id	sid	tid	token	lemma	pos
fcis-3751	1	1	frontiers	frontier	NOUN
fcis-3751	1	2	in	in	ADP
fcis-3751	1	3	computing	computing	NOUN
fcis-3751	1	4	and	and	CCONJ
fcis-3751	1	5	intelligent	intelligent	ADJ
fcis-3751	1	6	systems	system	NOUN
fcis-3751	1	7	issn	issn	VERB
fcis-3751	1	8	:	:	PUNCT
fcis-3751	1	9	2832	2832	NUM
fcis-3751	1	10	-	-	SYM
fcis-3751	1	11	6024	6024	NUM
fcis-3751	1	12	|	|	NOUN
fcis-3751	1	13	vol	vol	NOUN
fcis-3751	1	14	.	.	PROPN
fcis-3751	2	1	2	2	NUM
fcis-3751	2	2	,	,	PUNCT
fcis-3751	2	3	no	no	INTJ
fcis-3751	2	4	.	.	NOUN
fcis-3751	2	5	2	2	NUM
fcis-3751	2	6	,	,	PUNCT
fcis-3751	2	7	2022	2022	NUM
fcis-3751	2	8	28	28	NUM
fcis-3751	2	9	trajectory	trajectory	NOUN
fcis-3751	2	10	tracking	tracking	NOUN
fcis-3751	2	11	of	of	ADP
fcis-3751	2	12	mobile	mobile	NOUN
fcis-3751	2	13	robot	robot	NOUN
fcis-3751	2	14	based	base	VERB
fcis-3751	2	15	on	on	ADP
fcis-3751	2	16	improved	improve	VERB
fcis-3751	2	17	hierarchical	hierarchical	ADJ
fcis-3751	2	18	sliding	slide	VERB
fcis-3751	2	19	mode	mode	NOUN
fcis-3751	2	20	control	control	NOUN
fcis-3751	2	21	rong	rong	PROPN
fcis-3751	2	22	wang	wang	PROPN
fcis-3751	2	23	*	*	PROPN
fcis-3751	2	24	,	,	PUNCT
fcis-3751	2	25	yongchun	yongchun	PROPN
fcis-3751	2	26	liu	liu	PROPN
fcis-3751	2	27	school	school	PROPN
fcis-3751	2	28	of	of	ADP
fcis-3751	2	29	sichuan	sichuan	PROPN
fcis-3751	2	30	university	university	PROPN
fcis-3751	2	31	of	of	ADP
fcis-3751	2	32	science	science	NOUN
fcis-3751	2	33	and	and	CCONJ
fcis-3751	2	34	engineer	engineer	NOUN
fcis-3751	2	35	a.	a.	NOUN
fcis-3751	2	36	college	college	PROPN
fcis-3751	2	37	of	of	ADP
fcis-3751	2	38	automation	automation	NOUN
fcis-3751	2	39	and	and	CCONJ
fcis-3751	2	40	information	information	NOUN
fcis-3751	2	41	engineering	engineering	NOUN
fcis-3751	2	42	,	,	PUNCT
fcis-3751	2	43	sichuan	sichuan	PROPN
fcis-3751	2	44	,	,	PUNCT
fcis-3751	2	45	china	china	PROPN
fcis-3751	2	46	.	.	PUNCT
fcis-3751	3	1	*	*	PUNCT
fcis-3751	3	2	corresponding	correspond	VERB
fcis-3751	3	3	author	author	NOUN
fcis-3751	3	4	:	:	PUNCT
fcis-3751	3	5	rong	rong	PROPN
fcis-3751	3	6	wang	wang	PROPN
fcis-3751	3	7	abstract	abstract	PROPN
fcis-3751	3	8	:	:	PUNCT
fcis-3751	3	9	a	a	DET
fcis-3751	3	10	control	control	NOUN
fcis-3751	3	11	algorithm	algorithm	NOUN
fcis-3751	3	12	based	base	VERB
fcis-3751	3	13	on	on	ADP
fcis-3751	3	14	pd	pd	PROPN
fcis-3751	3	15	control	control	PROPN
fcis-3751	3	16	and	and	CCONJ
fcis-3751	3	17	non	non	ADJ
fcis-3751	3	18	-	-	ADJ
fcis-3751	3	19	singular	singular	ADJ
fcis-3751	3	20	terminal	terminal	PROPN
fcis-3751	3	21	hierarchical	hierarchical	ADJ
fcis-3751	3	22	sliding	slide	VERB
fcis-3751	3	23	mode	mode	NOUN
fcis-3751	3	24	control	control	NOUN
fcis-3751	3	25	is	be	AUX
fcis-3751	3	26	proposed	propose	VERB
fcis-3751	3	27	for	for	ADP
fcis-3751	3	28	tracking	track	VERB
fcis-3751	3	29	control	control	NOUN
fcis-3751	3	30	of	of	ADP
fcis-3751	3	31	mobile	mobile	ADJ
fcis-3751	3	32	robot	robot	NOUN
fcis-3751	3	33	systems	system	NOUN
fcis-3751	3	34	.	.	PUNCT
fcis-3751	4	1	first	first	ADV
fcis-3751	4	2	establish	establish	VERB
fcis-3751	4	3	a	a	DET
fcis-3751	4	4	dynamic	dynamic	ADJ
fcis-3751	4	5	model	model	NOUN
fcis-3751	4	6	of	of	ADP
fcis-3751	4	7	mobile	mobile	ADJ
fcis-3751	4	8	robot	robot	NOUN
fcis-3751	4	9	under	under	ADP
fcis-3751	4	10	cartesian	cartesian	ADJ
fcis-3751	4	11	coordinate	coordinate	NOUN
fcis-3751	4	12	system	system	NOUN
fcis-3751	4	13	,	,	PUNCT
fcis-3751	4	14	the	the	DET
fcis-3751	4	15	system	system	NOUN
fcis-3751	4	16	can	can	AUX
fcis-3751	4	17	be	be	AUX
fcis-3751	4	18	divided	divide	VERB
fcis-3751	4	19	into	into	ADP
fcis-3751	4	20	subsystems	subsystem	NOUN
fcis-3751	4	21	of	of	ADP
fcis-3751	4	22	posture	posture	NOUN
fcis-3751	4	23	and	and	CCONJ
fcis-3751	4	24	position	position	NOUN
fcis-3751	4	25	,	,	PUNCT
fcis-3751	4	26	attitude	attitude	NOUN
fcis-3751	4	27	subsystem	subsystem	NOUN
fcis-3751	4	28	by	by	ADP
fcis-3751	4	29	using	use	VERB
fcis-3751	4	30	pd	pd	PROPN
fcis-3751	4	31	control	control	NOUN
fcis-3751	4	32	,	,	PUNCT
fcis-3751	4	33	location	location	NOUN
fcis-3751	4	34	subsystem	subsystem	NOUN
fcis-3751	4	35	using	use	VERB
fcis-3751	4	36	non	non	ADJ
fcis-3751	4	37	-	-	ADJ
fcis-3751	4	38	singular	singular	ADJ
fcis-3751	4	39	terminal	terminal	PROPN
fcis-3751	4	40	hierarchical	hierarchical	ADJ
fcis-3751	4	41	sliding	slide	VERB
fcis-3751	4	42	mode	mode	NOUN
fcis-3751	4	43	control	control	NOUN
fcis-3751	4	44	,	,	PUNCT
fcis-3751	4	45	the	the	DET
fcis-3751	4	46	introduction	introduction	NOUN
fcis-3751	4	47	of	of	ADP
fcis-3751	4	48	the	the	DET
fcis-3751	4	49	system	system	NOUN
fcis-3751	4	50	state	state	NOUN
fcis-3751	4	51	higher	high	ADJ
fcis-3751	4	52	order	order	NOUN
fcis-3751	4	53	term	term	NOUN
fcis-3751	4	54	,	,	PUNCT
fcis-3751	4	55	improve	improve	VERB
fcis-3751	4	56	the	the	DET
fcis-3751	4	57	system	system	NOUN
fcis-3751	4	58	in	in	ADP
fcis-3751	4	59	the	the	DET
fcis-3751	4	60	convergence	convergence	NOUN
fcis-3751	4	61	speed	speed	NOUN
fcis-3751	4	62	and	and	CCONJ
fcis-3751	4	63	stability	stability	NOUN
fcis-3751	4	64	of	of	ADP
fcis-3751	4	65	the	the	DET
fcis-3751	4	66	sliding	slide	VERB
fcis-3751	4	67	surface	surface	NOUN
fcis-3751	4	68	,	,	PUNCT
fcis-3751	4	69	the	the	DET
fcis-3751	4	70	system	system	NOUN
fcis-3751	4	71	reaches	reach	VERB
fcis-3751	4	72	a	a	DET
fcis-3751	4	73	steady	steady	ADJ
fcis-3751	4	74	state	state	NOUN
fcis-3751	4	75	in	in	ADP
fcis-3751	4	76	a	a	DET
fcis-3751	4	77	limited	limited	ADJ
fcis-3751	4	78	time	time	NOUN
fcis-3751	4	79	;	;	PUNCT
fcis-3751	4	80	finally	finally	ADV
fcis-3751	4	81	,	,	PUNCT
fcis-3751	4	82	the	the	DET
fcis-3751	4	83	stability	stability	NOUN
fcis-3751	4	84	of	of	ADP
fcis-3751	4	85	the	the	DET
fcis-3751	4	86	system	system	NOUN
fcis-3751	4	87	is	be	AUX
fcis-3751	4	88	proved	prove	VERB
fcis-3751	4	89	theoretically	theoretically	ADV
fcis-3751	4	90	,	,	PUNCT
fcis-3751	4	91	and	and	CCONJ
fcis-3751	4	92	the	the	DET
fcis-3751	4	93	effectiveness	effectiveness	NOUN
fcis-3751	4	94	of	of	ADP
fcis-3751	4	95	the	the	DET
fcis-3751	4	96	control	control	NOUN
fcis-3751	4	97	method	method	NOUN
fcis-3751	4	98	is	be	AUX
fcis-3751	4	99	verified	verify	VERB
fcis-3751	4	100	by	by	ADP
fcis-3751	4	101	simulation	simulation	NOUN
fcis-3751	4	102	.	.	PUNCT
fcis-3751	5	1	keywords	keyword	NOUN
fcis-3751	5	2	:	:	PUNCT
fcis-3751	5	3	mobile	mobile	ADJ
fcis-3751	5	4	robot	robot	NOUN
fcis-3751	5	5	;	;	PUNCT
fcis-3751	5	6	hierarchical	hierarchical	ADJ
fcis-3751	5	7	sliding	slide	VERB
fcis-3751	5	8	mode	mode	NOUN
fcis-3751	5	9	control	control	NOUN
fcis-3751	5	10	;	;	PUNCT
fcis-3751	5	11	terminal	terminal	ADJ
fcis-3751	5	12	sliding	slide	VERB
fcis-3751	5	13	mode	mode	NOUN
fcis-3751	5	14	control	control	NOUN
fcis-3751	5	15	;	;	PUNCT
fcis-3751	5	16	pd	pd	PROPN
fcis-3751	5	17	control	control	NOUN
fcis-3751	5	18	.	.	PUNCT
fcis-3751	6	1	1	1	X
fcis-3751	6	2	.	.	X
fcis-3751	6	3	introduction	introduction	NOUN
fcis-3751	6	4	in	in	ADP
fcis-3751	6	5	underactuated	underactuated	ADJ
fcis-3751	6	6	systems	system	NOUN
fcis-3751	6	7	,	,	PUNCT
fcis-3751	6	8	the	the	DET
fcis-3751	6	9	number	number	NOUN
fcis-3751	6	10	of	of	ADP
fcis-3751	6	11	control	control	NOUN
fcis-3751	6	12	variables	variable	NOUN
fcis-3751	6	13	is	be	AUX
fcis-3751	6	14	less	less	ADJ
fcis-3751	6	15	than	than	ADP
fcis-3751	6	16	the	the	DET
fcis-3751	6	17	number	number	NOUN
fcis-3751	6	18	of	of	ADP
fcis-3751	6	19	degrees	degree	NOUN
fcis-3751	6	20	of	of	ADP
fcis-3751	6	21	freedom	freedom	NOUN
fcis-3751	6	22	,	,	PUNCT
fcis-3751	6	23	so	so	SCONJ
fcis-3751	6	24	that	that	SCONJ
fcis-3751	6	25	the	the	DET
fcis-3751	6	26	partial	partial	ADJ
fcis-3751	6	27	degrees	degree	NOUN
fcis-3751	6	28	of	of	ADP
fcis-3751	6	29	freedom	freedom	NOUN
fcis-3751	6	30	of	of	ADP
fcis-3751	6	31	the	the	DET
fcis-3751	6	32	system	system	NOUN
fcis-3751	6	33	can	can	AUX
fcis-3751	6	34	not	not	PART
fcis-3751	6	35	be	be	AUX
fcis-3751	6	36	directly	directly	ADV
fcis-3751	6	37	controlled	control	VERB
fcis-3751	6	38	;	;	PUNCT
fcis-3751	6	39	common	common	ADJ
fcis-3751	6	40	underactuated	underactuated	ADJ
fcis-3751	6	41	systems	system	NOUN
fcis-3751	6	42	include	include	VERB
fcis-3751	6	43	manipulators	manipulator	NOUN
fcis-3751	6	44	,	,	PUNCT
fcis-3751	6	45	mobile	mobile	ADJ
fcis-3751	6	46	robots	robot	NOUN
fcis-3751	6	47	,	,	PUNCT
fcis-3751	6	48	quadrotor	quadrotor	NOUN
fcis-3751	6	49	uavs	uavs	PROPN
fcis-3751	6	50	,	,	PUNCT
fcis-3751	6	51	etc	etc	X
fcis-3751	6	52	.	.	X
fcis-3751	6	53	;	;	PUNCT
fcis-3751	6	54	among	among	ADP
fcis-3751	6	55	them	they	PRON
fcis-3751	6	56	,	,	PUNCT
fcis-3751	6	57	the	the	DET
fcis-3751	6	58	mobile	mobile	NOUN
fcis-3751	6	59	robot	robot	NOUN
fcis-3751	6	60	is	be	AUX
fcis-3751	6	61	a	a	DET
fcis-3751	6	62	multi	multi	ADJ
fcis-3751	6	63	-	-	ADJ
fcis-3751	6	64	input	input	ADJ
fcis-3751	6	65	and	and	CCONJ
fcis-3751	6	66	multi	multi	ADJ
fcis-3751	6	67	-	-	ADJ
fcis-3751	6	68	output	output	ADJ
fcis-3751	6	69	system	system	NOUN
fcis-3751	6	70	,	,	PUNCT
fcis-3751	6	71	and	and	CCONJ
fcis-3751	6	72	the	the	DET
fcis-3751	6	73	research	research	NOUN
fcis-3751	6	74	is	be	AUX
fcis-3751	6	75	relatively	relatively	ADV
fcis-3751	6	76	complex	complex	ADJ
fcis-3751	6	77	.	.	PUNCT
fcis-3751	7	1	the	the	DET
fcis-3751	7	2	trajectory	trajectory	NOUN
fcis-3751	7	3	tracking	tracking	NOUN
fcis-3751	7	4	technology	technology	NOUN
fcis-3751	7	5	is	be	AUX
fcis-3751	7	6	an	an	DET
fcis-3751	7	7	important	important	ADJ
fcis-3751	7	8	part	part	NOUN
fcis-3751	7	9	of	of	ADP
fcis-3751	7	10	the	the	DET
fcis-3751	7	11	mobile	mobile	PROPN
fcis-3751	7	12	robot	robot	NOUN
fcis-3751	7	13	control	control	PROPN
fcis-3751	7	14	field	field	PROPN
fcis-3751	7	15	.	.	PUNCT
fcis-3751	8	1	the	the	DET
fcis-3751	8	2	error	error	NOUN
fcis-3751	8	3	between	between	ADP
fcis-3751	8	4	the	the	DET
fcis-3751	8	5	trajectory	trajectory	NOUN
fcis-3751	8	6	of	of	ADP
fcis-3751	8	7	the	the	DET
fcis-3751	8	8	mobile	mobile	NOUN
fcis-3751	8	9	robot	robot	NOUN
fcis-3751	8	10	and	and	CCONJ
fcis-3751	8	11	the	the	DET
fcis-3751	8	12	reference	reference	NOUN
fcis-3751	8	13	trajectory	trajectory	NOUN
fcis-3751	8	14	is	be	AUX
fcis-3751	8	15	an	an	DET
fcis-3751	8	16	important	important	ADJ
fcis-3751	8	17	indicator	indicator	NOUN
fcis-3751	8	18	of	of	ADP
fcis-3751	8	19	the	the	DET
fcis-3751	8	20	trajectory	trajectory	NOUN
fcis-3751	8	21	tracking	tracking	NOUN
fcis-3751	8	22	performance	performance	NOUN
fcis-3751	8	23	[	[	PUNCT
fcis-3751	8	24	2,3	2,3	NUM
fcis-3751	8	25	]	]	PUNCT
fcis-3751	8	26	.	.	PUNCT
fcis-3751	9	1	sliding	slide	VERB
fcis-3751	9	2	mode	mode	NOUN
fcis-3751	9	3	control	control	NOUN
fcis-3751	9	4	method	method	NOUN
fcis-3751	9	5	is	be	AUX
fcis-3751	9	6	a	a	DET
fcis-3751	9	7	simple	simple	ADJ
fcis-3751	9	8	and	and	CCONJ
fcis-3751	9	9	effective	effective	ADJ
fcis-3751	9	10	robust	robust	ADJ
fcis-3751	9	11	control	control	NOUN
fcis-3751	9	12	method	method	NOUN
fcis-3751	9	13	,	,	PUNCT
fcis-3751	9	14	and	and	CCONJ
fcis-3751	9	15	the	the	DET
fcis-3751	9	16	response	response	NOUN
fcis-3751	9	17	is	be	AUX
fcis-3751	9	18	fast	fast	ADJ
fcis-3751	9	19	.	.	PUNCT
fcis-3751	10	1	the	the	DET
fcis-3751	10	2	control	control	NOUN
fcis-3751	10	3	method	method	NOUN
fcis-3751	10	4	designs	design	VERB
fcis-3751	10	5	the	the	DET
fcis-3751	10	6	error	error	NOUN
fcis-3751	10	7	-	-	PUNCT
fcis-3751	10	8	related	relate	VERB
fcis-3751	10	9	sliding	slide	VERB
fcis-3751	10	10	surface	surface	NOUN
fcis-3751	10	11	of	of	ADP
fcis-3751	10	12	the	the	DET
fcis-3751	10	13	system	system	NOUN
fcis-3751	10	14	error	error	NOUN
fcis-3751	10	15	.	.	PUNCT
fcis-3751	11	1	when	when	SCONJ
fcis-3751	11	2	the	the	DET
fcis-3751	11	3	system	system	NOUN
fcis-3751	11	4	control	control	NOUN
fcis-3751	11	5	quantity	quantity	NOUN
fcis-3751	11	6	reaches	reach	VERB
fcis-3751	11	7	the	the	DET
fcis-3751	11	8	sliding	slide	VERB
fcis-3751	11	9	surface	surface	NOUN
fcis-3751	11	10	,	,	PUNCT
fcis-3751	11	11	the	the	DET
fcis-3751	11	12	system	system	NOUN
fcis-3751	11	13	tends	tend	VERB
fcis-3751	11	14	to	to	PART
fcis-3751	11	15	be	be	AUX
fcis-3751	11	16	stable	stable	ADJ
fcis-3751	11	17	,	,	PUNCT
fcis-3751	11	18	so	so	SCONJ
fcis-3751	11	19	as	as	SCONJ
fcis-3751	11	20	to	to	PART
fcis-3751	11	21	realize	realize	VERB
fcis-3751	11	22	the	the	DET
fcis-3751	11	23	trajectory	trajectory	NOUN
fcis-3751	11	24	tracking	tracking	NOUN
fcis-3751	11	25	control	control	NOUN
fcis-3751	11	26	of	of	ADP
fcis-3751	11	27	the	the	DET
fcis-3751	11	28	mobile	mobile	NOUN
fcis-3751	11	29	robot	robot	NOUN
fcis-3751	11	30	.	.	PUNCT
fcis-3751	12	1	lee	lee	PROPN
fcis-3751	12	2	et	et	PROPN
fcis-3751	12	3	al	al	PROPN
fcis-3751	12	4	.	.	PROPN
fcis-3751	12	5	proposed	propose	VERB
fcis-3751	12	6	to	to	PART
fcis-3751	12	7	apply	apply	VERB
fcis-3751	12	8	sliding	slide	VERB
fcis-3751	12	9	mode	mode	NOUN
fcis-3751	12	10	control	control	NOUN
fcis-3751	12	11	to	to	ADP
fcis-3751	12	12	wheeled	wheel	VERB
fcis-3751	12	13	mobile	mobile	ADJ
fcis-3751	12	14	robot	robot	NOUN
fcis-3751	12	15	,	,	PUNCT
fcis-3751	12	16	so	so	SCONJ
fcis-3751	12	17	that	that	SCONJ
fcis-3751	12	18	the	the	DET
fcis-3751	12	19	mobile	mobile	NOUN
fcis-3751	12	20	robot	robot	NOUN
fcis-3751	12	21	can	can	AUX
fcis-3751	12	22	run	run	VERB
fcis-3751	12	23	steadily	steadily	ADV
fcis-3751	12	24	on	on	ADP
fcis-3751	12	25	the	the	DET
fcis-3751	12	26	target	target	NOUN
fcis-3751	12	27	trajectory	trajectory	NOUN
fcis-3751	12	28	.	.	PUNCT
fcis-3751	13	1	however	however	ADV
fcis-3751	13	2	,	,	PUNCT
fcis-3751	13	3	the	the	DET
fcis-3751	13	4	above	above	ADJ
fcis-3751	13	5	method	method	NOUN
fcis-3751	13	6	is	be	AUX
fcis-3751	13	7	only	only	ADV
fcis-3751	13	8	to	to	PART
fcis-3751	13	9	construct	construct	VERB
fcis-3751	13	10	a	a	DET
fcis-3751	13	11	single	single	ADJ
fcis-3751	13	12	-	-	PUNCT
fcis-3751	13	13	layer	layer	NOUN
fcis-3751	13	14	sliding	slide	VERB
fcis-3751	13	15	mode	mode	NOUN
fcis-3751	13	16	.	.	PUNCT
fcis-3751	14	1	for	for	ADP
fcis-3751	14	2	multi	multi	ADJ
fcis-3751	14	3	-	-	ADJ
fcis-3751	14	4	input	input	ADJ
fcis-3751	14	5	multi	multi	ADJ
fcis-3751	14	6	-	-	ADJ
fcis-3751	14	7	output	output	ADJ
fcis-3751	14	8	system	system	NOUN
fcis-3751	14	9	,	,	PUNCT
fcis-3751	14	10	it	it	PRON
fcis-3751	14	11	is	be	AUX
fcis-3751	14	12	difficult	difficult	ADJ
fcis-3751	14	13	to	to	PART
fcis-3751	14	14	control	control	VERB
fcis-3751	14	15	all	all	DET
fcis-3751	14	16	variables	variable	NOUN
fcis-3751	14	17	of	of	ADP
fcis-3751	14	18	the	the	DET
fcis-3751	14	19	whole	whole	ADJ
fcis-3751	14	20	system	system	NOUN
fcis-3751	14	21	by	by	ADP
fcis-3751	14	22	constructing	construct	VERB
fcis-3751	14	23	a	a	DET
fcis-3751	14	24	sliding	slide	VERB
fcis-3751	14	25	surface	surface	NOUN
fcis-3751	14	26	.	.	PUNCT
fcis-3751	15	1	wang	wang	PROPN
fcis-3751	15	2	et	et	PROPN
fcis-3751	15	3	al	al	PROPN
fcis-3751	15	4	.	.	PUNCT
fcis-3751	16	1	[	[	PUNCT
fcis-3751	16	2	5	5	NUM
fcis-3751	16	3	,	,	PUNCT
fcis-3751	16	4	6	6	NUM
fcis-3751	16	5	,	,	PUNCT
fcis-3751	16	6	7	7	NUM
fcis-3751	16	7	]	]	PUNCT
fcis-3751	16	8	proposed	propose	VERB
fcis-3751	16	9	a	a	DET
fcis-3751	16	10	robust	robust	ADJ
fcis-3751	16	11	nonlinear	nonlinear	ADJ
fcis-3751	16	12	controller	controller	NOUN
fcis-3751	16	13	based	base	VERB
fcis-3751	16	14	on	on	ADP
fcis-3751	16	15	hierarchical	hierarchical	ADJ
fcis-3751	16	16	sliding	slide	VERB
fcis-3751	16	17	mode	mode	NOUN
fcis-3751	16	18	control	control	NOUN
fcis-3751	16	19	for	for	ADP
fcis-3751	16	20	a	a	DET
fcis-3751	16	21	class	class	NOUN
fcis-3751	16	22	of	of	ADP
fcis-3751	16	23	underactuated	underactuated	ADJ
fcis-3751	16	24	systems	system	NOUN
fcis-3751	16	25	to	to	PART
fcis-3751	16	26	achieve	achieve	VERB
fcis-3751	16	27	the	the	DET
fcis-3751	16	28	balance	balance	NOUN
fcis-3751	16	29	and	and	CCONJ
fcis-3751	16	30	motion	motion	NOUN
fcis-3751	16	31	of	of	ADP
fcis-3751	16	32	the	the	DET
fcis-3751	16	33	underactuated	underactuated	ADJ
fcis-3751	16	34	system	system	NOUN
fcis-3751	16	35	;	;	PUNCT
fcis-3751	16	36	the	the	DET
fcis-3751	16	37	stability	stability	NOUN
fcis-3751	16	38	of	of	ADP
fcis-3751	16	39	the	the	DET
fcis-3751	16	40	closed	closed	ADJ
fcis-3751	16	41	-	-	PUNCT
fcis-3751	16	42	loop	loop	NOUN
fcis-3751	16	43	system	system	NOUN
fcis-3751	16	44	is	be	AUX
fcis-3751	16	45	obtained	obtain	VERB
fcis-3751	16	46	by	by	ADP
fcis-3751	16	47	using	use	VERB
fcis-3751	16	48	lyapunov	lyapunov	ADJ
fcis-3751	16	49	stability	stability	NOUN
fcis-3751	16	50	criterion	criterion	NOUN
fcis-3751	16	51	and	and	CCONJ
fcis-3751	16	52	barbalat	barbalat	PROPN
fcis-3751	16	53	lemma	lemma	PROPN
fcis-3751	16	54	.	.	PUNCT
fcis-3751	17	1	pham	pham	PROPN
fcis-3751	17	2	et	et	PROPN
fcis-3751	17	3	al	al	PROPN
fcis-3751	17	4	.	.	PROPN
fcis-3751	17	5	proposed	propose	VERB
fcis-3751	17	6	a	a	DET
fcis-3751	17	7	new	new	ADJ
fcis-3751	17	8	trajectory	trajectory	NOUN
fcis-3751	17	9	tracking	tracking	NOUN
fcis-3751	17	10	control	control	NOUN
fcis-3751	17	11	algorithm	algorithm	NOUN
fcis-3751	17	12	for	for	ADP
fcis-3751	17	13	wheeled	wheel	VERB
fcis-3751	17	14	mobile	mobile	ADJ
fcis-3751	17	15	robots	robot	NOUN
fcis-3751	17	16	,	,	PUNCT
fcis-3751	17	17	which	which	PRON
fcis-3751	17	18	combines	combine	VERB
fcis-3751	17	19	hierarchical	hierarchical	ADJ
fcis-3751	17	20	sliding	slide	VERB
fcis-3751	17	21	mode	mode	NOUN
fcis-3751	17	22	and	and	CCONJ
fcis-3751	17	23	backstepping	backsteppe	VERB
fcis-3751	17	24	control	control	NOUN
fcis-3751	17	25	methods	method	NOUN
fcis-3751	17	26	.	.	PUNCT
fcis-3751	18	1	the	the	DET
fcis-3751	18	2	tracking	tracking	NOUN
fcis-3751	18	3	control	control	NOUN
fcis-3751	18	4	guarantees	guarantee	VERB
fcis-3751	18	5	the	the	DET
fcis-3751	18	6	closed	close	VERB
fcis-3751	18	7	-	-	PUNCT
fcis-3751	18	8	loop	loop	NOUN
fcis-3751	18	9	stability	stability	NOUN
fcis-3751	18	10	and	and	CCONJ
fcis-3751	18	11	zero	zero	NUM
fcis-3751	18	12	tracking	tracking	NOUN
fcis-3751	18	13	error	error	NOUN
fcis-3751	18	14	.	.	PUNCT
fcis-3751	19	1	however	however	ADV
fcis-3751	19	2	,	,	PUNCT
fcis-3751	19	3	the	the	DET
fcis-3751	19	4	hierarchical	hierarchical	ADJ
fcis-3751	19	5	sliding	slide	VERB
fcis-3751	19	6	mode	mode	NOUN
fcis-3751	19	7	control	control	NOUN
fcis-3751	19	8	in	in	ADP
fcis-3751	19	9	the	the	DET
fcis-3751	19	10	above	above	ADJ
fcis-3751	19	11	literature	literature	NOUN
fcis-3751	19	12	adopts	adopt	VERB
fcis-3751	19	13	ordinary	ordinary	ADJ
fcis-3751	19	14	linear	linear	ADJ
fcis-3751	19	15	sliding	slide	VERB
fcis-3751	19	16	surface	surface	NOUN
fcis-3751	19	17	,	,	PUNCT
fcis-3751	19	18	which	which	PRON
fcis-3751	19	19	can	can	AUX
fcis-3751	19	20	only	only	ADV
fcis-3751	19	21	guarantee	guarantee	VERB
fcis-3751	19	22	the	the	DET
fcis-3751	19	23	asymptotic	asymptotic	ADJ
fcis-3751	19	24	convergence	convergence	NOUN
fcis-3751	19	25	of	of	ADP
fcis-3751	19	26	the	the	DET
fcis-3751	19	27	system	system	NOUN
fcis-3751	19	28	but	but	CCONJ
fcis-3751	19	29	can	can	AUX
fcis-3751	19	30	not	not	PART
fcis-3751	19	31	guarantee	guarantee	VERB
fcis-3751	19	32	the	the	DET
fcis-3751	19	33	convergence	convergence	NOUN
fcis-3751	19	34	time	time	NOUN
fcis-3751	19	35	.	.	PUNCT
fcis-3751	20	1	man	man	NOUN
fcis-3751	20	2	[	[	PUNCT
fcis-3751	20	3	9	9	NUM
fcis-3751	20	4	,	,	PUNCT
fcis-3751	20	5	10	10	NUM
fcis-3751	20	6	]	]	PUNCT
fcis-3751	20	7	et	et	PROPN
fcis-3751	20	8	al	al	PROPN
fcis-3751	20	9	.	.	PUNCT
fcis-3751	21	1	when	when	SCONJ
fcis-3751	21	2	designing	design	VERB
fcis-3751	21	3	the	the	DET
fcis-3751	21	4	sliding	slide	VERB
fcis-3751	21	5	surface	surface	NOUN
fcis-3751	21	6	;	;	PUNCT
fcis-3751	21	7	the	the	DET
fcis-3751	21	8	nonlinear	nonlinear	ADJ
fcis-3751	21	9	sliding	slide	VERB
fcis-3751	21	10	surface	surface	NOUN
fcis-3751	21	11	is	be	AUX
fcis-3751	21	12	used	use	VERB
fcis-3751	21	13	to	to	PART
fcis-3751	21	14	replace	replace	VERB
fcis-3751	21	15	the	the	DET
fcis-3751	21	16	traditional	traditional	ADJ
fcis-3751	21	17	linear	linear	NOUN
fcis-3751	21	18	sliding	slide	VERB
fcis-3751	21	19	surface	surface	NOUN
fcis-3751	21	20	,	,	PUNCT
fcis-3751	21	21	and	and	CCONJ
fcis-3751	21	22	the	the	DET
fcis-3751	21	23	terminal	terminal	ADJ
fcis-3751	21	24	sliding	slide	VERB
fcis-3751	21	25	mode	mode	NOUN
fcis-3751	21	26	control	control	NOUN
fcis-3751	21	27	is	be	AUX
fcis-3751	21	28	proposed	propose	VERB
fcis-3751	21	29	,	,	PUNCT
fcis-3751	21	30	which	which	PRON
fcis-3751	21	31	makes	make	VERB
fcis-3751	21	32	the	the	DET
fcis-3751	21	33	convergence	convergence	NOUN
fcis-3751	21	34	time	time	NOUN
fcis-3751	21	35	of	of	ADP
fcis-3751	21	36	the	the	DET
fcis-3751	21	37	system	system	NOUN
fcis-3751	21	38	limited	limit	VERB
fcis-3751	21	39	.	.	PUNCT
fcis-3751	22	1	however	however	ADV
fcis-3751	22	2	,	,	PUNCT
fcis-3751	22	3	singular	singular	ADJ
fcis-3751	22	4	problems	problem	NOUN
fcis-3751	22	5	will	will	AUX
fcis-3751	22	6	occur	occur	VERB
fcis-3751	22	7	when	when	SCONJ
fcis-3751	22	8	the	the	DET
fcis-3751	22	9	parameters	parameter	NOUN
fcis-3751	22	10	are	be	AUX
fcis-3751	22	11	not	not	PART
fcis-3751	22	12	set	set	VERB
fcis-3751	22	13	.	.	PUNCT
fcis-3751	23	1	then	then	ADV
fcis-3751	23	2	a	a	DET
fcis-3751	23	3	nonsingular	nonsingular	ADJ
fcis-3751	23	4	terminal	terminal	ADJ
fcis-3751	23	5	sliding	slide	VERB
fcis-3751	23	6	mode	mode	NOUN
fcis-3751	23	7	control	control	NOUN
fcis-3751	23	8	is	be	AUX
fcis-3751	23	9	proposed	propose	VERB
fcis-3751	23	10	to	to	PART
fcis-3751	23	11	solve	solve	VERB
fcis-3751	23	12	the	the	DET
fcis-3751	23	13	singular	singular	ADJ
fcis-3751	23	14	problem	problem	NOUN
fcis-3751	23	15	of	of	ADP
fcis-3751	23	16	general	general	ADJ
fcis-3751	23	17	terminal	terminal	PROPN
fcis-3751	23	18	sliding	slide	VERB
fcis-3751	23	19	mode	mode	NOUN
fcis-3751	23	20	control	control	NOUN
fcis-3751	23	21	.	.	PUNCT
fcis-3751	24	1	the	the	DET
fcis-3751	24	2	control	control	NOUN
fcis-3751	24	3	objective	objective	NOUN
fcis-3751	24	4	of	of	ADP
fcis-3751	24	5	this	this	DET
fcis-3751	24	6	paper	paper	NOUN
fcis-3751	24	7	is	be	AUX
fcis-3751	24	8	to	to	PART
fcis-3751	24	9	control	control	VERB
fcis-3751	24	10	the	the	DET
fcis-3751	24	11	mobile	mobile	ADJ
fcis-3751	24	12	robot	robot	NOUN
fcis-3751	24	13	system	system	NOUN
fcis-3751	24	14	to	to	PART
fcis-3751	24	15	complete	complete	VERB
fcis-3751	24	16	the	the	DET
fcis-3751	24	17	tracking	tracking	NOUN
fcis-3751	24	18	control	control	NOUN
fcis-3751	24	19	with	with	ADP
fcis-3751	24	20	the	the	DET
fcis-3751	24	21	actual	actual	ADJ
fcis-3751	24	22	control	control	NOUN
fcis-3751	24	23	input	input	NOUN
fcis-3751	24	24	torque	torque	NOUN
fcis-3751	24	25	𝜏1	𝜏1	NOUN
fcis-3751	24	26	,	,	PUNCT
fcis-3751	24	27	𝜏2	𝜏2	PROPN
fcis-3751	24	28	.	.	PUNCT
fcis-3751	25	1	the	the	DET
fcis-3751	25	2	mobile	mobile	NOUN
fcis-3751	25	3	robot	robot	NOUN
fcis-3751	25	4	can	can	AUX
fcis-3751	25	5	keep	keep	VERB
fcis-3751	25	6	moving	move	VERB
fcis-3751	25	7	along	along	ADP
fcis-3751	25	8	the	the	DET
fcis-3751	25	9	ideal	ideal	ADJ
fcis-3751	25	10	trajectory	trajectory	NOUN
fcis-3751	25	11	.	.	PUNCT
fcis-3751	26	1	linear	linear	PROPN
fcis-3751	26	2	sliding	slide	VERB
fcis-3751	26	3	surface	surface	NOUN
fcis-3751	26	4	is	be	AUX
fcis-3751	26	5	used	use	VERB
fcis-3751	26	6	in	in	ADP
fcis-3751	26	7	the	the	DET
fcis-3751	26	8	hierarchical	hierarchical	ADJ
fcis-3751	26	9	sliding	slide	VERB
fcis-3751	26	10	mode	mode	NOUN
fcis-3751	26	11	control	control	NOUN
fcis-3751	26	12	method	method	NOUN
fcis-3751	26	13	in	in	ADP
fcis-3751	26	14	the	the	DET
fcis-3751	26	15	above	above	ADJ
fcis-3751	26	16	literature	literature	NOUN
fcis-3751	26	17	.	.	PUNCT
fcis-3751	27	1	although	although	SCONJ
fcis-3751	27	2	the	the	DET
fcis-3751	27	3	convergence	convergence	NOUN
fcis-3751	27	4	problem	problem	NOUN
fcis-3751	27	5	of	of	ADP
fcis-3751	27	6	the	the	DET
fcis-3751	27	7	system	system	NOUN
fcis-3751	27	8	is	be	AUX
fcis-3751	27	9	solved	solve	VERB
fcis-3751	27	10	,	,	PUNCT
fcis-3751	27	11	the	the	DET
fcis-3751	27	12	sliding	slide	VERB
fcis-3751	27	13	surface	surface	NOUN
fcis-3751	27	14	does	do	AUX
fcis-3751	27	15	not	not	PART
fcis-3751	27	16	converge	converge	VERB
fcis-3751	27	17	in	in	ADP
fcis-3751	27	18	finite	finite	ADJ
fcis-3751	27	19	time	time	NOUN
fcis-3751	27	20	,	,	PUNCT
fcis-3751	27	21	which	which	PRON
fcis-3751	27	22	makes	make	VERB
fcis-3751	27	23	the	the	DET
fcis-3751	27	24	system	system	NOUN
fcis-3751	27	25	chattering	chatter	VERB
fcis-3751	27	26	larger	large	ADJ
fcis-3751	27	27	.	.	PUNCT
fcis-3751	28	1	in	in	ADP
fcis-3751	28	2	this	this	DET
fcis-3751	28	3	paper	paper	NOUN
fcis-3751	28	4	,	,	PUNCT
fcis-3751	28	5	on	on	ADP
fcis-3751	28	6	the	the	DET
fcis-3751	28	7	basis	basis	NOUN
fcis-3751	28	8	of	of	ADP
fcis-3751	28	9	reference	reference	NOUN
fcis-3751	28	10	,	,	PUNCT
fcis-3751	28	11	the	the	DET
fcis-3751	28	12	terminal	terminal	ADJ
fcis-3751	28	13	sliding	slide	VERB
fcis-3751	28	14	mode	mode	NOUN
fcis-3751	28	15	control	control	NOUN
fcis-3751	28	16	instead	instead	ADV
fcis-3751	28	17	of	of	ADP
fcis-3751	28	18	the	the	DET
fcis-3751	28	19	ordinary	ordinary	ADJ
fcis-3751	28	20	sliding	slide	VERB
fcis-3751	28	21	mode	mode	NOUN
fcis-3751	28	22	control	control	NOUN
fcis-3751	28	23	can	can	AUX
fcis-3751	28	24	effectively	effectively	ADV
fcis-3751	28	25	improve	improve	VERB
fcis-3751	28	26	the	the	DET
fcis-3751	28	27	time	time	NOUN
fcis-3751	28	28	of	of	ADP
fcis-3751	28	29	the	the	DET
fcis-3751	28	30	system	system	NOUN
fcis-3751	28	31	convergence	convergence	NOUN
fcis-3751	28	32	to	to	ADP
fcis-3751	28	33	the	the	DET
fcis-3751	28	34	stable	stable	ADJ
fcis-3751	28	35	state	state	NOUN
fcis-3751	28	36	and	and	CCONJ
fcis-3751	28	37	the	the	DET
fcis-3751	28	38	effect	effect	NOUN
fcis-3751	28	39	of	of	ADP
fcis-3751	28	40	the	the	DET
fcis-3751	28	41	system	system	NOUN
fcis-3751	28	42	to	to	PART
fcis-3751	28	43	suppress	suppress	VERB
fcis-3751	28	44	the	the	DET
fcis-3751	28	45	chattering	chatter	VERB
fcis-3751	28	46	problem	problem	NOUN
fcis-3751	28	47	that	that	PRON
fcis-3751	28	48	often	often	ADV
fcis-3751	28	49	occurs	occur	VERB
fcis-3751	28	50	in	in	ADP
fcis-3751	28	51	the	the	DET
fcis-3751	28	52	sliding	slide	VERB
fcis-3751	28	53	film	film	NOUN
fcis-3751	28	54	controller	controller	NOUN
fcis-3751	28	55	.	.	PUNCT
fcis-3751	29	1	secondly	secondly	ADV
fcis-3751	29	2	,	,	PUNCT
fcis-3751	29	3	the	the	DET
fcis-3751	29	4	non	non	ADJ
fcis-3751	29	5	-	-	ADJ
fcis-3751	29	6	singular	singular	ADJ
fcis-3751	29	7	terminal	terminal	NOUN
fcis-3751	29	8	sliding	slide	VERB
fcis-3751	29	9	mode	mode	NOUN
fcis-3751	29	10	control	control	NOUN
fcis-3751	29	11	can	can	AUX
fcis-3751	29	12	avoid	avoid	VERB
fcis-3751	29	13	the	the	DET
fcis-3751	29	14	singular	singular	ADJ
fcis-3751	29	15	point	point	NOUN
fcis-3751	29	16	problem	problem	NOUN
fcis-3751	29	17	in	in	ADP
fcis-3751	29	18	the	the	DET
fcis-3751	29	19	hierarchical	hierarchical	ADJ
fcis-3751	29	20	sliding	slide	VERB
fcis-3751	29	21	surface	surface	NOUN
fcis-3751	29	22	.	.	PUNCT
fcis-3751	30	1	at	at	ADP
fcis-3751	30	2	the	the	DET
fcis-3751	30	3	same	same	ADJ
fcis-3751	30	4	time	time	NOUN
fcis-3751	30	5	,	,	PUNCT
fcis-3751	30	6	the	the	DET
fcis-3751	30	7	convergence	convergence	NOUN
fcis-3751	30	8	time	time	NOUN
fcis-3751	30	9	of	of	ADP
fcis-3751	30	10	the	the	DET
fcis-3751	30	11	system	system	NOUN
fcis-3751	30	12	can	can	AUX
fcis-3751	30	13	be	be	AUX
fcis-3751	30	14	obtained	obtain	VERB
fcis-3751	30	15	.	.	PUNCT
fcis-3751	31	1	the	the	DET
fcis-3751	31	2	fast	fast	ADJ
fcis-3751	31	3	power	power	NOUN
fcis-3751	31	4	reaching	reach	VERB
fcis-3751	31	5	law	law	NOUN
fcis-3751	31	6	can	can	AUX
fcis-3751	31	7	improve	improve	VERB
fcis-3751	31	8	the	the	DET
fcis-3751	31	9	speed	speed	NOUN
fcis-3751	31	10	of	of	ADP
fcis-3751	31	11	the	the	DET
fcis-3751	31	12	system	system	NOUN
fcis-3751	31	13	convergence	convergence	NOUN
fcis-3751	31	14	,	,	PUNCT
fcis-3751	31	15	effectively	effectively	ADV
fcis-3751	31	16	eliminate	eliminate	VERB
fcis-3751	31	17	the	the	DET
fcis-3751	31	18	chattering	chatter	VERB
fcis-3751	31	19	phenomenon	phenomenon	NOUN
fcis-3751	31	20	and	and	CCONJ
fcis-3751	31	21	verify	verify	VERB
fcis-3751	31	22	the	the	DET
fcis-3751	31	23	asymptotic	asymptotic	ADJ
fcis-3751	31	24	stability	stability	NOUN
fcis-3751	31	25	of	of	ADP
fcis-3751	31	26	the	the	DET
fcis-3751	31	27	system	system	NOUN
fcis-3751	31	28	.	.	PUNCT
fcis-3751	32	1	2	2	X
fcis-3751	32	2	.	.	X
fcis-3751	32	3	dynamic	dynamic	ADJ
fcis-3751	32	4	modeling	modeling	NOUN
fcis-3751	32	5	of	of	ADP
fcis-3751	32	6	mobile	mobile	ADJ
fcis-3751	32	7	robots	robot	NOUN
fcis-3751	32	8	figure	figure	VERB
fcis-3751	32	9	1	1	NUM
fcis-3751	32	10	.	.	PUNCT
fcis-3751	32	11	mobile	mobile	ADJ
fcis-3751	32	12	robots	robot	NOUN
fcis-3751	32	13	according	accord	VERB
fcis-3751	32	14	to	to	ADP
fcis-3751	32	15	the	the	DET
fcis-3751	32	16	structure	structure	NOUN
fcis-3751	32	17	of	of	ADP
fcis-3751	32	18	the	the	DET
fcis-3751	32	19	nonholonomic	nonholonomic	PROPN
fcis-3751	32	20	mobile	mobile	PROPN
fcis-3751	32	21	robot	robot	NOUN
fcis-3751	32	22	,	,	PUNCT
fcis-3751	32	23	point	point	NOUN
fcis-3751	32	24	c	c	PROPN
fcis-3751	32	25	is	be	AUX
fcis-3751	32	26	the	the	DET
fcis-3751	32	27	geometric	geometric	ADJ
fcis-3751	32	28	center	center	NOUN
fcis-3751	32	29	between	between	ADP
fcis-3751	32	30	two	two	NUM
fcis-3751	32	31	wheels	wheel	NOUN
fcis-3751	32	32	,	,	PUNCT
fcis-3751	32	33	point	point	NOUN
fcis-3751	32	34	m	m	NOUN
fcis-3751	32	35	is	be	AUX
fcis-3751	32	36	the	the	DET
fcis-3751	32	37	focus	focus	NOUN
fcis-3751	32	38	of	of	ADP
fcis-3751	32	39	the	the	DET
fcis-3751	32	40	robot	robot	NOUN
fcis-3751	32	41	,	,	PUNCT
fcis-3751	32	42	and	and	CCONJ
fcis-3751	32	43	𝑞	𝑞	X
fcis-3751	32	44	=	=	PUNCT
fcis-3751	33	1	[	[	X
fcis-3751	33	2	𝑥	𝑥	X
fcis-3751	33	3	𝑦	𝑦	NOUN
fcis-3751	33	4	𝜃]𝑇represents	𝜃]𝑇represent	VERB
fcis-3751	33	5	the	the	DET
fcis-3751	33	6	position	position	NOUN
fcis-3751	33	7	coordinates	coordinate	NOUN
fcis-3751	33	8	of	of	ADP
fcis-3751	33	9	point	point	NOUN
fcis-3751	33	10	m	m	VERB
fcis-3751	33	11	in	in	ADP
fcis-3751	33	12	cartesian	cartesian	ADJ
fcis-3751	33	13	coordinate	coordinate	NOUN
fcis-3751	33	14	system	system	NOUN
fcis-3751	33	15	.	.	PUNCT
fcis-3751	34	1	d	d	X
fcis-3751	34	2	is	be	AUX
fcis-3751	34	3	the	the	DET
fcis-3751	34	4	distance	distance	NOUN
fcis-3751	34	5	between	between	ADP
fcis-3751	34	6	two	two	NUM
fcis-3751	34	7	29	29	NUM
fcis-3751	34	8	points	point	NOUN
fcis-3751	34	9	,	,	PUNCT
fcis-3751	34	10	and	and	CCONJ
fcis-3751	34	11	θ	θ	PROPN
fcis-3751	34	12	is	be	AUX
fcis-3751	34	13	the	the	DET
fcis-3751	34	14	direction	direction	NOUN
fcis-3751	34	15	angle	angle	NOUN
fcis-3751	34	16	of	of	ADP
fcis-3751	34	17	the	the	DET
fcis-3751	34	18	robot	robot	NOUN
fcis-3751	34	19	.	.	PUNCT
fcis-3751	35	1	assuming	assume	VERB
fcis-3751	35	2	that	that	SCONJ
fcis-3751	35	3	the	the	DET
fcis-3751	35	4	mobile	mobile	NOUN
fcis-3751	35	5	robot	robot	NOUN
fcis-3751	35	6	can	can	AUX
fcis-3751	35	7	only	only	ADV
fcis-3751	35	8	move	move	VERB
fcis-3751	35	9	along	along	ADP
fcis-3751	35	10	the	the	DET
fcis-3751	35	11	direction	direction	NOUN
fcis-3751	35	12	of	of	ADP
fcis-3751	35	13	the	the	DET
fcis-3751	35	14	vertical	vertical	ADJ
fcis-3751	35	15	drive	drive	PROPN
fcis-3751	35	16	wheel	wheel	NOUN
fcis-3751	35	17	,	,	PUNCT
fcis-3751	35	18	it	it	PRON
fcis-3751	35	19	must	must	AUX
fcis-3751	35	20	meet	meet	VERB
fcis-3751	35	21	the	the	DET
fcis-3751	35	22	condition	condition	NOUN
fcis-3751	35	23	of	of	ADP
fcis-3751	35	24	pure	pure	ADJ
fcis-3751	35	25	rolling	rolling	NOUN
fcis-3751	35	26	without	without	ADP
fcis-3751	35	27	sliding	slide	VERB
fcis-3751	35	28	�	�	PROPN
fcis-3751	35	29	̇	̇	NOUN
fcis-3751	35	30	�	�	PROPN
fcis-3751	35	31	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
fcis-3751	35	32	𝜃	𝜃	X
fcis-3751	36	1	−	−	PROPN
fcis-3751	36	2	�	�	PROPN
fcis-3751	36	3	̇	̇	VERB
fcis-3751	36	4	�	�	PROPN
fcis-3751	36	5	𝑠𝑖𝑛	𝑠𝑖𝑛	NOUN
fcis-3751	36	6	𝜃	𝜃	ADP
fcis-3751	36	7	−	−	NOUN
fcis-3751	36	8	𝑑	𝑑	PRON
fcis-3751	36	9	�	�	PROPN
fcis-3751	36	10	̇	̇	NOUN
fcis-3751	36	11	�	�	PROPN
fcis-3751	36	12	=	=	SYM
fcis-3751	36	13	0	0	NUM
fcis-3751	36	14	(	(	PUNCT
fcis-3751	36	15	1	1	NUM
fcis-3751	36	16	)	)	PUNCT
fcis-3751	36	17	by	by	ADP
fcis-3751	36	18	nonholonomic	nonholonomic	ADJ
fcis-3751	36	19	constraints	constraint	NOUN
fcis-3751	36	20	𝐴𝑇(𝑞)	𝐴𝑇(𝑞)	PROPN
fcis-3751	36	21	�	�	SYM
fcis-3751	36	22	̇	̇	VERB
fcis-3751	36	23	�	�	PROPN
fcis-3751	36	24	=	=	SYM
fcis-3751	36	25	0	0	NUM
fcis-3751	36	26	(	(	PUNCT
fcis-3751	36	27	2	2	X
fcis-3751	36	28	)	)	PUNCT
fcis-3751	36	29	the	the	DET
fcis-3751	36	30	constraint	constraint	NOUN
fcis-3751	36	31	matrix	matrix	NOUN
fcis-3751	36	32	is	be	AUX
fcis-3751	36	33	𝐴𝑇(𝑞	𝐴𝑇(𝑞	PRON
fcis-3751	36	34	)	)	PUNCT
fcis-3751	37	1	=	=	PUNCT
fcis-3751	38	1	[	[	X
fcis-3751	38	2	−	−	X
fcis-3751	38	3	𝑠𝑖𝑛	𝑠𝑖𝑛	NOUN
fcis-3751	38	4	𝜃	𝜃	X
fcis-3751	38	5	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
fcis-3751	38	6	𝜃	𝜃	X
fcis-3751	38	7	−𝑑]𝑇	−𝑑]𝑇	X
fcis-3751	38	8	(	(	PUNCT
fcis-3751	38	9	3	3	NUM
fcis-3751	38	10	)	)	PUNCT
fcis-3751	38	11	according	accord	VERB
fcis-3751	38	12	to	to	ADP
fcis-3751	38	13	euler	euler	NOUN
fcis-3751	38	14	-	-	PUNCT
fcis-3751	38	15	lagrange	lagrange	NOUN
fcis-3751	38	16	principle	principle	NOUN
fcis-3751	38	17	,	,	PUNCT
fcis-3751	38	18	the	the	DET
fcis-3751	38	19	dynamic	dynamic	ADJ
fcis-3751	38	20	model	model	NOUN
fcis-3751	38	21	of	of	ADP
fcis-3751	38	22	the	the	DET
fcis-3751	38	23	robot	robot	NOUN
fcis-3751	38	24	is[11,12	is[11,12	NOUN
fcis-3751	38	25	]	]	PUNCT
fcis-3751	38	26	where	where	SCONJ
fcis-3751	38	27	𝑀(𝑞	𝑀(𝑞	VERB
fcis-3751	38	28	)	)	PUNCT
fcis-3751	38	29	∈	∈	PROPN
fcis-3751	38	30	𝑅3×3	𝑅3×3	PROPN
fcis-3751	38	31	is	be	AUX
fcis-3751	38	32	the	the	DET
fcis-3751	38	33	inertia	inertia	NOUN
fcis-3751	38	34	matrix	matrix	NOUN
fcis-3751	38	35	,	,	PUNCT
fcis-3751	38	36	𝐶(𝑞	𝐶(𝑞	PROPN
fcis-3751	38	37	,	,	PUNCT
fcis-3751	38	38	�	�	PROPN
fcis-3751	38	39	̇	̇	PROPN
fcis-3751	38	40	�	�	PROPN
fcis-3751	38	41	)	)	PUNCT
fcis-3751	38	42	∈	∈	PROPN
fcis-3751	38	43	𝑅3×3	𝑅3×3	PROPN
fcis-3751	38	44	is	be	AUX
fcis-3751	38	45	a	a	DET
fcis-3751	38	46	matrix	matrix	NOUN
fcis-3751	38	47	of	of	ADP
fcis-3751	38	48	centripetal	centripetal	ADJ
fcis-3751	38	49	and	and	CCONJ
fcis-3751	38	50	oosnad	oosnad	NOUN
fcis-3751	38	51	forces	force	NOUN
fcis-3751	38	52	,	,	PUNCT
fcis-3751	38	53	𝐺(𝑞	𝐺(𝑞	ADV
fcis-3751	38	54	)	)	PUNCT
fcis-3751	38	55	∈	∈	PROPN
fcis-3751	38	56	𝑅3	𝑅3	NOUN
fcis-3751	38	57	is	be	AUX
fcis-3751	38	58	the	the	DET
fcis-3751	38	59	gravity	gravity	NOUN
fcis-3751	38	60	matrix	matrix	NOUN
fcis-3751	38	61	,	,	PUNCT
fcis-3751	38	62	𝐹(	𝐹(	X
fcis-3751	38	63	�	�	PROPN
fcis-3751	38	64	̇	̇	PROPN
fcis-3751	38	65	�	�	PROPN
fcis-3751	38	66	)	)	PUNCT
fcis-3751	38	67	∈	∈	PROPN
fcis-3751	38	68	𝑅3	𝑅3	NOUN
fcis-3751	38	69	is	be	AUX
fcis-3751	38	70	friction	friction	NOUN
fcis-3751	38	71	,	,	PUNCT
fcis-3751	39	1	τ𝑑	τ𝑑	PROPN
fcis-3751	39	2	∈	∈	PROPN
fcis-3751	39	3	𝑅	𝑅	PROPN
fcis-3751	39	4	3	3	NUM
fcis-3751	39	5	for	for	ADP
fcis-3751	39	6	external	external	ADJ
fcis-3751	39	7	disturbances,𝐴𝑇	disturbances,𝐴𝑇	PROPN
fcis-3751	39	8	∈	∈	PROPN
fcis-3751	39	9	𝑅3×1is	𝑅3×1is	PUNCT
fcis-3751	39	10	the	the	DET
fcis-3751	39	11	constraint	constraint	NOUN
fcis-3751	39	12	matrix	matrix	NOUN
fcis-3751	39	13	;	;	PUNCT
fcis-3751	39	14	λ	λ	PROPN
fcis-3751	39	15	∈	∈	PROPN
fcis-3751	39	16	𝑅	𝑅	PROPN
fcis-3751	39	17	is	be	AUX
fcis-3751	39	18	a	a	DET
fcis-3751	39	19	lagrange	lagrange	NOUN
fcis-3751	39	20	multiplier	multipli	ADJ
fcis-3751	39	21	,	,	PUNCT
fcis-3751	39	22	𝐵(𝑞	𝐵(𝑞	NOUN
fcis-3751	39	23	)	)	PUNCT
fcis-3751	39	24	∈	∈	NOUN
fcis-3751	39	25	𝑅3×2	𝑅3×2	NOUN
fcis-3751	39	26	is	be	AUX
fcis-3751	39	27	the	the	DET
fcis-3751	39	28	input	input	NOUN
fcis-3751	39	29	transformation	transformation	NOUN
fcis-3751	39	30	matrix	matrix	NOUN
fcis-3751	39	31	,	,	PUNCT
fcis-3751	39	32	τ	τ	PROPN
fcis-3751	39	33	∈	∈	PROPN
fcis-3751	39	34	𝑅2	𝑅2	NOUN
fcis-3751	39	35	is	be	AUX
fcis-3751	39	36	the	the	DET
fcis-3751	39	37	control	control	NOUN
fcis-3751	39	38	input	input	NOUN
fcis-3751	39	39	torque	torque	NOUN
fcis-3751	39	40	,	,	PUNCT
fcis-3751	39	41	where𝑀(𝑞	where𝑀(𝑞	PROPN
fcis-3751	39	42	)	)	PUNCT
fcis-3751	39	43	,	,	PUNCT
fcis-3751	39	44	𝐶(𝑞	𝐶(𝑞	PROPN
fcis-3751	39	45	,	,	PUNCT
fcis-3751	39	46	�	�	PROPN
fcis-3751	39	47	̇	̇	PROPN
fcis-3751	39	48	�	�	PROPN
fcis-3751	39	49	)	)	PUNCT
fcis-3751	39	50	,	,	PUNCT
fcis-3751	39	51	𝐵(𝑞	𝐵(𝑞	PROPN
fcis-3751	39	52	)	)	PUNCT
fcis-3751	39	53	,	,	PUNCT
fcis-3751	39	54	𝐺(𝑞	𝐺(𝑞	ADV
fcis-3751	39	55	)	)	PUNCT
fcis-3751	39	56	,	,	PUNCT
fcis-3751	39	57	τ	τ	X
fcis-3751	39	58	,	,	PUNCT
fcis-3751	39	59	λ	λ	PROPN
fcis-3751	39	60	is	be	AUX
fcis-3751	39	61	defined	define	VERB
fcis-3751	39	62	as	as	ADP
fcis-3751	39	63	𝑀(𝑞	𝑀(𝑞	NOUN
fcis-3751	39	64	)	)	PUNCT
fcis-3751	39	65	=	=	PUNCT
fcis-3751	39	66	[	[	PUNCT
fcis-3751	39	67	𝑚	𝑚	NOUN
fcis-3751	39	68	0	0	NUM
fcis-3751	39	69	𝑚𝑑	𝑚𝑑	NOUN
fcis-3751	39	70	𝑠𝑖𝑛	𝑠𝑖𝑛	NOUN
fcis-3751	39	71	𝜃	𝜃	ADP
fcis-3751	39	72	0	0	NUM
fcis-3751	39	73	𝑚	𝑚	NOUN
fcis-3751	39	74	−𝑚𝑑	−𝑚𝑑	NOUN
fcis-3751	39	75	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
fcis-3751	39	76	𝜃	𝜃	X
fcis-3751	39	77	𝑚𝑑	𝑚𝑑	ADV
fcis-3751	39	78	𝑠𝑖𝑛	𝑠𝑖𝑛	ADJ
fcis-3751	39	79	𝜃	𝜃	ADP
fcis-3751	39	80	−𝑚𝑑	−𝑚𝑑	NOUN
fcis-3751	39	81	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
fcis-3751	39	82	𝜃	𝜃	X
fcis-3751	40	1	𝐼	𝐼	ADP
fcis-3751	40	2	]	]	PUNCT
fcis-3751	40	3	,	,	PUNCT
fcis-3751	40	4	𝐶(𝑞	𝐶(𝑞	PROPN
fcis-3751	40	5	,	,	PUNCT
fcis-3751	40	6	�	�	PROPN
fcis-3751	40	7	̇	̇	PROPN
fcis-3751	40	8	�	�	PROPN
fcis-3751	40	9	)	)	PUNCT
fcis-3751	40	10	=	=	PUNCT
fcis-3751	41	1	[	[	PUNCT
fcis-3751	41	2	0	0	NUM
fcis-3751	41	3	0	0	NUM
fcis-3751	41	4	−𝑚𝑑	−𝑚𝑑	NOUN
fcis-3751	41	5	�	�	PROPN
fcis-3751	41	6	̇	̇	NOUN
fcis-3751	41	7	�	�	PROPN
fcis-3751	41	8	𝑠𝑖𝑛	𝑠𝑖𝑛	NOUN
fcis-3751	41	9	𝜃	𝜃	ADP
fcis-3751	41	10	0	0	NUM
fcis-3751	41	11	0	0	NUM
fcis-3751	41	12	𝑚𝑑	𝑚𝑑	NOUN
fcis-3751	41	13	�	�	PROPN
fcis-3751	41	14	̇	̇	NOUN
fcis-3751	41	15	�	�	PROPN
fcis-3751	41	16	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
fcis-3751	41	17	𝜃	𝜃	X
fcis-3751	41	18	0	0	NUM
fcis-3751	41	19	0	0	NUM
fcis-3751	41	20	0	0	NUM
fcis-3751	41	21	]	]	PUNCT
fcis-3751	41	22	,	,	PUNCT
fcis-3751	41	23	𝐺(𝑞	𝐺(𝑞	ADV
fcis-3751	41	24	)	)	PUNCT
fcis-3751	41	25	=	=	SYM
fcis-3751	41	26	0	0	NUM
fcis-3751	41	27	,	,	PUNCT
fcis-3751	41	28	𝐵(𝑞	𝐵(𝑞	NOUN
fcis-3751	41	29	)	)	PUNCT
fcis-3751	41	30	=	=	SYM
fcis-3751	41	31	1	1	NUM
fcis-3751	41	32	𝑟	𝑟	NOUN
fcis-3751	41	33	[	[	PUNCT
fcis-3751	41	34	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
fcis-3751	41	35	𝜃	𝜃	X
fcis-3751	41	36	𝑠𝑖𝑛	𝑠𝑖𝑛	ADJ
fcis-3751	42	1	𝜃	𝜃	PUNCT
fcis-3751	42	2	𝑅	𝑅	NOUN
fcis-3751	42	3	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
fcis-3751	42	4	𝜃	𝜃	NUM
fcis-3751	42	5	𝑠𝑖𝑛	𝑠𝑖𝑛	ADJ
fcis-3751	42	6	𝜃	𝜃	X
fcis-3751	42	7	−𝑅	−𝑅	PROPN
fcis-3751	42	8	]	]	PUNCT
fcis-3751	42	9	,	,	PUNCT
fcis-3751	42	10	τ	τ	X
fcis-3751	42	11	=	=	PUNCT
fcis-3751	43	1	[	[	PUNCT
fcis-3751	43	2	τ𝑟	τ𝑟	X
fcis-3751	43	3	τ𝑙	τ𝑙	NOUN
fcis-3751	43	4	]	]	PUNCT
fcis-3751	43	5	,	,	PUNCT
fcis-3751	43	6	𝐹(	𝐹(	PROPN
fcis-3751	43	7	�	�	PROPN
fcis-3751	43	8	̇	̇	PROPN
fcis-3751	43	9	�	�	PROPN
fcis-3751	43	10	)	)	PUNCT
fcis-3751	43	11	=	=	SYM
fcis-3751	43	12	0,λ	0,λ	NOUN
fcis-3751	44	1	=	=	SYM
fcis-3751	44	2	−𝑚(	−𝑚(	NOUN
fcis-3751	44	3	�	�	NOUN
fcis-3751	44	4	̇	̇	NOUN
fcis-3751	44	5	�	�	PROPN
fcis-3751	44	6	𝑐𝑜𝑠	𝑐𝑜𝑠	PROPN
fcis-3751	44	7	𝜃	𝜃	PROPN
fcis-3751	44	8	+	+	NUM
fcis-3751	44	9	�	�	PROPN
fcis-3751	44	10	̇	̇	VERB
fcis-3751	44	11	�	�	PROPN
fcis-3751	44	12	𝑠𝑖𝑛	𝑠𝑖𝑛	PROPN
fcis-3751	44	13	𝜃)	𝜃)	PROPN
fcis-3751	44	14	�	�	PROPN
fcis-3751	44	15	̇	̇	PROPN
fcis-3751	44	16	�	�	PROPN
fcis-3751	44	17	.	.	PUNCT
fcis-3751	44	18	where𝑚is	where𝑚is	NOUN
fcis-3751	44	19	the	the	DET
fcis-3751	44	20	quality	quality	NOUN
fcis-3751	44	21	of	of	ADP
fcis-3751	44	22	the	the	DET
fcis-3751	44	23	robot	robot	NOUN
fcis-3751	44	24	;	;	PUNCT
fcis-3751	44	25	𝑟is	𝑟is	VERB
fcis-3751	44	26	the	the	DET
fcis-3751	44	27	radius	radius	NOUN
fcis-3751	44	28	of	of	ADP
fcis-3751	44	29	the	the	DET
fcis-3751	44	30	left	left	ADJ
fcis-3751	44	31	and	and	CCONJ
fcis-3751	44	32	right	right	ADJ
fcis-3751	44	33	wheels	wheel	NOUN
fcis-3751	44	34	;	;	PUNCT
fcis-3751	44	35	𝐼	𝐼	PROPN
fcis-3751	44	36	is	be	AUX
fcis-3751	44	37	the	the	DET
fcis-3751	44	38	moment	moment	NOUN
fcis-3751	44	39	of	of	ADP
fcis-3751	44	40	inertia	inertia	NOUN
fcis-3751	44	41	;	;	PUNCT
fcis-3751	44	42	τ𝑟	τ𝑟	X
fcis-3751	44	43	,	,	PUNCT
fcis-3751	44	44	τ𝑙	τ𝑙	PROPN
fcis-3751	44	45	are	be	AUX
fcis-3751	44	46	the	the	DET
fcis-3751	44	47	control	control	NOUN
fcis-3751	44	48	torque	torque	NOUN
fcis-3751	44	49	of	of	ADP
fcis-3751	44	50	the	the	DET
fcis-3751	44	51	left	left	ADJ
fcis-3751	44	52	and	and	CCONJ
fcis-3751	44	53	right	right	ADJ
fcis-3751	44	54	wheels	wheel	NOUN
fcis-3751	44	55	;	;	PUNCT
fcis-3751	44	56	since	since	SCONJ
fcis-3751	44	57	the	the	DET
fcis-3751	44	58	control	control	NOUN
fcis-3751	44	59	input	input	NOUN
fcis-3751	44	60	is	be	AUX
fcis-3751	44	61	the	the	DET
fcis-3751	44	62	torque	torque	NOUN
fcis-3751	44	63	of	of	ADP
fcis-3751	44	64	the	the	DET
fcis-3751	44	65	robot	robot	NOUN
fcis-3751	44	66	's	's	PART
fcis-3751	44	67	left	left	ADJ
fcis-3751	44	68	and	and	CCONJ
fcis-3751	44	69	right	right	ADJ
fcis-3751	44	70	wheels	wheel	NOUN
fcis-3751	44	71	,	,	PUNCT
fcis-3751	44	72	it	it	PRON
fcis-3751	44	73	is	be	AUX
fcis-3751	44	74	ordered	order	VERB
fcis-3751	44	75	{	{	PUNCT
fcis-3751	44	76	𝑢1	𝑢1	PROPN
fcis-3751	44	77	=	=	PROPN
fcis-3751	44	78	τ𝑟	τ𝑟	X
fcis-3751	45	1	+	+	CCONJ
fcis-3751	45	2	τ𝑙	τ𝑙	PROPN
fcis-3751	45	3	𝑢2	𝑢2	PROPN
fcis-3751	45	4	=	=	PROPN
fcis-3751	45	5	τ𝑟	τ𝑟	ADP
fcis-3751	45	6	−	−	PROPN
fcis-3751	45	7	τ𝑙	τ𝑙	NOUN
fcis-3751	45	8	(	(	PUNCT
fcis-3751	45	9	4	4	NUM
fcis-3751	45	10	)	)	PUNCT
fcis-3751	45	11	in	in	ADP
fcis-3751	45	12	this	this	DET
fcis-3751	45	13	paper	paper	NOUN
fcis-3751	45	14	,	,	PUNCT
fcis-3751	45	15	considering	consider	VERB
fcis-3751	45	16	the	the	DET
fcis-3751	45	17	case	case	NOUN
fcis-3751	45	18	where	where	SCONJ
fcis-3751	45	19	the	the	DET
fcis-3751	45	20	geometric	geometric	ADJ
fcis-3751	45	21	center	center	NOUN
fcis-3751	45	22	c	c	PROPN
fcis-3751	45	23	and	and	CCONJ
fcis-3751	45	24	the	the	DET
fcis-3751	45	25	center	center	NOUN
fcis-3751	45	26	of	of	ADP
fcis-3751	45	27	gravity	gravity	NOUN
fcis-3751	45	28	m	m	NOUN
fcis-3751	45	29	coincide	coincide	NOUN
fcis-3751	45	30	,	,	PUNCT
fcis-3751	45	31	that	that	ADV
fcis-3751	45	32	is	is	ADV
fcis-3751	45	33	d=0	d=0	PROPN
fcis-3751	45	34	,	,	PUNCT
fcis-3751	45	35	the	the	DET
fcis-3751	45	36	dynamic	dynamic	ADJ
fcis-3751	45	37	model	model	NOUN
fcis-3751	45	38	of	of	ADP
fcis-3751	45	39	the	the	DET
fcis-3751	45	40	robot	robot	NOUN
fcis-3751	45	41	can	can	AUX
fcis-3751	45	42	be	be	AUX
fcis-3751	45	43	obtained	obtain	VERB
fcis-3751	45	44	:	:	PUNCT
fcis-3751	45	45	{	{	PUNCT
fcis-3751	45	46	�	�	NOUN
fcis-3751	45	47	̈	̈	X
fcis-3751	46	1	�	�	NOUN
fcis-3751	46	2	=	=	SYM
fcis-3751	46	3	λ	λ	PROPN
fcis-3751	46	4	𝑚	𝑚	X
fcis-3751	46	5	𝑠𝑖𝑛	𝑠𝑖𝑛	NOUN
fcis-3751	46	6	𝜃	𝜃	PUNCT
fcis-3751	46	7	+	+	NUM
fcis-3751	46	8	1	1	NUM
fcis-3751	46	9	𝑚𝑟	𝑚𝑟	ADP
fcis-3751	46	10	𝑢1	𝑢1	PROPN
fcis-3751	46	11	𝑐𝑜𝑠	𝑐𝑜𝑠	PROPN
fcis-3751	46	12	θ	θ	PROPN
fcis-3751	46	13	�	�	PROPN
fcis-3751	46	14	̈	̈	X
fcis-3751	46	15	�	�	NOUN
fcis-3751	46	16	=	=	SYM
fcis-3751	46	17	−	−	PROPN
fcis-3751	46	18	λ	λ	X
fcis-3751	46	19	𝑚	𝑚	X
fcis-3751	46	20	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
fcis-3751	46	21	θ+	θ+	PUNCT
fcis-3751	46	22	1	1	NUM
fcis-3751	46	23	𝑚𝑟	𝑚𝑟	ADP
fcis-3751	46	24	𝑢1	𝑢1	PROPN
fcis-3751	46	25	𝑠𝑖𝑛	𝑠𝑖𝑛	ADJ
fcis-3751	46	26	θ	θ	PROPN
fcis-3751	46	27	θ̈	θ̈	NOUN
fcis-3751	46	28	=	=	SYM
fcis-3751	46	29	𝑅	𝑅	PROPN
fcis-3751	46	30	𝐼𝑟	𝐼𝑟	PROPN
fcis-3751	46	31	𝑢2	𝑢2	PROPN
fcis-3751	46	32	(	(	PUNCT
fcis-3751	46	33	5	5	NUM
fcis-3751	46	34	)	)	SYM
fcis-3751	46	35	3	3	NUM
fcis-3751	46	36	.	.	X
fcis-3751	46	37	controller	controller	NOUN
fcis-3751	46	38	design	design	NOUN
fcis-3751	46	39	since	since	SCONJ
fcis-3751	46	40	the	the	DET
fcis-3751	46	41	mobile	mobile	ADJ
fcis-3751	46	42	robot	robot	NOUN
fcis-3751	46	43	is	be	AUX
fcis-3751	46	44	a	a	DET
fcis-3751	46	45	typical	typical	ADJ
fcis-3751	46	46	underdrive	underdrive	ADJ
fcis-3751	46	47	system	system	NOUN
fcis-3751	46	48	,	,	PUNCT
fcis-3751	46	49	the	the	DET
fcis-3751	46	50	input	input	NOUN
fcis-3751	46	51	control	control	NOUN
fcis-3751	46	52	amount	amount	NOUN
fcis-3751	46	53	of	of	ADP
fcis-3751	46	54	the	the	DET
fcis-3751	46	55	system	system	NOUN
fcis-3751	46	56	is	be	AUX
fcis-3751	46	57	(	(	PUNCT
fcis-3751	46	58	𝑢1	𝑢1	PROPN
fcis-3751	46	59	,	,	PUNCT
fcis-3751	46	60	𝑢2	𝑢2	PROPN
fcis-3751	46	61	)	)	PUNCT
fcis-3751	46	62	,	,	PUNCT
fcis-3751	46	63	and	and	CCONJ
fcis-3751	46	64	the	the	DET
fcis-3751	46	65	controlled	control	VERB
fcis-3751	46	66	output	output	NOUN
fcis-3751	46	67	amount	amount	NOUN
fcis-3751	46	68	is	be	AUX
fcis-3751	46	69	(	(	PUNCT
fcis-3751	46	70	𝑥	𝑥	NOUN
fcis-3751	46	71	,	,	PUNCT
fcis-3751	46	72	𝑦	𝑦	NOUN
fcis-3751	46	73	,	,	PUNCT
fcis-3751	46	74	θ	θ	NOUN
fcis-3751	46	75	)	)	PUNCT
fcis-3751	46	76	,	,	PUNCT
fcis-3751	46	77	in	in	ADP
fcis-3751	46	78	order	order	NOUN
fcis-3751	46	79	to	to	PART
fcis-3751	46	80	ensure	ensure	VERB
fcis-3751	46	81	that	that	SCONJ
fcis-3751	46	82	the	the	DET
fcis-3751	46	83	system	system	NOUN
fcis-3751	46	84	can	can	AUX
fcis-3751	46	85	be	be	AUX
fcis-3751	46	86	effectively	effectively	ADV
fcis-3751	46	87	controlled	control	VERB
fcis-3751	46	88	,	,	PUNCT
fcis-3751	46	89	the	the	DET
fcis-3751	46	90	system	system	NOUN
fcis-3751	46	91	is	be	AUX
fcis-3751	46	92	divided	divide	VERB
fcis-3751	46	93	into	into	ADP
fcis-3751	46	94	a	a	DET
fcis-3751	46	95	posture	posture	NOUN
fcis-3751	46	96	subsystem	subsystem	NOUN
fcis-3751	46	97	and	and	CCONJ
fcis-3751	46	98	a	a	DET
fcis-3751	46	99	position	position	NOUN
fcis-3751	46	100	subsystem	subsystem	NOUN
fcis-3751	46	101	,	,	PUNCT
fcis-3751	46	102	the	the	DET
fcis-3751	46	103	attitude	attitude	NOUN
fcis-3751	46	104	subsystem	subsystem	NOUN
fcis-3751	46	105	utilizes	utilize	VERB
fcis-3751	46	106	pd	pd	PROPN
fcis-3751	46	107	control	control	NOUN
fcis-3751	46	108	,	,	PUNCT
fcis-3751	46	109	and	and	CCONJ
fcis-3751	46	110	the	the	DET
fcis-3751	46	111	position	position	NOUN
fcis-3751	46	112	subsystem	subsystem	NOUN
fcis-3751	46	113	utilizes	utilize	VERB
fcis-3751	46	114	improved	improve	VERB
fcis-3751	46	115	hierarchical	hierarchical	ADJ
fcis-3751	46	116	sliding	slide	VERB
fcis-3751	46	117	mode	mode	NOUN
fcis-3751	46	118	control	control	NOUN
fcis-3751	46	119	to	to	PART
fcis-3751	46	120	ensure	ensure	VERB
fcis-3751	46	121	that	that	SCONJ
fcis-3751	46	122	the	the	DET
fcis-3751	46	123	system	system	NOUN
fcis-3751	46	124	reaches	reach	VERB
fcis-3751	46	125	a	a	DET
fcis-3751	46	126	stable	stable	ADJ
fcis-3751	46	127	state	state	NOUN
fcis-3751	46	128	.	.	PUNCT
fcis-3751	47	1	3.1	3.1	NUM
fcis-3751	47	2	.	.	PUNCT
fcis-3751	47	3	position	position	NOUN
fcis-3751	47	4	subsystem	subsystem	NOUN
fcis-3751	47	5	controller	controller	NOUN
fcis-3751	47	6	in	in	ADP
fcis-3751	47	7	this	this	DET
fcis-3751	47	8	paper	paper	NOUN
fcis-3751	47	9	,	,	PUNCT
fcis-3751	47	10	hierarchical	hierarchical	ADJ
fcis-3751	47	11	sliding	slide	VERB
fcis-3751	47	12	mode	mode	NOUN
fcis-3751	47	13	control	control	NOUN
fcis-3751	47	14	method	method	NOUN
fcis-3751	47	15	is	be	AUX
fcis-3751	47	16	chosen	choose	VERB
fcis-3751	47	17	to	to	PART
fcis-3751	47	18	make	make	VERB
fcis-3751	47	19	a	a	DET
fcis-3751	47	20	single	single	ADJ
fcis-3751	47	21	control	control	NOUN
fcis-3751	47	22	input	input	NOUN
fcis-3751	47	23	to	to	PART
fcis-3751	47	24	control	control	VERB
fcis-3751	47	25	the	the	DET
fcis-3751	47	26	two	two	NUM
fcis-3751	47	27	subsystems	subsystem	NOUN
fcis-3751	47	28	ideal	ideal	ADJ
fcis-3751	47	29	stable	stable	ADJ
fcis-3751	47	30	state	state	NOUN
fcis-3751	47	31	,	,	PUNCT
fcis-3751	47	32	so	so	SCONJ
fcis-3751	47	33	that	that	SCONJ
fcis-3751	47	34	the	the	DET
fcis-3751	47	35	entire	entire	ADJ
fcis-3751	47	36	position	position	NOUN
fcis-3751	47	37	control	control	NOUN
fcis-3751	47	38	system	system	NOUN
fcis-3751	47	39	to	to	PART
fcis-3751	47	40	achieve	achieve	VERB
fcis-3751	47	41	the	the	DET
fcis-3751	47	42	ideal	ideal	ADJ
fcis-3751	47	43	state	state	NOUN
fcis-3751	47	44	.	.	PUNCT
fcis-3751	48	1	3.1.1	3.1.1	X
fcis-3751	48	2	.	.	PUNCT
fcis-3751	49	1	sub	sub	ADJ
fcis-3751	49	2	-	-	NOUN
fcis-3751	49	3	section	section	ADJ
fcis-3751	49	4	headings	heading	NOUN
fcis-3751	49	5	nonsingular	nonsingular	PROPN
fcis-3751	49	6	terminal	terminal	PROPN
fcis-3751	49	7	sliding	slide	VERB
fcis-3751	49	8	mode	mode	NOUN
fcis-3751	49	9	control	control	NOUN
fcis-3751	49	10	in	in	ADP
fcis-3751	49	11	the	the	DET
fcis-3751	49	12	design	design	NOUN
fcis-3751	49	13	of	of	ADP
fcis-3751	49	14	the	the	DET
fcis-3751	49	15	sliding	slide	VERB
fcis-3751	49	16	surface	surface	NOUN
fcis-3751	49	17	,	,	PUNCT
fcis-3751	49	18	the	the	DET
fcis-3751	49	19	nonlinear	nonlinear	ADJ
fcis-3751	49	20	function	function	NOUN
fcis-3751	49	21	is	be	AUX
fcis-3751	49	22	used	use	VERB
fcis-3751	49	23	instead	instead	ADV
fcis-3751	49	24	of	of	ADP
fcis-3751	49	25	the	the	DET
fcis-3751	49	26	linear	linear	ADJ
fcis-3751	49	27	sliding	slide	VERB
fcis-3751	49	28	surface	surface	NOUN
fcis-3751	49	29	,	,	PUNCT
fcis-3751	49	30	so	so	SCONJ
fcis-3751	49	31	that	that	SCONJ
fcis-3751	49	32	the	the	DET
fcis-3751	49	33	tracking	tracking	NOUN
fcis-3751	49	34	error	error	NOUN
fcis-3751	49	35	of	of	ADP
fcis-3751	49	36	the	the	DET
fcis-3751	49	37	system	system	NOUN
fcis-3751	49	38	can	can	AUX
fcis-3751	49	39	converge	converge	VERB
fcis-3751	49	40	to	to	ADP
fcis-3751	49	41	zero	zero	NUM
fcis-3751	49	42	in	in	ADP
fcis-3751	49	43	a	a	DET
fcis-3751	49	44	finite	finite	ADJ
fcis-3751	49	45	time	time	NOUN
fcis-3751	49	46	.	.	PUNCT
fcis-3751	50	1	thus	thus	ADV
fcis-3751	50	2	,	,	PUNCT
fcis-3751	50	3	improving	improve	VERB
fcis-3751	50	4	the	the	DET
fcis-3751	50	5	dynamic	dynamic	ADJ
fcis-3751	50	6	performance	performance	NOUN
fcis-3751	50	7	of	of	ADP
fcis-3751	50	8	the	the	DET
fcis-3751	50	9	system	system	NOUN
fcis-3751	50	10	.	.	PUNCT
fcis-3751	51	1	the	the	DET
fcis-3751	51	2	general	general	ADJ
fcis-3751	51	3	form	form	NOUN
fcis-3751	51	4	of	of	ADP
fcis-3751	51	5	nonsingular	nonsingular	ADJ
fcis-3751	51	6	sliding	slide	VERB
fcis-3751	51	7	surface	surface	NOUN
fcis-3751	51	8	is	be	AUX
fcis-3751	51	9	:	:	PUNCT
fcis-3751	51	10	𝑠	𝑠	PROPN
fcis-3751	51	11	=	=	PUNCT
fcis-3751	52	1	𝑥	𝑥	PROPN
fcis-3751	53	1	+	+	NOUN
fcis-3751	53	2	1	1	NUM
fcis-3751	53	3	𝑐	𝑐	PROPN
fcis-3751	53	4	�	�	PROPN
fcis-3751	53	5	̇	̇	PROPN
fcis-3751	53	6	�	�	PROPN
fcis-3751	53	7	𝑝	𝑝	PROPN
fcis-3751	53	8	𝑞	𝑞	X
fcis-3751	53	9	(	(	PUNCT
fcis-3751	53	10	6	6	NUM
fcis-3751	53	11	)	)	PUNCT
fcis-3751	53	12	where	where	SCONJ
fcis-3751	53	13	𝑐	𝑐	X
fcis-3751	53	14	>	>	X
fcis-3751	53	15	0	0	NUM
fcis-3751	53	16	,	,	PUNCT
fcis-3751	53	17	𝑝	𝑝	NOUN
fcis-3751	53	18	,	,	PUNCT
fcis-3751	53	19	𝑞	𝑞	X
fcis-3751	53	20	are	be	AUX
fcis-3751	53	21	positive	positive	ADJ
fcis-3751	53	22	odd	odd	ADJ
fcis-3751	53	23	,	,	PUNCT
fcis-3751	53	24	and	and	CCONJ
fcis-3751	53	25	𝑝	𝑝	ADP
fcis-3751	53	26	>	>	X
fcis-3751	53	27	𝑞.	𝑞.	PROPN
fcis-3751	53	28	3.1.2	3.1.2	PROPN
fcis-3751	53	29	.	.	PUNCT
fcis-3751	53	30	hierarchical	hierarchical	ADJ
fcis-3751	53	31	singular	singular	PROPN
fcis-3751	53	32	terminal	terminal	PROPN
fcis-3751	53	33	sliding	slide	VERB
fcis-3751	53	34	mode	mode	NOUN
fcis-3751	53	35	controller	controller	NOUN
fcis-3751	53	36	design	design	NOUN
fcis-3751	53	37	by	by	ADP
fcis-3751	53	38	using	use	VERB
fcis-3751	53	39	hierarchical	hierarchical	ADJ
fcis-3751	53	40	sliding	slide	VERB
fcis-3751	53	41	mode	mode	NOUN
fcis-3751	53	42	control	control	NOUN
fcis-3751	53	43	,	,	PUNCT
fcis-3751	53	44	the	the	DET
fcis-3751	53	45	conversion	conversion	NOUN
fcis-3751	53	46	from	from	ADP
fcis-3751	53	47	multi	multi	ADJ
fcis-3751	53	48	-	-	ADJ
fcis-3751	53	49	objective	objective	ADJ
fcis-3751	53	50	control	control	NOUN
fcis-3751	53	51	to	to	ADP
fcis-3751	53	52	single	single	ADJ
fcis-3751	53	53	-	-	PUNCT
fcis-3751	53	54	objective	objective	ADJ
fcis-3751	53	55	control	control	NOUN
fcis-3751	53	56	is	be	AUX
fcis-3751	53	57	realized	realize	VERB
fcis-3751	53	58	,	,	PUNCT
fcis-3751	53	59	and	and	CCONJ
fcis-3751	53	60	the	the	DET
fcis-3751	53	61	control	control	NOUN
fcis-3751	53	62	design	design	NOUN
fcis-3751	53	63	of	of	ADP
fcis-3751	53	64	the	the	DET
fcis-3751	53	65	system	system	NOUN
fcis-3751	53	66	is	be	AUX
fcis-3751	53	67	simplified	simplify	VERB
fcis-3751	53	68	.	.	PUNCT
fcis-3751	54	1	the	the	DET
fcis-3751	54	2	above	above	ADJ
fcis-3751	54	3	dynamic	dynamic	ADJ
fcis-3751	54	4	model	model	NOUN
fcis-3751	54	5	can	can	AUX
fcis-3751	54	6	be	be	AUX
fcis-3751	54	7	represented	represent	VERB
fcis-3751	54	8	by	by	ADP
fcis-3751	54	9	a	a	DET
fcis-3751	54	10	general	general	ADJ
fcis-3751	54	11	second	second	ADJ
fcis-3751	54	12	-	-	PUNCT
fcis-3751	54	13	order	order	NOUN
fcis-3751	54	14	underactuated	underactuated	ADJ
fcis-3751	54	15	system	system	NOUN
fcis-3751	54	16	model	model	NOUN
fcis-3751	54	17	:	:	PUNCT
fcis-3751	54	18	1	1	NUM
fcis-3751	54	19	2	2	NUM
fcis-3751	54	20	2	2	NUM
fcis-3751	54	21	1	1	NUM
fcis-3751	54	22	1	1	NUM
fcis-3751	54	23	3	3	NUM
fcis-3751	54	24	4	4	NUM
fcis-3751	54	25	4	4	NUM
fcis-3751	54	26	2	2	NUM
fcis-3751	54	27	2	2	NUM
fcis-3751	54	28	(	(	PUNCT
fcis-3751	54	29	)	)	PUNCT
fcis-3751	54	30	(	(	PUNCT
fcis-3751	54	31	)	)	PUNCT
fcis-3751	54	32	(	(	PUNCT
fcis-3751	54	33	)	)	PUNCT
fcis-3751	54	34	(	(	PUNCT
fcis-3751	54	35	)	)	PUNCT
fcis-3751	54	36	(	(	PUNCT
fcis-3751	54	37	)	)	PUNCT
fcis-3751	54	38	(	(	PUNCT
fcis-3751	54	39	)	)	PUNCT
fcis-3751	54	40	x	x	SYM
fcis-3751	55	1	x	x	PUNCT
fcis-3751	55	2	x	x	PUNCT
fcis-3751	55	3	f	f	NOUN
fcis-3751	55	4	x	x	SYM
fcis-3751	55	5	g	g	NOUN
fcis-3751	55	6	x	x	X
fcis-3751	55	7	u	u	NOUN
fcis-3751	55	8	t	t	NOUN
fcis-3751	55	9	x	x	PUNCT
fcis-3751	55	10	x	x	PUNCT
fcis-3751	55	11	x	x	X
fcis-3751	55	12	f	f	NOUN
fcis-3751	55	13	x	x	SYM
fcis-3751	55	14	g	g	NOUN
fcis-3751	55	15	x	x	X
fcis-3751	55	16	u	u	NOUN
fcis-3751	55	17	t	t	NOUN
fcis-3751	55	18	=	=	NOUN
fcis-3751	55	19			NOUN
fcis-3751	55	20			NOUN
fcis-3751	55	21	=	=	PUNCT
fcis-3751	55	22	+	+	ADJ
fcis-3751	55	23			NUM
fcis-3751	55	24			NUM
fcis-3751	55	25	=	=	NOUN
fcis-3751	55	26			NUM
fcis-3751	55	27			NOUN
fcis-3751	55	28	=	=	PUNCT
fcis-3751	55	29	+	+	NOUN
fcis-3751	55	30			PROPN
fcis-3751	55	31	(	(	PUNCT
fcis-3751	55	32	7	7	NUM
fcis-3751	55	33	)	)	PUNCT
fcis-3751	55	34	where	where	SCONJ
fcis-3751	55	35	1	1	NUM
fcis-3751	55	36	1	1	NUM
fcis-3751	55	37	(	(	PUNCT
fcis-3751	55	38	)	)	PUNCT
fcis-3751	55	39	sin	sin	NOUN
fcis-3751	55	40	(	(	PUNCT
fcis-3751	55	41	)	)	PUNCT
fcis-3751	55	42	cosf	cosf	ADV
fcis-3751	55	43	x	x	X
fcis-3751	55	44	x	x	VERB
fcis-3751	55	45	m	m	VERB
fcis-3751	55	46	mr	mr	PROPN
fcis-3751	55	47			ADJ
fcis-3751	55	48			ADJ
fcis-3751	55	49	=	=	SYM
fcis-3751	55	50			VERB
fcis-3751	55	51	=	=	NOUN
fcis-3751	55	52	g	g	NOUN
fcis-3751	55	53	𝑓2(𝑥	𝑓2(𝑥	X
fcis-3751	55	54	)	)	PUNCT
fcis-3751	55	55	=	=	SYM
fcis-3751	56	1	−	−	PROPN
fcis-3751	56	2	λ	λ	X
fcis-3751	56	3	𝑚	𝑚	X
fcis-3751	56	4	𝑐𝑜𝑠	𝑐𝑜𝑠	ADJ
fcis-3751	56	5	θ	θ	X
fcis-3751	56	6	,	,	PUNCT
fcis-3751	56	7	g1(𝑥	g1(𝑥	NOUN
fcis-3751	56	8	)	)	PUNCT
fcis-3751	56	9	=	=	SYM
fcis-3751	57	1	λ	λ	NOUN
fcis-3751	57	2	𝑚𝑟	𝑚𝑟	NUM
fcis-3751	57	3	𝑠𝑖𝑛	𝑠𝑖𝑛	PROPN
fcis-3751	57	4	θ	θ	PROPN
fcis-3751	57	5	,	,	PUNCT
fcis-3751	57	6	𝑥	𝑥	NOUN
fcis-3751	57	7	=	=	PUNCT
fcis-3751	58	1	[	[	X
fcis-3751	58	2	𝑥	𝑥	X
fcis-3751	58	3	𝑦	𝑦	NUM
fcis-3751	58	4	θ]𝑇	θ]𝑇	NOUN
fcis-3751	58	5	,	,	PUNCT
fcis-3751	58	6	𝑢(𝑡	𝑢(𝑡	PROPN
fcis-3751	58	7	)	)	PUNCT
fcis-3751	58	8	=	=	SYM
fcis-3751	58	9	𝑢2(𝑡	𝑢2(𝑡	PROPN
fcis-3751	58	10	)	)	PUNCT
fcis-3751	58	11	is	be	AUX
fcis-3751	58	12	the	the	DET
fcis-3751	58	13	system	system	NOUN
fcis-3751	58	14	input	input	NOUN
fcis-3751	58	15	,	,	PUNCT
fcis-3751	58	16	the	the	DET
fcis-3751	58	17	tracking	tracking	NOUN
fcis-3751	58	18	error	error	NOUN
fcis-3751	58	19	of	of	ADP
fcis-3751	58	20	two	two	NUM
fcis-3751	58	21	state	state	NOUN
fcis-3751	58	22	variables	variable	NOUN
fcis-3751	58	23	of	of	ADP
fcis-3751	58	24	the	the	DET
fcis-3751	58	25	position	position	NOUN
fcis-3751	58	26	subsystem	subsystem	NOUN
fcis-3751	58	27	is	be	AUX
fcis-3751	58	28	defined	define	VERB
fcis-3751	58	29	as	as	ADP
fcis-3751	58	30	?	?	SYM
fcis-3751	58	31	1	1	NUM
fcis-3751	58	32	2	2	NUM
fcis-3751	58	33	3	3	NUM
fcis-3751	58	34	4	4	NUM
fcis-3751	58	35	(	(	PUNCT
fcis-3751	58	36	)	)	PUNCT
fcis-3751	58	37	(	(	PUNCT
fcis-3751	58	38	)	)	PUNCT
fcis-3751	58	39	(	(	PUNCT
fcis-3751	58	40	)	)	PUNCT
fcis-3751	58	41	(	(	PUNCT
fcis-3751	58	42	)	)	PUNCT
fcis-3751	58	43	(	(	PUNCT
fcis-3751	58	44	)	)	PUNCT
fcis-3751	58	45	(	(	PUNCT
fcis-3751	58	46	)	)	PUNCT
fcis-3751	58	47	(	(	PUNCT
fcis-3751	58	48	)	)	PUNCT
fcis-3751	58	49	(	(	PUNCT
fcis-3751	58	50	)	)	PUNCT
fcis-3751	58	51	(	(	PUNCT
fcis-3751	58	52	)	)	PUNCT
fcis-3751	58	53	(	(	PUNCT
fcis-3751	58	54	)	)	PUNCT
fcis-3751	58	55	(	(	PUNCT
fcis-3751	58	56	)	)	PUNCT
fcis-3751	58	57	(	(	PUNCT
fcis-3751	58	58	)	)	PUNCT
fcis-3751	59	1	d	d	X
fcis-3751	60	1	d	d	PUNCT
fcis-3751	60	2	d	d	X
fcis-3751	60	3	d	d	X
fcis-3751	60	4	e	e	X
fcis-3751	60	5	t	t	PROPN
fcis-3751	60	6	x	x	PROPN
fcis-3751	60	7	t	t	X
fcis-3751	60	8	x	x	SYM
fcis-3751	60	9	t	t	NOUN
fcis-3751	60	10	e	e	X
fcis-3751	60	11	t	t	PROPN
fcis-3751	60	12	x	x	PROPN
fcis-3751	60	13	t	t	X
fcis-3751	60	14	x	x	SYM
fcis-3751	60	15	t	t	PROPN
fcis-3751	60	16	e	e	PROPN
fcis-3751	60	17	t	t	PROPN
fcis-3751	60	18	y	y	PROPN
fcis-3751	60	19	t	t	PROPN
fcis-3751	60	20	y	y	PROPN
fcis-3751	60	21	t	t	PROPN
fcis-3751	60	22	e	e	PROPN
fcis-3751	60	23	t	t	PROPN
fcis-3751	60	24	y	y	PROPN
fcis-3751	60	25	t	t	PROPN
fcis-3751	60	26	y	y	PROPN
fcis-3751	60	27	t	t	PROPN
fcis-3751	60	28	=	=	SYM
fcis-3751	60	29	−	−	NOUN
fcis-3751	60	30			NUM
fcis-3751	60	31	=	=	SYM
fcis-3751	60	32	−	−	PUNCT
fcis-3751	60	33			NOUN
fcis-3751	60	34	=	=	PUNCT
fcis-3751	61	1	−	−	PUNCT
fcis-3751	61	2			NUM
fcis-3751	61	3	=	=	PRON
fcis-3751	61	4	−	−	X
fcis-3751	61	5	(	(	PUNCT
fcis-3751	61	6	8)	8)	NUM
fcis-3751	61	7	the	the	DET
fcis-3751	61	8	parameter	parameter	NOUN
fcis-3751	61	9	trajectory	trajectory	NOUN
fcis-3751	61	10	of	of	ADP
fcis-3751	61	11	.	.	PUNCT
fcis-3751	62	1	design	design	VERB
fcis-3751	62	2	the	the	DET
fcis-3751	62	3	first	first	ADJ
fcis-3751	62	4	sliding	slide	VERB
fcis-3751	62	5	surface	surface	NOUN
fcis-3751	62	6	for	for	ADP
fcis-3751	62	7	(	(	PUNCT
fcis-3751	62	8	8)	8)	NUM
fcis-3751	62	9	:	:	PUNCT
fcis-3751	63	1	𝑠1	𝑠1	NOUN
fcis-3751	63	2	=	=	PUNCT
fcis-3751	63	3	𝑒1	𝑒1	NOUN
fcis-3751	63	4	+	+	CCONJ
fcis-3751	63	5	1	1	NUM
fcis-3751	63	6	𝑐1	𝑐1	NOUN
fcis-3751	63	7	𝑠𝑖𝑔(𝑒2)𝛾1	𝑠𝑖𝑔(𝑒2)𝛾1	NOUN
fcis-3751	63	8	,	,	PUNCT
fcis-3751	63	9	𝑠2	𝑠2	NOUN
fcis-3751	63	10	=	=	SYM
fcis-3751	63	11	𝑒3	𝑒3	PROPN
fcis-3751	63	12	+	+	CCONJ
fcis-3751	63	13	1	1	NUM
fcis-3751	63	14	𝑐2	𝑐2	NOUN
fcis-3751	63	15	𝑠𝑖𝑔(𝑒4)𝛾2	𝑠𝑖𝑔(𝑒4)𝛾2	NOUN
fcis-3751	63	16	(	(	PUNCT
fcis-3751	63	17	9	9	NUM
fcis-3751	63	18	)	)	PUNCT
fcis-3751	63	19	where	where	SCONJ
fcis-3751	63	20	𝑐1	𝑐1	NOUN
fcis-3751	63	21	,	,	PUNCT
fcis-3751	63	22	𝑐2	𝑐2	NOUN
fcis-3751	63	23	,	,	PUNCT
fcis-3751	63	24	𝛾1	𝛾1	PROPN
fcis-3751	63	25	,	,	PUNCT
fcis-3751	63	26	𝛾2	𝛾2	NOUN
fcis-3751	63	27	are	be	AUX
fcis-3751	63	28	positive	positive	ADJ
fcis-3751	63	29	constant	constant	ADJ
fcis-3751	63	30	,	,	PUNCT
fcis-3751	63	31	and	and	CCONJ
fcis-3751	63	32	0	0	NUM
fcis-3751	63	33	<	<	X
fcis-3751	63	34	𝛾1	𝛾1	PROPN
fcis-3751	63	35	<	<	X
fcis-3751	63	36	1,0	1,0	NUM
fcis-3751	63	37	<	<	X
fcis-3751	63	38	𝛾2	𝛾2	NOUN
fcis-3751	63	39	<	<	X
fcis-3751	63	40	1	1	NUM
fcis-3751	63	41	.	.	PUNCT
fcis-3751	64	1	according	accord	VERB
fcis-3751	64	2	to	to	ADP
fcis-3751	64	3	the	the	DET
fcis-3751	64	4	equivalent	equivalent	ADJ
fcis-3751	64	5	control	control	NOUN
fcis-3751	64	6	method	method	NOUN
fcis-3751	64	7	,	,	PUNCT
fcis-3751	64	8	each	each	DET
fcis-3751	64	9	equivalent	equivalent	ADJ
fcis-3751	64	10	control	control	NOUN
fcis-3751	64	11	quantity	quantity	NOUN
fcis-3751	64	12	of	of	ADP
fcis-3751	64	13	the	the	DET
fcis-3751	64	14	position	position	NOUN
fcis-3751	64	15	subsystem	subsystem	NOUN
fcis-3751	64	16	can	can	AUX
fcis-3751	64	17	be	be	AUX
fcis-3751	64	18	obtained	obtain	VERB
fcis-3751	64	19	as	as	ADP
fcis-3751	64	20	follows	follow	VERB
fcis-3751	64	21	:	:	PUNCT
fcis-3751	64	22	𝑢𝑒𝑞1	𝑢𝑒𝑞1	NOUN
fcis-3751	65	1	=	=	PUNCT
fcis-3751	65	2	−	−	PROPN
fcis-3751	65	3	1	1	NUM
fcis-3751	65	4	𝑔1(𝑥	𝑔1(𝑥	NOUN
fcis-3751	65	5	)	)	PUNCT
fcis-3751	65	6	(	(	PUNCT
fcis-3751	65	7	𝑓1(𝑥	𝑓1(𝑥	NOUN
fcis-3751	65	8	)	)	PUNCT
fcis-3751	65	9	+	+	CCONJ
fcis-3751	65	10	𝑐1	𝑐1	NOUN
fcis-3751	65	11	𝑞1	𝑞1	PROPN
fcis-3751	65	12	𝑝1	𝑝1	NOUN
fcis-3751	65	13	𝑒2	𝑒2	PROPN
fcis-3751	65	14	2−	2−	NUM
fcis-3751	65	15	𝑝1	𝑝1	NOUN
fcis-3751	65	16	𝑞1	𝑞1	PROPN
fcis-3751	65	17	)	)	PUNCT
fcis-3751	65	18	(	(	PUNCT
fcis-3751	65	19	10	10	NUM
fcis-3751	65	20	)	)	PUNCT
fcis-3751	65	21	𝑢𝑒𝑞2	𝑢𝑒𝑞2	NOUN
fcis-3751	65	22	=	=	PUNCT
fcis-3751	66	1	−	−	PROPN
fcis-3751	66	2	1	1	NUM
fcis-3751	66	3	𝑔2(𝑥	𝑔2(𝑥	NUM
fcis-3751	66	4	)	)	PUNCT
fcis-3751	66	5	(	(	PUNCT
fcis-3751	66	6	𝑓2(𝑥	𝑓2(𝑥	X
fcis-3751	66	7	)	)	PUNCT
fcis-3751	66	8	+	+	NUM
fcis-3751	66	9	𝑐2	𝑐2	NOUN
fcis-3751	66	10	𝑞2	𝑞2	NOUN
fcis-3751	66	11	𝑝2	𝑝2	NOUN
fcis-3751	66	12	𝑒4	𝑒4	PROPN
fcis-3751	66	13	2−	2−	NUM
fcis-3751	66	14	𝑝2	𝑝2	NOUN
fcis-3751	66	15	𝑞2	𝑞2	NOUN
fcis-3751	66	16	)	)	PUNCT
fcis-3751	66	17	(	(	PUNCT
fcis-3751	66	18	11	11	NUM
fcis-3751	66	19	)	)	PUNCT
fcis-3751	66	20	construct	construct	VERB
fcis-3751	66	21	the	the	DET
fcis-3751	66	22	second	second	ADJ
fcis-3751	66	23	sliding	slide	VERB
fcis-3751	66	24	surface	surface	NOUN
fcis-3751	66	25	:	:	PUNCT
fcis-3751	66	26	𝑆	𝑆	PROPN
fcis-3751	66	27	=	=	SYM
fcis-3751	66	28	𝛼𝑠1	𝛼𝑠1	NOUN
fcis-3751	66	29	+	+	CCONJ
fcis-3751	66	30	𝛾𝑠2	𝛾𝑠2	ADJ
fcis-3751	66	31	(	(	PUNCT
fcis-3751	66	32	12	12	NUM
fcis-3751	66	33	)	)	PUNCT
fcis-3751	66	34	w𝛼	w𝛼	PROPN
fcis-3751	66	35	,	,	PUNCT
fcis-3751	66	36	𝛾here	𝛾here	X
fcis-3751	66	37	is	be	AUX
fcis-3751	66	38	a	a	DET
fcis-3751	66	39	normal	normal	ADJ
fcis-3751	66	40	number	number	NOUN
fcis-3751	66	41	,	,	PUNCT
fcis-3751	66	42	and𝛼𝑔1(𝑥	and𝛼𝑔1(𝑥	ADJ
fcis-3751	66	43	)	)	PUNCT
fcis-3751	67	1	+	+	CCONJ
fcis-3751	67	2	𝛾𝑔2(𝑥	𝛾𝑔2(𝑥	NOUN
fcis-3751	67	3	)	)	PUNCT
fcis-3751	67	4	≠	≠	PROPN
fcis-3751	67	5	0	0	NUM
fcis-3751	67	6	.	.	PUNCT
fcis-3751	68	1	in	in	ADP
fcis-3751	68	2	order	order	NOUN
fcis-3751	68	3	to	to	PART
fcis-3751	68	4	ensure	ensure	VERB
fcis-3751	68	5	that	that	SCONJ
fcis-3751	68	6	the	the	DET
fcis-3751	68	7	two	two	NUM
fcis-3751	68	8	state	state	NOUN
fcis-3751	68	9	variables	variable	NOUN
fcis-3751	68	10	of	of	ADP
fcis-3751	68	11	the	the	DET
fcis-3751	68	12	position	position	NOUN
fcis-3751	68	13	subsystem	subsystem	NOUN
fcis-3751	68	14	can	can	AUX
fcis-3751	68	15	slide	slide	VERB
fcis-3751	68	16	stably	stably	ADV
fcis-3751	68	17	along	along	ADP
fcis-3751	68	18	the	the	DET
fcis-3751	68	19	respective	respective	ADJ
fcis-3751	68	20	sliding	slide	VERB
fcis-3751	68	21	surface	surface	NOUN
fcis-3751	68	22	,	,	PUNCT
fcis-3751	68	23	the	the	DET
fcis-3751	68	24	control	control	NOUN
fcis-3751	68	25	input	input	NOUN
fcis-3751	68	26	of	of	ADP
fcis-3751	68	27	the	the	DET
fcis-3751	68	28	position	position	NOUN
fcis-3751	68	29	subsystem	subsystem	NOUN
fcis-3751	68	30	needs	need	VERB
fcis-3751	68	31	to	to	PART
fcis-3751	68	32	contain	contain	VERB
fcis-3751	68	33	the	the	DET
fcis-3751	68	34	equivalent	equivalent	ADJ
fcis-3751	68	35	control	control	NOUN
fcis-3751	68	36	quantity	quantity	NOUN
fcis-3751	68	37	on	on	ADP
fcis-3751	68	38	each	each	DET
fcis-3751	68	39	sub	sub	ADJ
fcis-3751	68	40	-	-	ADJ
fcis-3751	68	41	sliding	sliding	ADJ
fcis-3751	68	42	surface	surface	NOUN
fcis-3751	68	43	.	.	PUNCT
fcis-3751	69	1	therefore	therefore	ADV
fcis-3751	69	2	,	,	PUNCT
fcis-3751	69	3	the	the	DET
fcis-3751	69	4	total	total	ADJ
fcis-3751	69	5	control	control	NOUN
fcis-3751	69	6	input	input	NOUN
fcis-3751	69	7	of	of	ADP
fcis-3751	69	8	the	the	DET
fcis-3751	69	9	position	position	NOUN
fcis-3751	69	10	subsystem	subsystem	NOUN
fcis-3751	69	11	is	be	AUX
fcis-3751	69	12	:	:	PUNCT
fcis-3751	69	13	𝑢1	𝑢1	PROPN
fcis-3751	69	14	=	=	SYM
fcis-3751	69	15	𝑢𝑒𝑞1	𝑢𝑒𝑞1	VERB
fcis-3751	70	1	+	+	CCONJ
fcis-3751	70	2	𝑢𝑒𝑞2	𝑢𝑒𝑞2	NOUN
fcis-3751	70	3	+	+	CCONJ
fcis-3751	70	4	𝑢𝑠𝑤	𝑢𝑠𝑤	ADJ
fcis-3751	70	5	(	(	PUNCT
fcis-3751	70	6	13	13	NUM
fcis-3751	70	7	)	)	PUNCT
fcis-3751	70	8	where	where	SCONJ
fcis-3751	70	9	𝑢𝑠𝑤	𝑢𝑠𝑤	NOUN
fcis-3751	70	10	is	be	AUX
fcis-3751	70	11	the	the	DET
fcis-3751	70	12	switching	switch	VERB
fcis-3751	70	13	control	control	NOUN
fcis-3751	70	14	quantity	quantity	NOUN
fcis-3751	70	15	of	of	ADP
fcis-3751	70	16	the	the	DET
fcis-3751	70	17	position	position	NOUN
fcis-3751	70	18	subsystem	subsystem	NOUN
fcis-3751	70	19	in	in	ADP
fcis-3751	70	20	the	the	DET
fcis-3751	70	21	approach	approach	NOUN
fcis-3751	70	22	stage	stage	NOUN
fcis-3751	70	23	?	?	PUNCT
fcis-3751	71	1	in	in	ADP
fcis-3751	71	2	order	order	NOUN
fcis-3751	71	3	to	to	PART
fcis-3751	71	4	obtain	obtain	VERB
fcis-3751	71	5	the	the	DET
fcis-3751	71	6	control	control	NOUN
fcis-3751	71	7	input	input	NOUN
fcis-3751	71	8	𝑢1	𝑢1	PROPN
fcis-3751	71	9	of	of	ADP
fcis-3751	71	10	the	the	DET
fcis-3751	71	11	position	position	NOUN
fcis-3751	71	12	subsystem	subsystem	NOUN
fcis-3751	71	13	,	,	PUNCT
fcis-3751	71	14	the	the	DET
fcis-3751	71	15	switching	switch	VERB
fcis-3751	71	16	control	control	NOUN
fcis-3751	71	17	part	part	NOUN
fcis-3751	71	18	𝑢𝑠𝑤	𝑢𝑠𝑤	NOUN
fcis-3751	71	19	of	of	ADP
fcis-3751	71	20	the	the	DET
fcis-3751	71	21	controller	controller	NOUN
fcis-3751	71	22	needs	need	VERB
fcis-3751	71	23	to	to	PART
fcis-3751	71	24	be	be	AUX
fcis-3751	71	25	further	far	ADV
fcis-3751	71	26	determined	determine	VERB
fcis-3751	71	27	.	.	PUNCT
fcis-3751	72	1	where	where	SCONJ
fcis-3751	72	2	𝑓1(𝑥	𝑓1(𝑥	NOUN
fcis-3751	72	3	)	)	PUNCT
fcis-3751	72	4	,	,	PUNCT
fcis-3751	72	5	𝑓2(𝑥	𝑓2(𝑥	X
fcis-3751	72	6	)	)	PUNCT
fcis-3751	72	7	,	,	PUNCT
fcis-3751	72	8	𝑔1(𝑥	𝑔1(𝑥	NOUN
fcis-3751	72	9	)	)	PUNCT
fcis-3751	72	10	,	,	PUNCT
fcis-3751	72	11	𝑔2(𝑥	𝑔2(𝑥	X
fcis-3751	72	12	)	)	PUNCT
fcis-3751	72	13	will	will	AUX
fcis-3751	72	14	be	be	AUX
fcis-3751	72	15	respectively	respectively	ADV
fcis-3751	72	16	denoted	denote	VERB
fcis-3751	72	17	by	by	ADP
fcis-3751	72	18	𝑓1	𝑓1	ADJ
fcis-3751	72	19	,	,	PUNCT
fcis-3751	72	20	𝑓2	𝑓2	PROPN
fcis-3751	72	21	,	,	PUNCT
fcis-3751	72	22	𝑔1	𝑔1	PROPN
fcis-3751	72	23	,	,	PUNCT
fcis-3751	72	24	𝑔2	𝑔2	VERB
fcis-3751	72	25	.	.	PUNCT
fcis-3751	73	1	the	the	DET
fcis-3751	73	2	exponential	exponential	ADJ
fcis-3751	73	3	approach	approach	NOUN
fcis-3751	73	4	law	law	NOUN
fcis-3751	73	5	is	be	AUX
fcis-3751	73	6	adopted	adopt	VERB
fcis-3751	73	7	:	:	PUNCT
fcis-3751	73	8	�	�	PROPN
fcis-3751	73	9	̇	̇	PROPN
fcis-3751	73	10	�	�	PROPN
fcis-3751	73	11	=	=	SYM
fcis-3751	73	12	−𝜂𝑠𝑎𝑡(𝑆	−𝜂𝑠𝑎𝑡(𝑆	X
fcis-3751	73	13	)	)	PUNCT
fcis-3751	74	1	−	−	PROPN
fcis-3751	75	1	𝑘𝑆	𝑘𝑆	NOUN
fcis-3751	75	2	(	(	PUNCT
fcis-3751	75	3	14	14	NUM
fcis-3751	75	4	)	)	PUNCT
fcis-3751	75	5	30	30	NUM
fcis-3751	75	6	where	where	SCONJ
fcis-3751	75	7	𝜂	𝜂	X
fcis-3751	75	8	,	,	PUNCT
fcis-3751	75	9	𝑘	𝑘	PRON
fcis-3751	75	10	are	be	AUX
fcis-3751	75	11	the	the	DET
fcis-3751	75	12	normal	normal	ADJ
fcis-3751	75	13	number	number	NOUN
fcis-3751	75	14	,	,	PUNCT
fcis-3751	75	15	𝑠𝑎𝑡(𝑆	𝑠𝑎𝑡(𝑆	NUM
fcis-3751	75	16	)	)	PUNCT
fcis-3751	75	17	is	be	AUX
fcis-3751	75	18	the	the	DET
fcis-3751	75	19	saturation	saturation	NOUN
fcis-3751	75	20	function	function	NOUN
fcis-3751	75	21	,	,	PUNCT
fcis-3751	75	22	δis	δis	VERB
fcis-3751	75	23	the	the	DET
fcis-3751	75	24	boundary	boundary	ADJ
fcis-3751	75	25	layer	layer	NOUN
fcis-3751	75	26	,	,	PUNCT
fcis-3751	75	27	𝑘	𝑘	NOUN
fcis-3751	75	28	=	=	SYM
fcis-3751	75	29	1	1	NUM
fcis-3751	75	30	δ	δ	NOUN
fcis-3751	75	31	,	,	PUNCT
fcis-3751	75	32	and	and	CCONJ
fcis-3751	75	33	its	its	PRON
fcis-3751	75	34	specific	specific	ADJ
fcis-3751	75	35	definition	definition	NOUN
fcis-3751	75	36	is	be	AUX
fcis-3751	75	37	as	as	SCONJ
fcis-3751	75	38	follows	follow	VERB
fcis-3751	75	39	:	:	PUNCT
fcis-3751	75	40	𝑠𝑎𝑡(𝑆	𝑠𝑎𝑡(𝑆	X
fcis-3751	75	41	)	)	PUNCT
fcis-3751	75	42	=	=	PRON
fcis-3751	75	43	{	{	PUNCT
fcis-3751	75	44	1	1	NUM
fcis-3751	75	45	𝑘𝑠	𝑘𝑠	NOUN
fcis-3751	75	46	−1	−1	NOUN
fcis-3751	76	1	𝑆	𝑆	PROPN
fcis-3751	76	2	>	>	PUNCT
fcis-3751	76	3	δ	δ	PROPN
fcis-3751	76	4	|𝑆|	|𝑆|	VERB
fcis-3751	76	5	≤	≤	NUM
fcis-3751	76	6	δ	δ	PROPN
fcis-3751	76	7	𝑆	𝑆	PROPN
fcis-3751	76	8	<	<	X
fcis-3751	76	9	−δ	−δ	ADJ
fcis-3751	76	10	(	(	PUNCT
fcis-3751	76	11	15	15	NUM
fcis-3751	76	12	)	)	PUNCT
fcis-3751	76	13	the	the	DET
fcis-3751	76	14	switching	switch	VERB
fcis-3751	76	15	control	control	NOUN
fcis-3751	76	16	quantity	quantity	NOUN
fcis-3751	76	17	of	of	ADP
fcis-3751	76	18	the	the	DET
fcis-3751	76	19	position	position	NOUN
fcis-3751	76	20	subsystem	subsystem	NOUN
fcis-3751	76	21	in	in	ADP
fcis-3751	76	22	the	the	DET
fcis-3751	76	23	approach	approach	NOUN
fcis-3751	76	24	stage	stage	NOUN
fcis-3751	76	25	is	be	AUX
fcis-3751	76	26	:	:	PUNCT
fcis-3751	76	27	𝑢𝑠𝑤	𝑢𝑠𝑤	ADJ
fcis-3751	76	28	=	=	SYM
fcis-3751	76	29	−	−	PROPN
fcis-3751	76	30	𝛾𝑔2(𝑥)𝑢𝑒𝑞1	𝛾𝑔2(𝑥)𝑢𝑒𝑞1	PROPN
fcis-3751	76	31	𝛼𝑔1(𝑥)+𝛾𝑔2(𝑥	𝛼𝑔1(𝑥)+𝛾𝑔2(𝑥	NOUN
fcis-3751	76	32	)	)	PUNCT
fcis-3751	76	33	−	−	PROPN
fcis-3751	76	34	𝛼𝑔1(𝑥)𝑢𝑒𝑞2	𝛼𝑔1(𝑥)𝑢𝑒𝑞2	NOUN
fcis-3751	76	35	𝛼𝑔1(𝑥)+𝛾𝑔2(𝑥	𝛼𝑔1(𝑥)+𝛾𝑔2(𝑥	NOUN
fcis-3751	76	36	)	)	PUNCT
fcis-3751	77	1	−	−	PROPN
fcis-3751	77	2	𝜂𝑠𝑎𝑡(𝑆)+𝑘𝑆	𝜂𝑠𝑎𝑡(𝑆)+𝑘𝑆	SYM
fcis-3751	77	3	𝛼𝑔1(𝑥)+𝛾𝑔2(𝑥	𝛼𝑔1(𝑥)+𝛾𝑔2(𝑥	NOUN
fcis-3751	77	4	)	)	PUNCT
fcis-3751	77	5	(	(	PUNCT
fcis-3751	77	6	16	16	NUM
fcis-3751	77	7	)	)	PUNCT
fcis-3751	77	8	then	then	ADV
fcis-3751	77	9	the	the	DET
fcis-3751	77	10	control	control	NOUN
fcis-3751	77	11	quantity	quantity	NOUN
fcis-3751	77	12	of	of	ADP
fcis-3751	77	13	the	the	DET
fcis-3751	77	14	position	position	NOUN
fcis-3751	77	15	subsystem	subsystem	NOUN
fcis-3751	77	16	is	be	AUX
fcis-3751	77	17	:	:	PUNCT
fcis-3751	77	18	1	1	NUM
fcis-3751	77	19	2	2	NUM
fcis-3751	77	20	1	1	NUM
fcis-3751	77	21	2	2	NUM
fcis-3751	77	22	1	1	NUM
fcis-3751	77	23	1	1	NUM
fcis-3751	77	24	2	2	NUM
fcis-3751	77	25	2	2	NUM
fcis-3751	77	26	2	2	NUM
fcis-3751	77	27	1	1	NUM
fcis-3751	77	28	2	2	NUM
fcis-3751	77	29	1	1	NUM
fcis-3751	77	30	1	1	NUM
fcis-3751	77	31	2	2	NUM
fcis-3751	77	32	2	2	NUM
fcis-3751	77	33	2	2	NUM
fcis-3751	77	34	4	4	NUM
fcis-3751	77	35	1	1	NUM
fcis-3751	77	36	2	2	NUM
fcis-3751	77	37	1	1	NUM
fcis-3751	77	38	2	2	NUM
fcis-3751	77	39	1	1	NUM
fcis-3751	77	40	2	2	NUM
fcis-3751	77	41	1	1	NUM
fcis-3751	77	42	2	2	NUM
fcis-3751	77	43	(	(	PUNCT
fcis-3751	77	44	(	(	PUNCT
fcis-3751	77	45	)	)	PUNCT
fcis-3751	77	46	)	)	PUNCT
fcis-3751	77	47	(	(	PUNCT
fcis-3751	77	48	(	(	PUNCT
fcis-3751	77	49	)	)	PUNCT
fcis-3751	77	50	)	)	PUNCT
fcis-3751	78	1	(	(	PUNCT
fcis-3751	78	2	)	)	PUNCT
fcis-3751	78	3	(	(	PUNCT
fcis-3751	78	4	)	)	PUNCT
fcis-3751	78	5	(	(	PUNCT
fcis-3751	78	6	)	)	PUNCT
fcis-3751	78	7	(	(	PUNCT
fcis-3751	78	8	)	)	PUNCT
fcis-3751	78	9	(	(	PUNCT
fcis-3751	78	10	)	)	PUNCT
fcis-3751	78	11	(	(	PUNCT
fcis-3751	78	12	)	)	PUNCT
fcis-3751	78	13	(	(	PUNCT
fcis-3751	78	14	)	)	PUNCT
fcis-3751	78	15	eq	eq	ADP
fcis-3751	78	16	eq	eq	PROPN
fcis-3751	78	17	sw	sw	PROPN
fcis-3751	78	18	p	p	PROPN
fcis-3751	78	19	p	p	X
fcis-3751	78	20	q	q	X
fcis-3751	78	21	q	q	X
fcis-3751	78	22	u	u	X
fcis-3751	78	23	u	u	NOUN
fcis-3751	78	24	u	u	NOUN
fcis-3751	78	25	u	u	NOUN
fcis-3751	78	26	q	q	NOUN
fcis-3751	78	27	q	q	X
fcis-3751	78	28	f	f	X
fcis-3751	78	29	x	x	X
fcis-3751	78	30	c	c	NOUN
fcis-3751	78	31	e	e	NOUN
fcis-3751	78	32	f	f	X
fcis-3751	78	33	x	x	X
fcis-3751	78	34	c	c	NOUN
fcis-3751	78	35	e	e	NOUN
fcis-3751	78	36	p	p	X
fcis-3751	78	37	p	p	PROPN
fcis-3751	78	38	sat	sit	VERB
fcis-3751	78	39	s	s	PRON
fcis-3751	78	40	ks	ks	NOUN
fcis-3751	78	41	g	g	NOUN
fcis-3751	78	42	x	x	X
fcis-3751	78	43	g	g	NOUN
fcis-3751	78	44	x	x	SYM
fcis-3751	78	45	g	g	NOUN
fcis-3751	78	46	x	x	SYM
fcis-3751	78	47	g	g	NOUN
fcis-3751	78	48	x	x	SYM
fcis-3751	78	49	g	g	NOUN
fcis-3751	78	50	x	x	SYM
fcis-3751	78	51	g	g	NOUN
fcis-3751	78	52	x	x	X
fcis-3751	78	53			NOUN
fcis-3751	78	54			ADP
fcis-3751	78	55			NUM
fcis-3751	78	56			NOUN
fcis-3751	78	57			ADP
fcis-3751	78	58			NOUN
fcis-3751	78	59			ADP
fcis-3751	78	60			NUM
fcis-3751	78	61			ADP
fcis-3751	78	62	−	−	NOUN
fcis-3751	78	63	−	−	PROPN
fcis-3751	79	1	=	=	PUNCT
fcis-3751	80	1	+	+	PUNCT
fcis-3751	80	2	+	+	PUNCT
fcis-3751	81	1	+	+	PUNCT
fcis-3751	81	2	+	+	PUNCT
fcis-3751	81	3	+	+	PROPN
fcis-3751	81	4	=	=	SYM
fcis-3751	81	5	−	−	NOUN
fcis-3751	81	6	−	−	NOUN
fcis-3751	81	7	−	−	PROPN
fcis-3751	82	1	+	+	CCONJ
fcis-3751	82	2	+	+	PUNCT
fcis-3751	82	3	+	+	CCONJ
fcis-3751	82	4	(	(	PUNCT
fcis-3751	82	5	17	17	NUM
fcis-3751	82	6	)	)	PUNCT
fcis-3751	82	7	the	the	DET
fcis-3751	82	8	lyapunov	lyapunov	NOUN
fcis-3751	82	9	theorem	theorem	NOUN
fcis-3751	82	10	is	be	AUX
fcis-3751	82	11	used	use	VERB
fcis-3751	82	12	to	to	PART
fcis-3751	82	13	find	find	VERB
fcis-3751	82	14	the	the	DET
fcis-3751	82	15	switching	switch	VERB
fcis-3751	82	16	control	control	NOUN
fcis-3751	82	17	quantity	quantity	NOUN
fcis-3751	82	18	of	of	ADP
fcis-3751	82	19	the	the	DET
fcis-3751	82	20	position	position	NOUN
fcis-3751	82	21	subsystem	subsystem	NOUN
fcis-3751	82	22	,	,	PUNCT
fcis-3751	82	23	and	and	CCONJ
fcis-3751	82	24	the	the	DET
fcis-3751	82	25	lyapunov	lyapunov	ADJ
fcis-3751	82	26	function	function	NOUN
fcis-3751	82	27	is	be	AUX
fcis-3751	82	28	constructed	construct	VERB
fcis-3751	82	29	as	as	SCONJ
fcis-3751	82	30	follows	follow	VERB
fcis-3751	82	31	𝑉	𝑉	PROPN
fcis-3751	82	32	=	=	NOUN
fcis-3751	82	33	1	1	NUM
fcis-3751	82	34	2	2	NUM
fcis-3751	82	35	𝑆2	𝑆2	NOUN
fcis-3751	82	36	(	(	PUNCT
fcis-3751	82	37	18	18	NUM
fcis-3751	82	38	)	)	PUNCT
fcis-3751	82	39	take	take	VERB
fcis-3751	82	40	the	the	DET
fcis-3751	82	41	derivative	derivative	NOUN
fcis-3751	82	42	of	of	ADP
fcis-3751	82	43	the	the	DET
fcis-3751	82	44	above	above	ADJ
fcis-3751	82	45	equation	equation	NOUN
fcis-3751	82	46	1	1	NUM
fcis-3751	83	1	2	2	NUM
fcis-3751	83	2	1	1	NUM
fcis-3751	83	3	2	2	NUM
fcis-3751	83	4	1	1	NUM
fcis-3751	83	5	2	2	NUM
fcis-3751	83	6	1	1	NUM
fcis-3751	83	7	2	2	NUM
fcis-3751	83	8	1	1	NUM
fcis-3751	83	9	2	2	NUM
fcis-3751	83	10	1	1	NUM
fcis-3751	83	11	2	2	NUM
fcis-3751	83	12	1	1	NUM
fcis-3751	83	13	2	2	NUM
fcis-3751	83	14	2	2	NUM
fcis-3751	83	15	2	2	NUM
fcis-3751	83	16	1	1	NUM
fcis-3751	83	17	2	2	NUM
fcis-3751	83	18	2	2	NUM
fcis-3751	83	19	2	2	NUM
fcis-3751	83	20	2	2	NUM
fcis-3751	83	21	4	4	NUM
fcis-3751	83	22	4	4	NUM
fcis-3751	83	23	4	4	NUM
fcis-3751	83	24	1	1	NUM
fcis-3751	83	25	1	1	NUM
fcis-3751	83	26	2	2	NUM
fcis-3751	83	27	2	2	NUM
fcis-3751	83	28	2	2	NUM
fcis-3751	83	29	2	2	NUM
fcis-3751	83	30	1	1	NUM
fcis-3751	83	31	2	2	NUM
fcis-3751	83	32	2	2	NUM
fcis-3751	83	33	2	2	NUM
fcis-3751	83	34	1	1	NUM
fcis-3751	83	35	1	1	NUM
fcis-3751	83	36	1	1	NUM
fcis-3751	83	37	4	4	NUM
fcis-3751	83	38	4	4	NUM
fcis-3751	83	39	2	2	NUM
fcis-3751	83	40	2	2	NUM
fcis-3751	83	41	1	1	NUM
fcis-3751	83	42	1	1	NUM
fcis-3751	83	43	1	1	NUM
fcis-3751	83	44	2	2	NUM
fcis-3751	83	45	2	2	NUM
fcis-3751	83	46	2	2	NUM
fcis-3751	83	47	2	2	NUM
fcis-3751	83	48	1	1	NUM
fcis-3751	83	49	2	2	NUM
fcis-3751	83	50	2	2	NUM
fcis-3751	83	51	2	2	NUM
fcis-3751	83	52	1	1	NUM
fcis-3751	83	53	1	1	NUM
fcis-3751	83	54	1	1	NUM
fcis-3751	83	55	2	2	NUM
fcis-3751	83	56	4	4	NUM
fcis-3751	83	57	4	4	NUM
fcis-3751	83	58	1	1	NUM
fcis-3751	83	59	1	1	NUM
fcis-3751	83	60	2	2	NUM
fcis-3751	83	61	2	2	NUM
fcis-3751	83	62	(	(	PUNCT
fcis-3751	83	63	)	)	PUNCT
fcis-3751	83	64	(	(	PUNCT
fcis-3751	83	65	(	(	PUNCT
fcis-3751	83	66	)	)	PUNCT
fcis-3751	83	67	(	(	PUNCT
fcis-3751	83	68	)	)	PUNCT
fcis-3751	83	69	)	)	PUNCT
fcis-3751	84	1	(	(	PUNCT
fcis-3751	84	2	(	(	PUNCT
fcis-3751	84	3	(	(	PUNCT
fcis-3751	84	4	)	)	PUNCT
fcis-3751	84	5	)	)	PUNCT
fcis-3751	84	6	(	(	PUNCT
fcis-3751	84	7	(	(	PUNCT
fcis-3751	84	8	)	)	PUNCT
fcis-3751	84	9	)	)	PUNCT
fcis-3751	84	10	)	)	PUNCT
fcis-3751	85	1	=	=	PUNCT
fcis-3751	85	2	(	(	PUNCT
fcis-3751	85	3	(	(	PUNCT
fcis-3751	85	4	(	(	PUNCT
fcis-3751	85	5	(	(	PUNCT
fcis-3751	85	6	)	)	PUNCT
fcis-3751	85	7	)	)	PUNCT
fcis-3751	85	8	)	)	PUNCT
fcis-3751	86	1	(	(	PUNCT
fcis-3751	86	2	(	(	PUNCT
fcis-3751	86	3	p	p	X
fcis-3751	86	4	p	p	X
fcis-3751	86	5	q	q	X
fcis-3751	86	6	q	q	X
fcis-3751	86	7	p	p	X
fcis-3751	86	8	p	p	X
fcis-3751	86	9	q	q	NOUN
fcis-3751	86	10	q	q	X
fcis-3751	86	11	p	p	X
fcis-3751	86	12	p	p	X
fcis-3751	86	13	q	q	X
fcis-3751	86	14	q	q	NOUN
fcis-3751	86	15	eq	eq	NOUN
fcis-3751	86	16	eq	eq	PROPN
fcis-3751	86	17	sw	sw	PROPN
fcis-3751	86	18	v	v	INTJ
fcis-3751	86	19	ss	ss	PROPN
fcis-3751	86	20	s	s	NOUN
fcis-3751	86	21	s	s	NOUN
fcis-3751	86	22	s	s	X
fcis-3751	86	23	p	p	X
fcis-3751	86	24	p	p	X
fcis-3751	86	25	s	s	X
fcis-3751	86	26	e	e	NOUN
fcis-3751	86	27	e	e	X
fcis-3751	86	28	e	e	X
fcis-3751	86	29	e	e	X
fcis-3751	86	30	e	e	X
fcis-3751	86	31	e	e	X
fcis-3751	86	32	c	c	X
fcis-3751	86	33	q	q	PROPN
fcis-3751	86	34	c	c	NOUN
fcis-3751	86	35	q	q	NOUN
fcis-3751	87	1	p	p	X
fcis-3751	87	2	p	p	X
fcis-3751	87	3	s	s	X
fcis-3751	87	4	e	e	X
fcis-3751	87	5	e	e	X
fcis-3751	87	6	f	f	PROPN
fcis-3751	87	7	g	g	PROPN
fcis-3751	87	8	u	u	X
fcis-3751	87	9	e	e	X
fcis-3751	87	10	e	e	NOUN
fcis-3751	87	11	f	f	PROPN
fcis-3751	87	12	g	g	PROPN
fcis-3751	87	13	u	u	NOUN
fcis-3751	87	14	c	c	NOUN
fcis-3751	87	15	q	q	NOUN
fcis-3751	87	16	c	c	NOUN
fcis-3751	87	17	q	q	NOUN
fcis-3751	88	1	p	p	X
fcis-3751	88	2	p	p	X
fcis-3751	88	3	s	s	X
fcis-3751	88	4	e	e	X
fcis-3751	88	5	e	e	X
fcis-3751	88	6	f	f	PROPN
fcis-3751	88	7	g	g	PROPN
fcis-3751	88	8	u	u	X
fcis-3751	88	9	u	u	X
fcis-3751	88	10	u	u	X
fcis-3751	88	11	e	e	X
fcis-3751	88	12	e	e	X
fcis-3751	88	13	f	f	PROPN
fcis-3751	88	14	c	c	PROPN
fcis-3751	88	15	q	q	PROPN
fcis-3751	88	16	c	c	NOUN
fcis-3751	88	17	q	q	X
fcis-3751	88	18			NOUN
fcis-3751	88	19			NUM
fcis-3751	88	20			NOUN
fcis-3751	88	21			ADP
fcis-3751	88	22			NOUN
fcis-3751	88	23			ADP
fcis-3751	88	24			NUM
fcis-3751	88	25			ADP
fcis-3751	88	26	−	−	NOUN
fcis-3751	88	27	−	−	NOUN
fcis-3751	89	1	−	−	PROPN
fcis-3751	90	1	−	−	PROPN
fcis-3751	91	1	−	−	NOUN
fcis-3751	92	1	−	−	PROPN
fcis-3751	93	1	=	=	PUNCT
fcis-3751	94	1	=	=	PUNCT
fcis-3751	95	1	+	+	PUNCT
fcis-3751	96	1	=	=	PUNCT
fcis-3751	97	1	+	+	PUNCT
fcis-3751	98	1	+	+	PUNCT
fcis-3751	98	2	+	+	CCONJ
fcis-3751	98	3	=	=	X
fcis-3751	99	1	+	+	PUNCT
fcis-3751	100	1	+	+	PUNCT
fcis-3751	100	2	+	+	PUNCT
fcis-3751	100	3	+	+	PUNCT
fcis-3751	100	4	+	+	PUNCT
fcis-3751	100	5	+	+	PUNCT
fcis-3751	100	6	+	+	PUNCT
fcis-3751	100	7	+	+	PUNCT
fcis-3751	100	8	+	+	PUNCT
fcis-3751	100	9	+	+	CCONJ
fcis-3751	100	10	+	+	NUM
fcis-3751	100	11	2	2	NUM
fcis-3751	100	12	2	2	NUM
fcis-3751	100	13	1	1	NUM
fcis-3751	100	14	2	2	NUM
fcis-3751	100	15	2	2	NUM
fcis-3751	100	16	(	(	PUNCT
fcis-3751	100	17	)	)	PUNCT
fcis-3751	100	18	)	)	PUNCT
fcis-3751	100	19	)	)	PUNCT
fcis-3751	100	20	)	)	PUNCT
fcis-3751	101	1	|	|	ADV
fcis-3751	101	2	|	|	ADV
fcis-3751	101	3	0	0	NUM
fcis-3751	102	1	eq	eq	NOUN
fcis-3751	102	2	eq	eq	PROPN
fcis-3751	102	3	swg	swg	PROPN
fcis-3751	102	4	u	u	PROPN
fcis-3751	102	5	u	u	NOUN
fcis-3751	102	6	u	u	NOUN
fcis-3751	102	7	s	s	NOUN
fcis-3751	102	8	ks	ks	NOUN
fcis-3751	103	1	+	+	X
fcis-3751	103	2	+	+	PUNCT
fcis-3751	103	3	+	+	NUM
fcis-3751	103	4	=	=	SYM
fcis-3751	103	5	−	−	PROPN
fcis-3751	103	6	−	−	PROPN
fcis-3751	103	7			NOUN
fcis-3751	103	8	(	(	PUNCT
fcis-3751	103	9	19	19	NUM
fcis-3751	103	10	)	)	PUNCT
fcis-3751	103	11	3.1.3	3.1.3	NUM
fcis-3751	103	12	.	.	PUNCT
fcis-3751	104	1	stability	stability	NOUN
fcis-3751	104	2	analysis	analysis	NOUN
fcis-3751	104	3	theorem	theorem	VERB
fcis-3751	104	4	1	1	NUM
fcis-3751	104	5	for	for	ADP
fcis-3751	104	6	the	the	DET
fcis-3751	104	7	underactuated	underactuated	ADJ
fcis-3751	104	8	system	system	NOUN
fcis-3751	104	9	shown	show	VERB
fcis-3751	104	10	in	in	ADP
fcis-3751	104	11	equation	equation	NOUN
fcis-3751	104	12	(	(	PUNCT
fcis-3751	104	13	7	7	NUM
fcis-3751	104	14	)	)	PUNCT
fcis-3751	104	15	,	,	PUNCT
fcis-3751	104	16	if	if	SCONJ
fcis-3751	104	17	the	the	DET
fcis-3751	104	18	sub	sub	ADJ
fcis-3751	104	19	-	-	ADJ
fcis-3751	104	20	sliding	sliding	ADJ
fcis-3751	104	21	mode	mode	NOUN
fcis-3751	104	22	surfaces	surface	NOUN
fcis-3751	104	23	of	of	ADP
fcis-3751	104	24	each	each	DET
fcis-3751	104	25	level	level	NOUN
fcis-3751	104	26	are	be	AUX
fcis-3751	104	27	designed	design	VERB
fcis-3751	104	28	according	accord	VERB
fcis-3751	104	29	to	to	ADP
fcis-3751	104	30	equations	equation	NOUN
fcis-3751	104	31	(	(	PUNCT
fcis-3751	104	32	9	9	NUM
fcis-3751	104	33	)	)	PUNCT
fcis-3751	104	34	respectively	respectively	ADV
fcis-3751	104	35	,	,	PUNCT
fcis-3751	104	36	and	and	CCONJ
fcis-3751	104	37	the	the	DET
fcis-3751	104	38	control	control	NOUN
fcis-3751	104	39	law	law	NOUN
fcis-3751	104	40	shown	show	VERB
fcis-3751	104	41	in	in	ADP
fcis-3751	104	42	equation	equation	NOUN
fcis-3751	104	43	(	(	PUNCT
fcis-3751	104	44	17	17	NUM
fcis-3751	104	45	)	)	PUNCT
fcis-3751	104	46	is	be	AUX
fcis-3751	104	47	adopted	adopt	VERB
fcis-3751	104	48	,	,	PUNCT
fcis-3751	104	49	the	the	DET
fcis-3751	104	50	sliding	slide	VERB
fcis-3751	104	51	mode	mode	NOUN
fcis-3751	104	52	surface	surface	NOUN
fcis-3751	104	53	of	of	ADP
fcis-3751	104	54	the	the	DET
fcis-3751	104	55	second	second	ADJ
fcis-3751	104	56	layer	layer	NOUN
fcis-3751	104	57	of	of	ADP
fcis-3751	104	58	the	the	DET
fcis-3751	104	59	position	position	NOUN
fcis-3751	104	60	subsystem	subsystem	NOUN
fcis-3751	104	61	is	be	AUX
fcis-3751	104	62	asymptotically	asymptotically	ADV
fcis-3751	104	63	stable	stable	ADJ
fcis-3751	104	64	.	.	PUNCT
fcis-3751	105	1	proof	proof	NOUN
fcis-3751	105	2	:	:	PUNCT
fcis-3751	105	3	according	accord	VERB
fcis-3751	105	4	to	to	ADP
fcis-3751	105	5	equation	equation	NOUN
fcis-3751	105	6	(	(	PUNCT
fcis-3751	105	7	19	19	NUM
fcis-3751	105	8	)	)	PUNCT
fcis-3751	105	9	:	:	PUNCT
fcis-3751	105	10	�	�	PROPN
fcis-3751	105	11	̇	̇	PROPN
fcis-3751	105	12	�	�	PROPN
fcis-3751	105	13	=	=	SYM
fcis-3751	105	14	−𝑆	−𝑆	ADJ
fcis-3751	105	15	∗	∗	NOUN
fcis-3751	105	16	(	(	PUNCT
fcis-3751	105	17	𝜂𝑠𝑎𝑡(𝑆	𝜂𝑠𝑎𝑡(𝑆	NOUN
fcis-3751	105	18	)	)	PUNCT
fcis-3751	105	19	−	−	PROPN
fcis-3751	105	20	𝑘𝑆	𝑘𝑆	NOUN
fcis-3751	105	21	)	)	PUNCT
fcis-3751	105	22	=	=	PUNCT
fcis-3751	106	1	−𝜂|𝑆|	−𝜂|𝑆|	ADJ
fcis-3751	106	2	−	−	NOUN
fcis-3751	106	3	𝑘𝑆2	𝑘𝑆2	PROPN
fcis-3751	106	4	≤	≤	X
fcis-3751	106	5	0	0	NUM
fcis-3751	106	6	(	(	PUNCT
fcis-3751	106	7	20	20	NUM
fcis-3751	106	8	)	)	PUNCT
fcis-3751	106	9	combining	combine	VERB
fcis-3751	106	10	equation	equation	NOUN
fcis-3751	106	11	(	(	PUNCT
fcis-3751	106	12	18	18	NUM
fcis-3751	106	13	)	)	PUNCT
fcis-3751	106	14	,	,	PUNCT
fcis-3751	106	15	it	it	PRON
fcis-3751	106	16	can	can	AUX
fcis-3751	106	17	be	be	AUX
fcis-3751	106	18	seen	see	VERB
fcis-3751	106	19	that	that	SCONJ
fcis-3751	106	20	𝑉	𝑉	PROPN
fcis-3751	106	21	>	>	X
fcis-3751	106	22	0	0	PUNCT
fcis-3751	106	23	.	.	PUNCT
fcis-3751	107	1	according	accord	VERB
fcis-3751	107	2	to	to	ADP
fcis-3751	107	3	lyapunov	lyapunov	PROPN
fcis-3751	107	4	theorem	theorem	PROPN
fcis-3751	107	5	,	,	PUNCT
fcis-3751	107	6	the	the	DET
fcis-3751	107	7	position	position	NOUN
fcis-3751	107	8	subsystem	subsystem	NOUN
fcis-3751	107	9	is	be	AUX
fcis-3751	107	10	stable	stable	ADJ
fcis-3751	107	11	.	.	PUNCT
fcis-3751	108	1	by	by	ADP
fcis-3751	108	2	integrating	integrate	VERB
fcis-3751	108	3	t	t	PROPN
fcis-3751	108	4	on	on	ADP
fcis-3751	108	5	both	both	DET
fcis-3751	108	6	sides	side	NOUN
fcis-3751	108	7	of	of	ADP
fcis-3751	108	8	equation	equation	NOUN
fcis-3751	108	9	(	(	PUNCT
fcis-3751	108	10	19	19	NUM
fcis-3751	108	11	)	)	PUNCT
fcis-3751	108	12	,	,	PUNCT
fcis-3751	108	13	we	we	PRON
fcis-3751	108	14	can	can	AUX
fcis-3751	108	15	get	get	VERB
fcis-3751	108	16	:	:	PUNCT
fcis-3751	108	17	𝑉(0	𝑉(0	NUM
fcis-3751	108	18	)	)	PUNCT
fcis-3751	108	19	=	=	SYM
fcis-3751	109	1	𝑉(𝑡	𝑉(𝑡	NOUN
fcis-3751	109	2	)	)	PUNCT
fcis-3751	109	3	+	+	CCONJ
fcis-3751	109	4	∫	∫	PROPN
fcis-3751	109	5	𝜂	𝜂	X
fcis-3751	109	6	𝑡	𝑡	PROPN
fcis-3751	109	7	0	0	NUM
fcis-3751	109	8	|𝑆|	|𝑆|	VERB
fcis-3751	109	9	+	+	CCONJ
fcis-3751	109	10	𝑘𝑆2𝑑𝑡	𝑘𝑆2𝑑𝑡	X
fcis-3751	109	11	≥	≥	NOUN
fcis-3751	109	12	∫	∫	PROPN
fcis-3751	109	13	𝜂	𝜂	X
fcis-3751	109	14	𝑡	𝑡	PROPN
fcis-3751	109	15	0	0	NUM
fcis-3751	109	16	|𝑆|	|𝑆|	VERB
fcis-3751	109	17	+	+	X
fcis-3751	109	18	𝑘𝑆2𝑑𝑡	𝑘𝑆2𝑑𝑡	ADJ
fcis-3751	109	19	(	(	PUNCT
fcis-3751	109	20	21	21	NUM
fcis-3751	109	21	)	)	PUNCT
fcis-3751	109	22	then	then	ADV
fcis-3751	109	23	according	accord	VERB
fcis-3751	109	24	to	to	ADP
fcis-3751	109	25	barbalat	barbalat	PROPN
fcis-3751	109	26	's	's	PART
fcis-3751	109	27	theorem	theorem	NOUN
fcis-3751	109	28	[	[	X
fcis-3751	109	29	13	13	NUM
fcis-3751	109	30	]	]	PUNCT
fcis-3751	109	31	,	,	PUNCT
fcis-3751	109	32	when	when	SCONJ
fcis-3751	109	33	𝑡	𝑡	PROPN
fcis-3751	109	34	→	→	SYM
fcis-3751	109	35	∞	∞	PROPN
fcis-3751	109	36	,	,	PUNCT
fcis-3751	109	37	𝑙𝑖𝑚	𝑙𝑖𝑚	VERB
fcis-3751	109	38	𝑡→∞	𝑡→∞	NUM
fcis-3751	109	39	𝑆	𝑆	PROPN
fcis-3751	109	40	=	=	SYM
fcis-3751	109	41	0	0	PROPN
fcis-3751	109	42	.	.	PUNCT
fcis-3751	110	1	the	the	DET
fcis-3751	110	2	second	second	ADJ
fcis-3751	110	3	sliding	slide	VERB
fcis-3751	110	4	mode	mode	NOUN
fcis-3751	110	5	surface	surface	NOUN
fcis-3751	110	6	can	can	AUX
fcis-3751	110	7	be	be	AUX
fcis-3751	110	8	proved	prove	VERB
fcis-3751	110	9	to	to	PART
fcis-3751	110	10	be	be	AUX
fcis-3751	110	11	asymptotically	asymptotically	ADV
fcis-3751	110	12	stable	stable	ADJ
fcis-3751	110	13	.	.	PUNCT
fcis-3751	111	1	theorem	theorem	NOUN
fcis-3751	111	2	2	2	NUM
fcis-3751	111	3	:	:	PUNCT
fcis-3751	111	4	for	for	ADP
fcis-3751	111	5	an	an	DET
fcis-3751	111	6	underactuated	underactuated	ADJ
fcis-3751	111	7	system	system	NOUN
fcis-3751	111	8	shown	show	VERB
fcis-3751	111	9	in	in	ADP
fcis-3751	111	10	eq	eq	ADP
fcis-3751	111	11	.	.	PUNCT
fcis-3751	112	1	(	(	PUNCT
fcis-3751	112	2	7	7	NUM
fcis-3751	112	3	)	)	PUNCT
fcis-3751	112	4	,	,	PUNCT
fcis-3751	112	5	if	if	SCONJ
fcis-3751	112	6	the	the	DET
fcis-3751	112	7	sub	sub	NOUN
fcis-3751	112	8	-	-	NOUN
fcis-3751	112	9	surfaces	surface	NOUN
fcis-3751	112	10	of	of	ADP
fcis-3751	112	11	each	each	DET
fcis-3751	112	12	level	level	NOUN
fcis-3751	112	13	are	be	AUX
fcis-3751	112	14	designed	design	VERB
fcis-3751	112	15	according	accord	VERB
fcis-3751	112	16	to	to	ADP
fcis-3751	112	17	eq.(9	eq.(9	ADJ
fcis-3751	112	18	)	)	PUNCT
fcis-3751	112	19	,	,	PUNCT
fcis-3751	112	20	respectively	respectively	ADV
fcis-3751	112	21	,	,	PUNCT
fcis-3751	112	22	and	and	CCONJ
fcis-3751	112	23	the	the	DET
fcis-3751	112	24	control	control	NOUN
fcis-3751	112	25	law	law	NOUN
fcis-3751	112	26	shown	show	VERB
fcis-3751	112	27	in	in	ADP
fcis-3751	112	28	eq	eq	ADP
fcis-3751	112	29	.	.	PUNCT
fcis-3751	113	1	(	(	PUNCT
fcis-3751	113	2	17	17	NUM
fcis-3751	113	3	)	)	PUNCT
fcis-3751	113	4	is	be	AUX
fcis-3751	113	5	adopted	adopt	VERB
fcis-3751	113	6	,	,	PUNCT
fcis-3751	113	7	the	the	DET
fcis-3751	113	8	sum	sum	NOUN
fcis-3751	113	9	of	of	ADP
fcis-3751	113	10	the	the	DET
fcis-3751	113	11	two	two	NUM
fcis-3751	113	12	first	first	ADJ
fcis-3751	113	13	-	-	PUNCT
fcis-3751	113	14	level	level	NOUN
fcis-3751	113	15	sliding	slide	VERB
fcis-3751	113	16	surfaces	surface	NOUN
fcis-3751	113	17	of	of	ADP
fcis-3751	113	18	the	the	DET
fcis-3751	113	19	position	position	NOUN
fcis-3751	113	20	subsystem	subsystem	NOUN
fcis-3751	113	21	is	be	AUX
fcis-3751	113	22	asymptotically	asymptotically	ADV
fcis-3751	113	23	stable	stable	ADJ
fcis-3751	113	24	.	.	PUNCT
fcis-3751	114	1	from	from	ADP
fcis-3751	114	2	the	the	DET
fcis-3751	114	3	barbalat	barbalat	NOUN
fcis-3751	114	4	theorem	theorem	NOUN
fcis-3751	114	5	and	and	CCONJ
fcis-3751	114	6	lyapunov	lyapunov	PROPN
fcis-3751	114	7	theorem	theorem	VERB
fcis-3751	114	8	,	,	PUNCT
fcis-3751	114	9	it	it	PRON
fcis-3751	114	10	can	can	AUX
fcis-3751	114	11	be	be	AUX
fcis-3751	114	12	proved	prove	VERB
fcis-3751	114	13	that	that	SCONJ
fcis-3751	114	14	theorem	theorem	NOUN
fcis-3751	114	15	2	2	NUM
fcis-3751	114	16	holds	hold	VERB
fcis-3751	114	17	[	[	X
fcis-3751	114	18	7	7	NUM
fcis-3751	114	19	]	]	PUNCT
fcis-3751	114	20	,	,	PUNCT
fcis-3751	114	21	and	and	CCONJ
fcis-3751	114	22	the	the	DET
fcis-3751	114	23	position	position	NOUN
fcis-3751	114	24	subsystem	subsystem	NOUN
fcis-3751	114	25	is	be	AUX
fcis-3751	114	26	asymptotically	asymptotically	ADV
fcis-3751	114	27	stable	stable	ADJ
fcis-3751	114	28	.	.	PUNCT
fcis-3751	115	1	attitude	attitude	NOUN
fcis-3751	115	2	subsystem	subsystem	NOUN
fcis-3751	115	3	controller	controller	NOUN
fcis-3751	115	4	for	for	ADP
fcis-3751	115	5	attitude	attitude	NOUN
fcis-3751	115	6	subsystem	subsystem	NOUN
fcis-3751	115	7	�	�	PROPN
fcis-3751	115	8	̈	̈	SYM
fcis-3751	115	9	�	�	NOUN
fcis-3751	115	10	=	=	SYM
fcis-3751	115	11	𝑅	𝑅	PROPN
fcis-3751	115	12	𝐼𝑟	𝐼𝑟	PROPN
fcis-3751	115	13	𝑢2	𝑢2	PROPN
fcis-3751	115	14	(	(	PUNCT
fcis-3751	115	15	22	22	NUM
fcis-3751	115	16	)	)	PUNCT
fcis-3751	115	17	assume	assume	VERB
fcis-3751	115	18	that	that	SCONJ
fcis-3751	115	19	the	the	DET
fcis-3751	115	20	ideal	ideal	ADJ
fcis-3751	115	21	angle	angle	NOUN
fcis-3751	115	22	command	command	NOUN
fcis-3751	115	23	is	be	AUX
fcis-3751	115	24	𝜃𝑑	𝜃𝑑	ADP
fcis-3751	115	25	,	,	PUNCT
fcis-3751	115	26	and	and	CCONJ
fcis-3751	115	27	the	the	DET
fcis-3751	115	28	tracking	tracking	NOUN
fcis-3751	115	29	error	error	NOUN
fcis-3751	115	30	is	be	AUX
fcis-3751	115	31	𝑒𝜃	𝑒𝜃	NOUN
fcis-3751	115	32	=	=	PUNCT
fcis-3751	115	33	𝜃	𝜃	PROPN
fcis-3751	115	34	−	−	NOUN
fcis-3751	115	35	𝜃𝑑	𝜃𝑑	ADP
fcis-3751	115	36	,	,	PUNCT
fcis-3751	115	37	for	for	ADP
fcis-3751	115	38	attitude	attitude	NOUN
fcis-3751	115	39	subsystem	subsystem	NOUN
fcis-3751	115	40	,	,	PUNCT
fcis-3751	115	41	pd	pd	PROPN
fcis-3751	115	42	control	control	NOUN
fcis-3751	115	43	method	method	NOUN
fcis-3751	115	44	is	be	AUX
fcis-3751	115	45	adopted	adopt	VERB
fcis-3751	115	46	to	to	PART
fcis-3751	115	47	design	design	VERB
fcis-3751	115	48	the	the	DET
fcis-3751	115	49	control	control	NOUN
fcis-3751	115	50	law	law	NOUN
fcis-3751	115	51	as	as	SCONJ
fcis-3751	115	52	follows	follow	VERB
fcis-3751	115	53	:	:	PUNCT
fcis-3751	115	54	𝑢2	𝑢2	PROPN
fcis-3751	115	55	=	=	PROPN
fcis-3751	115	56	−𝐾𝑝𝑒𝜃	−𝐾𝑝𝑒𝜃	X
fcis-3751	115	57	−	−	PROPN
fcis-3751	115	58	𝐾𝑑	𝐾𝑑	PROPN
fcis-3751	115	59	�	�	PROPN
fcis-3751	115	60	̇	̇	NOUN
fcis-3751	115	61	�	�	PROPN
fcis-3751	115	62	𝜃	𝜃	PROPN
fcis-3751	115	63	(	(	PUNCT
fcis-3751	115	64	23	23	NUM
fcis-3751	115	65	)	)	PUNCT
fcis-3751	115	66	where	where	SCONJ
fcis-3751	115	67	𝐾𝑝	𝐾𝑝	PROPN
fcis-3751	115	68	,	,	PUNCT
fcis-3751	115	69	𝐾𝑑	𝐾𝑑	PROPN
fcis-3751	115	70	is	be	AUX
fcis-3751	115	71	the	the	DET
fcis-3751	115	72	normal	normal	ADJ
fcis-3751	115	73	number	number	NOUN
fcis-3751	115	74	?	?	PUNCT
fcis-3751	116	1	let	let	VERB
fcis-3751	116	2	's	us	PRON
fcis-3751	116	3	take	take	VERB
fcis-3751	116	4	the	the	DET
fcis-3751	116	5	lyapunov	lyapunov	ADJ
fcis-3751	116	6	function	function	NOUN
fcis-3751	116	7	as	as	ADP
fcis-3751	116	8	𝑉	𝑉	PROPN
fcis-3751	116	9	=	=	NOUN
fcis-3751	116	10	1	1	NUM
fcis-3751	116	11	2	2	NUM
fcis-3751	116	12	𝐼𝑟	𝐼𝑟	PROPN
fcis-3751	116	13	𝑅	𝑅	PROPN
fcis-3751	116	14	�	�	PROPN
fcis-3751	116	15	̇	̇	PROPN
fcis-3751	116	16	�	�	PROPN
fcis-3751	116	17	𝑇	𝑇	PROPN
fcis-3751	116	18	�	�	PROPN
fcis-3751	116	19	̇	̇	PROPN
fcis-3751	116	20	�	�	PROPN
fcis-3751	116	21	+	+	CCONJ
fcis-3751	116	22	1	1	NUM
fcis-3751	116	23	2	2	NUM
fcis-3751	116	24	𝐾𝑝𝑒	𝐾𝑝𝑒	PROPN
fcis-3751	116	25	𝑇𝑒	𝑇𝑒	PROPN
fcis-3751	116	26	(	(	PUNCT
fcis-3751	116	27	24	24	NUM
fcis-3751	116	28	)	)	PUNCT
fcis-3751	116	29	since	since	SCONJ
fcis-3751	116	30	𝐼	𝐼	PROPN
fcis-3751	116	31	,	,	PUNCT
fcis-3751	116	32	𝑟	𝑟	X
fcis-3751	116	33	,	,	PUNCT
fcis-3751	116	34	𝐾𝑝	𝐾𝑝	ADV
fcis-3751	116	35	they	they	PRON
fcis-3751	116	36	are	be	AUX
fcis-3751	116	37	all	all	ADV
fcis-3751	116	38	normal	normal	ADJ
fcis-3751	116	39	numbers	number	NOUN
fcis-3751	116	40	,	,	PUNCT
fcis-3751	116	41	it	it	PRON
fcis-3751	116	42	can	can	AUX
fcis-3751	116	43	be	be	AUX
fcis-3751	116	44	known	know	VERB
fcis-3751	116	45	that	that	SCONJ
fcis-3751	116	46	𝑉	𝑉	PROPN
fcis-3751	116	47	is	be	AUX
fcis-3751	116	48	positive	positive	ADJ
fcis-3751	116	49	definite	definite	NOUN
fcis-3751	116	50	.	.	PUNCT
fcis-3751	117	1	then	then	ADV
fcis-3751	117	2	the	the	DET
fcis-3751	117	3	derivative	derivative	NOUN
fcis-3751	117	4	of	of	ADP
fcis-3751	117	5	the	the	DET
fcis-3751	117	6	above	above	ADJ
fcis-3751	117	7	formula	formula	NOUN
fcis-3751	117	8	can	can	AUX
fcis-3751	117	9	be	be	AUX
fcis-3751	117	10	obtained	obtain	VERB
fcis-3751	117	11	as	as	SCONJ
fcis-3751	117	12	follows	follow	VERB
fcis-3751	117	13	:	:	PUNCT
fcis-3751	117	14	2	2	NUM
fcis-3751	117	15	(	(	PUNCT
fcis-3751	117	16	)	)	PUNCT
fcis-3751	117	17	0	0	PUNCT
fcis-3751	118	1	p	p	NOUN
fcis-3751	118	2	p	p	X
fcis-3751	119	1	d	d	X
fcis-3751	119	2	p	p	X
fcis-3751	119	3	d	d	X
fcis-3751	119	4	ir	ir	PROPN
fcis-3751	119	5	v	v	INTJ
fcis-3751	119	6	ee	ee	PROPN
fcis-3751	119	7	k	k	PROPN
fcis-3751	119	8	ee	ee	PROPN
fcis-3751	119	9	e	e	PROPN
fcis-3751	119	10	k	k	PROPN
fcis-3751	119	11	e	e	PROPN
fcis-3751	119	12	k	k	PROPN
fcis-3751	119	13	e	e	PROPN
fcis-3751	119	14	k	k	PROPN
fcis-3751	119	15	e	e	PROPN
fcis-3751	119	16	r	r	NOUN
fcis-3751	119	17	k	k	X
fcis-3751	119	18	e	e	PROPN
fcis-3751	119	19	=	=	PUNCT
fcis-3751	120	1	+	+	PUNCT
fcis-3751	120	2	=	=	SYM
fcis-3751	120	3	−	−	NOUN
fcis-3751	120	4	−	−	PROPN
fcis-3751	121	1	+	+	NUM
fcis-3751	121	2	=	=	SYM
fcis-3751	121	3	−	−	PROPN
fcis-3751	121	4			NOUN
fcis-3751	121	5	(	(	PUNCT
fcis-3751	121	6	25	25	NUM
fcis-3751	121	7	)	)	PUNCT
fcis-3751	121	8	since	since	SCONJ
fcis-3751	121	9	it	it	PRON
fcis-3751	121	10	is	be	AUX
fcis-3751	121	11	semi	semi	ADJ
fcis-3751	121	12	-	-	ADJ
fcis-3751	121	13	negative	negative	ADJ
fcis-3751	121	14	definite	definite	ADJ
fcis-3751	121	15	and	and	CCONJ
fcis-3751	121	16	positive	positive	ADJ
fcis-3751	121	17	definite	definite	ADJ
fcis-3751	121	18	,	,	PUNCT
fcis-3751	121	19	the	the	DET
fcis-3751	121	20	attitude	attitude	NOUN
fcis-3751	121	21	subsystem	subsystem	NOUN
fcis-3751	121	22	is	be	AUX
fcis-3751	121	23	stable	stable	ADJ
fcis-3751	121	24	.	.	PUNCT
fcis-3751	122	1	4	4	X
fcis-3751	122	2	.	.	X
fcis-3751	122	3	literature	literature	NOUN
fcis-3751	122	4	references	reference	NOUN
fcis-3751	122	5	in	in	ADP
fcis-3751	122	6	order	order	NOUN
fcis-3751	122	7	to	to	PART
fcis-3751	122	8	verify	verify	VERB
fcis-3751	122	9	the	the	DET
fcis-3751	122	10	effectiveness	effectiveness	NOUN
fcis-3751	122	11	and	and	CCONJ
fcis-3751	122	12	robustness	robustness	NOUN
fcis-3751	122	13	of	of	ADP
fcis-3751	122	14	the	the	DET
fcis-3751	122	15	proposed	propose	VERB
fcis-3751	122	16	control	control	NOUN
fcis-3751	122	17	method	method	NOUN
fcis-3751	122	18	,	,	PUNCT
fcis-3751	122	19	a	a	DET
fcis-3751	122	20	trajectory	trajectory	NOUN
fcis-3751	122	21	tracking	track	VERB
fcis-3751	122	22	control	control	NOUN
fcis-3751	122	23	experiment	experiment	NOUN
fcis-3751	122	24	of	of	ADP
fcis-3751	122	25	wheeled	wheel	VERB
fcis-3751	122	26	mobile	mobile	ADJ
fcis-3751	122	27	robot	robot	NOUN
fcis-3751	122	28	was	be	AUX
fcis-3751	122	29	conducted	conduct	VERB
fcis-3751	122	30	using	use	VERB
fcis-3751	122	31	matlab	matlab	PROPN
fcis-3751	122	32	/	/	SYM
fcis-3751	122	33	simulink	simulink	PROPN
fcis-3751	122	34	simulation	simulation	PROPN
fcis-3751	122	35	environment	environment	PROPN
fcis-3751	122	36	.	.	PUNCT
fcis-3751	123	1	the	the	DET
fcis-3751	123	2	parameters	parameter	NOUN
fcis-3751	123	3	of	of	ADP
fcis-3751	123	4	the	the	DET
fcis-3751	123	5	mobile	mobile	ADJ
fcis-3751	123	6	robot	robot	NOUN
fcis-3751	123	7	are	be	AUX
fcis-3751	123	8	selected	select	VERB
fcis-3751	123	9	according	accord	VERB
fcis-3751	123	10	to	to	ADP
fcis-3751	123	11	the	the	DET
fcis-3751	123	12	reference	reference	NOUN
fcis-3751	123	13	[	[	X
fcis-3751	123	14	12	12	NUM
fcis-3751	123	15	]	]	PUNCT
fcis-3751	123	16	.	.	PUNCT
fcis-3751	124	1	the	the	DET
fcis-3751	124	2	specific	specific	ADJ
fcis-3751	124	3	parameters	parameter	NOUN
fcis-3751	124	4	of	of	ADP
fcis-3751	124	5	the	the	DET
fcis-3751	124	6	mobile	mobile	ADJ
fcis-3751	124	7	robot	robot	NOUN
fcis-3751	124	8	system	system	NOUN
fcis-3751	124	9	are	be	AUX
fcis-3751	124	10	shown	show	VERB
fcis-3751	124	11	in	in	ADP
fcis-3751	124	12	table	table	NOUN
fcis-3751	124	13	1	1	NUM
fcis-3751	124	14	:	:	PUNCT
fcis-3751	124	15	table	table	NOUN
fcis-3751	124	16	1	1	NUM
fcis-3751	124	17	.	.	PUNCT
fcis-3751	124	18	three	three	NUM
fcis-3751	124	19	scheme	scheme	NOUN
fcis-3751	124	20	comparing	compare	VERB
fcis-3751	124	21	𝑚/𝑘𝑔	𝑚/𝑘𝑔	NOUN
fcis-3751	124	22	𝑅/𝑚	𝑅/𝑚	PROPN
fcis-3751	124	23	𝑟/𝑚	𝑟/𝑚	PRON
fcis-3751	124	24	𝐼/(𝑘𝑔/𝑚2	𝐼/(𝑘𝑔/𝑚2	NUM
fcis-3751	124	25	)	)	PUNCT
fcis-3751	124	26	4	4	NUM
fcis-3751	124	27	0.2	0.2	NUM
fcis-3751	124	28	0.04	0.04	NUM
fcis-3751	124	29	2.5	2.5	NUM
fcis-3751	124	30	the	the	DET
fcis-3751	124	31	parameters	parameter	NOUN
fcis-3751	124	32	of	of	ADP
fcis-3751	124	33	non	non	ADJ
fcis-3751	124	34	-	-	ADJ
fcis-3751	124	35	singular	singular	ADJ
fcis-3751	124	36	terminal	terminal	NOUN
fcis-3751	124	37	layered	layer	VERB
fcis-3751	124	38	sliding	slide	VERB
fcis-3751	124	39	mode	mode	NOUN
fcis-3751	124	40	controller	controller	NOUN
fcis-3751	124	41	(	(	PUNCT
fcis-3751	124	42	nthsmc	nthsmc	NOUN
fcis-3751	124	43	)	)	PUNCT
fcis-3751	124	44	are	be	AUX
fcis-3751	124	45	as	as	SCONJ
fcis-3751	124	46	follows	follow	VERB
fcis-3751	124	47	:	:	PUNCT
fcis-3751	124	48	𝛼	𝛼	NOUN
fcis-3751	124	49	=	=	SYM
fcis-3751	124	50	1	1	NUM
fcis-3751	124	51	,	,	PUNCT
fcis-3751	124	52	𝛾	𝛾	NOUN
fcis-3751	124	53	=	=	SYM
fcis-3751	124	54	50	50	NUM
fcis-3751	124	55	,	,	PUNCT
fcis-3751	124	56	𝑐1	𝑐1	NOUN
fcis-3751	124	57	=	=	NOUN
fcis-3751	124	58	35	35	NUM
fcis-3751	124	59	,	,	PUNCT
fcis-3751	124	60	𝑐2	𝑐2	NOUN
fcis-3751	124	61	=	=	SYM
fcis-3751	124	62	35	35	NUM
fcis-3751	124	63	,	,	PUNCT
fcis-3751	124	64	𝑞1	𝑞1	PROPN
fcis-3751	124	65	=	=	SYM
fcis-3751	124	66	55	55	NUM
fcis-3751	124	67	,	,	PUNCT
fcis-3751	124	68	𝑝1	𝑝1	NOUN
fcis-3751	124	69	=	=	SYM
fcis-3751	124	70	53	53	NUM
fcis-3751	124	71	,	,	PUNCT
fcis-3751	124	72	𝑞2	𝑞2	NOUN
fcis-3751	124	73	=	=	SYM
fcis-3751	124	74	55	55	NUM
fcis-3751	124	75	,	,	PUNCT
fcis-3751	124	76	𝑝2	𝑝2	NOUN
fcis-3751	124	77	=	=	SYM
fcis-3751	124	78	53	53	NUM
fcis-3751	124	79	,	,	PUNCT
fcis-3751	124	80	𝜂	𝜂	NOUN
fcis-3751	124	81	=	=	SYM
fcis-3751	124	82	5	5	NUM
fcis-3751	124	83	,	,	PUNCT
fcis-3751	124	84	𝑘	𝑘	X
fcis-3751	124	85	=	=	SYM
fcis-3751	124	86	5	5	NUM
fcis-3751	124	87	,	,	PUNCT
fcis-3751	124	88	δ	δ	PROPN
fcis-3751	124	89	=	=	NOUN
fcis-3751	124	90	0.005	0.005	NUM
fcis-3751	124	91	.	.	PUNCT
fcis-3751	125	1	the	the	DET
fcis-3751	125	2	parameters	parameter	NOUN
fcis-3751	125	3	of	of	ADP
fcis-3751	125	4	the	the	DET
fcis-3751	125	5	pd	pd	PROPN
fcis-3751	125	6	controller	controller	NOUN
fcis-3751	125	7	are	be	AUX
fcis-3751	125	8	as	as	SCONJ
fcis-3751	125	9	follows	follow	VERB
fcis-3751	125	10	:	:	PUNCT
fcis-3751	125	11	𝐾𝑝	𝐾𝑝	PROPN
fcis-3751	125	12	=	=	SYM
fcis-3751	125	13	5	5	NUM
fcis-3751	125	14	,	,	PUNCT
fcis-3751	125	15	𝐾𝑑	𝐾𝑑	PROPN
fcis-3751	125	16	=	=	SYM
fcis-3751	125	17	10	10	NUM
fcis-3751	125	18	.	.	PUNCT
fcis-3751	126	1	set	set	VERB
fcis-3751	126	2	the	the	DET
fcis-3751	126	3	circle	circle	NOUN
fcis-3751	126	4	trajectory	trajectory	NOUN
fcis-3751	126	5	with	with	ADP
fcis-3751	126	6	the	the	DET
fcis-3751	126	7	center	center	NOUN
fcis-3751	126	8	of	of	ADP
fcis-3751	126	9	the	the	DET
fcis-3751	126	10	ideal	ideal	ADJ
fcis-3751	126	11	trajectory	trajectory	NOUN
fcis-3751	126	12	as	as	ADP
fcis-3751	126	13	the	the	DET
fcis-3751	126	14	origin	origin	NOUN
fcis-3751	126	15	and	and	CCONJ
fcis-3751	126	16	the	the	DET
fcis-3751	126	17	radius	radius	NOUN
fcis-3751	126	18	as	as	ADP
fcis-3751	126	19	2	2	NUM
fcis-3751	126	20	:	:	PUNCT
fcis-3751	126	21	{	{	PUNCT
fcis-3751	126	22	𝑥𝑑(𝑡	𝑥𝑑(𝑡	NUM
fcis-3751	126	23	)	)	PUNCT
fcis-3751	126	24	=	=	SYM
fcis-3751	126	25	2	2	NUM
fcis-3751	126	26	𝑐𝑜𝑠𝜃𝑑	𝑐𝑜𝑠𝜃𝑑	NOUN
fcis-3751	126	27	𝑦𝑑(𝑡	𝑦𝑑(𝑡	PUNCT
fcis-3751	126	28	)	)	PUNCT
fcis-3751	127	1	=	=	SYM
fcis-3751	127	2	2	2	NUM
fcis-3751	127	3	𝑠𝑖𝑛𝜃𝑑	𝑠𝑖𝑛𝜃𝑑	NOUN
fcis-3751	127	4	𝜃𝑑	𝜃𝑑	ADP
fcis-3751	127	5	=	=	SYM
fcis-3751	127	6	0.1𝑡	0.1𝑡	NOUN
fcis-3751	127	7	type	type	NOUN
fcis-3751	127	8	of	of	ADP
fcis-3751	127	9	;	;	PUNCT
fcis-3751	127	10	the	the	DET
fcis-3751	127	11	starting	start	VERB
fcis-3751	127	12	position	position	NOUN
fcis-3751	127	13	of	of	ADP
fcis-3751	127	14	the	the	DET
fcis-3751	127	15	mobile	mobile	ADJ
fcis-3751	127	16	robot	robot	NOUN
fcis-3751	127	17	is	be	AUX
fcis-3751	127	18	set	set	VERB
fcis-3751	127	19	as	as	ADP
fcis-3751	127	20	𝑞	𝑞	X
fcis-3751	127	21	=	=	PUNCT
fcis-3751	128	1	[	[	X
fcis-3751	128	2	0	0	NUM
fcis-3751	128	3	0	0	NUM
fcis-3751	128	4	𝜋	𝜋	NOUN
fcis-3751	128	5	2	2	NUM
fcis-3751	128	6	]	]	PUNCT
fcis-3751	128	7	;	;	PUNCT
fcis-3751	128	8	the	the	DET
fcis-3751	128	9	mobile	mobile	NOUN
fcis-3751	128	10	robot	robot	NOUN
fcis-3751	128	11	is	be	AUX
fcis-3751	128	12	simulated	simulate	VERB
fcis-3751	128	13	and	and	CCONJ
fcis-3751	128	14	analyzed	analyze	VERB
fcis-3751	128	15	.	.	PUNCT
fcis-3751	129	1	the	the	DET
fcis-3751	129	2	parameters	parameter	NOUN
fcis-3751	129	3	of	of	ADP
fcis-3751	129	4	the	the	DET
fcis-3751	129	5	layered	layered	ADJ
fcis-3751	129	6	sliding	slide	VERB
fcis-3751	129	7	mode	mode	NOUN
fcis-3751	129	8	controller	controller	NOUN
fcis-3751	129	9	(	(	PUNCT
fcis-3751	129	10	hsmc	hsmc	NOUN
fcis-3751	129	11	)	)	PUNCT
fcis-3751	129	12	are	be	AUX
fcis-3751	129	13	𝛼	𝛼	X
fcis-3751	129	14	=	=	NOUN
fcis-3751	129	15	1	1	NUM
fcis-3751	129	16	,	,	PUNCT
fcis-3751	129	17	𝛾	𝛾	NOUN
fcis-3751	129	18	=	=	SYM
fcis-3751	129	19	50	50	NUM
fcis-3751	129	20	,	,	PUNCT
fcis-3751	129	21	𝑐1	𝑐1	NOUN
fcis-3751	129	22	=	=	NOUN
fcis-3751	129	23	35	35	NUM
fcis-3751	129	24	,	,	PUNCT
fcis-3751	129	25	𝑐2	𝑐2	NOUN
fcis-3751	129	26	=	=	SYM
fcis-3751	129	27	35	35	NUM
fcis-3751	129	28	,	,	PUNCT
fcis-3751	129	29	𝜂	𝜂	NOUN
fcis-3751	129	30	=	=	SYM
fcis-3751	129	31	5	5	NUM
fcis-3751	129	32	,	,	PUNCT
fcis-3751	129	33	𝑘	𝑘	X
fcis-3751	129	34	=	=	SYM
fcis-3751	129	35	5	5	NUM
fcis-3751	129	36	,	,	PUNCT
fcis-3751	129	37	δ	δ	PROPN
fcis-3751	129	38	=	=	NOUN
fcis-3751	129	39	0.005	0.005	NUM
fcis-3751	129	40	.	.	PUNCT
fcis-3751	130	1	fio	fio	NOUN
fcis-3751	130	2	.	.	PUNCT
fcis-3751	130	3	2	2	NUM
fcis-3751	130	4	shows	show	VERB
fcis-3751	130	5	the	the	DET
fcis-3751	130	6	motion	motion	NOUN
fcis-3751	130	7	trajectory	trajectory	NOUN
fcis-3751	130	8	of	of	ADP
fcis-3751	130	9	the	the	DET
fcis-3751	130	10	mobile	mobile	NOUN
fcis-3751	130	11	robot	robot	NOUN
fcis-3751	130	12	.	.	PUNCT
fcis-3751	131	1	it	it	PRON
fcis-3751	131	2	can	can	AUX
fcis-3751	131	3	be	be	AUX
fcis-3751	131	4	seen	see	VERB
fcis-3751	131	5	from	from	ADP
fcis-3751	131	6	fio	fio	PROPN
fcis-3751	131	7	.	.	PROPN
fcis-3751	131	8	2	2	NUM
fcis-3751	131	9	that	that	PRON
fcis-3751	131	10	the	the	DET
fcis-3751	131	11	actual	actual	ADJ
fcis-3751	131	12	trajectory	trajectory	NOUN
fcis-3751	131	13	can	can	AUX
fcis-3751	131	14	quickly	quickly	ADV
fcis-3751	131	15	track	track	VERB
fcis-3751	131	16	the	the	DET
fcis-3751	131	17	given	give	VERB
fcis-3751	131	18	desired	desire	VERB
fcis-3751	131	19	trajectory	trajectory	NOUN
fcis-3751	131	20	and	and	CCONJ
fcis-3751	131	21	keep	keep	VERB
fcis-3751	131	22	the	the	DET
fcis-3751	131	23	basic	basic	ADJ
fcis-3751	131	24	coincidence	coincidence	NOUN
fcis-3751	131	25	,	,	PUNCT
fcis-3751	131	26	which	which	PRON
fcis-3751	131	27	highlights	highlight	VERB
fcis-3751	131	28	the	the	DET
fcis-3751	131	29	effectiveness	effectiveness	NOUN
fcis-3751	131	30	of	of	ADP
fcis-3751	131	31	the	the	DET
fcis-3751	131	32	controller	controller	NOUN
fcis-3751	131	33	.	.	PUNCT
fcis-3751	132	1	when	when	SCONJ
fcis-3751	132	2	the	the	DET
fcis-3751	132	3	controller	controller	NOUN
fcis-3751	132	4	parameters	parameter	NOUN
fcis-3751	132	5	are	be	AUX
fcis-3751	132	6	consistent	consistent	ADJ
fcis-3751	132	7	,	,	PUNCT
fcis-3751	132	8	n	n	PRON
fcis-3751	132	9	tsmc	tsmc	NOUN
fcis-3751	132	10	has	have	VERB
fcis-3751	132	11	higher	high	ADJ
fcis-3751	132	12	tracking	tracking	NOUN
fcis-3751	132	13	performance	performance	NOUN
fcis-3751	132	14	than	than	ADP
fcis-3751	132	15	hsmc	hsmc	NOUN
fcis-3751	132	16	,	,	PUNCT
fcis-3751	132	17	but	but	CCONJ
fcis-3751	132	18	hsmc	hsmc	NOUN
fcis-3751	132	19	can	can	AUX
fcis-3751	132	20	not	not	PART
fcis-3751	132	21	achieve	achieve	VERB
fcis-3751	132	22	the	the	DET
fcis-3751	132	23	tracking	tracking	NOUN
fcis-3751	132	24	purpose	purpose	NOUN
fcis-3751	132	25	.	.	PUNCT
fcis-3751	133	1	fio	fio	NOUN
fcis-3751	133	2	.	.	PUNCT
fcis-3751	134	1	3	3	NUM
fcis-3751	134	2	is	be	AUX
fcis-3751	134	3	the	the	DET
fcis-3751	134	4	tracking	tracking	NOUN
fcis-3751	134	5	error	error	NOUN
fcis-3751	134	6	curve	curve	NOUN
fcis-3751	134	7	.	.	PUNCT
fcis-3751	135	1	it	it	PRON
fcis-3751	135	2	can	can	AUX
fcis-3751	135	3	be	be	AUX
fcis-3751	135	4	seen	see	VERB
fcis-3751	135	5	from	from	ADP
fcis-3751	135	6	the	the	DET
fcis-3751	135	7	curve	curve	NOUN
fcis-3751	135	8	that	that	SCONJ
fcis-3751	135	9	around	around	ADP
fcis-3751	135	10	10s	10	NOUN
fcis-3751	135	11	,	,	PUNCT
fcis-3751	135	12	the	the	DET
fcis-3751	135	13	system	system	NOUN
fcis-3751	135	14	gradually	gradually	ADV
fcis-3751	135	15	enters	enter	VERB
fcis-3751	135	16	the	the	DET
fcis-3751	135	17	steady	steady	ADJ
fcis-3751	135	18	state	state	NOUN
fcis-3751	135	19	,	,	PUNCT
fcis-3751	135	20	and	and	CCONJ
fcis-3751	135	21	the	the	DET
fcis-3751	135	22	mobile	mobile	NOUN
fcis-3751	135	23	robot	robot	NOUN
fcis-3751	135	24	starts	start	VERB
fcis-3751	135	25	to	to	PART
fcis-3751	135	26	run	run	VERB
fcis-3751	135	27	along	along	ADP
fcis-3751	135	28	the	the	DET
fcis-3751	135	29	circular	circular	ADJ
fcis-3751	135	30	trajectory	trajectory	NOUN
fcis-3751	135	31	,	,	PUNCT
fcis-3751	135	32	and	and	CCONJ
fcis-3751	135	33	the	the	DET
fcis-3751	135	34	tracking	tracking	NOUN
fcis-3751	135	35	error	error	NOUN
fcis-3751	135	36	all	all	PRON
fcis-3751	135	37	converges	converge	VERB
fcis-3751	135	38	to	to	ADP
fcis-3751	135	39	zero	zero	NUM
fcis-3751	135	40	,	,	PUNCT
fcis-3751	135	41	which	which	PRON
fcis-3751	135	42	has	have	VERB
fcis-3751	135	43	good	good	ADJ
fcis-3751	135	44	trajectory	trajectory	NOUN
fcis-3751	135	45	tracking	tracking	NOUN
fcis-3751	135	46	performance	performance	NOUN
fcis-3751	135	47	.	.	PUNCT
fcis-3751	136	1	fio	fio	NOUN
fcis-3751	136	2	.	.	PUNCT
fcis-3751	137	1	4	4	NUM
fcis-3751	137	2	shows	show	VERB
fcis-3751	137	3	the	the	DET
fcis-3751	137	4	variation	variation	NOUN
fcis-3751	137	5	trend	trend	NOUN
fcis-3751	137	6	of	of	ADP
fcis-3751	137	7	each	each	DET
fcis-3751	137	8	sliding	slide	VERB
fcis-3751	137	9	mode	mode	NOUN
fcis-3751	137	10	surface	surface	NOUN
fcis-3751	137	11	under	under	ADP
fcis-3751	137	12	non	non	ADJ
fcis-3751	137	13	-	-	ADJ
fcis-3751	137	14	singular	singular	ADJ
fcis-3751	137	15	terminal	terminal	NOUN
fcis-3751	137	16	layered	layer	VERB
fcis-3751	137	17	sliding	slide	VERB
fcis-3751	137	18	mode	mode	NOUN
fcis-3751	137	19	control	control	NOUN
fcis-3751	137	20	(	(	PUNCT
fcis-3751	137	21	nthsmc	nthsmc	NOUN
fcis-3751	137	22	)	)	PUNCT
fcis-3751	137	23	and	and	CCONJ
fcis-3751	137	24	the	the	DET
fcis-3751	137	25	total	total	ADJ
fcis-3751	137	26	sliding	slide	VERB
fcis-3751	137	27	mode	mode	NOUN
fcis-3751	137	28	surface	surface	NOUN
fcis-3751	137	29	after	after	ADP
fcis-3751	137	30	linear	linear	ADJ
fcis-3751	137	31	combination	combination	NOUN
fcis-3751	137	32	.	.	PUNCT
fcis-3751	138	1	it	it	PRON
fcis-3751	138	2	can	can	AUX
fcis-3751	138	3	be	be	AUX
fcis-3751	138	4	seen	see	VERB
fcis-3751	138	5	from	from	ADP
fcis-3751	138	6	figure	figure	NOUN
fcis-3751	138	7	4	4	NUM
fcis-3751	138	8	that	that	SCONJ
fcis-3751	138	9	the	the	DET
fcis-3751	138	10	sub	sub	ADJ
fcis-3751	138	11	-	-	ADJ
fcis-3751	138	12	sliding	sliding	ADJ
fcis-3751	138	13	surface	surface	NOUN
fcis-3751	138	14	and	and	CCONJ
fcis-3751	138	15	the	the	DET
fcis-3751	138	16	combined	combine	VERB
fcis-3751	138	17	sliding	slide	VERB
fcis-3751	138	18	surface	surface	NOUN
fcis-3751	138	19	under	under	ADP
fcis-3751	138	20	nthsmc	nthsmc	NOUN
fcis-3751	138	21	can	can	AUX
fcis-3751	138	22	achieve	achieve	VERB
fcis-3751	138	23	a	a	DET
fcis-3751	138	24	fast	fast	ADJ
fcis-3751	138	25	and	and	CCONJ
fcis-3751	138	26	stable	stable	ADJ
fcis-3751	138	27	trend	trend	NOUN
fcis-3751	138	28	and	and	CCONJ
fcis-3751	138	29	remain	remain	VERB
fcis-3751	138	30	in	in	ADP
fcis-3751	138	31	a	a	DET
fcis-3751	138	32	stable	stable	ADJ
fcis-3751	138	33	state	state	NOUN
fcis-3751	138	34	,	,	PUNCT
fcis-3751	138	35	while	while	SCONJ
fcis-3751	138	36	effectively	effectively	ADV
fcis-3751	138	37	reducing	reduce	VERB
fcis-3751	138	38	chattering	chatter	VERB
fcis-3751	138	39	.	.	PUNCT
fcis-3751	139	1	although	although	SCONJ
fcis-3751	139	2	the	the	DET
fcis-3751	139	3	convergence	convergence	NOUN
fcis-3751	139	4	speed	speed	NOUN
fcis-3751	139	5	is	be	AUX
fcis-3751	139	6	different	different	ADJ
fcis-3751	139	7	,	,	PUNCT
fcis-3751	139	8	they	they	PRON
fcis-3751	139	9	all	all	PRON
fcis-3751	139	10	converge	converge	VERB
fcis-3751	139	11	to	to	ADP
fcis-3751	139	12	zero	zero	NUM
fcis-3751	139	13	in	in	ADP
fcis-3751	139	14	finite	finite	ADJ
fcis-3751	139	15	time	time	NOUN
fcis-3751	139	16	.	.	PUNCT
fcis-3751	140	1	the	the	DET
fcis-3751	140	2	convergence	convergence	NOUN
fcis-3751	140	3	speed	speed	NOUN
fcis-3751	140	4	of	of	ADP
fcis-3751	140	5	each	each	DET
fcis-3751	140	6	sliding	slide	VERB
fcis-3751	140	7	mode	mode	NOUN
fcis-3751	140	8	surface	surface	NOUN
fcis-3751	140	9	can	can	AUX
fcis-3751	140	10	be	be	AUX
fcis-3751	140	11	achieved	achieve	VERB
fcis-3751	140	12	by	by	ADP
fcis-3751	140	13	adjusting	adjust	VERB
fcis-3751	140	14	the	the	DET
fcis-3751	140	15	parameter	parameter	NOUN
fcis-3751	140	16	size	size	NOUN
fcis-3751	140	17	of	of	ADP
fcis-3751	140	18	the	the	DET
fcis-3751	140	19	controller	controller	NOUN
fcis-3751	140	20	,	,	PUNCT
fcis-3751	140	21	or	or	CCONJ
fcis-3751	140	22	by	by	ADP
fcis-3751	140	23	improving	improve	VERB
fcis-3751	140	24	the	the	DET
fcis-3751	140	25	reaching	reach	VERB
fcis-3751	140	26	law	law	NOUN
fcis-3751	140	27	to	to	PART
fcis-3751	140	28	accelerate	accelerate	VERB
fcis-3751	140	29	the	the	DET
fcis-3751	140	30	convergence	convergence	NOUN
fcis-3751	140	31	speed	speed	NOUN
fcis-3751	140	32	.	.	PUNCT
fcis-3751	141	1	figure	figure	NOUN
fcis-3751	141	2	5	5	NUM
fcis-3751	141	3	is	be	AUX
fcis-3751	141	4	the	the	DET
fcis-3751	141	5	change	change	NOUN
fcis-3751	141	6	curve	curve	NOUN
fcis-3751	141	7	track	track	NOUN
fcis-3751	141	8	of	of	ADP
fcis-3751	141	9	the	the	DET
fcis-3751	141	10	input	input	NOUN
fcis-3751	141	11	control	control	NOUN
fcis-3751	141	12	sum	sum	NOUN
fcis-3751	141	13	of	of	ADP
fcis-3751	141	14	the	the	DET
fcis-3751	141	15	position	position	NOUN
fcis-3751	141	16	subsystem	subsystem	NOUN
fcis-3751	141	17	and	and	CCONJ
fcis-3751	141	18	the	the	DET
fcis-3751	141	19	attitude	attitude	NOUN
fcis-3751	141	20	subsystem	subsystem	NOUN
fcis-3751	141	21	.	.	PUNCT
fcis-3751	142	1	it	it	PRON
fcis-3751	142	2	can	can	AUX
fcis-3751	142	3	31	31	NUM
fcis-3751	142	4	be	be	AUX
fcis-3751	142	5	seen	see	VERB
fcis-3751	142	6	that	that	SCONJ
fcis-3751	142	7	the	the	DET
fcis-3751	142	8	convergence	convergence	NOUN
fcis-3751	142	9	curve	curve	NOUN
fcis-3751	142	10	of	of	ADP
fcis-3751	142	11	the	the	DET
fcis-3751	142	12	controller	controller	NOUN
fcis-3751	142	13	is	be	AUX
fcis-3751	142	14	gradually	gradually	ADV
fcis-3751	142	15	stable	stable	ADJ
fcis-3751	142	16	and	and	CCONJ
fcis-3751	142	17	finally	finally	ADV
fcis-3751	142	18	converges	converge	VERB
fcis-3751	142	19	to	to	ADP
fcis-3751	142	20	a	a	DET
fcis-3751	142	21	stable	stable	ADJ
fcis-3751	142	22	state	state	NOUN
fcis-3751	142	23	.	.	PUNCT
fcis-3751	143	1	figure	figure	NOUN
fcis-3751	143	2	2	2	NUM
fcis-3751	143	3	.	.	PUNCT
fcis-3751	143	4	trajectory	trajectory	NOUN
fcis-3751	143	5	of	of	ADP
fcis-3751	143	6	the	the	DET
fcis-3751	143	7	mobile	mobile	ADJ
fcis-3751	143	8	robot	robot	NOUN
fcis-3751	143	9	figure	figure	NOUN
fcis-3751	143	10	3	3	NUM
fcis-3751	143	11	.	.	PUNCT
fcis-3751	144	1	the	the	DET
fcis-3751	144	2	tracking	tracking	NOUN
fcis-3751	144	3	error	error	NOUN
fcis-3751	144	4	curve	curve	NOUN
fcis-3751	144	5	figure	figure	NOUN
fcis-3751	144	6	4	4	NUM
fcis-3751	144	7	.	.	PUNCT
fcis-3751	145	1	the	the	DET
fcis-3751	145	2	sliding	slide	VERB
fcis-3751	145	3	mode	mode	NOUN
fcis-3751	145	4	surface	surface	NOUN
fcis-3751	145	5	figure	figure	NOUN
fcis-3751	145	6	5	5	NUM
fcis-3751	145	7	.	.	PUNCT
fcis-3751	146	1	the	the	DET
fcis-3751	146	2	input	input	NOUN
fcis-3751	146	3	control	control	NOUN
fcis-3751	146	4	curve	curve	NOUN
fcis-3751	146	5	5	5	NUM
fcis-3751	146	6	.	.	PUNCT
fcis-3751	146	7	conclusion	conclusion	NOUN
fcis-3751	146	8	this	this	DET
fcis-3751	146	9	paper	paper	NOUN
fcis-3751	146	10	presents	present	VERB
fcis-3751	146	11	the	the	DET
fcis-3751	146	12	design	design	NOUN
fcis-3751	146	13	and	and	CCONJ
fcis-3751	146	14	implementation	implementation	NOUN
fcis-3751	146	15	of	of	ADP
fcis-3751	146	16	a	a	DET
fcis-3751	146	17	controller	controller	NOUN
fcis-3751	146	18	based	base	VERB
fcis-3751	146	19	on	on	ADP
fcis-3751	146	20	mobile	mobile	ADJ
fcis-3751	146	21	robot	robot	NOUN
fcis-3751	146	22	which	which	PRON
fcis-3751	146	23	combines	combine	VERB
fcis-3751	146	24	nonsingular	nonsingular	ADJ
fcis-3751	146	25	terminal	terminal	ADJ
fcis-3751	146	26	sliding	slide	VERB
fcis-3751	146	27	mode	mode	NOUN
fcis-3751	146	28	control	control	NOUN
fcis-3751	146	29	and	and	CCONJ
fcis-3751	146	30	pd	pd	PROPN
fcis-3751	146	31	control	control	NOUN
fcis-3751	146	32	.	.	PUNCT
fcis-3751	147	1	the	the	DET
fcis-3751	147	2	first	first	ADJ
fcis-3751	147	3	layer	layer	NOUN
fcis-3751	147	4	of	of	ADP
fcis-3751	147	5	the	the	DET
fcis-3751	147	6	layered	layered	ADJ
fcis-3751	147	7	sliding	slide	VERB
fcis-3751	147	8	mode	mode	NOUN
fcis-3751	147	9	controller	controller	NOUN
fcis-3751	147	10	is	be	AUX
fcis-3751	147	11	a	a	DET
fcis-3751	147	12	nonsingular	nonsingular	ADJ
fcis-3751	147	13	terminal	terminal	ADJ
fcis-3751	147	14	sliding	slide	VERB
fcis-3751	147	15	mode	mode	NOUN
fcis-3751	147	16	control	control	NOUN
fcis-3751	147	17	structure	structure	NOUN
fcis-3751	147	18	for	for	ADP
fcis-3751	147	19	each	each	DET
fcis-3751	147	20	variable	variable	NOUN
fcis-3751	147	21	of	of	ADP
fcis-3751	147	22	the	the	DET
fcis-3751	147	23	position	position	NOUN
fcis-3751	147	24	subsystem	subsystem	NOUN
fcis-3751	147	25	,	,	PUNCT
fcis-3751	147	26	and	and	CCONJ
fcis-3751	147	27	the	the	DET
fcis-3751	147	28	second	second	ADJ
fcis-3751	147	29	layer	layer	NOUN
fcis-3751	147	30	is	be	AUX
fcis-3751	147	31	a	a	DET
fcis-3751	147	32	linear	linear	ADJ
fcis-3751	147	33	combination	combination	NOUN
fcis-3751	147	34	of	of	ADP
fcis-3751	147	35	the	the	DET
fcis-3751	147	36	first	first	ADJ
fcis-3751	147	37	layer	layer	NOUN
fcis-3751	147	38	.	.	PUNCT
fcis-3751	148	1	the	the	DET
fcis-3751	148	2	advantage	advantage	NOUN
fcis-3751	148	3	of	of	ADP
fcis-3751	148	4	the	the	DET
fcis-3751	148	5	proposed	propose	VERB
fcis-3751	148	6	control	control	NOUN
fcis-3751	148	7	method	method	NOUN
fcis-3751	148	8	is	be	AUX
fcis-3751	148	9	that	that	SCONJ
fcis-3751	148	10	it	it	PRON
fcis-3751	148	11	can	can	AUX
fcis-3751	148	12	reach	reach	VERB
fcis-3751	148	13	the	the	DET
fcis-3751	148	14	desired	desire	VERB
fcis-3751	148	15	stable	stable	ADJ
fcis-3751	148	16	state	state	NOUN
fcis-3751	148	17	in	in	ADP
fcis-3751	148	18	a	a	DET
fcis-3751	148	19	given	give	VERB
fcis-3751	148	20	time	time	NOUN
fcis-3751	148	21	.	.	PUNCT
fcis-3751	149	1	the	the	DET
fcis-3751	149	2	simulation	simulation	NOUN
fcis-3751	149	3	results	result	NOUN
fcis-3751	149	4	show	show	VERB
fcis-3751	149	5	that	that	SCONJ
fcis-3751	149	6	the	the	DET
fcis-3751	149	7	control	control	NOUN
fcis-3751	149	8	method	method	NOUN
fcis-3751	149	9	has	have	VERB
fcis-3751	149	10	good	good	ADJ
fcis-3751	149	11	stability	stability	NOUN
fcis-3751	149	12	and	and	CCONJ
fcis-3751	149	13	robustness	robustness	NOUN
fcis-3751	149	14	.	.	PUNCT
fcis-3751	150	1	references	reference	NOUN
fcis-3751	150	2	[	[	X
fcis-3751	150	3	1	1	NUM
fcis-3751	150	4	]	]	X
fcis-3751	150	5	sun	sun	NOUN
fcis-3751	150	6	ning，fang	ning，fang	PROPN
fcis-3751	150	7	yongchun	yongchun	PROPN
fcis-3751	150	8	:	:	PUNCT
fcis-3751	150	9	a	a	DET
fcis-3751	150	10	review	review	NOUN
fcis-3751	150	11	for	for	ADP
fcis-3751	150	12	the	the	DET
fcis-3751	150	13	control	control	NOUN
fcis-3751	150	14	of	of	ADP
fcis-3751	150	15	a	a	DET
fcis-3751	150	16	class	class	NOUN
fcis-3751	150	17	of	of	ADP
fcis-3751	150	18	underactuated	underactuated	ADJ
fcis-3751	150	19	systems	system	NOUN
fcis-3751	150	20	,	,	PUNCT
fcis-3751	150	21	caai	caai	NOUN
fcis-3751	150	22	transactions	transaction	NOUN
fcis-3751	150	23	on	on	ADP
fcis-3751	150	24	intelligent	intelligent	ADJ
fcis-3751	150	25	systems	system	NOUN
fcis-3751	150	26	,	,	PUNCT
fcis-3751	150	27	vol	vol	NOUN
fcis-3751	150	28	.	.	PROPN
fcis-3751	150	29	6	6	NUM
fcis-3751	150	30	(	(	PUNCT
fcis-3751	150	31	2011	2011	NUM
fcis-3751	150	32	)	)	PUNCT
fcis-3751	150	33	no.3	no.3	PROPN
fcis-3751	150	34	,	,	PUNCT
fcis-3751	150	35	p.200	p.200	NOUN
fcis-3751	150	36	-	-	PUNCT
fcis-3751	150	37	207	207	NUM
fcis-3751	150	38	.	.	PUNCT
fcis-3751	151	1	[	[	X
fcis-3751	151	2	2	2	NUM
fcis-3751	151	3	]	]	PUNCT
fcis-3751	151	4	xie	xie	PROPN
fcis-3751	151	5	dongdong	dongdong	PROPN
fcis-3751	151	6	:	:	PUNCT
fcis-3751	151	7	research	research	NOUN
fcis-3751	151	8	on	on	ADP
fcis-3751	151	9	trajectory	trajectory	NOUN
fcis-3751	151	10	tracking	tracking	NOUN
fcis-3751	151	11	control	control	NOUN
fcis-3751	151	12	of	of	ADP
fcis-3751	151	13	nonholonomic	nonholonomic	ADJ
fcis-3751	151	14	wheeled	wheel	VERB
fcis-3751	151	15	mobile	mobile	ADJ
fcis-3751	151	16	robots	robot	NOUN
fcis-3751	151	17	(	(	PUNCT
fcis-3751	151	18	ms	ms	PROPN
fcis-3751	151	19	.	.	PROPN
fcis-3751	151	20	,	,	PUNCT
fcis-3751	151	21	changchun	changchun	PROPN
fcis-3751	151	22	university	university	PROPN
fcis-3751	151	23	of	of	ADP
fcis-3751	151	24	technology	technology	NOUN
fcis-3751	151	25	,	,	PUNCT
fcis-3751	151	26	china	china	PROPN
fcis-3751	151	27	2019	2019	NUM
fcis-3751	151	28	)	)	PUNCT
fcis-3751	151	29	,	,	PUNCT
fcis-3751	151	30	p.7	p.7	NOUN
fcis-3751	151	31	.	.	PUNCT
fcis-3751	152	1	[	[	X
fcis-3751	152	2	3	3	X
fcis-3751	152	3	]	]	X
fcis-3751	152	4	feng	feng	PROPN
fcis-3751	152	5	guolin	guolin	NOUN
fcis-3751	152	6	:	:	PUNCT
fcis-3751	152	7	research	research	NOUN
fcis-3751	152	8	on	on	ADP
fcis-3751	152	9	nonlinear	nonlinear	ADJ
fcis-3751	152	10	roubust	roubust	NOUN
fcis-3751	152	11	control	control	NOUN
fcis-3751	152	12	of	of	ADP
fcis-3751	152	13	wheeled	wheel	VERB
fcis-3751	152	14	mobile	mobile	ADJ
fcis-3751	152	15	robots	robot	NOUN
fcis-3751	152	16	nonholonomic	nonholonomic	ADJ
fcis-3751	152	17	constraints(ms	constraints(ms	NOUN
fcis-3751	152	18	.	.	PUNCT
fcis-3751	152	19	,	,	PUNCT
fcis-3751	152	20	yanshan	yanshan	ADP
fcis-3751	152	21	university	university	PROPN
fcis-3751	152	22	,	,	PUNCT
fcis-3751	152	23	china	china	PROPN
fcis-3751	152	24	2021	2021	NUM
fcis-3751	152	25	)	)	PUNCT
fcis-3751	152	26	,	,	PUNCT
fcis-3751	152	27	p.18	p.18	PROPN
fcis-3751	152	28	.	.	PUNCT
fcis-3751	153	1	[	[	X
fcis-3751	153	2	4	4	X
fcis-3751	153	3	]	]	X
fcis-3751	153	4	lee	lee	PROPN
fcis-3751	153	5	j	j	PROPN
fcis-3751	153	6	h	h	PROPN
fcis-3751	153	7	,	,	PUNCT
fcis-3751	153	8	lin	lin	PROPN
fcis-3751	153	9	c	c	PROPN
fcis-3751	153	10	,	,	PUNCT
fcis-3751	153	11	lim	lim	PROPN
fcis-3751	153	12	h	h	PROPN
fcis-3751	153	13	,	,	PUNCT
fcis-3751	153	14	et	et	PROPN
fcis-3751	153	15	al	al	PROPN
fcis-3751	153	16	:	:	PUNCT
fcis-3751	153	17	sliding	slide	VERB
fcis-3751	153	18	mode	mode	NOUN
fcis-3751	153	19	control	control	NOUN
fcis-3751	153	20	for	for	ADP
fcis-3751	153	21	trajectory	trajectory	NOUN
fcis-3751	153	22	tracking	tracking	NOUN
fcis-3751	153	23	of	of	ADP
fcis-3751	153	24	mobile	mobile	ADJ
fcis-3751	153	25	robot	robot	NOUN
fcis-3751	153	26	in	in	ADP
fcis-3751	153	27	the	the	DET
fcis-3751	153	28	rfid	rfid	NOUN
fcis-3751	153	29	sensor	sensor	NOUN
fcis-3751	153	30	space	space	NOUN
fcis-3751	153	31	,	,	PUNCT
fcis-3751	153	32	international	international	ADJ
fcis-3751	153	33	journal	journal	NOUN
fcis-3751	153	34	of	of	ADP
fcis-3751	153	35	control	control	NOUN
fcis-3751	153	36	,	,	PUNCT
fcis-3751	153	37	automation	automation	NOUN
fcis-3751	153	38	and	and	CCONJ
fcis-3751	153	39	systems	system	NOUN
fcis-3751	153	40	,	,	PUNCT
fcis-3751	153	41	vol	vol	NOUN
fcis-3751	153	42	.	.	PROPN
fcis-3751	153	43	7	7	NUM
fcis-3751	153	44	(	(	PUNCT
fcis-3751	153	45	2009	2009	NUM
fcis-3751	153	46	)	)	PUNCT
fcis-3751	153	47	no.3	no.3	PROPN
fcis-3751	153	48	,	,	PUNCT
fcis-3751	153	49	p.	p.	NOUN
fcis-3751	153	50	429	429	NUM
fcis-3751	153	51	-	-	SYM
fcis-3751	153	52	435	435	NUM
fcis-3751	153	53	.	.	PUNCT
fcis-3751	154	1	[	[	X
fcis-3751	154	2	5	5	X
fcis-3751	154	3	]	]	PUNCT
fcis-3751	154	4	wang	wang	PROPN
fcis-3751	154	5	wei	wei	PROPN
fcis-3751	154	6	yi	yi	PROPN
fcis-3751	154	7	jian	jian	PROPN
fcis-3751	154	8	-	-	PUNCT
fcis-3751	154	9	qiang	qiang	PROPN
fcis-3751	154	10	zhao	zhao	PROPN
fcis-3751	154	11	dong	dong	PROPN
fcis-3751	154	12	-	-	PUNCT
fcis-3751	154	13	bin	bin	PROPN
fcis-3751	154	14	liu	liu	PROPN
fcis-3751	154	15	dian	dian	PROPN
fcis-3751	154	16	-	-	PUNCT
fcis-3751	154	17	tong	tong	PROPN
fcis-3751	154	18	:	:	PUNCT
fcis-3751	154	19	hierarchical	hierarchical	ADJ
fcis-3751	154	20	sliding	sliding	ADJ
fcis-3751	154	21	-	-	PUNCT
fcis-3751	154	22	mode	mode	NOUN
fcis-3751	154	23	control	control	NOUN
fcis-3751	154	24	of	of	ADP
fcis-3751	154	25	pendubot	pendubot	PROPN
fcis-3751	154	26	,	,	PUNCT
fcis-3751	154	27	control	control	NOUN
fcis-3751	154	28	theory	theory	NOUN
fcis-3751	154	29	＆applications	＆application	NOUN
fcis-3751	154	30	,	,	PUNCT
fcis-3751	154	31	vol	vol	NOUN
fcis-3751	154	32	.	.	PROPN
fcis-3751	154	33	22	22	NUM
fcis-3751	154	34	(	(	PUNCT
fcis-3751	154	35	2005	2005	NUM
fcis-3751	154	36	)	)	PUNCT
fcis-3751	154	37	no.3	no.3	PROPN
fcis-3751	154	38	,	,	PUNCT
fcis-3751	154	39	p.	p.	NOUN
fcis-3751	154	40	417	417	NUM
fcis-3751	154	41	-	-	SYM
fcis-3751	154	42	422	422	NUM
fcis-3751	154	43	.	.	PUNCT
fcis-3751	155	1	[	[	X
fcis-3751	155	2	6	6	NUM
fcis-3751	155	3	]	]	PUNCT
fcis-3751	155	4	zou	zou	PROPN
fcis-3751	155	5	k	k	PROPN
fcis-3751	155	6	,	,	PUNCT
fcis-3751	155	7	ge	ge	PROPN
fcis-3751	155	8	x	x	X
fcis-3751	155	9	:	:	PUNCT
fcis-3751	155	10	nonlinear	nonlinear	ADJ
fcis-3751	155	11	attitude	attitude	NOUN
fcis-3751	155	12	control	control	NOUN
fcis-3751	155	13	of	of	ADP
fcis-3751	155	14	a	a	DET
fcis-3751	155	15	3d	3d	NUM
fcis-3751	155	16	rigid	rigid	ADJ
fcis-3751	155	17	pendulum	pendulum	NOUN
fcis-3751	155	18	using	use	VERB
fcis-3751	155	19	hierarchical	hierarchical	ADJ
fcis-3751	155	20	sliding	slide	VERB
fcis-3751	155	21	mode	mode	NOUN
fcis-3751	155	22	techniques	technique	NOUN
fcis-3751	155	23	,	,	PUNCT
fcis-3751	155	24	proceedings	proceeding	NOUN
fcis-3751	155	25	of	of	ADP
fcis-3751	155	26	the	the	DET
fcis-3751	155	27	10th	10th	ADJ
fcis-3751	155	28	world	world	PROPN
fcis-3751	155	29	congress	congress	PROPN
fcis-3751	155	30	on	on	ADP
fcis-3751	155	31	intelligent	intelligent	ADJ
fcis-3751	155	32	control	control	NOUN
fcis-3751	155	33	and	and	CCONJ
fcis-3751	155	34	automation	automation	NOUN
fcis-3751	155	35	(	(	PUNCT
fcis-3751	155	36	beijing	beijing	PROPN
fcis-3751	155	37	,	,	PUNCT
fcis-3751	155	38	china	china	PROPN
fcis-3751	155	39	,	,	PUNCT
fcis-3751	155	40	july	july	PROPN
fcis-3751	155	41	6	6	NUM
fcis-3751	155	42	-	-	SYM
fcis-3751	155	43	8	8	NUM
fcis-3751	155	44	,	,	PUNCT
fcis-3751	155	45	2012	2012	NUM
fcis-3751	155	46	)	)	PUNCT
fcis-3751	155	47	,	,	PUNCT
fcis-3751	155	48	p.	p.	NOUN
fcis-3751	155	49	1524	1524	NUM
fcis-3751	155	50	-	-	SYM
fcis-3751	155	51	1528	1528	NUM
fcis-3751	155	52	.	.	PUNCT
fcis-3751	156	1	[	[	X
fcis-3751	156	2	7	7	X
fcis-3751	156	3	]	]	X
fcis-3751	156	4	do	do	VERB
fcis-3751	156	5	v	v	ADP
fcis-3751	156	6	t	t	PROPN
fcis-3751	156	7	,	,	PUNCT
fcis-3751	156	8	lee	lee	PROPN
fcis-3751	156	9	s	s	PROPN
fcis-3751	156	10	g	g	PROPN
fcis-3751	156	11	,	,	PUNCT
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fcis-3751	156	13	j	j	PROPN
fcis-3751	156	14	h	h	NOUN
fcis-3751	156	15	:	:	PUNCT
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fcis-3751	156	17	integral	integral	ADJ
fcis-3751	156	18	backstepping	backstepping	NOUN
fcis-3751	156	19	hierarchical	hierarchical	ADJ
fcis-3751	156	20	sliding	slide	VERB
fcis-3751	156	21	mode	mode	NOUN
fcis-3751	156	22	controller	controller	NOUN
fcis-3751	156	23	for	for	ADP
fcis-3751	156	24	a	a	DET
fcis-3751	156	25	ballbot	ballbot	ADJ
fcis-3751	156	26	system	system	NOUN
fcis-3751	156	27	,	,	PUNCT
fcis-3751	156	28	mechanical	mechanical	ADJ
fcis-3751	156	29	systems	system	NOUN
fcis-3751	156	30	and	and	CCONJ
fcis-3751	156	31	signal	signal	NOUN
fcis-3751	156	32	processing	processing	NOUN
fcis-3751	156	33	,	,	PUNCT
fcis-3751	156	34	vol	vol	NOUN
fcis-3751	156	35	.	.	PROPN
fcis-3751	156	36	44	44	NUM
fcis-3751	156	37	(	(	PUNCT
fcis-3751	156	38	2020	2020	NUM
fcis-3751	156	39	)	)	PUNCT
fcis-3751	156	40	no.144	no.144	PROPN
fcis-3751	156	41	,	,	PUNCT
fcis-3751	156	42	p.	p.	NOUN
fcis-3751	156	43	106866	106866	NUM
fcis-3751	156	44	.	.	PUNCT
fcis-3751	157	1	[	[	X
fcis-3751	157	2	8	8	NUM
fcis-3751	157	3	]	]	X
fcis-3751	157	4	sen	sen	PROPN
fcis-3751	157	5	p	p	PROPN
fcis-3751	157	6	t	t	PROPN
fcis-3751	157	7	h	h	NOUN
fcis-3751	157	8	,	,	PUNCT
fcis-3751	157	9	minh	minh	NOUN
fcis-3751	157	10	n	n	CCONJ
fcis-3751	157	11	q	q	NOUN
fcis-3751	157	12	,	,	PUNCT
fcis-3751	157	13	minh	minh	ADV
fcis-3751	157	14	p	p	NOUN
fcis-3751	157	15	x	x	NOUN
fcis-3751	157	16	:	:	PUNCT
fcis-3751	157	17	a	a	DET
fcis-3751	157	18	new	new	ADJ
fcis-3751	157	19	tracking	tracking	NOUN
fcis-3751	157	20	control	control	NOUN
fcis-3751	157	21	algorithm	algorithm	NOUN
fcis-3751	157	22	for	for	ADP
fcis-3751	157	23	a	a	DET
fcis-3751	157	24	wheeled	wheel	VERB
fcis-3751	157	25	mobile	mobile	NOUN
fcis-3751	157	26	robot	robot	NOUN
fcis-3751	157	27	based	base	VERB
fcis-3751	157	28	on	on	ADP
fcis-3751	157	29	backstepping	backstepping	NOUN
fcis-3751	157	30	and	and	CCONJ
fcis-3751	157	31	hierarchical	hierarchical	ADJ
fcis-3751	157	32	sliding	slide	VERB
fcis-3751	157	33	mode	mode	NOUN
fcis-3751	157	34	techniques	technique	NOUN
fcis-3751	157	35	,	,	PUNCT
fcis-3751	157	36	2019	2019	NUM
fcis-3751	157	37	first	first	ADJ
fcis-3751	157	38	international	international	ADJ
fcis-3751	157	39	symposium	symposium	NOUN
fcis-3751	157	40	on	on	ADP
fcis-3751	157	41	instrumentation	instrumentation	NOUN
fcis-3751	157	42	,	,	PUNCT
fcis-3751	157	43	control	control	NOUN
fcis-3751	157	44	,	,	PUNCT
fcis-3751	157	45	artificial	artificial	ADJ
fcis-3751	157	46	intelligence	intelligence	NOUN
fcis-3751	157	47	,	,	PUNCT
fcis-3751	157	48	and	and	CCONJ
fcis-3751	157	49	robotics	robotic	NOUN
fcis-3751	157	50	(	(	PUNCT
fcis-3751	157	51	bangkok	bangkok	PROPN
fcis-3751	157	52	,	,	PUNCT
fcis-3751	157	53	thailand	thailand	PROPN
fcis-3751	157	54	,	,	PUNCT
fcis-3751	157	55	january	january	PROPN
fcis-3751	157	56	,	,	PUNCT
fcis-3751	157	57	16	16	NUM
fcis-3751	157	58	-	-	SYM
fcis-3751	157	59	18	18	NUM
fcis-3751	157	60	,	,	PUNCT
fcis-3751	157	61	2019	2019	NUM
fcis-3751	157	62	)	)	PUNCT
fcis-3751	157	63	,	,	PUNCT
fcis-3751	158	1	p.	p.	NOUN
fcis-3751	158	2	25	25	NUM
fcis-3751	158	3	-	-	SYM
fcis-3751	158	4	28	28	NUM
fcis-3751	158	5	.	.	PUNCT
fcis-3751	159	1	[	[	X
fcis-3751	159	2	9	9	NUM
fcis-3751	159	3	]	]	PUNCT
fcis-3751	159	4	zhihong	zhihong	PROPN
fcis-3751	159	5	m	m	PROPN
fcis-3751	159	6	,	,	PUNCT
fcis-3751	159	7	paplinski	paplinski	VERB
fcis-3751	159	8	a	a	DET
fcis-3751	159	9	p	p	NOUN
fcis-3751	159	10	,	,	PUNCT
fcis-3751	159	11	wu	wu	PROPN
fcis-3751	159	12	h	h	PROPN
fcis-3751	160	1	r	r	NOUN
fcis-3751	160	2	:	:	PUNCT
fcis-3751	160	3	a	a	DET
fcis-3751	160	4	robust	robust	ADJ
fcis-3751	160	5	mimo	mimo	PROPN
fcis-3751	160	6	terminal	terminal	PROPN
fcis-3751	160	7	sliding	slide	VERB
fcis-3751	160	8	mode	mode	PROPN
fcis-3751	160	9	control	control	NOUN
fcis-3751	160	10	scheme	scheme	NOUN
fcis-3751	160	11	for	for	ADP
fcis-3751	160	12	rigid	rigid	ADJ
fcis-3751	160	13	robotic	robotic	ADJ
fcis-3751	160	14	manipulators	manipulator	NOUN
fcis-3751	160	15	,	,	PUNCT
fcis-3751	160	16	ieee	ieee	NOUN
fcis-3751	160	17	transactions	transaction	NOUN
fcis-3751	160	18	on	on	ADP
fcis-3751	160	19	automatic	automatic	ADJ
fcis-3751	160	20	control	control	NOUN
fcis-3751	160	21	,	,	PUNCT
fcis-3751	160	22	vol	vol	NOUN
fcis-3751	160	23	.	.	PROPN
fcis-3751	161	1	39	39	NUM
fcis-3751	161	2	(	(	PUNCT
fcis-3751	161	3	1994	1994	NUM
fcis-3751	161	4	)	)	PUNCT
fcis-3751	161	5	no.12	no.12	PROPN
fcis-3751	161	6	,	,	PUNCT
fcis-3751	161	7	p.	p.	NOUN
fcis-3751	161	8	2464	2464	NUM
fcis-3751	161	9	-	-	SYM
fcis-3751	161	10	2469	2469	NUM
fcis-3751	161	11	.	.	PUNCT
fcis-3751	162	1	[	[	X
fcis-3751	162	2	10	10	NUM
fcis-3751	162	3	]	]	X
fcis-3751	162	4	chen	chen	PROPN
fcis-3751	162	5	s	s	PROPN
fcis-3751	162	6	y	y	PROPN
fcis-3751	162	7	,	,	PUNCT
fcis-3751	162	8	lin	lin	PROPN
fcis-3751	162	9	f	f	PROPN
fcis-3751	162	10	j	j	PROPN
fcis-3751	162	11	:	:	PUNCT
fcis-3751	162	12	robust	robust	ADJ
fcis-3751	162	13	nonsingular	nonsingular	PROPN
fcis-3751	162	14	terminal	terminal	ADJ
fcis-3751	162	15	sliding	sliding	ADJ
fcis-3751	162	16	-	-	PUNCT
fcis-3751	162	17	mode	mode	NOUN
fcis-3751	162	18	control	control	NOUN
fcis-3751	162	19	for	for	ADP
fcis-3751	162	20	nonlinear	nonlinear	ADJ
fcis-3751	162	21	magnetic	magnetic	ADJ
fcis-3751	162	22	bearing	bearing	NOUN
fcis-3751	162	23	system	system	NOUN
fcis-3751	162	24	,	,	PUNCT
fcis-3751	162	25	ieee	ieee	NOUN
fcis-3751	162	26	transactions	transaction	NOUN
fcis-3751	162	27	on	on	ADP
fcis-3751	162	28	control	control	NOUN
fcis-3751	162	29	systems	system	NOUN
fcis-3751	162	30	technology	technology	NOUN
fcis-3751	162	31	,	,	PUNCT
fcis-3751	162	32	vol.19	vol.19	NOUN
fcis-3751	162	33	(	(	PUNCT
fcis-3751	162	34	2010	2010	NUM
fcis-3751	162	35	)	)	PUNCT
fcis-3751	162	36	no.3	no.3	PROPN
fcis-3751	162	37	,	,	PUNCT
fcis-3751	162	38	p.	p.	NOUN
fcis-3751	162	39	636	636	NUM
fcis-3751	162	40	-	-	SYM
fcis-3751	162	41	643	643	NUM
fcis-3751	162	42	.	.	PUNCT
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fcis-3751	163	2	11	11	NUM
fcis-3751	163	3	]	]	X
fcis-3751	163	4	zhang	zhang	PROPN
fcis-3751	163	5	xin，liu	xin，liu	PROPN
fcis-3751	163	6	fengjuan，yan	fengjuan，yan	PROPN
fcis-3751	163	7	maode	maode	NOUN
fcis-3751	163	8	:	:	PUNCT
fcis-3751	163	9	dynamic	dynamic	ADJ
fcis-3751	163	10	modelbased	modelbase	VERB
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fcis-3751	163	12	sliding	sliding	ADJ
fcis-3751	163	13	-	-	PUNCT
fcis-3751	163	14	mode	mode	NOUN
fcis-3751	163	15	trajectory	trajectory	NOUN
fcis-3751	163	16	tracking	tracking	NOUN
fcis-3751	163	17	control	control	NOUN
fcis-3751	163	18	over	over	ADP
fcis-3751	163	19	wheeled	wheeled	ADJ
fcis-3751	163	20	mobile	mobile	ADJ
fcis-3751	163	21	robot	robot	NOUN
fcis-3751	163	22	,	,	PUNCT
fcis-3751	163	23	mechanical	mechanical	ADJ
fcis-3751	163	24	science	science	NOUN
fcis-3751	163	25	and	and	CCONJ
fcis-3751	163	26	technology	technology	NOUN
fcis-3751	163	27	for	for	ADP
fcis-3751	163	28	aerospace	aerospace	NOUN
fcis-3751	163	29	engineering	engineering	NOUN
fcis-3751	163	30	,	,	PUNCT
fcis-3751	163	31	vol.31	vol.31	NOUN
fcis-3751	163	32	(	(	PUNCT
fcis-3751	163	33	2012	2012	NUM
fcis-3751	163	34	)	)	PUNCT
fcis-3751	163	35	no.1	no.1	NOUN
fcis-3751	163	36	,	,	PUNCT
fcis-3751	163	37	p.	p.	NOUN
fcis-3751	163	38	107	107	NUM
fcis-3751	163	39	-	-	SYM
fcis-3751	163	40	112	112	NUM
fcis-3751	163	41	.	.	PUNCT
fcis-3751	164	1	[	[	X
fcis-3751	164	2	12	12	NUM
fcis-3751	164	3	]	]	X
fcis-3751	164	4	fan	fan	PROPN
fcis-3751	164	5	qi	qi	PROPN
fcis-3751	164	6	-	-	PUNCT
fcis-3751	164	7	ming	ming	PROPN
fcis-3751	164	8	,	,	PUNCT
fcis-3751	164	9	lv	lv	PROPN
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fcis-3751	164	11	-	-	PUNCT
fcis-3751	164	12	hao	hao	PROPN
fcis-3751	164	13	:	:	PUNCT
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fcis-3751	164	15	neural	neural	ADJ
fcis-3751	164	16	network	network	NOUN
fcis-3751	164	17	sliding	slide	VERB
fcis-3751	164	18	mode	mode	NOUN
fcis-3751	164	19	control	control	NOUN
fcis-3751	164	20	of	of	ADP
fcis-3751	164	21	mobile	mobile	ADJ
fcis-3751	164	22	robots	robot	NOUN
fcis-3751	164	23	,	,	PUNCT
fcis-3751	164	24	control	control	NOUN
fcis-3751	164	25	engineering	engineering	NOUN
fcis-3751	164	26	of	of	ADP
fcis-3751	164	27	china	china	PROPN
fcis-3751	164	28	,	,	PUNCT
fcis-3751	164	29	vol24	vol24	PROPN
fcis-3751	164	30	(	(	PUNCT
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fcis-3751	164	32	)	)	PUNCT
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fcis-3751	164	34	,	,	PUNCT
fcis-3751	164	35	p.	p.	NOUN
fcis-3751	164	36	1409	1409	NUM
fcis-3751	164	37	-	-	SYM
fcis-3751	164	38	1414	1414	NUM
fcis-3751	164	39	.	.	PUNCT
fcis-3751	165	1	[	[	X
fcis-3751	165	2	13	13	NUM
fcis-3751	165	3	]	]	SYM
fcis-3751	165	4	min	min	PROPN
fcis-3751	165	5	ying	ying	PROPN
fcis-3751	165	6	-	-	PUNCT
fcis-3751	165	7	ying	ying	PROPN
fcis-3751	165	8	liu	liu	PROPN
fcis-3751	165	9	yun	yun	PROPN
fcis-3751	165	10	-	-	PUNCT
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fcis-3751	165	12	:	:	PUNCT
fcis-3751	165	13	barbalat	barbalat	PROPN
fcis-3751	165	14	lemma	lemma	PROPN
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fcis-3751	165	16	its	its	PRON
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fcis-3751	165	18	in	in	ADP
fcis-3751	165	19	analysis	analysis	NOUN
fcis-3751	165	20	of	of	ADP
fcis-3751	165	21	system	system	NOUN
fcis-3751	165	22	stability	stability	NOUN
fcis-3751	165	23	,	,	PUNCT
fcis-3751	165	24	journal	journal	NOUN
fcis-3751	165	25	of	of	ADP
fcis-3751	165	26	shandong	shandong	PROPN
fcis-3751	165	27	university	university	PROPN
fcis-3751	165	28	,	,	PUNCT
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fcis-3751	165	30	(	(	PUNCT
fcis-3751	165	31	2007	2007	NUM
fcis-3751	165	32	)	)	PUNCT
fcis-3751	165	33	no.1	no.1	VERB
fcis-3751	165	34	p.	p.	NOUN
fcis-3751	165	35	51	51	NUM
fcis-3751	165	36	-	-	SYM
fcis-3751	165	37	55	55	NUM
fcis-3751	165	38	+	+	NUM
fcis-3751	165	39	114	114	NUM
fcis-3751	165	40	.	.	PUNCT
fcis-3751	166	1	[	[	X
fcis-3751	166	2	14	14	NUM
fcis-3751	166	3	]	]	X
fcis-3751	166	4	van	van	PROPN
fcis-3751	166	5	nguyen	nguyen	PROPN
fcis-3751	166	6	t	t	PROPN
fcis-3751	166	7	,	,	PUNCT
fcis-3751	166	8	le	le	PROPN
fcis-3751	166	9	h	h	NOUN
fcis-3751	166	10	x	x	PROPN
fcis-3751	166	11	,	,	PUNCT
fcis-3751	166	12	tran	tran	PROPN
fcis-3751	166	13	h	h	PROPN
fcis-3751	166	14	v	v	PROPN
fcis-3751	166	15	,	,	PUNCT
fcis-3751	166	16	et	et	PROPN
fcis-3751	166	17	al	al	PROPN
fcis-3751	166	18	:	:	PUNCT
fcis-3751	166	19	an	an	DET
fcis-3751	166	20	efficient	efficient	ADJ
fcis-3751	166	21	approach	approach	NOUN
fcis-3751	166	22	for	for	ADP
fcis-3751	166	23	simo	simo	PROPN
fcis-3751	166	24	systems	system	NOUN
fcis-3751	166	25	using	use	VERB
fcis-3751	166	26	adaptive	adaptive	ADJ
fcis-3751	166	27	fuzzy	fuzzy	ADJ
fcis-3751	166	28	hierarchical	hierarchical	ADJ
fcis-3751	166	29	sliding	slide	VERB
fcis-3751	166	30	mode	mode	NOUN
fcis-3751	166	31	control	control	NOUN
fcis-3751	166	32	,	,	PUNCT
fcis-3751	166	33	2021	2021	NUM
fcis-3751	166	34	ieee	ieee	PROPN
fcis-3751	166	35	international	international	ADJ
fcis-3751	166	36	conference	conference	NOUN
fcis-3751	166	37	on	on	ADP
fcis-3751	166	38	autonomous	autonomous	ADJ
fcis-3751	166	39	robot	robot	NOUN
fcis-3751	166	40	systems	system	NOUN
fcis-3751	166	41	and	and	CCONJ
fcis-3751	166	42	competitions	competition	NOUN
fcis-3751	166	43	(	(	PUNCT
fcis-3751	166	44	santa	santa	PROPN
fcis-3751	166	45	maria	maria	PROPN
fcis-3751	166	46	da	da	PROPN
fcis-3751	166	47	feira	feira	PROPN
fcis-3751	166	48	,	,	PUNCT
fcis-3751	166	49	portugalbangkok	portugalbangkok	VERB
fcis-3751	166	50	,	,	PUNCT
fcis-3751	166	51	april	april	PROPN
fcis-3751	166	52	28	28	NUM
fcis-3751	166	53	-	-	PUNCT
fcis-3751	166	54	29,2021	29,2021	NUM
fcis-3751	166	55	)	)	PUNCT
fcis-3751	166	56	,	,	PUNCT
fcis-3751	166	57	p.	p.	NOUN
fcis-3751	166	58	85	85	NUM
fcis-3751	166	59	-	-	SYM
fcis-3751	166	60	90	90	NUM
fcis-3751	167	1	[	[	SYM
fcis-3751	167	2	15	15	NUM
fcis-3751	167	3	]	]	X
fcis-3751	167	4	wang	wang	PROPN
fcis-3751	167	5	yufeng	yufeng	PROPN
fcis-3751	167	6	,	,	PUNCT
fcis-3751	167	7	chen	chen	PROPN
fcis-3751	167	8	weiti	weiti	PROPN
fcis-3751	167	9	,	,	PUNCT
fcis-3751	167	10	si	si	PROPN
fcis-3751	167	11	xiangling	xiangling	PROPN
fcis-3751	167	12	,	,	PUNCT
fcis-3751	167	13	qi	qi	PROPN
fcis-3751	167	14	pei	pei	PROPN
fcis-3751	167	15	,	,	PUNCT
fcis-3751	167	16	yu	yu	PROPN
fcis-3751	167	17	wenkai	wenkai	PROPN
fcis-3751	167	18	:	:	PUNCT
fcis-3751	167	19	research	research	NOUN
fcis-3751	167	20	on	on	ADP
fcis-3751	167	21	augmented	augment	VERB
fcis-3751	167	22	nonlinear	nonlinear	PROPN
fcis-3751	167	23	pd	pd	PROPN
fcis-3751	167	24	control	control	PROPN
fcis-3751	167	25	for	for	ADP
fcis-3751	167	26	delta	delta	PROPN
fcis-3751	167	27	robot	robot	NOUN
fcis-3751	167	28	,	,	PUNCT
fcis-3751	167	29	journal	journal	NOUN
fcis-3751	167	30	of	of	ADP
fcis-3751	167	31	shandong	shandong	PROPN
fcis-3751	167	32	university	university	PROPN
fcis-3751	167	33	,	,	PUNCT
fcis-3751	167	34	vol.12	vol.12	NOUN
fcis-3751	167	35	(	(	PUNCT
fcis-3751	167	36	2021	2021	NUM
fcis-3751	167	37	)	)	PUNCT
fcis-3751	167	38	,	,	PUNCT
fcis-3751	168	1	p.	p.	NOUN
fcis-3751	168	2	62	62	NUM
fcis-3751	168	3	-	-	SYM
fcis-3751	168	4	66	66	NUM
fcis-3751	168	5	.	.	PUNCT