id	sid	tid	token	lemma	pos
fcis-9423	1	1	frontiers	frontier	NOUN
fcis-9423	1	2	in	in	ADP
fcis-9423	1	3	computing	computing	NOUN
fcis-9423	1	4	and	and	CCONJ
fcis-9423	1	5	intelligent	intelligent	ADJ
fcis-9423	1	6	systems	system	NOUN
fcis-9423	1	7	issn	issn	VERB
fcis-9423	1	8	:	:	PUNCT
fcis-9423	1	9	2832	2832	NUM
fcis-9423	1	10	-	-	SYM
fcis-9423	1	11	6024	6024	NUM
fcis-9423	1	12	|	|	NOUN
fcis-9423	1	13	vol	vol	NOUN
fcis-9423	1	14	.	.	PROPN
fcis-9423	2	1	4	4	NUM
fcis-9423	2	2	,	,	PUNCT
fcis-9423	2	3	no	no	INTJ
fcis-9423	2	4	.	.	NOUN
fcis-9423	2	5	1	1	NUM
fcis-9423	2	6	,	,	PUNCT
fcis-9423	2	7	2023	2023	NUM
fcis-9423	2	8	51	51	NUM
fcis-9423	2	9	design	design	NOUN
fcis-9423	2	10	of	of	ADP
fcis-9423	2	11	preset	preset	ADJ
fcis-9423	2	12	performance	performance	NOUN
fcis-9423	2	13	reverse	reverse	NOUN
fcis-9423	2	14	step	step	NOUN
fcis-9423	2	15	attitude	attitude	NOUN
fcis-9423	2	16	controller	controller	NOUN
fcis-9423	2	17	for	for	ADP
fcis-9423	2	18	four‐rotor	four‐rotor	PROPN
fcis-9423	2	19	uav	uav	PROPN
fcis-9423	2	20	keyong	keyong	PROPN
fcis-9423	2	21	shao	shao	PROPN
fcis-9423	2	22	,	,	PUNCT
fcis-9423	2	23	yuda	yuda	NOUN
fcis-9423	2	24	pan	pan	PROPN
fcis-9423	2	25	college	college	PROPN
fcis-9423	2	26	of	of	ADP
fcis-9423	2	27	electrical	electrical	ADJ
fcis-9423	2	28	information	information	NOUN
fcis-9423	2	29	engineering	engineering	NOUN
fcis-9423	2	30	,	,	PUNCT
fcis-9423	2	31	northeast	northeast	ADJ
fcis-9423	2	32	petroleum	petroleum	NOUN
fcis-9423	2	33	university	university	NOUN
fcis-9423	2	34	,	,	PUNCT
fcis-9423	2	35	daqing	daqe	VERB
fcis-9423	2	36	163318	163318	NUM
fcis-9423	2	37	,	,	PUNCT
fcis-9423	2	38	china	china	PROPN
fcis-9423	2	39	abstract	abstract	NOUN
fcis-9423	2	40	:	:	PUNCT
fcis-9423	2	41	aiming	aim	VERB
fcis-9423	2	42	at	at	ADP
fcis-9423	2	43	the	the	DET
fcis-9423	2	44	attitude	attitude	NOUN
fcis-9423	2	45	control	control	NOUN
fcis-9423	2	46	problem	problem	NOUN
fcis-9423	2	47	in	in	ADP
fcis-9423	2	48	flight	flight	NOUN
fcis-9423	2	49	control	control	NOUN
fcis-9423	2	50	of	of	ADP
fcis-9423	2	51	four	four	NUM
fcis-9423	2	52	-	-	PUNCT
fcis-9423	2	53	rotor	rotor	NOUN
fcis-9423	2	54	uav	uav	PROPN
fcis-9423	2	55	,	,	PUNCT
fcis-9423	2	56	a	a	DET
fcis-9423	2	57	control	control	NOUN
fcis-9423	2	58	scheme	scheme	NOUN
fcis-9423	2	59	based	base	VERB
fcis-9423	2	60	on	on	ADP
fcis-9423	2	61	the	the	DET
fcis-9423	2	62	preset	preset	ADJ
fcis-9423	2	63	performance	performance	NOUN
fcis-9423	2	64	backstepping	backstepping	NOUN
fcis-9423	2	65	controller	controller	NOUN
fcis-9423	2	66	(	(	PUNCT
fcis-9423	2	67	eso	eso	NOUN
fcis-9423	2	68	-	-	PUNCT
fcis-9423	2	69	nppcbsc	nppcbsc	NOUN
fcis-9423	2	70	)	)	PUNCT
fcis-9423	2	71	for	for	ADP
fcis-9423	2	72	attitude	attitude	NOUN
fcis-9423	2	73	angle	angle	NOUN
fcis-9423	2	74	of	of	ADP
fcis-9423	2	75	four	four	NUM
fcis-9423	2	76	-	-	PUNCT
fcis-9423	2	77	rotor	rotor	NOUN
fcis-9423	2	78	uav	uav	PROPN
fcis-9423	2	79	with	with	ADP
fcis-9423	2	80	extended	extend	VERB
fcis-9423	2	81	state	state	NOUN
fcis-9423	2	82	observer	observer	NOUN
fcis-9423	2	83	is	be	AUX
fcis-9423	2	84	proposed	propose	VERB
fcis-9423	2	85	.	.	PUNCT
fcis-9423	3	1	a	a	DET
fcis-9423	3	2	preset	preset	ADJ
fcis-9423	3	3	performance	performance	NOUN
fcis-9423	3	4	function	function	NOUN
fcis-9423	3	5	with	with	ADP
fcis-9423	3	6	specified	specify	VERB
fcis-9423	3	7	time	time	NOUN
fcis-9423	3	8	convergence	convergence	NOUN
fcis-9423	3	9	is	be	AUX
fcis-9423	3	10	designed	design	VERB
fcis-9423	3	11	to	to	PART
fcis-9423	3	12	constrain	constrain	VERB
fcis-9423	3	13	the	the	DET
fcis-9423	3	14	transient	transient	ADJ
fcis-9423	3	15	performance	performance	NOUN
fcis-9423	3	16	and	and	CCONJ
fcis-9423	3	17	steady	steady	ADJ
fcis-9423	3	18	-	-	PUNCT
fcis-9423	3	19	state	state	NOUN
fcis-9423	3	20	performance	performance	NOUN
fcis-9423	3	21	of	of	ADP
fcis-9423	3	22	the	the	DET
fcis-9423	3	23	tracking	tracking	NOUN
fcis-9423	3	24	error	error	NOUN
fcis-9423	3	25	.	.	PUNCT
fcis-9423	4	1	compared	compare	VERB
fcis-9423	4	2	with	with	ADP
fcis-9423	4	3	the	the	DET
fcis-9423	4	4	traditional	traditional	ADJ
fcis-9423	4	5	scheme	scheme	NOUN
fcis-9423	4	6	,	,	PUNCT
fcis-9423	4	7	the	the	DET
fcis-9423	4	8	preset	preset	ADJ
fcis-9423	4	9	performance	performance	NOUN
fcis-9423	4	10	function	function	NOUN
fcis-9423	4	11	can	can	AUX
fcis-9423	4	12	make	make	VERB
fcis-9423	4	13	the	the	DET
fcis-9423	4	14	tracking	tracking	NOUN
fcis-9423	4	15	error	error	NOUN
fcis-9423	4	16	of	of	ADP
fcis-9423	4	17	the	the	DET
fcis-9423	4	18	controlled	control	VERB
fcis-9423	4	19	system	system	NOUN
fcis-9423	4	20	converge	converge	VERB
fcis-9423	4	21	to	to	ADP
fcis-9423	4	22	the	the	DET
fcis-9423	4	23	preset	preset	ADJ
fcis-9423	4	24	precision	precision	NOUN
fcis-9423	4	25	range	range	NOUN
fcis-9423	4	26	within	within	ADP
fcis-9423	4	27	the	the	DET
fcis-9423	4	28	specified	specified	ADJ
fcis-9423	4	29	time	time	NOUN
fcis-9423	4	30	,	,	PUNCT
fcis-9423	4	31	and	and	CCONJ
fcis-9423	4	32	the	the	DET
fcis-9423	4	33	convergence	convergence	NOUN
fcis-9423	4	34	rate	rate	NOUN
fcis-9423	4	35	can	can	AUX
fcis-9423	4	36	be	be	AUX
fcis-9423	4	37	adjusted	adjust	VERB
fcis-9423	4	38	flexibly	flexibly	ADV
fcis-9423	4	39	and	and	CCONJ
fcis-9423	4	40	the	the	DET
fcis-9423	4	41	error	error	NOUN
fcis-9423	4	42	conversion	conversion	NOUN
fcis-9423	4	43	function	function	NOUN
fcis-9423	4	44	can	can	AUX
fcis-9423	4	45	be	be	AUX
fcis-9423	4	46	used	use	VERB
fcis-9423	4	47	to	to	PART
fcis-9423	4	48	transform	transform	VERB
fcis-9423	4	49	the	the	DET
fcis-9423	4	50	tracking	tracking	NOUN
fcis-9423	4	51	error	error	NOUN
fcis-9423	4	52	without	without	ADP
fcis-9423	4	53	constraints	constraint	NOUN
fcis-9423	4	54	.	.	PUNCT
fcis-9423	5	1	the	the	DET
fcis-9423	5	2	attitude	attitude	NOUN
fcis-9423	5	3	angle	angle	NOUN
fcis-9423	5	4	tracking	tracking	NOUN
fcis-9423	5	5	error	error	NOUN
fcis-9423	5	6	satisfies	satisfy	VERB
fcis-9423	5	7	the	the	DET
fcis-9423	5	8	preset	preset	ADJ
fcis-9423	5	9	performance	performance	NOUN
fcis-9423	5	10	condition	condition	NOUN
fcis-9423	5	11	by	by	ADP
fcis-9423	5	12	controlling	control	VERB
fcis-9423	5	13	the	the	DET
fcis-9423	5	14	conversion	conversion	NOUN
fcis-9423	5	15	error	error	NOUN
fcis-9423	5	16	.	.	PUNCT
fcis-9423	6	1	the	the	DET
fcis-9423	6	2	control	control	PROPN
fcis-9423	6	3	law	law	NOUN
fcis-9423	6	4	of	of	ADP
fcis-9423	6	5	attitude	attitude	NOUN
fcis-9423	6	6	angle	angle	NOUN
fcis-9423	6	7	of	of	ADP
fcis-9423	6	8	four	four	NUM
fcis-9423	6	9	-	-	PUNCT
fcis-9423	6	10	rotor	rotor	NOUN
fcis-9423	6	11	uav	uav	PROPN
fcis-9423	6	12	is	be	AUX
fcis-9423	6	13	designed	design	VERB
fcis-9423	6	14	based	base	VERB
fcis-9423	6	15	on	on	ADP
fcis-9423	6	16	reverse	reverse	ADJ
fcis-9423	6	17	step	step	NOUN
fcis-9423	6	18	method	method	NOUN
fcis-9423	6	19	,	,	PUNCT
fcis-9423	6	20	which	which	PRON
fcis-9423	6	21	solves	solve	VERB
fcis-9423	6	22	the	the	DET
fcis-9423	6	23	problem	problem	NOUN
fcis-9423	6	24	of	of	ADP
fcis-9423	6	25	low	low	ADJ
fcis-9423	6	26	control	control	NOUN
fcis-9423	6	27	accuracy	accuracy	NOUN
fcis-9423	6	28	of	of	ADP
fcis-9423	6	29	four	four	NUM
fcis-9423	6	30	-	-	PUNCT
fcis-9423	6	31	rotor	rotor	NOUN
fcis-9423	6	32	uav	uav	PROPN
fcis-9423	6	33	under	under	ADP
fcis-9423	6	34	the	the	DET
fcis-9423	6	35	condition	condition	NOUN
fcis-9423	6	36	of	of	ADP
fcis-9423	6	37	uncertain	uncertain	ADJ
fcis-9423	6	38	interference	interference	NOUN
fcis-9423	6	39	.	.	PUNCT
fcis-9423	7	1	keywords	keyword	NOUN
fcis-9423	7	2	:	:	PUNCT
fcis-9423	7	3	uav	uav	PROPN
fcis-9423	7	4	attitude	attitude	NOUN
fcis-9423	7	5	angle	angle	NOUN
fcis-9423	7	6	control	control	NOUN
fcis-9423	7	7	;	;	PUNCT
fcis-9423	7	8	extended	extend	VERB
fcis-9423	7	9	state	state	NOUN
fcis-9423	7	10	observer	observer	NOUN
fcis-9423	7	11	;	;	PUNCT
fcis-9423	7	12	preset	preset	ADJ
fcis-9423	7	13	performance	performance	NOUN
fcis-9423	7	14	control	control	NOUN
fcis-9423	7	15	;	;	PUNCT
fcis-9423	7	16	backstepping	backsteppe	VERB
fcis-9423	7	17	control	control	NOUN
fcis-9423	7	18	.	.	PUNCT
fcis-9423	8	1	1	1	X
fcis-9423	8	2	.	.	X
fcis-9423	8	3	introduction	introduction	NOUN
fcis-9423	8	4	in	in	ADP
fcis-9423	8	5	recent	recent	ADJ
fcis-9423	8	6	years	year	NOUN
fcis-9423	8	7	,	,	PUNCT
fcis-9423	8	8	the	the	DET
fcis-9423	8	9	design	design	NOUN
fcis-9423	8	10	,	,	PUNCT
fcis-9423	8	11	development	development	NOUN
fcis-9423	8	12	and	and	CCONJ
fcis-9423	8	13	application	application	NOUN
fcis-9423	8	14	of	of	ADP
fcis-9423	8	15	four	four	NUM
fcis-9423	8	16	-	-	PUNCT
fcis-9423	8	17	rotor	rotor	NOUN
fcis-9423	8	18	unmanned	unmanned	ADJ
fcis-9423	8	19	aerial	aerial	ADJ
fcis-9423	8	20	vehicles	vehicle	NOUN
fcis-9423	8	21	(	(	PUNCT
fcis-9423	8	22	uavs	uavs	NOUN
fcis-9423	8	23	)	)	PUNCT
fcis-9423	8	24	have	have	AUX
fcis-9423	8	25	attracted	attract	VERB
fcis-9423	8	26	the	the	DET
fcis-9423	8	27	attention	attention	NOUN
fcis-9423	8	28	of	of	ADP
fcis-9423	8	29	scholars	scholar	NOUN
fcis-9423	8	30	around	around	ADP
fcis-9423	8	31	the	the	DET
fcis-9423	8	32	world	world	NOUN
fcis-9423	9	1	[	[	X
fcis-9423	9	2	1	1	NUM
fcis-9423	9	3	]	]	PUNCT
fcis-9423	9	4	.	.	PUNCT
fcis-9423	10	1	compared	compare	VERB
fcis-9423	10	2	with	with	ADP
fcis-9423	10	3	fixed	fix	VERB
fcis-9423	10	4	wing	wing	NOUN
fcis-9423	10	5	uavs	uavs	NOUN
fcis-9423	10	6	,	,	PUNCT
fcis-9423	10	7	four	four	NUM
fcis-9423	10	8	-	-	PUNCT
fcis-9423	10	9	rotor	rotor	NOUN
fcis-9423	10	10	uavs	uavs	NOUN
fcis-9423	10	11	have	have	VERB
fcis-9423	10	12	advantages	advantage	NOUN
fcis-9423	10	13	such	such	ADJ
fcis-9423	10	14	as	as	ADP
fcis-9423	10	15	simple	simple	ADJ
fcis-9423	10	16	structure	structure	NOUN
fcis-9423	10	17	,	,	PUNCT
fcis-9423	10	18	low	low	ADJ
fcis-9423	10	19	manufacturing	manufacturing	NOUN
fcis-9423	10	20	cost	cost	NOUN
fcis-9423	10	21	,	,	PUNCT
fcis-9423	10	22	easy	easy	ADJ
fcis-9423	10	23	maintenance	maintenance	NOUN
fcis-9423	10	24	,	,	PUNCT
fcis-9423	10	25	light	light	ADJ
fcis-9423	10	26	fuselage	fuselage	NOUN
fcis-9423	10	27	and	and	CCONJ
fcis-9423	10	28	easy	easy	ADJ
fcis-9423	10	29	manipulation	manipulation	NOUN
fcis-9423	10	30	.	.	PUNCT
fcis-9423	11	1	in	in	ADP
fcis-9423	11	2	addition	addition	NOUN
fcis-9423	11	3	,	,	PUNCT
fcis-9423	11	4	four	four	NUM
fcis-9423	11	5	-	-	PUNCT
fcis-9423	11	6	rotor	rotor	NOUN
fcis-9423	11	7	uavs	uavs	NOUN
fcis-9423	11	8	also	also	ADV
fcis-9423	11	9	have	have	VERB
fcis-9423	11	10	excellent	excellent	ADJ
fcis-9423	11	11	maneuverability	maneuverability	NOUN
fcis-9423	11	12	,	,	PUNCT
fcis-9423	11	13	environmental	environmental	ADJ
fcis-9423	11	14	durability	durability	NOUN
fcis-9423	11	15	,	,	PUNCT
fcis-9423	11	16	hover	hover	NOUN
fcis-9423	11	17	,	,	PUNCT
fcis-9423	11	18	vertical	vertical	ADJ
fcis-9423	11	19	takeoff	takeoff	NOUN
fcis-9423	11	20	and	and	CCONJ
fcis-9423	11	21	landing	land	VERB
fcis-9423	11	22	[	[	X
fcis-9423	11	23	2	2	NUM
fcis-9423	11	24	]	]	PUNCT
fcis-9423	11	25	,	,	PUNCT
fcis-9423	11	26	which	which	PRON
fcis-9423	11	27	makes	make	VERB
fcis-9423	11	28	four	four	NUM
fcis-9423	11	29	-	-	PUNCT
fcis-9423	11	30	rotor	rotor	NOUN
fcis-9423	11	31	uavs	uavs	NOUN
fcis-9423	11	32	widely	widely	ADV
fcis-9423	11	33	used	use	VERB
fcis-9423	11	34	in	in	ADP
fcis-9423	11	35	military	military	ADJ
fcis-9423	11	36	,	,	PUNCT
fcis-9423	11	37	agricultural	agricultural	ADJ
fcis-9423	11	38	,	,	PUNCT
fcis-9423	11	39	commercial	commercial	ADJ
fcis-9423	11	40	,	,	PUNCT
fcis-9423	11	41	civil	civil	ADJ
fcis-9423	11	42	and	and	CCONJ
fcis-9423	11	43	scientific	scientific	ADJ
fcis-9423	11	44	research	research	NOUN
fcis-9423	11	45	and	and	CCONJ
fcis-9423	11	46	other	other	ADJ
fcis-9423	11	47	related	related	ADJ
fcis-9423	11	48	fields	field	NOUN
fcis-9423	11	49	[	[	X
fcis-9423	11	50	3	3	NUM
fcis-9423	11	51	]	]	PUNCT
fcis-9423	11	52	.	.	PUNCT
fcis-9423	12	1	four	four	NUM
fcis-9423	12	2	-	-	PUNCT
fcis-9423	12	3	rotor	rotor	NOUN
fcis-9423	12	4	uav	uav	PROPN
fcis-9423	12	5	is	be	AUX
fcis-9423	12	6	a	a	DET
fcis-9423	12	7	control	control	NOUN
fcis-9423	12	8	system	system	NOUN
fcis-9423	12	9	with	with	ADP
fcis-9423	12	10	multi	multi	ADJ
fcis-9423	12	11	-	-	ADJ
fcis-9423	12	12	input	input	ADJ
fcis-9423	12	13	multioutput	multioutput	NOUN
fcis-9423	12	14	(	(	PUNCT
fcis-9423	12	15	mimo	mimo	PROPN
fcis-9423	12	16	)	)	PUNCT
fcis-9423	12	17	,	,	PUNCT
fcis-9423	12	18	high	high	ADJ
fcis-9423	12	19	nonlinear	nonlinear	NOUN
fcis-9423	12	20	and	and	CCONJ
fcis-9423	12	21	underdriven	underdriven	VERB
fcis-9423	12	22	internal	internal	ADJ
fcis-9423	12	23	parameter	parameter	NOUN
fcis-9423	12	24	coupling	coupling	NOUN
fcis-9423	12	25	degree	degree	NOUN
fcis-9423	12	26	[	[	X
fcis-9423	12	27	4	4	NUM
fcis-9423	12	28	]	]	PUNCT
fcis-9423	12	29	.	.	PUNCT
fcis-9423	13	1	at	at	ADP
fcis-9423	13	2	the	the	DET
fcis-9423	13	3	same	same	ADJ
fcis-9423	13	4	time	time	NOUN
fcis-9423	13	5	,	,	PUNCT
fcis-9423	13	6	the	the	DET
fcis-9423	13	7	dynamics	dynamic	NOUN
fcis-9423	13	8	modeling	modeling	NOUN
fcis-9423	13	9	of	of	ADP
fcis-9423	13	10	quadrotor	quadrotor	PROPN
fcis-9423	13	11	uav	uav	PROPN
fcis-9423	13	12	contains	contain	VERB
fcis-9423	13	13	many	many	ADJ
fcis-9423	13	14	unknown	unknown	ADJ
fcis-9423	13	15	interference	interference	NOUN
fcis-9423	13	16	factors	factor	NOUN
fcis-9423	13	17	,	,	PUNCT
fcis-9423	13	18	such	such	ADJ
fcis-9423	13	19	as	as	ADP
fcis-9423	13	20	model	model	NOUN
fcis-9423	13	21	parameter	parameter	PROPN
fcis-9423	13	22	change	change	NOUN
fcis-9423	13	23	,	,	PUNCT
fcis-9423	13	24	model	model	NOUN
fcis-9423	13	25	mismatch	mismatch	NOUN
fcis-9423	13	26	,	,	PUNCT
fcis-9423	13	27	external	external	ADJ
fcis-9423	13	28	environmental	environmental	ADJ
fcis-9423	13	29	interference	interference	NOUN
fcis-9423	13	30	,	,	PUNCT
fcis-9423	13	31	etc	etc	X
fcis-9423	13	32	.	.	X
fcis-9423	14	1	[	[	X
fcis-9423	14	2	5	5	NUM
fcis-9423	14	3	]	]	PUNCT
fcis-9423	14	4	.	.	PUNCT
fcis-9423	15	1	therefore	therefore	ADV
fcis-9423	15	2	,	,	PUNCT
fcis-9423	15	3	it	it	PRON
fcis-9423	15	4	is	be	AUX
fcis-9423	15	5	of	of	ADP
fcis-9423	15	6	high	high	ADJ
fcis-9423	15	7	practical	practical	ADJ
fcis-9423	15	8	value	value	NOUN
fcis-9423	15	9	and	and	CCONJ
fcis-9423	15	10	practical	practical	ADJ
fcis-9423	15	11	significance	significance	NOUN
fcis-9423	15	12	to	to	PART
fcis-9423	15	13	design	design	VERB
fcis-9423	15	14	a	a	DET
fcis-9423	15	15	reliable	reliable	ADJ
fcis-9423	15	16	flight	flight	NOUN
fcis-9423	15	17	control	control	NOUN
fcis-9423	15	18	algorithm	algorithm	NOUN
fcis-9423	15	19	to	to	PART
fcis-9423	15	20	solve	solve	VERB
fcis-9423	15	21	flight	flight	NOUN
fcis-9423	15	22	control	control	NOUN
fcis-9423	15	23	problems	problem	NOUN
fcis-9423	15	24	related	relate	VERB
fcis-9423	15	25	to	to	ADP
fcis-9423	15	26	poor	poor	ADJ
fcis-9423	15	27	anti	anti	ADJ
fcis-9423	15	28	-	-	ADJ
fcis-9423	15	29	interference	interference	ADJ
fcis-9423	15	30	ability	ability	NOUN
fcis-9423	15	31	and	and	CCONJ
fcis-9423	15	32	low	low	ADJ
fcis-9423	15	33	control	control	NOUN
fcis-9423	15	34	accuracy	accuracy	NOUN
fcis-9423	15	35	of	of	ADP
fcis-9423	15	36	quadrotor	quadrotor	PROPN
fcis-9423	15	37	uav	uav	PROPN
fcis-9423	15	38	in	in	ADP
fcis-9423	15	39	actual	actual	ADJ
fcis-9423	15	40	operation	operation	NOUN
fcis-9423	15	41	[	[	X
fcis-9423	15	42	6	6	NUM
fcis-9423	15	43	]	]	PUNCT
fcis-9423	15	44	.	.	PUNCT
fcis-9423	16	1	sun	sun	PROPN
fcis-9423	16	2	zidong	zidong	PROPN
fcis-9423	16	3	[	[	X
fcis-9423	16	4	7	7	NUM
fcis-9423	16	5	]	]	PUNCT
fcis-9423	16	6	et	et	PROPN
fcis-9423	16	7	al	al	PROPN
fcis-9423	16	8	.	.	PROPN
fcis-9423	16	9	designed	design	VERB
fcis-9423	16	10	an	an	DET
fcis-9423	16	11	improved	improved	ADJ
fcis-9423	16	12	backstepping	backstepping	NOUN
fcis-9423	16	13	control	control	NOUN
fcis-9423	16	14	algorithm	algorithm	NOUN
fcis-9423	16	15	combining	combine	VERB
fcis-9423	16	16	fuzzy	fuzzy	ADJ
fcis-9423	16	17	control	control	NOUN
fcis-9423	16	18	and	and	CCONJ
fcis-9423	16	19	dynamic	dynamic	ADJ
fcis-9423	16	20	surface	surface	NOUN
fcis-9423	16	21	control	control	NOUN
fcis-9423	16	22	,	,	PUNCT
fcis-9423	16	23	which	which	PRON
fcis-9423	16	24	not	not	PART
fcis-9423	16	25	only	only	ADV
fcis-9423	16	26	approached	approach	VERB
fcis-9423	16	27	the	the	DET
fcis-9423	16	28	unknown	unknown	ADJ
fcis-9423	16	29	function	function	NOUN
fcis-9423	16	30	appearing	appear	VERB
fcis-9423	16	31	in	in	ADP
fcis-9423	16	32	the	the	DET
fcis-9423	16	33	system	system	NOUN
fcis-9423	16	34	,	,	PUNCT
fcis-9423	16	35	but	but	CCONJ
fcis-9423	16	36	solved	solve	VERB
fcis-9423	16	37	the	the	DET
fcis-9423	16	38	complexity	complexity	NOUN
fcis-9423	16	39	explosion	explosion	NOUN
fcis-9423	16	40	problem	problem	NOUN
fcis-9423	16	41	existing	exist	VERB
fcis-9423	16	42	in	in	ADP
fcis-9423	16	43	the	the	DET
fcis-9423	16	44	backstepping	backstepping	NOUN
fcis-9423	16	45	design	design	NOUN
fcis-9423	16	46	process	process	NOUN
fcis-9423	16	47	.	.	PUNCT
fcis-9423	17	1	by	by	ADP
fcis-9423	17	2	introducing	introduce	VERB
fcis-9423	17	3	a	a	DET
fcis-9423	17	4	performance	performance	NOUN
fcis-9423	17	5	function	function	NOUN
fcis-9423	17	6	,	,	PUNCT
fcis-9423	17	7	the	the	DET
fcis-9423	17	8	tracking	tracking	NOUN
fcis-9423	17	9	error	error	NOUN
fcis-9423	17	10	of	of	ADP
fcis-9423	17	11	the	the	DET
fcis-9423	17	12	controlled	control	VERB
fcis-9423	17	13	system	system	NOUN
fcis-9423	17	14	converges	converge	VERB
fcis-9423	17	15	in	in	ADP
fcis-9423	17	16	a	a	DET
fcis-9423	17	17	finite	finite	ADJ
fcis-9423	17	18	time	time	NOUN
fcis-9423	17	19	.	.	PUNCT
fcis-9423	18	1	dalwadi	dalwadi	NOUN
fcis-9423	18	2	niha	niha	NOUN
fcis-9423	18	3	l	l	NOUN
fcis-9423	19	1	[	[	X
fcis-9423	19	2	8	8	NUM
fcis-9423	19	3	]	]	PUNCT
fcis-9423	19	4	et	et	PROPN
fcis-9423	19	5	al	al	PROPN
fcis-9423	19	6	.	.	PROPN
fcis-9423	19	7	designed	design	VERB
fcis-9423	19	8	a	a	DET
fcis-9423	19	9	backstepping	backstepping	NOUN
fcis-9423	19	10	controller	controller	NOUN
fcis-9423	19	11	based	base	VERB
fcis-9423	19	12	on	on	ADP
fcis-9423	19	13	nonlinear	nonlinear	ADJ
fcis-9423	19	14	observer	observer	NOUN
fcis-9423	19	15	.	.	PUNCT
fcis-9423	20	1	the	the	DET
fcis-9423	20	2	backstepping	backstepping	NOUN
fcis-9423	20	3	controller	controller	NOUN
fcis-9423	20	4	can	can	AUX
fcis-9423	20	5	achieve	achieve	VERB
fcis-9423	20	6	good	good	ADJ
fcis-9423	20	7	trajectory	trajectory	NOUN
fcis-9423	20	8	tracking	tracking	NOUN
fcis-9423	20	9	when	when	SCONJ
fcis-9423	20	10	the	the	DET
fcis-9423	20	11	nominal	nominal	ADJ
fcis-9423	20	12	altitude	altitude	NOUN
fcis-9423	20	13	drops	drop	NOUN
fcis-9423	20	14	,	,	PUNCT
fcis-9423	20	15	and	and	CCONJ
fcis-9423	20	16	improve	improve	VERB
fcis-9423	20	17	the	the	DET
fcis-9423	20	18	control	control	NOUN
fcis-9423	20	19	quality	quality	NOUN
fcis-9423	20	20	of	of	ADP
fcis-9423	20	21	the	the	DET
fcis-9423	20	22	quadrotor	quadrotor	PROPN
fcis-9423	20	23	uav	uav	PROPN
fcis-9423	20	24	during	during	ADP
fcis-9423	20	25	the	the	DET
fcis-9423	20	26	transition	transition	NOUN
fcis-9423	20	27	from	from	ADP
fcis-9423	20	28	hovering	hover	VERB
fcis-9423	20	29	state	state	NOUN
fcis-9423	20	30	to	to	ADP
fcis-9423	20	31	horizontal	horizontal	ADJ
fcis-9423	20	32	flight	flight	NOUN
fcis-9423	20	33	state	state	NOUN
fcis-9423	20	34	.	.	PUNCT
fcis-9423	21	1	ma	ma	PROPN
fcis-9423	21	2	tienan	tienan	PROPN
fcis-9423	22	1	[	[	X
fcis-9423	22	2	9	9	NUM
fcis-9423	22	3	]	]	PUNCT
fcis-9423	22	4	et	et	PROPN
fcis-9423	22	5	al	al	PROPN
fcis-9423	22	6	.	.	PROPN
fcis-9423	22	7	designed	design	VERB
fcis-9423	22	8	a	a	DET
fcis-9423	22	9	single	single	ADJ
fcis-9423	22	10	nonlinear	nonlinear	ADJ
fcis-9423	22	11	extended	extended	ADJ
fcis-9423	22	12	state	state	NOUN
fcis-9423	22	13	observer	observer	NOUN
fcis-9423	22	14	by	by	ADP
fcis-9423	22	15	using	use	VERB
fcis-9423	22	16	the	the	DET
fcis-9423	22	17	feedback	feedback	NOUN
fcis-9423	22	18	linearization	linearization	NOUN
fcis-9423	22	19	technique	technique	NOUN
fcis-9423	22	20	to	to	PART
fcis-9423	22	21	reduce	reduce	VERB
fcis-9423	22	22	the	the	DET
fcis-9423	22	23	complexity	complexity	NOUN
fcis-9423	22	24	of	of	ADP
fcis-9423	22	25	observer	observer	NOUN
fcis-9423	22	26	parameter	parameter	NOUN
fcis-9423	22	27	adjustment	adjustment	NOUN
fcis-9423	22	28	.	.	PUNCT
fcis-9423	23	1	a	a	DET
fcis-9423	23	2	preset	preset	ADJ
fcis-9423	23	3	performance	performance	NOUN
fcis-9423	23	4	control	control	NOUN
fcis-9423	23	5	method	method	NOUN
fcis-9423	23	6	of	of	ADP
fcis-9423	23	7	the	the	DET
fcis-9423	23	8	fourrotor	fourrotor	NOUN
fcis-9423	23	9	uav	uav	PROPN
fcis-9423	23	10	under	under	ADP
fcis-9423	23	11	the	the	DET
fcis-9423	23	12	attitude	attitude	NOUN
fcis-9423	23	13	and	and	CCONJ
fcis-9423	23	14	input	input	NOUN
fcis-9423	23	15	saturation	saturation	NOUN
fcis-9423	23	16	constraints	constraint	NOUN
fcis-9423	23	17	is	be	AUX
fcis-9423	23	18	designed	design	VERB
fcis-9423	23	19	to	to	PART
fcis-9423	23	20	improve	improve	VERB
fcis-9423	23	21	the	the	DET
fcis-9423	23	22	stability	stability	NOUN
fcis-9423	23	23	of	of	ADP
fcis-9423	23	24	the	the	DET
fcis-9423	23	25	controlled	control	VERB
fcis-9423	23	26	system	system	NOUN
fcis-9423	23	27	.	.	PUNCT
fcis-9423	24	1	davood	davood	ADJ
fcis-9423	24	2	allahverd	allahverd	NOUN
fcis-9423	25	1	[	[	X
fcis-9423	25	2	10	10	NUM
fcis-9423	25	3	]	]	PUNCT
fcis-9423	25	4	et	et	PROPN
fcis-9423	25	5	al	al	PROPN
fcis-9423	25	6	.	.	PROPN
fcis-9423	25	7	designed	design	VERB
fcis-9423	25	8	an	an	DET
fcis-9423	25	9	inverse	inverse	NOUN
fcis-9423	25	10	integral	integral	ADJ
fcis-9423	25	11	sliding	slide	VERB
fcis-9423	25	12	mode	mode	NOUN
fcis-9423	25	13	control	control	NOUN
fcis-9423	25	14	(	(	PUNCT
fcis-9423	25	15	bismc	bismc	PROPN
fcis-9423	25	16	)	)	PUNCT
fcis-9423	25	17	based	base	VERB
fcis-9423	25	18	on	on	ADP
fcis-9423	25	19	iterative	iterative	NOUN
fcis-9423	25	20	learning	learning	NOUN
fcis-9423	25	21	control	control	NOUN
fcis-9423	25	22	,	,	PUNCT
fcis-9423	25	23	which	which	PRON
fcis-9423	25	24	improved	improve	VERB
fcis-9423	25	25	the	the	DET
fcis-9423	25	26	problems	problem	NOUN
fcis-9423	25	27	existing	exist	VERB
fcis-9423	25	28	in	in	ADP
fcis-9423	25	29	the	the	DET
fcis-9423	25	30	nonlinear	nonlinear	ADJ
fcis-9423	25	31	translational	translational	ADJ
fcis-9423	25	32	and	and	CCONJ
fcis-9423	25	33	rotational	rotational	ADJ
fcis-9423	25	34	dynamics	dynamic	NOUN
fcis-9423	25	35	of	of	ADP
fcis-9423	25	36	the	the	DET
fcis-9423	25	37	fourrotor	fourrotor	NOUN
fcis-9423	25	38	uav	uav	PROPN
fcis-9423	25	39	and	and	CCONJ
fcis-9423	25	40	enabled	enable	VERB
fcis-9423	25	41	the	the	DET
fcis-9423	25	42	controlled	control	VERB
fcis-9423	25	43	system	system	NOUN
fcis-9423	25	44	to	to	PART
fcis-9423	25	45	have	have	VERB
fcis-9423	25	46	high	high	ADJ
fcis-9423	25	47	transient	transient	ADJ
fcis-9423	25	48	and	and	CCONJ
fcis-9423	25	49	steady	steady	ADJ
fcis-9423	25	50	-	-	PUNCT
fcis-9423	25	51	state	state	NOUN
fcis-9423	25	52	performance	performance	NOUN
fcis-9423	25	53	.	.	PUNCT
fcis-9423	26	1	rodriguezabreo	rodriguezabreo	PROPN
fcis-9423	26	2	omar	omar	PROPN
fcis-9423	26	3	[	[	X
fcis-9423	26	4	11	11	NUM
fcis-9423	26	5	]	]	PUNCT
fcis-9423	26	6	and	and	CCONJ
fcis-9423	26	7	others	other	NOUN
fcis-9423	26	8	through	through	ADP
fcis-9423	26	9	a	a	PRON
fcis-9423	26	10	based	base	VERB
fcis-9423	26	11	on	on	ADP
fcis-9423	26	12	genetic	genetic	ADJ
fcis-9423	26	13	algorithm	algorithm	NOUN
fcis-9423	26	14	is	be	AUX
fcis-9423	26	15	designed	design	VERB
fcis-9423	26	16	to	to	PART
fcis-9423	26	17	step	step	VERB
fcis-9423	26	18	of	of	ADP
fcis-9423	26	19	parameters	parameter	NOUN
fcis-9423	26	20	self	self	NOUN
fcis-9423	26	21	-	-	PUNCT
fcis-9423	26	22	tuning	tune	VERB
fcis-9423	26	23	control	control	NOUN
fcis-9423	26	24	algorithm	algorithm	NOUN
fcis-9423	26	25	,	,	PUNCT
fcis-9423	26	26	the	the	DET
fcis-9423	26	27	algorithm	algorithm	NOUN
fcis-9423	26	28	is	be	AUX
fcis-9423	26	29	based	base	VERB
fcis-9423	26	30	on	on	ADP
fcis-9423	26	31	four	four	NUM
fcis-9423	26	32	rotor	rotor	NOUN
fcis-9423	26	33	uav	uav	PROPN
fcis-9423	26	34	autonomous	autonomous	PROPN
fcis-9423	26	35	trajectory	trajectory	NOUN
fcis-9423	26	36	tracking	tracking	NOUN
fcis-9423	26	37	to	to	ADP
fcis-9423	26	38	backstepping	backsteppe	VERB
fcis-9423	26	39	controller	controller	NOUN
fcis-9423	26	40	gain	gain	NOUN
fcis-9423	26	41	,	,	PUNCT
fcis-9423	26	42	implements	implement	VERB
fcis-9423	26	43	the	the	DET
fcis-9423	26	44	gain	gain	NOUN
fcis-9423	26	45	of	of	ADP
fcis-9423	26	46	different	different	ADJ
fcis-9423	26	47	magnitude	magnitude	NOUN
fcis-9423	26	48	error	error	NOUN
fcis-9423	26	49	self	self	NOUN
fcis-9423	26	50	-	-	PUNCT
fcis-9423	26	51	tuning	tuning	NOUN
fcis-9423	26	52	.	.	PUNCT
fcis-9423	27	1	chen	chen	PROPN
fcis-9423	27	2	yanjie	yanjie	PROPN
fcis-9423	28	1	[	[	X
fcis-9423	28	2	12	12	NUM
fcis-9423	28	3	]	]	PUNCT
fcis-9423	28	4	et	et	PROPN
fcis-9423	28	5	al	al	PROPN
fcis-9423	28	6	.	.	PROPN
fcis-9423	28	7	designed	design	VERB
fcis-9423	28	8	an	an	DET
fcis-9423	28	9	adaptive	adaptive	ADJ
fcis-9423	28	10	sliding	slide	VERB
fcis-9423	28	11	mode	mode	NOUN
fcis-9423	28	12	interference	interference	NOUN
fcis-9423	28	13	observer	observer	NOUN
fcis-9423	28	14	(	(	PUNCT
fcis-9423	28	15	asmdo	asmdo	ADJ
fcis-9423	28	16	)	)	PUNCT
fcis-9423	28	17	and	and	CCONJ
fcis-9423	28	18	designed	design	VERB
fcis-9423	28	19	a	a	DET
fcis-9423	28	20	finite	finite	ADJ
fcis-9423	28	21	time	time	NOUN
fcis-9423	28	22	preset	preset	ADJ
fcis-9423	28	23	performance	performance	NOUN
fcis-9423	28	24	control	control	NOUN
fcis-9423	28	25	method	method	NOUN
fcis-9423	28	26	on	on	ADP
fcis-9423	28	27	the	the	DET
fcis-9423	28	28	basis	basis	NOUN
fcis-9423	28	29	of	of	ADP
fcis-9423	28	30	asmdo	asmdo	PROPN
fcis-9423	28	31	to	to	PART
fcis-9423	28	32	realize	realize	VERB
fcis-9423	28	33	effective	effective	ADJ
fcis-9423	28	34	control	control	NOUN
fcis-9423	28	35	of	of	ADP
fcis-9423	28	36	uav	uav	PROPN
fcis-9423	28	37	manipulator	manipulator	NOUN
fcis-9423	28	38	with	with	ADP
fcis-9423	28	39	uncertainty	uncertainty	NOUN
fcis-9423	28	40	and	and	CCONJ
fcis-9423	28	41	external	external	ADJ
fcis-9423	28	42	interference	interference	NOUN
fcis-9423	28	43	.	.	PUNCT
fcis-9423	29	1	the	the	DET
fcis-9423	29	2	system	system	NOUN
fcis-9423	29	3	converges	converge	VERB
fcis-9423	29	4	in	in	ADP
fcis-9423	29	5	finite	finite	ADJ
fcis-9423	29	6	time	time	NOUN
fcis-9423	29	7	and	and	CCONJ
fcis-9423	29	8	has	have	AUX
fcis-9423	29	9	specified	specify	VERB
fcis-9423	29	10	transient	transient	ADJ
fcis-9423	29	11	and	and	CCONJ
fcis-9423	29	12	steady	steady	ADJ
fcis-9423	29	13	-	-	PUNCT
fcis-9423	29	14	state	state	NOUN
fcis-9423	29	15	properties	property	NOUN
fcis-9423	29	16	.	.	PUNCT
fcis-9423	30	1	based	base	VERB
fcis-9423	30	2	on	on	ADP
fcis-9423	30	3	the	the	DET
fcis-9423	30	4	inspiration	inspiration	NOUN
fcis-9423	30	5	of	of	ADP
fcis-9423	30	6	the	the	DET
fcis-9423	30	7	above	above	ADJ
fcis-9423	30	8	literature	literature	NOUN
fcis-9423	30	9	,	,	PUNCT
fcis-9423	30	10	this	this	DET
fcis-9423	30	11	paper	paper	NOUN
fcis-9423	30	12	aims	aim	VERB
fcis-9423	30	13	to	to	PART
fcis-9423	30	14	design	design	VERB
fcis-9423	30	15	a	a	DET
fcis-9423	30	16	preset	preset	ADJ
fcis-9423	30	17	performance	performance	NOUN
fcis-9423	30	18	control	control	NOUN
fcis-9423	30	19	scheme	scheme	NOUN
fcis-9423	30	20	whose	whose	DET
fcis-9423	30	21	convergence	convergence	NOUN
fcis-9423	30	22	time	time	NOUN
fcis-9423	30	23	can	can	AUX
fcis-9423	30	24	be	be	AUX
fcis-9423	30	25	artificially	artificially	ADV
fcis-9423	30	26	set	set	VERB
fcis-9423	30	27	for	for	ADP
fcis-9423	30	28	small	small	ADJ
fcis-9423	30	29	quadrotor	quadrotor	PROPN
fcis-9423	30	30	uav	uav	PROPN
fcis-9423	30	31	as	as	ADP
fcis-9423	30	32	the	the	DET
fcis-9423	30	33	research	research	NOUN
fcis-9423	30	34	object	object	NOUN
fcis-9423	30	35	,	,	PUNCT
fcis-9423	30	36	and	and	CCONJ
fcis-9423	30	37	verifies	verifie	NOUN
fcis-9423	30	38	the	the	DET
fcis-9423	30	39	control	control	NOUN
fcis-9423	30	40	performance	performance	NOUN
fcis-9423	30	41	of	of	ADP
fcis-9423	30	42	this	this	DET
fcis-9423	30	43	scheme	scheme	NOUN
fcis-9423	30	44	in	in	ADP
fcis-9423	30	45	the	the	DET
fcis-9423	30	46	presence	presence	NOUN
fcis-9423	30	47	of	of	ADP
fcis-9423	30	48	incident	incident	NOUN
fcis-9423	30	49	interference	interference	NOUN
fcis-9423	30	50	through	through	ADP
fcis-9423	30	51	numerical	numerical	PROPN
fcis-9423	30	52	simulation	simulation	PROPN
fcis-9423	30	53	.	.	PUNCT
fcis-9423	31	1	the	the	DET
fcis-9423	31	2	main	main	ADJ
fcis-9423	31	3	contributions	contribution	NOUN
fcis-9423	31	4	are	be	AUX
fcis-9423	31	5	as	as	SCONJ
fcis-9423	31	6	follows	follow	VERB
fcis-9423	31	7	:	:	PUNCT
fcis-9423	31	8	an	an	DET
fcis-9423	31	9	extended	extended	ADJ
fcis-9423	31	10	observer	observer	NOUN
fcis-9423	31	11	is	be	AUX
fcis-9423	31	12	designed	design	VERB
fcis-9423	31	13	to	to	PART
fcis-9423	31	14	dynamically	dynamically	ADV
fcis-9423	31	15	compensate	compensate	VERB
fcis-9423	31	16	the	the	DET
fcis-9423	31	17	complex	complex	ADJ
fcis-9423	31	18	interference	interference	NOUN
fcis-9423	31	19	.	.	PUNCT
fcis-9423	32	1	a	a	DET
fcis-9423	32	2	preset	preset	ADJ
fcis-9423	32	3	performance	performance	NOUN
fcis-9423	32	4	function	function	NOUN
fcis-9423	32	5	whose	whose	DET
fcis-9423	32	6	convergence	convergence	NOUN
fcis-9423	32	7	time	time	NOUN
fcis-9423	32	8	can	can	AUX
fcis-9423	32	9	be	be	AUX
fcis-9423	32	10	artificially	artificially	ADV
fcis-9423	32	11	specified	specify	VERB
fcis-9423	32	12	is	be	AUX
fcis-9423	32	13	proposed	propose	VERB
fcis-9423	32	14	.	.	PUNCT
fcis-9423	33	1	based	base	VERB
fcis-9423	33	2	on	on	ADP
fcis-9423	33	3	this	this	PRON
fcis-9423	33	4	,	,	PUNCT
fcis-9423	33	5	a	a	DET
fcis-9423	33	6	preset	preset	ADJ
fcis-9423	33	7	performance	performance	NOUN
fcis-9423	33	8	control	control	NOUN
fcis-9423	33	9	law	law	NOUN
fcis-9423	33	10	based	base	VERB
fcis-9423	33	11	on	on	ADP
fcis-9423	33	12	backward	backward	ADJ
fcis-9423	33	13	step	step	NOUN
fcis-9423	33	14	method	method	NOUN
fcis-9423	33	15	is	be	AUX
fcis-9423	33	16	designed	design	VERB
fcis-9423	33	17	,	,	PUNCT
fcis-9423	33	18	which	which	PRON
fcis-9423	33	19	can	can	AUX
fcis-9423	33	20	make	make	VERB
fcis-9423	33	21	the	the	DET
fcis-9423	33	22	tracking	tracking	NOUN
fcis-9423	33	23	error	error	NOUN
fcis-9423	33	24	of	of	ADP
fcis-9423	33	25	the	the	DET
fcis-9423	33	26	controlled	control	VERB
fcis-9423	33	27	system	system	NOUN
fcis-9423	33	28	converge	converge	VERB
fcis-9423	33	29	within	within	ADP
fcis-9423	33	30	the	the	DET
fcis-9423	33	31	specified	specified	ADJ
fcis-9423	33	32	time	time	NOUN
fcis-9423	33	33	and	and	CCONJ
fcis-9423	33	34	the	the	DET
fcis-9423	33	35	convergence	convergence	NOUN
fcis-9423	33	36	speed	speed	NOUN
fcis-9423	33	37	can	can	AUX
fcis-9423	33	38	be	be	AUX
fcis-9423	33	39	adjusted	adjust	VERB
fcis-9423	33	40	according	accord	VERB
fcis-9423	33	41	to	to	ADP
fcis-9423	33	42	the	the	DET
fcis-9423	33	43	requirements	requirement	NOUN
fcis-9423	33	44	.	.	PUNCT
fcis-9423	34	1	2	2	X
fcis-9423	34	2	.	.	X
fcis-9423	34	3	system	system	NOUN
fcis-9423	34	4	modeling	modeling	NOUN
fcis-9423	34	5	and	and	CCONJ
fcis-9423	34	6	problem	problem	NOUN
fcis-9423	34	7	description	description	NOUN
fcis-9423	34	8	driven	drive	VERB
fcis-9423	34	9	by	by	ADP
fcis-9423	34	10	four	four	NUM
fcis-9423	34	11	propellers	propeller	NOUN
fcis-9423	34	12	,	,	PUNCT
fcis-9423	34	13	four	four	NUM
fcis-9423	34	14	-	-	PUNCT
fcis-9423	34	15	rotor	rotor	NOUN
fcis-9423	34	16	uav	uav	PROPN
fcis-9423	34	17	can	can	AUX
fcis-9423	34	18	realize	realize	VERB
fcis-9423	34	19	six	six	NUM
fcis-9423	34	20	52	52	NUM
fcis-9423	34	21	degrees	degree	NOUN
fcis-9423	34	22	of	of	ADP
fcis-9423	34	23	freedom	freedom	NOUN
fcis-9423	34	24	movement	movement	NOUN
fcis-9423	34	25	in	in	ADP
fcis-9423	34	26	three	three	NUM
fcis-9423	34	27	-	-	PUNCT
fcis-9423	34	28	dimensional	dimensional	ADJ
fcis-9423	34	29	space	space	NOUN
fcis-9423	34	30	.	.	PUNCT
fcis-9423	35	1	therefore	therefore	ADV
fcis-9423	35	2	,	,	PUNCT
fcis-9423	35	3	the	the	DET
fcis-9423	35	4	mathematical	mathematical	ADJ
fcis-9423	35	5	model	model	NOUN
fcis-9423	35	6	of	of	ADP
fcis-9423	35	7	four	four	NUM
fcis-9423	35	8	-	-	PUNCT
fcis-9423	35	9	rotor	rotor	NOUN
fcis-9423	35	10	uav	uav	PROPN
fcis-9423	35	11	is	be	AUX
fcis-9423	35	12	a	a	DET
fcis-9423	35	13	typical	typical	ADJ
fcis-9423	35	14	multi	multi	ADJ
fcis-9423	35	15	-	-	ADJ
fcis-9423	35	16	input	input	ADJ
fcis-9423	35	17	,	,	PUNCT
fcis-9423	35	18	multi	multi	ADJ
fcis-9423	35	19	-	-	ADJ
fcis-9423	35	20	output	output	ADJ
fcis-9423	35	21	and	and	CCONJ
fcis-9423	35	22	strongly	strongly	ADV
fcis-9423	35	23	coupled	couple	VERB
fcis-9423	35	24	underactuated	underactuated	ADJ
fcis-9423	35	25	controlled	control	VERB
fcis-9423	35	26	system	system	NOUN
fcis-9423	35	27	.	.	PUNCT
fcis-9423	36	1	in	in	ADP
fcis-9423	36	2	this	this	DET
fcis-9423	36	3	paper	paper	NOUN
fcis-9423	36	4	,	,	PUNCT
fcis-9423	36	5	newton	newton	PROPN
fcis-9423	36	6	-	-	PUNCT
fcis-9423	36	7	euler	euler	NOUN
fcis-9423	36	8	formula	formula	NOUN
fcis-9423	36	9	is	be	AUX
fcis-9423	36	10	adopted	adopt	VERB
fcis-9423	36	11	to	to	PART
fcis-9423	36	12	deduce	deduce	VERB
fcis-9423	36	13	the	the	DET
fcis-9423	36	14	attitude	attitude	NOUN
fcis-9423	36	15	dynamics	dynamic	NOUN
fcis-9423	36	16	of	of	ADP
fcis-9423	36	17	the	the	DET
fcis-9423	36	18	four	four	NUM
fcis-9423	36	19	-	-	PUNCT
fcis-9423	36	20	rotor	rotor	NOUN
fcis-9423	36	21	uav	uav	NOUN
fcis-9423	37	1	[	[	X
fcis-9423	37	2	13	13	NUM
fcis-9423	37	3	]	]	PUNCT
fcis-9423	37	4	.	.	PUNCT
fcis-9423	38	1	the	the	DET
fcis-9423	38	2	following	follow	VERB
fcis-9423	38	3	hypothesis	hypothesis	NOUN
fcis-9423	38	4	is	be	AUX
fcis-9423	38	5	given	give	VERB
fcis-9423	38	6	:	:	PUNCT
fcis-9423	38	7	(	(	PUNCT
fcis-9423	38	8	1	1	X
fcis-9423	38	9	)	)	PUNCT
fcis-9423	38	10	quadrotor	quadrotor	NOUN
fcis-9423	38	11	uav	uav	PROPN
fcis-9423	38	12	is	be	AUX
fcis-9423	38	13	a	a	DET
fcis-9423	38	14	uniform	uniform	ADJ
fcis-9423	38	15	and	and	CCONJ
fcis-9423	38	16	symmetrical	symmetrical	ADJ
fcis-9423	38	17	rigid	rigid	ADJ
fcis-9423	38	18	body	body	NOUN
fcis-9423	38	19	;	;	PUNCT
fcis-9423	38	20	(	(	PUNCT
fcis-9423	38	21	2	2	X
fcis-9423	38	22	)	)	PUNCT
fcis-9423	38	23	the	the	DET
fcis-9423	38	24	mass	mass	NOUN
fcis-9423	38	25	and	and	CCONJ
fcis-9423	38	26	moment	moment	NOUN
fcis-9423	38	27	of	of	ADP
fcis-9423	38	28	inertia	inertia	NOUN
fcis-9423	38	29	of	of	ADP
fcis-9423	38	30	the	the	DET
fcis-9423	38	31	four	four	NUM
fcis-9423	38	32	-	-	PUNCT
fcis-9423	38	33	rotor	rotor	NOUN
fcis-9423	38	34	uav	uav	PROPN
fcis-9423	38	35	do	do	AUX
fcis-9423	38	36	not	not	PART
fcis-9423	38	37	change	change	VERB
fcis-9423	38	38	;	;	PUNCT
fcis-9423	38	39	(	(	PUNCT
fcis-9423	38	40	3	3	X
fcis-9423	38	41	)	)	PUNCT
fcis-9423	38	42	the	the	DET
fcis-9423	38	43	geometric	geometric	ADJ
fcis-9423	38	44	center	center	NOUN
fcis-9423	38	45	of	of	ADP
fcis-9423	38	46	the	the	DET
fcis-9423	38	47	quadrotor	quadrotor	PROPN
fcis-9423	38	48	uav	uav	PROPN
fcis-9423	38	49	coincides	coincide	VERB
fcis-9423	38	50	with	with	ADP
fcis-9423	38	51	its	its	PRON
fcis-9423	38	52	own	own	ADJ
fcis-9423	38	53	center	center	NOUN
fcis-9423	38	54	;	;	PUNCT
fcis-9423	38	55	(	(	PUNCT
fcis-9423	38	56	4	4	X
fcis-9423	38	57	)	)	PUNCT
fcis-9423	38	58	quadrotor	quadrotor	NOUN
fcis-9423	38	59	uav	uav	PROPN
fcis-9423	38	60	only	only	ADV
fcis-9423	38	61	accepts	accept	VERB
fcis-9423	38	62	gravity	gravity	NOUN
fcis-9423	38	63	and	and	CCONJ
fcis-9423	38	64	propeller	propeller	NOUN
fcis-9423	38	65	pull	pull	VERB
fcis-9423	38	66	.	.	PUNCT
fcis-9423	39	1	according	accord	VERB
fcis-9423	39	2	to	to	ADP
fcis-9423	39	3	newton	newton	PROPN
fcis-9423	39	4	-	-	PUNCT
fcis-9423	39	5	euler	euler	NOUN
fcis-9423	39	6	formula	formula	NOUN
fcis-9423	39	7	,	,	PUNCT
fcis-9423	39	8	the	the	DET
fcis-9423	39	9	attitude	attitude	NOUN
fcis-9423	39	10	dynamics	dynamic	VERB
fcis-9423	39	11	equation	equation	NOUN
fcis-9423	39	12	of	of	ADP
fcis-9423	39	13	the	the	DET
fcis-9423	39	14	four	four	NUM
fcis-9423	39	15	-	-	PUNCT
fcis-9423	39	16	rotor	rotor	NOUN
fcis-9423	39	17	uav	uav	PROPN
fcis-9423	39	18	is	be	AUX
fcis-9423	39	19	established	establish	VERB
fcis-9423	39	20	as	as	SCONJ
fcis-9423	39	21	follows	follow	VERB
fcis-9423	39	22	:	:	PUNCT
fcis-9423	40	1	y	y	PROPN
fcis-9423	40	2	z	z	NOUN
fcis-9423	40	3	x	x	PUNCT
fcis-9423	41	1	x	x	PUNCT
fcis-9423	41	2	z	z	NOUN
fcis-9423	41	3	x	x	PUNCT
fcis-9423	41	4	y	y	NOUN
fcis-9423	41	5	y	y	PROPN
fcis-9423	41	6	x	x	SYM
fcis-9423	41	7	y	y	PROPN
fcis-9423	41	8	z	z	NOUN
fcis-9423	42	1	z	z	NOUN
fcis-9423	43	1	i	i	PRON
fcis-9423	43	2	i	i	PRON
fcis-9423	43	3	u	u	VERB
fcis-9423	44	1	d	d	VERB
fcis-9423	44	2	i	i	PRON
fcis-9423	45	1	i	i	PRON
fcis-9423	45	2	i	i	PRON
fcis-9423	46	1	i	i	PRON
fcis-9423	46	2	u	u	VERB
fcis-9423	47	1	d	d	VERB
fcis-9423	47	2	i	i	PRON
fcis-9423	48	1	i	i	PRON
fcis-9423	48	2	i	i	PRON
fcis-9423	49	1	i	i	PRON
fcis-9423	49	2	u	u	VERB
fcis-9423	50	1	d	d	VERB
fcis-9423	50	2	i	i	PRON
fcis-9423	50	3	i	i	PRON
fcis-9423	50	4			VERB
fcis-9423	50	5			NOUN
fcis-9423	50	6			X
fcis-9423	50	7			PROPN
fcis-9423	50	8			PROPN
fcis-9423	51	1			NUM
fcis-9423	51	2			NOUN
fcis-9423	51	3			NUM
fcis-9423	51	4			SYM
fcis-9423	51	5			PROPN
fcis-9423	51	6			PROPN
fcis-9423	51	7			NOUN
fcis-9423	51	8			ADP
fcis-9423	51	9			PROPN
fcis-9423	51	10			NOUN
fcis-9423	51	11			SYM
fcis-9423	51	12			NUM
fcis-9423	51	13			PROPN
fcis-9423	51	14			PROPN
fcis-9423	51	15			NUM
fcis-9423	51	16			NUM
fcis-9423	51	17			PROPN
fcis-9423	51	18			NUM
fcis-9423	51	19			NOUN
fcis-9423	51	20	+	+	X
fcis-9423	52	1	+	+	PUNCT
fcis-9423	53	1	+	+	PUNCT
fcis-9423	53	2	+	+	PUNCT
fcis-9423	53	3	+	+	CCONJ
fcis-9423	53	4	+	+	CCONJ
fcis-9423	53	5			NOUN
fcis-9423	53	6			NOUN
fcis-9423	53	7			NOUN
fcis-9423	53	8			NOUN
fcis-9423	53	9			NOUN
fcis-9423	53	10			NOUN
fcis-9423	53	11			NOUN
fcis-9423	53	12			NUM
fcis-9423	53	13	(	(	PUNCT
fcis-9423	53	14	1	1	NUM
fcis-9423	53	15	)	)	PUNCT
fcis-9423	53	16	where	where	SCONJ
fcis-9423	53	17	,	,	PUNCT
fcis-9423	53	18			NOUN
fcis-9423	53	19	,	,	PUNCT
fcis-9423	53	20			PROPN
fcis-9423	53	21	and	and	CCONJ
fcis-9423	53	22			NOUN
fcis-9423	53	23	represent	represent	VERB
fcis-9423	53	24	the	the	DET
fcis-9423	53	25	roll	roll	NOUN
fcis-9423	53	26	angle	angle	NOUN
fcis-9423	53	27	,	,	PUNCT
fcis-9423	53	28	pitch	pitch	NOUN
fcis-9423	53	29	angle	angle	NOUN
fcis-9423	53	30	and	and	CCONJ
fcis-9423	53	31	yaw	yaw	NOUN
fcis-9423	53	32	angle	angle	NOUN
fcis-9423	53	33	of	of	ADP
fcis-9423	53	34	the	the	DET
fcis-9423	53	35	attitude	attitude	NOUN
fcis-9423	53	36	angle	angle	NOUN
fcis-9423	53	37	system	system	NOUN
fcis-9423	53	38	of	of	ADP
fcis-9423	53	39	the	the	DET
fcis-9423	53	40	fourrotor	fourrotor	PROPN
fcis-9423	53	41	uav	uav	PROPN
fcis-9423	53	42	respectively	respectively	ADV
fcis-9423	53	43	.	.	PUNCT
fcis-9423	54	1	d	d	PROPN
fcis-9423	54	2	,	,	PUNCT
fcis-9423	54	3	d	d	NOUN
fcis-9423	54	4	and	and	CCONJ
fcis-9423	54	5	d	d	PROPN
fcis-9423	54	6	respectively	respectively	ADV
fcis-9423	54	7	represents	represent	VERB
fcis-9423	54	8	the	the	DET
fcis-9423	54	9	interference	interference	NOUN
fcis-9423	54	10	of	of	ADP
fcis-9423	54	11	roll	roll	NOUN
fcis-9423	54	12	angle	angle	NOUN
fcis-9423	54	13	system	system	NOUN
fcis-9423	54	14	,	,	PUNCT
fcis-9423	54	15	the	the	DET
fcis-9423	54	16	interference	interference	NOUN
fcis-9423	54	17	of	of	ADP
fcis-9423	54	18	pitch	pitch	NOUN
fcis-9423	54	19	angle	angle	NOUN
fcis-9423	54	20	system	system	NOUN
fcis-9423	54	21	and	and	CCONJ
fcis-9423	54	22	interference	interference	NOUN
fcis-9423	54	23	of	of	ADP
fcis-9423	54	24	yaw	yaw	NOUN
fcis-9423	54	25	angle	angle	NOUN
fcis-9423	54	26	system	system	NOUN
fcis-9423	54	27	.	.	PUNCT
fcis-9423	55	1	xi	xi	INTJ
fcis-9423	55	2	,	,	PUNCT
fcis-9423	55	3	yi	yi	PROPN
fcis-9423	55	4	and	and	CCONJ
fcis-9423	55	5	zi	zi	PROPN
fcis-9423	55	6	respectively	respectively	ADV
fcis-9423	55	7	represent	represent	VERB
fcis-9423	55	8	the	the	DET
fcis-9423	55	9	moment	moment	NOUN
fcis-9423	55	10	of	of	ADP
fcis-9423	55	11	inertia	inertia	NOUN
fcis-9423	55	12	of	of	ADP
fcis-9423	55	13	the	the	DET
fcis-9423	55	14	four	four	NUM
fcis-9423	55	15	-	-	PUNCT
fcis-9423	55	16	rotor	rotor	NOUN
fcis-9423	55	17	uav	uav	PROPN
fcis-9423	55	18	with	with	ADP
fcis-9423	55	19	respect	respect	NOUN
fcis-9423	55	20	to	to	ADP
fcis-9423	55	21	the	the	DET
fcis-9423	55	22	x	x	NOUN
fcis-9423	55	23	axis	axis	NOUN
fcis-9423	55	24	,	,	PUNCT
fcis-9423	55	25	the	the	DET
fcis-9423	55	26	moment	moment	NOUN
fcis-9423	55	27	of	of	ADP
fcis-9423	55	28	inertia	inertia	NOUN
fcis-9423	55	29	with	with	ADP
fcis-9423	55	30	respect	respect	NOUN
fcis-9423	55	31	to	to	ADP
fcis-9423	55	32	the	the	DET
fcis-9423	55	33	y	y	PROPN
fcis-9423	55	34	axis	axis	NOUN
fcis-9423	55	35	and	and	CCONJ
fcis-9423	55	36	the	the	DET
fcis-9423	55	37	moment	moment	NOUN
fcis-9423	55	38	of	of	ADP
fcis-9423	55	39	inertia	inertia	NOUN
fcis-9423	55	40	with	with	ADP
fcis-9423	55	41	respect	respect	NOUN
fcis-9423	55	42	to	to	ADP
fcis-9423	55	43	the	the	DET
fcis-9423	55	44	z	z	NOUN
fcis-9423	55	45	axis	axis	NOUN
fcis-9423	55	46	.	.	PUNCT
fcis-9423	56	1	u	u	PROPN
fcis-9423	56	2	,	,	PUNCT
fcis-9423	56	3	u	u	PROPN
fcis-9423	56	4	and	and	CCONJ
fcis-9423	56	5	u	u	PROPN
fcis-9423	56	6	respectively	respectively	ADV
fcis-9423	56	7	represent	represent	VERB
fcis-9423	56	8	the	the	DET
fcis-9423	56	9	control	control	NOUN
fcis-9423	56	10	input	input	NOUN
fcis-9423	56	11	of	of	ADP
fcis-9423	56	12	the	the	DET
fcis-9423	56	13	three	three	NUM
fcis-9423	56	14	attitude	attitude	NOUN
fcis-9423	56	15	angles	angle	NOUN
fcis-9423	56	16	of	of	ADP
fcis-9423	56	17	the	the	DET
fcis-9423	56	18	four	four	NUM
fcis-9423	56	19	-	-	PUNCT
fcis-9423	56	20	rotor	rotor	NOUN
fcis-9423	56	21	uav	uav	PROPN
fcis-9423	56	22	.	.	PUNCT
fcis-9423	57	1	in	in	ADP
fcis-9423	57	2	order	order	NOUN
fcis-9423	57	3	to	to	PART
fcis-9423	57	4	facilitate	facilitate	VERB
fcis-9423	57	5	the	the	DET
fcis-9423	57	6	subsequent	subsequent	ADJ
fcis-9423	57	7	controller	controller	NOUN
fcis-9423	57	8	design	design	NOUN
fcis-9423	57	9	,	,	PUNCT
fcis-9423	57	10	the	the	DET
fcis-9423	57	11	original	original	ADJ
fcis-9423	57	12	four	four	NUM
fcis-9423	57	13	-	-	PUNCT
fcis-9423	57	14	rotor	rotor	NOUN
fcis-9423	57	15	uav	uav	PROPN
fcis-9423	57	16	attitude	attitude	NOUN
fcis-9423	57	17	angle	angle	NOUN
fcis-9423	57	18	system	system	NOUN
fcis-9423	57	19	dynamics	dynamic	NOUN
fcis-9423	57	20	model	model	NOUN
fcis-9423	57	21	needs	need	VERB
fcis-9423	57	22	to	to	PART
fcis-9423	57	23	be	be	AUX
fcis-9423	57	24	converted	convert	VERB
fcis-9423	57	25	into	into	ADP
fcis-9423	57	26	n	n	CCONJ
fcis-9423	57	27	order	order	NOUN
fcis-9423	57	28	integral	integral	ADJ
fcis-9423	57	29	series	series	NOUN
fcis-9423	57	30	dynamics	dynamic	NOUN
fcis-9423	57	31	model	model	NOUN
fcis-9423	57	32	with	with	ADP
fcis-9423	57	33	strict	strict	ADJ
fcis-9423	57	34	feedback	feedback	NOUN
fcis-9423	57	35	form	form	NOUN
fcis-9423	57	36	.	.	PUNCT
fcis-9423	58	1	in	in	SCONJ
fcis-9423	58	2	order	order	NOUN
fcis-9423	58	3	to	to	PART
fcis-9423	58	4	simplify	simplify	VERB
fcis-9423	58	5	the	the	DET
fcis-9423	58	6	design	design	NOUN
fcis-9423	58	7	process	process	NOUN
fcis-9423	58	8	,	,	PUNCT
fcis-9423	58	9	a	a	DET
fcis-9423	58	10	symbol	symbol	NOUN
fcis-9423	58	11	representation	representation	NOUN
fcis-9423	58	12	method	method	NOUN
fcis-9423	58	13	as	as	SCONJ
fcis-9423	58	14	shown	show	VERB
fcis-9423	58	15	in	in	ADP
fcis-9423	58	16	equation	equation	NOUN
fcis-9423	58	17	(	(	PUNCT
fcis-9423	58	18	2	2	X
fcis-9423	58	19	)	)	PUNCT
fcis-9423	58	20	is	be	AUX
fcis-9423	58	21	proposed	propose	VERB
fcis-9423	58	22	before	before	ADP
fcis-9423	58	23	model	model	NOUN
fcis-9423	58	24	transformation	transformation	NOUN
fcis-9423	58	25	:	:	PUNCT
fcis-9423	58	26			ADJ
fcis-9423	58	27			NOUN
fcis-9423	58	28			NOUN
fcis-9423	58	29			SYM
fcis-9423	58	30			NOUN
fcis-9423	58	31			SYM
fcis-9423	58	32			NOUN
fcis-9423	58	33			PUNCT
fcis-9423	58	34			NOUN
fcis-9423	58	35			NOUN
fcis-9423	58	36	1	1	NUM
fcis-9423	58	37	2	2	NUM
fcis-9423	58	38	2	2	NUM
fcis-9423	58	39	1	1	NUM
fcis-9423	58	40	1	1	NUM
fcis-9423	58	41	1	1	NUM
fcis-9423	58	42	2	2	NUM
fcis-9423	58	43	1	1	NUM
fcis-9423	58	44	1	1	NUM
fcis-9423	58	45	1	1	NUM
fcis-9423	58	46	2	2	NUM
fcis-9423	58	47	2	2	NUM
fcis-9423	58	48	t	t	NOUN
fcis-9423	58	49	t	t	NOUN
fcis-9423	58	50	t	t	NOUN
fcis-9423	58	51	x	x	PUNCT
fcis-9423	59	1	y	y	PROPN
fcis-9423	59	2	z	z	PROPN
fcis-9423	59	3	y	y	PROPN
fcis-9423	59	4	z	z	NOUN
fcis-9423	59	5	x	x	SYM
fcis-9423	59	6	z	z	X
fcis-9423	59	7	x	x	PUNCT
fcis-9423	59	8	y	y	NOUN
fcis-9423	59	9	t	t	PROPN
fcis-9423	59	10	t	t	PROPN
fcis-9423	59	11	x	x	PUNCT
fcis-9423	60	1	y	y	PROPN
fcis-9423	60	2	z	z	NOUN
fcis-9423	60	3	x	x	PUNCT
fcis-9423	61	1	x	x	PUNCT
fcis-9423	61	2	d	d	PUNCT
fcis-9423	61	3	d	d	X
fcis-9423	62	1	d	d	PROPN
fcis-9423	62	2	d	d	NOUN
fcis-9423	62	3	i	i	PRON
fcis-9423	63	1	i	i	PRON
fcis-9423	63	2	i	i	PRON
fcis-9423	64	1	i	i	PRON
fcis-9423	64	2	i	i	PRON
fcis-9423	65	1	i	i	PRON
fcis-9423	65	2	i	i	PRON
fcis-9423	66	1	i	i	PRON
fcis-9423	67	1	i	i	PRON
fcis-9423	68	1	f	f	VERB
fcis-9423	68	2	x	x	X
fcis-9423	68	3	k	k	X
fcis-9423	68	4	u	u	NOUN
fcis-9423	69	1	i	i	NOUN
fcis-9423	69	2	u	u	VERB
fcis-9423	69	3	i	i	PRON
fcis-9423	69	4	u	u	VERB
fcis-9423	69	5	i	i	VERB
fcis-9423	69	6	u	u	VERB
fcis-9423	69	7			VERB
fcis-9423	69	8			NOUN
fcis-9423	69	9			NUM
fcis-9423	69	10			NOUN
fcis-9423	69	11			NOUN
fcis-9423	70	1			NUM
fcis-9423	70	2			NOUN
fcis-9423	70	3			NOUN
fcis-9423	70	4			NUM
fcis-9423	70	5			NOUN
fcis-9423	70	6			NOUN
fcis-9423	70	7			NUM
fcis-9423	70	8			NOUN
fcis-9423	70	9			NOUN
fcis-9423	70	10			NUM
fcis-9423	70	11			NOUN
fcis-9423	70	12			X
fcis-9423	70	13			PROPN
fcis-9423	70	14			X
fcis-9423	70	15			PROPN
fcis-9423	70	16			PROPN
fcis-9423	70	17			PROPN
fcis-9423	70	18			PROPN
fcis-9423	70	19			PROPN
fcis-9423	70	20			PROPN
fcis-9423	70	21			PROPN
fcis-9423	70	22			PROPN
fcis-9423	70	23			PROPN
fcis-9423	71	1			PROPN
fcis-9423	71	2			NOUN
fcis-9423	71	3			VERB
fcis-9423	71	4			PROPN
fcis-9423	71	5			PROPN
fcis-9423	71	6			PROPN
fcis-9423	71	7			VERB
fcis-9423	72	1			PROPN
fcis-9423	72	2			PROPN
fcis-9423	72	3			PRON
fcis-9423	72	4			PROPN
fcis-9423	72	5			NUM
fcis-9423	72	6			PRON
fcis-9423	72	7			PROPN
fcis-9423	72	8			NUM
fcis-9423	72	9			PROPN
fcis-9423	72	10			PROPN
fcis-9423	72	11			PROPN
fcis-9423	72	12			PROPN
fcis-9423	72	13			PROPN
fcis-9423	72	14			PROPN
fcis-9423	72	15			PUNCT
fcis-9423	72	16			PROPN
fcis-9423	72	17			PROPN
fcis-9423	72	18			PROPN
fcis-9423	72	19			VERB
fcis-9423	72	20			PROPN
fcis-9423	72	21			NOUN
fcis-9423	72	22			NOUN
fcis-9423	72	23			NOUN
fcis-9423	72	24			NOUN
fcis-9423	72	25			NOUN
fcis-9423	72	26			NOUN
fcis-9423	72	27			NOUN
fcis-9423	72	28			NOUN
fcis-9423	72	29			NOUN
fcis-9423	72	30	(	(	PUNCT
fcis-9423	72	31	2	2	NUM
fcis-9423	72	32	)	)	PUNCT
fcis-9423	72	33	where	where	SCONJ
fcis-9423	72	34	,	,	PUNCT
fcis-9423	72	35	1x	1x	NUM
fcis-9423	72	36	,	,	PUNCT
fcis-9423	72	37	2x	2x	NUM
fcis-9423	72	38	and	and	CCONJ
fcis-9423	72	39	2	2	NUM
fcis-9423	72	40	2k	2k	NOUN
fcis-9423	72	41	u	u	NOUN
fcis-9423	72	42	represents	represent	VERB
fcis-9423	72	43	the	the	DET
fcis-9423	72	44	control	control	NOUN
fcis-9423	72	45	input	input	NOUN
fcis-9423	72	46	of	of	ADP
fcis-9423	72	47	attitude	attitude	NOUN
fcis-9423	72	48	angle	angle	NOUN
fcis-9423	72	49	,	,	PUNCT
fcis-9423	72	50	attitude	attitude	NOUN
fcis-9423	72	51	angular	angular	ADJ
fcis-9423	72	52	velocity	velocity	NOUN
fcis-9423	72	53	and	and	CCONJ
fcis-9423	72	54	yaw	yaw	NOUN
fcis-9423	72	55	angle	angle	NOUN
fcis-9423	72	56	of	of	ADP
fcis-9423	72	57	the	the	DET
fcis-9423	72	58	four	four	NUM
fcis-9423	72	59	-	-	PUNCT
fcis-9423	72	60	rotor	rotor	NOUN
fcis-9423	72	61	uav	uav	PROPN
fcis-9423	72	62	respectively	respectively	ADV
fcis-9423	72	63	.	.	PUNCT
fcis-9423	73	1	based	base	VERB
fcis-9423	73	2	on	on	ADP
fcis-9423	73	3	formula	formula	NOUN
fcis-9423	73	4	(	(	PUNCT
fcis-9423	73	5	1	1	NUM
fcis-9423	73	6	)	)	PUNCT
fcis-9423	73	7	and	and	CCONJ
fcis-9423	73	8	combined	combine	VERB
fcis-9423	73	9	with	with	ADP
fcis-9423	73	10	formula	formula	NOUN
fcis-9423	73	11	(	(	PUNCT
fcis-9423	73	12	2	2	NUM
fcis-9423	73	13	)	)	PUNCT
fcis-9423	73	14	,	,	PUNCT
fcis-9423	73	15	the	the	DET
fcis-9423	73	16	state	state	NOUN
fcis-9423	73	17	space	space	NOUN
fcis-9423	73	18	equation	equation	NOUN
fcis-9423	73	19	of	of	ADP
fcis-9423	73	20	the	the	DET
fcis-9423	73	21	integral	integral	ADJ
fcis-9423	73	22	series	series	NOUN
fcis-9423	73	23	attitude	attitude	NOUN
fcis-9423	73	24	angle	angle	NOUN
fcis-9423	73	25	system	system	NOUN
fcis-9423	73	26	of	of	ADP
fcis-9423	73	27	the	the	DET
fcis-9423	73	28	four	four	NUM
fcis-9423	73	29	-	-	PUNCT
fcis-9423	73	30	rotor	rotor	NOUN
fcis-9423	73	31	uav	uav	PROPN
fcis-9423	73	32	can	can	AUX
fcis-9423	73	33	be	be	AUX
fcis-9423	73	34	described	describe	VERB
fcis-9423	73	35	as	as	ADP
fcis-9423	73	36	:	:	PUNCT
fcis-9423	73	37			NOUN
fcis-9423	73	38			SYM
fcis-9423	73	39	1	1	NUM
fcis-9423	73	40	2	2	NUM
fcis-9423	73	41	2	2	NUM
fcis-9423	73	42	2	2	NUM
fcis-9423	73	43	2	2	NUM
fcis-9423	73	44	2	2	NUM
fcis-9423	73	45	2	2	NUM
fcis-9423	73	46	x	x	SYM
fcis-9423	73	47	x	x	PUNCT
fcis-9423	73	48	x	x	SYM
fcis-9423	73	49	f	f	NOUN
fcis-9423	73	50	x	x	X
fcis-9423	73	51	k	k	PROPN
fcis-9423	73	52	u	u	X
fcis-9423	74	1	d	d	NOUN
fcis-9423	74	2			NOUN
fcis-9423	74	3			NOUN
fcis-9423	74	4			NUM
fcis-9423	74	5			NOUN
fcis-9423	74	6	+	+	PUNCT
fcis-9423	74	7	+	+	CCONJ
fcis-9423	74	8			ADJ
fcis-9423	74	9			NOUN
fcis-9423	74	10	(	(	PUNCT
fcis-9423	74	11	3	3	NUM
fcis-9423	74	12	)	)	PUNCT
fcis-9423	74	13	where	where	SCONJ
fcis-9423	74	14	,	,	PUNCT
fcis-9423	74	15	2d	2d	PROPN
fcis-9423	74	16	represents	represent	VERB
fcis-9423	74	17	the	the	DET
fcis-9423	74	18	sum	sum	NOUN
fcis-9423	74	19	of	of	ADP
fcis-9423	74	20	external	external	ADJ
fcis-9423	74	21	airflow	airflow	NOUN
fcis-9423	74	22	disturbance	disturbance	NOUN
fcis-9423	74	23	,	,	PUNCT
fcis-9423	74	24	unmodeled	unmodeled	ADJ
fcis-9423	74	25	system	system	NOUN
fcis-9423	74	26	dynamics	dynamic	NOUN
fcis-9423	74	27	and	and	CCONJ
fcis-9423	74	28	model	model	NOUN
fcis-9423	74	29	uncertainty	uncertainty	NOUN
fcis-9423	74	30	influence	influence	NOUN
fcis-9423	74	31	disturbances	disturbance	NOUN
fcis-9423	74	32	received	receive	VERB
fcis-9423	74	33	by	by	ADP
fcis-9423	74	34	the	the	DET
fcis-9423	74	35	four	four	NUM
fcis-9423	74	36	-	-	PUNCT
fcis-9423	74	37	rotor	rotor	NOUN
fcis-9423	74	38	uav	uav	PROPN
fcis-9423	74	39	.	.	PUNCT
fcis-9423	75	1	due	due	ADP
fcis-9423	75	2	to	to	ADP
fcis-9423	75	3	the	the	DET
fcis-9423	75	4	under	under	ADJ
fcis-9423	75	5	-	-	PUNCT
fcis-9423	75	6	actuation	actuation	NOUN
fcis-9423	75	7	characteristic	characteristic	NOUN
fcis-9423	75	8	of	of	ADP
fcis-9423	75	9	the	the	DET
fcis-9423	75	10	four	four	NUM
fcis-9423	75	11	-	-	PUNCT
fcis-9423	75	12	rotor	rotor	NOUN
fcis-9423	75	13	uav	uav	PROPN
fcis-9423	75	14	,	,	PUNCT
fcis-9423	75	15	the	the	DET
fcis-9423	75	16	designed	design	VERB
fcis-9423	75	17	controller	controller	NOUN
fcis-9423	75	18	can	can	AUX
fcis-9423	75	19	not	not	PART
fcis-9423	75	20	track	track	VERB
fcis-9423	75	21	the	the	DET
fcis-9423	75	22	6	6	NUM
fcis-9423	75	23	degrees	degree	NOUN
fcis-9423	75	24	of	of	ADP
fcis-9423	75	25	freedom	freedom	NOUN
fcis-9423	75	26	at	at	ADP
fcis-9423	75	27	the	the	DET
fcis-9423	75	28	same	same	ADJ
fcis-9423	75	29	time	time	NOUN
fcis-9423	75	30	.	.	PUNCT
fcis-9423	76	1	the	the	DET
fcis-9423	76	2	controller	controller	NOUN
fcis-9423	76	3	designed	design	VERB
fcis-9423	76	4	in	in	ADP
fcis-9423	76	5	this	this	DET
fcis-9423	76	6	paper	paper	NOUN
fcis-9423	76	7	can	can	AUX
fcis-9423	76	8	ensure	ensure	VERB
fcis-9423	76	9	no	no	DET
fcis-9423	76	10	attitude	attitude	NOUN
fcis-9423	76	11	control	control	NOUN
fcis-9423	76	12	of	of	ADP
fcis-9423	76	13	uav	uav	PROPN
fcis-9423	76	14	.	.	PUNCT
fcis-9423	77	1	the	the	DET
fcis-9423	77	2	humanmachine	humanmachine	PROPN
fcis-9423	77	3	attitude	attitude	NOUN
fcis-9423	77	4	angle	angle	NOUN
fcis-9423	77	5	stably	stably	ADV
fcis-9423	77	6	tracks	track	VERB
fcis-9423	77	7	the	the	DET
fcis-9423	77	8	expected	expect	VERB
fcis-9423	77	9	input	input	NOUN
fcis-9423	77	10			PROPN
fcis-9423	77	11	td	td	PROPN
fcis-9423	77	12	d	d	PROPN
fcis-9423	77	13	d	d	ADJ
fcis-9423	77	14			PROPN
fcis-9423	77	15			NUM
fcis-9423	77	16	.	.	PUNCT
fcis-9423	78	1	3	3	X
fcis-9423	78	2	.	.	X
fcis-9423	78	3	default	default	NOUN
fcis-9423	78	4	performance	performance	NOUN
fcis-9423	78	5	function	function	NOUN
fcis-9423	78	6	and	and	CCONJ
fcis-9423	78	7	error	error	NOUN
fcis-9423	78	8	transform	transform	VERB
fcis-9423	78	9	presetting	presette	VERB
fcis-9423	78	10	performance	performance	NOUN
fcis-9423	78	11	means	mean	VERB
fcis-9423	78	12	that	that	SCONJ
fcis-9423	78	13	the	the	DET
fcis-9423	78	14	transient	transient	ADJ
fcis-9423	78	15	and	and	CCONJ
fcis-9423	78	16	steadystate	steadystate	VERB
fcis-9423	78	17	performance	performance	NOUN
fcis-9423	78	18	of	of	ADP
fcis-9423	78	19	the	the	DET
fcis-9423	78	20	system	system	NOUN
fcis-9423	78	21	is	be	AUX
fcis-9423	78	22	limited	limit	VERB
fcis-9423	78	23	within	within	ADP
fcis-9423	78	24	the	the	DET
fcis-9423	78	25	range	range	NOUN
fcis-9423	78	26	of	of	ADP
fcis-9423	78	27	the	the	DET
fcis-9423	78	28	pre	pre	ADJ
fcis-9423	78	29	-	-	ADJ
fcis-9423	78	30	designed	design	VERB
fcis-9423	78	31	performance	performance	NOUN
fcis-9423	78	32	function	function	NOUN
fcis-9423	78	33	by	by	ADP
fcis-9423	78	34	designing	design	VERB
fcis-9423	78	35	a	a	DET
fcis-9423	78	36	conversion	conversion	NOUN
fcis-9423	78	37	function	function	NOUN
fcis-9423	78	38	,	,	PUNCT
fcis-9423	78	39	so	so	SCONJ
fcis-9423	78	40	as	as	SCONJ
fcis-9423	78	41	to	to	PART
fcis-9423	78	42	improve	improve	VERB
fcis-9423	78	43	the	the	DET
fcis-9423	78	44	transient	transient	ADJ
fcis-9423	78	45	and	and	CCONJ
fcis-9423	78	46	steady	steady	ADJ
fcis-9423	78	47	-	-	PUNCT
fcis-9423	78	48	state	state	NOUN
fcis-9423	78	49	performance	performance	NOUN
fcis-9423	78	50	[	[	X
fcis-9423	78	51	14	14	NUM
fcis-9423	78	52	]	]	PUNCT
fcis-9423	78	53	.	.	PUNCT
fcis-9423	79	1	the	the	DET
fcis-9423	79	2	default	default	NOUN
fcis-9423	79	3	performance	performance	NOUN
fcis-9423	79	4	method	method	NOUN
fcis-9423	79	5	can	can	AUX
fcis-9423	79	6	be	be	AUX
fcis-9423	79	7	expressed	express	VERB
fcis-9423	79	8	as	as	ADP
fcis-9423	79	9	the	the	DET
fcis-9423	79	10	following	follow	VERB
fcis-9423	79	11	inequality	inequality	NOUN
fcis-9423	79	12	:	:	PUNCT
fcis-9423	79	13			NOUN
fcis-9423	79	14			SYM
fcis-9423	79	15			NOUN
fcis-9423	79	16			SYM
fcis-9423	79	17			NOUN
fcis-9423	79	18			PUNCT
fcis-9423	79	19			NOUN
fcis-9423	80	1			NOUN
fcis-9423	81	1			PUNCT
fcis-9423	81	2			NOUN
fcis-9423	81	3			SYM
fcis-9423	81	4			NOUN
fcis-9423	81	5			SYM
fcis-9423	81	6			NOUN
fcis-9423	81	7			PUNCT
fcis-9423	81	8			NOUN
fcis-9423	82	1			NOUN
fcis-9423	83	1			PROPN
fcis-9423	84	1	1	1	NUM
fcis-9423	84	2	2	2	NUM
fcis-9423	84	3	,	,	PUNCT
fcis-9423	84	4	0	0	NUM
fcis-9423	84	5	0	0	NUM
fcis-9423	84	6	,	,	PUNCT
fcis-9423	84	7	0	0	NUM
fcis-9423	84	8	0	0	NUM
fcis-9423	85	1	m	m	VERB
fcis-9423	85	2	t	t	NOUN
fcis-9423	85	3	e	e	NOUN
fcis-9423	85	4	t	t	NOUN
fcis-9423	85	5	t	t	PROPN
fcis-9423	85	6	e	e	PROPN
fcis-9423	85	7	t	t	PROPN
fcis-9423	85	8	e	e	PROPN
fcis-9423	85	9	t	t	PROPN
fcis-9423	85	10	m	m	PROPN
fcis-9423	85	11	t	t	PROPN
fcis-9423	85	12	e	e	PROPN
fcis-9423	85	13			ADP
fcis-9423	85	14			ADP
fcis-9423	85	15			X
fcis-9423	85	16			X
fcis-9423	85	17			ADP
fcis-9423	85	18			PROPN
fcis-9423	85	19			PROPN
fcis-9423	86	1			PROPN
fcis-9423	86	2			NUM
fcis-9423	86	3			NOUN
fcis-9423	86	4			PROPN
fcis-9423	86	5			PROPN
fcis-9423	86	6			X
fcis-9423	86	7	(	(	PUNCT
fcis-9423	86	8	4	4	NUM
fcis-9423	86	9	)	)	PUNCT
fcis-9423	86	10	where	where	SCONJ
fcis-9423	86	11	,	,	PUNCT
fcis-9423	86	12	0	0	NUM
fcis-9423	86	13	1m	1m	NUM
fcis-9423	86	14			NOUN
fcis-9423	86	15	is	be	AUX
fcis-9423	86	16	design	design	NOUN
fcis-9423	86	17	parameter	parameter	NOUN
fcis-9423	86	18	;	;	PUNCT
fcis-9423	86	19			PROPN
fcis-9423	86	20	e	e	PROPN
fcis-9423	86	21	t	t	PROPN
fcis-9423	86	22	is	be	AUX
fcis-9423	86	23	a	a	DET
fcis-9423	86	24	constrained	constrain	VERB
fcis-9423	86	25	error	error	NOUN
fcis-9423	86	26	signal	signal	NOUN
fcis-9423	86	27	;	;	PUNCT
fcis-9423	86	28			PROPN
fcis-9423	86	29	t	t	PROPN
fcis-9423	86	30	is	be	AUX
fcis-9423	86	31	a	a	DET
fcis-9423	86	32	predesigned	predesigned	ADJ
fcis-9423	86	33	performance	performance	NOUN
fcis-9423	86	34	function	function	NOUN
fcis-9423	86	35	that	that	PRON
fcis-9423	86	36	meets	meet	VERB
fcis-9423	86	37	the	the	DET
fcis-9423	86	38	following	following	ADJ
fcis-9423	86	39	definitions	definition	NOUN
fcis-9423	86	40	:	:	PUNCT
fcis-9423	86	41	(	(	PUNCT
fcis-9423	86	42	1	1	X
fcis-9423	86	43	)	)	PUNCT
fcis-9423	86	44	(	(	PUNCT
fcis-9423	86	45	)	)	PUNCT
fcis-9423	86	46	t	t	PROPN
fcis-9423	86	47	is	be	AUX
fcis-9423	86	48	a	a	DET
fcis-9423	86	49	smooth	smooth	ADJ
fcis-9423	86	50	bounded	bounded	ADJ
fcis-9423	86	51	function	function	NOUN
fcis-9423	86	52	,	,	PUNCT
fcis-9423	86	53	(	(	PUNCT
fcis-9423	86	54	)	)	PUNCT
fcis-9423	86	55	t	t	PROPN
fcis-9423	86	56	is	be	AUX
fcis-9423	86	57	decreasing	decrease	VERB
fcis-9423	86	58	monotone	monotone	ADJ
fcis-9423	86	59	and	and	CCONJ
fcis-9423	86	60	(	(	PUNCT
fcis-9423	86	61	)	)	PUNCT
fcis-9423	86	62	t	t	NOUN
fcis-9423	86	63	r	r	NOUN
fcis-9423	86	64	r	r	ADJ
fcis-9423	86	65			PUNCT
fcis-9423	86	66			PROPN
fcis-9423	86	67			PROPN
fcis-9423	86	68	;	;	PUNCT
fcis-9423	86	69	(	(	PUNCT
fcis-9423	86	70	2	2	X
fcis-9423	86	71	)	)	PUNCT
fcis-9423	86	72	for	for	ADP
fcis-9423	86	73	(	(	PUNCT
fcis-9423	86	74	)	)	PUNCT
fcis-9423	86	75	t	t	NOUN
fcis-9423	86	76	,	,	PUNCT
fcis-9423	86	77	have	have	AUX
fcis-9423	86	78	(	(	PUNCT
fcis-9423	86	79	)	)	PUNCT
fcis-9423	86	80	(	(	PUNCT
fcis-9423	86	81	)	)	PUNCT
fcis-9423	86	82	t	t	NOUN
fcis-9423	86	83	t	t	PROPN
fcis-9423	86	84			PROPN
fcis-9423	86	85			NOUN
fcis-9423	86	86	and	and	CCONJ
fcis-9423	86	87	satisfy	satisfy	VERB
fcis-9423	86	88	lim	lim	PROPN
fcis-9423	86	89	(	(	PUNCT
fcis-9423	86	90	)	)	PUNCT
fcis-9423	86	91	(	(	PUNCT
fcis-9423	86	92	)	)	PUNCT
fcis-9423	87	1	[	[	X
fcis-9423	87	2	0	0	NUM
fcis-9423	87	3	,	,	PUNCT
fcis-9423	87	4	)	)	PUNCT
fcis-9423	87	5	t	t	PROPN
fcis-9423	87	6	t	t	PROPN
fcis-9423	87	7	t	t	PROPN
fcis-9423	87	8			ADP
fcis-9423	87	9			NOUN
fcis-9423	87	10			PROPN
fcis-9423	87	11			PROPN
fcis-9423	87	12			PROPN
fcis-9423	87	13			PROPN
fcis-9423	87	14			NOUN
fcis-9423	87	15			VERB
fcis-9423	87	16	.	.	PUNCT
fcis-9423	88	1	attitude	attitude	NOUN
fcis-9423	88	2	angle	angle	NOUN
fcis-9423	88	3	system	system	NOUN
fcis-9423	88	4	for	for	ADP
fcis-9423	88	5	quadrotor	quadrotor	PROPN
fcis-9423	88	6	uav	uav	PROPN
fcis-9423	88	7	,	,	PUNCT
fcis-9423	88	8	the	the	DET
fcis-9423	88	9	performance	performance	NOUN
fcis-9423	88	10	function	function	NOUN
fcis-9423	88	11	(	(	PUNCT
fcis-9423	88	12	)	)	PUNCT
fcis-9423	88	13	t	t	NOUN
fcis-9423	88	14	that	that	PRON
fcis-9423	88	15	can	can	AUX
fcis-9423	88	16	converge	converge	VERB
fcis-9423	88	17	in	in	ADP
fcis-9423	88	18	a	a	DET
fcis-9423	88	19	finite	finite	ADJ
fcis-9423	88	20	time	time	NOUN
fcis-9423	88	21	is	be	AUX
fcis-9423	88	22	selected	select	VERB
fcis-9423	88	23	as	as	SCONJ
fcis-9423	88	24	follows	follow	VERB
fcis-9423	88	25	:	:	PUNCT
fcis-9423	88	26	1	1	NUM
fcis-9423	88	27	1	1	NUM
fcis-9423	88	28	[	[	X
fcis-9423	88	29	(	(	PUNCT
fcis-9423	88	30	)	)	PUNCT
fcis-9423	88	31	/	/	SYM
fcis-9423	89	1	]	]	PUNCT
fcis-9423	89	2	(	(	PUNCT
fcis-9423	89	3	(	(	PUNCT
fcis-9423	89	4	0	0	NUM
fcis-9423	89	5	)	)	PUNCT
fcis-9423	89	6	(	(	PUNCT
fcis-9423	89	7	)	)	PUNCT
fcis-9423	89	8	(	(	PUNCT
fcis-9423	89	9	)	)	PUNCT
fcis-9423	89	10	)	)	PUNCT
fcis-9423	89	11	(	(	PUNCT
fcis-9423	89	12	)	)	PUNCT
fcis-9423	89	13	0	0	NUM
fcis-9423	90	1	(	(	PUNCT
fcis-9423	90	2	)	)	PUNCT
fcis-9423	90	3	,	,	PUNCT
fcis-9423	90	4	rt	rt	PROPN
fcis-9423	90	5	t	t	PROPN
fcis-9423	90	6	t	t	PROPN
fcis-9423	90	7	t	t	PROPN
fcis-9423	90	8	t	t	PROPN
fcis-9423	90	9	t	t	PROPN
fcis-9423	90	10	t	t	PROPN
fcis-9423	90	11	t	t	PROPN
fcis-9423	90	12			ADP
fcis-9423	90	13			ADP
fcis-9423	90	14			X
fcis-9423	90	15			X
fcis-9423	90	16			ADP
fcis-9423	90	17			PROPN
fcis-9423	90	18			ADP
fcis-9423	90	19			PROPN
fcis-9423	90	20			PROPN
fcis-9423	90	21			PROPN
fcis-9423	90	22			VERB
fcis-9423	90	23			ADP
fcis-9423	90	24			VERB
fcis-9423	90	25			NUM
fcis-9423	90	26			VERB
fcis-9423	90	27			X
fcis-9423	90	28			VERB
fcis-9423	90	29			SCONJ
fcis-9423	90	30	，	，	ADJ
fcis-9423	90	31	(	(	PUNCT
fcis-9423	90	32	5	5	NUM
fcis-9423	90	33	)	)	PUNCT
fcis-9423	91	1	where	where	SCONJ
fcis-9423	91	2	,	,	PUNCT
fcis-9423	91	3	(	(	PUNCT
fcis-9423	91	4	0,1)r	0,1)r	NUM
fcis-9423	91	5	,	,	PUNCT
fcis-9423	91	6			PROPN
fcis-9423	91	7	0	0	NOUN
fcis-9423	91	8	,	,	PUNCT
fcis-9423	91	9			PROPN
fcis-9423	91	10			NUM
fcis-9423	91	11			VERB
fcis-9423	91	12	and	and	CCONJ
fcis-9423	91	13	t	t	NOUN
fcis-9423	91	14	is	be	AUX
fcis-9423	91	15	the	the	DET
fcis-9423	91	16	adjustment	adjustment	NOUN
fcis-9423	91	17	parameter	parameter	NOUN
fcis-9423	91	18	of	of	ADP
fcis-9423	91	19	the	the	DET
fcis-9423	91	20	performance	performance	NOUN
fcis-9423	91	21	profile	profile	NOUN
fcis-9423	91	22	at	at	ADP
fcis-9423	91	23	the	the	DET
fcis-9423	91	24	specified	specified	ADJ
fcis-9423	91	25	time	time	NOUN
fcis-9423	91	26	,	,	PUNCT
fcis-9423	91	27	by	by	ADP
fcis-9423	91	28	adjusting	adjust	VERB
fcis-9423	91	29	the	the	DET
fcis-9423	91	30	value	value	NOUN
fcis-9423	91	31	t	t	NOUN
fcis-9423	91	32	of	of	ADP
fcis-9423	91	33	the	the	DET
fcis-9423	91	34	time	time	NOUN
fcis-9423	91	35	,	,	PUNCT
fcis-9423	91	36	you	you	PRON
fcis-9423	91	37	can	can	AUX
fcis-9423	91	38	make	make	VERB
fcis-9423	91	39	the	the	DET
fcis-9423	91	40	time	time	NOUN
fcis-9423	91	41	specified	specify	VERB
fcis-9423	91	42	by	by	ADP
fcis-9423	91	43	the	the	DET
fcis-9423	91	44	performance	performance	NOUN
fcis-9423	91	45	function	function	NOUN
fcis-9423	91	46	(	(	PUNCT
fcis-9423	91	47	)	)	PUNCT
fcis-9423	91	48	t	t	NOUN
fcis-9423	91	49	converge	converge	VERB
fcis-9423	91	50	.	.	PUNCT
fcis-9423	92	1	in	in	ADP
fcis-9423	92	2	order	order	NOUN
fcis-9423	92	3	to	to	PART
fcis-9423	92	4	make	make	VERB
fcis-9423	92	5	tracking	tracking	NOUN
fcis-9423	92	6	errors	error	NOUN
fcis-9423	92	7	converge	converge	VERB
fcis-9423	92	8	within	within	ADP
fcis-9423	92	9	the	the	DET
fcis-9423	92	10	preset	preset	ADJ
fcis-9423	92	11	performance	performance	NOUN
fcis-9423	92	12	,	,	PUNCT
fcis-9423	92	13	inequality	inequality	NOUN
fcis-9423	92	14	constraints	constraint	NOUN
fcis-9423	92	15	should	should	AUX
fcis-9423	92	16	be	be	AUX
fcis-9423	92	17	converted	convert	VERB
fcis-9423	92	18	into	into	ADP
fcis-9423	92	19	equality	equality	NOUN
fcis-9423	92	20	constraints	constraint	NOUN
fcis-9423	92	21	,	,	PUNCT
fcis-9423	92	22	and	and	CCONJ
fcis-9423	92	23	constrained	constrained	ADJ
fcis-9423	92	24	errors	error	NOUN
fcis-9423	92	25	into	into	ADP
fcis-9423	92	26	unconstrained	unconstrained	ADJ
fcis-9423	92	27	errors	error	NOUN
fcis-9423	92	28	[	[	X
fcis-9423	92	29	15	15	NUM
fcis-9423	92	30	]	]	PUNCT
fcis-9423	92	31	.	.	PUNCT
fcis-9423	93	1	this	this	DET
fcis-9423	93	2	paper	paper	NOUN
fcis-9423	93	3	introduces	introduce	VERB
fcis-9423	93	4	the	the	DET
fcis-9423	93	5	error	error	NOUN
fcis-9423	93	6	transform	transform	NOUN
fcis-9423	93	7	shown	show	VERB
fcis-9423	93	8	in	in	ADP
fcis-9423	93	9	equation	equation	NOUN
fcis-9423	93	10	(	(	PUNCT
fcis-9423	93	11	6	6	NUM
fcis-9423	93	12	):	):	PUNCT
fcis-9423	93	13	(	(	PUNCT
fcis-9423	93	14	6	6	NUM
fcis-9423	93	15	)	)	PUNCT
fcis-9423	93	16	:	:	PUNCT
fcis-9423	93	17	(	(	PUNCT
fcis-9423	93	18	)	)	PUNCT
fcis-9423	93	19	(	(	PUNCT
fcis-9423	93	20	)	)	PUNCT
fcis-9423	93	21	(	(	PUNCT
fcis-9423	93	22	(	(	PUNCT
fcis-9423	93	23	)	)	PUNCT
fcis-9423	93	24	)	)	PUNCT
fcis-9423	94	1	e	e	X
fcis-9423	94	2	t	t	PROPN
fcis-9423	94	3	t	t	PROPN
fcis-9423	94	4	s	s	PROPN
fcis-9423	94	5	z	z	NOUN
fcis-9423	94	6	t	t	NOUN
fcis-9423	94	7	(	(	PUNCT
fcis-9423	94	8	6	6	NUM
fcis-9423	94	9	)	)	PUNCT
fcis-9423	94	10	where	where	SCONJ
fcis-9423	94	11	,	,	PUNCT
fcis-9423	94	12	(	(	PUNCT
fcis-9423	94	13	(	(	PUNCT
fcis-9423	94	14	)	)	PUNCT
fcis-9423	94	15	)	)	PUNCT
fcis-9423	95	1	s	s	PART
fcis-9423	95	2	z	z	PROPN
fcis-9423	95	3	t	t	PROPN
fcis-9423	95	4	is	be	AUX
fcis-9423	95	5	the	the	DET
fcis-9423	95	6	error	error	NOUN
fcis-9423	95	7	conversion	conversion	NOUN
fcis-9423	95	8	function	function	NOUN
fcis-9423	95	9	of	of	ADP
fcis-9423	95	10	the	the	DET
fcis-9423	95	11	tracking	tracking	NOUN
fcis-9423	95	12	error	error	NOUN
fcis-9423	95	13	,	,	PUNCT
fcis-9423	95	14	(	(	PUNCT
fcis-9423	95	15	)	)	PUNCT
fcis-9423	95	16	z	z	NOUN
fcis-9423	95	17	t	t	PROPN
fcis-9423	95	18	is	be	AUX
fcis-9423	95	19	conversion	conversion	NOUN
fcis-9423	95	20	error	error	NOUN
fcis-9423	95	21	.	.	PUNCT
fcis-9423	96	1	select	select	VERB
fcis-9423	96	2	the	the	DET
fcis-9423	96	3	error	error	NOUN
fcis-9423	96	4	conversion	conversion	NOUN
fcis-9423	96	5	function	function	NOUN
fcis-9423	96	6	shown	show	VERB
fcis-9423	96	7	in	in	ADP
fcis-9423	96	8	equation	equation	NOUN
fcis-9423	96	9	(	(	PUNCT
fcis-9423	96	10	7	7	NUM
fcis-9423	96	11	)	)	PUNCT
fcis-9423	96	12	:	:	PUNCT
fcis-9423	96	13	(	(	PUNCT
fcis-9423	96	14	)	)	PUNCT
fcis-9423	96	15	(	(	PUNCT
fcis-9423	96	16	)	)	PUNCT
fcis-9423	96	17	(	(	PUNCT
fcis-9423	96	18	)	)	PUNCT
fcis-9423	96	19	(	(	PUNCT
fcis-9423	96	20	)	)	PUNCT
fcis-9423	96	21	(	(	PUNCT
fcis-9423	96	22	(	(	PUNCT
fcis-9423	96	23	)	)	PUNCT
fcis-9423	96	24	)	)	PUNCT
fcis-9423	97	1	t	t	PROPN
fcis-9423	97	2	t	t	PROPN
fcis-9423	97	3	t	t	PROPN
fcis-9423	97	4	t	t	X
fcis-9423	97	5	e	e	X
fcis-9423	97	6	e	e	PROPN
fcis-9423	97	7	z	z	NOUN
fcis-9423	97	8	t	t	X
fcis-9423	97	9	e	e	X
fcis-9423	97	10	e	e	PROPN
fcis-9423	97	11			PROPN
fcis-9423	97	12			PROPN
fcis-9423	97	13			PROPN
fcis-9423	97	14			PROPN
fcis-9423	97	15			VERB
fcis-9423	97	16			NUM
fcis-9423	97	17			X
fcis-9423	97	18	(	(	PUNCT
fcis-9423	97	19	7	7	NUM
fcis-9423	97	20	)	)	PUNCT
fcis-9423	97	21	by	by	ADP
fcis-9423	97	22	inverting	invert	VERB
fcis-9423	97	23	equation	equation	NOUN
fcis-9423	97	24	(	(	PUNCT
fcis-9423	97	25	7	7	NUM
fcis-9423	97	26	)	)	PUNCT
fcis-9423	97	27	,	,	PUNCT
fcis-9423	97	28	the	the	DET
fcis-9423	97	29	expression	expression	NOUN
fcis-9423	97	30	of	of	ADP
fcis-9423	97	31	conversion	conversion	NOUN
fcis-9423	97	32	53	53	NUM
fcis-9423	97	33	error	error	NOUN
fcis-9423	97	34	(	(	PUNCT
fcis-9423	97	35	)	)	PUNCT
fcis-9423	97	36	t	t	NOUN
fcis-9423	97	37	can	can	AUX
fcis-9423	97	38	be	be	AUX
fcis-9423	97	39	obtained	obtain	VERB
fcis-9423	97	40	as	as	SCONJ
fcis-9423	97	41	follows	follow	VERB
fcis-9423	97	42	:	:	PUNCT
fcis-9423	97	43	(	(	PUNCT
fcis-9423	97	44	)	)	PUNCT
fcis-9423	97	45	1	1	NUM
fcis-9423	97	46	1	1	NUM
fcis-9423	97	47	(	(	PUNCT
fcis-9423	97	48	)	)	PUNCT
fcis-9423	97	49	2	2	NUM
fcis-9423	97	50	(	(	PUNCT
fcis-9423	97	51	)	)	PUNCT
fcis-9423	97	52	(	(	PUNCT
fcis-9423	97	53	)	)	PUNCT
fcis-9423	97	54	1	1	NUM
fcis-9423	97	55	(	(	PUNCT
fcis-9423	97	56	)	)	PUNCT
fcis-9423	97	57	(	(	PUNCT
fcis-9423	97	58	)	)	PUNCT
fcis-9423	97	59	ln	ln	INTJ
fcis-9423	97	60	(	(	PUNCT
fcis-9423	97	61	)	)	PUNCT
fcis-9423	97	62	2	2	NUM
fcis-9423	97	63	(	(	PUNCT
fcis-9423	97	64	)	)	PUNCT
fcis-9423	97	65	t	t	NOUN
fcis-9423	97	66	t	t	X
fcis-9423	97	67	e	e	X
fcis-9423	97	68	te	te	PROPN
fcis-9423	97	69	t	t	PROPN
fcis-9423	97	70	t	t	PROPN
fcis-9423	97	71	z	z	PROPN
fcis-9423	97	72	t	t	PROPN
fcis-9423	97	73	e	e	PROPN
fcis-9423	97	74	t	t	PROPN
fcis-9423	97	75			PROPN
fcis-9423	97	76			PROPN
fcis-9423	97	77			VERB
fcis-9423	97	78			ADP
fcis-9423	97	79			PROPN
fcis-9423	97	80			ADP
fcis-9423	97	81			VERB
fcis-9423	97	82			PROPN
fcis-9423	97	83			PROPN
fcis-9423	97	84			NOUN
fcis-9423	97	85			VERB
fcis-9423	97	86			PROPN
fcis-9423	98	1			PROPN
fcis-9423	98	2			PROPN
fcis-9423	98	3			NOUN
fcis-9423	98	4			NOUN
fcis-9423	98	5	(	(	PUNCT
fcis-9423	98	6	8)	8)	NUM
fcis-9423	98	7	according	accord	VERB
fcis-9423	98	8	to	to	ADP
fcis-9423	98	9	different	different	ADJ
fcis-9423	98	10	control	control	NOUN
fcis-9423	98	11	requirements	requirement	NOUN
fcis-9423	98	12	,	,	PUNCT
fcis-9423	98	13	reasonable	reasonable	ADJ
fcis-9423	98	14	error	error	NOUN
fcis-9423	98	15	conversion	conversion	NOUN
fcis-9423	98	16	function	function	NOUN
fcis-9423	98	17	(	(	PUNCT
fcis-9423	98	18	(	(	PUNCT
fcis-9423	98	19	)	)	PUNCT
fcis-9423	98	20	)	)	PUNCT
fcis-9423	98	21	s	s	PROPN
fcis-9423	98	22	z	z	PROPN
fcis-9423	98	23	t	t	NOUN
fcis-9423	98	24	and	and	CCONJ
fcis-9423	98	25	error	error	NOUN
fcis-9423	98	26	conversion	conversion	NOUN
fcis-9423	98	27	function	function	NOUN
fcis-9423	98	28	(	(	PUNCT
fcis-9423	98	29	)	)	PUNCT
fcis-9423	98	30	z	z	NOUN
fcis-9423	98	31	t	t	PROPN
fcis-9423	98	32	are	be	AUX
fcis-9423	98	33	designed	design	VERB
fcis-9423	98	34	,	,	PUNCT
fcis-9423	98	35	the	the	DET
fcis-9423	98	36	transient	transient	ADJ
fcis-9423	98	37	performance	performance	NOUN
fcis-9423	98	38	and	and	CCONJ
fcis-9423	98	39	steady	steady	ADJ
fcis-9423	98	40	-	-	PUNCT
fcis-9423	98	41	state	state	NOUN
fcis-9423	98	42	performance	performance	NOUN
fcis-9423	98	43	of	of	ADP
fcis-9423	98	44	the	the	DET
fcis-9423	98	45	uav	uav	PROPN
fcis-9423	98	46	attitude	attitude	NOUN
fcis-9423	98	47	angle	angle	NOUN
fcis-9423	98	48	system	system	NOUN
fcis-9423	98	49	can	can	AUX
fcis-9423	98	50	be	be	AUX
fcis-9423	98	51	set	set	VERB
fcis-9423	98	52	in	in	ADP
fcis-9423	98	53	advance	advance	NOUN
fcis-9423	98	54	so	so	SCONJ
fcis-9423	98	55	that	that	SCONJ
fcis-9423	98	56	the	the	DET
fcis-9423	98	57	tracking	tracking	NOUN
fcis-9423	98	58	error	error	NOUN
fcis-9423	98	59	of	of	ADP
fcis-9423	98	60	the	the	DET
fcis-9423	98	61	system	system	NOUN
fcis-9423	98	62	is	be	AUX
fcis-9423	98	63	always	always	ADV
fcis-9423	98	64	limited	limit	VERB
fcis-9423	98	65	within	within	ADP
fcis-9423	98	66	the	the	DET
fcis-9423	98	67	error	error	NOUN
fcis-9423	98	68	(	(	PUNCT
fcis-9423	98	69	)	)	PUNCT
fcis-9423	98	70	t	t	PRON
fcis-9423	98	71	boundary	boundary	NOUN
fcis-9423	98	72	of	of	ADP
fcis-9423	98	73	the	the	DET
fcis-9423	98	74	preset	preset	ADJ
fcis-9423	98	75	performance	performance	NOUN
fcis-9423	98	76	function	function	NOUN
fcis-9423	98	77	.	.	PUNCT
fcis-9423	99	1	it	it	PRON
fcis-9423	99	2	's	be	AUX
fcis-9423	99	3	important	important	ADJ
fcis-9423	99	4	to	to	PART
fcis-9423	99	5	note	note	VERB
fcis-9423	99	6	that	that	SCONJ
fcis-9423	99	7	,	,	PUNCT
fcis-9423	99	8	when	when	SCONJ
fcis-9423	99	9			NOUN
fcis-9423	99	10	0	0	NOUN
fcis-9423	99	11	0e	0e	VERB
fcis-9423	99	12			PRON
fcis-9423	99	13	,	,	PUNCT
fcis-9423	99	14	the	the	DET
fcis-9423	99	15	value	value	NOUN
fcis-9423	99	16	of	of	ADP
fcis-9423	99	17	1	1	NUM
fcis-9423	99	18	2	2	NUM
fcis-9423	99	19	m	m	NOUN
fcis-9423	99	20	m	m	PRON
fcis-9423	99	21	,	,	PUNCT
fcis-9423	99	22	can	can	AUX
fcis-9423	99	23	not	not	PART
fcis-9423	99	24	be	be	AUX
fcis-9423	99	25	0	0	NUM
fcis-9423	99	26	,	,	PUNCT
fcis-9423	99	27	otherwise	otherwise	ADV
fcis-9423	99	28	,	,	PUNCT
fcis-9423	99	29	the	the	DET
fcis-9423	99	30	value	value	NOUN
fcis-9423	99	31	(	(	PUNCT
fcis-9423	99	32	)	)	PUNCT
fcis-9423	99	33	z	z	NOUN
fcis-9423	99	34	t	t	PROPN
fcis-9423	99	35	is	be	AUX
fcis-9423	99	36	infinity	infinity	NOUN
fcis-9423	99	37	.	.	PUNCT
fcis-9423	100	1	therefore	therefore	ADV
fcis-9423	100	2	,	,	PUNCT
fcis-9423	100	3	the	the	DET
fcis-9423	100	4	design	design	NOUN
fcis-9423	100	5	parameters	parameter	NOUN
fcis-9423	100	6	1	1	NUM
fcis-9423	100	7	2	2	NUM
fcis-9423	100	8	m	m	NOUN
fcis-9423	100	9	m	m	PRON
fcis-9423	100	10	,	,	PUNCT
fcis-9423	100	11	need	need	VERB
fcis-9423	100	12	to	to	PART
fcis-9423	100	13	be	be	AUX
fcis-9423	100	14	satisfied	satisfied	ADJ
fcis-9423	100	15	1	1	NUM
fcis-9423	100	16	20	20	NUM
fcis-9423	100	17	1	1	NUM
fcis-9423	100	18	m	m	NOUN
fcis-9423	100	19	m	m	NOUN
fcis-9423	100	20			NOUN
fcis-9423	100	21	,	,	PUNCT
fcis-9423	100	22	.	.	PUNCT
fcis-9423	101	1	by	by	ADP
fcis-9423	101	2	differentiating	differentiate	VERB
fcis-9423	101	3	equation	equation	NOUN
fcis-9423	101	4	(	(	PUNCT
fcis-9423	101	5	8)	8)	NUM
fcis-9423	101	6	,	,	PUNCT
fcis-9423	101	7	the	the	DET
fcis-9423	101	8	derivative	derivative	NOUN
fcis-9423	101	9	of	of	ADP
fcis-9423	101	10	conversion	conversion	NOUN
fcis-9423	101	11	error	error	NOUN
fcis-9423	101	12			NOUN
fcis-9423	101	13	t	t	PUNCT
fcis-9423	101	14	can	can	AUX
fcis-9423	101	15	be	be	AUX
fcis-9423	101	16	expressed	express	VERB
fcis-9423	101	17	as	as	SCONJ
fcis-9423	101	18	follows	follow	VERB
fcis-9423	101	19	:	:	PUNCT
fcis-9423	101	20			NOUN
fcis-9423	102	1			SYM
fcis-9423	102	2			NOUN
fcis-9423	102	3			PUNCT
fcis-9423	102	4			NOUN
fcis-9423	102	5			NOUN
fcis-9423	103	1			PUNCT
fcis-9423	103	2			NOUN
fcis-9423	103	3			SYM
fcis-9423	103	4			NOUN
fcis-9423	103	5			SYM
fcis-9423	103	6			NOUN
fcis-9423	103	7			SYM
fcis-9423	103	8			NOUN
fcis-9423	103	9			PUNCT
fcis-9423	103	10			NOUN
fcis-9423	104	1			NOUN
fcis-9423	104	2	1	1	NUM
fcis-9423	104	3	1	1	NUM
fcis-9423	104	4	/	/	SYM
fcis-9423	104	5	tz	tz	PROPN
fcis-9423	104	6	t	t	PROPN
fcis-9423	104	7	e	e	X
fcis-9423	104	8	t	t	PROPN
fcis-9423	104	9	e	e	PROPN
fcis-9423	104	10	t	t	PROPN
fcis-9423	104	11	t	t	PROPN
fcis-9423	104	12	te	te	PROPN
fcis-9423	104	13	t	t	PROPN
fcis-9423	104	14	t	t	PROPN
fcis-9423	104	15			ADP
fcis-9423	104	16			PROPN
fcis-9423	104	17			ADP
fcis-9423	104	18			PROPN
fcis-9423	104	19			PROPN
fcis-9423	104	20			NOUN
fcis-9423	104	21			NOUN
fcis-9423	105	1			NUM
fcis-9423	105	2			NOUN
fcis-9423	105	3			X
fcis-9423	106	1			PROPN
fcis-9423	106	2			PROPN
fcis-9423	106	3			NOUN
fcis-9423	106	4			NOUN
fcis-9423	106	5			NOUN
fcis-9423	106	6			NOUN
fcis-9423	106	7	(	(	PUNCT
fcis-9423	106	8	9	9	NUM
fcis-9423	106	9	)	)	PUNCT
fcis-9423	106	10	for	for	ADP
fcis-9423	106	11	equation	equation	NOUN
fcis-9423	106	12	(	(	PUNCT
fcis-9423	106	13	9	9	NUM
fcis-9423	106	14	)	)	PUNCT
fcis-9423	106	15	,	,	PUNCT
fcis-9423	106	16	make	make	VERB
fcis-9423	106	17			NOUN
fcis-9423	106	18			PRON
fcis-9423	106	19			NOUN
fcis-9423	106	20			PUNCT
fcis-9423	106	21			NOUN
fcis-9423	107	1			NOUN
fcis-9423	108	1			PUNCT
fcis-9423	108	2			NOUN
fcis-9423	108	3			PUNCT
fcis-9423	108	4	1	1	NUM
fcis-9423	108	5	1	1	NUM
fcis-9423	108	6	/	/	SYM
fcis-9423	108	7	z	z	NOUN
fcis-9423	108	8	r	r	NOUN
fcis-9423	108	9	t	t	NOUN
fcis-9423	108	10	te	te	PROPN
fcis-9423	108	11	t	t	PROPN
fcis-9423	108	12	t	t	PROPN
fcis-9423	108	13			NOUN
fcis-9423	108	14			PROPN
fcis-9423	108	15			PROPN
fcis-9423	108	16			NOUN
fcis-9423	108	17	,	,	PUNCT
fcis-9423	108	18			PROPN
fcis-9423	108	19			SYM
fcis-9423	108	20			NOUN
fcis-9423	108	21			SYM
fcis-9423	108	22			NOUN
fcis-9423	109	1			PROPN
fcis-9423	109	2	t	t	NOUN
fcis-9423	109	3	v	v	NOUN
fcis-9423	109	4	t	t	PROPN
fcis-9423	109	5	t	t	PROPN
fcis-9423	109	6			ADP
fcis-9423	109	7			ADP
fcis-9423	109	8			NUM
fcis-9423	109	9			NOUN
fcis-9423	109	10	,	,	PUNCT
fcis-9423	109	11	then	then	ADV
fcis-9423	109	12	formula	formula	NOUN
fcis-9423	109	13	(	(	PUNCT
fcis-9423	109	14	9	9	NUM
fcis-9423	109	15	)	)	PUNCT
fcis-9423	109	16	can	can	AUX
fcis-9423	109	17	be	be	AUX
fcis-9423	109	18	rewritten	rewrite	VERB
fcis-9423	109	19	as	as	ADP
fcis-9423	109	20	:	:	PUNCT
fcis-9423	109	21			NOUN
fcis-9423	109	22			PROPN
fcis-9423	109	23			NOUN
fcis-9423	109	24			SYM
fcis-9423	109	25			NOUN
fcis-9423	109	26			PUNCT
fcis-9423	109	27			NOUN
fcis-9423	109	28			NOUN
fcis-9423	109	29	t	t	NOUN
fcis-9423	109	30	r	r	NOUN
fcis-9423	109	31	e	e	NOUN
fcis-9423	109	32	t	t	X
fcis-9423	109	33	e	e	PROPN
fcis-9423	109	34	t	t	NOUN
fcis-9423	109	35	v	v	ADP
fcis-9423	109	36	t	t	PROPN
fcis-9423	109	37			PROPN
fcis-9423	109	38			ADJ
fcis-9423	109	39			NOUN
fcis-9423	109	40	(	(	PUNCT
fcis-9423	109	41	10	10	NUM
fcis-9423	109	42	)	)	PUNCT
fcis-9423	109	43	therefore	therefore	ADV
fcis-9423	109	44	,	,	PUNCT
fcis-9423	109	45	as	as	ADV
fcis-9423	109	46	long	long	ADV
fcis-9423	109	47	as	as	SCONJ
fcis-9423	109	48	the	the	DET
fcis-9423	109	49	conversion	conversion	NOUN
fcis-9423	109	50	error	error	NOUN
fcis-9423	109	51			NOUN
fcis-9423	109	52	t	t	NOUN
fcis-9423	109	53	is	be	AUX
fcis-9423	109	54	bounded	bound	VERB
fcis-9423	109	55	,	,	PUNCT
fcis-9423	109	56	the	the	DET
fcis-9423	109	57	tracking	tracking	NOUN
fcis-9423	109	58	error	error	NOUN
fcis-9423	109	59			NOUN
fcis-9423	109	60	e	e	PROPN
fcis-9423	109	61	t	t	PROPN
fcis-9423	109	62	can	can	AUX
fcis-9423	109	63	meet	meet	VERB
fcis-9423	109	64	the	the	DET
fcis-9423	109	65	requirements	requirement	NOUN
fcis-9423	109	66	of	of	ADP
fcis-9423	109	67	the	the	DET
fcis-9423	109	68	preset	preset	ADJ
fcis-9423	109	69	performance	performance	NOUN
fcis-9423	109	70	.	.	PUNCT
fcis-9423	110	1	4	4	X
fcis-9423	110	2	.	.	X
fcis-9423	110	3	preset	preset	ADJ
fcis-9423	110	4	performance	performance	NOUN
fcis-9423	110	5	backstepping	backstepping	NOUN
fcis-9423	110	6	controller	controller	NOUN
fcis-9423	110	7	design	design	NOUN
fcis-9423	110	8	on	on	ADP
fcis-9423	110	9	the	the	DET
fcis-9423	110	10	basis	basis	NOUN
fcis-9423	110	11	of	of	ADP
fcis-9423	110	12	given	give	VERB
fcis-9423	110	13	virtual	virtual	ADJ
fcis-9423	110	14	control	control	NOUN
fcis-9423	110	15	quantity	quantity	NOUN
fcis-9423	110	16	,	,	PUNCT
fcis-9423	110	17	attitude	attitude	NOUN
fcis-9423	110	18	closed	closed	ADJ
fcis-9423	110	19	-	-	PUNCT
fcis-9423	110	20	loop	loop	NOUN
fcis-9423	110	21	control	control	NOUN
fcis-9423	110	22	can	can	AUX
fcis-9423	110	23	be	be	AUX
fcis-9423	110	24	regarded	regard	VERB
fcis-9423	110	25	as	as	ADP
fcis-9423	110	26	a	a	DET
fcis-9423	110	27	linear	linear	ADJ
fcis-9423	110	28	control	control	NOUN
fcis-9423	110	29	.	.	PUNCT
fcis-9423	111	1	by	by	ADP
fcis-9423	111	2	using	use	VERB
fcis-9423	111	3	the	the	DET
fcis-9423	111	4	idea	idea	NOUN
fcis-9423	111	5	of	of	ADP
fcis-9423	111	6	error	error	NOUN
fcis-9423	111	7	conversion	conversion	NOUN
fcis-9423	111	8	,	,	PUNCT
fcis-9423	111	9	the	the	DET
fcis-9423	111	10	tracking	tracking	NOUN
fcis-9423	111	11	error	error	NOUN
fcis-9423	111	12	is	be	AUX
fcis-9423	111	13	guaranteed	guarantee	VERB
fcis-9423	111	14	to	to	PART
fcis-9423	111	15	be	be	AUX
fcis-9423	111	16	in	in	ADP
fcis-9423	111	17	the	the	DET
fcis-9423	111	18	preset	preset	ADJ
fcis-9423	111	19	boundary	boundary	ADJ
fcis-9423	111	20	function	function	NOUN
fcis-9423	111	21	,	,	PUNCT
fcis-9423	111	22	and	and	CCONJ
fcis-9423	111	23	the	the	DET
fcis-9423	111	24	extended	extended	ADJ
fcis-9423	111	25	state	state	NOUN
fcis-9423	111	26	observer	observer	NOUN
fcis-9423	111	27	is	be	AUX
fcis-9423	111	28	designed	design	VERB
fcis-9423	111	29	to	to	PART
fcis-9423	111	30	estimate	estimate	VERB
fcis-9423	111	31	the	the	DET
fcis-9423	111	32	sum	sum	NOUN
fcis-9423	111	33	of	of	ADP
fcis-9423	111	34	the	the	DET
fcis-9423	111	35	uncertain	uncertain	ADJ
fcis-9423	111	36	influence	influence	NOUN
fcis-9423	111	37	interference	interference	NOUN
fcis-9423	111	38	,	,	PUNCT
fcis-9423	111	39	and	and	CCONJ
fcis-9423	111	40	then	then	ADV
fcis-9423	111	41	the	the	DET
fcis-9423	111	42	adaptive	adaptive	ADJ
fcis-9423	111	43	backstepping	backstepping	NOUN
fcis-9423	111	44	controller	controller	NOUN
fcis-9423	111	45	is	be	AUX
fcis-9423	111	46	designed	design	VERB
fcis-9423	111	47	.	.	PUNCT
fcis-9423	112	1	step	step	NOUN
fcis-9423	112	2	1	1	NUM
fcis-9423	112	3	:	:	PUNCT
fcis-9423	112	4	conversion	conversion	NOUN
fcis-9423	112	5	error	error	NOUN
fcis-9423	112	6	1e	1e	NOUN
fcis-9423	112	7	is	be	AUX
fcis-9423	112	8	introduced	introduce	VERB
fcis-9423	112	9	into	into	ADP
fcis-9423	112	10	the	the	DET
fcis-9423	112	11	attitude	attitude	NOUN
fcis-9423	112	12	angle	angle	NOUN
fcis-9423	112	13	tracking	tracking	NOUN
fcis-9423	112	14	error	error	NOUN
fcis-9423	112	15	1	1	NUM
fcis-9423	112	16	(	(	PUNCT
fcis-9423	112	17	)	)	PUNCT
fcis-9423	112	18	z	z	NOUN
fcis-9423	112	19	t	t	PROPN
fcis-9423	112	20	of	of	ADP
fcis-9423	112	21	the	the	DET
fcis-9423	112	22	four	four	NUM
fcis-9423	112	23	-	-	PUNCT
fcis-9423	112	24	rotor	rotor	NOUN
fcis-9423	112	25	uav	uav	PROPN
fcis-9423	112	26	,	,	PUNCT
fcis-9423	112	27	then	then	ADV
fcis-9423	112	28	the	the	DET
fcis-9423	112	29	tracking	tracking	NOUN
fcis-9423	112	30	error	error	NOUN
fcis-9423	112	31	equation	equation	NOUN
fcis-9423	112	32	of	of	ADP
fcis-9423	112	33	the	the	DET
fcis-9423	112	34	system	system	NOUN
fcis-9423	112	35	can	can	AUX
fcis-9423	112	36	be	be	AUX
fcis-9423	112	37	described	describe	VERB
fcis-9423	112	38	as	as	ADP
fcis-9423	112	39	:	:	PUNCT
fcis-9423	112	40	1	1	NUM
fcis-9423	112	41	1	1	NUM
fcis-9423	112	42	(	(	PUNCT
fcis-9423	112	43	)	)	PUNCT
fcis-9423	112	44	(	(	PUNCT
fcis-9423	112	45	)	)	PUNCT
fcis-9423	112	46	re	re	ADP
fcis-9423	112	47	t	t	PROPN
fcis-9423	112	48	z	z	PROPN
fcis-9423	112	49	t	t	PROPN
fcis-9423	113	1	p	p	X
fcis-9423	113	2	p	p	NOUN
fcis-9423	114	1			PROPN
fcis-9423	114	2			NOUN
fcis-9423	114	3	(	(	PUNCT
fcis-9423	114	4	11	11	NUM
fcis-9423	114	5	)	)	PUNCT
fcis-9423	114	6	where	where	SCONJ
fcis-9423	114	7	,	,	PUNCT
fcis-9423	114	8	p	p	NOUN
fcis-9423	114	9	and	and	CCONJ
fcis-9423	114	10	rp	rp	NOUN
fcis-9423	114	11	represents	represent	VERB
fcis-9423	114	12	the	the	DET
fcis-9423	114	13	actual	actual	ADJ
fcis-9423	114	14	attitude	attitude	NOUN
fcis-9423	114	15	angle	angle	NOUN
fcis-9423	114	16	and	and	CCONJ
fcis-9423	114	17	the	the	DET
fcis-9423	114	18	expected	expect	VERB
fcis-9423	114	19	attitude	attitude	NOUN
fcis-9423	114	20	angle	angle	NOUN
fcis-9423	114	21	respectively	respectively	ADV
fcis-9423	114	22	.	.	PUNCT
fcis-9423	115	1	based	base	VERB
fcis-9423	115	2	on	on	ADP
fcis-9423	115	3	the	the	DET
fcis-9423	115	4	rolling	rolling	ADJ
fcis-9423	115	5	angle	angle	NOUN
fcis-9423	115	6	channel	channel	NOUN
fcis-9423	115	7	tracking	tracking	NOUN
fcis-9423	115	8	error	error	NOUN
fcis-9423	115	9	equation	equation	NOUN
fcis-9423	115	10	of	of	ADP
fcis-9423	115	11	equation	equation	NOUN
fcis-9423	115	12	(	(	PUNCT
fcis-9423	115	13	11	11	NUM
fcis-9423	115	14	)	)	PUNCT
fcis-9423	115	15	,	,	PUNCT
fcis-9423	115	16	the	the	DET
fcis-9423	115	17	lyapunov	lyapunov	ADJ
fcis-9423	115	18	function	function	NOUN
fcis-9423	115	19	is	be	AUX
fcis-9423	115	20	constructed	construct	VERB
fcis-9423	115	21	as	as	SCONJ
fcis-9423	115	22	follows	follow	VERB
fcis-9423	115	23	:	:	PUNCT
fcis-9423	115	24	2	2	NUM
fcis-9423	115	25	1	1	NUM
fcis-9423	115	26	1	1	NUM
fcis-9423	115	27	1	1	NUM
fcis-9423	115	28	1	1	NUM
fcis-9423	115	29	(	(	PUNCT
fcis-9423	115	30	)	)	PUNCT
fcis-9423	115	31	2	2	NUM
fcis-9423	115	32	v	v	NOUN
fcis-9423	115	33	e	e	X
fcis-9423	115	34	e	e	PROPN
fcis-9423	115	35	(	(	PUNCT
fcis-9423	115	36	12	12	NUM
fcis-9423	115	37	)	)	PUNCT
fcis-9423	115	38	the	the	DET
fcis-9423	115	39	derivative	derivative	NOUN
fcis-9423	115	40	of	of	ADP
fcis-9423	115	41	equation	equation	NOUN
fcis-9423	115	42	(	(	PUNCT
fcis-9423	115	43	12	12	NUM
fcis-9423	115	44	)	)	PUNCT
fcis-9423	115	45	is	be	AUX
fcis-9423	115	46	obtained	obtain	VERB
fcis-9423	115	47	:	:	PUNCT
fcis-9423	115	48	1	1	NUM
fcis-9423	115	49	1	1	NUM
fcis-9423	115	50	1	1	NUM
fcis-9423	115	51	1	1	NUM
fcis-9423	115	52	1	1	NUM
fcis-9423	115	53	1	1	NUM
fcis-9423	115	54	1	1	NUM
fcis-9423	115	55	2	2	NUM
fcis-9423	115	56	1	1	NUM
fcis-9423	115	57	(	(	PUNCT
fcis-9423	115	58	)	)	PUNCT
fcis-9423	115	59	(	(	PUNCT
fcis-9423	115	60	)	)	PUNCT
fcis-9423	115	61	(	(	PUNCT
fcis-9423	116	1	)	)	PUNCT
fcis-9423	116	2	r	r	NOUN
fcis-9423	116	3	rv	rv	NOUN
fcis-9423	116	4	e	e	X
fcis-9423	116	5	e	e	X
fcis-9423	116	6	e	e	X
fcis-9423	116	7	e	e	X
fcis-9423	116	8	p	p	X
fcis-9423	116	9	p	p	X
fcis-9423	116	10	e	e	X
fcis-9423	116	11	r	r	NOUN
fcis-9423	116	12	u	u	NOUN
fcis-9423	116	13	p	p	PROPN
fcis-9423	116	14	e	e	PROPN
fcis-9423	116	15	v	v	ADP
fcis-9423	116	16			NUM
fcis-9423	116	17			PROPN
fcis-9423	116	18			PROPN
fcis-9423	116	19			PROPN
fcis-9423	116	20			ADP
fcis-9423	116	21			NOUN
fcis-9423	116	22			NOUN
fcis-9423	116	23			NOUN
fcis-9423	116	24			NOUN
fcis-9423	116	25	(	(	PUNCT
fcis-9423	116	26	13	13	NUM
fcis-9423	116	27	)	)	PUNCT
fcis-9423	116	28	where	where	SCONJ
fcis-9423	116	29	,	,	PUNCT
fcis-9423	116	30	2u	2u	PROPN
fcis-9423	116	31	represents	represent	VERB
fcis-9423	116	32	the	the	DET
fcis-9423	116	33	virtual	virtual	ADJ
fcis-9423	116	34	control	control	NOUN
fcis-9423	116	35	input	input	NOUN
fcis-9423	116	36	of	of	ADP
fcis-9423	116	37	the	the	DET
fcis-9423	116	38	attitude	attitude	NOUN
fcis-9423	116	39	angle	angle	NOUN
fcis-9423	116	40	system	system	NOUN
fcis-9423	116	41	of	of	ADP
fcis-9423	116	42	the	the	DET
fcis-9423	116	43	four	four	NUM
fcis-9423	116	44	-	-	PUNCT
fcis-9423	116	45	rotor	rotor	NOUN
fcis-9423	116	46	uav	uav	PROPN
fcis-9423	116	47	.	.	PUNCT
fcis-9423	117	1	in	in	ADP
fcis-9423	117	2	order	order	NOUN
fcis-9423	117	3	to	to	PART
fcis-9423	117	4	ensure	ensure	VERB
fcis-9423	117	5	the	the	DET
fcis-9423	117	6	tracking	tracking	NOUN
fcis-9423	117	7	error	error	NOUN
fcis-9423	117	8	of	of	ADP
fcis-9423	117	9	attitude	attitude	NOUN
fcis-9423	117	10	angle	angle	NOUN
fcis-9423	117	11	is	be	AUX
fcis-9423	117	12	stable	stable	ADJ
fcis-9423	117	13	,	,	PUNCT
fcis-9423	117	14	a	a	PRON
fcis-9423	117	15	must	must	AUX
fcis-9423	117	16	be	be	AUX
fcis-9423	117	17	satisfied	satisfied	ADJ
fcis-9423	117	18	1	1	NUM
fcis-9423	117	19	1	1	NUM
fcis-9423	117	20	(	(	PUNCT
fcis-9423	117	21	)	)	PUNCT
fcis-9423	118	1	0v	0v	NOUN
fcis-9423	118	2	e	e	X
fcis-9423	118	3			PROPN
fcis-9423	118	4	.	.	PUNCT
fcis-9423	119	1	based	base	VERB
fcis-9423	119	2	on	on	ADP
fcis-9423	119	3	equation	equation	NOUN
fcis-9423	119	4	(	(	PUNCT
fcis-9423	119	5	13	13	NUM
fcis-9423	119	6	)	)	PUNCT
fcis-9423	119	7	,	,	PUNCT
fcis-9423	119	8	the	the	DET
fcis-9423	119	9	virtual	virtual	ADJ
fcis-9423	119	10	control	control	NOUN
fcis-9423	119	11	law	law	NOUN
fcis-9423	119	12	of	of	ADP
fcis-9423	119	13	the	the	DET
fcis-9423	119	14	stable	stable	ADJ
fcis-9423	119	15	attitude	attitude	NOUN
fcis-9423	119	16	angle	angle	NOUN
fcis-9423	119	17	system	system	NOUN
fcis-9423	119	18	satisfying	satisfy	VERB
fcis-9423	119	19	lyapunov	lyapunov	PROPN
fcis-9423	119	20	's	's	PART
fcis-9423	119	21	sense	sense	NOUN
fcis-9423	119	22	is	be	AUX
fcis-9423	119	23	designed	design	VERB
fcis-9423	119	24	as	as	SCONJ
fcis-9423	119	25	follows	follow	VERB
fcis-9423	119	26	:	:	PUNCT
fcis-9423	120	1			NOUN
fcis-9423	120	2			SYM
fcis-9423	120	3			NOUN
fcis-9423	120	4	1	1	NOUN
fcis-9423	120	5	2	2	NUM
fcis-9423	120	6	1	1	NUM
fcis-9423	120	7	1	1	NUM
fcis-9423	120	8	1	1	NUM
fcis-9423	120	9	1	1	NUM
fcis-9423	120	10	1	1	NUM
fcis-9423	120	11	(	(	PUNCT
fcis-9423	120	12	)	)	PUNCT
fcis-9423	120	13	(	(	PUNCT
fcis-9423	120	14	)	)	PUNCT
fcis-9423	120	15	(	(	PUNCT
fcis-9423	120	16	)	)	PUNCT
fcis-9423	120	17	(	(	PUNCT
fcis-9423	120	18	)	)	PUNCT
fcis-9423	120	19	ru	ru	PROPN
fcis-9423	120	20	t	t	PROPN
fcis-9423	121	1	k	k	NOUN
fcis-9423	121	2	r	r	NOUN
fcis-9423	121	3	t	t	PROPN
fcis-9423	121	4	e	e	X
fcis-9423	121	5	t	t	PROPN
fcis-9423	121	6	p	p	X
fcis-9423	121	7	t	t	PROPN
fcis-9423	121	8	e	e	PROPN
fcis-9423	121	9	t	t	PROPN
fcis-9423	121	10	v	v	NOUN
fcis-9423	121	11	t	t	PROPN
fcis-9423	121	12			NOUN
fcis-9423	121	13			NOUN
fcis-9423	121	14	+	+	NOUN
fcis-9423	121	15			NOUN
fcis-9423	121	16	(	(	PUNCT
fcis-9423	121	17	14	14	NUM
fcis-9423	121	18	)	)	PUNCT
fcis-9423	121	19	if	if	SCONJ
fcis-9423	121	20	equation	equation	NOUN
fcis-9423	121	21	(	(	PUNCT
fcis-9423	121	22	14	14	NUM
fcis-9423	121	23	)	)	PUNCT
fcis-9423	121	24	is	be	AUX
fcis-9423	121	25	substituted	substitute	VERB
fcis-9423	121	26	into	into	ADP
fcis-9423	121	27	equation	equation	NOUN
fcis-9423	121	28	(	(	PUNCT
fcis-9423	121	29	13	13	NUM
fcis-9423	121	30	)	)	PUNCT
fcis-9423	121	31	,	,	PUNCT
fcis-9423	121	32	equation	equation	NOUN
fcis-9423	121	33	(	(	PUNCT
fcis-9423	121	34	13	13	NUM
fcis-9423	121	35	)	)	PUNCT
fcis-9423	121	36	can	can	AUX
fcis-9423	121	37	be	be	AUX
fcis-9423	121	38	rewritten	rewrite	VERB
fcis-9423	121	39	as	as	ADP
fcis-9423	121	40	:	:	SYM
fcis-9423	121	41	2	2	NUM
fcis-9423	121	42	1	1	NUM
fcis-9423	121	43	1	1	NUM
fcis-9423	121	44	1	1	NUM
fcis-9423	121	45	1	1	NUM
fcis-9423	121	46	(	(	PUNCT
fcis-9423	121	47	)	)	PUNCT
fcis-9423	121	48	v	v	NOUN
fcis-9423	121	49	e	e	X
fcis-9423	121	50	k	k	PROPN
fcis-9423	121	51	e	e	PROPN
fcis-9423	121	52			PROPN
fcis-9423	121	53	(	(	PUNCT
fcis-9423	121	54	15	15	NUM
fcis-9423	121	55	)	)	PUNCT
fcis-9423	121	56	step	step	NOUN
fcis-9423	121	57	2	2	NUM
fcis-9423	121	58	:	:	PUNCT
fcis-9423	121	59	the	the	DET
fcis-9423	121	60	error	error	NOUN
fcis-9423	121	61	equation	equation	NOUN
fcis-9423	121	62	for	for	ADP
fcis-9423	121	63	defining	define	VERB
fcis-9423	121	64	the	the	DET
fcis-9423	121	65	tracking	tracking	NOUN
fcis-9423	121	66	speed	speed	NOUN
fcis-9423	121	67	of	of	ADP
fcis-9423	121	68	the	the	DET
fcis-9423	121	69	attitude	attitude	NOUN
fcis-9423	121	70	angle	angle	NOUN
fcis-9423	121	71	system	system	NOUN
fcis-9423	121	72	of	of	ADP
fcis-9423	121	73	the	the	DET
fcis-9423	121	74	four	four	NUM
fcis-9423	121	75	-	-	PUNCT
fcis-9423	121	76	rotor	rotor	NOUN
fcis-9423	121	77	uav	uav	PROPN
fcis-9423	121	78	is	be	AUX
fcis-9423	121	79	as	as	SCONJ
fcis-9423	121	80	follows	follow	VERB
fcis-9423	121	81	:	:	PUNCT
fcis-9423	122	1	2	2	NUM
fcis-9423	122	2	2re	2re	NOUN
fcis-9423	122	3	p	p	X
fcis-9423	123	1	p	p	X
fcis-9423	123	2	p	p	X
fcis-9423	123	3	u	u	X
fcis-9423	123	4			PROPN
fcis-9423	123	5			ADJ
fcis-9423	123	6			ADJ
fcis-9423	123	7			NOUN
fcis-9423	123	8			NOUN
fcis-9423	123	9	(	(	PUNCT
fcis-9423	123	10	16	16	NUM
fcis-9423	123	11	)	)	PUNCT
fcis-9423	123	12	where	where	SCONJ
fcis-9423	123	13	,	,	PUNCT
fcis-9423	123	14	p	p	NOUN
fcis-9423	123	15	,	,	PUNCT
fcis-9423	123	16	rp	rp	PROPN
fcis-9423	123	17	respectively	respectively	ADV
fcis-9423	123	18	represent	represent	VERB
fcis-9423	123	19	the	the	DET
fcis-9423	123	20	actual	actual	ADJ
fcis-9423	123	21	attitude	attitude	NOUN
fcis-9423	123	22	angle	angle	NOUN
fcis-9423	123	23	tracking	tracking	NOUN
fcis-9423	123	24	speed	speed	NOUN
fcis-9423	123	25	.	.	PUNCT
fcis-9423	124	1	the	the	DET
fcis-9423	124	2	degree	degree	NOUN
fcis-9423	124	3	and	and	CCONJ
fcis-9423	124	4	desired	desire	VERB
fcis-9423	124	5	attitude	attitude	NOUN
fcis-9423	124	6	angle	angle	NOUN
fcis-9423	124	7	track	track	VERB
fcis-9423	124	8	the	the	DET
fcis-9423	124	9	velocity	velocity	NOUN
fcis-9423	124	10	.	.	PUNCT
fcis-9423	125	1	aiming	aim	VERB
fcis-9423	125	2	at	at	ADP
fcis-9423	125	3	the	the	DET
fcis-9423	125	4	error	error	NOUN
fcis-9423	125	5	equation	equation	NOUN
fcis-9423	125	6	of	of	ADP
fcis-9423	125	7	attitude	attitude	NOUN
fcis-9423	125	8	angle	angle	NOUN
fcis-9423	125	9	tracking	tracking	NOUN
fcis-9423	125	10	velocity	velocity	NOUN
fcis-9423	125	11	,	,	PUNCT
fcis-9423	125	12	the	the	DET
fcis-9423	125	13	lyapunov	lyapunov	ADJ
fcis-9423	125	14	function	function	NOUN
fcis-9423	125	15	is	be	AUX
fcis-9423	125	16	constructed	construct	VERB
fcis-9423	125	17	as	as	SCONJ
fcis-9423	125	18	follows	follow	VERB
fcis-9423	125	19	:	:	PUNCT
fcis-9423	125	20	2	2	NUM
fcis-9423	125	21	2	2	NUM
fcis-9423	125	22	2	2	NUM
fcis-9423	125	23	2	2	NUM
fcis-9423	125	24	1	1	NUM
fcis-9423	125	25	(	(	PUNCT
fcis-9423	125	26	)	)	PUNCT
fcis-9423	125	27	2	2	NUM
fcis-9423	125	28	v	v	NOUN
fcis-9423	125	29	e	e	X
fcis-9423	125	30	e	e	PROPN
fcis-9423	125	31	(	(	PUNCT
fcis-9423	125	32	17	17	NUM
fcis-9423	125	33	)	)	PUNCT
fcis-9423	125	34	the	the	DET
fcis-9423	125	35	derivative	derivative	NOUN
fcis-9423	125	36	of	of	ADP
fcis-9423	125	37	equation	equation	NOUN
fcis-9423	125	38	(	(	PUNCT
fcis-9423	125	39	17	17	NUM
fcis-9423	125	40	)	)	PUNCT
fcis-9423	125	41	is	be	AUX
fcis-9423	125	42	obtained	obtain	VERB
fcis-9423	125	43	:	:	PUNCT
fcis-9423	125	44	2	2	NUM
fcis-9423	125	45	2	2	NUM
fcis-9423	125	46	2	2	NUM
fcis-9423	125	47	2	2	NUM
fcis-9423	125	48	2	2	NUM
fcis-9423	125	49	2	2	NUM
fcis-9423	125	50	2	2	NUM
fcis-9423	125	51	2	2	NUM
fcis-9423	125	52	2	2	NUM
fcis-9423	125	53	2	2	NUM
fcis-9423	125	54	2	2	NUM
fcis-9423	125	55	(	(	PUNCT
fcis-9423	125	56	)	)	PUNCT
fcis-9423	125	57	(	(	PUNCT
fcis-9423	125	58	)	)	PUNCT
fcis-9423	125	59	(	(	PUNCT
fcis-9423	125	60	)	)	PUNCT
fcis-9423	125	61	v	v	NOUN
fcis-9423	125	62	e	e	NOUN
fcis-9423	125	63	e	e	X
fcis-9423	125	64	e	e	X
fcis-9423	125	65	e	e	X
fcis-9423	125	66	p	p	X
fcis-9423	125	67	u	u	X
fcis-9423	125	68	e	e	X
fcis-9423	125	69	k	k	NOUN
fcis-9423	125	70	u	u	PROPN
fcis-9423	125	71	d	d	X
fcis-9423	125	72	u	u	NOUN
fcis-9423	125	73			PROPN
fcis-9423	125	74			PROPN
fcis-9423	125	75			PROPN
fcis-9423	125	76			NUM
fcis-9423	125	77			ADJ
fcis-9423	125	78			NOUN
fcis-9423	125	79			NOUN
fcis-9423	125	80			NOUN
fcis-9423	125	81			NUM
fcis-9423	125	82			NOUN
fcis-9423	125	83	(	(	PUNCT
fcis-9423	125	84	18	18	NUM
fcis-9423	125	85	)	)	PUNCT
fcis-9423	125	86	where	where	SCONJ
fcis-9423	125	87	,	,	PUNCT
fcis-9423	125	88	2u	2u	PROPN
fcis-9423	125	89	represents	represent	VERB
fcis-9423	125	90	the	the	DET
fcis-9423	125	91	actual	actual	ADJ
fcis-9423	125	92	control	control	NOUN
fcis-9423	125	93	input	input	NOUN
fcis-9423	125	94	of	of	ADP
fcis-9423	125	95	the	the	DET
fcis-9423	125	96	attitude	attitude	NOUN
fcis-9423	125	97	angle	angle	NOUN
fcis-9423	125	98	system	system	NOUN
fcis-9423	125	99	.	.	PUNCT
fcis-9423	126	1	in	in	ADP
fcis-9423	126	2	order	order	NOUN
fcis-9423	126	3	to	to	PART
fcis-9423	126	4	ensure	ensure	VERB
fcis-9423	126	5	that	that	SCONJ
fcis-9423	126	6	the	the	DET
fcis-9423	126	7	tracking	tracking	NOUN
fcis-9423	126	8	velocity	velocity	NOUN
fcis-9423	126	9	error	error	NOUN
fcis-9423	126	10	of	of	ADP
fcis-9423	126	11	attitude	attitude	NOUN
fcis-9423	126	12	angle	angle	NOUN
fcis-9423	126	13	2e	2e	PROPN
fcis-9423	126	14	is	be	AUX
fcis-9423	126	15	stable	stable	ADJ
fcis-9423	126	16	,	,	PUNCT
fcis-9423	126	17	it	it	PRON
fcis-9423	126	18	needs	need	VERB
fcis-9423	126	19	to	to	PART
fcis-9423	126	20	meet	meet	VERB
fcis-9423	126	21	2	2	NUM
fcis-9423	126	22	2	2	NUM
fcis-9423	126	23	(	(	PUNCT
fcis-9423	126	24	)	)	PUNCT
fcis-9423	126	25	0v	0v	NOUN
fcis-9423	126	26	e	e	X
fcis-9423	126	27			PROPN
fcis-9423	126	28	.	.	PUNCT
fcis-9423	127	1	then	then	ADV
fcis-9423	127	2	the	the	DET
fcis-9423	127	3	actual	actual	ADJ
fcis-9423	127	4	control	control	NOUN
fcis-9423	127	5	law	law	NOUN
fcis-9423	127	6	of	of	ADP
fcis-9423	127	7	the	the	DET
fcis-9423	127	8	stable	stable	ADJ
fcis-9423	127	9	attitude	attitude	NOUN
fcis-9423	127	10	angle	angle	NOUN
fcis-9423	127	11	system	system	NOUN
fcis-9423	127	12	satisfying	satisfy	VERB
fcis-9423	127	13	lyapunov	lyapunov	PROPN
fcis-9423	127	14	's	's	PART
fcis-9423	127	15	sense	sense	NOUN
fcis-9423	127	16	is	be	AUX
fcis-9423	127	17	designed	design	VERB
fcis-9423	127	18	as	as	ADP
fcis-9423	127	19	follow	follow	NOUN
fcis-9423	127	20			NOUN
fcis-9423	127	21	1	1	NOUN
fcis-9423	127	22	2	2	NUM
fcis-9423	127	23	2	2	NUM
fcis-9423	127	24	2	2	NUM
fcis-9423	127	25	2	2	NUM
fcis-9423	127	26	2	2	NUM
fcis-9423	127	27	(	(	PUNCT
fcis-9423	127	28	)	)	PUNCT
fcis-9423	128	1	ru	ru	PROPN
fcis-9423	129	1	k	k	PROPN
fcis-9423	129	2	k	k	PROPN
fcis-9423	130	1	p	p	X
fcis-9423	130	2	p	p	X
fcis-9423	130	3	d	d	X
fcis-9423	130	4	u	u	PROPN
fcis-9423	130	5			PROPN
fcis-9423	130	6			PROPN
fcis-9423	130	7			PROPN
fcis-9423	130	8			SYM
fcis-9423	130	9			NOUN
fcis-9423	130	10			NOUN
fcis-9423	130	11	(	(	PUNCT
fcis-9423	130	12	19	19	NUM
fcis-9423	130	13	)	)	PUNCT
fcis-9423	130	14	if	if	SCONJ
fcis-9423	130	15	equation	equation	NOUN
fcis-9423	130	16	(	(	PUNCT
fcis-9423	130	17	19	19	NUM
fcis-9423	130	18	)	)	PUNCT
fcis-9423	130	19	is	be	AUX
fcis-9423	130	20	substituted	substitute	VERB
fcis-9423	130	21	into	into	ADP
fcis-9423	130	22	equation	equation	NOUN
fcis-9423	130	23	(	(	PUNCT
fcis-9423	130	24	18	18	NUM
fcis-9423	130	25	)	)	PUNCT
fcis-9423	130	26	,	,	PUNCT
fcis-9423	130	27	equation	equation	NOUN
fcis-9423	130	28	(	(	PUNCT
fcis-9423	130	29	18	18	NUM
fcis-9423	130	30	)	)	PUNCT
fcis-9423	130	31	can	can	AUX
fcis-9423	130	32	be	be	AUX
fcis-9423	130	33	rewritten	rewrite	VERB
fcis-9423	130	34	as	as	ADP
fcis-9423	130	35	:	:	SYM
fcis-9423	130	36	2	2	NUM
fcis-9423	130	37	2	2	NUM
fcis-9423	130	38	2	2	NUM
fcis-9423	130	39	2	2	NUM
fcis-9423	130	40	2	2	NUM
fcis-9423	130	41	(	(	PUNCT
fcis-9423	130	42	)	)	PUNCT
fcis-9423	130	43	v	v	NOUN
fcis-9423	130	44	e	e	X
fcis-9423	130	45	k	k	PROPN
fcis-9423	130	46	e	e	PROPN
fcis-9423	130	47			PROPN
fcis-9423	130	48	(	(	PUNCT
fcis-9423	130	49	20	20	NUM
fcis-9423	130	50	)	)	PUNCT
fcis-9423	130	51	for	for	ADP
fcis-9423	130	52	equation	equation	NOUN
fcis-9423	130	53	(	(	PUNCT
fcis-9423	130	54	19	19	NUM
fcis-9423	130	55	)	)	PUNCT
fcis-9423	130	56	,	,	PUNCT
fcis-9423	130	57	it	it	PRON
fcis-9423	130	58	is	be	AUX
fcis-9423	130	59	necessary	necessary	ADJ
fcis-9423	130	60	to	to	PART
fcis-9423	130	61	design	design	VERB
fcis-9423	130	62	an	an	DET
fcis-9423	130	63	extended	extended	ADJ
fcis-9423	130	64	state	state	NOUN
fcis-9423	130	65	observer	observer	NOUN
fcis-9423	130	66	for	for	ADP
fcis-9423	130	67	the	the	DET
fcis-9423	130	68	velocity	velocity	NOUN
fcis-9423	130	69	term	term	NOUN
fcis-9423	130	70	p	p	NOUN
fcis-9423	130	71	and	and	CCONJ
fcis-9423	130	72	interference	interference	NOUN
fcis-9423	130	73	term	term	NOUN
fcis-9423	130	74	2d	2d	NOUN
fcis-9423	130	75	in	in	ADP
fcis-9423	130	76	it	it	PRON
fcis-9423	130	77	for	for	ADP
fcis-9423	130	78	online	online	ADJ
fcis-9423	130	79	observation	observation	NOUN
fcis-9423	130	80	.	.	PUNCT
fcis-9423	131	1	parameter	parameter	NOUN
fcis-9423	131	2	uncertainties	uncertainty	NOUN
fcis-9423	131	3	and	and	CCONJ
fcis-9423	131	4	unknowns	unknown	NOUN
fcis-9423	131	5	in	in	ADP
fcis-9423	131	6	the	the	DET
fcis-9423	131	7	system	system	NOUN
fcis-9423	131	8	state	state	NOUN
fcis-9423	131	9	of	of	ADP
fcis-9423	131	10	the	the	DET
fcis-9423	131	11	controlled	control	VERB
fcis-9423	131	12	system	system	NOUN
fcis-9423	131	13	.	.	PUNCT
fcis-9423	132	1	the	the	DET
fcis-9423	132	2	perturbation	perturbation	NOUN
fcis-9423	132	3	is	be	AUX
fcis-9423	132	4	merged	merge	VERB
fcis-9423	132	5	into	into	ADP
fcis-9423	132	6	lumped	lump	VERB
fcis-9423	132	7	interference	interference	NOUN
fcis-9423	132	8	dx	dx	PROPN
fcis-9423	132	9	,	,	PUNCT
fcis-9423	132	10	where	where	SCONJ
fcis-9423	132	11	,	,	PUNCT
fcis-9423	132	12			NOUN
fcis-9423	132	13	2	2	ADJ
fcis-9423	132	14	2	2	NUM
fcis-9423	132	15	=	=	NUM
fcis-9423	132	16	dx	dx	PROPN
fcis-9423	132	17	f	f	PROPN
fcis-9423	132	18	x	x	PUNCT
fcis-9423	132	19	d+	d+	PUNCT
fcis-9423	132	20	and	and	CCONJ
fcis-9423	132	21	the	the	DET
fcis-9423	132	22	lumped	lump	VERB
fcis-9423	132	23	interference	interference	NOUN
fcis-9423	132	24	dx	dx	PROPN
fcis-9423	132	25	is	be	AUX
fcis-9423	132	26	extended	extend	VERB
fcis-9423	132	27	into	into	ADP
fcis-9423	132	28	a	a	DET
fcis-9423	132	29	new	new	ADJ
fcis-9423	132	30	state	state	NOUN
fcis-9423	132	31	variable	variable	NOUN
fcis-9423	132	32	3x	3x	NUM
fcis-9423	132	33	of	of	ADP
fcis-9423	132	34	the	the	DET
fcis-9423	132	35	system	system	NOUN
fcis-9423	132	36	(	(	PUNCT
fcis-9423	132	37	3	3	NUM
fcis-9423	132	38	)	)	PUNCT
fcis-9423	132	39	.	.	PUNCT
fcis-9423	133	1	3x	3x	PRON
fcis-9423	133	2	h	h	NOUN
fcis-9423	133	3	is	be	AUX
fcis-9423	133	4	defined	define	VERB
fcis-9423	133	5	as	as	ADP
fcis-9423	133	6	the	the	DET
fcis-9423	133	7	derivative	derivative	NOUN
fcis-9423	133	8	of	of	ADP
fcis-9423	133	9	lumped	lump	VERB
fcis-9423	133	10	interference	interference	NOUN
fcis-9423	133	11	,	,	PUNCT
fcis-9423	133	12	assuming	assume	VERB
fcis-9423	133	13	3x	3x	NUM
fcis-9423	133	14	that	that	SCONJ
fcis-9423	133	15	it	it	PRON
fcis-9423	133	16	is	be	AUX
fcis-9423	133	17	continuous	continuous	ADJ
fcis-9423	133	18	and	and	CCONJ
fcis-9423	133	19	differentiable	differentiable	ADJ
fcis-9423	133	20	and	and	CCONJ
fcis-9423	133	21	satisfied	satisfy	VERB
fcis-9423	133	22	3x	3x	NUM
fcis-9423	133	23	m	m	NOUN
fcis-9423	133	24	,	,	PUNCT
fcis-9423	133	25	where	where	SCONJ
fcis-9423	133	26	0	0	NUM
fcis-9423	133	27	m	m	VERB
fcis-9423	133	28			ADJ
fcis-9423	133	29	.	.	PUNCT
fcis-9423	134	1	finally	finally	ADV
fcis-9423	134	2	,	,	PUNCT
fcis-9423	134	3	the	the	DET
fcis-9423	134	4	augmented	augment	VERB
fcis-9423	134	5	statespace	statespace	NOUN
fcis-9423	134	6	equation	equation	NOUN
fcis-9423	134	7	of	of	ADP
fcis-9423	134	8	the	the	DET
fcis-9423	134	9	attitude	attitude	NOUN
fcis-9423	134	10	angle	angle	NOUN
fcis-9423	134	11	system	system	NOUN
fcis-9423	134	12	of	of	ADP
fcis-9423	134	13	a	a	DET
fcis-9423	134	14	four	four	NUM
fcis-9423	134	15	-	-	PUNCT
fcis-9423	134	16	rotor	rotor	NOUN
fcis-9423	134	17	uav	uav	PROPN
fcis-9423	134	18	can	can	AUX
fcis-9423	134	19	be	be	AUX
fcis-9423	134	20	described	describe	VERB
fcis-9423	134	21	as	as	ADP
fcis-9423	134	22	:	:	SYM
fcis-9423	134	23	1	1	NUM
fcis-9423	134	24	2	2	NUM
fcis-9423	134	25	2	2	NUM
fcis-9423	134	26	2	2	NUM
fcis-9423	134	27	2	2	NUM
fcis-9423	134	28	3	3	NUM
fcis-9423	134	29	3	3	NUM
fcis-9423	134	30	x	x	SYM
fcis-9423	134	31	x	x	PUNCT
fcis-9423	134	32	x	x	X
fcis-9423	134	33	k	k	PUNCT
fcis-9423	134	34	u	u	NOUN
fcis-9423	134	35	x	x	X
fcis-9423	134	36	x	x	X
fcis-9423	134	37	h	h	NOUN
fcis-9423	134	38			ADP
fcis-9423	135	1			PRON
fcis-9423	136	1			X
fcis-9423	136	2			PROPN
fcis-9423	136	3			NUM
fcis-9423	136	4			NOUN
fcis-9423	136	5	+	+	CCONJ
fcis-9423	136	6			NOUN
fcis-9423	136	7			NOUN
fcis-9423	136	8			NOUN
fcis-9423	136	9	(	(	PUNCT
fcis-9423	136	10	21	21	NUM
fcis-9423	136	11	)	)	PUNCT
fcis-9423	136	12			NOUN
fcis-9423	136	13	1	1	NOUN
fcis-9423	136	14	2	2	NUM
fcis-9423	136	15	3	3	NUM
fcis-9423	136	16	ttx	ttx	NOUN
fcis-9423	136	17	x	x	PROPN
fcis-9423	136	18	x	x	X
fcis-9423	136	19	x=	x=	PROPN
fcis-9423	136	20	is	be	AUX
fcis-9423	136	21	used	use	VERB
fcis-9423	136	22	to	to	PART
fcis-9423	136	23	represent	represent	VERB
fcis-9423	136	24	formula	formula	NOUN
fcis-9423	136	25	(	(	PUNCT
fcis-9423	136	26	4	4	NUM
fcis-9423	136	27	)	)	PUNCT
fcis-9423	136	28	,	,	PUNCT
fcis-9423	136	29	then	then	ADV
fcis-9423	136	30	formula	formula	NOUN
fcis-9423	136	31	(	(	PUNCT
fcis-9423	136	32	4	4	X
fcis-9423	136	33	)	)	PUNCT
fcis-9423	136	34	can	can	AUX
fcis-9423	136	35	be	be	AUX
fcis-9423	136	36	rewritten	rewrite	VERB
fcis-9423	136	37	as	as	ADP
fcis-9423	136	38	:	:	PUNCT
fcis-9423	136	39	+	+	CCONJ
fcis-9423	136	40	+	+	NOUN
fcis-9423	136	41	t	t	NOUN
fcis-9423	136	42	tx	tx	NOUN
fcis-9423	136	43	ax	ax	NOUN
fcis-9423	136	44	u	u	X
fcis-9423	136	45			X
fcis-9423	136	46	(	(	PUNCT
fcis-9423	136	47	22	22	NUM
fcis-9423	136	48	)	)	PUNCT
fcis-9423	136	49	the	the	DET
fcis-9423	136	50	expression	expression	NOUN
fcis-9423	136	51	of	of	ADP
fcis-9423	136	52	a	a	DET
fcis-9423	136	53	andu	andu	NOUN
fcis-9423	136	54	is	be	AUX
fcis-9423	136	55	shown	show	VERB
fcis-9423	136	56	in	in	ADP
fcis-9423	136	57	equation	equation	NOUN
fcis-9423	136	58	(	(	PUNCT
fcis-9423	136	59	23	23	NUM
fcis-9423	136	60	)	)	SYM
fcis-9423	137	1	3	3	NUM
fcis-9423	137	2	3	3	NUM
fcis-9423	137	3	2	2	NUM
fcis-9423	137	4	2	2	NUM
fcis-9423	137	5	0	0	NUM
fcis-9423	137	6	0	0	NUM
fcis-9423	137	7	0	0	NUM
fcis-9423	137	8	0	0	NUM
fcis-9423	137	9	0	0	NUM
fcis-9423	137	10	,	,	PUNCT
fcis-9423	137	11	0	0	NUM
fcis-9423	137	12	0	0	NUM
fcis-9423	137	13	0	0	NUM
fcis-9423	137	14	0	0	NUM
fcis-9423	138	1	i	i	PRON
fcis-9423	138	2	a	a	VERB
fcis-9423	139	1	i	i	NOUN
fcis-9423	139	2	u	u	X
fcis-9423	139	3	k	k	PROPN
fcis-9423	139	4	u	u	PROPN
fcis-9423	139	5			PROPN
fcis-9423	139	6			INTJ
fcis-9423	139	7			PROPN
fcis-9423	139	8			ADJ
fcis-9423	139	9			NOUN
fcis-9423	139	10			NOUN
fcis-9423	139	11			NOUN
fcis-9423	140	1			X
fcis-9423	140	2			ADJ
fcis-9423	140	3			ADJ
fcis-9423	140	4			NOUN
fcis-9423	140	5			NOUN
fcis-9423	140	6			NOUN
fcis-9423	140	7			NOUN
fcis-9423	140	8			NOUN
fcis-9423	140	9			PROPN
fcis-9423	140	10			PROPN
fcis-9423	140	11			NOUN
fcis-9423	140	12			PROPN
fcis-9423	140	13	(	(	PUNCT
fcis-9423	140	14	23	23	NUM
fcis-9423	140	15	)	)	PUNCT
fcis-9423	140	16	54	54	NUM
fcis-9423	140	17	for	for	ADP
fcis-9423	140	18	equation	equation	NOUN
fcis-9423	140	19	(	(	PUNCT
fcis-9423	140	20	23	23	NUM
fcis-9423	140	21	)	)	PUNCT
fcis-9423	140	22	,	,	PUNCT
fcis-9423	140	23	where	where	SCONJ
fcis-9423	140	24	the	the	DET
fcis-9423	140	25	identity	identity	NOUN
fcis-9423	140	26	matrix	matrix	NOUN
fcis-9423	140	27	3i	3i	NOUN
fcis-9423	140	28	is	be	AUX
fcis-9423	140	29	represented	represent	VERB
fcis-9423	140	30	3	3	NUM
fcis-9423	140	31	3	3	NUM
fcis-9423	140	32	,	,	PUNCT
fcis-9423	140	33	0	0	NUM
fcis-9423	140	34	represents	represent	VERB
fcis-9423	140	35	the	the	DET
fcis-9423	140	36	zero	zero	NUM
fcis-9423	140	37	matrix	matrix	NOUN
fcis-9423	140	38	of	of	ADP
fcis-9423	140	39	appropriate	appropriate	ADJ
fcis-9423	140	40	dimension	dimension	NOUN
fcis-9423	140	41	.	.	PUNCT
fcis-9423	141	1	based	base	VERB
fcis-9423	141	2	on	on	ADP
fcis-9423	141	3	the	the	DET
fcis-9423	141	4	design	design	NOUN
fcis-9423	141	5	method	method	NOUN
fcis-9423	141	6	of	of	ADP
fcis-9423	141	7	the	the	DET
fcis-9423	141	8	extended	extended	ADJ
fcis-9423	141	9	state	state	NOUN
fcis-9423	141	10	observer	observer	NOUN
fcis-9423	141	11	,	,	PUNCT
fcis-9423	141	12	the	the	DET
fcis-9423	141	13	extended	extended	ADJ
fcis-9423	141	14	state	state	NOUN
fcis-9423	141	15	observer	observer	NOUN
fcis-9423	141	16	specific	specific	ADJ
fcis-9423	141	17	to	to	ADP
fcis-9423	141	18	the	the	DET
fcis-9423	141	19	attitude	attitude	NOUN
fcis-9423	141	20	angle	angle	NOUN
fcis-9423	141	21	system	system	NOUN
fcis-9423	141	22	of	of	ADP
fcis-9423	141	23	the	the	DET
fcis-9423	141	24	four	four	NUM
fcis-9423	141	25	-	-	PUNCT
fcis-9423	141	26	rotor	rotor	NOUN
fcis-9423	141	27	uav	uav	PROPN
fcis-9423	141	28	is	be	AUX
fcis-9423	141	29	constructed	construct	VERB
fcis-9423	141	30	to	to	PART
fcis-9423	141	31	provide	provide	VERB
fcis-9423	141	32	the	the	DET
fcis-9423	141	33	state	state	NOUN
fcis-9423	141	34	estimation	estimation	NOUN
fcis-9423	141	35	,	,	PUNCT
fcis-9423	141	36	angular	angular	ADJ
fcis-9423	141	37	rate	rate	NOUN
fcis-9423	141	38	state	state	NOUN
fcis-9423	141	39	estimation	estimation	NOUN
fcis-9423	141	40	and	and	CCONJ
fcis-9423	141	41	lumped	lump	VERB
fcis-9423	141	42	interference	interference	NOUN
fcis-9423	141	43	estimation	estimation	NOUN
fcis-9423	141	44	of	of	ADP
fcis-9423	141	45	the	the	DET
fcis-9423	141	46	attitude	attitude	NOUN
fcis-9423	141	47	angle	angle	NOUN
fcis-9423	141	48	system	system	NOUN
fcis-9423	141	49	.	.	PUNCT
fcis-9423	142	1			NOUN
fcis-9423	142	2	2	2	ADJ
fcis-9423	142	3	2	2	NUM
fcis-9423	142	4	1	1	NUM
fcis-9423	142	5	1	1	NUM
fcis-9423	142	6	ˆ	ˆ	NOUN
fcis-9423	142	7	ˆ	ˆ	NOUN
fcis-9423	142	8	ˆ	ˆ	NOUN
fcis-9423	142	9	h	h	NOUN
fcis-9423	142	10	h	h	NOUN
fcis-9423	142	11	hx	hx	PROPN
fcis-9423	142	12	a	a	DET
fcis-9423	142	13	x	x	X
fcis-9423	142	14	k	k	X
fcis-9423	142	15	u	u	NOUN
fcis-9423	142	16	h	h	NOUN
fcis-9423	142	17	x	x	X
fcis-9423	142	18	x	x	PROPN
fcis-9423	142	19	+	+	PROPN
fcis-9423	143	1	+	+	PUNCT
fcis-9423	143	2			NOUN
fcis-9423	143	3	(	(	PUNCT
fcis-9423	143	4	24	24	NUM
fcis-9423	143	5	)	)	PUNCT
fcis-9423	144	1	where	where	SCONJ
fcis-9423	144	2	,	,	PUNCT
fcis-9423	144	3	the	the	DET
fcis-9423	144	4	expression	expression	NOUN
fcis-9423	144	5	of	of	ADP
fcis-9423	144	6	ha	ha	INTJ
fcis-9423	144	7	,	,	PUNCT
fcis-9423	144	8	ˆ	ˆ	NOUN
fcis-9423	144	9	hx	hx	PROPN
fcis-9423	144	10	and	and	CCONJ
fcis-9423	144	11	h	h	NOUN
fcis-9423	144	12	is	be	AUX
fcis-9423	144	13	shown	show	VERB
fcis-9423	144	14	in	in	ADP
fcis-9423	144	15	equation	equation	NOUN
fcis-9423	144	16	(	(	PUNCT
fcis-9423	144	17	25	25	NUM
fcis-9423	144	18	):	):	PUNCT
fcis-9423	144	19	3	3	NUM
fcis-9423	144	20	3	3	NUM
fcis-9423	144	21	1	1	NUM
fcis-9423	144	22	2	2	NUM
fcis-9423	144	23	3	3	NUM
fcis-9423	144	24	2	2	NUM
fcis-9423	144	25	3	3	NUM
fcis-9423	144	26	3	3	NUM
fcis-9423	144	27	3	3	NUM
fcis-9423	144	28	3	3	NUM
fcis-9423	144	29	0	0	NUM
fcis-9423	144	30	0	0	NUM
fcis-9423	144	31	0	0	NUM
fcis-9423	144	32	0	0	NUM
fcis-9423	144	33	0	0	NUM
fcis-9423	144	34	0	0	NUM
fcis-9423	144	35	0	0	NUM
fcis-9423	144	36	ˆ	ˆ	NOUN
fcis-9423	144	37	ˆ	ˆ	NOUN
fcis-9423	144	38	ˆ	ˆ	NOUN
fcis-9423	144	39	ˆ	ˆ	ADV
fcis-9423	144	40	3	3	NUM
fcis-9423	144	41	3	3	NUM
fcis-9423	144	42	h	h	NOUN
fcis-9423	144	43	t	t	PROPN
fcis-9423	144	44	t	t	PROPN
fcis-9423	145	1	t	t	PROPN
fcis-9423	145	2	t	t	PROPN
fcis-9423	145	3	h	h	NOUN
fcis-9423	145	4	t	t	PROPN
fcis-9423	146	1	i	i	PRON
fcis-9423	147	1	a	a	INTJ
fcis-9423	148	1	i	i	NOUN
fcis-9423	148	2	x	x	PUNCT
fcis-9423	148	3	x	x	PUNCT
fcis-9423	148	4	x	x	PUNCT
fcis-9423	148	5	x	x	SYM
fcis-9423	148	6	h	h	NOUN
fcis-9423	149	1	w	w	NOUN
fcis-9423	149	2	i	i	INTJ
fcis-9423	150	1	w	w	VERB
fcis-9423	150	2	i	i	INTJ
fcis-9423	151	1	w	w	VERB
fcis-9423	151	2	i	i	PRON
fcis-9423	151	3			PROPN
fcis-9423	151	4			X
fcis-9423	151	5			X
fcis-9423	152	1			X
fcis-9423	152	2			NOUN
fcis-9423	152	3			PROPN
fcis-9423	152	4			NOUN
fcis-9423	152	5			PROPN
fcis-9423	152	6			PROPN
fcis-9423	152	7			PROPN
fcis-9423	152	8			PROPN
fcis-9423	152	9			VERB
fcis-9423	152	10			PROPN
fcis-9423	152	11			PROPN
fcis-9423	153	1			PROPN
fcis-9423	153	2			VERB
fcis-9423	153	3			PROPN
fcis-9423	153	4			NUM
fcis-9423	153	5			PROPN
fcis-9423	153	6	(	(	PUNCT
fcis-9423	153	7	25	25	NUM
fcis-9423	153	8	)	)	PUNCT
fcis-9423	153	9	for	for	ADP
fcis-9423	153	10	equation	equation	NOUN
fcis-9423	153	11	(	(	PUNCT
fcis-9423	153	12	25	25	NUM
fcis-9423	153	13	)	)	PUNCT
fcis-9423	153	14	,	,	PUNCT
fcis-9423	153	15	where	where	SCONJ
fcis-9423	153	16	,	,	PUNCT
fcis-9423	153	17	1x̂	1x̂	NUM
fcis-9423	153	18	,	,	PUNCT
fcis-9423	153	19	2x̂	2x̂	NUM
fcis-9423	153	20	and	and	CCONJ
fcis-9423	153	21	3x̂	3x̂	PROPN
fcis-9423	153	22	respectively	respectively	ADV
fcis-9423	153	23	represent	represent	VERB
fcis-9423	153	24	four	four	NUM
fcis-9423	153	25	the	the	DET
fcis-9423	153	26	estimated	estimate	VERB
fcis-9423	153	27	value	value	NOUN
fcis-9423	153	28	of	of	ADP
fcis-9423	153	29	attitude	attitude	NOUN
fcis-9423	153	30	angle	angle	NOUN
fcis-9423	153	31	,	,	PUNCT
fcis-9423	153	32	attitude	attitude	NOUN
fcis-9423	153	33	angle	angle	NOUN
fcis-9423	153	34	rate	rate	NOUN
fcis-9423	153	35	and	and	CCONJ
fcis-9423	153	36	lumped	lump	VERB
fcis-9423	153	37	interference	interference	NOUN
fcis-9423	153	38	of	of	ADP
fcis-9423	153	39	the	the	DET
fcis-9423	153	40	rotor	rotor	NOUN
fcis-9423	153	41	uav	uav	PROPN
fcis-9423	153	42	3i	3i	NOUN
fcis-9423	153	43	are	be	AUX
fcis-9423	153	44	represented	represent	VERB
fcis-9423	153	45	by	by	ADP
fcis-9423	153	46	the	the	DET
fcis-9423	153	47	unit	unit	NOUN
fcis-9423	153	48	matrix	matrix	NOUN
fcis-9423	153	49	3	3	NUM
fcis-9423	153	50	3	3	NUM
fcis-9423	153	51	,	,	PUNCT
fcis-9423	153	52	where	where	SCONJ
fcis-9423	153	53	0	0	NUM
fcis-9423	153	54	represents	represent	VERB
fcis-9423	153	55	the	the	DET
fcis-9423	153	56	zero	zero	NUM
fcis-9423	153	57	matrix	matrix	NOUN
fcis-9423	153	58	of	of	ADP
fcis-9423	153	59	appropriate	appropriate	ADJ
fcis-9423	153	60	dimension	dimension	NOUN
fcis-9423	153	61	,	,	PUNCT
fcis-9423	153	62	h	h	NOUN
fcis-9423	153	63	is	be	AUX
fcis-9423	153	64	the	the	DET
fcis-9423	153	65	observer	observer	NOUN
fcis-9423	153	66	gain	gain	NOUN
fcis-9423	153	67	matrix	matrix	NOUN
fcis-9423	153	68	,	,	PUNCT
fcis-9423	153	69	w	w	NOUN
fcis-9423	153	70	is	be	AUX
fcis-9423	153	71	the	the	DET
fcis-9423	153	72	bandwidth	bandwidth	NOUN
fcis-9423	153	73	of	of	ADP
fcis-9423	153	74	the	the	DET
fcis-9423	153	75	linear	linear	NOUN
fcis-9423	153	76	expanded	expand	VERB
fcis-9423	153	77	state	state	NOUN
fcis-9423	153	78	observer	observer	NOUN
fcis-9423	153	79	and	and	CCONJ
fcis-9423	153	80	satisfies	satisfie	NOUN
fcis-9423	153	81	0w	0w	X
fcis-9423	153	82			INTJ
fcis-9423	153	83	.	.	PUNCT
fcis-9423	154	1	the	the	DET
fcis-9423	154	2	bandwidth	bandwidth	NOUN
fcis-9423	154	3	of	of	ADP
fcis-9423	154	4	the	the	DET
fcis-9423	154	5	linear	linear	PROPN
fcis-9423	154	6	w	w	PROPN
fcis-9423	154	7	expanded	expand	VERB
fcis-9423	154	8	state	state	NOUN
fcis-9423	154	9	observer	observer	NOUN
fcis-9423	154	10	is	be	AUX
fcis-9423	154	11	the	the	DET
fcis-9423	154	12	only	only	ADJ
fcis-9423	154	13	adjustment	adjustment	NOUN
fcis-9423	154	14	parameter	parameter	NOUN
fcis-9423	154	15	.	.	PUNCT
fcis-9423	155	1	for	for	ADP
fcis-9423	155	2	equation	equation	NOUN
fcis-9423	155	3	(	(	PUNCT
fcis-9423	155	4	19	19	NUM
fcis-9423	155	5	)	)	PUNCT
fcis-9423	155	6	,	,	PUNCT
fcis-9423	155	7	due	due	ADP
fcis-9423	155	8	to	to	ADP
fcis-9423	155	9	the	the	DET
fcis-9423	155	10	control	control	NOUN
fcis-9423	155	11	system	system	NOUN
fcis-9423	155	12	of	of	ADP
fcis-9423	155	13	attitude	attitude	NOUN
fcis-9423	155	14	angle	angle	NOUN
fcis-9423	155	15	system	system	NOUN
fcis-9423	155	16	.	.	PUNCT
fcis-9423	156	1	an	an	DET
fcis-9423	156	2	extended	extended	ADJ
fcis-9423	156	3	state	state	NOUN
fcis-9423	156	4	observer	observer	NOUN
fcis-9423	156	5	is	be	AUX
fcis-9423	156	6	introduced	introduce	VERB
fcis-9423	156	7	to	to	PART
fcis-9423	156	8	observe	observe	VERB
fcis-9423	156	9	the	the	DET
fcis-9423	156	10	state	state	NOUN
fcis-9423	156	11	variables	variable	VERB
fcis-9423	156	12	2x	2x	NUM
fcis-9423	156	13	and	and	CCONJ
fcis-9423	156	14	3x	3x	NUM
fcis-9423	156	15	lumped	lump	VERB
fcis-9423	156	16	interference	interference	NOUN
fcis-9423	156	17	respectively	respectively	ADV
fcis-9423	156	18	.	.	PUNCT
fcis-9423	157	1	therefore	therefore	ADV
fcis-9423	157	2	,	,	PUNCT
fcis-9423	157	3	based	base	VERB
fcis-9423	157	4	on	on	ADP
fcis-9423	157	5	equation	equation	NOUN
fcis-9423	157	6	(	(	PUNCT
fcis-9423	157	7	19	19	NUM
fcis-9423	157	8	)	)	PUNCT
fcis-9423	157	9	and	and	CCONJ
fcis-9423	157	10	combined	combine	VERB
fcis-9423	157	11	with	with	ADP
fcis-9423	157	12	equation	equation	NOUN
fcis-9423	157	13	(	(	PUNCT
fcis-9423	157	14	24	24	NUM
fcis-9423	157	15	)	)	PUNCT
fcis-9423	157	16	,	,	PUNCT
fcis-9423	157	17	the	the	DET
fcis-9423	157	18	actual	actual	ADJ
fcis-9423	157	19	control	control	NOUN
fcis-9423	157	20	law	law	NOUN
fcis-9423	157	21	of	of	ADP
fcis-9423	157	22	the	the	DET
fcis-9423	157	23	attitude	attitude	NOUN
fcis-9423	157	24	angle	angle	NOUN
fcis-9423	157	25	system	system	NOUN
fcis-9423	157	26	can	can	AUX
fcis-9423	157	27	be	be	AUX
fcis-9423	157	28	rewritten	rewrite	VERB
fcis-9423	157	29	as	as	ADP
fcis-9423	157	30	:	:	SYM
fcis-9423	157	31	1	1	NUM
fcis-9423	157	32	2	2	NUM
fcis-9423	157	33	1	1	NUM
fcis-9423	157	34	2	2	NUM
fcis-9423	157	35	2	2	NUM
fcis-9423	157	36	2	2	NUM
fcis-9423	157	37	3	3	NUM
fcis-9423	157	38	2	2	NUM
fcis-9423	157	39	ˆ	ˆ	NOUN
fcis-9423	157	40	ˆ	ˆ	PROPN
fcis-9423	157	41	(	(	PUNCT
fcis-9423	157	42	(	(	PUNCT
fcis-9423	157	43	)	)	PUNCT
fcis-9423	157	44	)	)	PUNCT
fcis-9423	158	1	u	u	NOUN
fcis-9423	158	2	k	k	PROPN
fcis-9423	158	3	k	k	X
fcis-9423	158	4	x	x	PUNCT
fcis-9423	158	5	u	u	NOUN
fcis-9423	158	6	x	x	SYM
fcis-9423	158	7	u	u	PROPN
fcis-9423	158	8			NOUN
fcis-9423	158	9			VERB
fcis-9423	158	10			PROPN
fcis-9423	158	11			ADJ
fcis-9423	158	12			NOUN
fcis-9423	158	13	(	(	PUNCT
fcis-9423	158	14	26	26	NUM
fcis-9423	158	15	)	)	PUNCT
fcis-9423	158	16	where	where	SCONJ
fcis-9423	158	17	,	,	PUNCT
fcis-9423	158	18	2x̂	2x̂	NUM
fcis-9423	158	19	and	and	CCONJ
fcis-9423	158	20	3x̂	3x̂	PROPN
fcis-9423	158	21	respectively	respectively	ADV
fcis-9423	158	22	represent	represent	VERB
fcis-9423	158	23	the	the	DET
fcis-9423	158	24	estimated	estimate	VERB
fcis-9423	158	25	values	value	NOUN
fcis-9423	158	26	of	of	ADP
fcis-9423	158	27	system	system	NOUN
fcis-9423	158	28	state	state	NOUN
fcis-9423	158	29	variables	variable	NOUN
fcis-9423	158	30	2x	2x	NUM
fcis-9423	158	31	and	and	CCONJ
fcis-9423	158	32	lumped	lump	VERB
fcis-9423	158	33	interference	interference	NOUN
fcis-9423	158	34	3x̂	3x̂	NUM
fcis-9423	158	35	.	.	PUNCT
fcis-9423	159	1	5	5	X
fcis-9423	159	2	.	.	X
fcis-9423	159	3	simulation	simulation	NOUN
fcis-9423	159	4	results	result	NOUN
fcis-9423	159	5	and	and	CCONJ
fcis-9423	159	6	analysis	analysis	NOUN
fcis-9423	159	7	in	in	ADP
fcis-9423	159	8	order	order	NOUN
fcis-9423	159	9	to	to	PART
fcis-9423	159	10	verify	verify	VERB
fcis-9423	159	11	the	the	DET
fcis-9423	159	12	effectiveness	effectiveness	NOUN
fcis-9423	159	13	of	of	ADP
fcis-9423	159	14	the	the	DET
fcis-9423	159	15	controller	controller	NOUN
fcis-9423	159	16	designed	design	VERB
fcis-9423	159	17	in	in	ADP
fcis-9423	159	18	this	this	DET
fcis-9423	159	19	paper	paper	NOUN
fcis-9423	159	20	,	,	PUNCT
fcis-9423	159	21	the	the	DET
fcis-9423	159	22	eso	eso	NOUN
fcis-9423	159	23	-	-	PUNCT
fcis-9423	159	24	nppcbsc	nppcbsc	ADJ
fcis-9423	159	25	controller	controller	NOUN
fcis-9423	159	26	was	be	AUX
fcis-9423	159	27	simulated	simulate	VERB
fcis-9423	159	28	based	base	VERB
fcis-9423	159	29	on	on	ADP
fcis-9423	159	30	simulink	simulink	PROPN
fcis-9423	159	31	environment	environment	NOUN
fcis-9423	159	32	and	and	CCONJ
fcis-9423	159	33	compared	compare	VERB
fcis-9423	159	34	with	with	ADP
fcis-9423	159	35	the	the	DET
fcis-9423	159	36	proportional	proportional	ADJ
fcis-9423	159	37	integral	integral	ADJ
fcis-9423	159	38	-	-	PUNCT
fcis-9423	159	39	differential	differential	NOUN
fcis-9423	159	40	controller	controller	NOUN
fcis-9423	159	41	(	(	PUNCT
fcis-9423	159	42	pid	pid	NOUN
fcis-9423	159	43	)	)	PUNCT
fcis-9423	159	44	and	and	CCONJ
fcis-9423	159	45	the	the	DET
fcis-9423	159	46	reverse	reverse	ADJ
fcis-9423	159	47	step	step	NOUN
fcis-9423	159	48	controller	controller	NOUN
fcis-9423	159	49	(	(	PUNCT
fcis-9423	159	50	eso	eso	NOUN
fcis-9423	159	51	-	-	PUNCT
fcis-9423	159	52	bsc	bsc	NOUN
fcis-9423	159	53	)	)	PUNCT
fcis-9423	159	54	with	with	ADP
fcis-9423	159	55	no	no	DET
fcis-9423	159	56	default	default	NOUN
fcis-9423	159	57	performance	performance	NOUN
fcis-9423	159	58	and	and	CCONJ
fcis-9423	159	59	extended	extended	ADJ
fcis-9423	159	60	state	state	NOUN
fcis-9423	159	61	observer	observer	NOUN
fcis-9423	159	62	.	.	PUNCT
fcis-9423	160	1	after	after	ADP
fcis-9423	160	2	repeated	repeat	VERB
fcis-9423	160	3	debugging	debugging	NOUN
fcis-9423	160	4	,	,	PUNCT
fcis-9423	160	5	parameters	parameter	NOUN
fcis-9423	160	6	of	of	ADP
fcis-9423	160	7	the	the	DET
fcis-9423	160	8	preset	preset	ADJ
fcis-9423	160	9	performance	performance	NOUN
fcis-9423	160	10	function	function	NOUN
fcis-9423	160	11	of	of	ADP
fcis-9423	160	12	the	the	DET
fcis-9423	160	13	attitude	attitude	NOUN
fcis-9423	160	14	angle	angle	NOUN
fcis-9423	160	15	system	system	NOUN
fcis-9423	160	16	of	of	ADP
fcis-9423	160	17	the	the	DET
fcis-9423	160	18	fourrotor	fourrotor	NOUN
fcis-9423	160	19	uav	uav	PROPN
fcis-9423	160	20	are	be	AUX
fcis-9423	160	21	shown	show	VERB
fcis-9423	160	22	in	in	ADP
fcis-9423	160	23	table	table	NOUN
fcis-9423	160	24	1	1	NUM
fcis-9423	160	25	:	:	PUNCT
fcis-9423	160	26	table	table	NOUN
fcis-9423	160	27	1	1	NUM
fcis-9423	160	28	.	.	PUNCT
fcis-9423	160	29	preset	preset	ADJ
fcis-9423	160	30	performance	performance	NOUN
fcis-9423	160	31	parameter	parameter	NOUN
fcis-9423	160	32	parameter	parameter	NOUN
fcis-9423	160	33	(	(	PUNCT
fcis-9423	160	34	0,1)r	0,1)r	NUM
fcis-9423	160	35			PROPN
fcis-9423	160	36	0	0	NOUN
fcis-9423	160	37			PROPN
fcis-9423	160	38			PUNCT
fcis-9423	161	1			PROPN
fcis-9423	161	2	t	t	X
fcis-9423	161	3	numerical	numerical	ADJ
fcis-9423	161	4	value	value	NOUN
fcis-9423	161	5	0.6	0.6	NUM
fcis-9423	161	6	2	2	NUM
fcis-9423	161	7	0.02	0.02	NUM
fcis-9423	161	8	0.2	0.2	NUM
fcis-9423	161	9	for	for	ADP
fcis-9423	161	10	the	the	DET
fcis-9423	161	11	state	state	NOUN
fcis-9423	161	12	space	space	NOUN
fcis-9423	161	13	model	model	NOUN
fcis-9423	161	14	of	of	ADP
fcis-9423	161	15	the	the	DET
fcis-9423	161	16	attitude	attitude	NOUN
fcis-9423	161	17	angle	angle	NOUN
fcis-9423	161	18	system	system	NOUN
fcis-9423	161	19	of	of	ADP
fcis-9423	161	20	the	the	DET
fcis-9423	161	21	four	four	NUM
fcis-9423	161	22	-	-	PUNCT
fcis-9423	161	23	rotor	rotor	NOUN
fcis-9423	161	24	uav	uav	PROPN
fcis-9423	161	25	,	,	PUNCT
fcis-9423	161	26	considering	consider	VERB
fcis-9423	161	27	the	the	DET
fcis-9423	161	28	output	output	NOUN
fcis-9423	161	29	limitation	limitation	NOUN
fcis-9423	161	30	of	of	ADP
fcis-9423	161	31	the	the	DET
fcis-9423	161	32	attitude	attitude	NOUN
fcis-9423	161	33	angle	angle	NOUN
fcis-9423	161	34	of	of	ADP
fcis-9423	161	35	the	the	DET
fcis-9423	161	36	four	four	NUM
fcis-9423	161	37	-	-	PUNCT
fcis-9423	161	38	rotor	rotor	NOUN
fcis-9423	161	39	uav	uav	PROPN
fcis-9423	161	40	in	in	ADP
fcis-9423	161	41	the	the	DET
fcis-9423	161	42	trim	trim	NOUN
fcis-9423	161	43	state	state	NOUN
fcis-9423	161	44	,	,	PUNCT
fcis-9423	161	45	the	the	DET
fcis-9423	161	46	maximum	maximum	ADJ
fcis-9423	161	47	change	change	NOUN
fcis-9423	161	48	amplitude	amplitude	NOUN
fcis-9423	161	49	of	of	ADP
fcis-9423	161	50	the	the	DET
fcis-9423	161	51	attitude	attitude	NOUN
fcis-9423	161	52	angle	angle	NOUN
fcis-9423	161	53	is	be	AUX
fcis-9423	161	54	defined	define	VERB
fcis-9423	161	55	as	as	ADP
fcis-9423	161	56	/18rad	/18rad	X
fcis-9423	161	57	.	.	PUNCT
fcis-9423	162	1	the	the	DET
fcis-9423	162	2	reference	reference	NOUN
fcis-9423	162	3	control	control	NOUN
fcis-9423	162	4	inputs	input	NOUN
fcis-9423	162	5	of	of	ADP
fcis-9423	162	6	attitude	attitude	NOUN
fcis-9423	162	7	angle	angle	NOUN
fcis-9423	162	8	,	,	PUNCT
fcis-9423	162	9	d	d	NOUN
fcis-9423	162	10	,	,	PUNCT
fcis-9423	162	11	d	d	NOUN
fcis-9423	162	12	and	and	CCONJ
fcis-9423	162	13	d	d	PROPN
fcis-9423	162	14	.	.	PUNCT
fcis-9423	163	1	d	d	PROPN
fcis-9423	163	2	are	be	AUX
fcis-9423	163	3	selected	select	VERB
fcis-9423	163	4	as	as	ADP
fcis-9423	163	5	the	the	DET
fcis-9423	163	6	step	step	NOUN
fcis-9423	163	7	signals	signal	NOUN
fcis-9423	163	8	of	of	ADP
fcis-9423	163	9	amplitude	amplitude	NOUN
fcis-9423	163	10	,	,	PUNCT
fcis-9423	163	11	0.1rad	0.1rad	NUM
fcis-9423	163	12	,	,	PUNCT
fcis-9423	163	13	0.12rad	0.12rad	NUM
fcis-9423	163	14	and	and	CCONJ
fcis-9423	163	15	0.15rad	0.15rad	NOUN
fcis-9423	163	16	respectively	respectively	ADV
fcis-9423	163	17	,	,	PUNCT
fcis-9423	163	18	and	and	CCONJ
fcis-9423	163	19	the	the	DET
fcis-9423	163	20	external	external	ADJ
fcis-9423	163	21	interference	interference	NOUN
fcis-9423	163	22	of	of	ADP
fcis-9423	163	23	the	the	DET
fcis-9423	163	24	attitude	attitude	NOUN
fcis-9423	163	25	angle	angle	NOUN
fcis-9423	163	26	system	system	NOUN
fcis-9423	163	27	is	be	AUX
fcis-9423	163	28	selected	select	VERB
fcis-9423	163	29	as	as	ADP
fcis-9423	163	30	2	2	NUM
fcis-9423	163	31	sind	sind	NOUN
fcis-9423	163	32	t	t	PROPN
fcis-9423	163	33	.	.	PUNCT
fcis-9423	164	1	the	the	DET
fcis-9423	164	2	comparison	comparison	NOUN
fcis-9423	164	3	of	of	ADP
fcis-9423	164	4	attitude	attitude	NOUN
fcis-9423	164	5	angle	angle	NOUN
fcis-9423	164	6	tracking	tracking	NOUN
fcis-9423	164	7	response	response	NOUN
fcis-9423	164	8	curves	curve	NOUN
fcis-9423	164	9	of	of	ADP
fcis-9423	164	10	eso	eso	NOUN
fcis-9423	164	11	-	-	PUNCT
fcis-9423	164	12	nppcbsc	nppcbsc	ADJ
fcis-9423	164	13	controller	controller	NOUN
fcis-9423	164	14	and	and	CCONJ
fcis-9423	164	15	pid	pid	NOUN
fcis-9423	164	16	controller	controller	NOUN
fcis-9423	164	17	is	be	AUX
fcis-9423	164	18	shown	show	VERB
fcis-9423	164	19	in	in	ADP
fcis-9423	164	20	figure	figure	NOUN
fcis-9423	164	21	1	1	NUM
fcis-9423	164	22	to	to	PART
fcis-9423	164	23	figure	figure	VERB
fcis-9423	164	24	3	3	NUM
fcis-9423	164	25	:	:	PUNCT
fcis-9423	164	26	fig	fig	NOUN
fcis-9423	164	27	1	1	NUM
fcis-9423	164	28	.	.	PUNCT
fcis-9423	165	1	roll	roll	NOUN
fcis-9423	165	2	channel	channel	NOUN
fcis-9423	165	3	tracks	track	VERB
fcis-9423	165	4	response	response	NOUN
fcis-9423	165	5	curve	curve	NOUN
fcis-9423	165	6	fig	fig	NOUN
fcis-9423	165	7	2	2	NUM
fcis-9423	165	8	.	.	PUNCT
fcis-9423	165	9	pitch	pitch	NOUN
fcis-9423	165	10	channel	channel	NOUN
fcis-9423	165	11	tracks	track	VERB
fcis-9423	165	12	response	response	NOUN
fcis-9423	165	13	curve	curve	NOUN
fcis-9423	165	14	fig	fig	NOUN
fcis-9423	165	15	3	3	X
fcis-9423	165	16	.	.	PUNCT
fcis-9423	166	1	yaw	yaw	PROPN
fcis-9423	166	2	channel	channel	PROPN
fcis-9423	166	3	tracks	track	VERB
fcis-9423	166	4	response	response	NOUN
fcis-9423	166	5	curve	curve	VERB
fcis-9423	166	6	the	the	DET
fcis-9423	166	7	comparison	comparison	NOUN
fcis-9423	166	8	of	of	ADP
fcis-9423	166	9	attitude	attitude	NOUN
fcis-9423	166	10	angle	angle	NOUN
fcis-9423	166	11	tracking	tracking	NOUN
fcis-9423	166	12	response	response	NOUN
fcis-9423	166	13	curves	curve	NOUN
fcis-9423	166	14	between	between	ADP
fcis-9423	166	15	the	the	DET
fcis-9423	166	16	eso	eso	NOUN
fcis-9423	166	17	-	-	PUNCT
fcis-9423	166	18	nppcbsc	nppcbsc	ADJ
fcis-9423	166	19	controller	controller	NOUN
fcis-9423	166	20	and	and	CCONJ
fcis-9423	166	21	the	the	DET
fcis-9423	166	22	eso	eso	NOUN
fcis-9423	166	23	-	-	ADJ
fcis-9423	166	24	bsc	bsc	ADJ
fcis-9423	166	25	controller	controller	NOUN
fcis-9423	166	26	is	be	AUX
fcis-9423	166	27	shown	show	VERB
fcis-9423	166	28	in	in	ADP
fcis-9423	166	29	figure	figure	NOUN
fcis-9423	166	30	4	4	NUM
fcis-9423	166	31	to	to	PART
fcis-9423	166	32	figure	figure	VERB
fcis-9423	166	33	6	6	NUM
fcis-9423	166	34	:	:	PUNCT
fcis-9423	166	35	fig	fig	NOUN
fcis-9423	166	36	4	4	NUM
fcis-9423	166	37	.	.	PUNCT
fcis-9423	166	38	comparison	comparison	NOUN
fcis-9423	166	39	of	of	ADP
fcis-9423	166	40	roll	roll	NOUN
fcis-9423	166	41	angle	angle	NOUN
fcis-9423	166	42	eso	eso	NOUN
fcis-9423	166	43	-	-	NOUN
fcis-9423	166	44	nppcbsc	nppcbsc	NOUN
fcis-9423	166	45	and	and	CCONJ
fcis-9423	166	46	esobsc	esobsc	VERB
fcis-9423	166	47	0	0	NUM
fcis-9423	166	48	0.5	0.5	NUM
fcis-9423	166	49	1	1	NUM
fcis-9423	166	50	1.5	1.5	NUM
fcis-9423	166	51	2	2	NUM
fcis-9423	166	52	2.5	2.5	NUM
fcis-9423	166	53	时间[/s	时间[/s	NOUN
fcis-9423	166	54	]	]	PUNCT
fcis-9423	166	55	0	0	NUM
fcis-9423	166	56	0.02	0.02	NUM
fcis-9423	166	57	0.04	0.04	NUM
fcis-9423	166	58	0.06	0.06	NUM
fcis-9423	166	59	0.08	0.08	NUM
fcis-9423	166	60	0.1	0.1	NUM
fcis-9423	166	61	0.12	0.12	NUM
fcis-9423	166	62	滚	滚	PRON
fcis-9423	166	63	转	转	NOUN
fcis-9423	166	64	角	角	NOUN
fcis-9423	167	1	[	[	X
fcis-9423	167	2	/	/	X
fcis-9423	167	3	ra	ra	NOUN
fcis-9423	167	4	d	d	X
fcis-9423	167	5	]	]	X
fcis-9423	167	6	pid	pid	CCONJ
fcis-9423	167	7	eso	eso	NOUN
fcis-9423	167	8	-	-	PUNCT
fcis-9423	167	9	bcppc	bcppc	ADJ
fcis-9423	167	10	控制输入	控制输入	NOUN
fcis-9423	167	11	0	0	NUM
fcis-9423	167	12	0.5	0.5	NUM
fcis-9423	167	13	1	1	NUM
fcis-9423	167	14	1.5	1.5	NUM
fcis-9423	167	15	2	2	NUM
fcis-9423	167	16	2.5	2.5	NUM
fcis-9423	167	17	时间[/s	时间[/s	NOUN
fcis-9423	167	18	]	]	PUNCT
fcis-9423	167	19	0	0	NUM
fcis-9423	167	20	0.05	0.05	NUM
fcis-9423	167	21	0.1	0.1	NUM
fcis-9423	167	22	0.15	0.15	NUM
fcis-9423	167	23	俯	俯	NOUN
fcis-9423	167	24	仰	仰	NOUN
fcis-9423	167	25	角	角	NOUN
fcis-9423	168	1	[	[	X
fcis-9423	168	2	/	/	X
fcis-9423	168	3	ra	ra	NOUN
fcis-9423	168	4	d	d	X
fcis-9423	168	5	]	]	X
fcis-9423	168	6	pid	pid	CCONJ
fcis-9423	168	7	eso	eso	NOUN
fcis-9423	168	8	-	-	PUNCT
fcis-9423	168	9	bcppc	bcppc	ADJ
fcis-9423	168	10	控制输入	控制输入	NOUN
fcis-9423	168	11	0	0	NUM
fcis-9423	168	12	0.5	0.5	NUM
fcis-9423	168	13	1	1	NUM
fcis-9423	168	14	1.5	1.5	NUM
fcis-9423	168	15	2	2	NUM
fcis-9423	168	16	2.5	2.5	NUM
fcis-9423	168	17	时间[/s	时间[/s	NOUN
fcis-9423	168	18	]	]	PUNCT
fcis-9423	168	19	0	0	NUM
fcis-9423	168	20	0.02	0.02	NUM
fcis-9423	168	21	0.04	0.04	NUM
fcis-9423	168	22	0.06	0.06	NUM
fcis-9423	168	23	0.08	0.08	NUM
fcis-9423	168	24	0.1	0.1	NUM
fcis-9423	168	25	0.12	0.12	NUM
fcis-9423	168	26	0.14	0.14	NUM
fcis-9423	168	27	0.16	0.16	NUM
fcis-9423	168	28	0.18	0.18	NUM
fcis-9423	168	29	偏	偏	PRON
fcis-9423	168	30	航	航	X
fcis-9423	168	31	角	角	PRON
fcis-9423	169	1	[	[	X
fcis-9423	169	2	/	/	X
fcis-9423	169	3	ra	ra	NOUN
fcis-9423	169	4	d	d	X
fcis-9423	169	5	]	]	X
fcis-9423	169	6	pid	pid	CCONJ
fcis-9423	169	7	eso	eso	NOUN
fcis-9423	169	8	-	-	PUNCT
fcis-9423	169	9	bcppc	bcppc	ADJ
fcis-9423	169	10	控制输入	控制输入	NOUN
fcis-9423	169	11	0	0	NUM
fcis-9423	169	12	0.2	0.2	NUM
fcis-9423	169	13	0.4	0.4	NUM
fcis-9423	169	14	0.6	0.6	NUM
fcis-9423	169	15	0.8	0.8	NUM
fcis-9423	169	16	1	1	NUM
fcis-9423	169	17	时间[/s	时间[/s	NUM
fcis-9423	169	18	]	]	X
fcis-9423	169	19	-0.1	-0.1	PROPN
fcis-9423	169	20	-0.08	-0.08	NUM
fcis-9423	169	21	-0.06	-0.06	NUM
fcis-9423	169	22	-0.04	-0.04	NUM
fcis-9423	169	23	-0.02	-0.02	NUM
fcis-9423	169	24	0	0	NUM
fcis-9423	169	25	0.02	0.02	NUM
fcis-9423	169	26	0.04	0.04	NUM
fcis-9423	169	27	0.06	0.06	NUM
fcis-9423	169	28	0.08	0.08	NUM
fcis-9423	169	29	0.1	0.1	NUM
fcis-9423	169	30	滚	滚	PRON
fcis-9423	169	31	转	转	NOUN
fcis-9423	169	32	角	角	NOUN
fcis-9423	170	1	[	[	X
fcis-9423	170	2	/	/	X
fcis-9423	170	3	ra	ra	PROPN
fcis-9423	170	4	d	d	X
fcis-9423	170	5	]	]	X
fcis-9423	170	6	无预设性能	无预设性能	PROPN
fcis-9423	170	7	有预设性能	有预设性能	PROPN
fcis-9423	170	8	预设性能上界	预设性能上界	PROPN
fcis-9423	170	9	预设性能下界	预设性能下界	NOUN
fcis-9423	170	10	55	55	NUM
fcis-9423	170	11	fig	fig	NOUN
fcis-9423	170	12	5	5	NUM
fcis-9423	170	13	.	.	PUNCT
fcis-9423	170	14	comparison	comparison	NOUN
fcis-9423	170	15	of	of	ADP
fcis-9423	170	16	pitch	pitch	NOUN
fcis-9423	170	17	angle	angle	NOUN
fcis-9423	170	18	eso	eso	NOUN
fcis-9423	170	19	-	-	NOUN
fcis-9423	170	20	nppcbsc	nppcbsc	NOUN
fcis-9423	170	21	and	and	CCONJ
fcis-9423	170	22	eso	eso	NOUN
fcis-9423	170	23	-	-	PUNCT
fcis-9423	170	24	bsc	bsc	ADJ
fcis-9423	170	25	fig	fig	NOUN
fcis-9423	170	26	6	6	NUM
fcis-9423	170	27	.	.	PUNCT
fcis-9423	170	28	comparison	comparison	NOUN
fcis-9423	170	29	of	of	ADP
fcis-9423	170	30	yaw	yaw	PROPN
fcis-9423	170	31	angle	angle	NOUN
fcis-9423	170	32	eso	eso	NOUN
fcis-9423	170	33	-	-	NOUN
fcis-9423	170	34	nppcbsc	nppcbsc	NOUN
fcis-9423	170	35	and	and	CCONJ
fcis-9423	170	36	esobsc	esobsc	VERB
fcis-9423	170	37	the	the	DET
fcis-9423	170	38	experimental	experimental	ADJ
fcis-9423	170	39	results	result	NOUN
fcis-9423	170	40	show	show	VERB
fcis-9423	170	41	that	that	SCONJ
fcis-9423	170	42	,	,	PUNCT
fcis-9423	170	43	compared	compare	VERB
fcis-9423	170	44	with	with	ADP
fcis-9423	170	45	pid	pid	NOUN
fcis-9423	170	46	controller	controller	NOUN
fcis-9423	170	47	,	,	PUNCT
fcis-9423	170	48	the	the	DET
fcis-9423	170	49	attitude	attitude	NOUN
fcis-9423	170	50	angle	angle	NOUN
fcis-9423	170	51	tracking	tracking	NOUN
fcis-9423	170	52	response	response	NOUN
fcis-9423	170	53	curve	curve	NOUN
fcis-9423	170	54	of	of	ADP
fcis-9423	170	55	the	the	DET
fcis-9423	170	56	four	four	NUM
fcis-9423	170	57	-	-	PUNCT
fcis-9423	170	58	rotor	rotor	NOUN
fcis-9423	170	59	uav	uav	PROPN
fcis-9423	170	60	based	base	VERB
fcis-9423	170	61	on	on	ADP
fcis-9423	170	62	eso	eso	NOUN
fcis-9423	170	63	-	-	PUNCT
fcis-9423	170	64	nppcbsc	nppcbsc	ADJ
fcis-9423	170	65	controller	controller	NOUN
fcis-9423	170	66	has	have	VERB
fcis-9423	170	67	faster	fast	ADJ
fcis-9423	170	68	response	response	NOUN
fcis-9423	170	69	time	time	NOUN
fcis-9423	170	70	,	,	PUNCT
fcis-9423	170	71	smaller	small	ADJ
fcis-9423	170	72	overshoot	overshoot	NOUN
fcis-9423	170	73	and	and	CCONJ
fcis-9423	170	74	shorter	short	ADJ
fcis-9423	170	75	adjustment	adjustment	NOUN
fcis-9423	170	76	time	time	NOUN
fcis-9423	170	77	,	,	PUNCT
fcis-9423	170	78	and	and	CCONJ
fcis-9423	170	79	the	the	DET
fcis-9423	170	80	convergence	convergence	NOUN
fcis-9423	170	81	time	time	NOUN
fcis-9423	170	82	can	can	AUX
fcis-9423	170	83	be	be	AUX
fcis-9423	170	84	manually	manually	ADV
fcis-9423	170	85	specified	specify	VERB
fcis-9423	170	86	by	by	ADP
fcis-9423	170	87	adjusting	adjust	VERB
fcis-9423	170	88	preset	preset	ADJ
fcis-9423	170	89	performance	performance	NOUN
fcis-9423	170	90	parameters	parameter	NOUN
fcis-9423	170	91	.	.	PUNCT
fcis-9423	171	1	compared	compare	VERB
fcis-9423	171	2	with	with	ADP
fcis-9423	171	3	the	the	DET
fcis-9423	171	4	eso	eso	NOUN
fcis-9423	171	5	-	-	PUNCT
fcis-9423	171	6	bsc	bsc	NOUN
fcis-9423	171	7	without	without	ADP
fcis-9423	171	8	preset	preset	ADJ
fcis-9423	171	9	performance	performance	NOUN
fcis-9423	171	10	,	,	PUNCT
fcis-9423	171	11	the	the	DET
fcis-9423	171	12	attitude	attitude	NOUN
fcis-9423	171	13	angle	angle	NOUN
fcis-9423	171	14	tracking	tracking	NOUN
fcis-9423	171	15	response	response	NOUN
fcis-9423	171	16	curve	curve	NOUN
fcis-9423	171	17	of	of	ADP
fcis-9423	171	18	the	the	DET
fcis-9423	171	19	four	four	NUM
fcis-9423	171	20	-	-	PUNCT
fcis-9423	171	21	rotor	rotor	NOUN
fcis-9423	171	22	uav	uav	PROPN
fcis-9423	171	23	using	use	VERB
fcis-9423	171	24	the	the	DET
fcis-9423	171	25	eso	eso	NOUN
fcis-9423	171	26	-	-	PUNCT
fcis-9423	171	27	nppcbsc	nppcbsc	ADJ
fcis-9423	171	28	controller	controller	NOUN
fcis-9423	171	29	can	can	AUX
fcis-9423	171	30	be	be	AUX
fcis-9423	171	31	limited	limit	VERB
fcis-9423	171	32	within	within	ADP
fcis-9423	171	33	the	the	DET
fcis-9423	171	34	envelope	envelope	NOUN
fcis-9423	171	35	of	of	ADP
fcis-9423	171	36	preset	preset	ADJ
fcis-9423	171	37	performance	performance	NOUN
fcis-9423	171	38	,	,	PUNCT
fcis-9423	171	39	and	and	CCONJ
fcis-9423	171	40	the	the	DET
fcis-9423	171	41	static	static	ADJ
fcis-9423	171	42	difference	difference	NOUN
fcis-9423	171	43	after	after	ADP
fcis-9423	171	44	reaching	reach	VERB
fcis-9423	171	45	the	the	DET
fcis-9423	171	46	steady	steady	ADJ
fcis-9423	171	47	state	state	NOUN
fcis-9423	171	48	is	be	AUX
fcis-9423	171	49	relatively	relatively	ADV
fcis-9423	171	50	small	small	ADJ
fcis-9423	171	51	.	.	PUNCT
fcis-9423	172	1	references	reference	NOUN
fcis-9423	172	2	[	[	X
fcis-9423	172	3	1	1	X
fcis-9423	172	4	]	]	PUNCT
fcis-9423	172	5	giernacki	giernacki	PROPN
fcis-9423	172	6	w	w	PROPN
fcis-9423	172	7	j	j	PROPN
fcis-9423	172	8	e.	e.	PROPN
fcis-9423	172	9	minimum	minimum	PROPN
fcis-9423	172	10	energy	energy	NOUN
fcis-9423	172	11	control	control	NOUN
fcis-9423	172	12	of	of	ADP
fcis-9423	172	13	quadrotor	quadrotor	PROPN
fcis-9423	172	14	uav	uav	PROPN
fcis-9423	172	15	:	:	PUNCT
fcis-9423	172	16	synthesis	synthesis	NOUN
fcis-9423	172	17	and	and	CCONJ
fcis-9423	172	18	performance	performance	NOUN
fcis-9423	172	19	analysis	analysis	NOUN
fcis-9423	172	20	of	of	ADP
fcis-9423	172	21	control	control	NOUN
fcis-9423	172	22	system	system	NOUN
fcis-9423	172	23	with	with	ADP
fcis-9423	172	24	neurobiologically	neurobiologically	ADV
fcis-9423	172	25	inspired	inspire	VERB
fcis-9423	172	26	intelligent	intelligent	ADJ
fcis-9423	172	27	controller	controller	NOUN
fcis-9423	172	28	(	(	PUNCT
fcis-9423	172	29	bel	bel	NOUN
fcis-9423	172	30	bic	bic	PROPN
fcis-9423	172	31	)	)	PUNCT
fcis-9423	173	1	[	[	X
fcis-9423	173	2	j	j	X
fcis-9423	173	3	]	]	X
fcis-9423	173	4	.	.	PUNCT
fcis-9423	173	5	2022	2022	NUM
fcis-9423	173	6	,	,	PUNCT
fcis-9423	173	7	15(20	15(20	NUM
fcis-9423	173	8	):	):	PUNCT
fcis-9423	173	9	7566	7566	NUM
fcis-9423	173	10	-	-	SYM
fcis-9423	173	11	7566	7566	NUM
fcis-9423	173	12	.	.	PUNCT
fcis-9423	174	1	[	[	X
fcis-9423	174	2	2	2	X
fcis-9423	174	3	]	]	PUNCT
fcis-9423	174	4	selvaraj	selvaraj	ADJ
fcis-9423	174	5	r	r	NOUN
fcis-9423	174	6	,	,	PUNCT
fcis-9423	174	7	kuthadi	kuthadi	NOUN
fcis-9423	174	8	v	v	NOUN
fcis-9423	174	9	m	m	PROPN
fcis-9423	174	10	,	,	PUNCT
fcis-9423	174	11	baskar	baskar	PROPN
fcis-9423	174	12	s	s	PART
fcis-9423	174	13	j	j	PROPN
fcis-9423	174	14	a	a	DET
fcis-9423	174	15	j.	j.	PROPN
fcis-9423	174	16	real‐time	real‐time	PROPN
fcis-9423	174	17	agricultural	agricultural	ADJ
fcis-9423	174	18	field	field	NOUN
fcis-9423	174	19	monitoring	monitoring	NOUN
fcis-9423	174	20	and	and	CCONJ
fcis-9423	174	21	smart	smart	ADJ
fcis-9423	174	22	irrigation	irrigation	NOUN
fcis-9423	174	23	architecture	architecture	NOUN
fcis-9423	174	24	using	use	VERB
fcis-9423	174	25	the	the	DET
fcis-9423	174	26	internet	internet	NOUN
fcis-9423	174	27	of	of	ADP
fcis-9423	174	28	things	thing	NOUN
fcis-9423	174	29	and	and	CCONJ
fcis-9423	174	30	quadrotor	quadrotor	NOUN
fcis-9423	174	31	unmanned	unmanned	ADJ
fcis-9423	174	32	aerial	aerial	ADJ
fcis-9423	174	33	vehicles	vehicle	NOUN
fcis-9423	174	34	[	[	X
fcis-9423	174	35	j	j	X
fcis-9423	174	36	]	]	X
fcis-9423	174	37	.	.	PUNCT
fcis-9423	174	38	2023	2023	NUM
fcis-9423	174	39	,	,	PUNCT
fcis-9423	174	40	115(1	115(1	NUM
fcis-9423	174	41	):	):	PUNCT
fcis-9423	174	42	1	1	NUM
fcis-9423	174	43	-	-	SYM
fcis-9423	174	44	20	20	NUM
fcis-9423	174	45	.	.	PUNCT
fcis-9423	175	1	[	[	X
fcis-9423	175	2	3	3	X
fcis-9423	175	3	]	]	X
fcis-9423	175	4	song	song	NOUN
fcis-9423	175	5	y	y	PROPN
fcis-9423	175	6	-	-	PUNCT
fcis-9423	175	7	h	h	PROPN
fcis-9423	175	8	,	,	PUNCT
fcis-9423	175	9	kim	kim	PROPN
fcis-9423	175	10	d	d	PROPN
fcis-9423	175	11	-	-	PROPN
fcis-9423	175	12	k	k	PROPN
fcis-9423	175	13	j	j	PROPN
fcis-9423	175	14	j	j	PROPN
fcis-9423	176	1	o	o	PROPN
fcis-9423	176	2	t	t	PROPN
fcis-9423	177	1	k	k	PROPN
fcis-9423	177	2	s	s	PROPN
fcis-9423	177	3	f	f	PROPN
fcis-9423	177	4	a	a	PROPN
fcis-9423	177	5	,	,	PUNCT
fcis-9423	177	6	sciences	sciences	PROPN
fcis-9423	177	7	s.	s.	PROPN
fcis-9423	177	8	development	development	PROPN
fcis-9423	177	9	of	of	ADP
fcis-9423	177	10	coaxial	coaxial	ADJ
fcis-9423	177	11	propeller	propeller	NOUN
fcis-9423	177	12	test	test	NOUN
fcis-9423	177	13	facility	facility	NOUN
fcis-9423	177	14	and	and	CCONJ
fcis-9423	177	15	experimental	experimental	ADJ
fcis-9423	177	16	study	study	NOUN
fcis-9423	177	17	on	on	ADP
fcis-9423	177	18	hover	hover	NOUN
fcis-9423	177	19	performance	performance	NOUN
fcis-9423	177	20	characteristics	characteristic	NOUN
fcis-9423	177	21	for	for	ADP
fcis-9423	177	22	drone	drone	NOUN
fcis-9423	177	23	[	[	X
fcis-9423	177	24	j	j	X
fcis-9423	177	25	]	]	X
fcis-9423	177	26	.	.	PROPN
fcis-9423	177	27	2018	2018	NUM
fcis-9423	177	28	,	,	PUNCT
fcis-9423	177	29	46(1	46(1	NUM
fcis-9423	177	30	):	):	PUNCT
fcis-9423	177	31	59	59	NUM
fcis-9423	177	32	-	-	SYM
fcis-9423	177	33	67	67	NUM
fcis-9423	177	34	.	.	PUNCT
fcis-9423	178	1	[	[	X
fcis-9423	178	2	4	4	X
fcis-9423	178	3	]	]	X
fcis-9423	178	4	giernacki	giernacki	PROPN
fcis-9423	178	5	w	w	PROPN
fcis-9423	178	6	,	,	PUNCT
fcis-9423	178	7	gośliński	gośliński	PROPN
fcis-9423	178	8	j	j	PROPN
fcis-9423	178	9	,	,	PUNCT
fcis-9423	178	10	goślińska	goślińska	PROPN
fcis-9423	178	11	j	j	PROPN
fcis-9423	178	12	,	,	PUNCT
fcis-9423	178	13	espinoza	espinoza	PROPN
fcis-9423	178	14	-	-	PUNCT
fcis-9423	178	15	fraire	fraire	PROPN
fcis-9423	178	16	t	t	PROPN
fcis-9423	178	17	,	,	PUNCT
fcis-9423	178	18	rao	rao	PROPN
fcis-9423	179	1	j	j	PROPN
fcis-9423	179	2	j	j	PROPN
fcis-9423	179	3	e.	e.	PROPN
fcis-9423	179	4	mathematical	mathematical	PROPN
fcis-9423	179	5	modeling	modeling	NOUN
fcis-9423	179	6	of	of	ADP
fcis-9423	179	7	the	the	DET
fcis-9423	179	8	coaxial	coaxial	ADJ
fcis-9423	179	9	quadrotor	quadrotor	NOUN
fcis-9423	179	10	dynamics	dynamic	NOUN
fcis-9423	179	11	for	for	ADP
fcis-9423	179	12	its	its	PRON
fcis-9423	179	13	attitude	attitude	NOUN
fcis-9423	179	14	and	and	CCONJ
fcis-9423	179	15	altitude	altitude	NOUN
fcis-9423	179	16	control	control	NOUN
fcis-9423	180	1	[	[	X
fcis-9423	180	2	j	j	X
fcis-9423	180	3	]	]	X
fcis-9423	180	4	.	.	PUNCT
fcis-9423	181	1	2021	2021	NUM
fcis-9423	181	2	,	,	PUNCT
fcis-9423	181	3	14(5	14(5	NUM
fcis-9423	181	4	):	):	PUNCT
fcis-9423	181	5	1232	1232	NUM
fcis-9423	181	6	-	-	SYM
fcis-9423	181	7	1232	1232	NUM
fcis-9423	181	8	.	.	PUNCT
fcis-9423	182	1	[	[	X
fcis-9423	182	2	5	5	NUM
fcis-9423	182	3	]	]	PUNCT
fcis-9423	182	4	zarri	zarri	NOUN
fcis-9423	182	5	a	a	NOUN
fcis-9423	182	6	,	,	PUNCT
fcis-9423	182	7	dell'erba	dell'erba	NOUN
fcis-9423	182	8	e	e	NOUN
fcis-9423	182	9	,	,	PUNCT
fcis-9423	182	10	munters	munter	NOUN
fcis-9423	182	11	w	w	PROPN
fcis-9423	182	12	,	,	PUNCT
fcis-9423	182	13	schram	schram	PROPN
fcis-9423	182	14	c	c	PROPN
fcis-9423	182	15	j	j	PROPN
fcis-9423	182	16	a	a	DET
fcis-9423	182	17	s	s	PROPN
fcis-9423	182	18	,	,	PUNCT
fcis-9423	182	19	technology	technology	NOUN
fcis-9423	182	20	.	.	PUNCT
fcis-9423	183	1	aeroacoustic	aeroacoustic	ADJ
fcis-9423	183	2	installation	installation	NOUN
fcis-9423	183	3	effects	effect	NOUN
fcis-9423	183	4	in	in	ADP
fcis-9423	183	5	multirotorcraft	multirotorcraft	NOUN
fcis-9423	183	6	:	:	PUNCT
fcis-9423	183	7	numerical	numerical	ADJ
fcis-9423	183	8	investigations	investigation	NOUN
fcis-9423	183	9	of	of	ADP
fcis-9423	183	10	a	a	DET
fcis-9423	183	11	small	small	ADJ
fcis-9423	183	12	-	-	PUNCT
fcis-9423	183	13	size	size	NOUN
fcis-9423	183	14	drone	drone	NOUN
fcis-9423	183	15	model	model	NOUN
fcis-9423	184	1	[	[	X
fcis-9423	184	2	j	j	X
fcis-9423	184	3	]	]	X
fcis-9423	184	4	.	.	PUNCT
fcis-9423	185	1	2022	2022	NUM
fcis-9423	185	2	,	,	PUNCT
fcis-9423	185	3	128	128	NUM
fcis-9423	185	4	:	:	SYM
fcis-9423	185	5	107762	107762	NUM
fcis-9423	185	6	.	.	PUNCT
fcis-9423	186	1	[	[	X
fcis-9423	186	2	6	6	NUM
fcis-9423	186	3	]	]	PUNCT
fcis-9423	186	4	xiong	xiong	PROPN
fcis-9423	186	5	l	l	PROPN
fcis-9423	186	6	,	,	PUNCT
fcis-9423	186	7	tang	tang	PROPN
fcis-9423	187	1	g	g	PROPN
fcis-9423	187	2	j	j	PROPN
fcis-9423	187	3	o	o	PROPN
fcis-9423	187	4	l.	l.	PROPN
fcis-9423	187	5	multi	multi	ADJ
fcis-9423	187	6	-	-	ADJ
fcis-9423	187	7	object	object	ADJ
fcis-9423	187	8	tracking	tracking	NOUN
fcis-9423	187	9	based	base	VERB
fcis-9423	187	10	on	on	ADP
fcis-9423	187	11	deep	deep	ADJ
fcis-9423	187	12	associated	associated	ADJ
fcis-9423	187	13	features	feature	NOUN
fcis-9423	187	14	for	for	ADP
fcis-9423	187	15	uav	uav	PROPN
fcis-9423	187	16	applications	application	NOUN
fcis-9423	187	17	[	[	X
fcis-9423	187	18	j	j	X
fcis-9423	187	19	]	]	X
fcis-9423	187	20	.	.	PUNCT
fcis-9423	188	1	2023	2023	NUM
fcis-9423	188	2	,	,	PUNCT
fcis-9423	188	3	19(2	19(2	NUM
fcis-9423	188	4	):	):	PUNCT
fcis-9423	188	5	105	105	NUM
fcis-9423	188	6	-	-	SYM
fcis-9423	188	7	111	111	NUM
fcis-9423	188	8	.	.	PUNCT
fcis-9423	189	1	[	[	X
fcis-9423	189	2	7	7	X
fcis-9423	189	3	]	]	X
fcis-9423	189	4	sun	sun	PROPN
fcis-9423	189	5	z	z	PROPN
fcis-9423	189	6	,	,	PUNCT
fcis-9423	189	7	liang	liang	PROPN
fcis-9423	189	8	l	l	PROPN
fcis-9423	189	9	,	,	PUNCT
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fcis-9423	189	11	w	w	PROPN
fcis-9423	189	12	j	j	PROPN
fcis-9423	190	1	i	i	PRON
fcis-9423	190	2	j	j	NOUN
fcis-9423	191	1	o	o	INTJ
fcis-9423	191	2	i	i	PRON
fcis-9423	191	3	s.	s.	PROPN
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fcis-9423	191	6	dynamic	dynamic	ADJ
fcis-9423	191	7	surface	surface	NOUN
fcis-9423	191	8	fuzzy	fuzzy	ADJ
fcis-9423	191	9	control	control	NOUN
fcis-9423	191	10	for	for	ADP
fcis-9423	191	11	strict‐feedback	strict‐feedback	NOUN
fcis-9423	191	12	nonlinear	nonlinear	ADJ
fcis-9423	191	13	system	system	NOUN
fcis-9423	191	14	with	with	ADP
fcis-9423	191	15	actuator	actuator	NOUN
fcis-9423	191	16	fault	fault	NOUN
fcis-9423	192	1	[	[	X
fcis-9423	192	2	j	j	X
fcis-9423	192	3	]	]	X
fcis-9423	192	4	.	.	PUNCT
fcis-9423	193	1	2022	2022	NUM
fcis-9423	193	2	,	,	PUNCT
fcis-9423	193	3	37(12	37(12	NUM
fcis-9423	193	4	):	):	PUNCT
fcis-9423	193	5	11692	11692	NUM
fcis-9423	193	6	-	-	SYM
fcis-9423	193	7	11712	11712	NUM
fcis-9423	193	8	.	.	PUNCT
fcis-9423	194	1	[	[	X
fcis-9423	194	2	8	8	NUM
fcis-9423	194	3	]	]	PUNCT
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fcis-9423	194	5	nihal	nihal	PROPN
fcis-9423	194	6	,	,	PUNCT
fcis-9423	194	7	deb	deb	PROPN
fcis-9423	194	8	dipankar	dipankar	PROPN
fcis-9423	194	9	,	,	PUNCT
fcis-9423	194	10	kothari	kothari	PROPN
fcis-9423	194	11	mangal	mangal	PROPN
fcis-9423	194	12	,	,	PUNCT
fcis-9423	194	13	ozana	ozana	PROPN
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fcis-9423	194	15	.	.	PUNCT
fcis-9423	195	1	disturbance	disturbance	NOUN
fcis-9423	195	2	observer	observer	NOUN
fcis-9423	195	3	-	-	PUNCT
fcis-9423	195	4	based	base	VERB
fcis-9423	195	5	backstepping	backstepping	NOUN
fcis-9423	195	6	control	control	NOUN
fcis-9423	195	7	of	of	ADP
fcis-9423	195	8	tailsitter	tailsitter	ADJ
fcis-9423	195	9	uavs[j	uavs[j	PROPN
fcis-9423	195	10	]	]	PUNCT
fcis-9423	195	11	.	.	PUNCT
fcis-9423	196	1	actuators,2021,10(6	actuators,2021,10(6	PROPN
fcis-9423	196	2	):	):	PUNCT
fcis-9423	196	3	119	119	NUM
fcis-9423	196	4	-	-	SYM
fcis-9423	196	5	119	119	NUM
fcis-9423	196	6	.	.	PUNCT
fcis-9423	197	1	[	[	X
fcis-9423	197	2	9	9	NUM
fcis-9423	197	3	]	]	PUNCT
fcis-9423	197	4	ma	ma	PROPN
fcis-9423	197	5	t	t	PROPN
fcis-9423	197	6	-	-	PUNCT
fcis-9423	197	7	n	n	CCONJ
fcis-9423	197	8	,	,	PUNCT
fcis-9423	197	9	xi	xi	ADP
fcis-9423	197	10	r	r	X
fcis-9423	197	11	-	-	PUNCT
fcis-9423	197	12	d	d	PROPN
fcis-9423	197	13	,	,	PUNCT
fcis-9423	197	14	xiao	xiao	PROPN
fcis-9423	197	15	x	x	PROPN
fcis-9423	197	16	,	,	PUNCT
fcis-9423	197	17	yang	yang	PROPN
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fcis-9423	198	4	):	):	PUNCT
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fcis-9423	203	1	[	[	X
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fcis-9423	203	3	]	]	PUNCT
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fcis-9423	205	4	):	):	PUNCT
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fcis-9423	205	6	-	-	SYM
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fcis-9423	214	5	):	):	PUNCT
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fcis-9423	214	9	.	.	PUNCT
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fcis-9423	216	9	.	.	PUNCT
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fcis-9423	218	3	]	]	X
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fcis-9423	219	2	,	,	PUNCT
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