id	sid	tid	token	lemma	pos
hjic-100	1	1	hungarian	hungarian	ADJ
hjic-100	1	2	journal	journal	NOUN
hjic-100	1	3	of	of	ADP
hjic-100	1	4	industrial	industrial	ADJ
hjic-100	1	5	chemistry	chemistry	NOUN
hjic-100	1	6	veszprém	veszprém	NOUN
hjic-100	1	7	vol	vol	NOUN
hjic-100	1	8	.	.	PUNCT
hjic-100	2	1	33(1	33(1	NUM
hjic-100	2	2	-	-	SYM
hjic-100	2	3	2	2	NUM
hjic-100	2	4	)	)	PUNCT
hjic-100	2	5	.	.	PUNCT
hjic-100	3	1	pp	pp	ADV
hjic-100	3	2	.	.	PUNCT
hjic-100	4	1	89	89	NUM
hjic-100	4	2	-	-	SYM
hjic-100	4	3	96	96	NUM
hjic-100	4	4	(	(	PUNCT
hjic-100	4	5	2005	2005	NUM
hjic-100	4	6	)	)	PUNCT
hjic-100	4	7	robust	robust	ADJ
hjic-100	4	8	model	model	NOUN
hjic-100	4	9	predictive	predictive	ADJ
hjic-100	4	10	control	control	NOUN
hjic-100	4	11	with	with	ADP
hjic-100	4	12	state	state	NOUN
hjic-100	4	13	estimation	estimation	NOUN
hjic-100	4	14	for	for	ADP
hjic-100	4	15	an	an	DET
hjic-100	4	16	industrial	industrial	ADJ
hjic-100	4	17	pressurizer	pressurizer	NOUN
hjic-100	4	18	system	system	NOUN
hjic-100	4	19	p.	p.	PROPN
hjic-100	4	20	tamás	tamás	NOUN
hjic-100	4	21	,	,	PUNCT
hjic-100	4	22	i.	i.	PROPN
hjic-100	4	23	varga	varga	PROPN
hjic-100	4	24	,	,	PUNCT
hjic-100	4	25	g.	g.	PROPN
hjic-100	4	26	szederkényi	szederkényi	PROPN
hjic-100	4	27	and	and	CCONJ
hjic-100	4	28	j.	j.	PROPN
hjic-100	4	29	bokor	bokor	PROPN
hjic-100	4	30	systems	systems	PROPN
hjic-100	4	31	and	and	CCONJ
hjic-100	4	32	control	control	PROPN
hjic-100	4	33	laboratory	laboratory	NOUN
hjic-100	4	34	,	,	PUNCT
hjic-100	4	35	computer	computer	NOUN
hjic-100	4	36	and	and	CCONJ
hjic-100	4	37	automation	automation	NOUN
hjic-100	4	38	research	research	PROPN
hjic-100	4	39	institute	institute	PROPN
hjic-100	4	40	,	,	PUNCT
hjic-100	4	41	has	have	VERB
hjic-100	4	42	,	,	PUNCT
hjic-100	4	43	h-1518	h-1518	PROPN
hjic-100	4	44	budapest	budapest	NOUN
hjic-100	4	45	,	,	PUNCT
hjic-100	4	46	p.o	p.o	PROPN
hjic-100	4	47	.	.	PROPN
hjic-100	4	48	box	box	PROPN
hjic-100	4	49	63	63	NUM
hjic-100	4	50	,	,	PUNCT
hjic-100	4	51	hungary	hungary	PROPN
hjic-100	4	52	robust	robust	ADJ
hjic-100	4	53	model	model	NOUN
hjic-100	4	54	predictive	predictive	ADJ
hjic-100	4	55	control	control	NOUN
hjic-100	4	56	of	of	ADP
hjic-100	4	57	an	an	DET
hjic-100	4	58	industrial	industrial	ADJ
hjic-100	4	59	pressurizer	pressurizer	NOUN
hjic-100	4	60	is	be	AUX
hjic-100	4	61	presented	present	VERB
hjic-100	4	62	in	in	ADP
hjic-100	4	63	this	this	DET
hjic-100	4	64	paper	paper	NOUN
hjic-100	4	65	.	.	PUNCT
hjic-100	5	1	the	the	DET
hjic-100	5	2	physical	physical	ADJ
hjic-100	5	3	model	model	NOUN
hjic-100	5	4	of	of	ADP
hjic-100	5	5	the	the	DET
hjic-100	5	6	system	system	NOUN
hjic-100	5	7	is	be	AUX
hjic-100	5	8	based	base	VERB
hjic-100	5	9	on	on	ADP
hjic-100	5	10	first	first	ADJ
hjic-100	5	11	engineering	engineering	NOUN
hjic-100	5	12	principles	principle	NOUN
hjic-100	5	13	and	and	CCONJ
hjic-100	5	14	the	the	DET
hjic-100	5	15	model	model	NOUN
hjic-100	5	16	parameters	parameter	NOUN
hjic-100	5	17	have	have	AUX
hjic-100	5	18	been	be	AUX
hjic-100	5	19	previously	previously	ADV
hjic-100	5	20	identified	identify	VERB
hjic-100	5	21	from	from	ADP
hjic-100	5	22	measured	measure	VERB
hjic-100	5	23	data	datum	NOUN
hjic-100	5	24	.	.	PUNCT
hjic-100	6	1	to	to	PART
hjic-100	6	2	satisfy	satisfy	VERB
hjic-100	6	3	the	the	DET
hjic-100	6	4	hard	hard	ADJ
hjic-100	6	5	constraints	constraint	NOUN
hjic-100	6	6	on	on	ADP
hjic-100	6	7	the	the	DET
hjic-100	6	8	state	state	NOUN
hjic-100	6	9	variables	variable	NOUN
hjic-100	6	10	and	and	CCONJ
hjic-100	6	11	the	the	DET
hjic-100	6	12	input	input	NOUN
hjic-100	6	13	even	even	ADV
hjic-100	6	14	in	in	ADP
hjic-100	6	15	the	the	DET
hjic-100	6	16	presence	presence	NOUN
hjic-100	6	17	of	of	ADP
hjic-100	6	18	disturbances	disturbance	NOUN
hjic-100	6	19	,	,	PUNCT
hjic-100	6	20	the	the	DET
hjic-100	6	21	so	so	ADV
hjic-100	6	22	-	-	PUNCT
hjic-100	6	23	called	call	VERB
hjic-100	6	24	single	single	ADJ
hjic-100	6	25	policy	policy	NOUN
hjic-100	6	26	robust	robust	ADJ
hjic-100	6	27	model	model	NOUN
hjic-100	6	28	predictive	predictive	PROPN
hjic-100	6	29	control	control	NOUN
hjic-100	6	30	method	method	NOUN
hjic-100	6	31	is	be	AUX
hjic-100	6	32	applied	apply	VERB
hjic-100	6	33	.	.	PUNCT
hjic-100	7	1	the	the	DET
hjic-100	7	2	maximal	maximal	ADJ
hjic-100	7	3	admissible	admissible	ADJ
hjic-100	7	4	level	level	NOUN
hjic-100	7	5	set	set	NOUN
hjic-100	7	6	,	,	PUNCT
hjic-100	7	7	the	the	DET
hjic-100	7	8	disturbance	disturbance	NOUN
hjic-100	7	9	invariant	invariant	VERB
hjic-100	7	10	set	set	NOUN
hjic-100	7	11	and	and	CCONJ
hjic-100	7	12	the	the	DET
hjic-100	7	13	terminal	terminal	ADJ
hjic-100	7	14	sets	set	NOUN
hjic-100	7	15	are	be	AUX
hjic-100	7	16	determined	determine	VERB
hjic-100	7	17	for	for	ADP
hjic-100	7	18	the	the	DET
hjic-100	7	19	system	system	NOUN
hjic-100	7	20	.	.	PUNCT
hjic-100	8	1	simulation	simulation	NOUN
hjic-100	8	2	results	result	NOUN
hjic-100	8	3	show	show	VERB
hjic-100	8	4	that	that	SCONJ
hjic-100	8	5	the	the	DET
hjic-100	8	6	proposed	propose	VERB
hjic-100	8	7	controller	controller	NOUN
hjic-100	8	8	satisfies	satisfy	VERB
hjic-100	8	9	all	all	DET
hjic-100	8	10	the	the	DET
hjic-100	8	11	requirements	requirement	NOUN
hjic-100	8	12	and	and	CCONJ
hjic-100	8	13	shows	show	VERB
hjic-100	8	14	good	good	ADJ
hjic-100	8	15	timedomain	timedomain	PROPN
hjic-100	8	16	behavior	behavior	NOUN
hjic-100	8	17	.	.	PUNCT
hjic-100	9	1	keywords	keyword	NOUN
hjic-100	9	2	:	:	PUNCT
hjic-100	9	3	process	process	NOUN
hjic-100	9	4	control	control	NOUN
hjic-100	9	5	,	,	PUNCT
hjic-100	9	6	robust	robust	ADJ
hjic-100	9	7	model	model	NOUN
hjic-100	9	8	predictive	predictive	PROPN
hjic-100	9	9	control	control	NOUN
hjic-100	9	10	,	,	PUNCT
hjic-100	9	11	constrained	constrain	VERB
hjic-100	9	12	control	control	NOUN
hjic-100	9	13	introduction	introduction	NOUN
hjic-100	9	14	recently	recently	ADV
hjic-100	9	15	,	,	PUNCT
hjic-100	9	16	there	there	PRON
hjic-100	9	17	has	have	AUX
hjic-100	9	18	been	be	AUX
hjic-100	9	19	a	a	DET
hjic-100	9	20	growing	grow	VERB
hjic-100	9	21	need	need	NOUN
hjic-100	9	22	for	for	ADP
hjic-100	9	23	automation	automation	NOUN
hjic-100	9	24	of	of	ADP
hjic-100	9	25	increasingly	increasingly	ADV
hjic-100	9	26	complex	complex	ADJ
hjic-100	9	27	plants	plant	NOUN
hjic-100	9	28	in	in	ADP
hjic-100	9	29	different	different	ADJ
hjic-100	9	30	branches	branch	NOUN
hjic-100	9	31	of	of	ADP
hjic-100	9	32	industry	industry	NOUN
hjic-100	9	33	.	.	PUNCT
hjic-100	10	1	fortunately	fortunately	ADV
hjic-100	10	2	,	,	PUNCT
hjic-100	10	3	the	the	DET
hjic-100	10	4	improving	improve	VERB
hjic-100	10	5	quantity	quantity	NOUN
hjic-100	10	6	and	and	CCONJ
hjic-100	10	7	quality	quality	NOUN
hjic-100	10	8	of	of	ADP
hjic-100	10	9	measurements	measurement	NOUN
hjic-100	10	10	and	and	CCONJ
hjic-100	10	11	actuators	actuator	NOUN
hjic-100	10	12	allows	allow	VERB
hjic-100	10	13	us	we	PRON
hjic-100	10	14	to	to	PART
hjic-100	10	15	apply	apply	VERB
hjic-100	10	16	an	an	DET
hjic-100	10	17	increasing	increase	VERB
hjic-100	10	18	variety	variety	NOUN
hjic-100	10	19	of	of	ADP
hjic-100	10	20	techniques	technique	NOUN
hjic-100	10	21	in	in	ADP
hjic-100	10	22	systems	system	NOUN
hjic-100	10	23	and	and	CCONJ
hjic-100	10	24	control	control	NOUN
hjic-100	10	25	theory	theory	NOUN
hjic-100	10	26	developed	develop	VERB
hjic-100	10	27	in	in	ADP
hjic-100	10	28	the	the	DET
hjic-100	10	29	last	last	ADJ
hjic-100	10	30	few	few	ADJ
hjic-100	10	31	decades	decade	NOUN
hjic-100	10	32	.	.	PUNCT
hjic-100	11	1	this	this	DET
hjic-100	11	2	paper	paper	NOUN
hjic-100	11	3	presents	present	VERB
hjic-100	11	4	a	a	DET
hjic-100	11	5	robust	robust	ADJ
hjic-100	11	6	model	model	NOUN
hjic-100	11	7	predictive	predictive	ADJ
hjic-100	11	8	control	control	NOUN
hjic-100	11	9	for	for	ADP
hjic-100	11	10	an	an	DET
hjic-100	11	11	industrial	industrial	ADJ
hjic-100	11	12	pressurizer	pressurizer	NOUN
hjic-100	11	13	system	system	NOUN
hjic-100	11	14	used	use	VERB
hjic-100	11	15	mainly	mainly	ADV
hjic-100	11	16	for	for	ADP
hjic-100	11	17	pressure	pressure	NOUN
hjic-100	11	18	control	control	NOUN
hjic-100	11	19	in	in	ADP
hjic-100	11	20	a	a	DET
hjic-100	11	21	nuclear	nuclear	ADJ
hjic-100	11	22	power	power	NOUN
hjic-100	11	23	plant	plant	NOUN
hjic-100	11	24	.	.	PUNCT
hjic-100	12	1	in	in	ADP
hjic-100	12	2	[	[	X
hjic-100	12	3	9	9	NUM
hjic-100	12	4	]	]	PUNCT
hjic-100	12	5	an	an	DET
hjic-100	12	6	advanced	advanced	ADJ
hjic-100	12	7	dynamic	dynamic	ADJ
hjic-100	12	8	inversion	inversion	NOUN
hjic-100	12	9	-	-	PUNCT
hjic-100	12	10	based	base	VERB
hjic-100	12	11	pressure	pressure	NOUN
hjic-100	12	12	controller	controller	NOUN
hjic-100	12	13	has	have	AUX
hjic-100	12	14	been	be	AUX
hjic-100	12	15	designed	design	VERB
hjic-100	12	16	for	for	ADP
hjic-100	12	17	the	the	DET
hjic-100	12	18	systems	system	NOUN
hjic-100	12	19	of	of	ADP
hjic-100	12	20	this	this	DET
hjic-100	12	21	type	type	NOUN
hjic-100	12	22	.	.	PUNCT
hjic-100	13	1	although	although	SCONJ
hjic-100	13	2	this	this	DET
hjic-100	13	3	controller	controller	NOUN
hjic-100	13	4	performs	perform	VERB
hjic-100	13	5	very	very	ADV
hjic-100	13	6	well	well	ADV
hjic-100	13	7	in	in	ADP
hjic-100	13	8	practice	practice	NOUN
hjic-100	13	9	,	,	PUNCT
hjic-100	13	10	our	our	PRON
hjic-100	13	11	aim	aim	NOUN
hjic-100	13	12	is	be	AUX
hjic-100	13	13	to	to	PART
hjic-100	13	14	further	far	ADV
hjic-100	13	15	develop	develop	VERB
hjic-100	13	16	control	control	NOUN
hjic-100	13	17	performance	performance	NOUN
hjic-100	13	18	.	.	PUNCT
hjic-100	14	1	for	for	ADP
hjic-100	14	2	this	this	PRON
hjic-100	14	3	,	,	PUNCT
hjic-100	14	4	a	a	DET
hjic-100	14	5	robust	robust	ADJ
hjic-100	14	6	model	model	NOUN
hjic-100	14	7	predictive	predictive	PROPN
hjic-100	14	8	control	control	NOUN
hjic-100	14	9	approach	approach	NOUN
hjic-100	14	10	is	be	AUX
hjic-100	14	11	proposed	propose	VERB
hjic-100	14	12	in	in	ADP
hjic-100	14	13	this	this	DET
hjic-100	14	14	paper	paper	NOUN
hjic-100	14	15	that	that	PRON
hjic-100	14	16	is	be	AUX
hjic-100	14	17	able	able	ADJ
hjic-100	14	18	to	to	PART
hjic-100	14	19	handle	handle	VERB
hjic-100	14	20	the	the	DET
hjic-100	14	21	strict	strict	ADJ
hjic-100	14	22	input	input	NOUN
hjic-100	14	23	and	and	CCONJ
hjic-100	14	24	state	state	NOUN
hjic-100	14	25	constraints	constraint	NOUN
hjic-100	14	26	even	even	ADV
hjic-100	14	27	if	if	SCONJ
hjic-100	14	28	disturbance	disturbance	NOUN
hjic-100	14	29	affects	affect	VERB
hjic-100	14	30	on	on	ADP
hjic-100	14	31	the	the	DET
hjic-100	14	32	system	system	NOUN
hjic-100	14	33	.	.	PUNCT
hjic-100	15	1	the	the	DET
hjic-100	15	2	dynamic	dynamic	ADJ
hjic-100	15	3	model	model	NOUN
hjic-100	15	4	of	of	ADP
hjic-100	15	5	the	the	DET
hjic-100	15	6	system	system	NOUN
hjic-100	15	7	system	system	NOUN
hjic-100	15	8	description	description	NOUN
hjic-100	15	9	the	the	DET
hjic-100	15	10	system	system	NOUN
hjic-100	15	11	discussed	discuss	VERB
hjic-100	15	12	is	be	AUX
hjic-100	15	13	a	a	DET
hjic-100	15	14	pressurized	pressurized	ADJ
hjic-100	15	15	water	water	NOUN
hjic-100	15	16	reactor	reactor	NOUN
hjic-100	15	17	,	,	PUNCT
hjic-100	15	18	which	which	PRON
hjic-100	15	19	means	mean	VERB
hjic-100	15	20	that	that	SCONJ
hjic-100	15	21	in	in	ADP
hjic-100	15	22	the	the	DET
hjic-100	15	23	primary	primary	ADJ
hjic-100	15	24	circuit	circuit	NOUN
hjic-100	15	25	high	high	ADJ
hjic-100	15	26	pressure	pressure	NOUN
hjic-100	15	27	ensures	ensure	VERB
hjic-100	15	28	that	that	SCONJ
hjic-100	15	29	the	the	DET
hjic-100	15	30	coolant	coolant	NOUN
hjic-100	15	31	is	be	AUX
hjic-100	15	32	not	not	PART
hjic-100	15	33	boiling	boil	VERB
hjic-100	15	34	.	.	PUNCT
hjic-100	16	1	the	the	DET
hjic-100	16	2	task	task	NOUN
hjic-100	16	3	of	of	ADP
hjic-100	16	4	the	the	DET
hjic-100	16	5	pressurizer	pressurizer	NOUN
hjic-100	16	6	is	be	AUX
hjic-100	16	7	to	to	PART
hjic-100	16	8	keep	keep	VERB
hjic-100	16	9	the	the	DET
hjic-100	16	10	pressure	pressure	NOUN
hjic-100	16	11	within	within	ADP
hjic-100	16	12	a	a	DET
hjic-100	16	13	predefined	predefined	ADJ
hjic-100	16	14	range	range	NOUN
hjic-100	16	15	.	.	PUNCT
hjic-100	17	1	from	from	ADP
hjic-100	17	2	a	a	DET
hjic-100	17	3	modeling	modeling	NOUN
hjic-100	17	4	point	point	NOUN
hjic-100	17	5	of	of	ADP
hjic-100	17	6	view	view	NOUN
hjic-100	17	7	,	,	PUNCT
hjic-100	17	8	the	the	DET
hjic-100	17	9	pressurizer	pressurizer	NOUN
hjic-100	17	10	is	be	AUX
hjic-100	17	11	a	a	DET
hjic-100	17	12	vertical	vertical	ADJ
hjic-100	17	13	tank	tank	NOUN
hjic-100	17	14	and	and	CCONJ
hjic-100	17	15	inside	inside	ADP
hjic-100	17	16	this	this	DET
hjic-100	17	17	tank	tank	NOUN
hjic-100	17	18	there	there	PRON
hjic-100	17	19	is	be	VERB
hjic-100	17	20	hot	hot	ADJ
hjic-100	17	21	water	water	NOUN
hjic-100	17	22	at	at	ADP
hjic-100	17	23	a	a	DET
hjic-100	17	24	temperature	temperature	NOUN
hjic-100	17	25	of	of	ADP
hjic-100	17	26	about	about	ADV
hjic-100	17	27	326	326	NUM
hjic-100	17	28	°	°	NOUN
hjic-100	17	29	c	c	NOUN
hjic-100	17	30	and	and	CCONJ
hjic-100	17	31	steam	steam	NOUN
hjic-100	17	32	above	above	ADV
hjic-100	17	33	.	.	PUNCT
hjic-100	18	1	if	if	SCONJ
hjic-100	18	2	the	the	DET
hjic-100	18	3	primary	primary	ADJ
hjic-100	18	4	circuit	circuit	NOUN
hjic-100	18	5	pressure	pressure	NOUN
hjic-100	18	6	decreases	decrease	VERB
hjic-100	18	7	,	,	PUNCT
hjic-100	18	8	water	water	NOUN
hjic-100	18	9	might	might	AUX
hjic-100	18	10	start	start	VERB
hjic-100	18	11	to	to	PART
hjic-100	18	12	boil	boil	VERB
hjic-100	18	13	.	.	PUNCT
hjic-100	19	1	in	in	ADP
hjic-100	19	2	order	order	NOUN
hjic-100	19	3	to	to	PART
hjic-100	19	4	prevent	prevent	VERB
hjic-100	19	5	this	this	PRON
hjic-100	19	6	,	,	PUNCT
hjic-100	19	7	electric	electric	ADJ
hjic-100	19	8	heaters	heater	NOUN
hjic-100	19	9	switch	switch	VERB
hjic-100	19	10	on	on	ADP
hjic-100	19	11	automatically	automatically	ADV
hjic-100	19	12	in	in	ADP
hjic-100	19	13	the	the	DET
hjic-100	19	14	pressurizer	pressurizer	NOUN
hjic-100	19	15	.	.	PUNCT
hjic-100	20	1	due	due	ADP
hjic-100	20	2	to	to	ADP
hjic-100	20	3	the	the	DET
hjic-100	20	4	heating	heating	NOUN
hjic-100	20	5	there	there	PRON
hjic-100	20	6	will	will	AUX
hjic-100	20	7	be	be	AUX
hjic-100	20	8	intense	intense	ADJ
hjic-100	20	9	boiling	boiling	NOUN
hjic-100	20	10	,	,	PUNCT
hjic-100	20	11	more	more	ADJ
hjic-100	20	12	steam	steam	NOUN
hjic-100	20	13	will	will	AUX
hjic-100	20	14	be	be	AUX
hjic-100	20	15	generated	generate	VERB
hjic-100	20	16	and	and	CCONJ
hjic-100	20	17	this	this	PRON
hjic-100	20	18	leads	lead	VERB
hjic-100	20	19	to	to	ADP
hjic-100	20	20	a	a	DET
hjic-100	20	21	pressure	pressure	NOUN
hjic-100	20	22	increase	increase	NOUN
hjic-100	20	23	.	.	PUNCT
hjic-100	21	1	if	if	SCONJ
hjic-100	21	2	the	the	DET
hjic-100	21	3	increasing	increase	VERB
hjic-100	21	4	pressure	pressure	NOUN
hjic-100	21	5	in	in	ADP
hjic-100	21	6	the	the	DET
hjic-100	21	7	pressurizer	pressurizer	NOUN
hjic-100	21	8	reaches	reach	VERB
hjic-100	21	9	a	a	DET
hjic-100	21	10	certain	certain	ADJ
hjic-100	21	11	limit	limit	NOUN
hjic-100	21	12	,	,	PUNCT
hjic-100	21	13	firstly	firstly	ADV
hjic-100	21	14	the	the	DET
hjic-100	21	15	heaters	heater	NOUN
hjic-100	21	16	are	be	AUX
hjic-100	21	17	turned	turn	VERB
hjic-100	21	18	off	off	ADP
hjic-100	21	19	and	and	CCONJ
hjic-100	21	20	then	then	ADV
hjic-100	21	21	cold	cold	ADJ
hjic-100	21	22	water	water	NOUN
hjic-100	21	23	is	be	AUX
hjic-100	21	24	injected	inject	VERB
hjic-100	21	25	into	into	ADP
hjic-100	21	26	the	the	DET
hjic-100	21	27	tank	tank	NOUN
hjic-100	21	28	(	(	PUNCT
hjic-100	21	29	if	if	SCONJ
hjic-100	21	30	needed	need	VERB
hjic-100	21	31	)	)	PUNCT
hjic-100	21	32	to	to	PART
hjic-100	21	33	reduce	reduce	VERB
hjic-100	21	34	the	the	DET
hjic-100	21	35	pressure	pressure	NOUN
hjic-100	21	36	down	down	ADP
hjic-100	21	37	to	to	ADP
hjic-100	21	38	the	the	DET
hjic-100	21	39	predefined	predefine	VERB
hjic-100	21	40	range	range	NOUN
hjic-100	22	1	[	[	X
hjic-100	22	2	7	7	NUM
hjic-100	22	3	]	]	PUNCT
hjic-100	22	4	.	.	PUNCT
hjic-100	23	1	the	the	DET
hjic-100	23	2	heating	heating	NOUN
hjic-100	23	3	power	power	NOUN
hjic-100	23	4	of	of	ADP
hjic-100	23	5	the	the	DET
hjic-100	23	6	electric	electric	ADJ
hjic-100	23	7	heaters	heater	NOUN
hjic-100	23	8	can	can	AUX
hjic-100	23	9	be	be	AUX
hjic-100	23	10	set	set	VERB
hjic-100	23	11	continuously	continuously	ADV
hjic-100	23	12	.	.	PUNCT
hjic-100	24	1	the	the	DET
hjic-100	24	2	measured	measure	VERB
hjic-100	24	3	outputs	output	NOUN
hjic-100	24	4	of	of	ADP
hjic-100	24	5	the	the	DET
hjic-100	24	6	system	system	NOUN
hjic-100	24	7	are	be	AUX
hjic-100	24	8	the	the	DET
hjic-100	24	9	pressure	pressure	NOUN
hjic-100	24	10	in	in	ADP
hjic-100	24	11	the	the	DET
hjic-100	24	12	pressurizer	pressurizer	NOUN
hjic-100	24	13	and	and	CCONJ
hjic-100	24	14	the	the	DET
hjic-100	24	15	temperature	temperature	NOUN
hjic-100	24	16	of	of	ADP
hjic-100	24	17	the	the	DET
hjic-100	24	18	tank	tank	NOUN
hjic-100	24	19	wall	wall	NOUN
hjic-100	24	20	.	.	PUNCT
hjic-100	25	1	the	the	DET
hjic-100	25	2	90	90	NUM
hjic-100	25	3	controlled	control	VERB
hjic-100	25	4	output	output	NOUN
hjic-100	25	5	is	be	AUX
hjic-100	25	6	the	the	DET
hjic-100	25	7	pressure	pressure	NOUN
hjic-100	25	8	in	in	ADP
hjic-100	25	9	the	the	DET
hjic-100	25	10	tank	tank	NOUN
hjic-100	25	11	.	.	PUNCT
hjic-100	26	1	the	the	DET
hjic-100	26	2	simplified	simplified	ADJ
hjic-100	26	3	flowsheet	flowsheet	NOUN
hjic-100	26	4	of	of	ADP
hjic-100	26	5	the	the	DET
hjic-100	26	6	pressurizer	pressurizer	NOUN
hjic-100	26	7	is	be	AUX
hjic-100	26	8	shown	show	VERB
hjic-100	26	9	in	in	ADP
hjic-100	26	10	fig	fig	NOUN
hjic-100	26	11	.	.	PUNCT
hjic-100	27	1	1	1	X
hjic-100	27	2	.	.	X
hjic-100	28	1	yp10	yp10	PROPN
hjic-100	28	2	s	s	PART
hjic-100	28	3	kg	kg	NOUN
hjic-100	28	4	m	m	PROPN
hjic-100	28	5	s	s	PROPN
hjic-100	28	6	kgm	kgm	PROPN
hjic-100	28	7	.constm	.constm	X
hjic-100	28	8	=	=	SYM
hjic-100	28	9	1χ	1χ	NUM
hjic-100	28	10	4χ3χ2χ	4χ3χ2χ	PROPN
hjic-100	28	11	[	[	PUNCT
hjic-100	28	12	]	]	X
hjic-100	28	13	kt	kt	X
hjic-100	28	14	i	i	PRON
hjic-100	28	15	[	[	PUNCT
hjic-100	28	16	]	]	X
hjic-100	28	17	kt	kt	X
hjic-100	28	18	figure	figure	NOUN
hjic-100	28	19	1	1	NUM
hjic-100	28	20	:	:	PUNCT
hjic-100	28	21	simplified	simplified	ADJ
hjic-100	28	22	flowsheet	flowsheet	NOUN
hjic-100	28	23	of	of	ADP
hjic-100	28	24	the	the	DET
hjic-100	28	25	pressurizer	pressurizer	NOUN
hjic-100	28	26	the	the	DET
hjic-100	28	27	physical	physical	ADJ
hjic-100	28	28	model	model	NOUN
hjic-100	28	29	of	of	ADP
hjic-100	28	30	the	the	DET
hjic-100	28	31	plant	plant	NOUN
hjic-100	28	32	modeling	modeling	NOUN
hjic-100	28	33	of	of	ADP
hjic-100	28	34	industrial	industrial	ADJ
hjic-100	28	35	systems	system	NOUN
hjic-100	28	36	depends	depend	VERB
hjic-100	28	37	heavily	heavily	ADV
hjic-100	28	38	on	on	ADP
hjic-100	28	39	the	the	DET
hjic-100	28	40	modelling	model	VERB
hjic-100	28	41	goal	goal	NOUN
hjic-100	28	42	.	.	PUNCT
hjic-100	29	1	most	most	ADJ
hjic-100	29	2	of	of	ADP
hjic-100	29	3	the	the	DET
hjic-100	29	4	commercially	commercially	ADV
hjic-100	29	5	available	available	ADJ
hjic-100	29	6	dynamic	dynamic	ADJ
hjic-100	29	7	models	model	NOUN
hjic-100	29	8	are	be	AUX
hjic-100	29	9	implemented	implement	VERB
hjic-100	29	10	in	in	ADP
hjic-100	29	11	simulators	simulator	NOUN
hjic-100	29	12	(	(	PUNCT
hjic-100	29	13	see	see	VERB
hjic-100	30	1	e.g.	e.g.	ADV
hjic-100	30	2	[	[	X
hjic-100	30	3	1	1	NUM
hjic-100	30	4	]	]	PUNCT
hjic-100	30	5	)	)	PUNCT
hjic-100	30	6	and	and	CCONJ
hjic-100	30	7	are	be	AUX
hjic-100	30	8	used	use	VERB
hjic-100	30	9	for	for	ADP
hjic-100	30	10	equipment	equipment	NOUN
hjic-100	30	11	design	design	NOUN
hjic-100	30	12	and	and	CCONJ
hjic-100	30	13	retrofitting	retrofit	VERB
hjic-100	30	14	purposes	purpose	NOUN
hjic-100	30	15	.	.	PUNCT
hjic-100	31	1	the	the	DET
hjic-100	31	2	models	model	NOUN
hjic-100	31	3	used	use	VERB
hjic-100	31	4	in	in	ADP
hjic-100	31	5	this	this	DET
hjic-100	31	6	area	area	NOUN
hjic-100	31	7	are	be	AUX
hjic-100	31	8	typically	typically	ADV
hjic-100	31	9	in	in	ADP
hjic-100	31	10	the	the	DET
hjic-100	31	11	form	form	NOUN
hjic-100	31	12	of	of	ADP
hjic-100	31	13	partial	partial	ADJ
hjic-100	31	14	differential	differential	ADJ
hjic-100	31	15	equations	equation	NOUN
hjic-100	31	16	that	that	PRON
hjic-100	31	17	are	be	AUX
hjic-100	31	18	discretized	discretize	VERB
hjic-100	31	19	in	in	ADP
hjic-100	31	20	space	space	NOUN
hjic-100	31	21	to	to	PART
hjic-100	31	22	have	have	VERB
hjic-100	31	23	a	a	DET
hjic-100	31	24	lumped	lump	VERB
hjic-100	31	25	version	version	NOUN
hjic-100	31	26	.	.	PUNCT
hjic-100	32	1	this	this	DET
hjic-100	32	2	way	way	NOUN
hjic-100	32	3	a	a	DET
hjic-100	32	4	high	high	ADJ
hjic-100	32	5	dimensional	dimensional	ADJ
hjic-100	32	6	(	(	PUNCT
hjic-100	32	7	with	with	ADP
hjic-100	32	8	10	10	NUM
hjic-100	32	9	-	-	SYM
hjic-100	32	10	100	100	NUM
hjic-100	32	11	state	state	NOUN
hjic-100	32	12	variables	variable	NOUN
hjic-100	32	13	)	)	PUNCT
hjic-100	32	14	complicated	complicated	ADJ
hjic-100	32	15	dynamic	dynamic	ADJ
hjic-100	32	16	model	model	NOUN
hjic-100	32	17	is	be	AUX
hjic-100	32	18	obtained	obtain	VERB
hjic-100	32	19	that	that	PRON
hjic-100	32	20	is	be	AUX
hjic-100	32	21	unnecessarily	unnecessarily	ADV
hjic-100	32	22	complex	complex	ADJ
hjic-100	32	23	for	for	ADP
hjic-100	32	24	control	control	NOUN
hjic-100	32	25	applications	application	NOUN
hjic-100	32	26	.	.	PUNCT
hjic-100	33	1	instead	instead	ADV
hjic-100	33	2	,	,	PUNCT
hjic-100	33	3	a	a	DET
hjic-100	33	4	simplified	simplified	ADJ
hjic-100	33	5	lumped	lump	VERB
hjic-100	33	6	dynamic	dynamic	ADJ
hjic-100	33	7	model	model	NOUN
hjic-100	33	8	is	be	AUX
hjic-100	33	9	constructed	construct	VERB
hjic-100	33	10	for	for	ADP
hjic-100	33	11	control	control	NOUN
hjic-100	33	12	design	design	NOUN
hjic-100	33	13	purposes	purpose	NOUN
hjic-100	33	14	based	base	VERB
hjic-100	33	15	on	on	ADP
hjic-100	33	16	first	first	ADJ
hjic-100	33	17	engineering	engineering	NOUN
hjic-100	33	18	principles	principle	NOUN
hjic-100	33	19	[	[	X
hjic-100	33	20	2	2	X
hjic-100	33	21	]	]	PUNCT
hjic-100	33	22	that	that	PRON
hjic-100	33	23	captures	capture	VERB
hjic-100	33	24	the	the	DET
hjic-100	33	25	most	most	ADV
hjic-100	33	26	important	important	ADJ
hjic-100	33	27	dynamics	dynamic	NOUN
hjic-100	33	28	of	of	ADP
hjic-100	33	29	the	the	DET
hjic-100	33	30	tank	tank	NOUN
hjic-100	33	31	.	.	PUNCT
hjic-100	34	1	for	for	ADP
hjic-100	34	2	this	this	DET
hjic-100	34	3	purpose	purpose	NOUN
hjic-100	34	4	,	,	PUNCT
hjic-100	34	5	the	the	DET
hjic-100	34	6	following	follow	VERB
hjic-100	34	7	assumptions	assumption	NOUN
hjic-100	34	8	were	be	AUX
hjic-100	34	9	used	use	VERB
hjic-100	34	10	:	:	PUNCT
hjic-100	34	11	1	1	X
hjic-100	34	12	.	.	X
hjic-100	34	13	there	there	PRON
hjic-100	34	14	are	be	VERB
hjic-100	34	15	two	two	NUM
hjic-100	34	16	perfectly	perfectly	ADV
hjic-100	34	17	stirred	stir	VERB
hjic-100	34	18	balance	balance	NOUN
hjic-100	34	19	volumes	volume	NOUN
hjic-100	34	20	,	,	PUNCT
hjic-100	34	21	one	one	NUM
hjic-100	34	22	for	for	ADP
hjic-100	34	23	the	the	DET
hjic-100	34	24	water	water	NOUN
hjic-100	34	25	and	and	CCONJ
hjic-100	34	26	another	another	PRON
hjic-100	34	27	for	for	ADP
hjic-100	34	28	the	the	DET
hjic-100	34	29	wall	wall	NOUN
hjic-100	34	30	.	.	PUNCT
hjic-100	35	1	2	2	X
hjic-100	35	2	.	.	X
hjic-100	35	3	there	there	PRON
hjic-100	35	4	is	be	VERB
hjic-100	35	5	a	a	DET
hjic-100	35	6	single	single	ADJ
hjic-100	35	7	component	component	NOUN
hjic-100	35	8	in	in	ADP
hjic-100	35	9	each	each	PRON
hjic-100	35	10	of	of	ADP
hjic-100	35	11	the	the	DET
hjic-100	35	12	balance	balance	NOUN
hjic-100	35	13	volumes	volume	NOUN
hjic-100	35	14	(	(	PUNCT
hjic-100	35	15	water	water	NOUN
hjic-100	35	16	and	and	CCONJ
hjic-100	35	17	metal	metal	NOUN
hjic-100	35	18	,	,	PUNCT
hjic-100	35	19	respectively	respectively	ADV
hjic-100	35	20	)	)	PUNCT
hjic-100	35	21	.	.	PUNCT
hjic-100	36	1	3	3	X
hjic-100	36	2	.	.	X
hjic-100	36	3	constant	constant	ADJ
hjic-100	36	4	overall	overall	ADJ
hjic-100	36	5	mass	mass	NOUN
hjic-100	36	6	in	in	ADP
hjic-100	36	7	both	both	DET
hjic-100	36	8	balance	balance	NOUN
hjic-100	36	9	volumes	volume	NOUN
hjic-100	36	10	.	.	PUNCT
hjic-100	37	1	4	4	X
hjic-100	37	2	.	.	X
hjic-100	37	3	constant	constant	ADJ
hjic-100	37	4	physico	physico	NOUN
hjic-100	37	5	-	-	PUNCT
hjic-100	37	6	chemical	chemical	NOUN
hjic-100	37	7	properties	property	NOUN
hjic-100	37	8	.	.	PUNCT
hjic-100	38	1	5	5	X
hjic-100	38	2	.	.	X
hjic-100	38	3	vapour	vapour	NOUN
hjic-100	38	4	-	-	PUNCT
hjic-100	38	5	liquid	liquid	ADJ
hjic-100	38	6	equilibrium	equilibrium	NOUN
hjic-100	38	7	in	in	ADP
hjic-100	38	8	the	the	DET
hjic-100	38	9	tank	tank	NOUN
hjic-100	38	10	.	.	PUNCT
hjic-100	39	1	the	the	DET
hjic-100	39	2	simplified	simplified	ADJ
hjic-100	39	3	model	model	NOUN
hjic-100	39	4	consists	consist	VERB
hjic-100	39	5	of	of	ADP
hjic-100	39	6	two	two	NUM
hjic-100	39	7	energy	energy	NOUN
hjic-100	39	8	balances	balance	NOUN
hjic-100	39	9	:	:	PUNCT
hjic-100	39	10	one	one	NUM
hjic-100	39	11	for	for	ADP
hjic-100	39	12	the	the	DET
hjic-100	39	13	water	water	NOUN
hjic-100	39	14	and	and	CCONJ
hjic-100	39	15	and	and	CCONJ
hjic-100	39	16	another	another	DET
hjic-100	39	17	one	one	NOUN
hjic-100	39	18	for	for	ADP
hjic-100	39	19	the	the	DET
hjic-100	39	20	wall	wall	NOUN
hjic-100	39	21	of	of	ADP
hjic-100	39	22	the	the	DET
hjic-100	39	23	tank	tank	NOUN
hjic-100	39	24	as	as	ADP
hjic-100	39	25	balance	balance	NOUN
hjic-100	39	26	volumes	volume	NOUN
hjic-100	39	27	.	.	PUNCT
hjic-100	40	1	water	water	NOUN
hjic-100	40	2	energy	energy	NOUN
hjic-100	40	3	balance	balance	NOUN
hjic-100	40	4	(	(	PUNCT
hjic-100	40	5	)	)	PUNCT
hjic-100	40	6	=	=	SYM
hjic-100	41	1	−	−	PROPN
hjic-100	42	1	+	+	CCONJ
hjic-100	42	2	−	−	PROPN
hjic-100	43	1	+	+	NOUN
hjic-100	43	2	p	p	X
hjic-100	44	1	i	i	PRON
hjic-100	44	2	p	p	PROPN
hjic-100	44	3	w	w	PROPN
hjic-100	44	4	w	w	VERB
hjic-100	44	5	he	he	PRON
hjic-100	44	6	du	du	PROPN
hjic-100	44	7	c	c	PROPN
hjic-100	44	8	mt	mt	PROPN
hjic-100	44	9	c	c	PROPN
hjic-100	44	10	mt	mt	PROPN
hjic-100	45	1	k	k	PROPN
hjic-100	45	2	t	t	PROPN
hjic-100	45	3	t	t	PROPN
hjic-100	45	4	w	w	PROPN
hjic-100	45	5	dt	dt	PROPN
hjic-100	45	6	⋅	⋅	PROPN
hjic-100	45	7	χ	χ	X
hjic-100	45	8	(	(	PUNCT
hjic-100	45	9	1	1	NUM
hjic-100	45	10	)	)	PUNCT
hjic-100	45	11	wall	wall	NOUN
hjic-100	45	12	energy	energy	NOUN
hjic-100	45	13	balance	balance	NOUN
hjic-100	45	14	(	(	PUNCT
hjic-100	45	15	)	)	PUNCT
hjic-100	46	1	=	=	PROPN
hjic-100	46	2	w	w	PROPN
hjic-100	46	3	w	w	PROPN
hjic-100	46	4	w	w	PROPN
hjic-100	46	5	lo	lo	PROPN
hjic-100	46	6	du	du	PROPN
hjic-100	46	7	k	k	PROPN
hjic-100	46	8	t	t	PROPN
hjic-100	46	9	t	t	PROPN
hjic-100	46	10	w	w	NOUN
hjic-100	46	11	dt	dt	NOUN
hjic-100	46	12	ss	ss	PROPN
hjic-100	46	13	(	(	PUNCT
hjic-100	46	14	2	2	NUM
hjic-100	46	15	)	)	PUNCT
hjic-100	46	16	the	the	DET
hjic-100	46	17	following	follow	VERB
hjic-100	46	18	constitutive	constitutive	ADJ
hjic-100	46	19	equations	equation	NOUN
hjic-100	46	20	,	,	PUNCT
hjic-100	46	21	describing	describe	VERB
hjic-100	46	22	the	the	DET
hjic-100	46	23	relationship	relationship	NOUN
hjic-100	46	24	between	between	ADP
hjic-100	46	25	the	the	DET
hjic-100	46	26	internal	internal	ADJ
hjic-100	46	27	energies	energy	NOUN
hjic-100	46	28	and	and	CCONJ
hjic-100	46	29	the	the	DET
hjic-100	46	30	corresponding	corresponding	ADJ
hjic-100	46	31	temperatures	temperature	NOUN
hjic-100	46	32	,	,	PUNCT
hjic-100	46	33	complete	complete	VERB
hjic-100	46	34	the	the	DET
hjic-100	46	35	model	model	NOUN
hjic-100	46	36	.	.	PUNCT
hjic-100	47	1	=	=	PUNCT
hjic-100	48	1	=	=	PUNCT
hjic-100	48	2	p	p	X
hjic-100	48	3	w	w	PROPN
hjic-100	48	4	pw	pw	PROPN
hjic-100	48	5	u	u	PROPN
hjic-100	49	1	c	c	PROPN
hjic-100	49	2	mt	mt	PROPN
hjic-100	49	3	u	u	PROPN
hjic-100	49	4	c	c	PROPN
hjic-100	49	5	tw	tw	X
hjic-100	49	6	(	(	PUNCT
hjic-100	49	7	3	3	NUM
hjic-100	49	8	-	-	SYM
hjic-100	49	9	4	4	NUM
hjic-100	49	10	)	)	PUNCT
hjic-100	49	11	the	the	DET
hjic-100	49	12	variables	variable	NOUN
hjic-100	49	13	and	and	CCONJ
hjic-100	49	14	parameters	parameter	NOUN
hjic-100	49	15	of	of	ADP
hjic-100	49	16	the	the	DET
hjic-100	49	17	above	above	ADJ
hjic-100	49	18	model	model	NOUN
hjic-100	49	19	and	and	CCONJ
hjic-100	49	20	their	their	PRON
hjic-100	49	21	units	unit	NOUN
hjic-100	49	22	of	of	ADP
hjic-100	49	23	measure	measure	NOUN
hjic-100	49	24	are	be	AUX
hjic-100	49	25	the	the	DET
hjic-100	49	26	following	follow	VERB
hjic-100	49	27	t	t	PROPN
hjic-100	49	28	water	water	NOUN
hjic-100	49	29	temperature	temperature	NOUN
hjic-100	49	30	°	°	PROPN
hjic-100	49	31	c	c	NOUN
hjic-100	49	32	wt	wt	PROPN
hjic-100	49	33	tank	tank	NOUN
hjic-100	49	34	wall	wall	NOUN
hjic-100	49	35	temperature	temperature	PROPN
hjic-100	49	36	°	°	PROPN
hjic-100	49	37	c	c	PROPN
hjic-100	49	38	pc	pc	NOUN
hjic-100	49	39	specific	specific	ADJ
hjic-100	49	40	heat	heat	NOUN
hjic-100	49	41	of	of	ADP
hjic-100	49	42	water	water	PROPN
hjic-100	49	43	j	j	PROPN
hjic-100	49	44	kg	kg	PROPN
hjic-100	49	45	°	°	PROPN
hjic-100	49	46	c	c	NOUN
hjic-100	49	47	u	u	NOUN
hjic-100	49	48	internal	internal	ADJ
hjic-100	49	49	energy	energy	NOUN
hjic-100	49	50	of	of	ADP
hjic-100	49	51	water	water	PROPN
hjic-100	49	52	j	j	PROPN
hjic-100	49	53	wu	wu	PROPN
hjic-100	49	54	internal	internal	ADJ
hjic-100	49	55	energy	energy	NOUN
hjic-100	49	56	of	of	ADP
hjic-100	49	57	the	the	DET
hjic-100	49	58	wall	wall	PROPN
hjic-100	50	1	j	j	PROPN
hjic-100	50	2	m	m	PROPN
hjic-100	50	3	mass	mass	PROPN
hjic-100	50	4	flow	flow	NOUN
hjic-100	50	5	rate	rate	NOUN
hjic-100	50	6	of	of	ADP
hjic-100	50	7	water	water	NOUN
hjic-100	50	8	kg	kg	X
hjic-100	50	9	s	s	VERB
hjic-100	50	10	it	it	PRON
hjic-100	50	11	inlet	inlet	VERB
hjic-100	50	12	water	water	NOUN
hjic-100	50	13	temperature	temperature	NOUN
hjic-100	50	14	°	°	PROPN
hjic-100	50	15	c	c	NOUN
hjic-100	50	16	m	m	VERB
hjic-100	50	17	mass	mass	NOUN
hjic-100	50	18	of	of	ADP
hjic-100	50	19	water	water	NOUN
hjic-100	50	20	kg	kg	PROPN
hjic-100	50	21	pwc	pwc	PROPN
hjic-100	50	22	heat	heat	NOUN
hjic-100	50	23	capacity	capacity	NOUN
hjic-100	50	24	of	of	ADP
hjic-100	50	25	the	the	DET
hjic-100	50	26	wall	wall	PROPN
hjic-100	50	27	j	j	PROPN
hjic-100	50	28	°	°	PROPN
hjic-100	50	29	c	c	PROPN
hjic-100	50	30	hew	hew	VERB
hjic-100	50	31	total	total	ADJ
hjic-100	50	32	heating	heating	NOUN
hjic-100	50	33	power	power	NOUN
hjic-100	50	34	of	of	ADP
hjic-100	50	35	one	one	NUM
hjic-100	50	36	electric	electric	ADJ
hjic-100	50	37	heater	heater	NOUN
hjic-100	50	38	w	w	PROPN
hjic-100	51	1	χ	χ	DET
hjic-100	51	2	portion	portion	NOUN
hjic-100	51	3	of	of	ADP
hjic-100	51	4	total	total	ADJ
hjic-100	51	5	heating	heating	NOUN
hjic-100	51	6	power	power	NOUN
hjic-100	51	7	turned	turn	VERB
hjic-100	51	8	on	on	ADP
hjic-100	51	9	wk	wk	X
hjic-100	51	10	wall	wall	PROPN
hjic-100	51	11	heat	heat	PROPN
hjic-100	51	12	transfer	transfer	NOUN
hjic-100	51	13	coefficient	coefficient	NOUN
hjic-100	51	14	w	w	PROPN
hjic-100	51	15	°	°	PROPN
hjic-100	51	16	c	c	NOUN
hjic-100	51	17	lossw	lossw	NOUN
hjic-100	51	18	heat	heat	NOUN
hjic-100	51	19	loss	loss	NOUN
hjic-100	51	20	of	of	ADP
hjic-100	51	21	the	the	DET
hjic-100	51	22	system	system	NOUN
hjic-100	51	23	w	w	ADP
hjic-100	51	24	the	the	DET
hjic-100	51	25	manipulable	manipulable	ADJ
hjic-100	51	26	input	input	NOUN
hjic-100	51	27	to	to	ADP
hjic-100	51	28	the	the	DET
hjic-100	51	29	system	system	NOUN
hjic-100	51	30	is	be	AUX
hjic-100	51	31	the	the	DET
hjic-100	51	32	external	external	ADJ
hjic-100	51	33	heating	heating	NOUN
hjic-100	51	34	,	,	PUNCT
hjic-100	51	35	all	all	DET
hjic-100	51	36	the	the	DET
hjic-100	51	37	other	other	ADJ
hjic-100	51	38	input	input	NOUN
hjic-100	51	39	variables	variable	NOUN
hjic-100	51	40	are	be	AUX
hjic-100	51	41	regarded	regard	VERB
hjic-100	51	42	as	as	ADP
hjic-100	51	43	disturbances	disturbance	NOUN
hjic-100	51	44	.	.	PUNCT
hjic-100	52	1	then	then	ADV
hjic-100	52	2	we	we	PRON
hjic-100	52	3	can	can	AUX
hjic-100	52	4	list	list	VERB
hjic-100	52	5	the	the	DET
hjic-100	52	6	disturbances	disturbance	NOUN
hjic-100	52	7	with	with	ADP
hjic-100	52	8	physical	physical	ADJ
hjic-100	52	9	meaning	meaning	NOUN
hjic-100	52	10	as	as	SCONJ
hjic-100	52	11	follows	follow	VERB
hjic-100	52	12	.	.	PUNCT
hjic-100	53	1	•	•	NUM
hjic-100	53	2	cold	cold	ADJ
hjic-100	53	3	water	water	NOUN
hjic-100	53	4	infiltration	infiltration	NOUN
hjic-100	53	5	.	.	PUNCT
hjic-100	54	1	this	this	DET
hjic-100	54	2	effect	effect	NOUN
hjic-100	54	3	is	be	AUX
hjic-100	54	4	taken	take	VERB
hjic-100	54	5	into	into	ADP
hjic-100	54	6	account	account	NOUN
hjic-100	54	7	with	with	ADP
hjic-100	54	8	the	the	DET
hjic-100	54	9	in	in	ADP
hjic-100	54	10	-	-	PUNCT
hjic-100	54	11	convection	convection	NOUN
hjic-100	54	12	term	term	NOUN
hjic-100	54	13	in	in	ADP
hjic-100	54	14	the	the	DET
hjic-100	54	15	water	water	NOUN
hjic-100	54	16	energy	energy	NOUN
hjic-100	54	17	conservation	conservation	NOUN
hjic-100	54	18	balance	balance	NOUN
hjic-100	54	19	(	(	PUNCT
hjic-100	54	20	1	1	NUM
hjic-100	54	21	)	)	PUNCT
hjic-100	54	22	,	,	PUNCT
hjic-100	54	23	where	where	SCONJ
hjic-100	54	24	the	the	DET
hjic-100	54	25	in	in	ADP
hjic-100	54	26	and	and	CCONJ
hjic-100	54	27	outlet	outlet	PROPN
hjic-100	54	28	mass	mass	PROPN
hjic-100	54	29	flowrate	flowrate	PROPN
hjic-100	54	30	m	m	VERB
hjic-100	54	31	is	be	AUX
hjic-100	54	32	controlled	control	VERB
hjic-100	54	33	to	to	PART
hjic-100	54	34	be	be	AUX
hjic-100	54	35	equal	equal	ADJ
hjic-100	54	36	(	(	PUNCT
hjic-100	54	37	but	but	CCONJ
hjic-100	54	38	might	might	AUX
hjic-100	54	39	change	change	VERB
hjic-100	54	40	in	in	ADP
hjic-100	54	41	time	time	NOUN
hjic-100	54	42	)	)	PUNCT
hjic-100	54	43	and	and	CCONJ
hjic-100	54	44	the	the	DET
hjic-100	54	45	inlet	inlet	ADJ
hjic-100	54	46	temperature	temperature	NOUN
hjic-100	54	47	can	can	AUX
hjic-100	54	48	also	also	ADV
hjic-100	54	49	be	be	AUX
hjic-100	54	50	time	time	NOUN
hjic-100	54	51	-	-	PUNCT
hjic-100	54	52	varying	vary	VERB
hjic-100	54	53	.	.	PUNCT
hjic-100	55	1	p	p	X
hjic-100	56	1	ic	ic	PROPN
hjic-100	56	2	mt	mt	PROPN
hjic-100	57	1	it	it	PRON
hjic-100	57	2	•	•	VERB
hjic-100	57	3	energy	energy	NOUN
hjic-100	57	4	loss	loss	NOUN
hjic-100	57	5	towards	towards	ADP
hjic-100	57	6	the	the	DET
hjic-100	57	7	environment	environment	NOUN
hjic-100	57	8	.	.	PUNCT
hjic-100	58	1	this	this	DET
hjic-100	58	2	effect	effect	NOUN
hjic-100	58	3	is	be	AUX
hjic-100	58	4	modelled	model	VERB
hjic-100	58	5	as	as	ADP
hjic-100	58	6	a	a	DET
hjic-100	58	7	loss	loss	NOUN
hjic-100	58	8	term	term	NOUN
hjic-100	58	9	in	in	ADP
hjic-100	58	10	the	the	DET
hjic-100	58	11	wall	wall	PROPN
hjic-100	58	12	energy	energy	NOUN
hjic-100	58	13	balance	balance	NOUN
hjic-100	58	14	(	(	PUNCT
hjic-100	58	15	2	2	NUM
hjic-100	58	16	)	)	PUNCT
hjic-100	58	17	.	.	PUNCT
hjic-100	59	1	lossw	lossw	VERB
hjic-100	59	2	the	the	DET
hjic-100	59	3	pressure	pressure	NOUN
hjic-100	59	4	of	of	ADP
hjic-100	59	5	saturated	saturated	ADJ
hjic-100	59	6	vapor	vapor	NOUN
hjic-100	59	7	in	in	ADP
hjic-100	59	8	the	the	DET
hjic-100	59	9	gas	gas	NOUN
hjic-100	59	10	phase	phase	NOUN
hjic-100	59	11	of	of	ADP
hjic-100	59	12	the	the	DET
hjic-100	59	13	tank	tank	NOUN
hjic-100	59	14	depends	depend	VERB
hjic-100	59	15	strongly	strongly	ADV
hjic-100	59	16	on	on	ADP
hjic-100	59	17	the	the	DET
hjic-100	59	18	water	water	NOUN
hjic-100	59	19	temperature	temperature	NOUN
hjic-100	59	20	in	in	ADP
hjic-100	59	21	an	an	DET
hjic-100	59	22	exponential	exponential	ADJ
hjic-100	59	23	(	(	PUNCT
hjic-100	59	24	nonlinear	nonlinear	ADJ
hjic-100	59	25	way	way	NOUN
hjic-100	59	26	)	)	PUNCT
hjic-100	59	27	.	.	PUNCT
hjic-100	60	1	the	the	DET
hjic-100	60	2	experimental	experimental	ADJ
hjic-100	60	3	measured	measure	VERB
hjic-100	60	4	data	datum	NOUN
hjic-100	60	5	found	find	VERB
hjic-100	60	6	in	in	ADP
hjic-100	60	7	the	the	DET
hjic-100	60	8	literature	literature	NOUN
hjic-100	60	9	[	[	X
hjic-100	60	10	7	7	X
hjic-100	60	11	]	]	PUNCT
hjic-100	60	12	have	have	AUX
hjic-100	60	13	been	be	AUX
hjic-100	60	14	91	91	NUM
hjic-100	60	15	used	use	VERB
hjic-100	60	16	to	to	PART
hjic-100	60	17	create	create	VERB
hjic-100	60	18	an	an	DET
hjic-100	60	19	approximate	approximate	ADJ
hjic-100	60	20	analytic	analytic	ADJ
hjic-100	60	21	function	function	NOUN
hjic-100	60	22	to	to	PART
hjic-100	60	23	describe	describe	VERB
hjic-100	60	24	the	the	DET
hjic-100	60	25	dependence	dependence	NOUN
hjic-100	60	26	.	.	PUNCT
hjic-100	61	1	the	the	DET
hjic-100	61	2	function	function	NOUN
hjic-100	61	3	has	have	VERB
hjic-100	61	4	the	the	DET
hjic-100	61	5	form	form	NOUN
hjic-100	61	6	(	(	PUNCT
hjic-100	61	7	)	)	PUNCT
hjic-100	61	8	2	2	NUM
hjic-100	61	9	3	3	NUM
hjic-100	61	10	0	0	NUM
hjic-100	61	11	1	1	NUM
hjic-100	61	12	2	2	NUM
hjic-100	61	13	3	3	NUM
hjic-100	61	14	(	(	PUNCT
hjic-100	61	15	)	)	PUNCT
hjic-100	61	16	100	100	NUM
hjic-100	61	17	(	(	PUNCT
hjic-100	61	18	)	)	PUNCT
hjic-100	61	19	=	=	PUNCT
hjic-100	62	1	=	=	PUNCT
hjic-100	62	2	=	=	PUNCT
hjic-100	63	1	+	+	PUNCT
hjic-100	63	2	+	+	CCONJ
hjic-100	63	3	+	+	NUM
hjic-100	63	4	tep	tep	NOUN
hjic-100	63	5	h	h	PROPN
hjic-100	63	6	t	t	PROPN
hjic-100	63	7	t	t	PROPN
hjic-100	63	8	c	c	PROPN
hjic-100	63	9	c	c	NOUN
hjic-100	63	10	t	t	PROPN
hjic-100	63	11	c	c	PROPN
hjic-100	63	12	t	t	PROPN
hjic-100	63	13	c	c	PROPN
hjic-100	63	14	t	t	PROPN
hjic-100	63	15	ϕ	ϕ	PROPN
hjic-100	63	16	ϕ	ϕ	X
hjic-100	63	17	(	(	PUNCT
hjic-100	63	18	5	5	NUM
hjic-100	63	19	)	)	PUNCT
hjic-100	63	20	for	for	ADP
hjic-100	63	21	the	the	DET
hjic-100	63	22	parameters	parameter	NOUN
hjic-100	63	23	of	of	ADP
hjic-100	63	24	ϕ	ϕ	PROPN
hjic-100	63	25	,	,	PUNCT
hjic-100	63	26	the	the	DET
hjic-100	63	27	following	follow	VERB
hjic-100	63	28	values	value	NOUN
hjic-100	63	29	were	be	AUX
hjic-100	63	30	obtained	obtain	VERB
hjic-100	63	31	1	1	NUM
hjic-100	63	32	0	0	NUM
hjic-100	63	33	1	1	NUM
hjic-100	63	34	5	5	NUM
hjic-100	63	35	2	2	NUM
hjic-100	63	36	3	3	NUM
hjic-100	63	37	6.5358	6.5358	NUM
hjic-100	63	38	10	10	NUM
hjic-100	63	39	4.8902	4.8902	NUM
hjic-100	63	40	10	10	NUM
hjic-100	63	41	9.2658	9.2658	NUM
hjic-100	63	42	10	10	NUM
hjic-100	63	43	7.6835	7.6835	NUM
hjic-100	63	44	10	10	NUM
hjic-100	63	45	−	−	NUM
hjic-100	63	46	2	2	NUM
hjic-100	63	47	8	8	NUM
hjic-100	63	48	−	−	NOUN
hjic-100	63	49	−	−	NOUN
hjic-100	63	50	−	−	PROPN
hjic-100	64	1	=	=	SYM
hjic-100	64	2	⋅	⋅	PROPN
hjic-100	64	3	=	=	SYM
hjic-100	64	4	⋅	⋅	PROPN
hjic-100	64	5	=	=	SYM
hjic-100	64	6	−	−	PROPN
hjic-100	64	7	⋅	⋅	X
hjic-100	64	8	=	=	PUNCT
hjic-100	64	9	⋅	⋅	PROPN
hjic-100	64	10	c	c	X
hjic-100	64	11	c	c	NOUN
hjic-100	64	12	c	c	NOUN
hjic-100	64	13	c	c	X
hjic-100	64	14	(	(	PUNCT
hjic-100	64	15	6	6	NUM
hjic-100	64	16	)	)	PUNCT
hjic-100	64	17	the	the	DET
hjic-100	64	18	validity	validity	NOUN
hjic-100	64	19	range	range	NOUN
hjic-100	64	20	of	of	ADP
hjic-100	64	21	the	the	DET
hjic-100	64	22	model	model	NOUN
hjic-100	64	23	is	be	AUX
hjic-100	64	24	the	the	DET
hjic-100	64	25	usual	usual	ADJ
hjic-100	64	26	operating	operate	VERB
hjic-100	64	27	domain	domain	NOUN
hjic-100	64	28	of	of	ADP
hjic-100	64	29	the	the	DET
hjic-100	64	30	pressurizer	pressurizer	NOUN
hjic-100	64	31	,	,	PUNCT
hjic-100	64	32	i.e.	i.e.	X
hjic-100	64	33	315	315	NUM
hjic-100	64	34	°	°	NOUN
hjic-100	64	35	c	c	NOUN
hjic-100	64	36	≤	≤	NUM
hjic-100	64	37	t	t	PROPN
hjic-100	64	38	≤	≤	NUM
hjic-100	64	39	350	350	NUM
hjic-100	64	40	°	°	NOUN
hjic-100	64	41	c	c	NOUN
hjic-100	64	42	.	.	PUNCT
hjic-100	65	1	in	in	ADP
hjic-100	65	2	pressure	pressure	NOUN
hjic-100	65	3	terms	term	NOUN
hjic-100	65	4	,	,	PUNCT
hjic-100	65	5	this	this	PRON
hjic-100	65	6	means	mean	VERB
hjic-100	65	7	105.65	105.65	NUM
hjic-100	65	8	bar	bar	NOUN
hjic-100	65	9	≤	≤	NOUN
hjic-100	65	10	p	p	NOUN
hjic-100	65	11	≤	≤	NUM
hjic-100	65	12	137.09	137.09	NUM
hjic-100	65	13	bar	bar	NOUN
hjic-100	65	14	.	.	PUNCT
hjic-100	66	1	state	state	NOUN
hjic-100	66	2	space	space	NOUN
hjic-100	66	3	description	description	NOUN
hjic-100	66	4	based	base	VERB
hjic-100	66	5	on	on	ADP
hjic-100	66	6	eqs	eqs	X
hjic-100	66	7	(	(	PUNCT
hjic-100	66	8	1)-(2	1)-(2	NUM
hjic-100	66	9	)	)	PUNCT
hjic-100	66	10	and	and	CCONJ
hjic-100	66	11	(	(	PUNCT
hjic-100	66	12	3)-(4	3)-(4	NUM
hjic-100	66	13	)	)	PUNCT
hjic-100	66	14	we	we	PRON
hjic-100	66	15	can	can	AUX
hjic-100	66	16	write	write	VERB
hjic-100	66	17	the	the	DET
hjic-100	66	18	system	system	NOUN
hjic-100	66	19	model	model	NOUN
hjic-100	66	20	in	in	ADP
hjic-100	66	21	the	the	DET
hjic-100	66	22	following	follow	VERB
hjic-100	66	23	standard	standard	ADJ
hjic-100	66	24	state	state	NOUN
hjic-100	66	25	-	-	PUNCT
hjic-100	66	26	space	space	NOUN
hjic-100	66	27	form	form	NOUN
hjic-100	66	28	=	=	PUNCT
hjic-100	67	1	+	+	CCONJ
hjic-100	67	2	+	+	PROPN
hjic-100	67	3	&	&	CCONJ
hjic-100	67	4	c	c	PROPN
hjic-100	67	5	c	c	PROPN
hjic-100	67	6	cx	cx	PROPN
hjic-100	68	1	a	a	DET
hjic-100	68	2	x	x	X
hjic-100	68	3	b	b	X
hjic-100	68	4	u	u	X
hjic-100	68	5	e	e	PROPN
hjic-100	68	6	d	d	X
hjic-100	68	7	(	(	PUNCT
hjic-100	68	8	7	7	NUM
hjic-100	68	9	)	)	PUNCT
hjic-100	68	10	where	where	SCONJ
hjic-100	68	11	the	the	DET
hjic-100	68	12	state	state	NOUN
hjic-100	68	13	vector	vector	NOUN
hjic-100	68	14	[=	[=	X
hjic-100	68	15	t	t	X
hjic-100	68	16	wx	wx	PROPN
hjic-100	68	17	t	t	PROPN
hjic-100	68	18	t	t	PROPN
hjic-100	68	19	]	]	PUNCT
hjic-100	68	20	,	,	PUNCT
hjic-100	68	21	the	the	DET
hjic-100	68	22	manipulable	manipulable	ADJ
hjic-100	68	23	input	input	NOUN
hjic-100	68	24	u	u	NOUN
hjic-100	68	25	is	be	AUX
hjic-100	68	26	directly	directly	ADV
hjic-100	68	27	proportional	proportional	ADJ
hjic-100	68	28	to	to	ADP
hjic-100	68	29	the	the	DET
hjic-100	68	30	heating	heating	NOUN
hjic-100	68	31	power	power	NOUN
hjic-100	68	32	,	,	PUNCT
hjic-100	68	33	and	and	CCONJ
hjic-100	68	34	the	the	DET
hjic-100	68	35	disturbance	disturbance	NOUN
hjic-100	68	36	input	input	NOUN
hjic-100	68	37	vector	vector	NOUN
hjic-100	68	38	[	[	PUNCT
hjic-100	68	39	]=	]=	PUNCT
hjic-100	68	40	t	t	NOUN
hjic-100	68	41	i	i	PRON
hjic-100	68	42	lossd	lossd	PROPN
hjic-100	68	43	t	t	PROPN
hjic-100	68	44	w	w	PROPN
hjic-100	68	45	.	.	PUNCT
hjic-100	69	1	furthermore	furthermore	ADV
hjic-100	69	2	,	,	PUNCT
hjic-100	69	3	the	the	DET
hjic-100	69	4	matrices	matrix	NOUN
hjic-100	69	5	in	in	ADP
hjic-100	69	6	(	(	PUNCT
hjic-100	69	7	7	7	X
hjic-100	69	8	)	)	PUNCT
hjic-100	69	9	are	be	AUX
hjic-100	69	10	the	the	DET
hjic-100	69	11	following	follow	VERB
hjic-100	69	12	0	0	NUM
hjic-100	69	13	,	,	PUNCT
hjic-100	69	14	100	100	NUM
hjic-100	69	15	w	w	NOUN
hjic-100	69	16	w	w	NOUN
hjic-100	69	17	p	p	NOUN
hjic-100	69	18	p	p	PROPN
hjic-100	69	19	c	c	PROPN
hjic-100	69	20	w	w	PROPN
hjic-100	69	21	w	w	PROPN
hjic-100	69	22	pw	pw	X
hjic-100	69	23	pw	pw	PUNCT
hjic-100	70	1	he	he	PRON
hjic-100	70	2	pc	pc	VERB
hjic-100	71	1	c	c	NOUN
hjic-100	71	2	pw	pw	PROPN
hjic-100	72	1	k	k	PROPN
hjic-100	72	2	km	km	PROPN
hjic-100	72	3	m	m	VERB
hjic-100	72	4	c	c	NOUN
hjic-100	72	5	m	m	NOUN
hjic-100	72	6	c	c	NOUN
hjic-100	72	7	m	m	VERB
hjic-100	72	8	a	a	PRON
hjic-100	73	1	k	k	X
hjic-100	73	2	k	k	PROPN
hjic-100	73	3	c	c	PROPN
hjic-100	74	1	c	c	AUX
hjic-100	74	2	mw	mw	AUX
hjic-100	74	3	mc	mc	PROPN
hjic-100	74	4	mb	mb	ADP
hjic-100	74	5	e	e	PROPN
hjic-100	74	6	c	c	PROPN
hjic-100	74	7	⎡	⎡	VERB
hjic-100	74	8	⎤−	⎤−	PROPN
hjic-100	74	9	−⎢	−⎢	NUM
hjic-100	74	10	⎥	⎥	PROPN
hjic-100	74	11	⎢	⎢	NOUN
hjic-100	74	12	⎥=	⎥=	PROPN
hjic-100	74	13	⎢	⎢	PROPN
hjic-100	74	14	⎥	⎥	PROPN
hjic-100	74	15	−⎢	−⎢	PROPN
hjic-100	74	16	⎥	⎥	PROPN
hjic-100	74	17	⎢⎣	⎢⎣	PROPN
hjic-100	74	18	⎡	⎡	VERB
hjic-100	74	19	⎤⎡	⎤⎡	NOUN
hjic-100	74	20	⎤	⎤	PROPN
hjic-100	74	21	⎢	⎢	ADV
hjic-100	74	22	⎥⎢	⎥⎢	VERB
hjic-100	74	23	⎥	⎥	PROPN
hjic-100	74	24	⎢	⎢	NOUN
hjic-100	74	25	⎥=	⎥=	NOUN
hjic-100	75	1	=	=	PROPN
hjic-100	75	2	⎢	⎢	PROPN
hjic-100	75	3	⎥	⎥	PROPN
hjic-100	75	4	⎢	⎢	PUNCT
hjic-100	75	5	⎥⎢	⎥⎢	VERB
hjic-100	75	6	⎥	⎥	PROPN
hjic-100	75	7	⎢	⎢	NOUN
hjic-100	75	8	⎥⎣	⎥⎣	PROPN
hjic-100	75	9	⎦	⎦	NOUN
hjic-100	75	10	⎣	⎣	ADJ
hjic-100	75	11	⎦	⎦	NOUN
hjic-100	75	12	⎥⎦	⎥⎦	NOUN
hjic-100	75	13	(	(	PUNCT
hjic-100	75	14	8	8	NUM
hjic-100	75	15	-	-	SYM
hjic-100	75	16	9	9	NUM
hjic-100	75	17	)	)	PUNCT
hjic-100	75	18	the	the	DET
hjic-100	75	19	real	real	ADJ
hjic-100	75	20	physical	physical	ADJ
hjic-100	75	21	measured	measure	VERB
hjic-100	75	22	variable	variable	NOUN
hjic-100	75	23	in	in	ADP
hjic-100	75	24	the	the	DET
hjic-100	75	25	system	system	NOUN
hjic-100	75	26	is	be	AUX
hjic-100	75	27	the	the	DET
hjic-100	75	28	pressure	pressure	NOUN
hjic-100	75	29	.	.	PUNCT
hjic-100	76	1	since	since	SCONJ
hjic-100	76	2	(	(	PUNCT
hjic-100	76	3	according	accord	VERB
hjic-100	76	4	to	to	ADP
hjic-100	76	5	our	our	PRON
hjic-100	76	6	assumptions	assumption	NOUN
hjic-100	76	7	)	)	PUNCT
hjic-100	76	8	the	the	DET
hjic-100	76	9	temperature	temperature	NOUN
hjic-100	76	10	in	in	ADP
hjic-100	76	11	the	the	DET
hjic-100	76	12	tank	tank	NOUN
hjic-100	76	13	is	be	AUX
hjic-100	76	14	a	a	DET
hjic-100	76	15	monotonous	monotonous	ADJ
hjic-100	76	16	and	and	CCONJ
hjic-100	76	17	invertible	invertible	ADJ
hjic-100	76	18	function	function	NOUN
hjic-100	76	19	of	of	ADP
hjic-100	76	20	the	the	DET
hjic-100	76	21	pressure	pressure	NOUN
hjic-100	76	22	,	,	PUNCT
hjic-100	76	23	we	we	PRON
hjic-100	76	24	can	can	AUX
hjic-100	76	25	write	write	VERB
hjic-100	76	26	a	a	DET
hjic-100	76	27	linear	linear	ADJ
hjic-100	76	28	output	output	NOUN
hjic-100	76	29	equation	equation	NOUN
hjic-100	76	30	in	in	ADP
hjic-100	76	31	the	the	DET
hjic-100	76	32	form	form	NOUN
hjic-100	76	33	[	[	PUNCT
hjic-100	76	34	]	]	X
hjic-100	76	35	1	1	NUM
hjic-100	76	36	0y	0y	NOUN
hjic-100	76	37	=	=	SYM
hjic-100	76	38	x	x	SYM
hjic-100	76	39	(	(	PUNCT
hjic-100	76	40	10	10	NUM
hjic-100	76	41	)	)	PUNCT
hjic-100	76	42	this	this	PRON
hjic-100	76	43	means	mean	VERB
hjic-100	76	44	that	that	SCONJ
hjic-100	76	45	we	we	PRON
hjic-100	76	46	can	can	AUX
hjic-100	76	47	express	express	VERB
hjic-100	76	48	the	the	DET
hjic-100	76	49	performance	performance	NOUN
hjic-100	76	50	requirements	requirement	NOUN
hjic-100	76	51	(	(	PUNCT
hjic-100	76	52	bounds	bound	NOUN
hjic-100	76	53	)	)	PUNCT
hjic-100	76	54	for	for	ADP
hjic-100	76	55	the	the	DET
hjic-100	76	56	pressure	pressure	NOUN
hjic-100	76	57	in	in	ADP
hjic-100	76	58	terms	term	NOUN
hjic-100	76	59	of	of	ADP
hjic-100	76	60	the	the	DET
hjic-100	76	61	temperature	temperature	NOUN
hjic-100	76	62	in	in	ADP
hjic-100	76	63	the	the	DET
hjic-100	76	64	tank	tank	NOUN
hjic-100	76	65	.	.	PUNCT
hjic-100	77	1	the	the	DET
hjic-100	77	2	unknown	unknown	ADJ
hjic-100	77	3	parameters	parameter	NOUN
hjic-100	77	4	of	of	ADP
hjic-100	77	5	the	the	DET
hjic-100	77	6	continuous	continuous	ADJ
hjic-100	77	7	-	-	PUNCT
hjic-100	77	8	time	time	NOUN
hjic-100	77	9	model	model	NOUN
hjic-100	77	10	have	have	AUX
hjic-100	77	11	been	be	AUX
hjic-100	77	12	estimated	estimate	VERB
hjic-100	77	13	from	from	ADP
hjic-100	77	14	input	input	NOUN
hjic-100	77	15	-	-	PUNCT
hjic-100	77	16	output	output	NOUN
hjic-100	77	17	measurement	measurement	NOUN
hjic-100	77	18	data	datum	NOUN
hjic-100	77	19	.	.	PUNCT
hjic-100	78	1	the	the	DET
hjic-100	78	2	model	model	NOUN
hjic-100	78	3	structure	structure	NOUN
hjic-100	78	4	together	together	ADV
hjic-100	78	5	with	with	ADP
hjic-100	78	6	the	the	DET
hjic-100	78	7	estimated	estimate	VERB
hjic-100	78	8	parameter	parameter	NOUN
hjic-100	78	9	values	value	NOUN
hjic-100	78	10	have	have	AUX
hjic-100	78	11	been	be	AUX
hjic-100	78	12	successfully	successfully	ADV
hjic-100	78	13	validated	validate	VERB
hjic-100	78	14	.	.	PUNCT
hjic-100	79	1	the	the	DET
hjic-100	79	2	detailed	detailed	ADJ
hjic-100	79	3	system	system	NOUN
hjic-100	79	4	identification	identification	NOUN
hjic-100	79	5	procedure	procedure	NOUN
hjic-100	79	6	is	be	AUX
hjic-100	79	7	described	describe	VERB
hjic-100	79	8	in	in	ADP
hjic-100	79	9	[	[	X
hjic-100	79	10	11	11	NUM
hjic-100	79	11	]	]	PUNCT
hjic-100	79	12	.	.	PUNCT
hjic-100	80	1	for	for	ADP
hjic-100	80	2	the	the	DET
hjic-100	80	3	controller	controller	NOUN
hjic-100	80	4	design	design	NOUN
hjic-100	80	5	,	,	PUNCT
hjic-100	80	6	it	it	PRON
hjic-100	80	7	is	be	AUX
hjic-100	80	8	convenient	convenient	ADJ
hjic-100	80	9	to	to	PART
hjic-100	80	10	center	center	VERB
hjic-100	80	11	the	the	DET
hjic-100	80	12	state	state	NOUN
hjic-100	80	13	,	,	PUNCT
hjic-100	80	14	input	input	NOUN
hjic-100	80	15	and	and	CCONJ
hjic-100	80	16	disturbance	disturbance	NOUN
hjic-100	80	17	variables	variable	NOUN
hjic-100	80	18	as	as	SCONJ
hjic-100	80	19	follows	follow	VERB
hjic-100	80	20	:	:	PUNCT
hjic-100	80	21	,	,	PUNCT
hjic-100	80	22	,	,	PUNCT
hjic-100	80	23	x	x	PUNCT
hjic-100	80	24	x	x	PUNCT
hjic-100	80	25	x	x	PUNCT
hjic-100	80	26	u	u	X
hjic-100	80	27	u	u	NOUN
hjic-100	80	28	u	u	NOUN
hjic-100	80	29	d	d	PROPN
hjic-100	80	30	d	d	PROPN
hjic-100	80	31	d∗	d∗	PROPN
hjic-100	80	32	∗	∗	NOUN
hjic-100	80	33	∗=	∗=	NOUN
hjic-100	80	34	−	−	PROPN
hjic-100	81	1	=	=	PUNCT
hjic-100	81	2	−	−	PROPN
hjic-100	81	3	=	=	SYM
hjic-100	81	4	−	−	PROPN
hjic-100	81	5	(	(	PUNCT
hjic-100	81	6	11	11	NUM
hjic-100	81	7	)	)	PUNCT
hjic-100	81	8	where	where	SCONJ
hjic-100	81	9	x∗	x∗	PROPN
hjic-100	81	10	is	be	AUX
hjic-100	81	11	the	the	DET
hjic-100	81	12	required	require	VERB
hjic-100	81	13	steady	steady	ADJ
hjic-100	81	14	state	state	NOUN
hjic-100	81	15	to	to	PART
hjic-100	81	16	be	be	AUX
hjic-100	81	17	kept	keep	VERB
hjic-100	81	18	by	by	ADP
hjic-100	81	19	the	the	DET
hjic-100	81	20	controller	controller	NOUN
hjic-100	81	21	,	,	PUNCT
hjic-100	81	22	d∗	d∗	PROPN
hjic-100	81	23	is	be	AUX
hjic-100	81	24	the	the	DET
hjic-100	81	25	nominal	nominal	ADJ
hjic-100	81	26	(	(	PUNCT
hjic-100	81	27	mean	mean	ADJ
hjic-100	81	28	)	)	PUNCT
hjic-100	81	29	value	value	NOUN
hjic-100	81	30	of	of	ADP
hjic-100	81	31	the	the	DET
hjic-100	81	32	disturbances	disturbance	NOUN
hjic-100	81	33	and	and	CCONJ
hjic-100	81	34	u∗	u∗	NOUN
hjic-100	81	35	is	be	AUX
hjic-100	81	36	the	the	DET
hjic-100	81	37	constant	constant	ADJ
hjic-100	81	38	input	input	NOUN
hjic-100	81	39	necessary	necessary	ADJ
hjic-100	81	40	to	to	PART
hjic-100	81	41	keep	keep	VERB
hjic-100	81	42	the	the	DET
hjic-100	81	43	prescribed	prescribe	VERB
hjic-100	81	44	steady	steady	ADJ
hjic-100	81	45	state	state	NOUN
hjic-100	81	46	x∗	x∗	PROPN
hjic-100	81	47	.	.	PUNCT
hjic-100	82	1	using	use	VERB
hjic-100	82	2	the	the	DET
hjic-100	82	3	centered	center	VERB
hjic-100	82	4	coordinates	coordinate	NOUN
hjic-100	82	5	,	,	PUNCT
hjic-100	82	6	the	the	DET
hjic-100	82	7	system	system	NOUN
hjic-100	82	8	model	model	NOUN
hjic-100	82	9	(	(	PUNCT
hjic-100	82	10	7)-(9	7)-(9	NOUN
hjic-100	82	11	)	)	PUNCT
hjic-100	82	12	can	can	AUX
hjic-100	82	13	be	be	AUX
hjic-100	82	14	rewritten	rewrite	VERB
hjic-100	82	15	as	as	ADP
hjic-100	82	16	c	c	PROPN
hjic-100	82	17	c	c	PROPN
hjic-100	82	18	cx	cx	PROPN
hjic-100	82	19	a	a	DET
hjic-100	82	20	x	x	X
hjic-100	82	21	b	b	X
hjic-100	82	22	u	u	NOUN
hjic-100	82	23	e	e	NOUN
hjic-100	82	24	d=	d=	NOUN
hjic-100	83	1	+	+	CCONJ
hjic-100	83	2	+	+	ADJ
hjic-100	83	3	&	&	CCONJ
hjic-100	83	4	(	(	PUNCT
hjic-100	83	5	12	12	NUM
hjic-100	83	6	)	)	PUNCT
hjic-100	83	7	for	for	ADP
hjic-100	83	8	the	the	DET
hjic-100	83	9	controller	controller	NOUN
hjic-100	83	10	design	design	NOUN
hjic-100	83	11	,	,	PUNCT
hjic-100	83	12	we	we	PRON
hjic-100	83	13	need	need	VERB
hjic-100	83	14	a	a	DET
hjic-100	83	15	discrete	discrete	ADJ
hjic-100	83	16	-	-	PUNCT
hjic-100	83	17	time	time	NOUN
hjic-100	83	18	state	state	NOUN
hjic-100	83	19	space	space	NOUN
hjic-100	83	20	model	model	NOUN
hjic-100	83	21	of	of	ADP
hjic-100	83	22	the	the	DET
hjic-100	83	23	system	system	NOUN
hjic-100	83	24	(	(	PUNCT
hjic-100	83	25	12	12	NUM
hjic-100	83	26	)	)	PUNCT
hjic-100	83	27	.	.	PUNCT
hjic-100	84	1	the	the	DET
hjic-100	84	2	discretization	discretization	NOUN
hjic-100	84	3	was	be	AUX
hjic-100	84	4	performed	perform	VERB
hjic-100	84	5	assuming	assume	VERB
hjic-100	84	6	zero	zero	NUM
hjic-100	84	7	order	order	NOUN
hjic-100	84	8	hold	hold	VERB
hjic-100	84	9	on	on	ADP
hjic-100	84	10	the	the	DET
hjic-100	84	11	input	input	NOUN
hjic-100	84	12	with	with	ADP
hjic-100	84	13	a	a	DET
hjic-100	84	14	sampling	sample	VERB
hjic-100	84	15	interval	interval	NOUN
hjic-100	84	16	of	of	ADP
hjic-100	84	17	10s	10	NOUN
hjic-100	84	18	.	.	PUNCT
hjic-100	85	1	the	the	DET
hjic-100	85	2	centered	center	VERB
hjic-100	85	3	discrete	discrete	ADJ
hjic-100	85	4	-	-	PUNCT
hjic-100	85	5	time	time	NOUN
hjic-100	85	6	model	model	NOUN
hjic-100	85	7	is	be	AUX
hjic-100	85	8	given	give	VERB
hjic-100	85	9	by	by	ADP
hjic-100	85	10	the	the	DET
hjic-100	85	11	equations	equation	NOUN
hjic-100	85	12	1k	1k	NUM
hjic-100	85	13	k	k	PROPN
hjic-100	85	14	k	k	PROPN
hjic-100	85	15	kx	kx	PROPN
hjic-100	85	16	ax	ax	NOUN
hjic-100	85	17	bu	bu	PROPN
hjic-100	85	18	w+	w+	ADV
hjic-100	85	19	=	=	PUNCT
hjic-100	86	1	+	+	PUNCT
hjic-100	86	2	+	+	CCONJ
hjic-100	86	3	(	(	PUNCT
hjic-100	86	4	13	13	NUM
hjic-100	86	5	)	)	PUNCT
hjic-100	86	6	where	where	SCONJ
hjic-100	86	7	the	the	DET
hjic-100	86	8	effect	effect	NOUN
hjic-100	86	9	of	of	ADP
hjic-100	86	10	the	the	DET
hjic-100	86	11	disturbance	disturbance	NOUN
hjic-100	86	12	term	term	NOUN
hjic-100	86	13	is	be	AUX
hjic-100	86	14	expressed	express	VERB
hjic-100	86	15	in	in	ADP
hjic-100	86	16	discrete	discrete	ADJ
hjic-100	86	17	-	-	PUNCT
hjic-100	86	18	time	time	NOUN
hjic-100	86	19	by	by	ADP
hjic-100	86	20	the	the	DET
hjic-100	86	21	state	state	NOUN
hjic-100	86	22	disturbance	disturbance	NOUN
hjic-100	86	23	.	.	PUNCT
hjic-100	87	1	ce	ce	PROPN
hjic-100	88	1	d	d	NOUN
hjic-100	88	2	kw	kw	INTJ
hjic-100	88	3	robust	robust	ADJ
hjic-100	88	4	model	model	NOUN
hjic-100	88	5	predictive	predictive	PROPN
hjic-100	88	6	control	control	PROPN
hjic-100	88	7	design	design	NOUN
hjic-100	88	8	control	control	NOUN
hjic-100	88	9	problem	problem	NOUN
hjic-100	88	10	formulation	formulation	NOUN
hjic-100	88	11	the	the	DET
hjic-100	88	12	aim	aim	NOUN
hjic-100	88	13	of	of	ADP
hjic-100	88	14	the	the	DET
hjic-100	88	15	control	control	NOUN
hjic-100	88	16	is	be	AUX
hjic-100	88	17	the	the	DET
hjic-100	88	18	robust	robust	ADJ
hjic-100	88	19	stabilization	stabilization	NOUN
hjic-100	88	20	of	of	ADP
hjic-100	88	21	a	a	DET
hjic-100	88	22	prescribed	prescribed	ADJ
hjic-100	88	23	operating	operating	NOUN
hjic-100	88	24	point	point	NOUN
hjic-100	88	25	in	in	ADP
hjic-100	88	26	case	case	NOUN
hjic-100	88	27	of	of	ADP
hjic-100	88	28	additive	additive	ADJ
hjic-100	88	29	disturbance	disturbance	NOUN
hjic-100	88	30	,	,	PUNCT
hjic-100	88	31	while	while	SCONJ
hjic-100	88	32	the	the	DET
hjic-100	88	33	state	state	NOUN
hjic-100	88	34	and	and	CCONJ
hjic-100	88	35	the	the	DET
hjic-100	88	36	control	control	NOUN
hjic-100	88	37	are	be	AUX
hjic-100	88	38	subject	subject	ADJ
hjic-100	88	39	to	to	ADP
hjic-100	88	40	hard	hard	ADJ
hjic-100	88	41	constraints	constraint	NOUN
hjic-100	88	42	.	.	PUNCT
hjic-100	89	1	to	to	PART
hjic-100	89	2	solve	solve	VERB
hjic-100	89	3	this	this	DET
hjic-100	89	4	problem	problem	NOUN
hjic-100	89	5	we	we	PRON
hjic-100	89	6	apply	apply	VERB
hjic-100	89	7	the	the	DET
hjic-100	89	8	single	single	ADJ
hjic-100	89	9	policy	policy	NOUN
hjic-100	89	10	robust	robust	ADJ
hjic-100	89	11	model	model	NOUN
hjic-100	89	12	predictive	predictive	PROPN
hjic-100	89	13	control	control	NOUN
hjic-100	89	14	proposed	propose	VERB
hjic-100	89	15	by	by	ADP
hjic-100	89	16	langson	langson	PROPN
hjic-100	89	17	et	et	PROPN
hjic-100	89	18	al	al	PROPN
hjic-100	89	19	.	.	PUNCT
hjic-100	90	1	in	in	ADP
hjic-100	90	2	[	[	X
hjic-100	90	3	5	5	NUM
hjic-100	90	4	]	]	PUNCT
hjic-100	90	5	.	.	PUNCT
hjic-100	91	1	since	since	SCONJ
hjic-100	91	2	this	this	DET
hjic-100	91	3	method	method	NOUN
hjic-100	91	4	requires	require	VERB
hjic-100	91	5	the	the	DET
hjic-100	91	6	knowledge	knowledge	NOUN
hjic-100	91	7	of	of	ADP
hjic-100	91	8	the	the	DET
hjic-100	91	9	entire	entire	ADJ
hjic-100	91	10	state	state	NOUN
hjic-100	91	11	,	,	PUNCT
hjic-100	91	12	in	in	ADP
hjic-100	91	13	our	our	PRON
hjic-100	91	14	case	case	NOUN
hjic-100	91	15	it	it	PRON
hjic-100	91	16	has	have	VERB
hjic-100	91	17	to	to	PART
hjic-100	91	18	be	be	AUX
hjic-100	91	19	completed	complete	VERB
hjic-100	91	20	with	with	ADP
hjic-100	91	21	an	an	DET
hjic-100	91	22	appropriate	appropriate	ADJ
hjic-100	91	23	state	state	NOUN
hjic-100	91	24	estimator	estimator	NOUN
hjic-100	91	25	.	.	PUNCT
hjic-100	92	1	the	the	DET
hjic-100	92	2	control	control	NOUN
hjic-100	92	3	design	design	NOUN
hjic-100	92	4	procedure	procedure	NOUN
hjic-100	92	5	will	will	AUX
hjic-100	92	6	then	then	ADV
hjic-100	92	7	consist	consist	VERB
hjic-100	92	8	of	of	ADP
hjic-100	92	9	three	three	NUM
hjic-100	92	10	steps	step	NOUN
hjic-100	92	11	:	:	PUNCT
hjic-100	92	12	first	first	ADV
hjic-100	92	13	,	,	PUNCT
hjic-100	92	14	assuming	assume	VERB
hjic-100	92	15	that	that	SCONJ
hjic-100	92	16	the	the	DET
hjic-100	92	17	full	full	ADJ
hjic-100	92	18	state	state	NOUN
hjic-100	92	19	is	be	AUX
hjic-100	92	20	available	available	ADJ
hjic-100	92	21	for	for	ADP
hjic-100	92	22	measurement	measurement	NOUN
hjic-100	92	23	and	and	CCONJ
hjic-100	92	24	no	no	DET
hjic-100	92	25	disturbance	disturbance	NOUN
hjic-100	92	26	affects	affect	VERB
hjic-100	92	27	on	on	ADP
hjic-100	92	28	the	the	DET
hjic-100	92	29	system	system	NOUN
hjic-100	92	30	,	,	PUNCT
hjic-100	92	31	a	a	DET
hjic-100	92	32	nominal	nominal	ADJ
hjic-100	92	33	mpc	mpc	NOUN
hjic-100	92	34	controller	controller	NOUN
hjic-100	92	35	is	be	AUX
hjic-100	92	36	designed	design	VERB
hjic-100	92	37	.	.	PUNCT
hjic-100	93	1	then	then	ADV
hjic-100	93	2	the	the	DET
hjic-100	93	3	robustification	robustification	NOUN
hjic-100	93	4	of	of	ADP
hjic-100	93	5	the	the	DET
hjic-100	93	6	nominal	nominal	ADJ
hjic-100	93	7	controller	controller	NOUN
hjic-100	93	8	comes	come	VERB
hjic-100	93	9	making	make	VERB
hjic-100	93	10	the	the	DET
hjic-100	93	11	nominal	nominal	ADJ
hjic-100	93	12	mpc	mpc	NOUN
hjic-100	93	13	applicable	applicable	ADJ
hjic-100	93	14	in	in	ADP
hjic-100	93	15	the	the	DET
hjic-100	93	16	presence	presence	NOUN
hjic-100	93	17	of	of	ADP
hjic-100	93	18	external	external	ADJ
hjic-100	93	19	disturbances	disturbance	NOUN
hjic-100	93	20	.	.	PUNCT
hjic-100	94	1	the	the	DET
hjic-100	94	2	last	last	ADJ
hjic-100	94	3	step	step	NOUN
hjic-100	94	4	is	be	AUX
hjic-100	94	5	the	the	DET
hjic-100	94	6	design	design	NOUN
hjic-100	94	7	of	of	ADP
hjic-100	94	8	a	a	DET
hjic-100	94	9	state	state	NOUN
hjic-100	94	10	estimator	estimator	NOUN
hjic-100	94	11	and	and	CCONJ
hjic-100	94	12	its	its	PRON
hjic-100	94	13	integration	integration	NOUN
hjic-100	94	14	into	into	ADP
hjic-100	94	15	the	the	DET
hjic-100	94	16	mpc	mpc	NOUN
hjic-100	94	17	control	control	NOUN
hjic-100	94	18	framework	framework	NOUN
hjic-100	94	19	.	.	PUNCT
hjic-100	95	1	before	before	ADP
hjic-100	95	2	starting	start	VERB
hjic-100	95	3	the	the	DET
hjic-100	95	4	procedure	procedure	NOUN
hjic-100	95	5	the	the	DET
hjic-100	95	6	following	follow	VERB
hjic-100	95	7	assumptions	assumption	NOUN
hjic-100	95	8	have	have	VERB
hjic-100	95	9	to	to	PART
hjic-100	95	10	be	be	AUX
hjic-100	95	11	made	make	VERB
hjic-100	95	12	:	:	PUNCT
hjic-100	95	13	•	•	SCONJ
hjic-100	95	14	the	the	DET
hjic-100	95	15	disturbance	disturbance	NOUN
hjic-100	95	16	is	be	AUX
hjic-100	95	17	bounded	bound	VERB
hjic-100	95	18	and	and	CCONJ
hjic-100	95	19	there	there	PRON
hjic-100	95	20	exists	exist	VERB
hjic-100	95	21	a	a	DET
hjic-100	95	22	convex	convex	ADJ
hjic-100	95	23	polytope	polytope	NOUN
hjic-100	95	24	w	w	NOUN
hjic-100	95	25	containing	contain	VERB
hjic-100	95	26	the	the	DET
hjic-100	95	27	origin	origin	NOUN
hjic-100	95	28	in	in	ADP
hjic-100	95	29	its	its	PRON
hjic-100	95	30	interior	interior	ADJ
hjic-100	95	31	s.t	s.t	PROPN
hjic-100	95	32	.	.	PUNCT
hjic-100	95	33	kw	kw	PROPN
hjic-100	96	1	w	w	PROPN
hjic-100	96	2	k∈	k∈	ADJ
hjic-100	96	3	∀	∀	NOUN
hjic-100	96	4	•	•	ADP
hjic-100	96	5	the	the	DET
hjic-100	96	6	constraints	constraint	NOUN
hjic-100	96	7	on	on	ADP
hjic-100	96	8	the	the	DET
hjic-100	96	9	state	state	NOUN
hjic-100	96	10	and	and	CCONJ
hjic-100	96	11	the	the	DET
hjic-100	96	12	control	control	NOUN
hjic-100	96	13	input	input	NOUN
hjic-100	96	14	are	be	AUX
hjic-100	96	15	convex	convex	ADJ
hjic-100	96	16	,	,	PUNCT
hjic-100	96	17	i.e.	i.e.	X
hjic-100	96	18	there	there	PRON
hjic-100	96	19	are	be	VERB
hjic-100	96	20	given	give	VERB
hjic-100	96	21	convex	convex	NOUN
hjic-100	96	22	,	,	PUNCT
hjic-100	96	23	polytopic	polytopic	NOUN
hjic-100	96	24	sets	set	VERB
hjic-100	96	25	x	x	PUNCT
hjic-100	96	26	92	92	NUM
hjic-100	96	27	and	and	CCONJ
hjic-100	96	28	u	u	NOUN
hjic-100	96	29	containing	contain	VERB
hjic-100	96	30	the	the	DET
hjic-100	96	31	origin	origin	NOUN
hjic-100	96	32	in	in	ADP
hjic-100	96	33	their	their	PRON
hjic-100	96	34	interior	interior	ADJ
hjic-100	96	35	s.t	s.t	PROPN
hjic-100	96	36	.	.	PROPN
hjic-100	96	37	,	,	PUNCT
hjic-100	96	38	ku	ku	PROPN
hjic-100	96	39	u∈	u∈	PROPN
hjic-100	96	40	kx	kx	PROPN
hjic-100	96	41	x∈	x∈	PROPN
hjic-100	96	42	have	have	VERB
hjic-100	96	43	to	to	PART
hjic-100	96	44	be	be	AUX
hjic-100	96	45	hold	hold	VERB
hjic-100	96	46	.	.	PUNCT
hjic-100	97	1	for	for	ADP
hjic-100	97	2	simplicity	simplicity	NOUN
hjic-100	97	3	we	we	PRON
hjic-100	97	4	moreover	moreover	ADV
hjic-100	97	5	assume	assume	VERB
hjic-100	97	6	that	that	SCONJ
hjic-100	97	7	u	u	NOUN
hjic-100	97	8	is	be	AUX
hjic-100	97	9	rectangular	rectangular	ADJ
hjic-100	97	10	i.e.	i.e.	X
hjic-100	97	11	k∀	k∀	ADJ
hjic-100	97	12	1	1	NUM
hjic-100	97	13	1	1	NUM
hjic-100	97	14	2	2	NUM
hjic-100	97	15	2	2	NUM
hjic-100	97	16	[	[	PUNCT
hjic-100	97	17	,	,	PUNCT
hjic-100	97	18	]	]	X
hjic-100	97	19	[	[	PUNCT
hjic-100	97	20	,	,	PUNCT
hjic-100	97	21	]	]	X
hjic-100	97	22	,	,	PUNCT
hjic-100	97	23	[	[	PUNCT
hjic-100	97	24	,	,	PUNCT
hjic-100	97	25	]	]	X
hjic-100	98	1	p	p	X
hjic-100	98	2	pl	pl	PROPN
hjic-100	98	3	l	l	NOUN
hjic-100	98	4	l	l	NOUN
hjic-100	98	5	l	l	X
hjic-100	98	6	l	l	NOUN
hjic-100	98	7	lu	lu	NOUN
hjic-100	98	8	u	u	NOUN
hjic-100	98	9	u	u	NOUN
hjic-100	98	10	u	u	X
hjic-100	98	11	u	u	X
hjic-100	98	12	u	u	NOUN
hjic-100	98	13	u=	u=	ADV
hjic-100	98	14	−	−	PROPN
hjic-100	98	15	×	×	NOUN
hjic-100	98	16	−	−	PROPN
hjic-100	98	17	×	×	NOUN
hjic-100	98	18	×	×	NOUN
hjic-100	98	19	−l	−l	NOUN
hjic-100	98	20	.	.	PUNCT
hjic-100	99	1	nominal	nominal	ADJ
hjic-100	99	2	mpc	mpc	PROPN
hjic-100	99	3	following	follow	VERB
hjic-100	99	4	the	the	DET
hjic-100	99	5	steps	step	NOUN
hjic-100	99	6	of	of	ADP
hjic-100	99	7	control	control	NOUN
hjic-100	99	8	design	design	NOUN
hjic-100	99	9	procedure	procedure	NOUN
hjic-100	99	10	in	in	ADP
hjic-100	99	11	[	[	X
hjic-100	99	12	5	5	X
hjic-100	99	13	]	]	PUNCT
hjic-100	99	14	we	we	PRON
hjic-100	99	15	have	have	VERB
hjic-100	99	16	to	to	PART
hjic-100	99	17	first	first	ADV
hjic-100	99	18	formulate	formulate	VERB
hjic-100	99	19	and	and	CCONJ
hjic-100	99	20	solve	solve	VERB
hjic-100	99	21	the	the	DET
hjic-100	99	22	model	model	NOUN
hjic-100	99	23	predictive	predictive	PROPN
hjic-100	99	24	control	control	PROPN
hjic-100	99	25	problem	problem	NOUN
hjic-100	99	26	for	for	ADP
hjic-100	99	27	the	the	DET
hjic-100	99	28	disturbance	disturbance	NOUN
hjic-100	99	29	free	free	ADJ
hjic-100	99	30	case	case	NOUN
hjic-100	99	31	.	.	PUNCT
hjic-100	100	1	this	this	PRON
hjic-100	100	2	means	mean	VERB
hjic-100	100	3	the	the	DET
hjic-100	100	4	determination	determination	NOUN
hjic-100	100	5	of	of	ADP
hjic-100	100	6	an	an	DET
hjic-100	100	7	admissible	admissible	ADJ
hjic-100	100	8	receding	recede	VERB
hjic-100	100	9	horizon	horizon	NOUN
hjic-100	100	10	policy	policy	NOUN
hjic-100	100	11	(	(	PUNCT
hjic-100	100	12	)	)	PUNCT
hjic-100	100	13	kxµ	kxµ	NOUN
hjic-100	100	14	,	,	PUNCT
hjic-100	100	15	which	which	PRON
hjic-100	100	16	steers	steer	VERB
hjic-100	100	17	the	the	DET
hjic-100	100	18	centered	center	VERB
hjic-100	100	19	system	system	NOUN
hjic-100	100	20	from	from	ADP
hjic-100	100	21	initial	initial	ADJ
hjic-100	100	22	state	state	NOUN
hjic-100	100	23	0x	0x	X
hjic-100	100	24	x∈	x∈	PROPN
hjic-100	100	25	to	to	ADP
hjic-100	100	26	the	the	DET
hjic-100	100	27	origin	origin	NOUN
hjic-100	100	28	.	.	PUNCT
hjic-100	101	1	the	the	DET
hjic-100	101	2	solution	solution	NOUN
hjic-100	101	3	to	to	ADP
hjic-100	101	4	this	this	DET
hjic-100	101	5	problem	problem	NOUN
hjic-100	101	6	can	can	AUX
hjic-100	101	7	be	be	AUX
hjic-100	101	8	derived	derive	VERB
hjic-100	101	9	from	from	ADP
hjic-100	101	10	the	the	DET
hjic-100	101	11	result	result	NOUN
hjic-100	101	12	of	of	ADP
hjic-100	101	13	the	the	DET
hjic-100	101	14	following	follow	VERB
hjic-100	101	15	optimization	optimization	NOUN
hjic-100	101	16	problem	problem	NOUN
hjic-100	101	17	:	:	PUNCT
hjic-100	101	18	1	1	NUM
hjic-100	101	19	0	0	NUM
hjic-100	101	20	0	0	NUM
hjic-100	101	21	1	1	NUM
hjic-100	101	22	0	0	NUM
hjic-100	101	23	1	1	NUM
hjic-100	101	24	1	1	NUM
hjic-100	101	25	0	0	NUM
hjic-100	101	26	0	0	NUM
hjic-100	101	27	arg	arg	NOUN
hjic-100	101	28	min	min	NOUN
hjic-100	101	29	(	(	PUNCT
hjic-100	101	30	)	)	PUNCT
hjic-100	101	31	(	(	PUNCT
hjic-100	101	32	)	)	PUNCT
hjic-100	101	33	(	(	PUNCT
hjic-100	101	34	(	(	PUNCT
hjic-100	101	35	)	)	PUNCT
hjic-100	101	36	,	,	PUNCT
hjic-100	101	37	)	)	PUNCT
hjic-100	101	38	,	,	PUNCT
hjic-100	101	39	[	[	PUNCT
hjic-100	101	40	,	,	PUNCT
hjic-100	101	41	,	,	PUNCT
hjic-100	101	42	]	]	PUNCT
hjic-100	101	43	,	,	PUNCT
hjic-100	101	44	[	[	PUNCT
hjic-100	101	45	,	,	PUNCT
hjic-100	101	46	,	,	PUNCT
hjic-100	101	47	]	]	PUNCT
hjic-100	101	48	,	,	PUNCT
hjic-100	101	49	,	,	PUNCT
hjic-100	101	50	v	v	PART
hjic-100	101	51	n	n	CCONJ
hjic-100	101	52	n	n	PROPN
hjic-100	101	53	t	t	NOUN
hjic-100	101	54	t	t	PROPN
hjic-100	101	55	n	n	CCONJ
hjic-100	101	56	n	n	ADV
hjic-100	102	1	i	i	PRON
hjic-100	102	2	i	i	PRON
hjic-100	103	1	i	i	VERB
hjic-100	103	2	i	i	VERB
hjic-100	103	3	n	n	VERB
hjic-100	103	4	n	n	NOUN
hjic-100	104	1	i	i	PRON
hjic-100	105	1	i	i	PRON
hjic-100	106	1	i	i	PRON
hjic-100	107	1	i	i	PRON
hjic-100	108	1	i	i	VERB
hjic-100	108	2	k	k	VERB
hjic-100	109	1	n	n	VERB
hjic-100	109	2	f	f	PROPN
hjic-100	109	3	v	v	ADP
hjic-100	109	4	v	v	NUM
hjic-100	109	5	v	v	NUM
hjic-100	109	6	v	v	NOUN
hjic-100	109	7	v	v	NOUN
hjic-100	109	8	v	v	NOUN
hjic-100	109	9	x	x	SYM
hjic-100	109	10	v	v	NOUN
hjic-100	109	11	v	v	NOUN
hjic-100	109	12	x	x	INTJ
hjic-100	109	13	qx	qx	INTJ
hjic-100	109	14	v	v	NUM
hjic-100	109	15	rv	rv	NOUN
hjic-100	109	16	v	v	ADP
hjic-100	109	17	v	v	NUM
hjic-100	109	18	v	v	NOUN
hjic-100	109	19	x	x	NOUN
hjic-100	109	20	x	x	SYM
hjic-100	109	21	x	x	SYM
hjic-100	109	22	x	x	PUNCT
hjic-100	109	23	ax	ax	NOUN
hjic-100	109	24	bv	bv	PROPN
hjic-100	109	25	x	x	PUNCT
hjic-100	109	26	x	x	PUNCT
hjic-100	109	27	x	x	SYM
hjic-100	109	28	x	x	SYM
hjic-100	109	29	v	v	X
hjic-100	109	30	u	u	NOUN
hjic-100	109	31	x	x	X
hjic-100	109	32	x	x	NOUN
hjic-100	109	33	∗	∗	NOUN
hjic-100	109	34	−	−	NOUN
hjic-100	109	35	=	=	PUNCT
hjic-100	110	1	−	−	PROPN
hjic-100	110	2	−	−	PROPN
hjic-100	111	1	+	+	CCONJ
hjic-100	111	2	+	+	PUNCT
hjic-100	111	3	=	=	SYM
hjic-100	111	4	=	=	SYM
hjic-100	111	5	=	=	PUNCT
hjic-100	111	6	+	+	NUM
hjic-100	111	7	=	=	SYM
hjic-100	111	8	=	=	SYM
hjic-100	111	9	=	=	PUNCT
hjic-100	111	10	+	+	NUM
hjic-100	111	11	=	=	SYM
hjic-100	111	12	∈	∈	PROPN
hjic-100	111	13	∈	∈	PROPN
hjic-100	111	14	∈	∈	PROPN
hjic-100	111	15	∑	∑	PUNCT
hjic-100	111	16	k	k	PROPN
hjic-100	111	17	k	k	PROPN
hjic-100	111	18	i	i	PRON
hjic-100	111	19	(	(	PUNCT
hjic-100	111	20	14	14	NUM
hjic-100	111	21	)	)	PUNCT
hjic-100	111	22	where	where	SCONJ
hjic-100	111	23	n	n	PRON
hjic-100	111	24	is	be	AUX
hjic-100	111	25	the	the	DET
hjic-100	111	26	length	length	NOUN
hjic-100	111	27	of	of	ADP
hjic-100	111	28	the	the	DET
hjic-100	111	29	horizon	horizon	NOUN
hjic-100	111	30	and	and	CCONJ
hjic-100	111	31	fx	fx	PROPN
hjic-100	111	32	x⊂	x⊂	PROPN
hjic-100	111	33	is	be	AUX
hjic-100	111	34	a	a	DET
hjic-100	111	35	terminal	terminal	ADJ
hjic-100	111	36	set	set	NOUN
hjic-100	111	37	having	have	VERB
hjic-100	111	38	the	the	DET
hjic-100	111	39	following	follow	VERB
hjic-100	111	40	properties	property	NOUN
hjic-100	111	41	:	:	PUNCT
hjic-100	111	42	there	there	PRON
hjic-100	111	43	existsan	existsan	ADJ
hjic-100	111	44	admissible	admissible	ADJ
hjic-100	111	45	static	static	ADJ
hjic-100	111	46	state	state	NOUN
hjic-100	111	47	feedback	feedback	NOUN
hjic-100	111	48	control	control	NOUN
hjic-100	111	49	,	,	PUNCT
hjic-100	111	50	which	which	PRON
hjic-100	111	51	keeps	keep	VERB
hjic-100	111	52	the	the	DET
hjic-100	111	53	system	system	NOUN
hjic-100	111	54	trajectories	trajectory	NOUN
hjic-100	111	55	in	in	ADP
hjic-100	111	56	(	(	PUNCT
hjic-100	111	57	)	)	PUNCT
hjic-100	111	58	u	u	NOUN
hjic-100	111	59	x	x	NOUN
hjic-100	111	60	fκ=	fκ=	NOUN
hjic-100	111	61	=	=	NOUN
hjic-100	111	62	x	x	SYM
hjic-100	111	63	fx	fx	NOUN
hjic-100	111	64	i.e.	i.e.	X
hjic-100	111	65	for	for	ADP
hjic-100	111	66	all	all	PRON
hjic-100	111	67	(	(	PUNCT
hjic-100	111	68	)	)	PUNCT
hjic-100	111	69	,	,	PUNCT
hjic-100	111	70	(	(	PUNCT
hjic-100	111	71	)	)	PUNCT
hjic-100	111	72	f	f	PROPN
hjic-100	111	73	fx	fx	NOUN
hjic-100	112	1	x	x	PUNCT
hjic-100	112	2	x	x	PUNCT
hjic-100	112	3	u	u	NOUN
hjic-100	112	4	ax	ax	NOUN
hjic-100	112	5	b	b	X
hjic-100	112	6	x	x	PROPN
hjic-100	112	7	xκ	xκ	PROPN
hjic-100	112	8	κ∈	κ∈	PROPN
hjic-100	112	9	∈	∈	PROPN
hjic-100	112	10	+	+	CCONJ
hjic-100	112	11	∈	∈	PROPN
hjic-100	112	12	(	(	PUNCT
hjic-100	112	13	15	15	NUM
hjic-100	112	14	)	)	PUNCT
hjic-100	112	15	and	and	CCONJ
hjic-100	112	16	asymptotically	asymptotically	ADV
hjic-100	112	17	stabilizes	stabilize	VERB
hjic-100	112	18	the	the	DET
hjic-100	112	19	system	system	NOUN
hjic-100	112	20	i.e.	i.e.	X
hjic-100	112	21	1	1	NUM
hjic-100	112	22	0lim	0lim	NUM
hjic-100	112	23	0	0	PUNCT
hjic-100	113	1	if	if	SCONJ
hjic-100	113	2	(	(	PUNCT
hjic-100	113	3	)	)	PUNCT
hjic-100	113	4	and	and	CCONJ
hjic-100	113	5	k	k	PROPN
hjic-100	113	6	k	k	PROPN
hjic-100	113	7	k	k	PROPN
hjic-100	113	8	k	k	PROPN
hjic-100	113	9	k	k	PROPN
hjic-100	113	10	fx	fx	PROPN
hjic-100	113	11	x	x	X
hjic-100	113	12	ax	ax	NOUN
hjic-100	113	13	b	b	NOUN
hjic-100	113	14	x	x	X
hjic-100	113	15	x	x	X
hjic-100	113	16	xκ→∞	xκ→∞	PUNCT
hjic-100	114	1	+	+	NOUN
hjic-100	114	2	=	=	SYM
hjic-100	114	3	=	=	SYM
hjic-100	114	4	+	+	SYM
hjic-100	114	5	∈	∈	PROPN
hjic-100	114	6	(	(	PUNCT
hjic-100	114	7	16	16	NUM
hjic-100	114	8	)	)	PUNCT
hjic-100	114	9	in	in	ADP
hjic-100	114	10	possession	possession	NOUN
hjic-100	114	11	of	of	ADP
hjic-100	114	12	the	the	DET
hjic-100	114	13	optimal	optimal	ADJ
hjic-100	114	14	control	control	NOUN
hjic-100	114	15	input	input	NOUN
hjic-100	114	16	vector	vector	NOUN
hjic-100	114	17	v∗	v∗	NOUN
hjic-100	114	18	we	we	PRON
hjic-100	114	19	can	can	AUX
hjic-100	114	20	formulate	formulate	VERB
hjic-100	114	21	the	the	DET
hjic-100	114	22	single	single	ADJ
hjic-100	114	23	policy	policy	NOUN
hjic-100	114	24	mpc	mpc	NOUN
hjic-100	114	25	controller	controller	NOUN
hjic-100	114	26	in	in	ADP
hjic-100	114	27	the	the	DET
hjic-100	114	28	following	following	ADJ
hjic-100	114	29	way	way	NOUN
hjic-100	114	30	:	:	PUNCT
hjic-100	114	31	nom	nom	PROPN
hjic-100	114	32	if	if	SCONJ
hjic-100	114	33	(	(	PUNCT
hjic-100	114	34	)	)	PUNCT
hjic-100	114	35	if	if	SCONJ
hjic-100	114	36	i	i	PRON
hjic-100	114	37	i	i	PRON
hjic-100	115	1	i	i	PRON
hjic-100	115	2	v	v	VERB
hjic-100	115	3	ix	ix	ADP
hjic-100	116	1	n	n	PRON
hjic-100	116	2	fx	fx	NOUN
hjic-100	117	1	i	i	PRON
hjic-100	117	2	µ	µ	X
hjic-100	117	3	∗⎧	∗⎧	VERB
hjic-100	117	4	≤⎪=	≤⎪=	PROPN
hjic-100	117	5	⎨	⎨	PROPN
hjic-100	117	6	>	>	PUNCT
hjic-100	117	7	⎪⎩	⎪⎩	PROPN
hjic-100	117	8	n	n	CCONJ
hjic-100	117	9	(	(	PUNCT
hjic-100	117	10	17	17	NUM
hjic-100	117	11	)	)	PUNCT
hjic-100	117	12	i.e	i.e	PROPN
hjic-100	117	13	by	by	ADP
hjic-100	117	14	means	mean	NOUN
hjic-100	117	15	of	of	ADP
hjic-100	117	16	single	single	ADJ
hjic-100	117	17	policy	policy	NOUN
hjic-100	117	18	approach	approach	NOUN
hjic-100	117	19	we	we	PRON
hjic-100	117	20	determine	determine	VERB
hjic-100	117	21	v∗	v∗	NOUN
hjic-100	117	22	only	only	ADV
hjic-100	117	23	in	in	ADP
hjic-100	117	24	the	the	DET
hjic-100	117	25	beginning	beginning	NOUN
hjic-100	117	26	(	(	PUNCT
hjic-100	117	27	and	and	CCONJ
hjic-100	117	28	later	later	ADV
hjic-100	117	29	only	only	ADV
hjic-100	117	30	if	if	SCONJ
hjic-100	117	31	the	the	DET
hjic-100	117	32	prescribed	prescribed	ADJ
hjic-100	117	33	operating	operating	NOUN
hjic-100	117	34	point	point	NOUN
hjic-100	117	35	changes	change	NOUN
hjic-100	117	36	)	)	PUNCT
hjic-100	117	37	,	,	PUNCT
hjic-100	117	38	and	and	CCONJ
hjic-100	117	39	after	after	ADP
hjic-100	117	40	depleting	deplete	VERB
hjic-100	117	41	the	the	DET
hjic-100	117	42	entire	entire	ADJ
hjic-100	117	43	control	control	NOUN
hjic-100	117	44	sequence	sequence	NOUN
hjic-100	117	45	,	,	PUNCT
hjic-100	117	46	we	we	PRON
hjic-100	117	47	switch	switch	VERB
hjic-100	117	48	to	to	ADP
hjic-100	117	49	the	the	DET
hjic-100	117	50	linear	linear	ADJ
hjic-100	117	51	feedback	feedback	NOUN
hjic-100	117	52	fx	fx	NOUN
hjic-100	117	53	(	(	PUNCT
hjic-100	117	54	dual	dual	ADJ
hjic-100	117	55	-	-	PUNCT
hjic-100	117	56	mode	mode	NOUN
hjic-100	117	57	control	control	NOUN
hjic-100	117	58	)	)	PUNCT
hjic-100	117	59	.	.	PUNCT
hjic-100	118	1	it	it	PRON
hjic-100	118	2	can	can	AUX
hjic-100	118	3	be	be	AUX
hjic-100	118	4	easily	easily	ADV
hjic-100	118	5	proved	prove	VERB
hjic-100	118	6	[	[	X
hjic-100	118	7	5	5	NUM
hjic-100	118	8	]	]	PUNCT
hjic-100	118	9	,	,	PUNCT
hjic-100	118	10	[	[	X
hjic-100	118	11	6	6	NUM
hjic-100	118	12	]	]	PUNCT
hjic-100	118	13	that	that	SCONJ
hjic-100	118	14	the	the	DET
hjic-100	118	15	control	control	NOUN
hjic-100	118	16	policy	policy	NOUN
hjic-100	118	17	(	(	PUNCT
hjic-100	118	18	17	17	NUM
hjic-100	118	19	)	)	PUNCT
hjic-100	118	20	asymptotically	asymptotically	ADV
hjic-100	118	21	stabilizes	stabilize	VERB
hjic-100	118	22	the	the	DET
hjic-100	118	23	plant	plant	NOUN
hjic-100	118	24	in	in	ADP
hjic-100	118	25	the	the	DET
hjic-100	118	26	disturbance	disturbance	NOUN
hjic-100	118	27	free	free	ADJ
hjic-100	118	28	case	case	NOUN
hjic-100	118	29	and	and	CCONJ
hjic-100	118	30	both	both	CCONJ
hjic-100	118	31	the	the	DET
hjic-100	118	32	state	state	NOUN
hjic-100	118	33	and	and	CCONJ
hjic-100	118	34	the	the	DET
hjic-100	118	35	input	input	NOUN
hjic-100	118	36	will	will	AUX
hjic-100	118	37	satisfy	satisfy	VERB
hjic-100	118	38	the	the	DET
hjic-100	118	39	constraints	constraint	NOUN
hjic-100	118	40	.	.	PUNCT
hjic-100	119	1	the	the	DET
hjic-100	119	2	lyapunov	lyapunov	ADJ
hjic-100	119	3	function	function	NOUN
hjic-100	119	4	for	for	ADP
hjic-100	119	5	the	the	DET
hjic-100	119	6	closed	closed	ADJ
hjic-100	119	7	loop	loop	NOUN
hjic-100	119	8	dynamics	dynamic	NOUN
hjic-100	119	9	can	can	AUX
hjic-100	119	10	be	be	AUX
hjic-100	119	11	derived	derive	VERB
hjic-100	119	12	from	from	ADP
hjic-100	119	13	the	the	DET
hjic-100	119	14	quadratic	quadratic	ADJ
hjic-100	119	15	cost	cost	NOUN
hjic-100	119	16	.	.	PUNCT
hjic-100	120	1	nv	nv	PROPN
hjic-100	120	2	to	to	PART
hjic-100	120	3	implement	implement	VERB
hjic-100	120	4	the	the	DET
hjic-100	120	5	formulated	formulate	VERB
hjic-100	120	6	mpc	mpc	NOUN
hjic-100	120	7	algorithm	algorithm	NOUN
hjic-100	120	8	on	on	ADP
hjic-100	120	9	a	a	DET
hjic-100	120	10	particular	particular	ADJ
hjic-100	120	11	system	system	NOUN
hjic-100	120	12	we	we	PRON
hjic-100	120	13	need	need	VERB
hjic-100	120	14	to	to	PART
hjic-100	120	15	determine	determine	VERB
hjic-100	120	16	the	the	DET
hjic-100	120	17	feedback	feedback	NOUN
hjic-100	120	18	gain	gain	VERB
hjic-100	120	19	f	f	PROPN
hjic-100	120	20	and	and	CCONJ
hjic-100	120	21	the	the	DET
hjic-100	120	22	associated	associated	ADJ
hjic-100	120	23	terminal	terminal	NOUN
hjic-100	120	24	set	set	VERB
hjic-100	120	25	fx	fx	PROPN
hjic-100	120	26	.	.	PUNCT
hjic-100	121	1	it	it	PRON
hjic-100	121	2	is	be	AUX
hjic-100	121	3	straightforward	straightforward	ADJ
hjic-100	121	4	to	to	PART
hjic-100	121	5	choose	choose	VERB
hjic-100	121	6	f	f	PROPN
hjic-100	121	7	as	as	ADP
hjic-100	121	8	an	an	DET
hjic-100	121	9	unconstrained	unconstrained	ADJ
hjic-100	121	10	lq	lq	NOUN
hjic-100	121	11	controller	controller	NOUN
hjic-100	121	12	minimizing	minimize	VERB
hjic-100	121	13	the	the	DET
hjic-100	121	14	infinite	infinite	ADJ
hjic-100	121	15	horizon	horizon	NOUN
hjic-100	121	16	cost	cost	NOUN
hjic-100	121	17	function	function	NOUN
hjic-100	121	18	defined	define	VERB
hjic-100	121	19	as	as	ADP
hjic-100	121	20	:	:	SYM
hjic-100	121	21	0	0	NUM
hjic-100	121	22	1	1	NUM
hjic-100	121	23	(	(	PUNCT
hjic-100	121	24	)	)	PUNCT
hjic-100	121	25	(	(	PUNCT
hjic-100	121	26	,	,	PUNCT
hjic-100	121	27	)	)	PUNCT
hjic-100	121	28	,	,	PUNCT
hjic-100	121	29	,	,	PUNCT
hjic-100	121	30	,	,	PUNCT
hjic-100	121	31	0	0	NUM
hjic-100	121	32	t	t	NOUN
hjic-100	122	1	t	t	NOUN
hjic-100	123	1	i	i	PRON
hjic-100	123	2	i	i	PRON
hjic-100	124	1	i	i	PRON
hjic-100	125	1	i	i	VERB
hjic-100	125	2	k	k	PROPN
hjic-100	126	1	k	k	PROPN
hjic-100	127	1	k	k	PROPN
hjic-100	127	2	k	k	PROPN
hjic-100	128	1	k	k	PROPN
hjic-100	128	2	v	v	NUM
hjic-100	128	3	v	v	NUM
hjic-100	128	4	v	v	NOUN
hjic-100	128	5	x	x	SYM
hjic-100	128	6	v	v	NOUN
hjic-100	128	7	x	x	X
hjic-100	128	8	q	q	NOUN
hjic-100	128	9	x	x	X
hjic-100	128	10	v	v	ADP
hjic-100	128	11	r	r	NOUN
hjic-100	128	12	v	v	NOUN
hjic-100	128	13	v	v	NOUN
hjic-100	128	14	fx	fx	NOUN
hjic-100	128	15	x	x	PUNCT
hjic-100	128	16	ax	ax	NOUN
hjic-100	128	17	bv	bv	PROPN
hjic-100	128	18	x	x	PROPN
hjic-100	128	19	x	x	PUNCT
hjic-100	128	20	q	q	PUNCT
hjic-100	128	21	r	r	NOUN
hjic-100	128	22	∞	∞	NUM
hjic-100	128	23	∞	∞	NUM
hjic-100	128	24	∞	∞	NUM
hjic-100	128	25	∞	∞	NUM
hjic-100	128	26	∞	∞	NUM
hjic-100	129	1	=	=	PUNCT
hjic-100	130	1	+	+	CCONJ
hjic-100	130	2	∞	∞	NUM
hjic-100	130	3	∞	∞	NUM
hjic-100	130	4	=	=	PUNCT
hjic-100	131	1	=	=	PUNCT
hjic-100	131	2	+	+	NUM
hjic-100	131	3	=	=	SYM
hjic-100	132	1	=	=	SYM
hjic-100	133	1	+	+	CCONJ
hjic-100	133	2	>	>	PUNCT
hjic-100	133	3	∑	∑	PROPN
hjic-100	133	4	0	0	NUM
hjic-100	133	5	0	0	NUM
hjic-100	134	1	i	i	NOUN
hjic-100	134	2	=	=	SYM
hjic-100	134	3	k	k	PROPN
hjic-100	134	4	(	(	PUNCT
hjic-100	134	5	18	18	NUM
hjic-100	134	6	)	)	PUNCT
hjic-100	134	7	the	the	DET
hjic-100	134	8	solution	solution	NOUN
hjic-100	134	9	f	f	PROPN
hjic-100	134	10	and	and	CCONJ
hjic-100	134	11	the	the	DET
hjic-100	134	12	quadratic	quadratic	ADJ
hjic-100	134	13	lyapunov	lyapunov	ADJ
hjic-100	134	14	function	function	NOUN
hjic-100	134	15	of	of	ADP
hjic-100	134	16	the	the	DET
hjic-100	134	17	closed	closed	ADJ
hjic-100	134	18	loop	loop	NOUN
hjic-100	134	19	dynamics	dynamic	NOUN
hjic-100	134	20	(	(	PUNCT
hjic-100	134	21	)	)	PUNCT
hjic-100	134	22	tw	tw	NOUN
hjic-100	134	23	x	x	SYM
hjic-100	134	24	x	x	SYM
hjic-100	134	25	px=	px=	PROPN
hjic-100	134	26	1	1	NUM
hjic-100	134	27	(	(	PUNCT
hjic-100	134	28	)	)	PUNCT
hjic-100	134	29	kx	kx	PROPN
hjic-100	135	1	a	a	DET
hjic-100	135	2	bf	bf	NOUN
hjic-100	135	3	x+	x+	PUNCT
hjic-100	136	1	=	=	PUNCT
hjic-100	136	2	+	+	CCONJ
hjic-100	136	3	can	can	AUX
hjic-100	136	4	be	be	AUX
hjic-100	136	5	obtained	obtain	VERB
hjic-100	136	6	as	as	ADP
hjic-100	136	7	a	a	DET
hjic-100	136	8	solution	solution	NOUN
hjic-100	136	9	of	of	ADP
hjic-100	136	10	a	a	DET
hjic-100	136	11	discrete	discrete	ADJ
hjic-100	136	12	algebraic	algebraic	ADJ
hjic-100	136	13	ricatti	ricatti	NOUN
hjic-100	136	14	equation	equation	NOUN
hjic-100	136	15	:	:	PUNCT
hjic-100	136	16	(	(	PUNCT
hjic-100	136	17	19	19	NUM
hjic-100	136	18	)	)	PUNCT
hjic-100	136	19	1	1	NUM
hjic-100	136	20	(	(	PUNCT
hjic-100	136	21	)	)	PUNCT
hjic-100	136	22	(	(	PUNCT
hjic-100	136	23	)	)	PUNCT
hjic-100	136	24	,	,	PUNCT
hjic-100	136	25	(	(	PUNCT
hjic-100	136	26	)	)	PUNCT
hjic-100	136	27	(	(	PUNCT
hjic-100	136	28	)	)	PUNCT
hjic-100	136	29	(	(	PUNCT
hjic-100	136	30	)	)	PUNCT
hjic-100	136	31	t	t	NOUN
hjic-100	136	32	t	t	PROPN
hjic-100	136	33	t	t	PROPN
hjic-100	136	34	t	t	PROPN
hjic-100	136	35	t	t	PROPN
hjic-100	137	1	t	t	PROPN
hjic-100	137	2	t	t	PROPN
hjic-100	137	3	f	f	PROPN
hjic-100	138	1	b	b	PROPN
hjic-100	138	2	pb	pb	ADP
hjic-100	138	3	r	r	NOUN
hjic-100	138	4	b	b	PROPN
hjic-100	138	5	pa	pa	PROPN
hjic-100	138	6	p	p	PROPN
hjic-100	138	7	a	a	DET
hjic-100	138	8	pa	pa	PROPN
hjic-100	138	9	a	a	PRON
hjic-100	138	10	pb	pb	ADP
hjic-100	138	11	b	b	NOUN
hjic-100	138	12	pb	pb	ADP
hjic-100	138	13	r	r	NOUN
hjic-100	138	14	a	a	PRON
hjic-100	138	15	pb	pb	ADP
hjic-100	138	16	q	q	NOUN
hjic-100	138	17	−	−	PROPN
hjic-100	138	18	∞	∞	NUM
hjic-100	138	19	∞	∞	NUM
hjic-100	138	20	∞	∞	NUM
hjic-100	138	21	=	=	PUNCT
hjic-100	139	1	+	+	PUNCT
hjic-100	139	2	=	=	SYM
hjic-100	140	1	−	−	PROPN
hjic-100	141	1	+	+	CCONJ
hjic-100	141	2	+	+	CCONJ
hjic-100	141	3	since	since	SCONJ
hjic-100	141	4	the	the	DET
hjic-100	141	5	terminal	terminal	NOUN
hjic-100	141	6	set	set	NOUN
hjic-100	141	7	fx	fx	NOUN
hjic-100	141	8	has	have	VERB
hjic-100	141	9	to	to	PART
hjic-100	141	10	be	be	AUX
hjic-100	141	11	invariant	invariant	ADJ
hjic-100	141	12	for	for	ADP
hjic-100	141	13	the	the	DET
hjic-100	141	14	dynamics	dynamic	NOUN
hjic-100	141	15	1	1	NUM
hjic-100	141	16	(	(	PUNCT
hjic-100	141	17	)	)	PUNCT
hjic-100	141	18	k	k	PROPN
hjic-100	141	19	kx	kx	PROPN
hjic-100	141	20	a	a	DET
hjic-100	141	21	bf	bf	NOUN
hjic-100	141	22	x+	x+	PUNCT
hjic-100	142	1	=	=	PUNCT
hjic-100	142	2	+	+	CCONJ
hjic-100	142	3	it	it	PRON
hjic-100	142	4	can	can	AUX
hjic-100	142	5	be	be	AUX
hjic-100	142	6	constructed	construct	VERB
hjic-100	142	7	from	from	ADP
hjic-100	142	8	an	an	DET
hjic-100	142	9	appropriate	appropriate	ADJ
hjic-100	142	10	level	level	NOUN
hjic-100	142	11	set	set	NOUN
hjic-100	142	12	of	of	ADP
hjic-100	142	13	w(x	w(x	NOUN
hjic-100	142	14	)	)	PUNCT
hjic-100	142	15	.	.	PUNCT
hjic-100	143	1	let	let	VERB
hjic-100	143	2	fx	fx	NOUN
hjic-100	143	3	be	be	AUX
hjic-100	143	4	the	the	DET
hjic-100	143	5	maximal	maximal	ADJ
hjic-100	143	6	level	level	NOUN
hjic-100	143	7	set	set	NOUN
hjic-100	143	8	,	,	PUNCT
hjic-100	143	9	which	which	PRON
hjic-100	143	10	satisfies	satisfy	VERB
hjic-100	143	11	the	the	DET
hjic-100	143	12	input	input	NOUN
hjic-100	143	13	constraints	constraint	NOUN
hjic-100	143	14	,	,	PUNCT
hjic-100	143	15	i.e.	i.e.	X
hjic-100	143	16	,	,	PUNCT
hjic-100	143	17	{	{	PUNCT
hjic-100	143	18	|	|	ADV
hjic-100	143	19	}	}	PUNCT
hjic-100	143	20	max	max	PROPN
hjic-100	143	21	,	,	PUNCT
hjic-100	143	22	{	{	PUNCT
hjic-100	143	23	|	|	ADV
hjic-100	143	24	max	max	PROPN
hjic-100	143	25	}	}	PUNCT
hjic-100	143	26	t	t	PROPN
hjic-100	144	1	i	i	PRON
hjic-100	144	2	t	t	PROPN
hjic-100	145	1	f	f	PROPN
hjic-100	145	2	t	t	NOUN
hjic-100	146	1	i	i	PRON
hjic-100	146	2	lx	lx	VERB
hjic-100	146	3	x	x	X
hjic-100	146	4	px	px	NOUN
hjic-100	146	5	x	x	NOUN
hjic-100	146	6	x	x	PUNCT
hjic-100	146	7	x	x	X
hjic-100	146	8	px	px	NOUN
hjic-100	146	9	f	f	NOUN
hjic-100	146	10	x	x	SYM
hjic-100	146	11	u	u	NOUN
hjic-100	146	12	iγ	iγ	ADP
hjic-100	146	13	γ	γ	PROPN
hjic-100	146	14	γ	γ	PROPN
hjic-100	146	15	γ	γ	PROPN
hjic-100	146	16	γ	γ	X
hjic-100	146	17	γ	γ	PROPN
hjic-100	146	18	∗	∗	NOUN
hjic-100	146	19	∗	∗	NOUN
hjic-100	146	20	∈γ	∈γ	NOUN
hjic-100	146	21	≤	≤	NUM
hjic-100	146	22	=	=	PUNCT
hjic-100	146	23	≤	≤	NUM
hjic-100	146	24	=	=	PUNCT
hjic-100	146	25	γ	γ	X
hjic-100	146	26	=	=	SYM
hjic-100	146	27	≤	≤	NUM
hjic-100	146	28	∀	∀	X
hjic-100	146	29	(	(	PUNCT
hjic-100	146	30	20	20	NUM
hjic-100	146	31	)	)	PUNCT
hjic-100	146	32	where	where	SCONJ
hjic-100	146	33	t	t	PROPN
hjic-100	146	34	if	if	SCONJ
hjic-100	146	35	is	be	AUX
hjic-100	146	36	the	the	DET
hjic-100	146	37	ith	ith	PROPN
hjic-100	146	38	row	row	NOUN
hjic-100	146	39	of	of	ADP
hjic-100	146	40	f.	f.	PROPN
hjic-100	146	41	notice	notice	PROPN
hjic-100	146	42	that	that	PRON
hjic-100	146	43	is	be	AUX
hjic-100	146	44	a	a	DET
hjic-100	146	45	support	support	NOUN
hjic-100	146	46	function	function	NOUN
hjic-100	146	47	of	of	ADP
hjic-100	146	48	the	the	DET
hjic-100	146	49	set	set	NOUN
hjic-100	146	50	,	,	PUNCT
hjic-100	146	51	(	(	PUNCT
hjic-100	147	1	)	)	PUNCT
hjic-100	147	2	max	max	PROPN
hjic-100	147	3	t	t	PROPN
hjic-100	147	4	t	t	PROPN
hjic-100	148	1	i	i	PRON
hjic-100	148	2	x	x	PUNCT
hjic-100	149	1	x	x	X
hjic-100	149	2	pxh	pxh	NOUN
hjic-100	150	1	f	f	PROPN
hjic-100	150	2	f	f	PROPN
hjic-100	150	3	xγ≤=	xγ≤=	PROPN
hjic-100	150	4	i	i	PRON
hjic-100	150	5	{	{	PUNCT
hjic-100	150	6	|	|	ADV
hjic-100	150	7	}	}	PUNCT
hjic-100	150	8	tx	tx	PROPN
hjic-100	150	9	x	x	SYM
hjic-100	150	10	px	px	ADP
hjic-100	150	11	γ≤	γ≤	NUM
hjic-100	150	12	,	,	PUNCT
hjic-100	150	13	which	which	PRON
hjic-100	150	14	can	can	AUX
hjic-100	150	15	be	be	AUX
hjic-100	150	16	calculated	calculate	VERB
hjic-100	150	17	as	as	ADP
hjic-100	150	18	1	1	NUM
hjic-100	150	19	(	(	PUNCT
hjic-100	150	20	)	)	PUNCT
hjic-100	150	21	t	t	NOUN
hjic-100	151	1	i	i	PRON
hjic-100	151	2	ih	ih	INTJ
hjic-100	152	1	f	f	NOUN
hjic-100	152	2	f	f	PROPN
hjic-100	152	3	p	p	PROPN
hjic-100	152	4	fγ	fγ	PROPN
hjic-100	153	1	−=	−=	PRON
hjic-100	154	1	i	i	PRON
hjic-100	154	2	(	(	PUNCT
hjic-100	154	3	[	[	X
hjic-100	154	4	4],[3	4],[3	NUM
hjic-100	154	5	]	]	PUNCT
hjic-100	154	6	)	)	PUNCT
hjic-100	154	7	.	.	PUNCT
hjic-100	155	1	consequently	consequently	ADV
hjic-100	155	2	in	in	ADP
hjic-100	155	3	single	single	ADJ
hjic-100	155	4	input	input	NOUN
hjic-100	155	5	case	case	NOUN
hjic-100	155	6	2	2	NUM
hjic-100	155	7	1	1	NUM
hjic-100	155	8	,	,	PUNCT
hjic-100	155	9	tl	tl	PROPN
hjic-100	155	10	t	t	NOUN
hjic-100	155	11	u	u	NOUN
hjic-100	156	1	f	f	PROPN
hjic-100	156	2	f	f	PROPN
hjic-100	157	1	f	f	PROPN
hjic-100	157	2	p	p	X
hjic-100	157	3	f	f	PROPN
hjic-100	157	4	γ	γ	X
hjic-100	157	5	∗	∗	NOUN
hjic-100	157	6	−	−	NOUN
hjic-100	158	1	=	=	SYM
hjic-100	158	2	=	=	SYM
hjic-100	158	3	(	(	PUNCT
hjic-100	158	4	21	21	NUM
hjic-100	158	5	)	)	PUNCT
hjic-100	158	6	since	since	SCONJ
hjic-100	158	7	fx	fx	NOUN
hjic-100	158	8	may	may	AUX
hjic-100	158	9	be	be	AUX
hjic-100	158	10	larger	large	ADJ
hjic-100	158	11	than	than	ADP
hjic-100	158	12	x	x	PRON
hjic-100	158	13	,	,	PUNCT
hjic-100	158	14	let	let	VERB
hjic-100	158	15	f	f	PRON
hjic-100	158	16	fx	fx	VERB
hjic-100	158	17	x	x	SYM
hjic-100	158	18	x=	x=	PROPN
hjic-100	158	19	∩	∩	PROPN
hjic-100	158	20	.	.	PUNCT
hjic-100	159	1	(	(	PUNCT
hjic-100	159	2	the	the	DET
hjic-100	159	3	numerical	numerical	ADJ
hjic-100	159	4	calculation	calculation	NOUN
hjic-100	159	5	of	of	ADP
hjic-100	159	6	the	the	DET
hjic-100	159	7	intersection	intersection	NOUN
hjic-100	159	8	can	can	AUX
hjic-100	159	9	be	be	AUX
hjic-100	159	10	greatly	greatly	ADV
hjic-100	159	11	simplified	simplify	VERB
hjic-100	159	12	if	if	SCONJ
hjic-100	159	13	the	the	DET
hjic-100	159	14	polytopic	polytopic	NOUN
hjic-100	159	15	approximation	approximation	NOUN
hjic-100	159	16	of	of	ADP
hjic-100	159	17	x	x	PUNCT
hjic-100	159	18	and	and	CCONJ
hjic-100	159	19	fx	fx	NOUN
hjic-100	159	20	is	be	AUX
hjic-100	159	21	used	use	VERB
hjic-100	159	22	.	.	PUNCT
hjic-100	159	23	)	)	PUNCT
hjic-100	160	1	robust	robust	ADJ
hjic-100	160	2	mpc	mpc	NOUN
hjic-100	160	3	the	the	DET
hjic-100	160	4	next	next	ADJ
hjic-100	160	5	step	step	NOUN
hjic-100	160	6	of	of	ADP
hjic-100	160	7	the	the	DET
hjic-100	160	8	controller	controller	NOUN
hjic-100	160	9	design	design	NOUN
hjic-100	160	10	is	be	AUX
hjic-100	160	11	the	the	DET
hjic-100	160	12	"	"	PUNCT
hjic-100	160	13	robustification	robustification	NOUN
hjic-100	160	14	"	"	PUNCT
hjic-100	160	15	of	of	ADP
hjic-100	160	16	the	the	DET
hjic-100	160	17	nominal	nominal	ADJ
hjic-100	160	18	control	control	NOUN
hjic-100	160	19	policy	policy	NOUN
hjic-100	160	20	.	.	PUNCT
hjic-100	161	1	this	this	PRON
hjic-100	161	2	can	can	AUX
hjic-100	161	3	be	be	AUX
hjic-100	161	4	performed	perform	VERB
hjic-100	161	5	by	by	ADP
hjic-100	161	6	tightening	tighten	VERB
hjic-100	161	7	the	the	DET
hjic-100	161	8	constraints	constraint	NOUN
hjic-100	161	9	of	of	ADP
hjic-100	161	10	the	the	DET
hjic-100	161	11	nominal	nominal	ADJ
hjic-100	161	12	mpc	mpc	NOUN
hjic-100	161	13	and	and	CCONJ
hjic-100	161	14	completing	complete	VERB
hjic-100	161	15	the	the	DET
hjic-100	161	16	nominal	nominal	ADJ
hjic-100	161	17	control	control	NOUN
hjic-100	161	18	input	input	PROPN
hjic-100	161	19	nom	nom	PROPN
hjic-100	161	20	(	(	PUNCT
hjic-100	161	21	)	)	PUNCT
hjic-100	161	22	ixµ	ixµ	ADJ
hjic-100	161	23	with	with	ADP
hjic-100	161	24	an	an	DET
hjic-100	161	25	appropriate	appropriate	ADJ
hjic-100	161	26	error	error	NOUN
hjic-100	161	27	feedback	feedback	NOUN
hjic-100	161	28	term	term	NOUN
hjic-100	161	29	,	,	PUNCT
hjic-100	161	30	i.e.	i.e.	X
hjic-100	161	31	more	more	ADV
hjic-100	161	32	precisely	precisely	ADV
hjic-100	161	33	:	:	PUNCT
hjic-100	161	34	93	93	NUM
hjic-100	161	35	nom	nom	NOUN
hjic-100	161	36	(	(	PUNCT
hjic-100	161	37	)	)	PUNCT
hjic-100	161	38	(	(	PUNCT
hjic-100	161	39	)	)	PUNCT
hjic-100	162	1	(	(	PUNCT
hjic-100	162	2	)	)	PUNCT
hjic-100	162	3	i	i	PRON
hjic-100	162	4	i	i	PRON
hjic-100	163	1	i	i	PRON
hjic-100	163	2	ix	ix	ADP
hjic-100	163	3	x	x	X
hjic-100	163	4	k	k	NOUN
hjic-100	163	5	x	x	X
hjic-100	163	6	xµ	xµ	ADP
hjic-100	163	7	µ=	µ=	NOUN
hjic-100	164	1	+	+	X
hjic-100	164	2	−	−	PROPN
hjic-100	164	3	(	(	PUNCT
hjic-100	164	4	22	22	NUM
hjic-100	164	5	)	)	PUNCT
hjic-100	164	6	where	where	SCONJ
hjic-100	164	7	ix	ix	ADV
hjic-100	164	8	is	be	AUX
hjic-100	164	9	the	the	DET
hjic-100	164	10	nominal	nominal	ADJ
hjic-100	164	11	state	state	NOUN
hjic-100	164	12	value	value	NOUN
hjic-100	164	13	–	–	PUNCT
hjic-100	164	14	calculated	calculate	VERB
hjic-100	164	15	by	by	ADP
hjic-100	164	16	iterating	iterate	VERB
hjic-100	164	17	1	1	NUM
hjic-100	164	18	nom	nom	NOUN
hjic-100	164	19	(	(	PUNCT
hjic-100	165	1	)	)	PUNCT
hjic-100	165	2	k	k	PROPN
hjic-100	165	3	k	k	PROPN
hjic-100	165	4	kx	kx	PROPN
hjic-100	165	5	ax	ax	NOUN
hjic-100	165	6	b	b	PROPN
hjic-100	165	7	xµ+	xµ+	NOUN
hjic-100	166	1	=	=	PUNCT
hjic-100	167	1	+	+	CCONJ
hjic-100	167	2	i	i	PROPN
hjic-100	167	3	,	,	PUNCT
hjic-100	167	4	x	x	X
hjic-100	167	5	is	be	AUX
hjic-100	167	6	the	the	DET
hjic-100	167	7	true	true	ADJ
hjic-100	167	8	state	state	NOUN
hjic-100	167	9	(	(	PUNCT
hjic-100	167	10	measured	measure	VERB
hjic-100	167	11	/	/	SYM
hjic-100	167	12	estimated	estimate	VERB
hjic-100	167	13	)	)	PUNCT
hjic-100	167	14	,	,	PUNCT
hjic-100	167	15	and	and	CCONJ
hjic-100	167	16	k	k	PROPN
hjic-100	167	17	is	be	AUX
hjic-100	167	18	a	a	DET
hjic-100	167	19	stabilizing	stabilize	VERB
hjic-100	167	20	feedback	feedback	NOUN
hjic-100	167	21	for	for	ADP
hjic-100	167	22	the	the	DET
hjic-100	167	23	disturbance	disturbance	NOUN
hjic-100	167	24	-	-	PUNCT
hjic-100	167	25	free	free	ADJ
hjic-100	167	26	dynamics	dynamic	NOUN
hjic-100	167	27	1k	1k	NUM
hjic-100	167	28	k	k	PROPN
hjic-100	167	29	kx	kx	PROPN
hjic-100	167	30	ax	ax	NOUN
hjic-100	167	31	bu+	bu+	NOUN
hjic-100	167	32	=	=	PUNCT
hjic-100	168	1	+	+	CCONJ
hjic-100	168	2	.	.	PUNCT
hjic-100	169	1	(	(	PUNCT
hjic-100	169	2	it	it	PRON
hjic-100	169	3	is	be	AUX
hjic-100	169	4	possible	possible	ADJ
hjic-100	169	5	to	to	PART
hjic-100	169	6	choose	choose	VERB
hjic-100	169	7	k	k	PROPN
hjic-100	169	8	f=	f=	NOUN
hjic-100	169	9	.	.	PUNCT
hjic-100	170	1	in	in	ADP
hjic-100	170	2	order	order	NOUN
hjic-100	170	3	to	to	PART
hjic-100	170	4	formalize	formalize	VERB
hjic-100	170	5	the	the	DET
hjic-100	170	6	new	new	ADJ
hjic-100	170	7	,	,	PUNCT
hjic-100	170	8	tighter	tight	ADJ
hjic-100	170	9	constraints	constraint	NOUN
hjic-100	170	10	for	for	ADP
hjic-100	170	11	the	the	DET
hjic-100	170	12	robust	robust	ADJ
hjic-100	170	13	mpc	mpc	NOUN
hjic-100	170	14	problem	problem	NOUN
hjic-100	170	15	,	,	PUNCT
hjic-100	170	16	we	we	PRON
hjic-100	170	17	have	have	VERB
hjic-100	170	18	to	to	PART
hjic-100	170	19	determine	determine	VERB
hjic-100	170	20	the	the	DET
hjic-100	170	21	following	follow	VERB
hjic-100	170	22	disturbance	disturbance	NOUN
hjic-100	170	23	invariant	invariant	ADJ
hjic-100	170	24	set	set	NOUN
hjic-100	170	25	:	:	PUNCT
hjic-100	170	26	0	0	PUNCT
hjic-100	171	1	(	(	PUNCT
hjic-100	171	2	)	)	PUNCT
hjic-100	171	3	i	i	PRON
hjic-100	171	4	i	i	PRON
hjic-100	171	5	z	z	VERB
hjic-100	171	6	a	a	X
hjic-100	171	7	bk	bk	ADP
hjic-100	171	8	w	w	NOUN
hjic-100	171	9	∞	∞	NOUN
hjic-100	171	10	=	=	PUNCT
hjic-100	172	1	=	=	PUNCT
hjic-100	172	2	+	+	ADJ
hjic-100	172	3	∑	∑	PROPN
hjic-100	172	4	(	(	PUNCT
hjic-100	172	5	23	23	NUM
hjic-100	172	6	)	)	PUNCT
hjic-100	172	7	because	because	SCONJ
hjic-100	172	8	of	of	ADP
hjic-100	172	9	the	the	DET
hjic-100	172	10	infinite	infinite	ADJ
hjic-100	172	11	summation	summation	NOUN
hjic-100	172	12	the	the	DET
hjic-100	172	13	equation	equation	NOUN
hjic-100	172	14	above	above	ADV
hjic-100	172	15	can	can	AUX
hjic-100	172	16	not	not	PART
hjic-100	172	17	be	be	AUX
hjic-100	172	18	applied	apply	VERB
hjic-100	172	19	directly	directly	ADV
hjic-100	172	20	.	.	PUNCT
hjic-100	173	1	there	there	PRON
hjic-100	173	2	are	be	VERB
hjic-100	173	3	two	two	NUM
hjic-100	173	4	possibilities	possibility	NOUN
hjic-100	173	5	:	:	PUNCT
hjic-100	173	6	we	we	PRON
hjic-100	173	7	can	can	AUX
hjic-100	173	8	use	use	VERB
hjic-100	173	9	an	an	DET
hjic-100	173	10	approximation	approximation	NOUN
hjic-100	173	11	for	for	ADP
hjic-100	173	12	z	z	PROPN
hjic-100	173	13	(	(	PUNCT
hjic-100	173	14	[	[	X
hjic-100	173	15	8	8	NUM
hjic-100	173	16	]	]	NUM
hjic-100	173	17	)	)	PUNCT
hjic-100	173	18	,	,	PUNCT
hjic-100	173	19	or	or	CCONJ
hjic-100	173	20	we	we	PRON
hjic-100	173	21	can	can	AUX
hjic-100	173	22	apply	apply	VERB
hjic-100	173	23	(	(	PUNCT
hjic-100	173	24	23	23	NUM
hjic-100	173	25	)	)	PUNCT
hjic-100	173	26	till	till	SCONJ
hjic-100	173	27	the	the	DET
hjic-100	173	28	difference	difference	NOUN
hjic-100	173	29	between	between	ADP
hjic-100	173	30	two	two	NUM
hjic-100	173	31	consecutive	consecutive	ADJ
hjic-100	173	32	sets	set	NOUN
hjic-100	173	33	becomes	become	VERB
hjic-100	173	34	smaller	small	ADJ
hjic-100	173	35	than	than	ADP
hjic-100	173	36	the	the	DET
hjic-100	173	37	numerical	numerical	ADJ
hjic-100	173	38	accuracy	accuracy	NOUN
hjic-100	173	39	of	of	ADP
hjic-100	173	40	the	the	DET
hjic-100	173	41	computing	computing	NOUN
hjic-100	173	42	software	software	NOUN
hjic-100	173	43	.	.	PUNCT
hjic-100	174	1	the	the	DET
hjic-100	174	2	first	first	ADJ
hjic-100	174	3	approach	approach	NOUN
hjic-100	174	4	is	be	AUX
hjic-100	174	5	mathematically	mathematically	ADV
hjic-100	174	6	precise	precise	ADJ
hjic-100	174	7	,	,	PUNCT
hjic-100	174	8	but	but	CCONJ
hjic-100	174	9	we	we	PRON
hjic-100	174	10	used	use	VERB
hjic-100	174	11	the	the	DET
hjic-100	174	12	second	second	ADJ
hjic-100	174	13	one	one	NOUN
hjic-100	174	14	,	,	PUNCT
hjic-100	174	15	since	since	SCONJ
hjic-100	174	16	it	it	PRON
hjic-100	174	17	is	be	AUX
hjic-100	174	18	easier	easy	ADJ
hjic-100	174	19	to	to	PART
hjic-100	174	20	implement	implement	VERB
hjic-100	174	21	and	and	CCONJ
hjic-100	174	22	the	the	DET
hjic-100	174	23	convergence	convergence	NOUN
hjic-100	174	24	of	of	ADP
hjic-100	174	25	(	(	PUNCT
hjic-100	174	26	23	23	NUM
hjic-100	174	27	)	)	PUNCT
hjic-100	174	28	is	be	AUX
hjic-100	174	29	fast	fast	ADJ
hjic-100	174	30	enough	enough	ADV
hjic-100	174	31	to	to	PART
hjic-100	174	32	make	make	VERB
hjic-100	174	33	this	this	DET
hjic-100	174	34	procedure	procedure	NOUN
hjic-100	174	35	practically	practically	ADV
hjic-100	174	36	applicable	applicable	ADJ
hjic-100	174	37	.	.	PUNCT
hjic-100	175	1	using	use	VERB
hjic-100	175	2	z	z	NOUN
hjic-100	175	3	the	the	DET
hjic-100	175	4	stringent	stringent	ADJ
hjic-100	175	5	sets	set	NOUN
hjic-100	175	6	of	of	ADP
hjic-100	175	7	constraints	constraint	NOUN
hjic-100	175	8	can	can	AUX
hjic-100	175	9	be	be	AUX
hjic-100	175	10	calculated	calculate	VERB
hjic-100	175	11	as	as	SCONJ
hjic-100	175	12	follows	follow	VERB
hjic-100	175	13	:	:	PUNCT
hjic-100	175	14	,	,	PUNCT
hjic-100	175	15	f	f	PROPN
hjic-100	175	16	fx	fx	PROPN
hjic-100	175	17	x	x	PUNCT
hjic-100	175	18	u	u	NOUN
hjic-100	175	19	u	u	NOUN
hjic-100	175	20	kz	kz	PROPN
hjic-100	175	21	x	x	SYM
hjic-100	175	22	x=	x=	X
hjic-100	175	23	∼	∼	NOUN
hjic-100	175	24	ζ	ζ	NOUN
hjic-100	175	25	=	=	NOUN
hjic-100	175	26	∼	∼	NOUN
hjic-100	175	27	,	,	PUNCT
hjic-100	175	28	=	=	PUNCT
hjic-100	176	1	∼	∼	NOUN
hjic-100	176	2	z	z	NOUN
hjic-100	176	3	}	}	PUNCT
hjic-100	176	4	(	(	PUNCT
hjic-100	176	5	24	24	NUM
hjic-100	176	6	)	)	PUNCT
hjic-100	176	7	where	where	SCONJ
hjic-100	176	8	~	~	PUNCT
hjic-100	176	9	denotes	denote	VERB
hjic-100	176	10	the	the	DET
hjic-100	176	11	pontryagin	pontryagin	NOUN
hjic-100	176	12	difference	difference	NOUN
hjic-100	176	13	of	of	ADP
hjic-100	176	14	two	two	NUM
hjic-100	176	15	sets	set	NOUN
hjic-100	176	16	,	,	PUNCT
hjic-100	176	17	defined	define	VERB
hjic-100	176	18	as	as	ADP
hjic-100	176	19	:	:	PUNCT
hjic-100	176	20	~	~	PUNCT
hjic-100	176	21	{	{	PUNCT
hjic-100	176	22	|a	|a	VERB
hjic-100	176	23	b	b	X
hjic-100	176	24	x	x	SYM
hjic-100	176	25	x	x	X
hjic-100	176	26	b	b	X
hjic-100	176	27	a=	a=	NOUN
hjic-100	176	28	+	+	CCONJ
hjic-100	176	29	⊂	⊂	X
hjic-100	176	30	(	(	PUNCT
hjic-100	176	31	25	25	NUM
hjic-100	176	32	)	)	PUNCT
hjic-100	176	33	at	at	ADP
hjic-100	176	34	this	this	DET
hjic-100	176	35	point	point	NOUN
hjic-100	176	36	we	we	PRON
hjic-100	176	37	can	can	AUX
hjic-100	176	38	formulate	formulate	VERB
hjic-100	176	39	the	the	DET
hjic-100	176	40	robust	robust	ADJ
hjic-100	176	41	mpc	mpc	NOUN
hjic-100	176	42	procedure	procedure	NOUN
hjic-100	176	43	:	:	PUNCT
hjic-100	176	44	1	1	NUM
hjic-100	176	45	0	0	NUM
hjic-100	176	46	0	0	NUM
hjic-100	176	47	1	1	NUM
hjic-100	176	48	0	0	NUM
hjic-100	176	49	1	1	NUM
hjic-100	176	50	1	1	NUM
hjic-100	176	51	0	0	NUM
hjic-100	176	52	0	0	NUM
hjic-100	176	53	arg	arg	NOUN
hjic-100	176	54	min	min	NOUN
hjic-100	176	55	(	(	PUNCT
hjic-100	176	56	)	)	PUNCT
hjic-100	176	57	(	(	PUNCT
hjic-100	176	58	)	)	PUNCT
hjic-100	176	59	(	(	PUNCT
hjic-100	176	60	(	(	PUNCT
hjic-100	176	61	)	)	PUNCT
hjic-100	176	62	,	,	PUNCT
hjic-100	176	63	)	)	PUNCT
hjic-100	176	64	,	,	PUNCT
hjic-100	176	65	[	[	PUNCT
hjic-100	176	66	,	,	PUNCT
hjic-100	176	67	,	,	PUNCT
hjic-100	176	68	]	]	PUNCT
hjic-100	176	69	,	,	PUNCT
hjic-100	176	70	[	[	PUNCT
hjic-100	176	71	,	,	PUNCT
hjic-100	176	72	,	,	PUNCT
hjic-100	176	73	]	]	PUNCT
hjic-100	176	74	,	,	PUNCT
hjic-100	176	75	,	,	PUNCT
hjic-100	176	76	v	v	PART
hjic-100	176	77	n	n	CCONJ
hjic-100	176	78	n	n	PROPN
hjic-100	176	79	t	t	NOUN
hjic-100	176	80	t	t	PROPN
hjic-100	176	81	n	n	CCONJ
hjic-100	177	1	n	n	ADV
hjic-100	178	1	i	i	PRON
hjic-100	179	1	i	i	PRON
hjic-100	180	1	i	i	VERB
hjic-100	181	1	i	i	VERB
hjic-100	182	1	n	n	VERB
hjic-100	183	1	n	n	NOUN
hjic-100	184	1	i	i	PRON
hjic-100	185	1	i	i	PRON
hjic-100	186	1	i	i	PRON
hjic-100	187	1	i	i	PRON
hjic-100	188	1	i	i	VERB
hjic-100	188	2	k	k	VERB
hjic-100	189	1	n	n	VERB
hjic-100	189	2	f	f	PROPN
hjic-100	189	3	v	v	ADP
hjic-100	189	4	v	v	NUM
hjic-100	189	5	v	v	NUM
hjic-100	189	6	v	v	NOUN
hjic-100	189	7	v	v	NOUN
hjic-100	189	8	v	v	NOUN
hjic-100	189	9	x	x	SYM
hjic-100	189	10	v	v	NOUN
hjic-100	189	11	v	v	NOUN
hjic-100	189	12	x	x	INTJ
hjic-100	189	13	qx	qx	INTJ
hjic-100	189	14	v	v	NUM
hjic-100	189	15	rv	rv	NOUN
hjic-100	189	16	v	v	ADP
hjic-100	189	17	v	v	NUM
hjic-100	189	18	v	v	NOUN
hjic-100	189	19	x	x	NOUN
hjic-100	189	20	x	x	SYM
hjic-100	189	21	x	x	SYM
hjic-100	189	22	x	x	PUNCT
hjic-100	189	23	ax	ax	NOUN
hjic-100	189	24	bv	bv	PROPN
hjic-100	189	25	x	x	PUNCT
hjic-100	189	26	x	x	PUNCT
hjic-100	189	27	x	x	SYM
hjic-100	189	28	x	x	SYM
hjic-100	189	29	v	v	X
hjic-100	189	30	u	u	NOUN
hjic-100	189	31	x	x	X
hjic-100	189	32	x	x	NOUN
hjic-100	189	33	∗	∗	NOUN
hjic-100	189	34	−	−	NOUN
hjic-100	189	35	=	=	PUNCT
hjic-100	190	1	−	−	PROPN
hjic-100	190	2	−	−	PROPN
hjic-100	191	1	+	+	CCONJ
hjic-100	191	2	+	+	PUNCT
hjic-100	191	3	=	=	SYM
hjic-100	191	4	=	=	SYM
hjic-100	191	5	=	=	PUNCT
hjic-100	191	6	+	+	NUM
hjic-100	191	7	=	=	SYM
hjic-100	191	8	=	=	SYM
hjic-100	191	9	=	=	PUNCT
hjic-100	191	10	+	+	NUM
hjic-100	191	11	=	=	SYM
hjic-100	191	12	∈	∈	PROPN
hjic-100	191	13	∈	∈	PROPN
hjic-100	191	14	∈	∈	PROPN
hjic-100	191	15	∑	∑	PUNCT
hjic-100	191	16	k	k	PROPN
hjic-100	191	17	k	k	PROPN
hjic-100	191	18	i	i	PRON
hjic-100	191	19	(	(	PUNCT
hjic-100	191	20	26	26	NUM
hjic-100	191	21	)	)	PUNCT
hjic-100	191	22	i.e.	i.e.	X
hjic-100	191	23	we	we	PRON
hjic-100	191	24	follow	follow	VERB
hjic-100	191	25	the	the	DET
hjic-100	191	26	same	same	ADJ
hjic-100	191	27	procedure	procedure	NOUN
hjic-100	191	28	as	as	ADP
hjic-100	191	29	(	(	PUNCT
hjic-100	191	30	14	14	NUM
hjic-100	191	31	)	)	PUNCT
hjic-100	191	32	,	,	PUNCT
hjic-100	191	33	but	but	CCONJ
hjic-100	191	34	–	–	PUNCT
hjic-100	191	35	instead	instead	ADV
hjic-100	191	36	of	of	ADP
hjic-100	191	37	,	,	PUNCT
hjic-100	191	38	,	,	PUNCT
hjic-100	191	39	fx	fx	ADP
hjic-100	191	40	u	u	NOUN
hjic-100	191	41	x	x	PROPN
hjic-100	191	42	–	–	PUNCT
hjic-100	191	43	we	we	PRON
hjic-100	191	44	use	use	VERB
hjic-100	191	45	the	the	DET
hjic-100	191	46	tightened	tighten	VERB
hjic-100	191	47	constraint	constraint	NOUN
hjic-100	191	48	sets	set	NOUN
hjic-100	191	49	,	,	PUNCT
hjic-100	191	50	,	,	PUNCT
hjic-100	191	51	fx	fx	ADP
hjic-100	191	52	u	u	NOUN
hjic-100	191	53	x	x	X
hjic-100	191	54	.	.	PUNCT
hjic-100	192	1	according	accord	VERB
hjic-100	192	2	to	to	ADP
hjic-100	192	3	(	(	PUNCT
hjic-100	192	4	22	22	NUM
hjic-100	192	5	)	)	PUNCT
hjic-100	192	6	the	the	DET
hjic-100	192	7	control	control	NOUN
hjic-100	192	8	policy	policy	NOUN
hjic-100	192	9	is	be	AUX
hjic-100	192	10	defined	define	VERB
hjic-100	192	11	as	as	ADP
hjic-100	192	12	:	:	PUNCT
hjic-100	192	13	(	(	PUNCT
hjic-100	192	14	)	)	PUNCT
hjic-100	192	15	if	if	SCONJ
hjic-100	192	16	(	(	PUNCT
hjic-100	192	17	)	)	PUNCT
hjic-100	192	18	(	(	PUNCT
hjic-100	192	19	)	)	PUNCT
hjic-100	192	20	if	if	SCONJ
hjic-100	192	21	i	i	PRON
hjic-100	192	22	i	i	PRON
hjic-100	193	1	i	i	PRON
hjic-100	194	1	i	i	PRON
hjic-100	195	1	i	i	PRON
hjic-100	196	1	i	i	PRON
hjic-100	197	1	i	i	PRON
hjic-100	197	2	v	v	VERB
hjic-100	198	1	k	k	NOUN
hjic-100	198	2	x	x	PUNCT
hjic-100	198	3	x	x	PUNCT
hjic-100	198	4	i	i	PRON
hjic-100	198	5	nx	nx	X
hjic-100	198	6	fx	fx	PROPN
hjic-100	199	1	k	k	NOUN
hjic-100	199	2	x	x	PUNCT
hjic-100	199	3	x	x	VERB
hjic-100	199	4	i	i	PRON
hjic-100	199	5	n	n	PROPN
hjic-100	199	6	µ	µ	X
hjic-100	199	7	∗⎧	∗⎧	NOUN
hjic-100	200	1	+	+	CCONJ
hjic-100	200	2	−	−	NUM
hjic-100	200	3	≤⎪=	≤⎪=	ADJ
hjic-100	200	4	⎨	⎨	PROPN
hjic-100	200	5	+	+	CCONJ
hjic-100	200	6	−	−	X
hjic-100	200	7	>	>	X
hjic-100	200	8	⎪⎩	⎪⎩	PROPN
hjic-100	200	9	(	(	PUNCT
hjic-100	200	10	27	27	NUM
hjic-100	200	11	)	)	PUNCT
hjic-100	200	12	state	state	NOUN
hjic-100	200	13	estimation	estimation	NOUN
hjic-100	200	14	as	as	SCONJ
hjic-100	200	15	we	we	PRON
hjic-100	200	16	have	have	AUX
hjic-100	200	17	mentioned	mention	VERB
hjic-100	200	18	in	in	ADP
hjic-100	200	19	the	the	DET
hjic-100	200	20	first	first	ADJ
hjic-100	200	21	section	section	NOUN
hjic-100	200	22	the	the	DET
hjic-100	200	23	state	state	NOUN
hjic-100	200	24	2x	2x	NUM
hjic-100	200	25	of	of	ADP
hjic-100	200	26	the	the	DET
hjic-100	200	27	pressurizer	pressurizer	NOUN
hjic-100	200	28	can	can	AUX
hjic-100	200	29	not	not	PART
hjic-100	200	30	be	be	AUX
hjic-100	200	31	measured	measure	VERB
hjic-100	200	32	directly	directly	ADV
hjic-100	200	33	.	.	PUNCT
hjic-100	201	1	for	for	ADP
hjic-100	201	2	this	this	PRON
hjic-100	201	3	,	,	PUNCT
hjic-100	201	4	we	we	PRON
hjic-100	201	5	apply	apply	VERB
hjic-100	201	6	discrete	discrete	ADJ
hjic-100	201	7	-	-	PUNCT
hjic-100	201	8	time	time	NOUN
hjic-100	201	9	state	state	NOUN
hjic-100	201	10	estimator	estimator	NOUN
hjic-100	201	11	to	to	PART
hjic-100	201	12	approximate	approximate	VERB
hjic-100	201	13	it	it	PRON
hjic-100	201	14	on	on	ADP
hjic-100	201	15	-	-	PUNCT
hjic-100	201	16	line	line	NOUN
hjic-100	201	17	from	from	ADP
hjic-100	201	18	the	the	DET
hjic-100	201	19	input	input	NOUN
hjic-100	201	20	u	u	NOUN
hjic-100	201	21	and	and	CCONJ
hjic-100	201	22	the	the	DET
hjic-100	201	23	measured	measured	ADJ
hjic-100	201	24	output	output	NOUN
hjic-100	201	25	1y	1y	PROPN
hjic-100	201	26	x=	x=	PROPN
hjic-100	201	27	.	.	PUNCT
hjic-100	202	1	the	the	DET
hjic-100	202	2	robust	robust	ADJ
hjic-100	202	3	mpc	mpc	NOUN
hjic-100	202	4	controller	controller	NOUN
hjic-100	202	5	will	will	AUX
hjic-100	202	6	then	then	ADV
hjic-100	202	7	work	work	VERB
hjic-100	202	8	with	with	ADP
hjic-100	202	9	this	this	DET
hjic-100	202	10	estimated	estimate	VERB
hjic-100	202	11	state	state	NOUN
hjic-100	202	12	.	.	PUNCT
hjic-100	203	1	the	the	DET
hjic-100	203	2	estimator	estimator	NOUN
hjic-100	203	3	applied	apply	VERB
hjic-100	203	4	is	be	AUX
hjic-100	203	5	given	give	VERB
hjic-100	203	6	in	in	ADP
hjic-100	203	7	the	the	DET
hjic-100	203	8	following	follow	VERB
hjic-100	203	9	wellknown	wellknown	ADJ
hjic-100	203	10	form	form	NOUN
hjic-100	203	11	:	:	PUNCT
hjic-100	203	12	1|	1|	NUM
hjic-100	203	13	1	1	NUM
hjic-100	203	14	1|	1|	NUM
hjic-100	203	15	1	1	NUM
hjic-100	203	16	1|	1|	NUM
hjic-100	203	17	1|	1|	NUM
hjic-100	204	1	|	|	ADV
hjic-100	204	2	ˆ	ˆ	ADV
hjic-100	204	3	ˆ	ˆ	ADV
hjic-100	204	4	(	(	PUNCT
hjic-100	204	5	)	)	PUNCT
hjic-100	204	6	ˆ	ˆ	NOUN
hjic-100	205	1	ˆ	ˆ	PUNCT
hjic-100	206	1	k	k	PROPN
hjic-100	206	2	k	k	PROPN
hjic-100	207	1	k	k	PROPN
hjic-100	207	2	k	k	PROPN
hjic-100	208	1	e	e	PROPN
hjic-100	208	2	k	k	PROPN
hjic-100	209	1	k	k	PROPN
hjic-100	209	2	k	k	PROPN
hjic-100	210	1	k	k	PROPN
hjic-100	210	2	k	k	PROPN
hjic-100	211	1	k	k	PROPN
hjic-100	212	1	k	k	PROPN
hjic-100	212	2	k	k	PUNCT
hjic-100	212	3	x	x	PUNCT
hjic-100	212	4	x	x	X
hjic-100	212	5	k	k	NOUN
hjic-100	212	6	y	y	PROPN
hjic-100	212	7	cx	cx	PROPN
hjic-100	212	8	x	x	PUNCT
hjic-100	212	9	ax	ax	NOUN
hjic-100	212	10	bu	bu	INTJ
hjic-100	213	1	+	+	PUNCT
hjic-100	214	1	+	+	PUNCT
hjic-100	215	1	+	+	PUNCT
hjic-100	215	2	+	+	PUNCT
hjic-100	215	3	+	+	PUNCT
hjic-100	215	4	+	+	CCONJ
hjic-100	215	5	=	=	SYM
hjic-100	215	6	+	+	NUM
hjic-100	215	7	−	−	PROPN
hjic-100	215	8	=	=	SYM
hjic-100	216	1	+	+	CCONJ
hjic-100	216	2	(	(	PUNCT
hjic-100	216	3	28	28	NUM
hjic-100	216	4	)	)	PUNCT
hjic-100	216	5	where	where	SCONJ
hjic-100	216	6	|k	|k	NOUN
hjic-100	216	7	kx	kx	PROPN
hjic-100	216	8	denotes	denote	VERB
hjic-100	216	9	the	the	DET
hjic-100	216	10	estimated	estimate	VERB
hjic-100	216	11	state	state	NOUN
hjic-100	216	12	at	at	ADP
hjic-100	216	13	time	time	NOUN
hjic-100	216	14	instant	instant	NOUN
hjic-100	216	15	k.	k.	NOUN
hjic-100	216	16	substituting	substituting	NOUN
hjic-100	216	17	(	(	PUNCT
hjic-100	216	18	13	13	NUM
hjic-100	216	19	)	)	PUNCT
hjic-100	216	20	into	into	ADP
hjic-100	216	21	(	(	PUNCT
hjic-100	216	22	28	28	NUM
hjic-100	216	23	)	)	PUNCT
hjic-100	216	24	the	the	DET
hjic-100	216	25	following	follow	VERB
hjic-100	216	26	error	error	NOUN
hjic-100	216	27	dynamics	dynamic	NOUN
hjic-100	216	28	can	can	AUX
hjic-100	216	29	be	be	AUX
hjic-100	216	30	derived	derive	VERB
hjic-100	216	31	:	:	PUNCT
hjic-100	216	32	1	1	NUM
hjic-100	216	33	1	1	NUM
hjic-100	216	34	1|	1|	NUM
hjic-100	216	35	1	1	NUM
hjic-100	216	36	|	|	ADV
hjic-100	216	37	ˆ	ˆ	PROPN
hjic-100	216	38	(	(	PUNCT
hjic-100	216	39	)	)	PUNCT
hjic-100	216	40	(	(	PUNCT
hjic-100	216	41	)	)	PUNCT
hjic-100	216	42	(	(	PUNCT
hjic-100	216	43	(	(	PUNCT
hjic-100	216	44	)	)	PUNCT
hjic-100	216	45	(	(	PUNCT
hjic-100	216	46	)	)	PUNCT
hjic-100	217	1	k	k	PROPN
hjic-100	217	2	k	k	PROPN
hjic-100	217	3	k	k	PROPN
hjic-100	217	4	k	k	PROPN
hjic-100	217	5	e	e	PROPN
hjic-100	217	6	k	k	PROPN
hjic-100	217	7	k	k	PROPN
hjic-100	217	8	k	k	PROPN
hjic-100	217	9	e	e	X
hjic-100	217	10	e	e	PROPN
hjic-100	217	11	k	k	PROPN
hjic-100	217	12	e	e	PROPN
hjic-100	217	13	k	k	PROPN
hjic-100	217	14	e	e	NOUN
hjic-100	217	15	x	x	PUNCT
hjic-100	217	16	x	x	X
hjic-100	217	17	)	)	PUNCT
hjic-100	217	18	ka	ka	PROPN
hjic-100	218	1	k	k	PROPN
hjic-100	218	2	ca	can	AUX
hjic-100	218	3	x	x	PROPN
hjic-100	218	4	x	x	PUNCT
hjic-100	219	1	i	i	NOUN
hjic-100	219	2	k	k	NOUN
hjic-100	220	1	c	c	PROPN
hjic-100	220	2	w	w	PROPN
hjic-100	220	3	a	a	PRON
hjic-100	220	4	k	k	NOUN
hjic-100	220	5	ca	ca	NOUN
hjic-100	220	6	e	e	NOUN
hjic-100	221	1	i	i	PRON
hjic-100	221	2	k	k	PROPN
hjic-100	222	1	c	c	PROPN
hjic-100	222	2	w	w	PROPN
hjic-100	223	1	+	+	PUNCT
hjic-100	223	2	+	+	PUNCT
hjic-100	223	3	+	+	PUNCT
hjic-100	223	4	+	+	ADJ
hjic-100	223	5	=	=	SYM
hjic-100	223	6	−	−	PROPN
hjic-100	223	7	=	=	PUNCT
hjic-100	223	8	−	−	PROPN
hjic-100	223	9	−	−	PROPN
hjic-100	224	1	+	+	CCONJ
hjic-100	224	2	−	−	PROPN
hjic-100	224	3	=	=	SYM
hjic-100	225	1	−	−	PROPN
hjic-100	226	1	+	+	CCONJ
hjic-100	226	2	−	−	PROPN
hjic-100	226	3	(	(	PUNCT
hjic-100	226	4	29	29	NUM
hjic-100	226	5	)	)	PUNCT
hjic-100	226	6	where	where	SCONJ
hjic-100	226	7	ek	ek	PROPN
hjic-100	226	8	is	be	AUX
hjic-100	226	9	chosen	choose	VERB
hjic-100	226	10	so	so	SCONJ
hjic-100	226	11	that	that	SCONJ
hjic-100	226	12	the	the	DET
hjic-100	226	13	matrix	matrix	NOUN
hjic-100	226	14	ea	ea	NOUN
hjic-100	226	15	k	k	PROPN
hjic-100	226	16	ca−	ca−	PUNCT
hjic-100	226	17	will	will	AUX
hjic-100	226	18	be	be	AUX
hjic-100	226	19	stable	stable	ADJ
hjic-100	226	20	.	.	PUNCT
hjic-100	227	1	before	before	ADP
hjic-100	227	2	applying	apply	VERB
hjic-100	227	3	the	the	DET
hjic-100	227	4	estimator	estimator	NOUN
hjic-100	227	5	we	we	PRON
hjic-100	227	6	have	have	VERB
hjic-100	227	7	to	to	PART
hjic-100	227	8	examine	examine	VERB
hjic-100	227	9	the	the	DET
hjic-100	227	10	effect	effect	NOUN
hjic-100	227	11	of	of	ADP
hjic-100	227	12	the	the	DET
hjic-100	227	13	estimation	estimation	NOUN
hjic-100	227	14	error	error	NOUN
hjic-100	227	15	on	on	ADP
hjic-100	227	16	the	the	DET
hjic-100	227	17	stability	stability	NOUN
hjic-100	227	18	of	of	ADP
hjic-100	227	19	the	the	DET
hjic-100	227	20	controlled	control	VERB
hjic-100	227	21	system	system	NOUN
hjic-100	227	22	and	and	CCONJ
hjic-100	227	23	on	on	ADP
hjic-100	227	24	the	the	DET
hjic-100	227	25	prescribed	prescribed	ADJ
hjic-100	227	26	constraints	constraint	NOUN
hjic-100	227	27	.	.	PUNCT
hjic-100	228	1	we	we	PRON
hjic-100	228	2	examine	examine	VERB
hjic-100	228	3	the	the	DET
hjic-100	228	4	system	system	NOUN
hjic-100	228	5	behaviour	behaviour	NOUN
hjic-100	228	6	after	after	ADP
hjic-100	228	7	the	the	DET
hjic-100	228	8	disappearence	disappearence	NOUN
hjic-100	228	9	of	of	ADP
hjic-100	228	10	the	the	DET
hjic-100	228	11	initial	initial	ADJ
hjic-100	228	12	transients	transient	NOUN
hjic-100	228	13	of	of	ADP
hjic-100	228	14	(	(	PUNCT
hjic-100	228	15	29	29	NUM
hjic-100	228	16	)	)	PUNCT
hjic-100	228	17	,	,	PUNCT
hjic-100	228	18	i.e.	i.e.	X
hjic-100	228	19	we	we	PRON
hjic-100	228	20	assume	assume	VERB
hjic-100	228	21	that	that	SCONJ
hjic-100	228	22	the	the	DET
hjic-100	228	23	estimation	estimation	NOUN
hjic-100	228	24	error	error	NOUN
hjic-100	228	25	is	be	AUX
hjic-100	228	26	caused	cause	VERB
hjic-100	228	27	only	only	ADV
hjic-100	228	28	by	by	ADP
hjic-100	228	29	the	the	DET
hjic-100	228	30	disturbance	disturbance	NOUN
hjic-100	228	31	,	,	PUNCT
hjic-100	228	32	and	and	CCONJ
hjic-100	228	33	not	not	PART
hjic-100	228	34	the	the	DET
hjic-100	228	35	initial	initial	ADJ
hjic-100	228	36	difference	difference	NOUN
hjic-100	228	37	between	between	ADP
hjic-100	228	38	the	the	DET
hjic-100	228	39	estimated	estimate	VERB
hjic-100	228	40	and	and	CCONJ
hjic-100	228	41	the	the	DET
hjic-100	228	42	true	true	ADJ
hjic-100	228	43	states	state	NOUN
hjic-100	228	44	.	.	PUNCT
hjic-100	229	1	by	by	ADP
hjic-100	229	2	iterating	iterate	VERB
hjic-100	229	3	(	(	PUNCT
hjic-100	229	4	29	29	NUM
hjic-100	229	5	)	)	PUNCT
hjic-100	229	6	we	we	PRON
hjic-100	229	7	can	can	AUX
hjic-100	229	8	easily	easily	ADV
hjic-100	229	9	see	see	VERB
hjic-100	229	10	that	that	SCONJ
hjic-100	229	11	after	after	SCONJ
hjic-100	229	12	some	some	DET
hjic-100	229	13	steps	step	NOUN
hjic-100	229	14	kw	kw	INTJ
hjic-100	229	15	|ˆk	|ˆk	NUM
hjic-100	229	16	k	k	X
hjic-100	229	17	k	k	X
hjic-100	229	18	ex	ex	X
hjic-100	229	19	x	x	PUNCT
hjic-100	229	20	z	z	NOUN
hjic-100	229	21	k∈	k∈	NOUN
hjic-100	229	22	+	+	NUM
hjic-100	229	23	∀	∀	PUNCT
hjic-100	229	24	,	,	PUNCT
hjic-100	229	25	where	where	SCONJ
hjic-100	229	26	ez	ez	PROPN
hjic-100	229	27	is	be	AUX
hjic-100	229	28	a	a	DET
hjic-100	229	29	disturbance	disturbance	NOUN
hjic-100	229	30	invariant	invariant	ADJ
hjic-100	229	31	set	set	NOUN
hjic-100	229	32	constructed	construct	VERB
hjic-100	229	33	in	in	ADP
hjic-100	229	34	the	the	DET
hjic-100	229	35	following	following	ADJ
hjic-100	229	36	way	way	NOUN
hjic-100	229	37	:	:	PUNCT
hjic-100	229	38	0	0	PUNCT
hjic-100	229	39	(	(	PUNCT
hjic-100	229	40	)	)	PUNCT
hjic-100	229	41	(	(	PUNCT
hjic-100	229	42	i	i	NOUN
hjic-100	229	43	e	e	NOUN
hjic-100	229	44	e	e	X
hjic-100	229	45	e	e	X
hjic-100	229	46	i	i	PROPN
hjic-100	229	47	)	)	PUNCT
hjic-100	229	48	z	z	PROPN
hjic-100	230	1	a	a	PRON
hjic-100	230	2	k	k	NOUN
hjic-100	230	3	ca	can	AUX
hjic-100	230	4	i	i	INTJ
hjic-100	230	5	k	k	PROPN
hjic-100	231	1	c	c	PROPN
hjic-100	231	2	w	w	PROPN
hjic-100	231	3	∞	∞	NUM
hjic-100	231	4	=	=	PUNCT
hjic-100	231	5	=	=	SYM
hjic-100	231	6	−	−	PROPN
hjic-100	231	7	−∑	−∑	PROPN
hjic-100	231	8	(	(	PUNCT
hjic-100	231	9	30	30	NUM
hjic-100	231	10	)	)	PUNCT
hjic-100	231	11	since	since	SCONJ
hjic-100	231	12	by	by	ADP
hjic-100	231	13	(	(	PUNCT
hjic-100	231	14	13	13	NUM
hjic-100	231	15	)	)	PUNCT
hjic-100	231	16	1k	1k	NOUN
hjic-100	231	17	k	k	PROPN
hjic-100	231	18	kx	kx	PROPN
hjic-100	231	19	ax	ax	PROPN
hjic-100	231	20	bu	bu	PROPN
hjic-100	231	21	w+	w+	PUNCT
hjic-100	231	22	∈	∈	PROPN
hjic-100	231	23	+	+	X
hjic-100	231	24	+	+	CCONJ
hjic-100	231	25	holds	hold	NOUN
hjic-100	231	26	and	and	CCONJ
hjic-100	231	27	ez	ez	PROPN
hjic-100	231	28	is	be	AUX
hjic-100	231	29	symmetric	symmetric	ADJ
hjic-100	231	30	to	to	ADP
hjic-100	231	31	the	the	DET
hjic-100	231	32	origin	origin	NOUN
hjic-100	231	33	,	,	PUNCT
hjic-100	231	34	for	for	ADP
hjic-100	231	35	the	the	DET
hjic-100	231	36	estimated	estimate	VERB
hjic-100	231	37	state	state	NOUN
hjic-100	231	38	a	a	DET
hjic-100	231	39	following	follow	VERB
hjic-100	231	40	relation	relation	NOUN
hjic-100	231	41	can	can	AUX
hjic-100	231	42	be	be	AUX
hjic-100	231	43	derived	derive	VERB
hjic-100	231	44	:	:	PUNCT
hjic-100	231	45	1|	1|	NUM
hjic-100	231	46	1	1	NUM
hjic-100	232	1	|	|	ADV
hjic-100	232	2	|	|	ADV
hjic-100	232	3	1|	1|	NUM
hjic-100	232	4	1	1	NUM
hjic-100	233	1	|	|	ADV
hjic-100	233	2	ˆ	ˆ	ADJ
hjic-100	233	3	ˆ	ˆ	NOUN
hjic-100	233	4	ˆ	ˆ	NOUN
hjic-100	233	5	ˆ	ˆ	NOUN
hjic-100	233	6	ˆ	ˆ	ADV
hjic-100	233	7	,	,	PUNCT
hjic-100	233	8	k	k	PROPN
hjic-100	233	9	k	k	PROPN
hjic-100	233	10	k	k	PROPN
hjic-100	233	11	k	k	PROPN
hjic-100	233	12	k	k	PROPN
hjic-100	233	13	e	e	PROPN
hjic-100	233	14	e	e	PROPN
hjic-100	233	15	k	k	PROPN
hjic-100	233	16	k	k	PROPN
hjic-100	233	17	k	k	PROPN
hjic-100	233	18	e	e	PROPN
hjic-100	233	19	k	k	PROPN
hjic-100	233	20	k	k	PROPN
hjic-100	233	21	k	k	PROPN
hjic-100	233	22	k	k	PROPN
hjic-100	233	23	k	k	PROPN
hjic-100	233	24	k	k	PROPN
hjic-100	233	25	k	k	PROPN
hjic-100	233	26	e	e	NOUN
hjic-100	233	27	x	x	PUNCT
hjic-100	233	28	ax	ax	NOUN
hjic-100	233	29	bu	bu	PROPN
hjic-100	233	30	w	w	PROPN
hjic-100	233	31	az	az	PROPN
hjic-100	233	32	z	z	PROPN
hjic-100	233	33	ax	ax	NOUN
hjic-100	233	34	bu	bu	INTJ
hjic-100	233	35	w	w	NOUN
hjic-100	233	36	x	x	VERB
hjic-100	233	37	ax	ax	NOUN
hjic-100	233	38	bu	bu	PROPN
hjic-100	233	39	w	w	PROPN
hjic-100	233	40	w	w	PROPN
hjic-100	233	41	w	w	PROPN
hjic-100	234	1	+	+	PROPN
hjic-100	234	2	+	+	PUNCT
hjic-100	234	3	+	+	CCONJ
hjic-100	234	4	+	+	CCONJ
hjic-100	234	5	∈	∈	NOUN
hjic-100	234	6	+	+	X
hjic-100	234	7	+	+	PUNCT
hjic-100	234	8	+	+	PUNCT
hjic-100	234	9	+	+	PUNCT
hjic-100	234	10	=	=	SYM
hjic-100	234	11	+	+	PUNCT
hjic-100	234	12	+	+	CCONJ
hjic-100	234	13	⇓	⇓	PROPN
hjic-100	234	14	=	=	PUNCT
hjic-100	235	1	+	+	PUNCT
hjic-100	235	2	+	+	X
hjic-100	235	3	∈	∈	PROPN
hjic-100	235	4	(	(	PUNCT
hjic-100	235	5	31	31	NUM
hjic-100	235	6	)	)	PUNCT
hjic-100	235	7	thus	thus	ADV
hjic-100	235	8	,	,	PUNCT
hjic-100	235	9	if	if	SCONJ
hjic-100	235	10	we	we	PRON
hjic-100	235	11	perform	perform	VERB
hjic-100	235	12	the	the	DET
hjic-100	235	13	same	same	ADJ
hjic-100	235	14	controller	controller	NOUN
hjic-100	235	15	synthesis	synthesis	NOUN
hjic-100	235	16	as	as	ADP
hjic-100	235	17	before	before	ADV
hjic-100	235	18	with	with	ADP
hjic-100	235	19	instead	instead	ADV
hjic-100	235	20	of	of	ADP
hjic-100	235	21	w	w	VERB
hjic-100	235	22	we	we	PRON
hjic-100	235	23	get	get	VERB
hjic-100	235	24	a	a	DET
hjic-100	235	25	control	control	NOUN
hjic-100	235	26	policy	policy	NOUN
hjic-100	235	27	ew	ew	NOUN
hjic-100	235	28	ˆ	ˆ	PROPN
hjic-100	235	29	(	(	PUNCT
hjic-100	235	30	)	)	PUNCT
hjic-100	235	31	kxµ	kxµ	NOUN
hjic-100	235	32	which	which	PRON
hjic-100	235	33	guarantees	guarantee	VERB
hjic-100	235	34	the	the	DET
hjic-100	235	35	stability	stability	NOUN
hjic-100	235	36	of	of	ADP
hjic-100	235	37	(	(	PUNCT
hjic-100	235	38	31	31	NUM
hjic-100	235	39	)	)	PUNCT
hjic-100	235	40	while	while	SCONJ
hjic-100	235	41	keeping	keep	VERB
hjic-100	235	42	the	the	DET
hjic-100	235	43	state	state	NOUN
hjic-100	235	44	ˆkx	ˆkx	NOUN
hjic-100	235	45	and	and	CCONJ
hjic-100	235	46	the	the	DET
hjic-100	235	47	input	input	NOUN
hjic-100	235	48	in	in	ADP
hjic-100	235	49	the	the	DET
hjic-100	235	50	predefined	predefine	VERB
hjic-100	235	51	range	range	NOUN
hjic-100	235	52	.	.	PUNCT
hjic-100	236	1	since	since	SCONJ
hjic-100	236	2	the	the	DET
hjic-100	236	3	difference	difference	NOUN
hjic-100	236	4	between	between	ADP
hjic-100	236	5	the	the	DET
hjic-100	236	6	true	true	ADJ
hjic-100	236	7	and	and	CCONJ
hjic-100	236	8	the	the	DET
hjic-100	236	9	94	94	NUM
hjic-100	236	10	estimated	estimate	VERB
hjic-100	236	11	state	state	NOUN
hjic-100	236	12	is	be	AUX
hjic-100	236	13	considered	consider	VERB
hjic-100	236	14	in	in	ADP
hjic-100	236	15	the	the	DET
hjic-100	236	16	real	real	ADJ
hjic-100	236	17	state	state	NOUN
hjic-100	236	18	will	will	AUX
hjic-100	236	19	also	also	ADV
hjic-100	236	20	satisfy	satisfy	VERB
hjic-100	236	21	these	these	DET
hjic-100	236	22	constraints	constraint	NOUN
hjic-100	236	23	.	.	PUNCT
hjic-100	237	1	since	since	SCONJ
hjic-100	237	2	is	be	AUX
hjic-100	237	3	generally	generally	ADV
hjic-100	237	4	larger	large	ADJ
hjic-100	237	5	than	than	ADP
hjic-100	237	6	w	w	ADP
hjic-100	237	7	the	the	DET
hjic-100	237	8	sets	set	NOUN
hjic-100	238	1	ew	ew	VERB
hjic-100	238	2	ew	ew	INTJ
hjic-100	238	3	,	,	PUNCT
hjic-100	238	4	,	,	PUNCT
hjic-100	238	5	fx	fx	ADP
hjic-100	238	6	u	u	NOUN
hjic-100	238	7	x	x	PRON
hjic-100	238	8	constructed	construct	VERB
hjic-100	238	9	from	from	ADP
hjic-100	238	10	prescribe	prescribe	NOUN
hjic-100	238	11	much	much	ADV
hjic-100	238	12	tighter	tight	ADJ
hjic-100	238	13	constraints	constraint	NOUN
hjic-100	238	14	than	than	ADP
hjic-100	238	15	those	those	PRON
hjic-100	238	16	which	which	PRON
hjic-100	238	17	are	be	AUX
hjic-100	238	18	constructed	construct	VERB
hjic-100	238	19	from	from	ADP
hjic-100	238	20	w	w	PROPN
hjic-100	238	21	.	.	PUNCT
hjic-100	239	1	ew	ew	PROPN
hjic-100	239	2	simulation	simulation	PROPN
hjic-100	239	3	results	result	VERB
hjic-100	239	4	to	to	PART
hjic-100	239	5	demonstrate	demonstrate	VERB
hjic-100	239	6	and	and	CCONJ
hjic-100	239	7	examine	examine	VERB
hjic-100	239	8	the	the	DET
hjic-100	239	9	performance	performance	NOUN
hjic-100	239	10	of	of	ADP
hjic-100	239	11	the	the	DET
hjic-100	239	12	controller	controller	NOUN
hjic-100	239	13	designed	design	VERB
hjic-100	239	14	above	above	ADP
hjic-100	239	15	an	an	DET
hjic-100	239	16	identified	identify	VERB
hjic-100	239	17	model	model	NOUN
hjic-100	239	18	of	of	ADP
hjic-100	239	19	the	the	DET
hjic-100	239	20	pressurizer	pressurizer	NOUN
hjic-100	239	21	was	be	AUX
hjic-100	239	22	used	use	VERB
hjic-100	239	23	[	[	PUNCT
hjic-100	239	24	10	10	NUM
hjic-100	239	25	]	]	PUNCT
hjic-100	239	26	.	.	PUNCT
hjic-100	240	1	after	after	SCONJ
hjic-100	240	2	discretization	discretization	VERB
hjic-100	240	3	the	the	DET
hjic-100	240	4	following	follow	VERB
hjic-100	240	5	state	state	NOUN
hjic-100	240	6	space	space	NOUN
hjic-100	240	7	model	model	NOUN
hjic-100	240	8	was	be	AUX
hjic-100	240	9	obtained	obtain	VERB
hjic-100	240	10	:	:	PUNCT
hjic-100	240	11	0.6651	0.6651	NUM
hjic-100	240	12	0	0	NUM
hjic-100	240	13	.	.	X
hjic-100	241	1	0.1035	0.1035	NUM
hjic-100	241	2	,	,	PUNCT
hjic-100	241	3	0.0355	0.0355	NUM
hjic-100	241	4	0	0	NUM
hjic-100	241	5	.	.	PUNCT
hjic-100	242	1	0.0024	0.0024	NUM
hjic-100	242	2	a	a	DET
hjic-100	242	3	b	b	PROPN
hjic-100	242	4	⎡	⎡	NUM
hjic-100	242	5	⎤	⎤	PROPN
hjic-100	242	6	⎡	⎡	VERB
hjic-100	242	7	⎤	⎤	X
hjic-100	242	8	=	=	PUNCT
hjic-100	243	1	=	=	NOUN
hjic-100	243	2	⎢	⎢	PROPN
hjic-100	243	3	⎥	⎥	PROPN
hjic-100	243	4	⎢	⎢	NOUN
hjic-100	243	5	⎥	⎥	PROPN
hjic-100	243	6	⎣	⎣	PROPN
hjic-100	243	7	⎦	⎦	NOUN
hjic-100	243	8	⎣	⎣	ADJ
hjic-100	243	9	⎦	⎦	NOUN
hjic-100	243	10	91	91	NUM
hjic-100	243	11	21	21	NUM
hjic-100	243	12	=	=	SYM
hjic-100	243	13	3341	3341	NUM
hjic-100	243	14	9645	9645	NUM
hjic-100	243	15	(	(	PUNCT
hjic-100	243	16	32	32	NUM
hjic-100	243	17	)	)	PUNCT
hjic-100	243	18	for	for	ADP
hjic-100	243	19	the	the	DET
hjic-100	243	20	simulation	simulation	NOUN
hjic-100	243	21	two	two	NUM
hjic-100	243	22	reference	reference	NOUN
hjic-100	243	23	values	value	NOUN
hjic-100	243	24	were	be	AUX
hjic-100	243	25	chosen	choose	VERB
hjic-100	243	26	:	:	PUNCT
hjic-100	243	27	(	(	PUNCT
hjic-100	243	28	33	33	NUM
hjic-100	243	29	)	)	PUNCT
hjic-100	243	30	327.166	327.166	NUM
hjic-100	243	31	,	,	PUNCT
hjic-100	243	32	326.166a	326.166a	PROPN
hjic-100	243	33	b	b	NOUN
hjic-100	243	34	r	r	NOUN
hjic-100	243	35	ry	ry	NOUN
hjic-100	243	36	y=	y=	PRON
hjic-100	243	37	=	=	PUNCT
hjic-100	244	1	the	the	DET
hjic-100	244	2	corresponding	corresponding	ADJ
hjic-100	244	3	operating	operating	NOUN
hjic-100	244	4	points	point	NOUN
hjic-100	244	5	are	be	AUX
hjic-100	244	6	as	as	SCONJ
hjic-100	244	7	follows	follow	VERB
hjic-100	244	8	:	:	PUNCT
hjic-100	244	9	(	(	PUNCT
hjic-100	244	10	34	34	NUM
hjic-100	244	11	)	)	PUNCT
hjic-100	244	12	327.1660	327.1660	NUM
hjic-100	244	13	,	,	PUNCT
hjic-100	244	14	1.71	1.71	NUM
hjic-100	244	15	326.7760	326.7760	NUM
hjic-100	244	16	326.1660	326.1660	NUM
hjic-100	244	17	,	,	PUNCT
hjic-100	244	18	1.71	1.71	NUM
hjic-100	244	19	325.7760	325.7760	NUM
hjic-100	245	1	a	a	PRON
hjic-100	245	2	a	a	DET
hjic-100	245	3	ss	ss	NOUN
hjic-100	246	1	ss	ss	PROPN
hjic-100	247	1	b	b	PROPN
hjic-100	248	1	b	b	PROPN
hjic-100	249	1	ss	ss	NOUN
hjic-100	250	1	ss	ss	NOUN
hjic-100	251	1	x	x	PUNCT
hjic-100	252	1	u	u	NOUN
hjic-100	252	2	x	x	X
hjic-100	252	3	u	u	NOUN
hjic-100	252	4	⎡	⎡	NOUN
hjic-100	252	5	⎤	⎤	X
hjic-100	252	6	=	=	PUNCT
hjic-100	253	1	=	=	NOUN
hjic-100	253	2	⎢	⎢	NOUN
hjic-100	253	3	⎥	⎥	PROPN
hjic-100	253	4	⎣	⎣	PROPN
hjic-100	253	5	⎦	⎦	NOUN
hjic-100	253	6	⎡	⎡	VERB
hjic-100	253	7	⎤	⎤	X
hjic-100	253	8	=	=	PUNCT
hjic-100	254	1	=	=	NOUN
hjic-100	254	2	⎢	⎢	NOUN
hjic-100	254	3	⎥	⎥	PROPN
hjic-100	254	4	⎣	⎣	PROPN
hjic-100	254	5	⎦	⎦	NOUN
hjic-100	254	6	the	the	DET
hjic-100	254	7	lq	lq	NOUN
hjic-100	254	8	controller	controller	NOUN
hjic-100	254	9	was	be	AUX
hjic-100	254	10	designed	design	VERB
hjic-100	254	11	by	by	ADP
hjic-100	254	12	using	use	VERB
hjic-100	254	13	the	the	DET
hjic-100	254	14	following	follow	VERB
hjic-100	254	15	weighting	weight	VERB
hjic-100	254	16	matrices	matrix	NOUN
hjic-100	254	17	:	:	PUNCT
hjic-100	254	18	(	(	PUNCT
hjic-100	254	19	35	35	NUM
hjic-100	254	20	)	)	PUNCT
hjic-100	254	21	210	210	NUM
hjic-100	254	22	,	,	PUNCT
hjic-100	254	23	20q	20q	PROPN
hjic-100	254	24	i	i	PRON
hjic-100	254	25	r∞	r∞	PROPN
hjic-100	254	26	∞=	∞=	NOUN
hjic-100	254	27	the	the	DET
hjic-100	254	28	resulted	resulted	ADJ
hjic-100	254	29	feedback	feedback	NOUN
hjic-100	254	30	gain	gain	NOUN
hjic-100	254	31	is	be	AUX
hjic-100	254	32	[	[	PUNCT
hjic-100	254	33	]	]	X
hjic-100	254	34	0.1439	0.1439	NUM
hjic-100	254	35	0.8392f	0.8392f	X
hjic-100	254	36	=	=	PUNCT
hjic-100	254	37	.	.	PUNCT
hjic-100	255	1	the	the	DET
hjic-100	255	2	following	follow	VERB
hjic-100	255	3	constraints	constraint	NOUN
hjic-100	255	4	for	for	ADP
hjic-100	255	5	state	state	NOUN
hjic-100	255	6	and	and	CCONJ
hjic-100	255	7	input	input	NOUN
hjic-100	255	8	were	be	AUX
hjic-100	255	9	chosen	choose	VERB
hjic-100	255	10	by	by	ADP
hjic-100	255	11	considering	consider	VERB
hjic-100	255	12	the	the	DET
hjic-100	255	13	physical	physical	ADJ
hjic-100	255	14	limitations	limitation	NOUN
hjic-100	255	15	of	of	ADP
hjic-100	255	16	the	the	DET
hjic-100	255	17	system	system	NOUN
hjic-100	255	18	:	:	PUNCT
hjic-100	255	19	(	(	PUNCT
hjic-100	255	20	36	36	NUM
hjic-100	255	21	)	)	PUNCT
hjic-100	255	22	1	1	NUM
hjic-100	255	23	21.5	21.5	NUM
hjic-100	255	24	1.5	1.5	NUM
hjic-100	255	25	,	,	PUNCT
hjic-100	255	26	3	3	NUM
hjic-100	255	27	3	3	NUM
hjic-100	255	28	,	,	PUNCT
hjic-100	255	29	1.71	1.71	NUM
hjic-100	255	30	1.71x	1.71x	NUM
hjic-100	255	31	x	x	SYM
hjic-100	255	32	u−	u−	ADJ
hjic-100	255	33	≤	≤	ADJ
hjic-100	255	34	≤	≤	NUM
hjic-100	255	35	−	−	NOUN
hjic-100	255	36	≤	≤	ADJ
hjic-100	255	37	≤	≤	NUM
hjic-100	255	38	−	−	NOUN
hjic-100	255	39	≤	≤	NOUN
hjic-100	255	40	≤	≤	NOUN
hjic-100	255	41	the	the	DET
hjic-100	255	42	cause	cause	NOUN
hjic-100	255	43	why	why	SCONJ
hjic-100	255	44	the	the	DET
hjic-100	255	45	constraint	constraint	NOUN
hjic-100	255	46	on	on	ADP
hjic-100	255	47	the	the	DET
hjic-100	255	48	control	control	NOUN
hjic-100	255	49	input	input	NOUN
hjic-100	255	50	was	be	AUX
hjic-100	255	51	constructed	construct	VERB
hjic-100	255	52	in	in	ADP
hjic-100	255	53	the	the	DET
hjic-100	255	54	form	form	NOUN
hjic-100	255	55	above	above	ADV
hjic-100	255	56	is	be	AUX
hjic-100	255	57	the	the	DET
hjic-100	255	58	following	following	NOUN
hjic-100	255	59	:	:	PUNCT
hjic-100	255	60	in	in	ADP
hjic-100	255	61	the	the	DET
hjic-100	255	62	true	true	ADJ
hjic-100	255	63	system	system	NOUN
hjic-100	255	64	the	the	DET
hjic-100	255	65	control	control	NOUN
hjic-100	255	66	input	input	NOUN
hjic-100	255	67	has	have	VERB
hjic-100	255	68	to	to	PART
hjic-100	255	69	be	be	AUX
hjic-100	255	70	between	between	ADP
hjic-100	255	71	0	0	NUM
hjic-100	255	72	and	and	CCONJ
hjic-100	255	73	4	4	NUM
hjic-100	255	74	,	,	PUNCT
hjic-100	255	75	which	which	PRON
hjic-100	255	76	is	be	AUX
hjic-100	255	77	equivalent	equivalent	ADJ
hjic-100	255	78	to	to	ADP
hjic-100	255	79	constraints	constraint	NOUN
hjic-100	255	80	4ss	4ss	ADJ
hjic-100	255	81	su	su	PROPN
hjic-100	255	82	u	u	PROPN
hjic-100	255	83	u−	u−	PROPN
hjic-100	255	84	≤	≤	ADJ
hjic-100	255	85	≤	≤	NUM
hjic-100	255	86	−	−	PROPN
hjic-100	255	87	s	s	NOUN
hjic-100	255	88	for	for	ADP
hjic-100	255	89	the	the	DET
hjic-100	255	90	centered	center	VERB
hjic-100	255	91	model	model	NOUN
hjic-100	255	92	.	.	PUNCT
hjic-100	256	1	but	but	CCONJ
hjic-100	256	2	it	it	PRON
hjic-100	256	3	is	be	AUX
hjic-100	256	4	more	more	ADV
hjic-100	256	5	convenient	convenient	ADJ
hjic-100	256	6	to	to	PART
hjic-100	256	7	handle	handle	VERB
hjic-100	256	8	constraints	constraint	NOUN
hjic-100	256	9	,	,	PUNCT
hjic-100	256	10	which	which	PRON
hjic-100	256	11	are	be	AUX
hjic-100	256	12	independent	independent	ADJ
hjic-100	256	13	from	from	ADP
hjic-100	256	14	the	the	DET
hjic-100	256	15	operating	operating	NOUN
hjic-100	256	16	point	point	NOUN
hjic-100	256	17	and	and	CCONJ
hjic-100	256	18	symmetric	symmetric	NOUN
hjic-100	256	19	to	to	ADP
hjic-100	256	20	the	the	DET
hjic-100	256	21	origin	origin	NOUN
hjic-100	256	22	,	,	PUNCT
hjic-100	256	23	so	so	SCONJ
hjic-100	256	24	we	we	PRON
hjic-100	256	25	restrict	restrict	VERB
hjic-100	256	26	the	the	DET
hjic-100	256	27	bounds	bound	NOUN
hjic-100	256	28	to	to	ADP
hjic-100	256	29	[	[	PUNCT
hjic-100	256	30	]	]	X
hjic-100	256	31	1.71	1.71	NUM
hjic-100	256	32	1.71−	1.71−	NUM
hjic-100	256	33	where	where	SCONJ
hjic-100	256	34	1.71	1.71	NUM
hjic-100	256	35	min	min	NOUN
hjic-100	256	36	(	(	PUNCT
hjic-100	256	37	,	,	PUNCT
hjic-100	256	38	)	)	PUNCT
hjic-100	256	39	a	a	DET
hjic-100	256	40	b	b	NOUN
hjic-100	256	41	ss	ss	PROPN
hjic-100	256	42	ssu	ssu	PROPN
hjic-100	256	43	u≤	u≤	NOUN
hjic-100	256	44	by	by	ADP
hjic-100	256	45	examining	examine	VERB
hjic-100	256	46	the	the	DET
hjic-100	256	47	system	system	NOUN
hjic-100	256	48	behavior	behavior	NOUN
hjic-100	256	49	,	,	PUNCT
hjic-100	256	50	it	it	PRON
hjic-100	256	51	was	be	AUX
hjic-100	256	52	seen	see	VERB
hjic-100	256	53	that	that	SCONJ
hjic-100	256	54	the	the	DET
hjic-100	256	55	difference	difference	NOUN
hjic-100	256	56	between	between	ADP
hjic-100	256	57	the	the	DET
hjic-100	256	58	nominal	nominal	NOUN
hjic-100	256	59	and	and	CCONJ
hjic-100	256	60	the	the	DET
hjic-100	256	61	true	true	ADJ
hjic-100	256	62	d∗	d∗	PROPN
hjic-100	256	63	d	d	X
hjic-100	256	64	disturbance	disturbance	NOUN
hjic-100	256	65	is	be	AUX
hjic-100	256	66	at	at	ADP
hjic-100	256	67	most	most	ADJ
hjic-100	256	68	15	15	NUM
hjic-100	256	69	%	%	NOUN
hjic-100	256	70	,	,	PUNCT
hjic-100	256	71	which	which	PRON
hjic-100	256	72	means	mean	VERB
hjic-100	256	73	that	that	SCONJ
hjic-100	256	74	w	w	NOUN
hjic-100	256	75	in	in	ADP
hjic-100	256	76	the	the	DET
hjic-100	256	77	centered	center	VERB
hjic-100	256	78	,	,	PUNCT
hjic-100	256	79	discrete	discrete	ADJ
hjic-100	256	80	model	model	NOUN
hjic-100	256	81	is	be	AUX
hjic-100	256	82	inside	inside	ADP
hjic-100	256	83	the	the	DET
hjic-100	256	84	rectangle	rectangle	NOUN
hjic-100	256	85	defined	define	VERB
hjic-100	256	86	as	as	ADP
hjic-100	256	87	:	:	PUNCT
hjic-100	256	88	[	[	PUNCT
hjic-100	256	89	]	]	X
hjic-100	256	90	[	[	PUNCT
hjic-100	256	91	]	]	X
hjic-100	256	92	0.05	0.05	NUM
hjic-100	256	93	0.05	0.05	NUM
hjic-100	256	94	0.005	0.005	NUM
hjic-100	256	95	0.005w	0.005w	NOUN
hjic-100	256	96	w∈	w∈	NOUN
hjic-100	256	97	=	=	SYM
hjic-100	256	98	−	−	PROPN
hjic-100	256	99	×	×	NOUN
hjic-100	256	100	−	−	PROPN
hjic-100	256	101	(	(	PUNCT
hjic-100	256	102	37	37	NUM
hjic-100	256	103	)	)	PUNCT
hjic-100	256	104	we	we	PRON
hjic-100	256	105	used	use	VERB
hjic-100	256	106	kalman	kalman	NOUN
hjic-100	256	107	filter	filter	NOUN
hjic-100	256	108	as	as	ADP
hjic-100	256	109	a	a	DET
hjic-100	256	110	state	state	NOUN
hjic-100	256	111	estimator	estimator	NOUN
hjic-100	256	112	,	,	PUNCT
hjic-100	256	113	which	which	PRON
hjic-100	256	114	was	be	AUX
hjic-100	256	115	designed	design	VERB
hjic-100	256	116	according	accord	VERB
hjic-100	256	117	to	to	ADP
hjic-100	256	118	the	the	DET
hjic-100	256	119	measurement	measurement	NOUN
hjic-100	256	120	noise	noise	NOUN
hjic-100	256	121	conditions	condition	NOUN
hjic-100	256	122	.	.	PUNCT
hjic-100	257	1	the	the	DET
hjic-100	257	2	obtained	obtain	VERB
hjic-100	257	3	filter	filter	NOUN
hjic-100	257	4	gain	gain	NOUN
hjic-100	257	5	was	be	AUX
hjic-100	257	6	[	[	PUNCT
hjic-100	257	7	]	]	X
hjic-100	257	8	0.7712	0.7712	NUM
hjic-100	257	9	0.5982ek	0.5982ek	NOUN
hjic-100	257	10	=	=	PUNCT
hjic-100	257	11	.	.	PUNCT
hjic-100	258	1	setting	set	VERB
hjic-100	258	2	the	the	DET
hjic-100	258	3	stabilizing	stabilizing	NOUN
hjic-100	258	4	k	k	PROPN
hjic-100	258	5	controller	controller	NOUN
hjic-100	258	6	equal	equal	ADJ
hjic-100	258	7	to	to	ADP
hjic-100	258	8	f	f	PROPN
hjic-100	258	9	the	the	DET
hjic-100	258	10	sets	set	NOUN
hjic-100	258	11	needed	need	VERB
hjic-100	258	12	for	for	ADP
hjic-100	258	13	the	the	DET
hjic-100	258	14	mpc	mpc	NOUN
hjic-100	258	15	algorithm	algorithm	NOUN
hjic-100	258	16	can	can	AUX
hjic-100	258	17	be	be	AUX
hjic-100	258	18	calculated	calculate	VERB
hjic-100	258	19	.	.	PUNCT
hjic-100	259	1	figure	figure	VERB
hjic-100	259	2	4	4	NUM
hjic-100	259	3	.	.	NOUN
hjic-100	259	4	5	5	NUM
hjic-100	259	5	.	.	PUNCT
hjic-100	259	6	shows	show	VERB
hjic-100	259	7	the	the	DET
hjic-100	259	8	results	result	NOUN
hjic-100	259	9	in	in	ADP
hjic-100	259	10	the	the	DET
hjic-100	259	11	case	case	NOUN
hjic-100	259	12	when	when	SCONJ
hjic-100	259	13	full	full	ADJ
hjic-100	259	14	-	-	PUNCT
hjic-100	259	15	state	state	NOUN
hjic-100	259	16	measurement	measurement	NOUN
hjic-100	259	17	is	be	AUX
hjic-100	259	18	assumed	assume	VERB
hjic-100	259	19	and	and	CCONJ
hjic-100	259	20	figure	figure	VERB
hjic-100	259	21	3	3	NUM
hjic-100	259	22	.	.	NOUN
hjic-100	259	23	4	4	NUM
hjic-100	259	24	.	.	PUNCT
hjic-100	259	25	shows	show	VERB
hjic-100	259	26	the	the	DET
hjic-100	259	27	obtained	obtain	VERB
hjic-100	259	28	constraint	constraint	NOUN
hjic-100	259	29	sets	set	NOUN
hjic-100	259	30	in	in	ADP
hjic-100	259	31	the	the	DET
hjic-100	259	32	case	case	NOUN
hjic-100	259	33	of	of	ADP
hjic-100	259	34	state	state	NOUN
hjic-100	259	35	estimation	estimation	NOUN
hjic-100	259	36	.	.	PUNCT
hjic-100	260	1	it	it	PRON
hjic-100	260	2	can	can	AUX
hjic-100	260	3	be	be	AUX
hjic-100	260	4	seen	see	VERB
hjic-100	260	5	that	that	SCONJ
hjic-100	260	6	the	the	DET
hjic-100	260	7	constraints	constraint	NOUN
hjic-100	260	8	to	to	PART
hjic-100	260	9	be	be	AUX
hjic-100	260	10	satisfied	satisfy	VERB
hjic-100	260	11	by	by	ADP
hjic-100	260	12	the	the	DET
hjic-100	260	13	input	input	NOUN
hjic-100	260	14	and	and	CCONJ
hjic-100	260	15	states	state	NOUN
hjic-100	260	16	are	be	AUX
hjic-100	260	17	much	much	ADV
hjic-100	260	18	more	more	ADV
hjic-100	260	19	tighter	tight	ADJ
hjic-100	260	20	if	if	SCONJ
hjic-100	260	21	state	state	NOUN
hjic-100	260	22	estimator	estimator	NOUN
hjic-100	260	23	is	be	AUX
hjic-100	260	24	applied	apply	VERB
hjic-100	260	25	.	.	PUNCT
hjic-100	261	1	in	in	ADP
hjic-100	261	2	the	the	DET
hjic-100	261	3	simulation	simulation	NOUN
hjic-100	261	4	the	the	DET
hjic-100	261	5	horizon	horizon	NOUN
hjic-100	261	6	was	be	AUX
hjic-100	261	7	n=50	n=50	ADJ
hjic-100	261	8	,	,	PUNCT
hjic-100	261	9	the	the	DET
hjic-100	261	10	system	system	NOUN
hjic-100	261	11	started	start	VERB
hjic-100	261	12	from	from	ADP
hjic-100	261	13	and	and	CCONJ
hjic-100	261	14	the	the	DET
hjic-100	261	15	weighting	weighting	NOUN
hjic-100	261	16	matrices	matrix	NOUN
hjic-100	261	17	in	in	ADP
hjic-100	261	18	the	the	DET
hjic-100	261	19	mpc	mpc	NOUN
hjic-100	261	20	optimization	optimization	NOUN
hjic-100	261	21	were	be	AUX
hjic-100	261	22	chosen	choose	VERB
hjic-100	261	23	to	to	PART
hjic-100	261	24	be	be	AUX
hjic-100	261	25	[	[	PUNCT
hjic-100	261	26	0	0	NUM
hjic-100	261	27	327.5	327.5	NUM
hjic-100	261	28	327	327	NUM
hjic-100	261	29	tx	tx	PROPN
hjic-100	262	1	=	=	SYM
hjic-100	262	2	]	]	PUNCT
hjic-100	262	3	0i	0i	X
hjic-100	262	4	2	2	NUM
hjic-100	262	5	,	,	PUNCT
hjic-100	262	6	iq	iq	INTJ
hjic-100	263	1	i	i	PRON
hjic-100	263	2	i	i	PRON
hjic-100	263	3	r=	r=	VERB
hjic-100	263	4	⋅	⋅	PROPN
hjic-100	263	5	=	=	SYM
hjic-100	263	6	s	s	X
hjic-100	263	7	(	(	PUNCT
hjic-100	263	8	38	38	NUM
hjic-100	263	9	)	)	PUNCT
hjic-100	263	10	the	the	DET
hjic-100	263	11	system	system	NOUN
hjic-100	263	12	had	have	VERB
hjic-100	263	13	to	to	PART
hjic-100	263	14	track	track	VERB
hjic-100	263	15	first	first	ADV
hjic-100	263	16	,	,	PUNCT
hjic-100	263	17	and	and	CCONJ
hjic-100	263	18	this	this	DET
hjic-100	263	19	reference	reference	NOUN
hjic-100	263	20	was	be	AUX
hjic-100	263	21	changed	change	VERB
hjic-100	263	22	to	to	ADP
hjic-100	263	23	at	at	ADP
hjic-100	263	24	time	time	NOUN
hjic-100	263	25	a	a	DET
hjic-100	263	26	ry	ry	NOUN
hjic-100	263	27	b	b	X
hjic-100	263	28	ry	ry	NOUN
hjic-100	263	29	24000	24000	NUM
hjic-100	263	30	t	t	NOUN
hjic-100	263	31	=	=	PUNCT
hjic-100	263	32	.	.	PUNCT
hjic-100	264	1	to	to	PART
hjic-100	264	2	illustrate	illustrate	VERB
hjic-100	264	3	the	the	DET
hjic-100	264	4	robustness	robustness	NOUN
hjic-100	264	5	of	of	ADP
hjic-100	264	6	the	the	DET
hjic-100	264	7	controllers	controller	NOUN
hjic-100	264	8	designed	design	VERB
hjic-100	264	9	the	the	DET
hjic-100	264	10	maximal	maximal	ADJ
hjic-100	264	11	15%±	15%±	NUM
hjic-100	264	12	persistent	persistent	ADJ
hjic-100	264	13	disturbance	disturbance	NOUN
hjic-100	264	14	was	be	AUX
hjic-100	264	15	added	add	VERB
hjic-100	264	16	to	to	ADP
hjic-100	264	17	the	the	DET
hjic-100	264	18	original	original	ADJ
hjic-100	264	19	plant	plant	NOUN
hjic-100	264	20	.	.	PUNCT
hjic-100	265	1	figure	figure	NOUN
hjic-100	265	2	6	6	NUM
hjic-100	265	3	shows	show	VERB
hjic-100	265	4	the	the	DET
hjic-100	265	5	factors	factor	NOUN
hjic-100	265	6	by	by	ADP
hjic-100	265	7	which	which	PRON
hjic-100	265	8	the	the	DET
hjic-100	265	9	nominal	nominal	ADJ
hjic-100	265	10	disturbance	disturbance	NOUN
hjic-100	265	11	was	be	AUX
hjic-100	265	12	multiplied	multiply	VERB
hjic-100	265	13	.	.	PUNCT
hjic-100	266	1	the	the	DET
hjic-100	266	2	simulation	simulation	NOUN
hjic-100	266	3	results	result	VERB
hjic-100	266	4	in	in	ADP
hjic-100	266	5	the	the	DET
hjic-100	266	6	cases	case	NOUN
hjic-100	266	7	of	of	ADP
hjic-100	266	8	full	full	ADJ
hjic-100	266	9	state	state	NOUN
hjic-100	266	10	measurement	measurement	NOUN
hjic-100	266	11	and	and	CCONJ
hjic-100	266	12	state	state	NOUN
hjic-100	266	13	estimation	estimation	NOUN
hjic-100	266	14	the	the	PRON
hjic-100	266	15	can	can	AUX
hjic-100	266	16	be	be	AUX
hjic-100	266	17	found	find	VERB
hjic-100	266	18	in	in	ADP
hjic-100	266	19	figures	figure	NOUN
hjic-100	266	20	7	7	NUM
hjic-100	266	21	.	.	NOUN
hjic-100	266	22	and	and	CCONJ
hjic-100	266	23	9	9	X
hjic-100	266	24	.	.	X
hjic-100	266	25	figure	figure	NOUN
hjic-100	266	26	8	8	NUM
hjic-100	266	27	.	.	PUNCT
hjic-100	267	1	shows	show	VERB
hjic-100	267	2	the	the	DET
hjic-100	267	3	state	state	NOUN
hjic-100	267	4	estimation	estimation	NOUN
hjic-100	267	5	error	error	NOUN
hjic-100	267	6	.	.	PUNCT
hjic-100	268	1	it	it	PRON
hjic-100	268	2	can	can	AUX
hjic-100	268	3	be	be	AUX
hjic-100	268	4	seen	see	VERB
hjic-100	268	5	that	that	SCONJ
hjic-100	268	6	in	in	ADP
hjic-100	268	7	all	all	DET
hjic-100	268	8	cases	case	NOUN
hjic-100	268	9	the	the	DET
hjic-100	268	10	output	output	NOUN
hjic-100	268	11	remains	remain	VERB
hjic-100	268	12	in	in	ADP
hjic-100	268	13	the	the	DET
hjic-100	268	14	1.5	1.5	NUM
hjic-100	268	15	-	-	PUNCT
hjic-100	268	16	wide	wide	ADJ
hjic-100	268	17	neighborhood	neighborhood	NOUN
hjic-100	268	18	of	of	ADP
hjic-100	268	19	the	the	DET
hjic-100	268	20	prescribed	prescribe	VERB
hjic-100	268	21	value	value	NOUN
hjic-100	268	22	while	while	SCONJ
hjic-100	268	23	the	the	DET
hjic-100	268	24	control	control	NOUN
hjic-100	268	25	input	input	NOUN
hjic-100	268	26	also	also	ADV
hjic-100	268	27	satisfies	satisfy	VERB
hjic-100	268	28	the	the	DET
hjic-100	268	29	constraints	constraint	NOUN
hjic-100	268	30	.	.	PUNCT
hjic-100	269	1	it	it	PRON
hjic-100	269	2	is	be	AUX
hjic-100	269	3	also	also	ADV
hjic-100	269	4	seen	see	VERB
hjic-100	269	5	that	that	SCONJ
hjic-100	269	6	from	from	ADP
hjic-100	269	7	reference	reference	NOUN
hjic-100	269	8	tracking	tracking	NOUN
hjic-100	269	9	point	point	NOUN
hjic-100	269	10	of	of	ADP
hjic-100	269	11	view	view	NOUN
hjic-100	269	12	there	there	PRON
hjic-100	269	13	is	be	VERB
hjic-100	269	14	no	no	DET
hjic-100	269	15	significant	significant	ADJ
hjic-100	269	16	difference	difference	NOUN
hjic-100	269	17	between	between	ADP
hjic-100	269	18	the	the	DET
hjic-100	269	19	cases	case	NOUN
hjic-100	269	20	of	of	ADP
hjic-100	269	21	full	full	ADJ
hjic-100	269	22	state	state	NOUN
hjic-100	269	23	measurement	measurement	NOUN
hjic-100	269	24	and	and	CCONJ
hjic-100	269	25	state	state	NOUN
hjic-100	269	26	estimation	estimation	NOUN
hjic-100	269	27	.	.	PUNCT
hjic-100	270	1	although	although	SCONJ
hjic-100	270	2	the	the	DET
hjic-100	270	3	controller	controller	NOUN
hjic-100	270	4	using	use	VERB
hjic-100	270	5	estimated	estimated	ADJ
hjic-100	270	6	states	state	NOUN
hjic-100	270	7	has	have	VERB
hjic-100	270	8	to	to	PART
hjic-100	270	9	satisfy	satisfy	VERB
hjic-100	270	10	more	more	ADV
hjic-100	270	11	stringent	stringent	ADJ
hjic-100	270	12	constraints	constraint	NOUN
hjic-100	270	13	to	to	PART
hjic-100	270	14	achieve	achieve	VERB
hjic-100	270	15	the	the	DET
hjic-100	270	16	same	same	ADJ
hjic-100	270	17	result	result	NOUN
hjic-100	270	18	.	.	PUNCT
hjic-100	271	1	examining	examine	VERB
hjic-100	271	2	the	the	DET
hjic-100	271	3	settling	settle	VERB
hjic-100	271	4	performance	performance	NOUN
hjic-100	271	5	it	it	PRON
hjic-100	271	6	can	can	AUX
hjic-100	271	7	be	be	AUX
hjic-100	271	8	stated	state	VERB
hjic-100	271	9	that	that	SCONJ
hjic-100	271	10	the	the	DET
hjic-100	271	11	overshoot	overshoot	NOUN
hjic-100	271	12	is	be	AUX
hjic-100	271	13	negligible	negligible	ADJ
hjic-100	271	14	and	and	CCONJ
hjic-100	271	15	the	the	DET
hjic-100	271	16	setting	setting	NOUN
hjic-100	271	17	time	time	NOUN
hjic-100	271	18	is	be	AUX
hjic-100	271	19	acceptable	acceptable	ADJ
hjic-100	271	20	small	small	ADJ
hjic-100	271	21	.	.	PUNCT
hjic-100	272	1	the	the	DET
hjic-100	272	2	time	time	NOUN
hjic-100	272	3	-	-	PUNCT
hjic-100	272	4	consuming	consume	VERB
hjic-100	272	5	optimization	optimization	NOUN
hjic-100	272	6	procedure	procedure	NOUN
hjic-100	272	7	was	be	AUX
hjic-100	272	8	executed	execute	VERB
hjic-100	272	9	only	only	ADV
hjic-100	272	10	twice	twice	ADV
hjic-100	272	11	:	:	PUNCT
hjic-100	272	12	first	first	ADV
hjic-100	272	13	,	,	PUNCT
hjic-100	272	14	in	in	ADP
hjic-100	272	15	the	the	DET
hjic-100	272	16	beginning	beginning	NOUN
hjic-100	272	17	and	and	CCONJ
hjic-100	272	18	later	later	ADV
hjic-100	272	19	at	at	ADP
hjic-100	272	20	24000	24000	NUM
hjic-100	272	21	t	t	NOUN
hjic-100	272	22	s=	s=	NOUN
hjic-100	272	23	,	,	PUNCT
hjic-100	272	24	when	when	SCONJ
hjic-100	272	25	the	the	DET
hjic-100	272	26	change	change	NOUN
hjic-100	272	27	of	of	ADP
hjic-100	272	28	reference	reference	NOUN
hjic-100	272	29	took	take	VERB
hjic-100	272	30	place	place	NOUN
hjic-100	272	31	.	.	PUNCT
hjic-100	273	1	conclusions	conclusion	NOUN
hjic-100	273	2	and	and	CCONJ
hjic-100	273	3	further	further	ADJ
hjic-100	273	4	work	work	VERB
hjic-100	273	5	a	a	DET
hjic-100	273	6	single	single	ADJ
hjic-100	273	7	policy	policy	NOUN
hjic-100	273	8	robust	robust	ADJ
hjic-100	273	9	model	model	NOUN
hjic-100	273	10	predictive	predictive	PROPN
hjic-100	273	11	control	control	NOUN
hjic-100	273	12	was	be	AUX
hjic-100	273	13	successfully	successfully	ADV
hjic-100	273	14	applied	apply	VERB
hjic-100	273	15	to	to	ADP
hjic-100	273	16	a	a	DET
hjic-100	273	17	pressurizer	pressurizer	NOUN
hjic-100	273	18	model	model	NOUN
hjic-100	273	19	.	.	PUNCT
hjic-100	274	1	it	it	PRON
hjic-100	274	2	was	be	AUX
hjic-100	274	3	shown	show	VERB
hjic-100	274	4	that	that	SCONJ
hjic-100	274	5	the	the	DET
hjic-100	274	6	states	state	NOUN
hjic-100	274	7	and	and	CCONJ
hjic-100	274	8	the	the	DET
hjic-100	274	9	stabilizing	stabilizing	NOUN
hjic-100	274	10	control	control	NOUN
hjic-100	274	11	input	input	NOUN
hjic-100	274	12	designed	design	VERB
hjic-100	274	13	by	by	ADP
hjic-100	274	14	this	this	DET
hjic-100	274	15	approach	approach	NOUN
hjic-100	274	16	remain	remain	VERB
hjic-100	274	17	in	in	ADP
hjic-100	274	18	the	the	DET
hjic-100	274	19	given	give	VERB
hjic-100	274	20	range	range	NOUN
hjic-100	274	21	even	even	ADV
hjic-100	274	22	if	if	SCONJ
hjic-100	274	23	additive	additive	ADJ
hjic-100	274	24	disturbance	disturbance	NOUN
hjic-100	274	25	is	be	AUX
hjic-100	274	26	present	present	ADJ
hjic-100	274	27	.	.	PUNCT
hjic-100	275	1	by	by	ADP
hjic-100	275	2	using	use	VERB
hjic-100	275	3	single	single	ADJ
hjic-100	275	4	policy	policy	NOUN
hjic-100	275	5	approach	approach	NOUN
hjic-100	275	6	the	the	DET
hjic-100	275	7	computation	computation	NOUN
hjic-100	275	8	time	time	NOUN
hjic-100	275	9	needed	need	VERB
hjic-100	275	10	for	for	ADP
hjic-100	275	11	the	the	DET
hjic-100	275	12	control	control	NOUN
hjic-100	275	13	input	input	NOUN
hjic-100	275	14	has	have	AUX
hjic-100	275	15	been	be	AUX
hjic-100	275	16	drastically	drastically	ADV
hjic-100	275	17	reduced	reduce	VERB
hjic-100	275	18	.	.	PUNCT
hjic-100	276	1	95	95	NUM
hjic-100	276	2	acknowledgements	acknowledgement	NOUN
hjic-100	276	3	this	this	DET
hjic-100	276	4	research	research	NOUN
hjic-100	276	5	was	be	AUX
hjic-100	276	6	partially	partially	ADV
hjic-100	276	7	supported	support	VERB
hjic-100	276	8	by	by	ADP
hjic-100	276	9	the	the	DET
hjic-100	276	10	grants	grant	NOUN
hjic-100	276	11	no	no	INTJ
hjic-100	276	12	.	.	PUNCT
hjic-100	277	1	otka	otka	PROPN
hjic-100	277	2	t042710	t042710	ADJ
hjic-100	277	3	and	and	CCONJ
hjic-100	277	4	f046223	f046223	PROPN
hjic-100	277	5	.	.	PUNCT
hjic-100	278	1	figure	figure	NOUN
hjic-100	278	2	2	2	NUM
hjic-100	278	3	:	:	PUNCT
hjic-100	278	4	constraint	constraint	NOUN
hjic-100	278	5	sets	set	NOUN
hjic-100	278	6	in	in	ADP
hjic-100	278	7	the	the	DET
hjic-100	278	8	case	case	NOUN
hjic-100	278	9	of	of	ADP
hjic-100	278	10	state	state	NOUN
hjic-100	278	11	estimation	estimation	NOUN
hjic-100	278	12	,	,	PUNCT
hjic-100	278	13	,	,	PUNCT
hjic-100	278	14	,	,	PUNCT
hjic-100	278	15	f	f	PROPN
hjic-100	279	1	ex	ex	X
hjic-100	279	2	z	z	NOUN
hjic-100	279	3	x	x	SYM
hjic-100	280	1	x	x	PUNCT
hjic-100	280	2	figure	figure	NOUN
hjic-100	280	3	3	3	NUM
hjic-100	280	4	:	:	PUNCT
hjic-100	280	5	constraint	constraint	NOUN
hjic-100	280	6	sets	set	NOUN
hjic-100	280	7	in	in	ADP
hjic-100	280	8	the	the	DET
hjic-100	280	9	case	case	NOUN
hjic-100	280	10	of	of	ADP
hjic-100	280	11	state	state	NOUN
hjic-100	280	12	estimation	estimation	NOUN
hjic-100	280	13	,	,	PUNCT
hjic-100	280	14	,	,	PUNCT
hjic-100	280	15	,	,	PUNCT
hjic-100	280	16	f	f	PROPN
hjic-100	280	17	fz	fz	VERB
hjic-100	280	18	x	x	PUNCT
hjic-100	280	19	x	x	PUNCT
hjic-100	280	20	u	u	NOUN
hjic-100	280	21	figure	figure	NOUN
hjic-100	280	22	4	4	NUM
hjic-100	280	23	:	:	PUNCT
hjic-100	280	24	constraint	constraint	NOUN
hjic-100	280	25	set	set	VERB
hjic-100	280	26	in	in	ADP
hjic-100	280	27	the	the	DET
hjic-100	280	28	case	case	NOUN
hjic-100	280	29	of	of	ADP
hjic-100	280	30	full	full	ADJ
hjic-100	280	31	state	state	NOUN
hjic-100	280	32	measurement	measurement	NOUN
hjic-100	280	33	,	,	PUNCT
hjic-100	280	34	,	,	PUNCT
hjic-100	280	35	fx	fx	NOUN
hjic-100	280	36	x	x	SYM
hjic-100	280	37	x	x	PRON
hjic-100	280	38	figure	figure	NOUN
hjic-100	280	39	5	5	NUM
hjic-100	280	40	:	:	PUNCT
hjic-100	280	41	constraint	constraint	NOUN
hjic-100	280	42	set	set	VERB
hjic-100	280	43	in	in	ADP
hjic-100	280	44	the	the	DET
hjic-100	280	45	case	case	NOUN
hjic-100	280	46	of	of	ADP
hjic-100	280	47	full	full	ADJ
hjic-100	280	48	state	state	NOUN
hjic-100	280	49	measurement	measurement	NOUN
hjic-100	280	50	,	,	PUNCT
hjic-100	280	51	,	,	PUNCT
hjic-100	280	52	,	,	PUNCT
hjic-100	280	53	f	f	PROPN
hjic-100	280	54	fz	fz	VERB
hjic-100	280	55	x	x	PUNCT
hjic-100	280	56	x	x	PUNCT
hjic-100	280	57	u	u	NOUN
hjic-100	280	58	96	96	NUM
hjic-100	280	59	0	0	NUM
hjic-100	280	60	0.5	0.5	NUM
hjic-100	280	61	1	1	NUM
hjic-100	280	62	1.5	1.5	NUM
hjic-100	280	63	2	2	NUM
hjic-100	280	64	2.5	2.5	NUM
hjic-100	280	65	3	3	NUM
hjic-100	280	66	3.5	3.5	NUM
hjic-100	280	67	4	4	NUM
hjic-100	280	68	4.5	4.5	NUM
hjic-100	280	69	5	5	NUM
hjic-100	280	70	x	x	SYM
hjic-100	280	71	10	10	NUM
hjic-100	280	72	4	4	NUM
hjic-100	280	73	0	0	NUM
hjic-100	280	74	0.5	0.5	NUM
hjic-100	280	75	1	1	NUM
hjic-100	280	76	1.5	1.5	NUM
hjic-100	280	77	2	2	NUM
hjic-100	280	78	2.5	2.5	NUM
hjic-100	280	79	u	u	NOUN
hjic-100	280	80	0	0	NUM
hjic-100	280	81	0.5	0.5	NUM
hjic-100	280	82	1	1	NUM
hjic-100	280	83	1.5	1.5	NUM
hjic-100	280	84	2	2	NUM
hjic-100	280	85	2.5	2.5	NUM
hjic-100	280	86	3	3	NUM
hjic-100	280	87	3.5	3.5	NUM
hjic-100	280	88	4	4	NUM
hjic-100	280	89	4.5	4.5	NUM
hjic-100	280	90	5	5	NUM
hjic-100	280	91	x	x	SYM
hjic-100	280	92	10	10	NUM
hjic-100	280	93	4	4	NUM
hjic-100	280	94	325.5	325.5	NUM
hjic-100	280	95	326	326	NUM
hjic-100	280	96	326.5	326.5	NUM
hjic-100	280	97	327	327	NUM
hjic-100	280	98	327.5	327.5	NUM
hjic-100	280	99	328	328	NUM
hjic-100	280	100	y	y	NOUN
hjic-100	280	101	yr	yr	NOUN
hjic-100	280	102	figure	figure	NOUN
hjic-100	280	103	9	9	NUM
hjic-100	280	104	:	:	PUNCT
hjic-100	280	105	reference	reference	NOUN
hjic-100	280	106	signal	signal	NOUN
hjic-100	280	107	(	(	PUNCT
hjic-100	280	108	solid	solid	ADJ
hjic-100	280	109	)	)	PUNCT
hjic-100	280	110	,	,	PUNCT
hjic-100	280	111	system	system	NOUN
hjic-100	280	112	output	output	NOUN
hjic-100	280	113	(	(	PUNCT
hjic-100	280	114	dashed	dash	VERB
hjic-100	280	115	)	)	PUNCT
hjic-100	280	116	and	and	CCONJ
hjic-100	280	117	control	control	NOUN
hjic-100	280	118	input	input	NOUN
hjic-100	280	119	in	in	ADP
hjic-100	280	120	the	the	DET
hjic-100	280	121	case	case	NOUN
hjic-100	280	122	of	of	ADP
hjic-100	280	123	state	state	NOUN
hjic-100	280	124	estimation	estimation	NOUN
hjic-100	280	125	0	0	NUM
hjic-100	280	126	0.5	0.5	NUM
hjic-100	280	127	1	1	NUM
hjic-100	280	128	1.5	1.5	NUM
hjic-100	280	129	2	2	NUM
hjic-100	280	130	2.5	2.5	NUM
hjic-100	280	131	3	3	NUM
hjic-100	280	132	3.5	3.5	NUM
hjic-100	280	133	4	4	NUM
hjic-100	280	134	4.5	4.5	NUM
hjic-100	280	135	5	5	NUM
hjic-100	280	136	x	x	SYM
hjic-100	280	137	10	10	NUM
hjic-100	280	138	4	4	NUM
hjic-100	280	139	0.8	0.8	NUM
hjic-100	280	140	0.85	0.85	NUM
hjic-100	280	141	0.9	0.9	NUM
hjic-100	280	142	0.95	0.95	NUM
hjic-100	280	143	1	1	NUM
hjic-100	280	144	1.05	1.05	NUM
hjic-100	280	145	1.1	1.1	NUM
hjic-100	280	146	1.15	1.15	NUM
hjic-100	280	147	1.2	1.2	NUM
hjic-100	280	148	1.25	1.25	NUM
hjic-100	280	149	d1	d1	NOUN
hjic-100	280	150	d2	d2	NOUN
hjic-100	280	151	figure	figure	NOUN
hjic-100	280	152	6	6	NUM
hjic-100	280	153	:	:	PUNCT
hjic-100	280	154	disturbance	disturbance	NOUN
hjic-100	280	155	scaling	scale	VERB
hjic-100	280	156	factors	factor	NOUN
hjic-100	280	157	used	use	VERB
hjic-100	280	158	in	in	ADP
hjic-100	280	159	simulation	simulation	NOUN
hjic-100	280	160	.	.	PUNCT
hjic-100	281	1	references	reference	NOUN
hjic-100	281	2	0	0	NUM
hjic-100	281	3	0.5	0.5	NUM
hjic-100	281	4	1	1	NUM
hjic-100	281	5	1.5	1.5	NUM
hjic-100	281	6	2	2	NUM
hjic-100	281	7	2.5	2.5	NUM
hjic-100	281	8	3	3	NUM
hjic-100	281	9	3.5	3.5	NUM
hjic-100	281	10	4	4	NUM
hjic-100	281	11	4.5	4.5	NUM
hjic-100	281	12	5	5	NUM
hjic-100	281	13	x	x	SYM
hjic-100	281	14	10	10	NUM
hjic-100	281	15	4	4	NUM
hjic-100	281	16	325.5	325.5	NUM
hjic-100	281	17	326	326	NUM
hjic-100	281	18	326.5	326.5	NUM
hjic-100	281	19	327	327	NUM
hjic-100	281	20	327.5	327.5	NUM
hjic-100	281	21	328	328	NUM
hjic-100	282	1	y	y	NOUN
hjic-100	282	2	yr	yr	NOUN
hjic-100	282	3	0	0	NUM
hjic-100	282	4	0.5	0.5	NUM
hjic-100	282	5	1	1	NUM
hjic-100	282	6	1.5	1.5	NUM
hjic-100	282	7	2	2	NUM
hjic-100	282	8	2.5	2.5	NUM
hjic-100	282	9	3	3	NUM
hjic-100	282	10	3.5	3.5	NUM
hjic-100	282	11	4	4	NUM
hjic-100	282	12	4.5	4.5	NUM
hjic-100	282	13	5	5	NUM
hjic-100	282	14	x	x	SYM
hjic-100	282	15	10	10	NUM
hjic-100	282	16	4	4	NUM
hjic-100	282	17	0	0	NUM
hjic-100	282	18	0.5	0.5	NUM
hjic-100	282	19	1	1	NUM
hjic-100	282	20	1.5	1.5	NUM
hjic-100	282	21	2	2	NUM
hjic-100	282	22	2.5	2.5	NUM
hjic-100	282	23	u	u	NOUN
hjic-100	282	24	1	1	NUM
hjic-100	282	25	.	.	PUNCT
hjic-100	282	26	apros	apro	NOUN
hjic-100	282	27	.	.	PUNCT
hjic-100	283	1	apros	apro	NOUN
hjic-100	283	2	–	–	PUNCT
hjic-100	283	3	the	the	DET
hjic-100	283	4	advanced	advanced	ADJ
hjic-100	283	5	process	process	NOUN
hjic-100	283	6	simulation	simulation	NOUN
hjic-100	283	7	environment	environment	PROPN
hjic-100	283	8	,	,	PUNCT
hjic-100	283	9	vtt	vtt	PROPN
hjic-100	283	10	industrial	industrial	PROPN
hjic-100	283	11	systems	system	NOUN
hjic-100	283	12	,	,	PUNCT
hjic-100	283	13	2005	2005	NUM
hjic-100	283	14	.	.	PUNCT
hjic-100	284	1	http://www.vtt.fi/tuo/63/apros/.	http://www.vtt.fi/tuo/63/apros/.	PROPN
hjic-100	284	2	2	2	X
hjic-100	284	3	.	.	NUM
hjic-100	284	4	k.m.hangos	k.m.hango	NOUN
hjic-100	284	5	and	and	CCONJ
hjic-100	284	6	i.	i.	PROPN
hjic-100	284	7	t.	t.	PROPN
hjic-100	284	8	cameron	cameron	PROPN
hjic-100	284	9	:	:	PUNCT
hjic-100	284	10	process	process	NOUN
hjic-100	284	11	modelling	modelling	NOUN
hjic-100	284	12	and	and	CCONJ
hjic-100	284	13	model	model	NOUN
hjic-100	284	14	analysis	analysis	NOUN
hjic-100	284	15	.	.	PUNCT
hjic-100	285	1	academic	academic	ADJ
hjic-100	285	2	press	press	PROPN
hjic-100	285	3	,	,	PUNCT
hjic-100	285	4	london	london	PROPN
hjic-100	285	5	,	,	PUNCT
hjic-100	285	6	2001	2001	NUM
hjic-100	285	7	.	.	PUNCT
hjic-100	286	1	3	3	X
hjic-100	286	2	.	.	X
hjic-100	286	3	i.	i.	PROPN
hjic-100	286	4	kolmanovsky	kolmanovsky	PROPN
hjic-100	286	5	and	and	CCONJ
hjic-100	286	6	e.	e.	PROPN
hjic-100	286	7	g.	g.	PROPN
hjic-100	286	8	gilbert	gilbert	PROPN
hjic-100	286	9	.	.	PUNCT
hjic-100	286	10	:	:	PUNCT
hjic-100	287	1	maximal	maximal	ADJ
hjic-100	287	2	output	output	NOUN
hjic-100	287	3	admissible	admissible	ADJ
hjic-100	287	4	sets	set	NOUN
hjic-100	287	5	for	for	ADP
hjic-100	287	6	discrete	discrete	ADJ
hjic-100	287	7	-	-	PUNCT
hjic-100	287	8	time	time	NOUN
hjic-100	287	9	systems	system	NOUN
hjic-100	287	10	with	with	ADP
hjic-100	287	11	disturbance	disturbance	NOUN
hjic-100	287	12	inputs	input	NOUN
hjic-100	287	13	.	.	PUNCT
hjic-100	288	1	american	american	PROPN
hjic-100	288	2	control	control	PROPN
hjic-100	288	3	conference	conference	PROPN
hjic-100	288	4	,	,	PUNCT
hjic-100	288	5	1995	1995	NUM
hjic-100	288	6	.	.	PUNCT
hjic-100	289	1	4	4	X
hjic-100	289	2	.	.	X
hjic-100	289	3	i.	i.	PROPN
hjic-100	289	4	kolmanovsky	kolmanovsky	PROPN
hjic-100	289	5	and	and	CCONJ
hjic-100	289	6	e.	e.	PROPN
hjic-100	289	7	g.	g.	PROPN
hjic-100	289	8	gilbert	gilbert	PROPN
hjic-100	289	9	.	.	PUNCT
hjic-100	289	10	:	:	PUNCT
hjic-100	290	1	theory	theory	NOUN
hjic-100	290	2	and	and	CCONJ
hjic-100	290	3	computation	computation	NOUN
hjic-100	290	4	of	of	ADP
hjic-100	290	5	dysturbance	dysturbance	NOUN
hjic-100	290	6	invariant	invariant	ADJ
hjic-100	290	7	sets	set	NOUN
hjic-100	290	8	for	for	ADP
hjic-100	290	9	discrete	discrete	ADJ
hjic-100	290	10	-	-	PUNCT
hjic-100	290	11	time	time	NOUN
hjic-100	290	12	linear	linear	PROPN
hjic-100	290	13	systems	system	NOUN
hjic-100	290	14	.	.	PUNCT
hjic-100	291	1	mathematical	mathematical	ADJ
hjic-100	291	2	problems	problem	NOUN
hjic-100	291	3	in	in	ADP
hjic-100	291	4	engineering	engineering	NOUN
hjic-100	291	5	,	,	PUNCT
hjic-100	291	6	4:317	4:317	NUM
hjic-100	291	7	-	-	SYM
hjic-100	291	8	367	367	NUM
hjic-100	291	9	,	,	PUNCT
hjic-100	291	10	1998	1998	NUM
hjic-100	291	11	.	.	PUNCT
hjic-100	292	1	5	5	X
hjic-100	292	2	.	.	X
hjic-100	292	3	w.	w.	PROPN
hjic-100	292	4	langson	langson	PROPN
hjic-100	292	5	,	,	PUNCT
hjic-100	292	6	i	i	PRON
hjic-100	292	7	chryssochoos	chryssochoo	VERB
hjic-100	292	8	,	,	PUNCT
hjic-100	292	9	s.	s.	PROPN
hjic-100	292	10	v.	v.	PROPN
hjic-100	292	11	rakovic	rakovic	PROPN
hjic-100	292	12	and	and	CCONJ
hjic-100	292	13	d.	d.	PROPN
hjic-100	292	14	q.	q.	PROPN
hjic-100	292	15	mayne	mayne	PROPN
hjic-100	292	16	:	:	PUNCT
hjic-100	292	17	robust	robust	ADJ
hjic-100	292	18	model	model	NOUN
hjic-100	292	19	predictive	predictive	ADJ
hjic-100	292	20	control	control	NOUN
hjic-100	292	21	using	use	VERB
hjic-100	292	22	tubes	tube	NOUN
hjic-100	292	23	.	.	PUNCT
hjic-100	293	1	automatica	automatica	PROPN
hjic-100	293	2	,	,	PUNCT
hjic-100	293	3	40:125	40:125	PROPN
hjic-100	293	4	-	-	SYM
hjic-100	293	5	133	133	NUM
hjic-100	293	6	,	,	PUNCT
hjic-100	293	7	2004	2004	NUM
hjic-100	293	8	.	.	PUNCT
hjic-100	294	1	figure	figure	VERB
hjic-100	294	2	7	7	NUM
hjic-100	294	3	:	:	PUNCT
hjic-100	294	4	reference	reference	NOUN
hjic-100	294	5	signal	signal	NOUN
hjic-100	294	6	(	(	PUNCT
hjic-100	294	7	solid	solid	ADJ
hjic-100	294	8	)	)	PUNCT
hjic-100	294	9	,	,	PUNCT
hjic-100	294	10	system	system	NOUN
hjic-100	294	11	output	output	NOUN
hjic-100	294	12	(	(	PUNCT
hjic-100	294	13	dashed	dash	VERB
hjic-100	294	14	)	)	PUNCT
hjic-100	294	15	and	and	CCONJ
hjic-100	294	16	control	control	NOUN
hjic-100	294	17	input	input	NOUN
hjic-100	294	18	in	in	ADP
hjic-100	294	19	the	the	DET
hjic-100	294	20	case	case	NOUN
hjic-100	294	21	of	of	ADP
hjic-100	294	22	full	full	ADJ
hjic-100	294	23	state	state	NOUN
hjic-100	294	24	measurement	measurement	NOUN
hjic-100	294	25	0	0	NUM
hjic-100	295	1	0.5	0.5	NUM
hjic-100	295	2	1	1	NUM
hjic-100	295	3	1.5	1.5	NUM
hjic-100	295	4	2	2	NUM
hjic-100	295	5	2.5	2.5	NUM
hjic-100	295	6	3	3	NUM
hjic-100	295	7	3.5	3.5	NUM
hjic-100	295	8	4	4	NUM
hjic-100	295	9	4.5	4.5	NUM
hjic-100	295	10	5	5	NUM
hjic-100	295	11	x	x	SYM
hjic-100	295	12	10	10	NUM
hjic-100	295	13	4	4	NUM
hjic-100	295	14	−0.1	−0.1	NOUN
hjic-100	295	15	−0.05	−0.05	ADV
hjic-100	295	16	0	0	NUM
hjic-100	295	17	0.05	0.05	NUM
hjic-100	295	18	0.1	0.1	NUM
hjic-100	295	19	0.15	0.15	NUM
hjic-100	295	20	0.2	0.2	NUM
hjic-100	295	21	0.25	0.25	NUM
hjic-100	295	22	x1−x1e	x1−x1e	NOUN
hjic-100	295	23	x2−x2e	x2−x2e	NOUN
hjic-100	295	24	0	0	NUM
hjic-100	295	25	0.5	0.5	NUM
hjic-100	295	26	1	1	NUM
hjic-100	295	27	1.5	1.5	NUM
hjic-100	295	28	2	2	NUM
hjic-100	295	29	2.5	2.5	NUM
hjic-100	295	30	3	3	NUM
hjic-100	295	31	3.5	3.5	NUM
hjic-100	295	32	4	4	NUM
hjic-100	295	33	4.5	4.5	NUM
hjic-100	295	34	5	5	NUM
hjic-100	295	35	x	x	SYM
hjic-100	295	36	10	10	NUM
hjic-100	295	37	4	4	NUM
hjic-100	295	38	325	325	NUM
hjic-100	295	39	325.5	325.5	NUM
hjic-100	295	40	326	326	NUM
hjic-100	295	41	326.5	326.5	NUM
hjic-100	295	42	327	327	NUM
hjic-100	295	43	327.5	327.5	NUM
hjic-100	295	44	328	328	NUM
hjic-100	295	45	x1e	x1e	PROPN
hjic-100	295	46	x1	x1	PROPN
hjic-100	295	47	x2e	x2e	NOUN
hjic-100	295	48	x2	x2	PROPN
hjic-100	296	1	6	6	NUM
hjic-100	296	2	.	.	PUNCT
hjic-100	297	1	d.	d.	PROPN
hjic-100	297	2	q.	q.	PROPN
hjic-100	297	3	mayne	mayne	PROPN
hjic-100	297	4	,	,	PUNCT
hjic-100	297	5	j.	j.	PROPN
hjic-100	297	6	b.	b.	PROPN
hjic-100	297	7	rawlings	rawlings	PROPN
hjic-100	297	8	,	,	PUNCT
hjic-100	297	9	c.	c.	PROPN
hjic-100	297	10	v.	v.	PROPN
hjic-100	297	11	rao	rao	PROPN
hjic-100	297	12	and	and	CCONJ
hjic-100	297	13	p.	p.	PROPN
hjic-100	297	14	o.	o.	PROPN
hjic-100	297	15	m.	m.	PROPN
hjic-100	297	16	scoakert	scoakert	PROPN
hjic-100	297	17	:	:	PUNCT
hjic-100	297	18	constrained	constrained	ADJ
hjic-100	297	19	model	model	NOUN
hjic-100	297	20	predictive	predictive	PROPN
hjic-100	297	21	control	control	NOUN
hjic-100	297	22	:	:	PUNCT
hjic-100	297	23	stability	stability	NOUN
hjic-100	297	24	and	and	CCONJ
hjic-100	297	25	optimality	optimality	NOUN
hjic-100	297	26	.	.	PUNCT
hjic-100	298	1	automatica	automatica	PROPN
hjic-100	298	2	,	,	PUNCT
hjic-100	298	3	36(3):789	36(3):789	NOUN
hjic-100	298	4	-	-	SYM
hjic-100	298	5	814	814	NUM
hjic-100	298	6	,	,	PUNCT
hjic-100	298	7	2000	2000	NUM
hjic-100	298	8	.	.	PUNCT
hjic-100	299	1	7	7	X
hjic-100	299	2	.	.	X
hjic-100	299	3	r.	r.	PROPN
hjic-100	299	4	h.	h.	PROPN
hjic-100	299	5	perry	perry	PROPN
hjic-100	299	6	and	and	CCONJ
hjic-100	299	7	d.	d.	PROPN
hjic-100	299	8	w.	w.	PROPN
hjic-100	299	9	green	green	PROPN
hjic-100	299	10	:	:	PUNCT
hjic-100	299	11	perry	perry	PROPN
hjic-100	299	12	’s	’s	PART
hjic-100	299	13	chemical	chemical	PROPN
hjic-100	299	14	engineers	engineer	NOUN
hjic-100	299	15	’s	’s	PART
hjic-100	299	16	handbook	handbook	NOUN
hjic-100	299	17	(	(	PUNCT
hjic-100	299	18	7th	7th	ADJ
hjic-100	299	19	edition	edition	NOUN
hjic-100	299	20	)	)	PUNCT
hjic-100	299	21	.	.	PUNCT
hjic-100	300	1	mc	mc	PROPN
hjic-100	300	2	graw	graw	PROPN
hjic-100	300	3	hill	hill	PROPN
hjic-100	300	4	,	,	PUNCT
hjic-100	300	5	new	new	PROPN
hjic-100	300	6	york	york	PROPN
hjic-100	300	7	,	,	PUNCT
hjic-100	300	8	1999	1999	NUM
hjic-100	300	9	.	.	PUNCT
hjic-100	301	1	8	8	NUM
hjic-100	301	2	.	.	PUNCT
hjic-100	302	1	s.	s.	PROPN
hjic-100	303	1	v.	v.	PROPN
hjic-100	303	2	rakovic	rakovic	PROPN
hjic-100	303	3	,	,	PUNCT
hjic-100	303	4	e.	e.	PROPN
hjic-100	303	5	c.	c.	PROPN
hjic-100	303	6	kerrigan	kerrigan	PROPN
hjic-100	303	7	,	,	PUNCT
hjic-100	303	8	k.	k.	PROPN
hjic-100	303	9	kouramas	kouramas	PROPN
hjic-100	303	10	and	and	CCONJ
hjic-100	303	11	d.	d.	PROPN
hjic-100	303	12	q.	q.	PROPN
hjic-100	303	13	mayne	mayne	PROPN
hjic-100	303	14	.	.	PUNCT
hjic-100	303	15	:	:	PUNCT
hjic-100	304	1	approximationof	approximationof	PROPN
hjic-100	304	2	the	the	DET
hjic-100	304	3	minimal	minimal	ADJ
hjic-100	304	4	robustly	robustly	ADV
hjic-100	304	5	positively	positively	ADV
hjic-100	304	6	invariant	invariant	ADJ
hjic-100	304	7	set	set	NOUN
hjic-100	304	8	for	for	ADP
hjic-100	304	9	discrete	discrete	ADJ
hjic-100	304	10	-	-	PUNCT
hjic-100	304	11	time	time	NOUN
hjic-100	304	12	lti	lti	PROPN
hjic-100	304	13	systems	system	NOUN
hjic-100	304	14	with	with	ADP
hjic-100	304	15	persistent	persistent	ADJ
hjic-100	304	16	state	state	NOUN
hjic-100	304	17	disturbances	disturbance	NOUN
hjic-100	304	18	.	.	PUNCT
hjic-100	305	1	42th	42th	ADJ
hjic-100	305	2	conference	conference	NOUN
hjic-100	305	3	on	on	ADP
hjic-100	305	4	decision	decision	NOUN
hjic-100	305	5	and	and	CCONJ
hjic-100	305	6	control	control	NOUN
hjic-100	305	7	,	,	PUNCT
hjic-100	305	8	2003	2003	NUM
hjic-100	305	9	.	.	PUNCT
hjic-100	306	1	9	9	NUM
hjic-100	306	2	.	.	X
hjic-100	306	3	z.	z.	PROPN
hjic-100	306	4	szabó	szabó	PROPN
hjic-100	306	5	,	,	PUNCT
hjic-100	306	6	p.	p.	PROPN
hjic-100	306	7	gáspár	gáspár	PROPN
hjic-100	306	8	and	and	CCONJ
hjic-100	306	9	j.	j.	PROPN
hjic-100	306	10	bokor	bokor	PROPN
hjic-100	306	11	:	:	PUNCT
hjic-100	306	12	reference	reference	NOUN
hjic-100	306	13	tracking	tracking	NOUN
hjic-100	306	14	of	of	ADP
hjic-100	306	15	wiener	wiener	NOUN
hjic-100	306	16	systems	system	NOUN
hjic-100	306	17	using	use	VERB
hjic-100	306	18	dynamic	dynamic	ADJ
hjic-100	306	19	inversion	inversion	NOUN
hjic-100	306	20	.	.	PUNCT
hjic-100	307	1	in	in	ADP
hjic-100	307	2	2005	2005	NUM
hjic-100	307	3	international	international	ADJ
hjic-100	307	4	symposium	symposium	NOUN
hjic-100	307	5	on	on	ADP
hjic-100	307	6	intelligent	intelligent	ADJ
hjic-100	307	7	control	control	NOUN
hjic-100	307	8	,	,	PUNCT
hjic-100	307	9	limassol	limassol	PROPN
hjic-100	307	10	,	,	PUNCT
hjic-100	307	11	cyprus	cyprus	PROPN
hjic-100	307	12	,	,	PUNCT
hjic-100	307	13	pages	page	NOUN
hjic-100	307	14	on	on	ADP
hjic-100	307	15	cd	cd	PROPN
hjic-100	307	16	,	,	PUNCT
hjic-100	307	17	paper	paper	NOUN
hjic-100	307	18	i	i	PROPN
hjic-100	307	19	d	d	PROPN
hjic-100	307	20	:	:	PUNCT
hjic-100	307	21	wea06.5	wea06.5	X
hjic-100	307	22	.	.	NOUN
hjic-100	307	23	2005	2005	NUM
hjic-100	307	24	.	.	PUNCT
hjic-100	308	1	10	10	NUM
hjic-100	308	2	.	.	PUNCT
hjic-100	308	3	i.	i.	PROPN
hjic-100	308	4	varga	varga	PROPN
hjic-100	308	5	,	,	PUNCT
hjic-100	308	6	g.	g.	PROPN
hjic-100	308	7	szederkényi	szederkényi	PROPN
hjic-100	308	8	,	,	PUNCT
hjic-100	308	9	k.	k.	PROPN
hjic-100	308	10	m.	m.	PROPN
hjic-100	308	11	hangos	hangos	PROPN
hjic-100	308	12	and	and	CCONJ
hjic-100	308	13	j.	j.	PROPN
hjic-100	308	14	bokor	bokor	PROPN
hjic-100	308	15	:	:	PUNCT
hjic-100	308	16	modelling	modelling	NOUN
hjic-100	308	17	and	and	CCONJ
hjic-100	308	18	model	model	NOUN
hjic-100	308	19	identification	identification	NOUN
hjic-100	308	20	of	of	ADP
hjic-100	308	21	a	a	DET
hjic-100	308	22	pressurizer	pressurizer	NOUN
hjic-100	308	23	at	at	ADP
hjic-100	308	24	the	the	DET
hjic-100	308	25	paks	pak	NOUN
hjic-100	308	26	nuclear	nuclear	ADJ
hjic-100	308	27	power	power	NOUN
hjic-100	308	28	plant	plant	NOUN
hjic-100	308	29	.	.	PUNCT
hjic-100	309	1	in	in	ADP
hjic-100	309	2	14th	14th	ADJ
hjic-100	309	3	ifac	ifac	NOUN
hjic-100	309	4	symposium	symposium	NOUN
hjic-100	309	5	on	on	ADP
hjic-100	309	6	system	system	NOUN
hjic-100	309	7	identification	identification	NOUN
hjic-100	309	8	.	.	PUNCT
hjic-100	310	1	(	(	PUNCT
hjic-100	310	2	submitted	submit	VERB
hjic-100	310	3	)	)	PUNCT
hjic-100	310	4	,	,	PUNCT
hjic-100	310	5	2006	2006	NUM
hjic-100	310	6	.	.	PUNCT
hjic-100	311	1	figure	figure	NOUN
hjic-100	311	2	8	8	NUM
hjic-100	311	3	:	:	PUNCT
hjic-100	311	4	true	true	ADJ
hjic-100	311	5	(	(	PUNCT
hjic-100	311	6	solid	solid	ADJ
hjic-100	311	7	)	)	PUNCT
hjic-100	311	8	and	and	CCONJ
hjic-100	311	9	estimated	estimate	VERB
hjic-100	311	10	(	(	PUNCT
hjic-100	311	11	dashed	dash	VERB
hjic-100	311	12	)	)	PUNCT
hjic-100	311	13	states	state	NOUN
hjic-100	311	14	and	and	CCONJ
hjic-100	311	15	estimation	estimation	NOUN
hjic-100	311	16	error	error	NOUN
hjic-100	311	17	.	.	PUNCT
hjic-100	312	1	http://www.vtt.fi/tuo/63/apros/	http://www.vtt.fi/tuo/63/apros/	PROPN