	115	23	,	,	PUNCT
fcis-29831	115	24	and	and	CCONJ
fcis-29831	115	25	unmatched	unmatched	ADJ
fcis-29831	115	26	parameters	parameter	NOUN
fcis-29831	115	27	that	that	PRON
fcis-29831	115	28	are	be	AUX
fcis-29831	115	29	limited	limit	VERB
fcis-29831	115	30	by	by	ADP
fcis-29831	115	31	the	the	DET
fcis-29831	115	32	rated	rate	VERB
fcis-29831	115	33	values	value	NOUN
fcis-29831	115	34	of	of	ADP
fcis-29831	115	35	spmsm	spmsm	PROPN
fcis-29831	115	36	.	.	PUNCT
fcis-29831	116	1	3	3	X
fcis-29831	116	2	.	.	X
fcis-29831	116	3	controller	controller	NOUN
fcis-29831	116	4	design	design	VERB
fcis-29831	116	5	this	this	DET
fcis-29831	116	6	section	section	NOUN
fcis-29831	116	7	first	first	ADV
fcis-29831	116	8	introduces	introduce	VERB
fcis-29831	116	9	an	an	DET
fcis-29831	116	10	adaptive	adaptive	ADJ
fcis-29831	116	11	predefined	predefine	VERB
fcis-29831	116	12	-	-	PUNCT
fcis-29831	116	13	time	time	NOUN
fcis-29831	116	14	disturbance	disturbance	NOUN
fcis-29831	116	15	observer	observer	NOUN
fcis-29831	116	16	(	(	PUNCT
fcis-29831	116	17	aptdo	aptdo	PROPN
fcis-29831	116	18	)	)	PUNCT
fcis-29831	116	19	to	to	PART
fcis-29831	116	20	capture	capture	VERB
fcis-29831	116	21	the	the	DET
fcis-29831	116	22	uncertain	uncertain	ADJ
fcis-29831	116	23	disturbances	disturbance	NOUN
fcis-29831	116	24	during	during	ADP
fcis-29831	116	25	the	the	DET
fcis-29831	116	26	motor	motor	NOUN
fcis-29831	116	27	operation	operation	NOUN
fcis-29831	116	28	,	,	PUNCT
fcis-29831	116	29	employing	employ	VERB
fcis-29831	116	30	an	an	DET
fcis-29831	116	31	adaptive	adaptive	ADJ
fcis-29831	116	32	control	control	NOUN
fcis-29831	116	33	strategy	strategy	NOUN
fcis-29831	116	34	that	that	PRON
fcis-29831	116	35	does	do	AUX
fcis-29831	116	36	not	not	PART
fcis-29831	116	37	require	require	VERB
fcis-29831	116	38	knowledge	knowledge	NOUN
fcis-29831	116	39	of	of	ADP
fcis-29831	116	40	the	the	DET
fcis-29831	116	41	upper	upper	ADJ
fcis-29831	116	42	bound	bound	NOUN
fcis-29831	116	43	of	of	ADP
fcis-29831	116	44	the	the	DET
fcis-29831	116	45	disturbances	disturbance	NOUN
fcis-29831	116	46	.	.	PUNCT
fcis-29831	117	1	subsequently	subsequently	ADV
fcis-29831	117	2	,	,	PUNCT
fcis-29831	117	3	a	a	DET
fcis-29831	117	4	higher	high	ADJ
fcis-29831	117	5	order	order	NOUN
fcis-29831	117	6	predefined	predefine	VERB
fcis-29831	117	7	-	-	PUNCT
fcis-29831	117	8	time	time	NOUN
fcis-29831	117	9	sliding	slide	VERB
fcis-29831	117	10	mode	mode	NOUN
fcis-29831	117	11	controller	controller	NOUN
fcis-29831	117	12	(	(	PUNCT
fcis-29831	117	13	ho	ho	ADJ
fcis-29831	117	14	-	-	PUNCT
fcis-29831	117	15	ptsmc	ptsmc	NOUN
fcis-29831	117	16	)	)	PUNCT
fcis-29831	117	17	is	be	AUX
fcis-29831	117	18	proposed	propose	VERB
fcis-29831	117	19	for	for	ADP
fcis-29831	117	20	controlling	control	VERB
fcis-29831	117	21	the	the	DET
fcis-29831	117	22	motor	motor	NOUN
fcis-29831	117	23	's	's	PART
fcis-29831	117	24	speed	speed	NOUN
fcis-29831	117	25	and	and	CCONJ
fcis-29831	117	26	current	current	ADJ
fcis-29831	117	27	loops	loop	NOUN
fcis-29831	117	28	,	,	PUNCT
fcis-29831	117	29	with	with	SCONJ
fcis-29831	117	30	the	the	DET
fcis-29831	117	31	disturbance	disturbance	NOUN
fcis-29831	117	32	estimate	estimate	NOUN
fcis-29831	117	33	from	from	ADP
fcis-29831	117	34	the	the	DET
fcis-29831	117	35	observer	observer	NOUN
fcis-29831	117	36	fed	feed	VERB
fcis-29831	117	37	back	back	ADV
fcis-29831	117	38	to	to	ADP
fcis-29831	117	39	the	the	DET
fcis-29831	117	40	controller	controller	NOUN
fcis-29831	117	41	.	.	PUNCT
fcis-29831	118	1	this	this	DET
fcis-29831	118	2	approach	approach	NOUN
fcis-29831	118	3	enables	enable	VERB
fcis-29831	118	4	precise	precise	ADJ
fcis-29831	118	5	speed	speed	NOUN
fcis-29831	118	6	control	control	NOUN
fcis-29831	118	7	of	of	ADP
fcis-29831	118	8	the	the	DET
fcis-29831	118	9	motor	motor	NOUN
fcis-29831	118	10	in	in	ADP
fcis-29831	118	11	the	the	DET
fcis-29831	118	12	presence	presence	NOUN
fcis-29831	118	13	of	of	ADP
fcis-29831	118	14	uncertain	uncertain	ADJ
fcis-29831	118	15	disturbances	disturbance	NOUN
fcis-29831	118	16	.	.	PUNCT
fcis-29831	119	1	fig	fig	NOUN
fcis-29831	119	2	.	.	PUNCT
fcis-29831	120	1	(	(	PUNCT
fcis-29831	120	2	1	1	X
fcis-29831	120	3	)	)	PUNCT
fcis-29831	120	4	presents	present	VERB
fcis-29831	120	5	the	the	DET
fcis-29831	120	6	block	block	NOUN
fcis-29831	120	7	diagram	diagram	NOUN
fcis-29831	120	8	of	of	ADP
fcis-29831	120	9	the	the	DET
fcis-29831	120	10	novel	novel	ADJ
fcis-29831	120	11	pmsm	pmsm	NOUN
fcis-29831	120	12	system	system	NOUN
fcis-29831	120	13	.	.	PUNCT
fcis-29831	121	1	fig	fig	NOUN
fcis-29831	121	2	1	1	NUM
fcis-29831	121	3	.	.	PUNCT
fcis-29831	122	1	the	the	DET
fcis-29831	122	2	block	block	NOUN
fcis-29831	122	3	diagram	diagram	NOUN
fcis-29831	122	4	of	of	ADP
fcis-29831	122	5	the	the	DET
fcis-29831	122	6	novel	novel	ADJ
fcis-29831	122	7	pmsm	pmsm	NOUN
fcis-29831	122	8	system	system	NOUN
fcis-29831	122	9	3.1	3.1	NUM
fcis-29831	122	10	.	.	PUNCT
fcis-29831	123	1	design	design	NOUN
fcis-29831	123	2	of	of	ADP
fcis-29831	123	3	adaptive	adaptive	ADJ
fcis-29831	123	4	predefined	predefine	VERB
fcis-29831	123	5	-	-	PUNCT
fcis-29831	123	6	time	time	NOUN
fcis-29831	123	7	disturbance	disturbance	NOUN
fcis-29831	123	8	observer	observer	NOUN
fcis-29831	123	9	we	we	PRON
fcis-29831	123	10	define	define	VERB
fcis-29831	123	11	a	a	DET
fcis-29831	123	12	speed	speed	NOUN
fcis-29831	123	13	estimation	estimation	NOUN
fcis-29831	123	14	error	error	NOUN
fcis-29831	123	15	as	as	ADP
fcis-29831	123	16	the	the	DET
fcis-29831	123	17	sliding	slide	VERB
fcis-29831	123	18	mode	mode	NOUN
fcis-29831	123	19	surface	surface	NOUN
fcis-29831	123	20	:	:	PUNCT
fcis-29831	123	21	r	r	NOUN
fcis-29831	123	22	ro	ro	NOUN
fcis-29831	123	23	ˆs	ˆs	NOUN
fcis-29831	123	24			PROPN
fcis-29831	123	25			X
fcis-29831	123	26			X
fcis-29831	123	27	,	,	PUNCT
fcis-29831	123	28	through	through	ADP
fcis-29831	123	29	equation	equation	NOUN
fcis-29831	123	30	(	(	PUNCT
fcis-29831	123	31	4	4	NUM
fcis-29831	123	32	)	)	PUNCT
fcis-29831	123	33	,	,	PUNCT
fcis-29831	123	34	we	we	PRON
fcis-29831	123	35	design	design	VERB
fcis-29831	123	36	aptdo	aptdo	NOUN
fcis-29831	123	37	as	as	SCONJ
fcis-29831	123	38	follows	follow	VERB
fcis-29831	123	39	:	:	PUNCT
fcis-29831	123	40			NOUN
fcis-29831	123	41			SYM
fcis-29831	123	42			NOUN
fcis-29831	123	43			PUNCT
fcis-29831	124	1	*	*	PUNCT
fcis-29831	124	2	r	r	NOUN
fcis-29831	124	3	q	q	NOUN
fcis-29831	124	4	1	1	NUM
fcis-29831	124	5	1	1	NUM
fcis-29831	124	6	1	1	NUM
fcis-29831	124	7	2	2	NUM
fcis-29831	124	8	3	3	NUM
fcis-29831	124	9	o	o	NOUN
fcis-29831	124	10	o	o	NOUN
fcis-29831	125	1	o	o	NOUN
fcis-29831	125	2	1	1	NUM
fcis-29831	125	3	ˆd	ˆd	INTJ
fcis-29831	125	4	ˆi	ˆi	X
fcis-29831	125	5	g	g	NOUN
fcis-29831	125	6	dt	dt	INTJ
fcis-29831	125	7	sˆ	sˆ	PROPN
fcis-29831	125	8	ˆg	ˆg	PROPN
fcis-29831	125	9	a	a	DET
fcis-29831	125	10	sig	sig	NOUN
fcis-29831	125	11	s	s	VERB
fcis-29831	125	12	a	a	DET
fcis-29831	125	13	sig	sig	NOUN
fcis-29831	125	14	s	s	VERB
fcis-29831	125	15	a	a	DET
fcis-29831	125	16	tanh	tanh	NOUN
fcis-29831	125	17			X
fcis-29831	125	18			X
fcis-29831	125	19			NOUN
fcis-29831	125	20			ADP
fcis-29831	125	21			ADJ
fcis-29831	125	22			NUM
fcis-29831	125	23			NOUN
fcis-29831	125	24			NOUN
fcis-29831	125	25			NUM
fcis-29831	125	26			ADV
fcis-29831	125	27			PUNCT
fcis-29831	125	28			PROPN
fcis-29831	125	29			PUNCT
fcis-29831	125	30			PROPN
fcis-29831	125	31			PROPN
fcis-29831	125	32			X
fcis-29831	125	33	(	(	PUNCT
fcis-29831	125	34	9	9	NUM
fcis-29831	125	35	)	)	PUNCT
fcis-29831	125	36	here	here	ADV
fcis-29831	125	37	,	,	PUNCT
fcis-29831	125	38			NOUN
fcis-29831	125	39	sig	sig	PRON
fcis-29831	125	40	(	(	PUNCT
fcis-29831	125	41	)	)	PUNCT
fcis-29831	125	42	sign	sign	NOUN
fcis-29831	125	43			VERB
fcis-29831	125	44			PROPN
fcis-29831	125	45			ADJ
fcis-29831	125	46			PROPN
fcis-29831	125	47			PROPN
fcis-29831	125	48	,	,	PUNCT
fcis-29831	125	49	1	1	NUM
fcis-29831	125	50	1	1	NUM
fcis-29831	125	51	2	2	NUM
fcis-29831	125	52	2	2	NUM
fcis-29831	125	53	o	o	NOUN
fcis-29831	125	54	2	2	NUM
fcis-29831	125	55	o	o	NOUN
fcis-29831	125	56	1	1	NUM
fcis-29831	125	57	1	1	NUM
fcis-29831	125	58	1	1	NUM
fcis-29831	125	59	1	1	NUM
fcis-29831	125	60	1	1	NUM
fcis-29831	125	61	0	0	NUM
fcis-29831	125	62	1,a	1,a	NUM
fcis-29831	125	63	,	,	PUNCT
fcis-29831	125	64	a	a	DET
fcis-29831	125	65	t	t	NOUN
fcis-29831	125	66	2	2	NUM
fcis-29831	125	67	t	t	NOUN
fcis-29831	125	68	2	2	NUM
fcis-29831	125	69			NUM
fcis-29831	125	70			NUM
fcis-29831	125	71			NOUN
fcis-29831	125	72			PROPN
fcis-29831	125	73			PROPN
fcis-29831	126	1			PROPN
fcis-29831	126	2			PROPN
fcis-29831	126	3			VERB
fcis-29831	126	4			NUM
fcis-29831	126	5			PROPN
fcis-29831	127	1			NUM
fcis-29831	127	2			PUNCT
fcis-29831	128	1			PROPN
fcis-29831	128	2			PROPN
fcis-29831	128	3			NOUN
fcis-29831	128	4			PROPN
fcis-29831	128	5			NOUN
fcis-29831	128	6			PROPN
fcis-29831	128	7			NOUN
fcis-29831	128	8	,	,	PUNCT
fcis-29831	128	9	1	1	PROPN
fcis-29831	128	10	is	be	AUX
fcis-29831	128	11	a	a	DET
fcis-29831	128	12	small	small	ADJ
fcis-29831	128	13	positive	positive	ADJ
fcis-29831	128	14	constant	constant	NOUN
fcis-29831	128	15	.	.	PUNCT
fcis-29831	129	1	the	the	DET
fcis-29831	129	2	adaptive	adaptive	ADJ
fcis-29831	129	3	parameter	parameter	NOUN
fcis-29831	129	4	3â	3â	PROPN
fcis-29831	129	5	is	be	AUX
fcis-29831	129	6	designed	design	VERB
fcis-29831	129	7	as	as	SCONJ
fcis-29831	129	8	follows	follow	VERB
fcis-29831	129	9	:	:	PUNCT
fcis-29831	129	10	3	3	NUM
fcis-29831	129	11	o	o	NOUN
fcis-29831	129	12	3	3	NUM
fcis-29831	129	13	(	(	PUNCT
fcis-29831	129	14	s	s	NOUN
fcis-29831	129	15	)	)	PUNCT
fcis-29831	129	16	ˆ	ˆ	NOUN
fcis-29831	129	17	ˆa	ˆa	ADP
fcis-29831	129	18	a	a	VERB
fcis-29831	129	19			NOUN
fcis-29831	129	20			NOUN
fcis-29831	129	21			PRON
fcis-29831	129	22	(	(	PUNCT
fcis-29831	129	23	10	10	NUM
fcis-29831	129	24	)	)	PUNCT
fcis-29831	129	25	here	here	ADV
fcis-29831	129	26	,	,	PUNCT
fcis-29831	129	27			PROPN
fcis-29831	129	28	1	1	AUX
fcis-29831	129	29	/2	/2	PUNCT
fcis-29831	130	1	1	1	NUM
fcis-29831	130	2	/2	/2	SYM
fcis-29831	130	3	1	1	NUM
fcis-29831	130	4	2max	2max	NUM
fcis-29831	130	5	2a	2a	NUM
fcis-29831	130	6	/	/	SYM
fcis-29831	130	7	,	,	PUNCT
fcis-29831	130	8	2a	2a	NUM
fcis-29831	130	9	/	/	X
fcis-29831	130	10			PROPN
fcis-29831	130	11			NUM
fcis-29831	130	12			NOUN
fcis-29831	130	13			NOUN
fcis-29831	130	14	,	,	PUNCT
fcis-29831	130	15			NOUN
fcis-29831	130	16	is	be	AUX
fcis-29831	130	17	a	a	DET
fcis-29831	130	18	positive	positive	ADJ
fcis-29831	130	19	constant	constant	NOUN
fcis-29831	130	20	.	.	PUNCT
fcis-29831	131	1	according	accord	VERB
fcis-29831	131	2	to	to	ADP
fcis-29831	131	3	[	[	X
fcis-29831	131	4	19	19	NUM
fcis-29831	131	5	]	]	PUNCT
fcis-29831	131	6	,	,	PUNCT
fcis-29831	131	7	we	we	PRON
fcis-29831	131	8	can	can	AUX
fcis-29831	131	9	obtain	obtain	VERB
fcis-29831	131	10	that	that	SCONJ
fcis-29831	131	11	there	there	PRON
fcis-29831	131	12	exists	exist	VERB
fcis-29831	131	13	a	a	DET
fcis-29831	131	14	positive	positive	ADJ
fcis-29831	131	15	constant	constant	ADJ
fcis-29831	131	16	such	such	ADJ
fcis-29831	131	17	that	that	SCONJ
fcis-29831	131	18	3	3	NUM
fcis-29831	131	19	3â	3â	NUM
fcis-29831	131	20	a	a	NOUN
fcis-29831	131	21	and	and	CCONJ
fcis-29831	131	22	3	3	NUM
fcis-29831	131	23	3a	3a	NUM
fcis-29831	131	24	a	a	NOUN
fcis-29831	131	25	.	.	PUNCT
fcis-29831	132	1	considering	consider	VERB
fcis-29831	132	2	the	the	DET
fcis-29831	132	3	non	non	ADJ
fcis-29831	132	4	-	-	ADJ
fcis-29831	132	5	linear	linear	ADJ
fcis-29831	132	6	dynamical	dynamical	ADJ
fcis-29831	132	7	system	system	NOUN
fcis-29831	132	8	in	in	ADP
fcis-29831	132	9	equation	equation	NOUN
fcis-29831	132	10	(	(	PUNCT
fcis-29831	132	11	4	4	NUM
fcis-29831	132	12	)	)	PUNCT
fcis-29831	132	13	,	,	PUNCT
fcis-29831	132	14	if	if	SCONJ
fcis-29831	132	15	the	the	DET
fcis-29831	132	16	disturbance	disturbance	NOUN
fcis-29831	132	17	observer	observer	NOUN
fcis-29831	132	18	is	be	AUX
fcis-29831	132	19	designed	design	VERB
fcis-29831	132	20	as	as	ADP
fcis-29831	132	21	equation	equation	NOUN
fcis-29831	132	22	(	(	PUNCT
fcis-29831	132	23	5,6	5,6	NUM
fcis-29831	132	24	)	)	PUNCT
fcis-29831	132	25	,	,	PUNCT
fcis-29831	132	26	the	the	DET
fcis-29831	132	27	estimated	estimate	VERB
fcis-29831	132	28	speed	speed	NOUN
fcis-29831	132	29	error	error	NOUN
fcis-29831	132	30	s	s	PRON
fcis-29831	132	31	will	will	AUX
fcis-29831	132	32	converge	converge	VERB
fcis-29831	132	33	to	to	ADP
fcis-29831	132	34	a	a	DET
fcis-29831	132	35	narrow	narrow	ADJ
fcis-29831	132	36	region	region	NOUN
fcis-29831	132	37	d	d	NOUN
fcis-29831	132	38	around	around	ADP
fcis-29831	132	39	zero	zero	NUM
fcis-29831	132	40	within	within	ADP
fcis-29831	132	41	the	the	DET
fcis-29831	132	42	predefined	predefine	VERB
fcis-29831	132	43	-	-	PUNCT
fcis-29831	132	44	time	time	NOUN
fcis-29831	132	45	ot	ot	NOUN
fcis-29831	132	46	,	,	PUNCT
fcis-29831	132	47	d	d	PROPN
fcis-29831	132	48	is	be	AUX
fcis-29831	132	49	expressed	express	VERB
fcis-29831	132	50	as	as	SCONJ
fcis-29831	132	51	follows	follow	VERB
fcis-29831	132	52	:	:	PUNCT
fcis-29831	132	53	2	2	NUM
fcis-29831	132	54	2	2	NUM
fcis-29831	132	55	2	2	NUM
fcis-29831	132	56	2	2	NUM
fcis-29831	132	57	2	2	NUM
fcis-29831	132	58	d	d	SYM
fcis-29831	132	59	2	2	NUM
fcis-29831	132	60	d	d	NOUN
fcis-29831	132	61	d	d	PROPN
fcis-29831	132	62	d	d	PROPN
fcis-29831	132	63	d2	d2	PROPN
fcis-29831	132	64	t	t	PROPN
fcis-29831	132	65	2	2	NUM
fcis-29831	132	66	t	t	NOUN
fcis-29831	132	67	2min	2min	NOUN
fcis-29831	132	68	,	,	PUNCT
fcis-29831	132	69			X
fcis-29831	132	70			X
fcis-29831	132	71			X
fcis-29831	132	72			ADP
fcis-29831	132	73			X
fcis-29831	132	74			PROPN
fcis-29831	132	75			NUM
fcis-29831	132	76			PROPN
fcis-29831	132	77			NUM
fcis-29831	133	1			PROPN
fcis-29831	133	2			NOUN
fcis-29831	133	3			PROPN
fcis-29831	133	4			NUM
fcis-29831	133	5			NUM
fcis-29831	133	6			NOUN
fcis-29831	134	1			PROPN
fcis-29831	134	2			PROPN
fcis-29831	134	3			NUM
fcis-29831	134	4			NUM
fcis-29831	134	5			NOUN
fcis-29831	134	6			ADJ
fcis-29831	134	7			VERB
fcis-29831	134	8			NOUN
fcis-29831	134	9			PROPN
fcis-29831	134	10	(	(	PUNCT
fcis-29831	134	11	11	11	NUM
fcis-29831	134	12	)	)	PUNCT
fcis-29831	134	13	92	92	NUM
fcis-29831	134	14	here	here	ADV
fcis-29831	134	15	,	,	PUNCT
fcis-29831	134	16			NOUN
fcis-29831	134	17	2	2	ADJ
fcis-29831	134	18	2	2	NUM
fcis-29831	134	19	d	d	SYM
fcis-29831	134	20	3	3	NUM
fcis-29831	134	21	3	3	NUM
fcis-29831	134	22	d	d	SYM
fcis-29831	134	23	3	3	NUM
fcis-29831	134	24	1	1	NUM
fcis-29831	134	25	aa	aa	NOUN
fcis-29831	134	26	a	a	DET
fcis-29831	134	27	2	2	NUM
fcis-29831	134	28			NOUN
fcis-29831	134	29			PROPN
fcis-29831	134	30			PROPN
fcis-29831	134	31			ADV
fcis-29831	134	32			VERB
fcis-29831	134	33			PROPN
fcis-29831	134	34			PROPN
fcis-29831	134	35			PROPN
fcis-29831	134	36	,	,	PUNCT
fcis-29831	134	37			PROPN
fcis-29831	134	38			SYM
fcis-29831	134	39			NOUN
fcis-29831	134	40			SYM
fcis-29831	134	41			NOUN
fcis-29831	134	42	1	1	NOUN
fcis-29831	134	43	/2	/2	PROPN
fcis-29831	134	44	/	/	SYM
fcis-29831	134	45	/2	/2	PROPN
fcis-29831	135	1	1/	1/	NUM
fcis-29831	135	2	/2	/2	PUNCT
fcis-29831	136	1	d	d	X
fcis-29831	136	2	(	(	PUNCT
fcis-29831	136	3	1	1	NUM
fcis-29831	136	4	/	/	SYM
fcis-29831	136	5	2	2	NUM
fcis-29831	136	6	)	)	PUNCT
fcis-29831	136	7	(	(	PUNCT
fcis-29831	136	8	1	1	NUM
fcis-29831	136	9	/	/	SYM
fcis-29831	136	10	2)	2)	NUM
fcis-29831	136	11			NUM
fcis-29831	137	1			PROPN
fcis-29831	137	2			PROPN
fcis-29831	137	3			PROPN
fcis-29831	137	4			NUM
fcis-29831	137	5			VERB
fcis-29831	137	6			PROPN
fcis-29831	137	7			NUM
fcis-29831	137	8	,	,	PUNCT
fcis-29831	137	9	0.2785	0.2785	NOUN
fcis-29831	138	1			NOUN
fcis-29831	138	2	.	.	PUNCT
fcis-29831	139	1	when	when	SCONJ
fcis-29831	139	2	ot	ot	NOUN
fcis-29831	139	3	t	t	NOUN
fcis-29831	139	4	,	,	PUNCT
fcis-29831	139	5	ˆg	ˆg	PROPN
fcis-29831	139	6	g	g	PROPN
fcis-29831	139	7	g	g	PROPN
fcis-29831	139	8			PROPN
fcis-29831	139	9	will	will	AUX
fcis-29831	139	10	exist	exist	VERB
fcis-29831	139	11	an	an	DET
fcis-29831	139	12	upper	upper	ADJ
fcis-29831	139	13	bound	bind	VERB
fcis-29831	139	14	g	g	PROPN
fcis-29831	139	15	which	which	PRON
fcis-29831	139	16	can	can	AUX
fcis-29831	139	17	be	be	AUX
fcis-29831	139	18	expressed	express	VERB
fcis-29831	139	19	as	as	SCONJ
fcis-29831	139	20	follows	follow	VERB
fcis-29831	139	21	:	:	PUNCT
fcis-29831	139	22			NOUN
fcis-29831	139	23	1	1	VERB
fcis-29831	140	1	1	1	NUM
fcis-29831	140	2	d	d	SYM
fcis-29831	140	3	3	3	NUM
fcis-29831	140	4	1	1	NUM
fcis-29831	140	5	d	d	SYM
fcis-29831	140	6	2	2	NUM
fcis-29831	140	7	d	d	SYM
fcis-29831	140	8	3	3	NUM
fcis-29831	140	9	1	1	NUM
fcis-29831	140	10	g	g	NOUN
fcis-29831	140	11	â	â	X
fcis-29831	140	12	ˆa	ˆa	VERB
fcis-29831	140	13	sig	sig	NOUN
fcis-29831	140	14	(	(	PUNCT
fcis-29831	140	15	)	)	PUNCT
fcis-29831	140	16	a	a	DET
fcis-29831	140	17	sig	sig	NOUN
fcis-29831	140	18	a	a	DET
fcis-29831	140	19	tanh	tanh	NOUN
fcis-29831	140	20	(	(	PUNCT
fcis-29831	140	21	)	)	PUNCT
fcis-29831	140	22			X
fcis-29831	140	23			X
fcis-29831	140	24			X
fcis-29831	140	25			PROPN
fcis-29831	140	26			PROPN
fcis-29831	140	27			PUNCT
fcis-29831	140	28			PROPN
fcis-29831	140	29			NOUN
fcis-29831	140	30			ADJ
fcis-29831	140	31			X
fcis-29831	140	32	(	(	PUNCT
fcis-29831	140	33	12	12	NUM
fcis-29831	140	34	)	)	PUNCT
fcis-29831	141	1	so	so	ADV
fcis-29831	141	2	,	,	PUNCT
fcis-29831	141	3	we	we	PRON
fcis-29831	141	4	can	can	AUX
fcis-29831	141	5	conclude	conclude	VERB
fcis-29831	141	6	that	that	SCONJ
fcis-29831	141	7	the	the	DET
fcis-29831	141	8	novel	novel	ADJ
fcis-29831	141	9	disturbance	disturbance	NOUN
fcis-29831	141	10	observer	observer	NOUN
fcis-29831	141	11	can	can	AUX
fcis-29831	141	12	quickly	quickly	ADV
fcis-29831	141	13	track	track	VERB
fcis-29831	141	14	the	the	DET
fcis-29831	141	15	uncertain	uncertain	ADJ
fcis-29831	141	16	disturbance	disturbance	NOUN
fcis-29831	141	17	of	of	ADP
fcis-29831	141	18	the	the	DET
fcis-29831	141	19	pmsm	pmsm	NOUN
fcis-29831	141	20	in	in	ADP
fcis-29831	141	21	a	a	DET
fcis-29831	141	22	predefined	predefine	VERB
fcis-29831	141	23	-	-	PUNCT
fcis-29831	141	24	time	time	NOUN
fcis-29831	141	25	period	period	NOUN
fcis-29831	141	26	ot	ot	INTJ
fcis-29831	141	27	.	.	PUNCT
fcis-29831	141	28	3.2	3.2	NUM
fcis-29831	141	29	.	.	PUNCT
fcis-29831	142	1	design	design	NOUN
fcis-29831	142	2	of	of	ADP
fcis-29831	142	3	higher	high	ADJ
fcis-29831	142	4	order	order	NOUN
fcis-29831	142	5	predefined	predefine	VERB
fcis-29831	142	6	-	-	PUNCT
fcis-29831	142	7	time	time	NOUN
fcis-29831	142	8	sliding	slide	VERB
fcis-29831	142	9	mode	mode	NOUN
fcis-29831	142	10	controller	controller	NOUN
fcis-29831	142	11	the	the	DET
fcis-29831	142	12	sliding	slide	VERB
fcis-29831	142	13	manifold	manifold	ADJ
fcis-29831	142	14			NOUN
fcis-29831	142	15			SYM
fcis-29831	142	16			NOUN
fcis-29831	142	17	t	t	NOUN
fcis-29831	142	18	d	d	X
fcis-29831	142	19	qs	qs	PROPN
fcis-29831	142	20	x	x	PROPN
fcis-29831	142	21	,	,	PUNCT
fcis-29831	142	22	t	t	PROPN
fcis-29831	142	23	s	s	PROPN
fcis-29831	142	24	,	,	PUNCT
fcis-29831	142	25	s	s	PART
fcis-29831	142	26	,	,	PUNCT
fcis-29831	142	27	s	s	NUM
fcis-29831	142	28	of	of	ADP
fcis-29831	142	29	the	the	DET
fcis-29831	142	30	field	field	NOUN
fcis-29831	142	31	-	-	PUNCT
fcis-29831	142	32	oriented	orient	VERB
fcis-29831	142	33	sliding	slide	VERB
fcis-29831	142	34	mode	mode	NOUN
fcis-29831	142	35	control	control	NOUN
fcis-29831	142	36	is	be	AUX
fcis-29831	142	37	governed	govern	VERB
fcis-29831	142	38	by	by	ADP
fcis-29831	142	39	:	:	PUNCT
fcis-29831	143	1	*	*	PUNCT
fcis-29831	143	2	d	d	PUNCT
fcis-29831	143	3	d	d	X
fcis-29831	143	4	ds	ds	VERB
fcis-29831	144	1	i	i	NOUN
fcis-29831	144	2	i	i	PROPN
fcis-29831	144	3			PROPN
fcis-29831	144	4	(	(	PUNCT
fcis-29831	144	5	13	13	NUM
fcis-29831	144	6	)	)	PUNCT
fcis-29831	144	7	*	*	PUNCT
fcis-29831	145	1	q	q	PUNCT
fcis-29831	146	1	q	q	INTJ
fcis-29831	146	2	qs	qs	INTJ
fcis-29831	146	3	i	i	PRON
fcis-29831	146	4	i	i	NOUN
fcis-29831	146	5			PROPN
fcis-29831	146	6	(	(	PUNCT
fcis-29831	146	7	14	14	NUM
fcis-29831	146	8	)	)	PUNCT
fcis-29831	146	9	*	*	PUNCT
fcis-29831	147	1	r	r	NOUN
fcis-29831	147	2	rs	rs	NOUN
fcis-29831	147	3			ADV
fcis-29831	147	4			X
fcis-29831	147	5			X
fcis-29831	147	6	(	(	PUNCT
fcis-29831	147	7	15	15	NUM
fcis-29831	147	8	)	)	PUNCT
fcis-29831	147	9	the	the	DET
fcis-29831	147	10	effect	effect	NOUN
fcis-29831	147	11	of	of	ADP
fcis-29831	147	12	uncertain	uncertain	ADJ
fcis-29831	147	13	disturbance	disturbance	NOUN
fcis-29831	147	14	is	be	AUX
fcis-29831	147	15	considered	consider	VERB
fcis-29831	147	16	in	in	ADP
fcis-29831	147	17	firstorder	firstorder	NOUN
fcis-29831	147	18	velocity	velocity	NOUN
fcis-29831	147	19	control	control	NOUN
fcis-29831	147	20	and	and	CCONJ
fcis-29831	147	21	not	not	PART
fcis-29831	147	22	in	in	ADP
fcis-29831	147	23	higher	high	ADJ
fcis-29831	147	24	-	-	PUNCT
fcis-29831	147	25	order	order	NOUN
fcis-29831	147	26	current	current	ADJ
fcis-29831	147	27	control	control	NOUN
fcis-29831	147	28	.	.	PUNCT
fcis-29831	148	1	3.2.1	3.2.1	X
fcis-29831	148	2	.	.	PUNCT
fcis-29831	148	3	first	first	ADJ
fcis-29831	148	4	-	-	PUNCT
fcis-29831	148	5	order	order	NOUN
fcis-29831	148	6	velocity	velocity	NOUN
fcis-29831	148	7	control	control	NOUN
fcis-29831	148	8	we	we	PRON
fcis-29831	148	9	define	define	VERB
fcis-29831	148	10	the	the	DET
fcis-29831	148	11	q	q	ADJ
fcis-29831	148	12	-	-	PUNCT
fcis-29831	148	13	axis	axis	ADJ
fcis-29831	148	14	velocity	velocity	NOUN
fcis-29831	148	15	control	control	NOUN
fcis-29831	148	16	law	law	NOUN
fcis-29831	148	17	as	as	ADP
fcis-29831	148	18	*	*	PUNCT
fcis-29831	149	1	*	*	PUNCT
fcis-29831	149	2	*	*	PUNCT
fcis-29831	149	3	q	q	PUNCT
fcis-29831	149	4	q	q	NOUN
fcis-29831	149	5	,	,	PUNCT
fcis-29831	149	6	eq	eq	ADJ
fcis-29831	149	7	q	q	NOUN
fcis-29831	149	8	,	,	PUNCT
fcis-29831	149	9	ni	ni	PROPN
fcis-29831	149	10	i	i	PROPN
fcis-29831	149	11	i	i	PROPN
fcis-29831	149	12			PROPN
fcis-29831	149	13	(	(	PUNCT
fcis-29831	149	14	16	16	NUM
fcis-29831	149	15	)	)	PUNCT
fcis-29831	149	16	here	here	ADV
fcis-29831	149	17	,	,	PUNCT
fcis-29831	149	18	*	*	PUNCT
fcis-29831	149	19	qi	qi	PROPN
fcis-29831	149	20	is	be	AUX
fcis-29831	149	21	the	the	DET
fcis-29831	149	22	quadrature	quadrature	NOUN
fcis-29831	149	23	-	-	PUNCT
fcis-29831	149	24	axis	axis	NOUN
fcis-29831	149	25	stator	stator	NOUN
fcis-29831	149	26	current	current	NOUN
fcis-29831	149	27	,	,	PUNCT
fcis-29831	149	28	*	*	PUNCT
fcis-29831	149	29	q	q	X
fcis-29831	149	30	,	,	PUNCT
fcis-29831	149	31	eqi	eqi	PROPN
fcis-29831	149	32	is	be	AUX
fcis-29831	149	33	the	the	DET
fcis-29831	149	34	equivalent	equivalent	ADJ
fcis-29831	149	35	control	control	NOUN
fcis-29831	149	36	and	and	CCONJ
fcis-29831	149	37	*	*	PUNCT
fcis-29831	149	38	q	q	X
fcis-29831	149	39	,	,	PUNCT
fcis-29831	149	40	ni	ni	PROPN
fcis-29831	149	41	is	be	AUX
fcis-29831	149	42	the	the	DET
fcis-29831	149	43	switching	switch	VERB
fcis-29831	149	44	control	control	NOUN
fcis-29831	149	45	.	.	PUNCT
fcis-29831	150	1	from	from	ADP
fcis-29831	150	2	the	the	DET
fcis-29831	150	3	sliding	slide	VERB
fcis-29831	150	4	surface	surface	NOUN
fcis-29831	150	5	s	s	PRON
fcis-29831	150	6	,	,	PUNCT
fcis-29831	150	7	s	s	NOUN
fcis-29831	150	8	is	be	AUX
fcis-29831	150	9	found	find	VERB
fcis-29831	150	10	to	to	PART
fcis-29831	150	11	be	be	AUX
fcis-29831	150	12	*	*	PUNCT
fcis-29831	151	1	*	*	PUNCT
fcis-29831	151	2	q	q	PUNCT
fcis-29831	151	3	rs	rs	INTJ
fcis-29831	152	1	i	i	PRON
fcis-29831	152	2	g	g	VERB
fcis-29831	152	3			VERB
fcis-29831	152	4			PROPN
fcis-29831	152	5			PROPN
fcis-29831	152	6			PROPN
fcis-29831	152	7	(	(	PUNCT
fcis-29831	152	8	17	17	NUM
fcis-29831	152	9	)	)	PUNCT
fcis-29831	152	10	the	the	DET
fcis-29831	152	11	equivalent	equivalent	ADJ
fcis-29831	152	12	control	control	NOUN
fcis-29831	152	13	becomes	become	VERB
fcis-29831	152	14	:	:	PUNCT
fcis-29831	152	15			NOUN
fcis-29831	152	16	r	r	X
fcis-29831	152	17	*	*	PUNCT
fcis-29831	153	1	q	q	X
fcis-29831	153	2	,	,	PUNCT
fcis-29831	153	3	eq	eq	ADJ
fcis-29831	153	4	*	*	SYM
fcis-29831	153	5	1	1	NUM
fcis-29831	153	6	gi	gi	NOUN
fcis-29831	153	7			X
fcis-29831	153	8			ADP
fcis-29831	153	9			PROPN
fcis-29831	153	10	(	(	PUNCT
fcis-29831	153	11	18	18	NUM
fcis-29831	153	12	)	)	PUNCT
fcis-29831	153	13	substituting	substitute	VERB
fcis-29831	153	14	the	the	DET
fcis-29831	153	15	estimated	estimate	VERB
fcis-29831	153	16	term	term	NOUN
fcis-29831	153	17	ĝ	ĝ	NOUN
fcis-29831	153	18	by	by	ADP
fcis-29831	153	19	the	the	DET
fcis-29831	153	20	above	above	ADV
fcis-29831	153	21	designed	design	VERB
fcis-29831	153	22	disturbance	disturbance	NOUN
fcis-29831	153	23	observer	observer	NOUN
fcis-29831	153	24	,	,	PUNCT
fcis-29831	153	25	equation	equation	NOUN
fcis-29831	153	26	(	(	PUNCT
fcis-29831	153	27	18	18	NUM
fcis-29831	153	28	)	)	PUNCT
fcis-29831	153	29	becomes	become	VERB
fcis-29831	153	30	:	:	PUNCT
fcis-29831	153	31			NOUN
fcis-29831	153	32	r	r	X
fcis-29831	153	33	*	*	PUNCT
fcis-29831	154	1	q	q	X
fcis-29831	154	2	,	,	PUNCT
fcis-29831	154	3	eq	eq	ADJ
fcis-29831	154	4	*	*	SYM
fcis-29831	154	5	1	1	NUM
fcis-29831	154	6	i	i	PROPN
fcis-29831	154	7	ĝ	ĝ	PROPN
fcis-29831	154	8			ADP
fcis-29831	154	9			PROPN
fcis-29831	154	10	(	(	PUNCT
fcis-29831	154	11	19	19	NUM
fcis-29831	154	12	)	)	PUNCT
fcis-29831	154	13	by	by	ADP
fcis-29831	154	14	applying	apply	VERB
fcis-29831	154	15	a	a	DET
fcis-29831	154	16	predefined	predefine	VERB
fcis-29831	154	17	time	time	NOUN
fcis-29831	154	18	sliding	slide	VERB
fcis-29831	154	19	mode	mode	NOUN
fcis-29831	154	20	algorithm	algorithm	NOUN
fcis-29831	154	21	,	,	PUNCT
fcis-29831	154	22	switch	switch	NOUN
fcis-29831	154	23	control	control	NOUN
fcis-29831	154	24	becomes	become	VERB
fcis-29831	154	25	:	:	PUNCT
fcis-29831	154	26			NOUN
fcis-29831	154	27			SYM
fcis-29831	154	28			NOUN
fcis-29831	154	29	1	1	VERB
fcis-29831	155	1	1	1	NUM
fcis-29831	155	2	2	2	NUM
fcis-29831	155	3	*	*	PUNCT
fcis-29831	155	4	q	q	NOUN
fcis-29831	155	5	,	,	PUNCT
fcis-29831	155	6	n	n	PROPN
fcis-29831	155	7	1	1	NUM
fcis-29831	155	8	2	2	NUM
fcis-29831	155	9	3	3	NUM
fcis-29831	155	10	1	1	NUM
fcis-29831	155	11	i	i	PRON
fcis-29831	155	12	s	s	VERB
fcis-29831	155	13	s	s	VERB
fcis-29831	155	14	sig	sig	NOUN
fcis-29831	155	15	s	s	NOUN
fcis-29831	155	16	b	b	NOUN
fcis-29831	155	17	sig	sig	NOUN
fcis-29831	155	18	b	b	PROPN
fcis-29831	155	19	tanhb	tanhb	NOUN
fcis-29831	156	1			PROPN
fcis-29831	156	2			PROPN
fcis-29831	156	3			X
fcis-29831	156	4			X
fcis-29831	156	5			PROPN
fcis-29831	157	1			PROPN
fcis-29831	157	2			NUM
fcis-29831	158	1			PROPN
fcis-29831	158	2			NOUN
fcis-29831	158	3			NOUN
fcis-29831	158	4			PROPN
fcis-29831	158	5			ADV
fcis-29831	158	6			NOUN
fcis-29831	158	7			PROPN
fcis-29831	158	8			PROPN
fcis-29831	158	9			ADP
fcis-29831	158	10			PROPN
fcis-29831	158	11			ADV
fcis-29831	158	12			PROPN
fcis-29831	158	13	(	(	PUNCT
fcis-29831	158	14	20	20	NUM
fcis-29831	158	15	)	)	PUNCT
fcis-29831	158	16	here	here	ADV
fcis-29831	158	17	,	,	PUNCT
fcis-29831	158	18	1	1	NUM
fcis-29831	158	19	1	1	NUM
fcis-29831	158	20	2	2	NUM
fcis-29831	158	21	2	2	NUM
fcis-29831	158	22	1	1	NUM
fcis-29831	158	23	c	c	NOUN
fcis-29831	158	24	2	2	NUM
fcis-29831	158	25	1	1	NUM
fcis-29831	158	26	c1	c1	NOUN
fcis-29831	158	27	1	1	NUM
fcis-29831	158	28	1	1	NUM
fcis-29831	158	29	1	1	NUM
fcis-29831	158	30	1	1	NUM
fcis-29831	158	31	0	0	NUM
fcis-29831	158	32	1,b	1,b	NOUN
fcis-29831	158	33	,	,	PUNCT
fcis-29831	158	34	b	b	PROPN
fcis-29831	158	35	t	t	PROPN
fcis-29831	158	36	2	2	NUM
fcis-29831	158	37	t	t	NOUN
fcis-29831	158	38	2	2	NUM
fcis-29831	158	39			PROPN
fcis-29831	158	40			X
fcis-29831	158	41			X
fcis-29831	158	42			X
fcis-29831	158	43			X
fcis-29831	158	44			PROPN
fcis-29831	158	45			X
fcis-29831	158	46			PROPN
fcis-29831	158	47			NOUN
fcis-29831	158	48			VERB
fcis-29831	158	49			NOUN
fcis-29831	158	50			PROPN
fcis-29831	158	51			NUM
fcis-29831	158	52			PUNCT
fcis-29831	158	53			PROPN
fcis-29831	159	1			PROPN
fcis-29831	159	2			PROPN
fcis-29831	160	1			PROPN
fcis-29831	160	2			NOUN
fcis-29831	160	3			NOUN
fcis-29831	160	4			NOUN
fcis-29831	160	5	,	,	PUNCT
fcis-29831	160	6	2	2	NUM
fcis-29831	160	7	is	be	AUX
fcis-29831	160	8	a	a	DET
fcis-29831	160	9	small	small	ADJ
fcis-29831	160	10	positive	positive	ADJ
fcis-29831	160	11	constant	constant	NOUN
fcis-29831	160	12	.	.	PUNCT
fcis-29831	161	1	the	the	DET
fcis-29831	161	2	output	output	NOUN
fcis-29831	161	3	of	of	ADP
fcis-29831	161	4	q	q	ADJ
fcis-29831	161	5	-	-	PUNCT
fcis-29831	161	6	axis	axis	ADJ
fcis-29831	161	7	velocity	velocity	NOUN
fcis-29831	161	8	control	control	NOUN
fcis-29831	161	9	*	*	PUNCT
fcis-29831	161	10	qi	qi	PROPN
fcis-29831	161	11	serves	serve	VERB
fcis-29831	161	12	as	as	ADP
fcis-29831	161	13	the	the	DET
fcis-29831	161	14	input	input	NOUN
fcis-29831	161	15	to	to	ADP
fcis-29831	161	16	q	q	ADJ
fcis-29831	161	17	-	-	PUNCT
fcis-29831	161	18	axis	axis	ADJ
fcis-29831	161	19	current	current	ADJ
fcis-29831	161	20	sliding	slide	VERB
fcis-29831	161	21	mode	mode	NOUN
fcis-29831	161	22	control	control	NOUN
fcis-29831	161	23	in	in	ADP
fcis-29831	161	24	next	next	ADJ
fcis-29831	161	25	section	section	NOUN
fcis-29831	161	26	.	.	PUNCT
fcis-29831	162	1	3.2.2	3.2.2	NUM
fcis-29831	162	2	.	.	PUNCT
fcis-29831	162	3	higher	high	ADJ
fcis-29831	162	4	-	-	PUNCT
fcis-29831	162	5	order	order	NOUN
fcis-29831	162	6	current	current	ADJ
fcis-29831	162	7	control	control	NOUN
fcis-29831	162	8	we	we	PRON
fcis-29831	162	9	define	define	VERB
fcis-29831	162	10	the	the	DET
fcis-29831	162	11	qd	qd	NOUN
fcis-29831	162	12	-	-	PUNCT
fcis-29831	162	13	axis	axis	NOUN
fcis-29831	162	14	current	current	ADJ
fcis-29831	162	15	control	control	NOUN
fcis-29831	162	16	law	law	NOUN
fcis-29831	162	17	as	as	ADP
fcis-29831	162	18	q	q	NOUN
fcis-29831	162	19	q	q	NOUN
fcis-29831	162	20	,	,	PUNCT
fcis-29831	162	21	eq	eq	ADJ
fcis-29831	162	22	q	q	NOUN
fcis-29831	162	23	,	,	PUNCT
fcis-29831	162	24	nu	nu	INTJ
fcis-29831	162	25	u	u	X
fcis-29831	162	26	u	u	X
fcis-29831	162	27			PUNCT
fcis-29831	162	28	(	(	PUNCT
fcis-29831	162	29	21	21	NUM
fcis-29831	162	30	)	)	PUNCT
fcis-29831	162	31	d	d	NOUN
fcis-29831	162	32	d	d	PROPN
fcis-29831	162	33	,	,	PUNCT
fcis-29831	162	34	eq	eq	ADJ
fcis-29831	162	35	d	d	PROPN
fcis-29831	162	36	,	,	PUNCT
fcis-29831	162	37	nu	nu	PROPN
fcis-29831	162	38	u	u	X
fcis-29831	162	39	u	u	X
fcis-29831	162	40			X
fcis-29831	162	41	(	(	PUNCT
fcis-29831	162	42	22	22	NUM
fcis-29831	162	43	)	)	PUNCT
fcis-29831	162	44	here	here	ADV
fcis-29831	162	45	,	,	PUNCT
fcis-29831	162	46	q	q	X
fcis-29831	162	47	du	du	PROPN
fcis-29831	162	48	,	,	PUNCT
fcis-29831	162	49	u	u	PROPN
fcis-29831	162	50	is	be	AUX
fcis-29831	162	51	the	the	DET
fcis-29831	162	52	qd	qd	NOUN
fcis-29831	162	53	-	-	PUNCT
fcis-29831	162	54	axis	axis	NOUN
fcis-29831	162	55	stator	stator	NOUN
fcis-29831	162	56	voltage	voltage	NOUN
fcis-29831	162	57	,	,	PUNCT
fcis-29831	162	58	q	q	NOUN
fcis-29831	162	59	,	,	PUNCT
fcis-29831	162	60	eq	eq	ADJ
fcis-29831	162	61	d	d	PROPN
fcis-29831	162	62	,	,	PUNCT
fcis-29831	162	63	equ	equ	PROPN
fcis-29831	162	64	,	,	PUNCT
fcis-29831	162	65	u	u	NOUN
fcis-29831	162	66	is	be	AUX
fcis-29831	162	67	the	the	DET
fcis-29831	162	68	equivalent	equivalent	ADJ
fcis-29831	162	69	control	control	NOUN
fcis-29831	162	70	and	and	CCONJ
fcis-29831	162	71	q	q	NOUN
fcis-29831	162	72	,	,	PUNCT
fcis-29831	162	73	n	n	PROPN
fcis-29831	162	74	d	d	NOUN
fcis-29831	162	75	,	,	PUNCT
fcis-29831	162	76	nu	nu	INTJ
fcis-29831	162	77	,	,	PUNCT
fcis-29831	162	78	u	u	PROPN
fcis-29831	162	79	is	be	AUX
fcis-29831	162	80	the	the	DET
fcis-29831	162	81	switching	switch	VERB
fcis-29831	162	82	control	control	NOUN
fcis-29831	162	83	.	.	PUNCT
fcis-29831	163	1	from	from	ADP
fcis-29831	163	2	the	the	DET
fcis-29831	163	3	sliding	slide	VERB
fcis-29831	163	4	surface	surface	NOUN
fcis-29831	163	5	q	q	NOUN
fcis-29831	163	6	,	,	PUNCT
fcis-29831	163	7	ds	ds	PROPN
fcis-29831	163	8	s	s	X
fcis-29831	163	9	,	,	PUNCT
fcis-29831	163	10	q	q	ADJ
fcis-29831	163	11	,	,	PUNCT
fcis-29831	163	12	ds	ds	ADJ
fcis-29831	163	13	s	s	NOUN
fcis-29831	163	14			NOUN
fcis-29831	163	15	is	be	AUX
fcis-29831	163	16	found	find	VERB
fcis-29831	163	17	to	to	PART
fcis-29831	163	18	be	be	AUX
fcis-29831	163	19	*	*	PUNCT
fcis-29831	163	20	f	f	PROPN
fcis-29831	163	21	q	q	PROPN
fcis-29831	163	22	n	n	NOUN
fcis-29831	163	23	r	r	NOUN
fcis-29831	163	24	d	d	PROPN
fcis-29831	163	25	n	n	NOUN
fcis-29831	163	26	r	r	NOUN
fcis-29831	163	27	q	q	NOUN
fcis-29831	163	28	q	q	NOUN
fcis-29831	163	29	*	*	PUNCT
fcis-29831	163	30	d	d	PROPN
fcis-29831	163	31	d	d	PROPN
fcis-29831	163	32	n	n	NOUN
fcis-29831	163	33	r	r	NOUN
fcis-29831	163	34	q	q	NOUN
fcis-29831	164	1	d	d	X
fcis-29831	164	2	d	d	X
fcis-29831	164	3	q	q	NOUN
fcis-29831	164	4	r	r	NOUN
fcis-29831	164	5	1	1	NUM
fcis-29831	165	1	i	i	PRON
fcis-29831	165	2	p	p	VERB
fcis-29831	166	1	i	i	PRON
fcis-29831	166	2	p	p	NOUN
fcis-29831	166	3	u	u	NOUN
fcis-29831	166	4	i	i	NOUN
fcis-29831	166	5	l	l	NOUN
fcis-29831	166	6	l	l	X
fcis-29831	166	7	l	l	NOUN
fcis-29831	166	8	r	r	NOUN
fcis-29831	166	9	1	1	NUM
fcis-29831	167	1	i	i	PRON
fcis-29831	167	2	p	p	X
fcis-29831	168	1	i	i	PRON
fcis-29831	168	2	u	u	INTJ
fcis-29831	169	1	i	i	NOUN
fcis-29831	169	2	l	l	NOUN
fcis-29831	169	3	s	s	PART
fcis-29831	169	4	l	l	NOUN
fcis-29831	169	5	s	s	PART
fcis-29831	169	6			PROPN
fcis-29831	169	7			PROPN
fcis-29831	169	8			NOUN
fcis-29831	169	9			PROPN
fcis-29831	169	10			PROPN
fcis-29831	169	11			X
fcis-29831	169	12			PROPN
fcis-29831	169	13			PROPN
fcis-29831	169	14			PUNCT
fcis-29831	169	15			PROPN
fcis-29831	169	16			PROPN
fcis-29831	169	17			VERB
fcis-29831	169	18			NUM
fcis-29831	169	19			PUNCT
fcis-29831	169	20			NOUN
fcis-29831	169	21			NOUN
fcis-29831	169	22			NOUN
fcis-29831	169	23			NOUN
fcis-29831	169	24			NOUN
fcis-29831	169	25	(	(	PUNCT
fcis-29831	169	26	23	23	NUM
fcis-29831	169	27	)	)	PUNCT
fcis-29831	169	28	the	the	DET
fcis-29831	169	29	equivalent	equivalent	ADJ
fcis-29831	169	30	control	control	NOUN
fcis-29831	169	31	becomes	become	VERB
fcis-29831	169	32	:	:	PUNCT
fcis-29831	169	33	fq	fq	NOUN
fcis-29831	169	34	,	,	PUNCT
fcis-29831	169	35	eq	eq	NOUN
fcis-29831	169	36	n	n	PROPN
fcis-29831	169	37	d	d	PROPN
fcis-29831	169	38	,	,	PUNCT
fcis-29831	170	1	e	e	X
fcis-29831	170	2	*	*	PUNCT
fcis-29831	170	3	f	f	X
fcis-29831	170	4	q	q	X
fcis-29831	170	5	q	q	X
fcis-29831	170	6	r	r	NOUN
fcis-29831	170	7	d	d	NOUN
fcis-29831	170	8	n	n	NOUN
fcis-29831	170	9	r	r	NOUN
fcis-29831	170	10	r	r	NOUN
fcis-29831	170	11	*	*	PUNCT
fcis-29831	170	12	d	d	NOUN
fcis-29831	170	13	n	n	CCONJ
fcis-29831	170	14	r	r	NOUN
fcis-29831	170	15	qq	qq	NOUN
fcis-29831	170	16	d	d	X
fcis-29831	170	17	u	u	X
fcis-29831	170	18	l	l	NOUN
fcis-29831	171	1	i	i	PRON
fcis-29831	171	2	ri	ri	VERB
fcis-29831	172	1	i	i	PRON
fcis-29831	172	2	p	p	X
fcis-29831	173	1	i	i	NOUN
fcis-29831	173	2	l	l	NOUN
fcis-29831	174	1	p	p	NOUN
fcis-29831	174	2	l	l	NOUN
fcis-29831	174	3	r	r	NOUN
fcis-29831	174	4	lp	lp	PROPN
fcis-29831	174	5	iu	iu	ADP
fcis-29831	174	6	pli	pli	PROPN
fcis-29831	174	7			PROPN
fcis-29831	174	8			PROPN
fcis-29831	174	9			PROPN
fcis-29831	174	10			PROPN
fcis-29831	174	11			PUNCT
fcis-29831	174	12			PUNCT
fcis-29831	174	13			PROPN
fcis-29831	174	14			PROPN
fcis-29831	174	15			NOUN
fcis-29831	174	16			X
fcis-29831	174	17			X
fcis-29831	174	18			ADV
fcis-29831	174	19			PRON
fcis-29831	174	20			NOUN
fcis-29831	174	21			NOUN
fcis-29831	174	22	(	(	PUNCT
fcis-29831	174	23	24	24	NUM
fcis-29831	174	24	)	)	PUNCT
fcis-29831	174	25	by	by	ADP
fcis-29831	174	26	applying	apply	VERB
fcis-29831	174	27	a	a	DET
fcis-29831	174	28	predefined	predefine	VERB
fcis-29831	174	29	time	time	NOUN
fcis-29831	174	30	sliding	slide	VERB
fcis-29831	174	31	mode	mode	NOUN
fcis-29831	174	32	algorithm	algorithm	NOUN
fcis-29831	174	33	,	,	PUNCT
fcis-29831	174	34	switch	switch	NOUN
fcis-29831	174	35	control	control	NOUN
fcis-29831	174	36	becomes	become	VERB
fcis-29831	174	37	:	:	PUNCT
fcis-29831	174	38			NOUN
fcis-29831	174	39			SYM
fcis-29831	174	40			NOUN
fcis-29831	174	41	1	1	VERB
fcis-29831	174	42	1	1	NUM
fcis-29831	174	43	1	1	NUM
fcis-29831	174	44	2	2	NUM
fcis-29831	174	45	3	3	NUM
fcis-29831	174	46	d	d	NOUN
fcis-29831	174	47	,	,	PUNCT
fcis-29831	174	48	q	q	NOUN
fcis-29831	174	49	qd	qd	PROPN
fcis-29831	174	50	,	,	PUNCT
fcis-29831	174	51	n	n	PROPN
fcis-29831	174	52	d	d	NOUN
fcis-29831	174	53	,	,	PUNCT
fcis-29831	174	54	q	q	PROPN
fcis-29831	174	55	d	d	NOUN
fcis-29831	174	56	3	3	NUM
fcis-29831	174	57	,	,	PUNCT
fcis-29831	174	58	qu	qu	PROPN
fcis-29831	174	59	s	s	VERB
fcis-29831	174	60	sig	sig	NOUN
fcis-29831	174	61	s	s	VERB
fcis-29831	174	62	c	c	NOUN
fcis-29831	174	63	sig	sig	NOUN
fcis-29831	174	64	s	s	VERB
fcis-29831	174	65	cl	cl	NOUN
fcis-29831	174	66	t	t	PROPN
fcis-29831	174	67	nhc	nhc	PROPN
fcis-29831	174	68	a	a	PROPN
fcis-29831	174	69			PROPN
fcis-29831	174	70			PROPN
fcis-29831	174	71			NOUN
fcis-29831	174	72			PROPN
fcis-29831	174	73			VERB
fcis-29831	174	74			NOUN
fcis-29831	174	75			NOUN
fcis-29831	174	76			NOUN
fcis-29831	174	77			PROPN
fcis-29831	174	78			PROPN
fcis-29831	174	79			X
fcis-29831	175	1			PROPN
fcis-29831	175	2			ADV
fcis-29831	175	3			PROPN
fcis-29831	175	4			PROPN
fcis-29831	175	5			PROPN
fcis-29831	175	6			NOUN
fcis-29831	175	7	(	(	PUNCT
fcis-29831	175	8	25	25	NUM
fcis-29831	175	9	)	)	PUNCT
fcis-29831	175	10	here	here	ADV
fcis-29831	175	11	,	,	PUNCT
fcis-29831	175	12	1	1	NUM
fcis-29831	175	13	1	1	NUM
fcis-29831	175	14	2	2	NUM
fcis-29831	175	15	2	2	NUM
fcis-29831	175	16	1	1	NUM
fcis-29831	175	17	c	c	NOUN
fcis-29831	175	18	2	2	NUM
fcis-29831	175	19	2	2	NUM
fcis-29831	175	20	c2	c2	NOUN
fcis-29831	175	21	1	1	NUM
fcis-29831	175	22	1	1	NUM
fcis-29831	175	23	1	1	NUM
fcis-29831	175	24	1	1	NUM
fcis-29831	175	25	0	0	NUM
fcis-29831	175	26	1,c	1,c	NOUN
fcis-29831	175	27	,	,	PUNCT
fcis-29831	175	28	c	c	PROPN
fcis-29831	175	29	t	t	PROPN
fcis-29831	175	30	2	2	NUM
fcis-29831	175	31	t	t	PROPN
fcis-29831	175	32	2	2	NUM
fcis-29831	175	33			PROPN
fcis-29831	175	34			PROPN
fcis-29831	175	35			PROPN
fcis-29831	175	36			PROPN
fcis-29831	175	37			PROPN
fcis-29831	176	1			PROPN
fcis-29831	176	2			PROPN
fcis-29831	176	3			VERB
fcis-29831	177	1			NOUN
fcis-29831	177	2			PROPN
fcis-29831	177	3			PROPN
fcis-29831	177	4			PUNCT
fcis-29831	177	5			PROPN
fcis-29831	177	6			PROPN
fcis-29831	177	7			NOUN
fcis-29831	177	8			NOUN
fcis-29831	177	9			NOUN
fcis-29831	177	10			PROPN
fcis-29831	177	11			NOUN
fcis-29831	177	12	,	,	PUNCT
fcis-29831	177	13	3	3	NUM
fcis-29831	177	14	is	be	AUX
fcis-29831	177	15	a	a	DET
fcis-29831	177	16	small	small	ADJ
fcis-29831	177	17	positive	positive	ADJ
fcis-29831	177	18	constant	constant	NOUN
fcis-29831	177	19	.	.	PUNCT
fcis-29831	178	1	the	the	DET
fcis-29831	178	2	output	output	NOUN
fcis-29831	178	3	of	of	ADP
fcis-29831	178	4	qd	qd	NOUN
fcis-29831	178	5	-	-	PUNCT
fcis-29831	178	6	axis	axis	NOUN
fcis-29831	178	7	voltage	voltage	NOUN
fcis-29831	178	8	control	control	NOUN
fcis-29831	178	9	q	q	NOUN
fcis-29831	178	10	,	,	PUNCT
fcis-29831	178	11	eq	eq	ADJ
fcis-29831	178	12	d	d	PROPN
fcis-29831	178	13	,	,	PUNCT
fcis-29831	178	14	equ	equ	PROPN
fcis-29831	178	15	,	,	PUNCT
fcis-29831	178	16	u	u	NOUN
fcis-29831	178	17	serves	serve	VERB
fcis-29831	178	18	as	as	ADP
fcis-29831	178	19	the	the	DET
fcis-29831	178	20	input	input	NOUN
fcis-29831	178	21	to	to	PART
fcis-29831	178	22	svpwm	svpwm	VERB
fcis-29831	178	23	module	module	NOUN
fcis-29831	178	24	to	to	PART
fcis-29831	178	25	complete	complete	VERB
fcis-29831	178	26	the	the	DET
fcis-29831	178	27	convergence	convergence	NOUN
fcis-29831	178	28	of	of	ADP
fcis-29831	178	29	current	current	ADJ
fcis-29831	178	30	.	.	PUNCT
fcis-29831	179	1	finally	finally	ADV
fcis-29831	179	2	,	,	PUNCT
fcis-29831	179	3	we	we	PRON
fcis-29831	179	4	can	can	AUX
fcis-29831	179	5	calculate	calculate	VERB
fcis-29831	179	6	the	the	DET
fcis-29831	179	7	total	total	ADJ
fcis-29831	179	8	convergence	convergence	NOUN
fcis-29831	179	9	time	time	NOUN
fcis-29831	179	10	of	of	ADP
fcis-29831	179	11	the	the	DET
fcis-29831	179	12	speed	speed	NOUN
fcis-29831	179	13	tracking	tracking	NOUN
fcis-29831	179	14	error	error	NOUN
fcis-29831	179	15	as	as	ADP
fcis-29831	179	16	c	c	PROPN
fcis-29831	179	17	c1	c1	PROPN
fcis-29831	179	18	c2	c2	PROPN
fcis-29831	179	19	t	t	PROPN
fcis-29831	179	20	t	t	PROPN
fcis-29831	179	21	t	t	PROPN
fcis-29831	179	22			ADV
fcis-29831	179	23	.	.	PUNCT
fcis-29831	180	1	4	4	X
fcis-29831	180	2	.	.	X
fcis-29831	180	3	simulation	simulation	NOUN
fcis-29831	180	4	experiment	experiment	NOUN
fcis-29831	180	5	in	in	ADP
fcis-29831	180	6	this	this	DET
fcis-29831	180	7	section	section	NOUN
fcis-29831	180	8	,	,	PUNCT
fcis-29831	180	9	the	the	DET
fcis-29831	180	10	proposed	propose	VERB
fcis-29831	180	11	control	control	NOUN
fcis-29831	180	12	method	method	NOUN
fcis-29831	180	13	for	for	ADP
fcis-29831	180	14	the	the	DET
fcis-29831	180	15	pmsm	pmsm	NOUN
fcis-29831	180	16	93	93	NUM
fcis-29831	180	17	will	will	AUX
fcis-29831	180	18	be	be	AUX
fcis-29831	180	19	validated	validate	VERB
fcis-29831	180	20	through	through	ADP
fcis-29831	180	21	real	real	ADJ
fcis-29831	180	22	-	-	PUNCT
fcis-29831	180	23	time	time	NOUN
fcis-29831	180	24	experiments	experiment	NOUN
fcis-29831	180	25	to	to	PART
fcis-29831	180	26	demonstrate	demonstrate	VERB
fcis-29831	180	27	its	its	PRON
fcis-29831	180	28	effectiveness	effectiveness	NOUN
fcis-29831	180	29	and	and	CCONJ
fcis-29831	180	30	advantages	advantage	NOUN
fcis-29831	180	31	.	.	PUNCT
fcis-29831	181	1	the	the	DET
fcis-29831	181	2	pmsm	pmsm	NOUN
fcis-29831	181	3	parameters	parameter	NOUN
fcis-29831	181	4	of	of	ADP
fcis-29831	181	5	the	the	DET
fcis-29831	181	6	simulation	simulation	NOUN
fcis-29831	181	7	model	model	NOUN
fcis-29831	181	8	are	be	AUX
fcis-29831	181	9	shown	show	VERB
fcis-29831	181	10	by	by	ADP
fcis-29831	181	11	table	table	NOUN
fcis-29831	181	12	1	1	NUM
fcis-29831	181	13	.	.	PUNCT
fcis-29831	182	1	the	the	DET
fcis-29831	182	2	sampling	sample	VERB
fcis-29831	182	3	frequency	frequency	NOUN
fcis-29831	182	4	of	of	ADP
fcis-29831	182	5	simulation	simulation	NOUN
fcis-29831	182	6	is	be	AUX
fcis-29831	182	7	set	set	VERB
fcis-29831	182	8	to	to	ADP
fcis-29831	182	9	100	100	NUM
fcis-29831	182	10	khz	khz	NOUN
fcis-29831	182	11	,	,	PUNCT
fcis-29831	182	12	and	and	CCONJ
fcis-29831	182	13	the	the	DET
fcis-29831	182	14	initial	initial	ADJ
fcis-29831	182	15	states	state	NOUN
fcis-29831	182	16	of	of	ADP
fcis-29831	182	17	the	the	DET
fcis-29831	182	18	pmsm	pmsm	NOUN
fcis-29831	182	19	are	be	AUX
fcis-29831	182	20	specified	specify	VERB
fcis-29831	182	21	as	as	SCONJ
fcis-29831	182	22	follows	follow	VERB
fcis-29831	182	23	:	:	PUNCT
fcis-29831	182	24			ADJ
fcis-29831	182	25	t	t	PROPN
fcis-29831	182	26	t	t	PROPN
fcis-29831	182	27	q	q	PROPN
fcis-29831	182	28	d	d	X
fcis-29831	182	29	r	r	NOUN
fcis-29831	182	30	ei	ei	NOUN
fcis-29831	182	31	,	,	PUNCT
fcis-29831	182	32	i	i	PRON
fcis-29831	182	33	,	,	PUNCT
fcis-29831	182	34	,	,	PUNCT
fcis-29831	182	35	0,0,0,0	0,0,0,0	ADJ
fcis-29831	182	36			NOUN
fcis-29831	182	37			PROPN
fcis-29831	182	38			PROPN
fcis-29831	182	39			PROPN
fcis-29831	182	40	(	(	PUNCT
fcis-29831	182	41	26	26	NUM
fcis-29831	182	42	)	)	PUNCT
fcis-29831	182	43	the	the	DET
fcis-29831	182	44	indicator	indicator	NOUN
fcis-29831	182	45	rmse	rmse	NOUN
fcis-29831	182	46	and	and	CCONJ
fcis-29831	182	47	maxe	maxe	NOUN
fcis-29831	182	48	used	use	VERB
fcis-29831	182	49	in	in	ADP
fcis-29831	182	50	the	the	DET
fcis-29831	182	51	experiment	experiment	NOUN
fcis-29831	182	52	are	be	AUX
fcis-29831	182	53	defined	define	VERB
fcis-29831	182	54	by	by	ADP
fcis-29831	182	55	the	the	DET
fcis-29831	182	56	following	follow	VERB
fcis-29831	182	57	:	:	PUNCT
fcis-29831	182	58			NOUN
fcis-29831	183	1			PROPN
fcis-29831	183	2			NOUN
fcis-29831	183	3			SYM
fcis-29831	183	4			NOUN
fcis-29831	183	5			PROPN
fcis-29831	183	6	2	2	NUM
fcis-29831	183	7	1	1	NUM
fcis-29831	183	8			NUM
fcis-29831	183	9			NOUN
fcis-29831	183	10			X
fcis-29831	184	1	n	n	NOUN
fcis-29831	184	2	i	i	PRON
fcis-29831	184	3	maxe	maxe	VERB
fcis-29831	184	4	e	e	X
fcis-29831	184	5	max	max	PROPN
fcis-29831	184	6	e	e	PROPN
fcis-29831	184	7	(	(	PUNCT
fcis-29831	184	8	i	i	NOUN
fcis-29831	184	9	)	)	PUNCT
fcis-29831	185	1	e	e	X
fcis-29831	185	2	(	(	PUNCT
fcis-29831	185	3	i	i	NOUN
fcis-29831	185	4	)	)	PUNCT
fcis-29831	185	5	rmse	rmse	NOUN
fcis-29831	186	1	e	e	NOUN
fcis-29831	186	2	n	n	PRON
fcis-29831	186	3			VERB
fcis-29831	186	4			VERB
fcis-29831	186	5			NOUN
fcis-29831	186	6			X
fcis-29831	186	7	(	(	PUNCT
fcis-29831	186	8	27	27	NUM
fcis-29831	186	9	)	)	PUNCT
fcis-29831	186	10	here	here	ADV
fcis-29831	186	11	,	,	PUNCT
fcis-29831	186	12	n	n	PRON
fcis-29831	186	13	is	be	AUX
fcis-29831	186	14	the	the	DET
fcis-29831	186	15	number	number	NOUN
fcis-29831	186	16	of	of	ADP
fcis-29831	186	17	the	the	DET
fcis-29831	186	18	sampled	sample	VERB
fcis-29831	186	19	tracking	tracking	NOUN
fcis-29831	186	20	error	error	NOUN
fcis-29831	186	21	,	,	PUNCT
fcis-29831	186	22	e	e	X
fcis-29831	186	23	(	(	PUNCT
fcis-29831	186	24	i	i	NOUN
fcis-29831	186	25	)	)	PUNCT
fcis-29831	186	26			NOUN
fcis-29831	186	27	is	be	AUX
fcis-29831	186	28	the	the	DET
fcis-29831	186	29	speed	speed	NOUN
fcis-29831	186	30	tracking	tracking	NOUN
fcis-29831	186	31	error	error	NOUN
fcis-29831	186	32	of	of	ADP
fcis-29831	186	33	the	the	DET
fcis-29831	186	34	i	i	PROPN
fcis-29831	186	35	-	-	PUNCT
fcis-29831	186	36	th	th	VERB
fcis-29831	186	37	sampling	sampling	NOUN
fcis-29831	186	38	time	time	NOUN
fcis-29831	186	39	.	.	PUNCT
fcis-29831	187	1	meanwhile	meanwhile	ADV
fcis-29831	187	2	,	,	PUNCT
fcis-29831	187	3	the	the	DET
fcis-29831	187	4	settling	settling	NOUN
fcis-29831	187	5	time	time	NOUN
fcis-29831	187	6	and	and	CCONJ
fcis-29831	187	7	maximum	maximum	ADJ
fcis-29831	187	8	speed	speed	NOUN
fcis-29831	187	9	drop	drop	NOUN
fcis-29831	187	10	are	be	AUX
fcis-29831	187	11	considered	consider	VERB
fcis-29831	187	12	to	to	PART
fcis-29831	187	13	evaluate	evaluate	VERB
fcis-29831	187	14	the	the	DET
fcis-29831	187	15	dynamic	dynamic	ADJ
fcis-29831	187	16	performance	performance	NOUN
fcis-29831	187	17	of	of	ADP
fcis-29831	187	18	the	the	DET
fcis-29831	187	19	proposed	propose	VERB
fcis-29831	187	20	method	method	NOUN
fcis-29831	187	21	.	.	PUNCT
fcis-29831	188	1	table	table	NOUN
fcis-29831	188	2	1	1	NUM
fcis-29831	188	3	.	.	PUNCT
fcis-29831	189	1	parameters	parameter	NOUN
fcis-29831	189	2	of	of	ADP
fcis-29831	189	3	pmsm	pmsm	NOUN
fcis-29831	189	4	2.875	2.875	NUM
fcis-29831	189	5	8.5	8.5	NUM
fcis-29831	189	6	0.003	0.003	NUM
fcis-29831	189	7	0.175	0.175	NUM
fcis-29831	189	8	0.008	0.008	NUM
fcis-29831	189	9	4	4	NUM
fcis-29831	189	10	4.1	4.1	NUM
fcis-29831	189	11	.	.	PUNCT
fcis-29831	190	1	comparison	comparison	NOUN
fcis-29831	190	2	of	of	ADP
fcis-29831	190	3	the	the	DET
fcis-29831	190	4	aptdo	aptdo	NOUN
fcis-29831	190	5	in	in	ADP
fcis-29831	190	6	this	this	DET
fcis-29831	190	7	experiment	experiment	NOUN
fcis-29831	190	8	to	to	PART
fcis-29831	190	9	verify	verify	VERB
fcis-29831	190	10	the	the	DET
fcis-29831	190	11	effectiveness	effectiveness	NOUN
fcis-29831	190	12	of	of	ADP
fcis-29831	190	13	the	the	DET
fcis-29831	190	14	proposed	propose	VERB
fcis-29831	190	15	aptdo	aptdo	NOUN
fcis-29831	190	16	,	,	PUNCT
fcis-29831	190	17	three	three	NUM
fcis-29831	190	18	types	type	NOUN
fcis-29831	190	19	of	of	ADP
fcis-29831	190	20	loads	load	NOUN
fcis-29831	190	21	are	be	AUX
fcis-29831	190	22	considered	consider	VERB
fcis-29831	190	23	:	:	PUNCT
fcis-29831	190	24	step	step	NOUN
fcis-29831	190	25	disturbance	disturbance	NOUN
fcis-29831	190	26	,	,	PUNCT
fcis-29831	190	27	time	time	NOUN
fcis-29831	190	28	-	-	PUNCT
fcis-29831	190	29	varying	vary	VERB
fcis-29831	190	30	disturbance	disturbance	NOUN
fcis-29831	190	31	,	,	PUNCT
fcis-29831	190	32	and	and	CCONJ
fcis-29831	190	33	high	high	ADJ
fcis-29831	190	34	-	-	PUNCT
fcis-29831	190	35	frequency	frequency	NOUN
fcis-29831	190	36	noise	noise	NOUN
fcis-29831	190	37	disturbance	disturbance	NOUN
fcis-29831	190	38	.	.	PUNCT
fcis-29831	191	1	from	from	ADP
fcis-29831	191	2	the	the	DET
fcis-29831	191	3	fig	fig	NOUN
fcis-29831	191	4	.	.	PUNCT
fcis-29831	192	1	(	(	PUNCT
fcis-29831	192	2	2	2	NUM
fcis-29831	192	3	)	)	PUNCT
fcis-29831	192	4	,	,	PUNCT
fcis-29831	192	5	it	it	PRON
fcis-29831	192	6	can	can	AUX
fcis-29831	192	7	be	be	AUX
fcis-29831	192	8	seen	see	VERB
fcis-29831	192	9	that	that	SCONJ
fcis-29831	192	10	the	the	DET
fcis-29831	192	11	aptdo	aptdo	NOUN
fcis-29831	192	12	designed	design	VERB
fcis-29831	192	13	in	in	ADP
fcis-29831	192	14	this	this	DET
fcis-29831	192	15	paper	paper	NOUN
fcis-29831	192	16	can	can	AUX
fcis-29831	192	17	track	track	VERB
fcis-29831	192	18	these	these	DET
fcis-29831	192	19	three	three	NUM
fcis-29831	192	20	types	type	NOUN
fcis-29831	192	21	of	of	ADP
fcis-29831	192	22	disturbance	disturbance	NOUN
fcis-29831	192	23	quickly	quickly	ADV
fcis-29831	192	24	with	with	ADP
fcis-29831	192	25	good	good	ADJ
fcis-29831	192	26	special	special	ADJ
fcis-29831	192	27	effects	effect	NOUN
fcis-29831	192	28	.	.	PUNCT
fcis-29831	193	1	fig	fig	NOUN
fcis-29831	193	2	2	2	NUM
fcis-29831	193	3	.	.	PUNCT
fcis-29831	194	1	the	the	DET
fcis-29831	194	2	disturbance	disturbance	NOUN
fcis-29831	194	3	estimation	estimation	NOUN
fcis-29831	194	4	performance	performance	NOUN
fcis-29831	194	5	of	of	ADP
fcis-29831	194	6	aptdo	aptdo	PROPN
fcis-29831	194	7	94	94	NUM
fcis-29831	194	8	4.2	4.2	NUM
fcis-29831	194	9	.	.	PUNCT
fcis-29831	195	1	comparison	comparison	NOUN
fcis-29831	195	2	of	of	ADP
fcis-29831	195	3	the	the	DET
fcis-29831	195	4	ho	ho	ADJ
fcis-29831	195	5	-	-	PUNCT
fcis-29831	195	6	ptsmc	ptsmc	NOUN
fcis-29831	195	7	the	the	DET
fcis-29831	195	8	effect	effect	NOUN
fcis-29831	195	9	of	of	ADP
fcis-29831	195	10	the	the	DET
fcis-29831	195	11	proposed	propose	VERB
fcis-29831	195	12	ho	ho	NOUN
fcis-29831	195	13	-	-	PUNCT
fcis-29831	195	14	ptsmc	ptsmc	NOUN
fcis-29831	195	15	is	be	AUX
fcis-29831	195	16	verified	verify	VERB
fcis-29831	195	17	in	in	ADP
fcis-29831	195	18	this	this	DET
fcis-29831	195	19	experiment	experiment	NOUN
fcis-29831	195	20	and	and	CCONJ
fcis-29831	195	21	compared	compare	VERB
fcis-29831	195	22	with	with	ADP
fcis-29831	195	23	the	the	DET
fcis-29831	195	24	ho	ho	PROPN
fcis-29831	195	25	-	-	PUNCT
fcis-29831	195	26	stsmc	stsmc	NOUN
fcis-29831	195	27	proposed	propose	VERB
fcis-29831	195	28	in	in	ADP
fcis-29831	195	29	paper	paper	NOUN
fcis-29831	195	30	[	[	X
fcis-29831	195	31	8	8	NUM
fcis-29831	195	32	]	]	PUNCT
fcis-29831	195	33	.	.	PUNCT
fcis-29831	196	1	as	as	SCONJ
fcis-29831	196	2	can	can	AUX
fcis-29831	196	3	be	be	AUX
fcis-29831	196	4	seen	see	VERB
fcis-29831	196	5	from	from	ADP
fcis-29831	196	6	fig	fig	NOUN
fcis-29831	196	7	.	.	PUNCT
fcis-29831	197	1	(	(	PUNCT
fcis-29831	197	2	3	3	NUM
fcis-29831	197	3	-	-	SYM
fcis-29831	197	4	4	4	NUM
fcis-29831	197	5	)	)	PUNCT
fcis-29831	197	6	,	,	PUNCT
fcis-29831	197	7	the	the	DET
fcis-29831	197	8	novel	novel	NOUN
fcis-29831	197	9	proposed	propose	VERB
fcis-29831	197	10	algorithm	algorithm	NOUN
fcis-29831	197	11	has	have	VERB
fcis-29831	197	12	better	well	ADJ
fcis-29831	197	13	dynamic	dynamic	ADJ
fcis-29831	197	14	performance	performance	NOUN
fcis-29831	197	15	at	at	ADP
fcis-29831	197	16	both	both	DET
fcis-29831	197	17	step	step	NOUN
fcis-29831	197	18	and	and	CCONJ
fcis-29831	197	19	time	time	NOUN
fcis-29831	197	20	-	-	PUNCT
fcis-29831	197	21	varying	vary	VERB
fcis-29831	197	22	reference	reference	NOUN
fcis-29831	197	23	speed	speed	NOUN
fcis-29831	197	24	,	,	PUNCT
fcis-29831	197	25	and	and	CCONJ
fcis-29831	197	26	is	be	AUX
fcis-29831	197	27	able	able	ADJ
fcis-29831	197	28	to	to	PART
fcis-29831	197	29	complete	complete	VERB
fcis-29831	197	30	speed	speed	NOUN
fcis-29831	197	31	tracking	track	VERB
fcis-29831	197	32	quickly	quickly	ADV
fcis-29831	197	33	.	.	PUNCT
fcis-29831	198	1	the	the	DET
fcis-29831	198	2	data	datum	NOUN
fcis-29831	198	3	in	in	ADP
fcis-29831	198	4	table	table	NOUN
fcis-29831	198	5	2	2	NUM
fcis-29831	198	6	further	far	ADV
fcis-29831	198	7	validate	validate	VERB
fcis-29831	198	8	the	the	DET
fcis-29831	198	9	above	above	ADJ
fcis-29831	198	10	conclusion	conclusion	NOUN
fcis-29831	198	11	,	,	PUNCT
fcis-29831	198	12	as	as	SCONJ
fcis-29831	198	13	the	the	DET
fcis-29831	198	14	new	new	ADJ
fcis-29831	198	15	algorithm	algorithm	NOUN
fcis-29831	198	16	adopts	adopt	VERB
fcis-29831	198	17	the	the	DET
fcis-29831	198	18	fully	fully	ADV
fcis-29831	198	19	continuous	continuous	ADJ
fcis-29831	198	20	smooth	smooth	ADJ
fcis-29831	198	21	function	function	NOUN
fcis-29831	198	22	,	,	PUNCT
fcis-29831	198	23	it	it	PRON
fcis-29831	198	24	can	can	AUX
fcis-29831	198	25	effectively	effectively	ADV
fcis-29831	198	26	suppress	suppress	VERB
fcis-29831	198	27	the	the	DET
fcis-29831	198	28	jitter	jitter	NOUN
fcis-29831	198	29	oscillations	oscillation	NOUN
fcis-29831	198	30	and	and	CCONJ
fcis-29831	198	31	thus	thus	ADV
fcis-29831	198	32	achieve	achieve	VERB
fcis-29831	198	33	a	a	DET
fcis-29831	198	34	smaller	small	ADJ
fcis-29831	198	35	rmse	rmse	ADJ
fcis-29831	198	36	effect	effect	NOUN
fcis-29831	198	37	,	,	PUNCT
fcis-29831	198	38	which	which	PRON
fcis-29831	198	39	indicates	indicate	VERB
fcis-29831	198	40	that	that	SCONJ
fcis-29831	198	41	the	the	DET
fcis-29831	198	42	new	new	ADJ
fcis-29831	198	43	algorithm	algorithm	NOUN
fcis-29831	198	44	also	also	ADV
fcis-29831	198	45	has	have	VERB
fcis-29831	198	46	a	a	DET
fcis-29831	198	47	significant	significant	ADJ
fcis-29831	198	48	improvement	improvement	NOUN
fcis-29831	198	49	in	in	ADP
fcis-29831	198	50	the	the	DET
fcis-29831	198	51	steady	steady	ADJ
fcis-29831	198	52	state	state	NOUN
fcis-29831	198	53	performance	performance	NOUN
fcis-29831	198	54	.	.	PUNCT
fcis-29831	199	1	fig	fig	NOUN
fcis-29831	199	2	3	3	NUM
fcis-29831	199	3	.	.	PUNCT
fcis-29831	200	1	the	the	DET
fcis-29831	200	2	dynamic	dynamic	ADJ
fcis-29831	200	3	performance	performance	NOUN
fcis-29831	200	4	comparison	comparison	NOUN
fcis-29831	200	5	of	of	ADP
fcis-29831	200	6	step	step	NOUN
fcis-29831	200	7	speed	speed	NOUN
fcis-29831	200	8	fig	fig	NOUN
fcis-29831	200	9	4	4	NUM
fcis-29831	200	10	.	.	PUNCT
fcis-29831	201	1	the	the	DET
fcis-29831	201	2	dynamic	dynamic	ADJ
fcis-29831	201	3	performance	performance	NOUN
fcis-29831	201	4	comparison	comparison	NOUN
fcis-29831	201	5	of	of	ADP
fcis-29831	201	6	time	time	NOUN
fcis-29831	201	7	-	-	PUNCT
fcis-29831	201	8	varying	vary	VERB
fcis-29831	201	9	speed	speed	NOUN
fcis-29831	201	10	table	table	NOUN
fcis-29831	201	11	2	2	NUM
fcis-29831	201	12	.	.	PUNCT
fcis-29831	202	1	parameters	parameter	NOUN
fcis-29831	202	2	of	of	ADP
fcis-29831	202	3	pmsm	pmsm	NOUN
fcis-29831	202	4	controller	controller	NOUN
fcis-29831	202	5	method	method	NOUN
fcis-29831	202	6	step	step	NOUN
fcis-29831	202	7	speed	speed	NOUN
fcis-29831	202	8	time	time	NOUN
fcis-29831	202	9	-	-	PUNCT
fcis-29831	202	10	varying	vary	VERB
fcis-29831	202	11	speed	speed	NOUN
fcis-29831	202	12	rmse	rmse	NOUN
fcis-29831	202	13	maxe	maxe	PROPN
fcis-29831	202	14	rmse	rmse	PROPN
fcis-29831	202	15	maxe	maxe	PROPN
fcis-29831	202	16	ho	ho	PROPN
fcis-29831	202	17	-	-	PUNCT
fcis-29831	202	18	stsmc	stsmc	NOUN
fcis-29831	203	1	0.2498	0.2498	NUM
fcis-29831	203	2	2.3671	2.3671	NUM
fcis-29831	203	3	0.3594	0.3594	NUM
fcis-29831	203	4	4.4399	4.4399	NUM
fcis-29831	203	5	ho	ho	ADJ
fcis-29831	203	6	-	-	PUNCT
fcis-29831	203	7	ptsmc	ptsmc	NOUN
fcis-29831	203	8	0.0781	0.0781	NUM
fcis-29831	203	9	0.6352	0.6352	NUM
fcis-29831	203	10	0.0698	0.0698	NUM
fcis-29831	203	11	0.5468	0.5468	NUM
fcis-29831	203	12	95	95	NUM
fcis-29831	203	13	4.3	4.3	NUM
fcis-29831	203	14	.	.	PUNCT
fcis-29831	203	15	comparison	comparison	NOUN
fcis-29831	203	16	of	of	ADP
fcis-29831	203	17	the	the	DET
fcis-29831	203	18	ho	ho	ADJ
fcis-29831	203	19	-	-	PUNCT
fcis-29831	203	20	ptsmc+aptdo	ptsmc+aptdo	PROPN
fcis-29831	203	21	feedback	feedback	VERB
fcis-29831	203	22	the	the	DET
fcis-29831	203	23	effect	effect	NOUN
fcis-29831	203	24	of	of	ADP
fcis-29831	203	25	the	the	DET
fcis-29831	203	26	proposed	propose	VERB
fcis-29831	203	27	ho	ho	ADJ
fcis-29831	203	28	-	-	PUNCT
fcis-29831	203	29	ptsmc	ptsmc	NOUN
fcis-29831	203	30	with	with	ADP
fcis-29831	203	31	or	or	CCONJ
fcis-29831	203	32	without	without	ADP
fcis-29831	203	33	perturbation	perturbation	NOUN
fcis-29831	203	34	feedback	feedback	NOUN
fcis-29831	203	35	is	be	AUX
fcis-29831	203	36	compared	compare	VERB
fcis-29831	203	37	in	in	ADP
fcis-29831	203	38	this	this	DET
fcis-29831	203	39	experiment	experiment	NOUN
fcis-29831	203	40	.	.	PUNCT
fcis-29831	204	1	in	in	ADP
fcis-29831	204	2	considering	consider	VERB
fcis-29831	204	3	the	the	DET
fcis-29831	204	4	three	three	NUM
fcis-29831	204	5	-	-	PUNCT
fcis-29831	204	6	disturbance	disturbance	NOUN
fcis-29831	204	7	proposed	propose	VERB
fcis-29831	204	8	above	above	ADV
fcis-29831	204	9	,	,	PUNCT
fcis-29831	204	10	it	it	PRON
fcis-29831	204	11	can	can	AUX
fcis-29831	204	12	be	be	AUX
fcis-29831	204	13	found	find	VERB
fcis-29831	204	14	from	from	ADP
fcis-29831	204	15	fig	fig	NOUN
fcis-29831	204	16	.	.	PUNCT
fcis-29831	205	1	(	(	PUNCT
fcis-29831	205	2	5	5	NUM
fcis-29831	205	3	)	)	PUNCT
fcis-29831	205	4	that	that	SCONJ
fcis-29831	205	5	the	the	DET
fcis-29831	205	6	control	control	NOUN
fcis-29831	205	7	system	system	NOUN
fcis-29831	205	8	with	with	ADP
fcis-29831	205	9	the	the	DET
fcis-29831	205	10	addition	addition	NOUN
fcis-29831	205	11	of	of	ADP
fcis-29831	205	12	aptdo	aptdo	NOUN
fcis-29831	205	13	feedback	feedback	NOUN
fcis-29831	205	14	has	have	VERB
fcis-29831	205	15	a	a	DET
fcis-29831	205	16	huge	huge	ADJ
fcis-29831	205	17	improvement	improvement	NOUN
fcis-29831	205	18	in	in	ADP
fcis-29831	205	19	the	the	DET
fcis-29831	205	20	antiperturbation	antiperturbation	NOUN
fcis-29831	205	21	capability	capability	NOUN
fcis-29831	205	22	,	,	PUNCT
fcis-29831	205	23	which	which	PRON
fcis-29831	205	24	verifies	verify	VERB
fcis-29831	205	25	the	the	DET
fcis-29831	205	26	effectiveness	effectiveness	NOUN
fcis-29831	205	27	of	of	ADP
fcis-29831	205	28	the	the	DET
fcis-29831	205	29	perturbation	perturbation	NOUN
fcis-29831	205	30	observer	observer	NOUN
fcis-29831	205	31	.	.	PUNCT
fcis-29831	206	1	fig	fig	PROPN
fcis-29831	206	2	5	5	NUM
fcis-29831	206	3	.	.	PUNCT
fcis-29831	207	1	the	the	DET
fcis-29831	207	2	dynamic	dynamic	ADJ
fcis-29831	207	3	performance	performance	NOUN
fcis-29831	207	4	comparison	comparison	NOUN
fcis-29831	207	5	of	of	ADP
fcis-29831	207	6	disturbance	disturbance	NOUN
fcis-29831	207	7	feedback	feedback	NOUN
fcis-29831	207	8	5	5	NUM
fcis-29831	207	9	.	.	PUNCT
fcis-29831	208	1	summary	summary	NOUN
fcis-29831	208	2	this	this	DET
fcis-29831	208	3	paper	paper	NOUN
fcis-29831	208	4	develops	develop	VERB
fcis-29831	208	5	an	an	DET
fcis-29831	208	6	improved	improved	ADJ
fcis-29831	208	7	sliding	slide	VERB
fcis-29831	208	8	mode	mode	NOUN
fcis-29831	208	9	control	control	NOUN
fcis-29831	208	10	scheme	scheme	NOUN
fcis-29831	208	11	using	use	VERB
fcis-29831	208	12	aptdo	aptdo	NOUN
fcis-29831	208	13	and	and	CCONJ
fcis-29831	208	14	ho	ho	ADJ
fcis-29831	208	15	-	-	PUNCT
fcis-29831	208	16	ptsmc	ptsmc	NOUN
fcis-29831	208	17	techniques	technique	NOUN
fcis-29831	208	18	for	for	ADP
fcis-29831	208	19	permanent	permanent	ADJ
fcis-29831	208	20	magnet	magnet	NOUN
fcis-29831	208	21	synchronous	synchronous	ADJ
fcis-29831	208	22	motor	motor	NOUN
fcis-29831	208	23	(	(	PUNCT
fcis-29831	208	24	pmsm	pmsm	NOUN
fcis-29831	208	25	)	)	PUNCT
fcis-29831	208	26	control	control	NOUN
fcis-29831	208	27	,	,	PUNCT
fcis-29831	208	28	aiming	aim	VERB
fcis-29831	208	29	to	to	PART
fcis-29831	208	30	enhance	enhance	VERB
fcis-29831	208	31	disturbance	disturbance	NOUN
fcis-29831	208	32	rejection	rejection	NOUN
fcis-29831	208	33	and	and	CCONJ
fcis-29831	208	34	achieve	achieve	VERB
fcis-29831	208	35	speed	speed	NOUN
fcis-29831	208	36	tracking	tracking	NOUN
fcis-29831	208	37	convergence	convergence	NOUN
fcis-29831	208	38	within	within	ADP
fcis-29831	208	39	a	a	DET
fcis-29831	208	40	predefined	predefine	VERB
fcis-29831	208	41	time	time	NOUN
fcis-29831	208	42	.	.	PUNCT
fcis-29831	209	1	an	an	DET
fcis-29831	209	2	adaptive	adaptive	ADJ
fcis-29831	209	3	strategy	strategy	NOUN
fcis-29831	209	4	is	be	AUX
fcis-29831	209	5	employed	employ	VERB
fcis-29831	209	6	in	in	ADP
fcis-29831	209	7	aptdo	aptdo	NOUN
fcis-29831	209	8	,	,	PUNCT
fcis-29831	209	9	enabling	enable	VERB
fcis-29831	209	10	dynamic	dynamic	ADJ
fcis-29831	209	11	adjustment	adjustment	NOUN
fcis-29831	209	12	to	to	PART
fcis-29831	209	13	adapt	adapt	VERB
fcis-29831	209	14	to	to	ADP
fcis-29831	209	15	varying	vary	VERB
fcis-29831	209	16	uncertain	uncertain	ADJ
fcis-29831	209	17	disturbances	disturbance	NOUN
fcis-29831	209	18	.	.	PUNCT
fcis-29831	210	1	subsequently	subsequently	ADV
fcis-29831	210	2	,	,	PUNCT
fcis-29831	210	3	an	an	DET
fcis-29831	210	4	ho	ho	ADJ
fcis-29831	210	5	-	-	PUNCT
fcis-29831	210	6	ptsmc	ptsmc	NOUN
fcis-29831	210	7	is	be	AUX
fcis-29831	210	8	proposed	propose	VERB
fcis-29831	210	9	to	to	PART
fcis-29831	210	10	ensure	ensure	VERB
fcis-29831	210	11	predefined	predefine	VERB
fcis-29831	210	12	time	time	NOUN
fcis-29831	210	13	convergence	convergence	NOUN
fcis-29831	210	14	and	and	CCONJ
fcis-29831	210	15	robustness	robustness	NOUN
fcis-29831	210	16	of	of	ADP
fcis-29831	210	17	the	the	DET
fcis-29831	210	18	speed	speed	NOUN
fcis-29831	210	19	control	control	NOUN
fcis-29831	210	20	.	.	PUNCT
fcis-29831	211	1	real	real	ADJ
fcis-29831	211	2	-	-	PUNCT
fcis-29831	211	3	time	time	NOUN
fcis-29831	211	4	experimental	experimental	ADJ
fcis-29831	211	5	results	result	NOUN
fcis-29831	211	6	effectively	effectively	ADV
fcis-29831	211	7	validate	validate	VERB
fcis-29831	211	8	the	the	DET
fcis-29831	211	9	excellent	excellent	ADJ
fcis-29831	211	10	speed	speed	NOUN
fcis-29831	211	11	estimation	estimation	NOUN
fcis-29831	211	12	performance	performance	NOUN
fcis-29831	211	13	of	of	ADP
fcis-29831	211	14	ho	ho	ADJ
fcis-29831	211	15	-	-	PUNCT
fcis-29831	211	16	ptsmc	ptsmc	NOUN
fcis-29831	211	17	and	and	CCONJ
fcis-29831	211	18	the	the	DET
fcis-29831	211	19	superior	superior	ADJ
fcis-29831	211	20	speed	speed	NOUN
fcis-29831	211	21	control	control	NOUN
fcis-29831	211	22	performance	performance	NOUN
fcis-29831	211	23	of	of	ADP
fcis-29831	211	24	the	the	DET
fcis-29831	211	25	proposed	propose	VERB
fcis-29831	211	26	method	method	NOUN
fcis-29831	211	27	.	.	PUNCT
fcis-29831	212	1	future	future	ADJ
fcis-29831	212	2	work	work	NOUN
fcis-29831	212	3	will	will	AUX
fcis-29831	212	4	focus	focus	VERB
fcis-29831	212	5	on	on	ADP
fcis-29831	212	6	the	the	DET
fcis-29831	212	7	dsp	dsp	NOUN
fcis-29831	212	8	hardware	hardware	NOUN
fcis-29831	212	9	validation	validation	NOUN
fcis-29831	212	10	of	of	ADP
fcis-29831	212	11	the	the	DET
fcis-29831	212	12	pmsm	pmsm	NOUN
fcis-29831	212	13	system	system	NOUN
fcis-29831	212	14	.	.	PUNCT
fcis-29831	213	1	references	reference	NOUN
fcis-29831	213	2	[	[	X
fcis-29831	213	3	1	1	NUM
fcis-29831	213	4	]	]	PUNCT
fcis-29831	213	5	c.	c.	PROPN
fcis-29831	213	6	candelo	candelo	PROPN
fcis-29831	213	7	-	-	PUNCT
fcis-29831	213	8	zuluaga	zuluaga	PROPN
fcis-29831	213	9	,	,	PUNCT
fcis-29831	213	10	j.-r	j.-r	PROPN
fcis-29831	213	11	.	.	PUNCT
fcis-29831	214	1	riba	riba	PROPN
fcis-29831	214	2	,	,	PUNCT
fcis-29831	214	3	a.	a.	PROPN
fcis-29831	214	4	g.	g.	PROPN
fcis-29831	214	5	espinosa	espinosa	PROPN
fcis-29831	214	6	,	,	PUNCT
fcis-29831	214	7	and	and	CCONJ
fcis-29831	214	8	p.	p.	NOUN
fcis-29831	214	9	t.	t.	NOUN
fcis-29831	214	10	blanch	blanch	PROPN
fcis-29831	214	11	,	,	PUNCT
fcis-29831	214	12	“	"	PUNCT
fcis-29831	214	13	customized	customized	ADJ
fcis-29831	214	14	pmsm	pmsm	NOUN
fcis-29831	214	15	design	design	NOUN
fcis-29831	214	16	and	and	CCONJ
fcis-29831	214	17	optimization	optimization	NOUN
fcis-29831	214	18	methodology	methodology	NOUN
fcis-29831	214	19	for	for	ADP
fcis-29831	214	20	water	water	NOUN
fcis-29831	214	21	pumping	pumping	NOUN
fcis-29831	214	22	applications	application	NOUN
fcis-29831	214	23	,	,	PUNCT
fcis-29831	214	24	”	"	PUNCT
fcis-29831	214	25	ieee	ieee	NOUN
fcis-29831	214	26	trans	trans	PROPN
fcis-29831	214	27	.	.	PUNCT
fcis-29831	215	1	energy	energy	NOUN
fcis-29831	215	2	convers	conver	NOUN
fcis-29831	215	3	.	.	PUNCT
fcis-29831	215	4	,	,	PUNCT
fcis-29831	215	5	vol	vol	NOUN
fcis-29831	215	6	.	.	PROPN
fcis-29831	216	1	37	37	NUM
fcis-29831	216	2	,	,	PUNCT
fcis-29831	216	3	no	no	INTJ
fcis-29831	216	4	.	.	NOUN
fcis-29831	216	5	1	1	NUM
fcis-29831	216	6	,	,	PUNCT
fcis-29831	216	7	pp	pp	ADJ
fcis-29831	216	8	.	.	PUNCT
fcis-29831	217	1	454–465	454–465	NUM
fcis-29831	217	2	,	,	PUNCT
fcis-29831	217	3	mar	mar	PROPN
fcis-29831	217	4	.	.	PROPN
fcis-29831	217	5	2022	2022	NUM
fcis-29831	217	6	.	.	PUNCT
fcis-29831	218	1	[	[	X
fcis-29831	218	2	2	2	X
fcis-29831	218	3	]	]	PUNCT
fcis-29831	218	4	j.	j.	PROPN
fcis-29831	218	5	w.	w.	PROPN
fcis-29831	218	6	jung	jung	PROPN
fcis-29831	218	7	,	,	PUNCT
fcis-29831	218	8	v.	v.	PROPN
fcis-29831	218	9	q.	q.	PROPN
fcis-29831	218	10	leu	leu	PROPN
fcis-29831	218	11	,	,	PUNCT
fcis-29831	218	12	t.	t.	PROPN
fcis-29831	218	13	d.	d.	PROPN
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fcis-29831	218	15	,	,	PUNCT
fcis-29831	218	16	e.-k	e.-k	PROPN
fcis-29831	218	17	.	.	PUNCT
fcis-29831	219	1	kim	kim	PROPN
fcis-29831	219	2	,	,	PUNCT
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fcis-29831	219	4	h.	h.	PROPN
fcis-29831	219	5	h.	h.	PROPN
fcis-29831	219	6	choi	choi	PROPN
fcis-29831	219	7	,	,	PUNCT
fcis-29831	219	8	“	"	PUNCT
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fcis-29831	219	10	pid	pid	NOUN
fcis-29831	219	11	speed	speed	NOUN
fcis-29831	219	12	control	control	NOUN
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fcis-29831	219	15	permanent	permanent	ADJ
fcis-29831	219	16	magnet	magnet	NOUN
fcis-29831	219	17	synchronous	synchronous	ADJ
fcis-29831	219	18	motor	motor	NOUN
fcis-29831	219	19	drives	drive	NOUN
fcis-29831	219	20	,	,	PUNCT
fcis-29831	219	21	”	"	PUNCT
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fcis-29831	219	23	trans	tran	NOUN
fcis-29831	219	24	.	.	PUNCT
fcis-29831	220	1	power	power	NOUN
fcis-29831	220	2	electron	electron	PROPN
fcis-29831	220	3	.	.	PUNCT
fcis-29831	220	4	,	,	PUNCT
fcis-29831	220	5	vol	vol	NOUN
fcis-29831	220	6	.	.	PROPN
fcis-29831	220	7	30	30	NUM
fcis-29831	220	8	,	,	PUNCT
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fcis-29831	220	10	.	.	NOUN
fcis-29831	220	11	2	2	NUM
fcis-29831	220	12	,	,	PUNCT
fcis-29831	220	13	pp	pp	ADJ
fcis-29831	220	14	.	.	PUNCT
fcis-29831	221	1	900–908	900–908	NUM
fcis-29831	221	2	,	,	PUNCT
fcis-29831	221	3	feb	feb	PROPN
fcis-29831	221	4	.	.	PROPN
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fcis-29831	221	6	.	.	PUNCT
fcis-29831	222	1	[	[	X
fcis-29831	222	2	3	3	X
fcis-29831	222	3	]	]	X
fcis-29831	222	4	t.	t.	NOUN
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fcis-29831	222	7	l.	l.	PROPN
fcis-29831	222	8	m.	m.	PROPN
fcis-29831	222	9	grzesiak	grzesiak	PROPN
fcis-29831	222	10	,	,	PUNCT
fcis-29831	222	11	“	"	PUNCT
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fcis-29831	222	13	state	state	NOUN
fcis-29831	222	14	feedback	feedback	NOUN
fcis-29831	222	15	speed	speed	NOUN
fcis-29831	222	16	control	control	NOUN
fcis-29831	222	17	of	of	ADP
fcis-29831	222	18	pmsm	pmsm	NOUN
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fcis-29831	222	20	on	on	ADP
fcis-29831	222	21	model	model	NOUN
fcis-29831	222	22	predictive	predictive	ADJ
fcis-29831	222	23	approach	approach	NOUN
fcis-29831	222	24	,	,	PUNCT
fcis-29831	222	25	”	"	PUNCT
fcis-29831	222	26	ieee	ieee	NOUN
fcis-29831	222	27	trans	tran	NOUN
fcis-29831	222	28	.	.	PUNCT
fcis-29831	223	1	ind	ind	PROPN
fcis-29831	223	2	.	.	PUNCT
fcis-29831	223	3	electron	electron	PROPN
fcis-29831	223	4	.	.	PUNCT
fcis-29831	223	5	,	,	PUNCT
fcis-29831	223	6	vol	vol	NOUN
fcis-29831	223	7	.	.	PROPN
fcis-29831	223	8	63	63	NUM
fcis-29831	223	9	,	,	PUNCT
fcis-29831	223	10	no	no	INTJ
fcis-29831	223	11	.	.	NOUN
fcis-29831	223	12	6	6	NUM
fcis-29831	223	13	,	,	PUNCT
fcis-29831	223	14	pp	pp	ADJ
fcis-29831	223	15	.	.	PUNCT
fcis-29831	224	1	3867–3875	3867–3875	NUM
fcis-29831	224	2	,	,	PUNCT
fcis-29831	224	3	jun	jun	PROPN
fcis-29831	224	4	.	.	PROPN
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fcis-29831	224	6	.	.	PUNCT
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fcis-29831	225	2	4	4	X
fcis-29831	225	3	]	]	PUNCT
fcis-29831	225	4	s.	s.	PROPN
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fcis-29831	225	7	h.	h.	PROPN
fcis-29831	225	8	gu	gu	PROPN
fcis-29831	225	9	,	,	PUNCT
fcis-29831	225	10	“	"	PUNCT
fcis-29831	225	11	fuzzy	fuzzy	ADJ
fcis-29831	225	12	adaptive	adaptive	ADJ
fcis-29831	225	13	internal	internal	ADJ
fcis-29831	225	14	model	model	NOUN
fcis-29831	225	15	control	control	NOUN
fcis-29831	225	16	schemes	scheme	NOUN
fcis-29831	225	17	for	for	ADP
fcis-29831	225	18	pmsm	pmsm	NOUN
fcis-29831	225	19	speed	speed	NOUN
fcis-29831	225	20	-	-	PUNCT
fcis-29831	225	21	regulation	regulation	NOUN
fcis-29831	225	22	system	system	NOUN
fcis-29831	225	23	,	,	PUNCT
fcis-29831	225	24	”	"	PUNCT
fcis-29831	225	25	ieee	ieee	NOUN
fcis-29831	225	26	trans	tran	NOUN
fcis-29831	225	27	.	.	PUNCT
fcis-29831	226	1	ind	ind	NOUN
fcis-29831	226	2	.	.	PUNCT
fcis-29831	227	1	informat	informat	PROPN
fcis-29831	227	2	.	.	PUNCT
fcis-29831	227	3	,	,	PUNCT
fcis-29831	227	4	vol	vol	NOUN
fcis-29831	227	5	.	.	PROPN
fcis-29831	227	6	8	8	NUM
fcis-29831	227	7	,	,	PUNCT
fcis-29831	227	8	no	no	INTJ
fcis-29831	227	9	.	.	NOUN
fcis-29831	227	10	4	4	NUM
fcis-29831	227	11	,	,	PUNCT
fcis-29831	227	12	pp	pp	ADJ
fcis-29831	227	13	.	.	PUNCT
fcis-29831	228	1	767–779	767–779	NUM
fcis-29831	228	2	,	,	PUNCT
fcis-29831	228	3	nov	nov	PROPN
fcis-29831	228	4	.	.	PROPN
fcis-29831	228	5	2012	2012	NUM
fcis-29831	228	6	.	.	PUNCT
fcis-29831	229	1	[	[	X
fcis-29831	229	2	5	5	X
fcis-29831	229	3	]	]	PUNCT
fcis-29831	229	4	h.	h.	PROPN
fcis-29831	229	5	du	du	PROPN
fcis-29831	229	6	,	,	PUNCT
fcis-29831	229	7	g.	g.	PROPN
fcis-29831	229	8	wen	wen	PROPN
fcis-29831	229	9	,	,	PUNCT
fcis-29831	229	10	y.	y.	PROPN
fcis-29831	229	11	cheng	cheng	PROPN
fcis-29831	229	12	,	,	PUNCT
fcis-29831	229	13	and	and	CCONJ
fcis-29831	229	14	j.	j.	PROPN
fcis-29831	229	15	lü	lü	PROPN
fcis-29831	229	16	,	,	PUNCT
fcis-29831	229	17	“	"	PUNCT
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fcis-29831	229	19	and	and	CCONJ
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fcis-29831	229	21	of	of	ADP
fcis-29831	229	22	bounded	bounded	ADJ
fcis-29831	229	23	finite	finite	ADJ
fcis-29831	229	24	-	-	PUNCT
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fcis-29831	229	26	control	control	NOUN
fcis-29831	229	27	algorithm	algorithm	NOUN
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fcis-29831	229	29	speed	speed	NOUN
fcis-29831	229	30	regulation	regulation	NOUN
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fcis-29831	229	32	permanent	permanent	ADJ
fcis-29831	229	33	magnet	magnet	NOUN
fcis-29831	229	34	synchronous	synchronous	ADJ
fcis-29831	229	35	motor	motor	NOUN
fcis-29831	229	36	,	,	PUNCT
fcis-29831	229	37	”	"	PUNCT
fcis-29831	229	38	ieee	ieee	NOUN
fcis-29831	229	39	trans	tran	NOUN
fcis-29831	229	40	.	.	PUNCT
fcis-29831	230	1	ind	ind	PROPN
fcis-29831	230	2	.	.	PUNCT
fcis-29831	230	3	electron	electron	PROPN
fcis-29831	230	4	.	.	PUNCT
fcis-29831	230	5	,	,	PUNCT
fcis-29831	231	1	vol	vol	NOUN
fcis-29831	231	2	.	.	PROPN
fcis-29831	232	1	68	68	NUM
fcis-29831	232	2	,	,	PUNCT
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fcis-29831	232	4	.	.	NOUN
fcis-29831	232	5	3	3	NUM
fcis-29831	232	6	,	,	PUNCT
fcis-29831	232	7	pp	pp	ADJ
fcis-29831	232	8	.	.	PUNCT
fcis-29831	233	1	2417–2426	2417–2426	NUM
fcis-29831	233	2	,	,	PUNCT
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fcis-29831	233	4	.	.	PROPN
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fcis-29831	233	6	.	.	PUNCT
fcis-29831	234	1	[	[	X
fcis-29831	234	2	6	6	NUM
fcis-29831	234	3	]	]	PUNCT
fcis-29831	234	4	j.	j.	PROPN
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fcis-29831	234	6	,	,	PUNCT
fcis-29831	234	7	z.	z.	PROPN
fcis-29831	234	8	li	li	PROPN
fcis-29831	234	9	,	,	PUNCT
fcis-29831	234	10	d.	d.	PROPN
fcis-29831	234	11	yu	yu	PROPN
fcis-29831	234	12	,	,	PUNCT
fcis-29831	234	13	y.	y.	PROPN
fcis-29831	234	14	guo	guo	PROPN
fcis-29831	234	15	,	,	PUNCT
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fcis-29831	234	20	“	"	PUNCT
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fcis-29831	234	22	speed	speed	NOUN
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fcis-29831	234	25	control	control	NOUN
fcis-29831	234	26	with	with	ADP
fcis-29831	234	27	parametric	parametric	ADJ
fcis-29831	234	28	adaptation	adaptation	NOUN
fcis-29831	234	29	for	for	ADP
fcis-29831	234	30	surface	surface	NOUN
fcis-29831	234	31	-	-	PUNCT
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fcis-29831	234	38	,	,	PUNCT
fcis-29831	234	39	”	"	PUNCT
fcis-29831	234	40	ieee	ieee	NOUN
fcis-29831	234	41	j.	j.	PROPN
fcis-29831	234	42	emerg	emerg	PROPN
fcis-29831	234	43	.	.	PUNCT
fcis-29831	235	1	sel	sel	PROPN
fcis-29831	235	2	.	.	PUNCT
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fcis-29831	236	2	power	power	NOUN
fcis-29831	236	3	electron	electron	PROPN
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fcis-29831	236	5	,	,	PUNCT
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fcis-29831	237	4	.	.	NOUN
fcis-29831	237	5	3	3	NUM
fcis-29831	237	6	,	,	PUNCT
fcis-29831	237	7	pp	pp	ADJ
fcis-29831	237	8	.	.	PUNCT
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fcis-29831	238	2	,	,	PUNCT
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fcis-29831	238	4	.	.	PROPN
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fcis-29831	238	6	.	.	PUNCT
fcis-29831	239	1	[	[	X
fcis-29831	239	2	7	7	NUM
fcis-29831	239	3	]	]	PUNCT
fcis-29831	239	4	a.	a.	NOUN
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fcis-29831	239	6	,	,	PUNCT
fcis-29831	239	7	x.	x.	PROPN
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fcis-29831	239	14	“	"	PUNCT
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fcis-29831	239	18	reaching	reach	VERB
fcis-29831	239	19	law	law	NOUN
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fcis-29831	239	30	synchronous	synchronous	ADJ
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fcis-29831	239	32	,	,	PUNCT
fcis-29831	239	33	”	"	PUNCT
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fcis-29831	240	7	,	,	PUNCT
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fcis-29831	240	9	.	.	NOUN
fcis-29831	240	10	5	5	NUM
fcis-29831	240	11	,	,	PUNCT
fcis-29831	240	12	pp	pp	ADJ
fcis-29831	240	13	.	.	PUNCT
fcis-29831	241	1	2409–2412	2409–2412	NUM
fcis-29831	241	2	,	,	PUNCT
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fcis-29831	241	4	2013	2013	NUM
fcis-29831	241	5	.	.	PUNCT
fcis-29831	242	1	[	[	X
fcis-29831	242	2	8	8	NUM
fcis-29831	242	3	]	]	X
fcis-29831	242	4	wang	wang	PROPN
fcis-29831	242	5	,	,	PUNCT
fcis-29831	242	6	x.	x.	PROPN
fcis-29831	242	7	,	,	PUNCT
fcis-29831	242	8	reitz	reitz	PROPN
fcis-29831	242	9	,	,	PUNCT
fcis-29831	242	10	m.	m.	NOUN
fcis-29831	242	11	,	,	PUNCT
fcis-29831	242	12	yaz	yaz	PROPN
fcis-29831	242	13	,	,	PUNCT
fcis-29831	242	14	e.e	e.e	PROPN
fcis-29831	242	15	.	.	PROPN
fcis-29831	242	16	,	,	PUNCT
fcis-29831	242	17	2018	2018	NUM
fcis-29831	242	18	.	.	PUNCT
fcis-29831	242	19	field	field	NOUN
fcis-29831	242	20	oriented	orient	VERB
fcis-29831	242	21	sliding	slide	VERB
fcis-29831	242	22	mode	mode	NOUN
fcis-29831	242	23	control	control	NOUN
fcis-29831	242	24	of	of	ADP
fcis-29831	242	25	surface	surface	NOUN
fcis-29831	242	26	-	-	PUNCT
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fcis-29831	242	28	permanent	permanent	ADJ
fcis-29831	242	29	magnet	magnet	NOUN
fcis-29831	242	30	ac	ac	PROPN
fcis-29831	242	31	motors	motors	PROPN
fcis-29831	242	32	:	:	PUNCT
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fcis-29831	242	34	and	and	CCONJ
fcis-29831	242	35	applications	application	NOUN
fcis-29831	242	36	to	to	PART
fcis-29831	242	37	electrified	electrify	VERB
fcis-29831	242	38	vehicles	vehicle	NOUN
fcis-29831	242	39	.	.	PUNCT
fcis-29831	243	1	ieee	ieee	NOUN
fcis-29831	243	2	transactions	transaction	NOUN
fcis-29831	243	3	on	on	ADP
fcis-29831	243	4	vehicular	vehicular	ADJ
fcis-29831	243	5	technology	technology	NOUN
fcis-29831	243	6	,	,	PUNCT
fcis-29831	243	7	67	67	NUM
fcis-29831	243	8	,	,	PUNCT
fcis-29831	243	9	10343–10356	10343–10356	NUM
fcis-29831	243	10	[	[	SYM
fcis-29831	243	11	9	9	NUM
fcis-29831	243	12	]	]	PUNCT
fcis-29831	243	13	polyakov	polyakov	PROPN
fcis-29831	243	14	,	,	PUNCT
fcis-29831	243	15	a.	a.	NOUN
fcis-29831	243	16	,	,	PUNCT
fcis-29831	243	17	2011	2011	NUM
fcis-29831	243	18	.	.	PUNCT
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fcis-29831	244	2	feedback	feedback	NOUN
fcis-29831	244	3	design	design	NOUN
fcis-29831	244	4	for	for	ADP
fcis-29831	244	5	fixed	fix	VERB
fcis-29831	244	6	-	-	PUNCT
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fcis-29831	244	8	stabilization	stabilization	NOUN
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fcis-29831	244	10	linear	linear	PROPN
fcis-29831	244	11	control	control	NOUN
fcis-29831	244	12	systems	system	NOUN
fcis-29831	244	13	.	.	PUNCT
fcis-29831	245	1	ieee	ieee	NOUN
fcis-29831	245	2	transactions	transaction	NOUN
fcis-29831	245	3	on	on	ADP
fcis-29831	245	4	automatic	automatic	ADJ
fcis-29831	245	5	control	control	NOUN
fcis-29831	245	6	57	57	NUM
fcis-29831	245	7	,	,	PUNCT
fcis-29831	245	8	2106–2110	2106–2110	NOUN
fcis-29831	245	9	.	.	PUNCT
fcis-29831	246	1	[	[	X
fcis-29831	246	2	10	10	NUM
fcis-29831	246	3	]	]	PUNCT
fcis-29831	246	4	xu	xu	PROPN
fcis-29831	246	5	,	,	PUNCT
fcis-29831	246	6	b.	b.	PROPN
fcis-29831	246	7	,	,	PUNCT
fcis-29831	246	8	zhang	zhang	PROPN
fcis-29831	246	9	,	,	PUNCT
fcis-29831	246	10	l.	l.	PROPN
fcis-29831	246	11	,	,	PUNCT
fcis-29831	246	12	ji	ji	PROPN
fcis-29831	246	13	,	,	PUNCT
fcis-29831	246	14	w.	w.	PROPN
fcis-29831	246	15	,	,	PUNCT
fcis-29831	246	16	2021	2021	NUM
fcis-29831	246	17	.	.	PUNCT
fcis-29831	246	18	improved	improve	VERB
fcis-29831	246	19	non	non	ADJ
fcis-29831	246	20	-	-	ADJ
fcis-29831	246	21	singular	singular	ADJ
fcis-29831	246	22	fast	fast	ADJ
fcis-29831	246	23	terminal	terminal	NOUN
fcis-29831	246	24	sliding	slide	VERB
fcis-29831	246	25	mode	mode	NOUN
fcis-29831	246	26	control	control	NOUN
fcis-29831	246	27	with	with	ADP
fcis-29831	246	28	disturbance	disturbance	NOUN
fcis-29831	246	29	observer	observer	NOUN
fcis-29831	246	30	for	for	ADP
fcis-29831	246	31	pmsm	pmsm	NOUN
fcis-29831	246	32	drives	drive	NOUN
fcis-29831	246	33	.	.	PUNCT
fcis-29831	247	1	ieee	ieee	NOUN
fcis-29831	247	2	transactions	transaction	NOUN
fcis-29831	247	3	on	on	ADP
fcis-29831	247	4	transportation	transportation	NOUN
fcis-29831	247	5	electrification	electrification	NOUN
fcis-29831	247	6	7	7	NUM
fcis-29831	247	7	,	,	PUNCT
fcis-29831	247	8	2753–2762	2753–2762	NUM
fcis-29831	247	9	.	.	PUNCT
fcis-29831	248	1	[	[	X
fcis-29831	248	2	11	11	NUM
fcis-29831	248	3	]	]	X
fcis-29831	248	4	anguiano	anguiano	NOUN
fcis-29831	248	5	-	-	PUNCT
fcis-29831	248	6	gij´on	gij´on	PROPN
fcis-29831	248	7	,	,	PUNCT
fcis-29831	248	8	c.a	c.a	PROPN
fcis-29831	248	9	.	.	PROPN
fcis-29831	248	10	,	,	PUNCT
fcis-29831	248	11	mu˜noz	mu˜noz	PROPN
fcis-29831	248	12	-	-	PUNCT
fcis-29831	248	13	v´azquez	v´azquez	PROPN
fcis-29831	248	14	,	,	PUNCT
fcis-29831	248	15	a.j	a.j	PROPN
fcis-29831	248	16	.	.	PROPN
fcis-29831	248	17	,	,	PUNCT
fcis-29831	248	18	s´ancheztorres	s´ancheztorres	PROPN
fcis-29831	248	19	,	,	PUNCT
fcis-29831	248	20	j.d	j.d	PROPN
fcis-29831	248	21	.	.	PROPN
fcis-29831	248	22	,	,	PUNCT
fcis-29831	248	23	romero	romero	PROPN
fcis-29831	248	24	-	-	PUNCT
fcis-29831	248	25	galv´an	galv´an	PROPN
fcis-29831	248	26	,	,	PUNCT
fcis-29831	248	27	g.	g.	PROPN
fcis-29831	248	28	,	,	PUNCT
fcis-29831	248	29	mart´ınez	mart´ınez	NOUN
fcis-29831	248	30	-	-	PUNCT
fcis-29831	248	31	reyes	reyes	PROPN
fcis-29831	248	32	,	,	PUNCT
fcis-29831	248	33	f.	f.	PROPN
fcis-29831	248	34	,2019	,2019	PROPN
fcis-29831	248	35	.	.	PUNCT
fcis-29831	249	1	on	on	ADP
fcis-29831	249	2	predefined	predefine	VERB
fcis-29831	249	3	-	-	PUNCT
fcis-29831	249	4	time	time	NOUN
fcis-29831	249	5	synchronisation	synchronisation	NOUN
fcis-29831	249	6	of	of	ADP
fcis-29831	249	7	chaotic	chaotic	ADJ
fcis-29831	249	8	systems	system	NOUN
fcis-29831	249	9	.	.	PUNCT
fcis-29831	250	1	chaos	chaos	NOUN
fcis-29831	250	2	,	,	PUNCT
fcis-29831	250	3	solitons	soliton	NOUN
fcis-29831	250	4	&	&	CCONJ
fcis-29831	250	5	fractals	fractal	NOUN
fcis-29831	250	6	122	122	NUM
fcis-29831	250	7	,	,	PUNCT
fcis-29831	250	8	172–178	172–178	NUM
fcis-29831	250	9	.	.	PUNCT
fcis-29831	251	1	[	[	X
fcis-29831	251	2	12	12	NUM
fcis-29831	251	3	]	]	X
fcis-29831	251	4	assali	assali	PROPN
fcis-29831	251	5	,	,	PUNCT
fcis-29831	251	6	e.a	e.a	PROPN
fcis-29831	251	7	.	.	PROPN
fcis-29831	251	8	,	,	PUNCT
fcis-29831	251	9	2021	2021	NUM
fcis-29831	251	10	.	.	PUNCT
fcis-29831	251	11	predefined	predefine	VERB
fcis-29831	251	12	-	-	PUNCT
fcis-29831	251	13	time	time	NOUN
fcis-29831	251	14	synchronization	synchronization	NOUN
fcis-29831	251	15	of	of	ADP
fcis-29831	251	16	chaotic	chaotic	ADJ
fcis-29831	251	17	systems	system	NOUN
fcis-29831	251	18	with	with	ADP
fcis-29831	251	19	different	different	ADJ
fcis-29831	251	20	dimensions	dimension	NOUN
fcis-29831	251	21	and	and	CCONJ
fcis-29831	251	22	applications	application	NOUN
fcis-29831	251	23	.	.	PUNCT
fcis-29831	252	1	chaos	chaos	NOUN
fcis-29831	252	2	,	,	PUNCT
fcis-29831	252	3	solitons	soliton	NOUN
fcis-29831	252	4	&	&	CCONJ
fcis-29831	252	5	fractals	fractal	NOUN
fcis-29831	252	6	147	147	NUM
fcis-29831	252	7	,	,	PUNCT
fcis-29831	252	8	110988	110988	NUM
fcis-29831	252	9	.	.	PUNCT
fcis-29831	253	1	[	[	X
fcis-29831	253	2	13	13	NUM
fcis-29831	253	3	]	]	SYM
fcis-29831	253	4	hang	hang	PROPN
fcis-29831	253	5	,	,	PUNCT
fcis-29831	253	6	m.	m.	NOUN
fcis-29831	253	7	,	,	PUNCT
fcis-29831	253	8	zang	zang	PROPN
fcis-29831	253	9	,	,	PUNCT
fcis-29831	253	10	h.	h.	PROPN
fcis-29831	253	11	,	,	PUNCT
fcis-29831	253	12	bai	bai	PROPN
fcis-29831	253	13	,	,	PUNCT
fcis-29831	253	14	l.	l.	PROPN
fcis-29831	253	15	,	,	PUNCT
fcis-29831	253	16	2022b	2022b	NUM
fcis-29831	253	17	.	.	PUNCT
fcis-29831	254	1	a	a	DET
fcis-29831	254	2	new	new	ADJ
fcis-29831	254	3	predefined	predefine	VERB
fcis-29831	254	4	-	-	PUNCT
fcis-29831	254	5	time	time	NOUN
fcis-29831	254	6	sliding	slide	VERB
fcis-29831	254	7	mode	mode	NOUN
fcis-29831	254	8	control	control	NOUN
fcis-29831	254	9	scheme	scheme	NOUN
fcis-29831	254	10	for	for	ADP
fcis-29831	254	11	synchronizing	synchronize	VERB
fcis-29831	254	12	chaotic	chaotic	ADJ
fcis-29831	254	13	systems	system	NOUN
fcis-29831	254	14	.	.	PUNCT
fcis-29831	255	1	chaos	chaos	NOUN
fcis-29831	255	2	,	,	PUNCT
fcis-29831	255	3	solitons	soliton	NOUN
fcis-29831	255	4	&	&	CCONJ
fcis-29831	255	5	fractals	fractal	NOUN
fcis-29831	255	6	164	164	NUM
fcis-29831	255	7	,	,	PUNCT
fcis-29831	255	8	112745	112745	NUM
fcis-29831	255	9	.	.	PUNCT
fcis-29831	256	1	[	[	X
fcis-29831	256	2	14	14	NUM
fcis-29831	256	3	]	]	SYM
fcis-29831	256	4	mei	mei	PROPN
fcis-29831	256	5	,	,	PUNCT
fcis-29831	256	6	h.	h.	PROPN
fcis-29831	256	7	,	,	PUNCT
fcis-29831	256	8	wen	wen	PROPN
fcis-29831	256	9	,	,	PUNCT
fcis-29831	256	10	x.	x.	PROPN
fcis-29831	256	11	,	,	PUNCT
fcis-29831	256	12	ma	ma	PROPN
fcis-29831	256	13	,	,	PUNCT
fcis-29831	256	14	x.	x.	PROPN
fcis-29831	256	15	,	,	PUNCT
fcis-29831	256	16	tan	tan	PROPN
fcis-29831	256	17	,	,	PUNCT
fcis-29831	256	18	y.	y.	PROPN
fcis-29831	256	19	,	,	PUNCT
fcis-29831	256	20	wang	wang	PROPN
fcis-29831	256	21	,	,	PUNCT
fcis-29831	256	22	j.	j.	PROPN
fcis-29831	256	23	,	,	PUNCT
fcis-29831	256	24	2024	2024	NUM
fcis-29831	256	25	.	.	PUNCT
fcis-29831	257	1	adaptive	adaptive	ADJ
fcis-29831	257	2	practical	practical	ADJ
fcis-29831	257	3	predefined	predefine	VERB
fcis-29831	257	4	-	-	PUNCT
fcis-29831	257	5	time	time	NOUN
fcis-29831	257	6	leader	leader	NOUN
fcis-29831	257	7	-	-	PUNCT
fcis-29831	257	8	follower	follower	NOUN
fcis-29831	257	9	consensus	consensus	NOUN
fcis-29831	257	10	for	for	ADP
fcis-29831	257	11	second	second	ADJ
fcis-29831	257	12	-	-	PUNCT
fcis-29831	257	13	order	order	NOUN
fcis-29831	257	14	multiagent	multiagent	NOUN
fcis-29831	257	15	systems	system	NOUN
fcis-29831	257	16	with	with	ADP
fcis-29831	257	17	uncertain	uncertain	ADJ
fcis-29831	257	18	disturbances	disturbance	NOUN
fcis-29831	257	19	.	.	PUNCT
fcis-29831	258	1	journal	journal	NOUN
fcis-29831	258	2	of	of	ADP
fcis-29831	258	3	the	the	DET
fcis-29831	258	4	franklin	franklin	PROPN
fcis-29831	258	5	institute	institute	PROPN
fcis-29831	258	6	361	361	NUM
fcis-29831	258	7	,	,	PUNCT
fcis-29831	258	8	106694	106694	NUM
fcis-29831	258	9	.	.	PUNCT
fcis-29831	259	1	[	[	X
fcis-29831	259	2	15	15	NUM
fcis-29831	259	3	]	]	X
fcis-29831	259	4	xiao	xiao	PROPN
fcis-29831	259	5	b	b	PROPN
fcis-29831	259	6	,	,	PUNCT
fcis-29831	259	7	yin	yin	PROPN
fcis-29831	259	8	s.	s.	PROPN
fcis-29831	259	9	a	a	DET
fcis-29831	259	10	new	new	ADJ
fcis-29831	259	11	disturbance	disturbance	NOUN
fcis-29831	259	12	attenuation	attenuation	NOUN
fcis-29831	259	13	control	control	NOUN
fcis-29831	259	14	scheme	scheme	NOUN
fcis-29831	259	15	for	for	ADP
fcis-29831	259	16	quadrotor	quadrotor	NOUN
fcis-29831	259	17	unmanned	unmanned	ADJ
fcis-29831	259	18	aerial	aerial	ADJ
fcis-29831	259	19	vehicles	vehicle	NOUN
fcis-29831	259	20	.	.	PUNCT
fcis-29831	260	1	ieee	ieee	PROPN
fcis-29831	260	2	trans	trans	PROPN
fcis-29831	260	3	ind	ind	PROPN
fcis-29831	260	4	inf	inf	PROPN
fcis-29831	260	5	2017;13(6):2922–32	2017;13(6):2922–32	NOUN
fcis-29831	260	6	.	.	PUNCT
fcis-29831	261	1	[	[	X
fcis-29831	261	2	16	16	NUM
fcis-29831	261	3	]	]	X
fcis-29831	261	4	kang	kang	PROPN
fcis-29831	261	5	hs	hs	PROPN
fcis-29831	261	6	,	,	PUNCT
fcis-29831	261	7	hyun	hyun	PROPN
fcis-29831	261	8	ch	ch	PROPN
fcis-29831	261	9	,	,	PUNCT
fcis-29831	261	10	kim	kim	PROPN
fcis-29831	261	11	s.	s.	PROPN
fcis-29831	261	12	robust	robust	ADJ
fcis-29831	261	13	tracking	tracking	NOUN
fcis-29831	261	14	control	control	NOUN
fcis-29831	261	15	using	use	VERB
fcis-29831	261	16	fuzzy	fuzzy	ADJ
fcis-29831	261	17	disturbance	disturbance	NOUN
fcis-29831	261	18	observer	observer	NOUN
fcis-29831	261	19	for	for	ADP
fcis-29831	261	20	wheeled	wheel	VERB
fcis-29831	261	21	mobile	mobile	ADJ
fcis-29831	261	22	robots	robot	NOUN
fcis-29831	261	23	with	with	ADP
fcis-29831	261	24	skidding	skid	VERB
fcis-29831	261	25	and	and	CCONJ
fcis-29831	261	26	slipping	slipping	NOUN
fcis-29831	261	27	.	.	PUNCT
fcis-29831	262	1	int	int	PROPN
fcis-29831	263	1	j	j	PROPN
fcis-29831	263	2	adv	adv	PROPN
fcis-29831	263	3	robot	robot	PROPN
fcis-29831	263	4	syst	syst	PROPN
fcis-29831	263	5	2014;11(5):75	2014;11(5):75	NUM
fcis-29831	263	6	.	.	PUNCT
fcis-29831	264	1	[	[	X
fcis-29831	264	2	17	17	NUM
fcis-29831	264	3	]	]	X
fcis-29831	264	4	han	han	PROPN
fcis-29831	264	5	j.	j.	PROPN
fcis-29831	264	6	the	the	DET
fcis-29831	264	7	extended	extended	ADJ
fcis-29831	264	8	state	state	NOUN
fcis-29831	264	9	observer	observer	NOUN
fcis-29831	264	10	of	of	ADP
fcis-29831	264	11	a	a	DET
fcis-29831	264	12	class	class	NOUN
fcis-29831	264	13	of	of	ADP
fcis-29831	264	14	uncertain	uncertain	ADJ
fcis-29831	264	15	systems	system	NOUN
fcis-29831	264	16	.	.	PUNCT
fcis-29831	265	1	chin	chin	PROPN
fcis-29831	265	2	control	control	PROPN
fcis-29831	265	3	decis	decis	PROPN
fcis-29831	265	4	1995;10(1):85–8	1995;10(1):85–8	PROPN
fcis-29831	265	5	.	.	PUNCT
fcis-29831	266	1	[	[	X
fcis-29831	266	2	18	18	NUM
fcis-29831	266	3	]	]	X
fcis-29831	266	4	chen	chen	PROPN
fcis-29831	266	5	m	m	PROPN
fcis-29831	266	6	,	,	PUNCT
fcis-29831	266	7	wu	wu	PROPN
fcis-29831	266	8	q	q	PROPN
fcis-29831	266	9	,	,	PUNCT
fcis-29831	266	10	cui	cui	PROPN
fcis-29831	266	11	r.	r.	PROPN
fcis-29831	266	12	terminal	terminal	PROPN
fcis-29831	266	13	sliding	slide	VERB
fcis-29831	266	14	mode	mode	NOUN
fcis-29831	266	15	tracking	track	VERB
fcis-29831	266	16	control	control	NOUN
fcis-29831	266	17	for	for	ADP
fcis-29831	266	18	a	a	DET
fcis-29831	266	19	class	class	NOUN
fcis-29831	266	20	of	of	ADP
fcis-29831	266	21	siso	siso	NOUN
fcis-29831	266	22	uncertain	uncertain	ADJ
fcis-29831	266	23	nonlinear	nonlinear	ADJ
fcis-29831	266	24	systems	system	NOUN
fcis-29831	266	25	.	.	PUNCT
fcis-29831	267	1	isa	isa	VERB
fcis-29831	267	2	trans	trans	PROPN
fcis-29831	267	3	2013;52(2):198–206	2013;52(2):198–206	PROPN
fcis-29831	267	4	.	.	PUNCT
fcis-29831	268	1	[	[	X
fcis-29831	268	2	19	19	NUM
fcis-29831	268	3	]	]	X
fcis-29831	268	4	zhang	zhang	PROPN
fcis-29831	268	5	,	,	PUNCT
fcis-29831	268	6	h.	h.	PROPN
fcis-29831	268	7	,	,	PUNCT
fcis-29831	268	8	li	li	PROPN
fcis-29831	268	9	,	,	PUNCT
fcis-29831	268	10	b.	b.	PROPN
fcis-29831	268	11	,	,	PUNCT
fcis-29831	268	12	xiao	xiao	PROPN
fcis-29831	268	13	,	,	PUNCT
fcis-29831	268	14	b.	b.	PROPN
fcis-29831	268	15	,	,	PUNCT
fcis-29831	268	16	yang	yang	PROPN
fcis-29831	268	17	,	,	PUNCT
fcis-29831	268	18	y.	y.	PROPN
fcis-29831	268	19	,	,	PUNCT
fcis-29831	268	20	ling	ling	PROPN
fcis-29831	268	21	,	,	PUNCT
fcis-29831	268	22	j.	j.	PROPN
fcis-29831	268	23	,	,	PUNCT
fcis-29831	268	24	2022a	2022a	NUM
fcis-29831	268	25	.	.	PUNCT
fcis-29831	268	26	nonsingular	nonsingular	ADJ
fcis-29831	268	27	recursive	recursive	ADJ
fcis-29831	268	28	-	-	PUNCT
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fcis-29831	268	30	sliding	slide	VERB
fcis-29831	268	31	mode	mode	NOUN
fcis-29831	268	32	control	control	NOUN
fcis-29831	268	33	for	for	ADP
fcis-29831	268	34	highorder	highorder	NOUN
fcis-29831	268	35	nonlinear	nonlinear	PROPN
fcis-29831	268	36	systems	system	NOUN
fcis-29831	268	37	and	and	CCONJ
fcis-29831	268	38	an	an	DET
fcis-29831	268	39	application	application	NOUN
fcis-29831	268	40	in	in	ADP
fcis-29831	268	41	a	a	DET
fcis-29831	268	42	wheeled	wheel	VERB
fcis-29831	268	43	mobile	mobile	ADJ
fcis-29831	268	44	robot	robot	NOUN
fcis-29831	268	45	.	.	PUNCT
fcis-29831	269	1	isa	isa	NOUN
fcis-29831	269	2	transactions	transaction	NOUN
fcis-29831	269	3	130	130	NUM
fcis-29831	269	4	,	,	PUNCT
fcis-29831	269	5	553–564	553–564	NUM
fcis-29831	269	6	.	.	PUNCT
fcis-29831	270	1	[	[	X
fcis-29831	270	2	20	20	NUM
fcis-29831	270	3	]	]	PUNCT
fcis-29831	270	4	*	*	PUNCT
fcis-29831	270	5	*	*	PUNCT
fcis-29831	270	6	e	e	PROPN
fcis-29831	270	7	s	s	PROPN
fcis-29831	270	8	,	,	PUNCT
fcis-29831	270	9	chen	chen	PROPN
fcis-29831	270	10	q.	q.	PROPN
fcis-29831	270	11	predefined	predefine	VERB
fcis-29831	270	12	-	-	PUNCT
fcis-29831	270	13	time	time	NOUN
fcis-29831	270	14	disturbance	disturbance	NOUN
fcis-29831	270	15	estimation	estimation	NOUN
fcis-29831	270	16	and	and	CCONJ
fcis-29831	270	17	attitude	attitude	NOUN
fcis-29831	270	18	control	control	NOUN
fcis-29831	270	19	for	for	ADP
fcis-29831	270	20	rigid	rigid	ADJ
fcis-29831	270	21	spacecraft[j	spacecraft[j	NOUN
fcis-29831	270	22	]	]	PUNCT
fcis-29831	270	23	.	.	PUNCT
fcis-29831	271	1	ieee	ieee	NOUN
fcis-29831	271	2	transactions	transaction	NOUN
fcis-29831	271	3	on	on	ADP
fcis-29831	271	4	circuits	circuit	NOUN
fcis-29831	271	5	and	and	CCONJ
fcis-29831	271	6	systems	system	NOUN
fcis-29831	271	7	ii	ii	PROPN
fcis-29831	271	8	:	:	PUNCT
fcis-29831	271	9	express	express	VERB
fcis-29831	271	10	briefs	brief	NOUN
fcis-29831	271	11	,	,	PUNCT
fcis-29831	271	12	2023	2023	NUM
fcis-29831	271	13	.	.	PUNCT