id	sid	tid	token	lemma	pos
hjic-130	1	1	microsoft	microsoft	PROPN
hjic-130	1	2	word	word	NOUN
hjic-130	1	3	01_r.doc	01_r.doc	NUM
hjic-130	1	4	hungarian	hungarian	ADJ
hjic-130	1	5	journal	journal	NOUN
hjic-130	1	6	of	of	ADP
hjic-130	1	7	industrial	industrial	ADJ
hjic-130	1	8	chemistry	chemistry	NOUN
hjic-130	1	9	veszprém	veszprém	NOUN
hjic-130	1	10	vol	vol	NOUN
hjic-130	1	11	.	.	PROPN
hjic-130	2	1	35	35	NUM
hjic-130	2	2	.	.	PUNCT
hjic-130	3	1	pp	pp	ADJ
hjic-130	3	2	.	.	PUNCT
hjic-130	4	1	47	47	NUM
hjic-130	4	2	-	-	SYM
hjic-130	4	3	55	55	NUM
hjic-130	4	4	(	(	PUNCT
hjic-130	4	5	2007	2007	NUM
hjic-130	4	6	)	)	PUNCT
hjic-130	4	7	control	control	NOUN
hjic-130	4	8	structures	structure	NOUN
hjic-130	4	9	based	base	VERB
hjic-130	4	10	on	on	ADP
hjic-130	4	11	constrained	constrain	VERB
hjic-130	4	12	inverses	inverses	PROPN
hjic-130	4	13	f.	f.	PROPN
hjic-130	4	14	szeifert	szeifert	PROPN
hjic-130	4	15	,	,	PUNCT
hjic-130	4	16	t.	t.	PROPN
hjic-130	4	17	chován	chován	PROPN
hjic-130	4	18	,	,	PUNCT
hjic-130	4	19	l.	l.	PROPN
hjic-130	4	20	nagy	nagy	PROPN
hjic-130	4	21	university	university	PROPN
hjic-130	4	22	of	of	ADP
hjic-130	4	23	pannonia	pannonia	PROPN
hjic-130	4	24	,	,	PUNCT
hjic-130	4	25	department	department	NOUN
hjic-130	4	26	of	of	ADP
hjic-130	4	27	process	process	NOUN
hjic-130	4	28	engineering	engineering	NOUN
hjic-130	4	29	,	,	PUNCT
hjic-130	4	30	h-8201	h-8201	NUM
hjic-130	4	31	veszprém	veszprém	NOUN
hjic-130	4	32	,	,	PUNCT
hjic-130	4	33	p.o	p.o	PROPN
hjic-130	4	34	.	.	PROPN
hjic-130	4	35	box	box	PROPN
hjic-130	4	36	158	158	NUM
hjic-130	4	37	,	,	PUNCT
hjic-130	4	38	hungary	hungary	VERB
hjic-130	4	39	the	the	DET
hjic-130	4	40	widespread	widespread	ADJ
hjic-130	4	41	use	use	NOUN
hjic-130	4	42	of	of	ADP
hjic-130	4	43	the	the	DET
hjic-130	4	44	pid	pid	NOUN
hjic-130	4	45	algorithms	algorithm	NOUN
hjic-130	4	46	in	in	ADP
hjic-130	4	47	the	the	DET
hjic-130	4	48	classical	classical	ADJ
hjic-130	4	49	feedback	feedback	NOUN
hjic-130	4	50	scheme	scheme	NOUN
hjic-130	4	51	is	be	AUX
hjic-130	4	52	due	due	ADJ
hjic-130	4	53	to	to	ADP
hjic-130	4	54	the	the	DET
hjic-130	4	55	following	following	NOUN
hjic-130	4	56	to	to	ADP
hjic-130	4	57	basic	basic	ADJ
hjic-130	4	58	reasons	reason	NOUN
hjic-130	4	59	:	:	PUNCT
hjic-130	4	60	the	the	DET
hjic-130	4	61	role	role	NOUN
hjic-130	4	62	of	of	ADP
hjic-130	4	63	pid	pid	NOUN
hjic-130	4	64	-	-	PUNCT
hjic-130	4	65	controllers	controller	NOUN
hjic-130	4	66	in	in	ADP
hjic-130	4	67	the	the	DET
hjic-130	4	68	traditional	traditional	ADJ
hjic-130	4	69	process	process	NOUN
hjic-130	4	70	control	control	NOUN
hjic-130	4	71	profession	profession	NOUN
hjic-130	4	72	,	,	PUNCT
hjic-130	4	73	and	and	CCONJ
hjic-130	4	74	the	the	DET
hjic-130	4	75	good	good	ADJ
hjic-130	4	76	control	control	NOUN
hjic-130	4	77	performance	performance	NOUN
hjic-130	4	78	achieved	achieve	VERB
hjic-130	4	79	at	at	ADP
hjic-130	4	80	the	the	DET
hjic-130	4	81	local	local	ADJ
hjic-130	4	82	control	control	NOUN
hjic-130	4	83	level	level	NOUN
hjic-130	4	84	.	.	PUNCT
hjic-130	5	1	present	present	ADJ
hjic-130	5	2	paper	paper	NOUN
hjic-130	5	3	proposes	propose	VERB
hjic-130	5	4	a	a	DET
hjic-130	5	5	well	well	ADV
hjic-130	5	6	structured	structure	VERB
hjic-130	5	7	control	control	NOUN
hjic-130	5	8	solution	solution	NOUN
hjic-130	5	9	for	for	ADP
hjic-130	5	10	the	the	DET
hjic-130	5	11	local	local	ADJ
hjic-130	5	12	control	control	NOUN
hjic-130	5	13	level	level	NOUN
hjic-130	5	14	allowing	allow	VERB
hjic-130	5	15	the	the	DET
hjic-130	5	16	integration	integration	NOUN
hjic-130	5	17	of	of	ADP
hjic-130	5	18	different	different	ADJ
hjic-130	5	19	types	type	NOUN
hjic-130	5	20	of	of	ADP
hjic-130	5	21	engineering	engineering	NOUN
hjic-130	5	22	information	information	NOUN
hjic-130	5	23	into	into	ADP
hjic-130	5	24	the	the	DET
hjic-130	5	25	control	control	NOUN
hjic-130	5	26	algorithm	algorithm	NOUN
hjic-130	5	27	.	.	PUNCT
hjic-130	6	1	based	base	VERB
hjic-130	6	2	on	on	ADP
hjic-130	6	3	a	a	DET
hjic-130	6	4	comparative	comparative	ADJ
hjic-130	6	5	study	study	NOUN
hjic-130	6	6	of	of	ADP
hjic-130	6	7	the	the	DET
hjic-130	6	8	structures	structure	NOUN
hjic-130	6	9	of	of	ADP
hjic-130	6	10	pid	pid	NOUN
hjic-130	6	11	and	and	CCONJ
hjic-130	6	12	imc	imc	PROPN
hjic-130	6	13	controllers	controller	NOUN
hjic-130	6	14	a	a	DET
hjic-130	6	15	novel	novel	ADJ
hjic-130	6	16	control	control	NOUN
hjic-130	6	17	structure	structure	NOUN
hjic-130	6	18	with	with	ADP
hjic-130	6	19	two	two	NUM
hjic-130	6	20	degrees	degree	NOUN
hjic-130	6	21	of	of	ADP
hjic-130	6	22	freedom	freedom	NOUN
hjic-130	6	23	(	(	PUNCT
hjic-130	6	24	or	or	CCONJ
hjic-130	6	25	three	three	NUM
hjic-130	6	26	if	if	SCONJ
hjic-130	6	27	the	the	DET
hjic-130	6	28	possibility	possibility	NOUN
hjic-130	6	29	of	of	ADP
hjic-130	6	30	adaptation	adaptation	NOUN
hjic-130	6	31	is	be	AUX
hjic-130	6	32	considered	consider	VERB
hjic-130	6	33	too	too	ADV
hjic-130	6	34	)	)	PUNCT
hjic-130	6	35	is	be	AUX
hjic-130	6	36	defined	define	VERB
hjic-130	6	37	.	.	PUNCT
hjic-130	7	1	the	the	DET
hjic-130	7	2	application	application	NOUN
hjic-130	7	3	of	of	ADP
hjic-130	7	4	the	the	DET
hjic-130	7	5	new	new	ADJ
hjic-130	7	6	control	control	NOUN
hjic-130	7	7	structure	structure	NOUN
hjic-130	7	8	is	be	AUX
hjic-130	7	9	illustrated	illustrate	VERB
hjic-130	7	10	by	by	ADP
hjic-130	7	11	the	the	DET
hjic-130	7	12	example	example	NOUN
hjic-130	7	13	of	of	ADP
hjic-130	7	14	the	the	DET
hjic-130	7	15	temperature	temperature	NOUN
hjic-130	7	16	control	control	NOUN
hjic-130	7	17	in	in	ADP
hjic-130	7	18	a	a	DET
hjic-130	7	19	laboratory	laboratory	NOUN
hjic-130	7	20	water	water	NOUN
hjic-130	7	21	heater	heater	NOUN
hjic-130	7	22	system	system	NOUN
hjic-130	7	23	.	.	PUNCT
hjic-130	8	1	keywords	keyword	NOUN
hjic-130	8	2	:	:	PUNCT
hjic-130	8	3	pid	pid	NUM
hjic-130	8	4	,	,	PUNCT
hjic-130	8	5	imc	imc	PROPN
hjic-130	8	6	,	,	PUNCT
hjic-130	8	7	constrained	constrain	VERB
hjic-130	8	8	inverse	inverse	NOUN
hjic-130	8	9	introduction	introduction	NOUN
hjic-130	8	10	more	more	ADV
hjic-130	8	11	open	open	ADJ
hjic-130	8	12	control	control	NOUN
hjic-130	8	13	solutions	solution	NOUN
hjic-130	8	14	which	which	PRON
hjic-130	8	15	,	,	PUNCT
hjic-130	8	16	at	at	ADP
hjic-130	8	17	the	the	DET
hjic-130	8	18	same	same	ADJ
hjic-130	8	19	time	time	NOUN
hjic-130	8	20	,	,	PUNCT
hjic-130	8	21	allow	allow	VERB
hjic-130	8	22	taking	take	VERB
hjic-130	8	23	into	into	ADP
hjic-130	8	24	account	account	NOUN
hjic-130	8	25	the	the	DET
hjic-130	8	26	inherent	inherent	ADJ
hjic-130	8	27	steady	steady	ADJ
hjic-130	8	28	-	-	PUNCT
hjic-130	8	29	state	state	NOUN
hjic-130	8	30	and	and	CCONJ
hjic-130	8	31	unsteady	unsteady	ADJ
hjic-130	8	32	-	-	PUNCT
hjic-130	8	33	state	state	ADJ
hjic-130	8	34	(	(	PUNCT
hjic-130	8	35	dynamic	dynamic	ADJ
hjic-130	8	36	)	)	PUNCT
hjic-130	8	37	characteristics	characteristic	NOUN
hjic-130	8	38	of	of	ADP
hjic-130	8	39	the	the	DET
hjic-130	8	40	process	process	NOUN
hjic-130	8	41	are	be	AUX
hjic-130	8	42	recently	recently	ADV
hjic-130	8	43	introduced	introduce	VERB
hjic-130	8	44	for	for	ADP
hjic-130	8	45	chemical	chemical	NOUN
hjic-130	8	46	processes	process	NOUN
hjic-130	8	47	,	,	PUNCT
hjic-130	8	48	too	too	ADV
hjic-130	8	49	.	.	PUNCT
hjic-130	9	1	in	in	ADP
hjic-130	9	2	spite	spite	NOUN
hjic-130	9	3	of	of	ADP
hjic-130	9	4	the	the	DET
hjic-130	9	5	fact	fact	NOUN
hjic-130	9	6	that	that	SCONJ
hjic-130	9	7	the	the	DET
hjic-130	9	8	ifac	ifac	NOUN
hjic-130	9	9	technical	technical	PROPN
hjic-130	9	10	committee	committee	NOUN
hjic-130	9	11	on	on	ADP
hjic-130	9	12	“	"	PUNCT
hjic-130	9	13	chemical	chemical	NOUN
hjic-130	9	14	process	process	NOUN
hjic-130	9	15	control	control	NOUN
hjic-130	9	16	”	"	PUNCT
hjic-130	9	17	has	have	AUX
hjic-130	9	18	already	already	ADV
hjic-130	9	19	outlined	outline	VERB
hjic-130	9	20	the	the	DET
hjic-130	9	21	necessity	necessity	NOUN
hjic-130	9	22	of	of	ADP
hjic-130	9	23	the	the	DET
hjic-130	9	24	integration	integration	NOUN
hjic-130	9	25	of	of	ADP
hjic-130	9	26	process	process	NOUN
hjic-130	9	27	design	design	NOUN
hjic-130	9	28	and	and	CCONJ
hjic-130	9	29	control	control	NOUN
hjic-130	9	30	design	design	NOUN
hjic-130	9	31	at	at	ADP
hjic-130	9	32	its	its	PRON
hjic-130	9	33	world	world	NOUN
hjic-130	9	34	congress	congress	PROPN
hjic-130	9	35	in	in	ADP
hjic-130	9	36	1994	1994	NUM
hjic-130	9	37	,	,	PUNCT
hjic-130	9	38	the	the	DET
hjic-130	9	39	broader	broad	ADJ
hjic-130	9	40	application	application	NOUN
hjic-130	9	41	of	of	ADP
hjic-130	9	42	control	control	NOUN
hjic-130	9	43	solutions	solution	NOUN
hjic-130	9	44	mapping	map	VERB
hjic-130	9	45	all	all	DET
hjic-130	9	46	the	the	DET
hjic-130	9	47	aspects	aspect	NOUN
hjic-130	9	48	of	of	ADP
hjic-130	9	49	process	process	NOUN
hjic-130	9	50	characteristics	characteristic	NOUN
hjic-130	9	51	directly	directly	ADV
hjic-130	9	52	requires	require	VERB
hjic-130	9	53	much	much	ADV
hjic-130	9	54	more	more	ADJ
hjic-130	9	55	time	time	NOUN
hjic-130	9	56	.	.	PUNCT
hjic-130	10	1	this	this	DET
hjic-130	10	2	integration	integration	NOUN
hjic-130	10	3	can	can	AUX
hjic-130	10	4	assure	assure	VERB
hjic-130	10	5	that	that	SCONJ
hjic-130	10	6	the	the	DET
hjic-130	10	7	a	a	DET
hjic-130	10	8	priori	priori	X
hjic-130	10	9	chemical	chemical	NOUN
hjic-130	10	10	engineering	engineering	NOUN
hjic-130	10	11	knowledge	knowledge	NOUN
hjic-130	10	12	used	use	VERB
hjic-130	10	13	in	in	ADP
hjic-130	10	14	the	the	DET
hjic-130	10	15	process	process	NOUN
hjic-130	10	16	design	design	NOUN
hjic-130	10	17	could	could	AUX
hjic-130	10	18	be	be	AUX
hjic-130	10	19	employed	employ	VERB
hjic-130	10	20	in	in	ADP
hjic-130	10	21	the	the	DET
hjic-130	10	22	development	development	NOUN
hjic-130	10	23	of	of	ADP
hjic-130	10	24	the	the	DET
hjic-130	10	25	control	control	NOUN
hjic-130	10	26	algorithms	algorithm	NOUN
hjic-130	10	27	in	in	ADP
hjic-130	10	28	an	an	DET
hjic-130	10	29	explicit	explicit	ADJ
hjic-130	10	30	way	way	NOUN
hjic-130	10	31	.	.	PUNCT
hjic-130	11	1	the	the	DET
hjic-130	11	2	introduction	introduction	NOUN
hjic-130	11	3	of	of	ADP
hjic-130	11	4	this	this	DET
hjic-130	11	5	methodology	methodology	NOUN
hjic-130	11	6	is	be	AUX
hjic-130	11	7	slowed	slow	VERB
hjic-130	11	8	down	down	ADP
hjic-130	11	9	by	by	ADP
hjic-130	11	10	several	several	ADJ
hjic-130	11	11	factors	factor	NOUN
hjic-130	11	12	:	:	PUNCT
hjic-130	11	13	●	●	PUNCT
hjic-130	11	14	it	it	PRON
hjic-130	11	15	is	be	AUX
hjic-130	11	16	well	well	ADV
hjic-130	11	17	known	know	VERB
hjic-130	11	18	that	that	SCONJ
hjic-130	11	19	in	in	ADP
hjic-130	11	20	the	the	DET
hjic-130	11	21	most	most	ADJ
hjic-130	11	22	part	part	NOUN
hjic-130	11	23	of	of	ADP
hjic-130	11	24	chemical	chemical	NOUN
hjic-130	11	25	process	process	NOUN
hjic-130	11	26	control	control	NOUN
hjic-130	11	27	pid	pid	NOUN
hjic-130	11	28	controllers	controller	NOUN
hjic-130	11	29	,	,	PUNCT
hjic-130	11	30	that	that	PRON
hjic-130	11	31	map	map	VERB
hjic-130	11	32	the	the	DET
hjic-130	11	33	model	model	NOUN
hjic-130	11	34	of	of	ADP
hjic-130	11	35	the	the	DET
hjic-130	11	36	traditional	traditional	ADJ
hjic-130	11	37	instrumental	instrumental	ADJ
hjic-130	11	38	controllers	controller	NOUN
hjic-130	11	39	,	,	PUNCT
hjic-130	11	40	are	be	AUX
hjic-130	11	41	used	use	VERB
hjic-130	11	42	.	.	PUNCT
hjic-130	12	1	the	the	DET
hjic-130	12	2	digital	digital	ADJ
hjic-130	12	3	technology	technology	NOUN
hjic-130	12	4	allowed	allow	VERB
hjic-130	12	5	the	the	DET
hjic-130	12	6	implementation	implementation	NOUN
hjic-130	12	7	of	of	ADP
hjic-130	12	8	several	several	ADJ
hjic-130	12	9	pid	pid	NOUN
hjic-130	12	10	-	-	PUNCT
hjic-130	12	11	modifications	modification	NOUN
hjic-130	12	12	softening	soften	VERB
hjic-130	12	13	the	the	DET
hjic-130	12	14	difficulties	difficulty	NOUN
hjic-130	12	15	of	of	ADP
hjic-130	12	16	the	the	DET
hjic-130	12	17	application	application	NOUN
hjic-130	12	18	of	of	ADP
hjic-130	12	19	common	common	ADJ
hjic-130	12	20	pid	pid	NOUN
hjic-130	12	21	-	-	NOUN
hjic-130	12	22	algorithms	algorithms	NOUN
hjic-130	12	23	in	in	ADP
hjic-130	12	24	many	many	ADJ
hjic-130	12	25	cases	case	NOUN
hjic-130	12	26	.	.	PUNCT
hjic-130	13	1	the	the	DET
hjic-130	13	2	consequence	consequence	NOUN
hjic-130	13	3	is	be	AUX
hjic-130	13	4	that	that	SCONJ
hjic-130	13	5	configuring	configure	VERB
hjic-130	13	6	a	a	DET
hjic-130	13	7	real	real	ADJ
hjic-130	13	8	control	control	NOUN
hjic-130	13	9	loop	loop	NOUN
hjic-130	13	10	on	on	ADP
hjic-130	13	11	the	the	DET
hjic-130	13	12	control	control	NOUN
hjic-130	13	13	system	system	NOUN
hjic-130	13	14	involves	involve	VERB
hjic-130	13	15	determining	determine	VERB
hjic-130	13	16	numerous	numerous	ADJ
hjic-130	13	17	structural	structural	ADJ
hjic-130	13	18	and	and	CCONJ
hjic-130	13	19	calculation	calculation	NOUN
hjic-130	13	20	parameters	parameter	NOUN
hjic-130	13	21	beside	beside	ADP
hjic-130	13	22	the	the	DET
hjic-130	13	23	three	three	NUM
hjic-130	13	24	original	original	ADJ
hjic-130	13	25	control	control	NOUN
hjic-130	13	26	parameters	parameter	NOUN
hjic-130	13	27	.	.	PUNCT
hjic-130	14	1	this	this	DET
hjic-130	14	2	way	way	NOUN
hjic-130	14	3	the	the	DET
hjic-130	14	4	simple	simple	ADJ
hjic-130	14	5	algorithm	algorithm	NOUN
hjic-130	14	6	loses	lose	VERB
hjic-130	14	7	its	its	PRON
hjic-130	14	8	transparency	transparency	NOUN
hjic-130	14	9	and	and	CCONJ
hjic-130	14	10	makes	make	VERB
hjic-130	14	11	it	it	PRON
hjic-130	14	12	almost	almost	ADV
hjic-130	14	13	impossible	impossible	ADJ
hjic-130	14	14	for	for	ADP
hjic-130	14	15	the	the	DET
hjic-130	14	16	personnel	personnel	NOUN
hjic-130	14	17	operating	operate	VERB
hjic-130	14	18	the	the	DET
hjic-130	14	19	process	process	NOUN
hjic-130	14	20	application	application	NOUN
hjic-130	14	21	carefully	carefully	ADV
hjic-130	14	22	the	the	DET
hjic-130	14	23	tuning	tuning	NOUN
hjic-130	14	24	methods	method	NOUN
hjic-130	14	25	of	of	ADP
hjic-130	14	26	the	the	DET
hjic-130	14	27	control	control	NOUN
hjic-130	14	28	theory	theory	NOUN
hjic-130	14	29	enforcing	enforce	VERB
hjic-130	14	30	the	the	DET
hjic-130	14	31	application	application	NOUN
hjic-130	14	32	of	of	ADP
hjic-130	14	33	empirical	empirical	ADJ
hjic-130	14	34	tuning	tuning	NOUN
hjic-130	14	35	techniques	technique	NOUN
hjic-130	14	36	.	.	PUNCT
hjic-130	15	1	according	accord	VERB
hjic-130	15	2	to	to	ADP
hjic-130	15	3	an	an	DET
hjic-130	15	4	estimation	estimation	NOUN
hjic-130	15	5	,	,	PUNCT
hjic-130	15	6	the	the	DET
hjic-130	15	7	ratio	ratio	NOUN
hjic-130	15	8	of	of	ADP
hjic-130	15	9	pid	pid	NOUN
hjic-130	15	10	controllers	controller	NOUN
hjic-130	15	11	is	be	AUX
hjic-130	15	12	98	98	NUM
hjic-130	15	13	%	%	NOUN
hjic-130	15	14	in	in	ADP
hjic-130	15	15	an	an	DET
hjic-130	15	16	average	average	ADJ
hjic-130	15	17	chemical	chemical	NOUN
hjic-130	15	18	process	process	NOUN
hjic-130	15	19	and	and	CCONJ
hjic-130	15	20	only	only	ADV
hjic-130	15	21	5	5	NUM
hjic-130	15	22	-	-	SYM
hjic-130	15	23	10	10	NUM
hjic-130	15	24	%	%	NOUN
hjic-130	15	25	can	can	AUX
hjic-130	15	26	be	be	AUX
hjic-130	15	27	considered	consider	VERB
hjic-130	15	28	as	as	ADP
hjic-130	15	29	more	more	ADV
hjic-130	15	30	advanced	advanced	ADJ
hjic-130	15	31	solution	solution	NOUN
hjic-130	15	32	.	.	PUNCT
hjic-130	16	1	among	among	ADP
hjic-130	16	2	these	these	PRON
hjic-130	16	3	,	,	PUNCT
hjic-130	16	4	80	80	NUM
hjic-130	16	5	%	%	NOUN
hjic-130	16	6	of	of	ADP
hjic-130	16	7	industrial	industrial	ADJ
hjic-130	16	8	pid	pid	PROPN
hjic-130	16	9	-	-	PUNCT
hjic-130	16	10	controllers	controller	NOUN
hjic-130	16	11	are	be	AUX
hjic-130	16	12	poorly	poorly	ADV
hjic-130	16	13	tuned	tune	VERB
hjic-130	16	14	,	,	PUNCT
hjic-130	16	15	30	30	NUM
hjic-130	16	16	%	%	NOUN
hjic-130	16	17	of	of	ADP
hjic-130	16	18	them	they	PRON
hjic-130	16	19	are	be	AUX
hjic-130	16	20	operated	operate	VERB
hjic-130	16	21	in	in	ADP
hjic-130	16	22	manual	manual	ADJ
hjic-130	16	23	mode	mode	NOUN
hjic-130	16	24	and	and	CCONJ
hjic-130	16	25	30	30	NUM
hjic-130	16	26	%	%	NOUN
hjic-130	16	27	of	of	ADP
hjic-130	16	28	them	they	PRON
hjic-130	16	29	use	use	VERB
hjic-130	16	30	the	the	DET
hjic-130	16	31	parameters	parameter	NOUN
hjic-130	16	32	set	set	VERB
hjic-130	16	33	at	at	ADP
hjic-130	16	34	commissioning	commission	VERB
hjic-130	16	35	[	[	X
hjic-130	16	36	1	1	NUM
hjic-130	16	37	]	]	PUNCT
hjic-130	16	38	.	.	PUNCT
hjic-130	17	1	limited	limited	ADJ
hjic-130	17	2	competitors	competitor	NOUN
hjic-130	17	3	of	of	ADP
hjic-130	17	4	pid	pid	PROPN
hjic-130	17	5	-	-	PUNCT
hjic-130	17	6	controllers	controller	NOUN
hjic-130	17	7	are	be	AUX
hjic-130	17	8	the	the	DET
hjic-130	17	9	mpc	mpc	NOUN
hjic-130	17	10	techniques	technique	NOUN
hjic-130	17	11	which	which	PRON
hjic-130	17	12	are	be	AUX
hjic-130	17	13	mainly	mainly	ADV
hjic-130	17	14	applied	apply	VERB
hjic-130	17	15	at	at	ADP
hjic-130	17	16	the	the	DET
hjic-130	17	17	hierarchy	hierarchy	NOUN
hjic-130	17	18	level	level	NOUN
hjic-130	17	19	above	above	ADP
hjic-130	17	20	the	the	DET
hjic-130	17	21	pid	pid	NOUN
hjic-130	17	22	-	-	PUNCT
hjic-130	17	23	controllers	controller	NOUN
hjic-130	17	24	.	.	PUNCT
hjic-130	18	1	●	●	PUNCT
hjic-130	18	2	control	control	NOUN
hjic-130	18	3	theory	theory	NOUN
hjic-130	18	4	has	have	VERB
hjic-130	18	5	a	a	DET
hjic-130	18	6	wide	wide	ADJ
hjic-130	18	7	range	range	NOUN
hjic-130	18	8	of	of	ADP
hjic-130	18	9	linear	linear	PROPN
hjic-130	18	10	techniques	technique	NOUN
hjic-130	18	11	,	,	PUNCT
hjic-130	18	12	however	however	ADV
hjic-130	18	13	thorough	thorough	ADJ
hjic-130	18	14	investigation	investigation	NOUN
hjic-130	18	15	the	the	DET
hjic-130	18	16	prerequisites	prerequisite	NOUN
hjic-130	18	17	of	of	ADP
hjic-130	18	18	the	the	DET
hjic-130	18	19	practical	practical	ADJ
hjic-130	18	20	applications	application	NOUN
hjic-130	18	21	has	have	AUX
hjic-130	18	22	started	start	VERB
hjic-130	18	23	only	only	ADV
hjic-130	18	24	recently	recently	ADV
hjic-130	18	25	.	.	PUNCT
hjic-130	19	1	measurement	measurement	NOUN
hjic-130	19	2	noises	noise	NOUN
hjic-130	19	3	got	get	VERB
hjic-130	19	4	a	a	DET
hjic-130	19	5	large	large	ADJ
hjic-130	19	6	attention	attention	NOUN
hjic-130	19	7	from	from	ADP
hjic-130	19	8	the	the	DET
hjic-130	19	9	beginning	beginning	NOUN
hjic-130	19	10	;	;	PUNCT
hjic-130	19	11	while	while	SCONJ
hjic-130	19	12	the	the	DET
hjic-130	19	13	dead	dead	ADJ
hjic-130	19	14	-	-	PUNCT
hjic-130	19	15	time	time	NOUN
hjic-130	19	16	,	,	PUNCT
hjic-130	19	17	steady	steady	ADJ
hjic-130	19	18	-	-	PUNCT
hjic-130	19	19	state	state	NOUN
hjic-130	19	20	characteristics	characteristic	NOUN
hjic-130	19	21	(	(	PUNCT
hjic-130	19	22	e.g.	e.g.	ADV
hjic-130	19	23	nonlinearity	nonlinearity	NOUN
hjic-130	19	24	of	of	ADP
hjic-130	19	25	valves	valve	NOUN
hjic-130	19	26	)	)	PUNCT
hjic-130	19	27	,	,	PUNCT
hjic-130	19	28	the	the	DET
hjic-130	19	29	constraints	constraint	NOUN
hjic-130	19	30	of	of	ADP
hjic-130	19	31	control	control	NOUN
hjic-130	19	32	outputs	output	NOUN
hjic-130	19	33	,	,	PUNCT
hjic-130	19	34	the	the	DET
hjic-130	19	35	model	model	NOUN
hjic-130	19	36	error	error	NOUN
hjic-130	19	37	and	and	CCONJ
hjic-130	19	38	the	the	DET
hjic-130	19	39	effect	effect	NOUN
hjic-130	19	40	of	of	ADP
hjic-130	19	41	the	the	DET
hjic-130	19	42	non	non	ADJ
hjic-130	19	43	-	-	ADJ
hjic-130	19	44	measured	measured	ADJ
hjic-130	19	45	disturbances	disturbance	NOUN
hjic-130	19	46	are	be	AUX
hjic-130	19	47	getting	get	VERB
hjic-130	19	48	into	into	ADP
hjic-130	19	49	the	the	DET
hjic-130	19	50	researchers	researcher	NOUN
hjic-130	19	51	’	’	PART
hjic-130	19	52	interest	interest	NOUN
hjic-130	19	53	only	only	ADV
hjic-130	19	54	recently	recently	ADV
hjic-130	19	55	.	.	PUNCT
hjic-130	20	1	●	●	PUNCT
hjic-130	20	2	the	the	DET
hjic-130	20	3	chemical	chemical	ADJ
hjic-130	20	4	engineering	engineering	NOUN
hjic-130	20	5	knowledge	knowledge	NOUN
hjic-130	20	6	regarding	regard	VERB
hjic-130	20	7	the	the	DET
hjic-130	20	8	process	process	NOUN
hjic-130	20	9	is	be	AUX
hjic-130	20	10	principally	principally	ADV
hjic-130	20	11	given	give	VERB
hjic-130	20	12	in	in	ADP
hjic-130	20	13	form	form	NOUN
hjic-130	20	14	of	of	ADP
hjic-130	20	15	balances	balance	NOUN
hjic-130	20	16	for	for	ADP
hjic-130	20	17	the	the	DET
hjic-130	20	18	phase	phase	NOUN
hjic-130	20	19	masses	mass	VERB
hjic-130	20	20	,	,	PUNCT
hjic-130	20	21	the	the	DET
hjic-130	20	22	component	component	NOUN
hjic-130	20	23	masses	mass	VERB
hjic-130	20	24	,	,	PUNCT
hjic-130	20	25	the	the	DET
hjic-130	20	26	enthalpy	enthalpy	NOUN
hjic-130	20	27	(	(	PUNCT
hjic-130	20	28	heat	heat	NOUN
hjic-130	20	29	)	)	PUNCT
hjic-130	20	30	and	and	CCONJ
hjic-130	20	31	maybe	maybe	ADV
hjic-130	20	32	the	the	DET
hjic-130	20	33	momentum	momentum	NOUN
hjic-130	20	34	which	which	PRON
hjic-130	20	35	is	be	AUX
hjic-130	20	36	a	a	DET
hjic-130	20	37	complex	complex	ADJ
hjic-130	20	38	set	set	NOUN
hjic-130	20	39	of	of	ADP
hjic-130	20	40	partial	partial	ADJ
hjic-130	20	41	differential	differential	NOUN
hjic-130	20	42	equations	equation	NOUN
hjic-130	20	43	supplemented	supplement	VERB
hjic-130	20	44	with	with	ADP
hjic-130	20	45	the	the	DET
hjic-130	20	46	constitutive	constitutive	ADJ
hjic-130	20	47	algebraic	algebraic	ADJ
hjic-130	20	48	equations	equation	NOUN
hjic-130	20	49	.	.	PUNCT
hjic-130	21	1	in	in	ADP
hjic-130	21	2	process	process	NOUN
hjic-130	21	3	design	design	NOUN
hjic-130	21	4	generally	generally	ADV
hjic-130	21	5	the	the	DET
hjic-130	21	6	simplified	simplified	ADJ
hjic-130	21	7	steady	steady	ADJ
hjic-130	21	8	-	-	PUNCT
hjic-130	21	9	state	state	NOUN
hjic-130	21	10	form	form	NOUN
hjic-130	21	11	of	of	ADP
hjic-130	21	12	the	the	DET
hjic-130	21	13	equation	equation	NOUN
hjic-130	21	14	set	set	VERB
hjic-130	21	15	is	be	AUX
hjic-130	21	16	used	use	VERB
hjic-130	21	17	.	.	PUNCT
hjic-130	22	1	the	the	DET
hjic-130	22	2	chemical	chemical	NOUN
hjic-130	22	3	engineering	engineering	NOUN
hjic-130	22	4	approach	approach	NOUN
hjic-130	22	5	can	can	AUX
hjic-130	22	6	be	be	AUX
hjic-130	22	7	mainly	mainly	ADV
hjic-130	22	8	tied	tie	VERB
hjic-130	22	9	to	to	ADP
hjic-130	22	10	the	the	DET
hjic-130	22	11	steady	steady	ADJ
hjic-130	22	12	-	-	PUNCT
hjic-130	22	13	state	state	NOUN
hjic-130	22	14	models	model	NOUN
hjic-130	22	15	.	.	PUNCT
hjic-130	23	1	the	the	DET
hjic-130	23	2	unsteady	unsteady	ADJ
hjic-130	23	3	-	-	PUNCT
hjic-130	23	4	state	state	NOUN
hjic-130	23	5	model	model	NOUN
hjic-130	23	6	is	be	AUX
hjic-130	23	7	usually	usually	ADV
hjic-130	23	8	too	too	ADV
hjic-130	23	9	complex	complex	ADJ
hjic-130	23	10	to	to	PART
hjic-130	23	11	be	be	AUX
hjic-130	23	12	employed	employ	VERB
hjic-130	23	13	directly	directly	ADV
hjic-130	23	14	in	in	ADP
hjic-130	23	15	the	the	DET
hjic-130	23	16	control	control	NOUN
hjic-130	23	17	.	.	PUNCT
hjic-130	24	1	on	on	ADP
hjic-130	24	2	the	the	DET
hjic-130	24	3	other	other	ADJ
hjic-130	24	4	hand	hand	NOUN
hjic-130	24	5	the	the	DET
hjic-130	24	6	black	black	PROPN
hjic-130	24	7	box	box	NOUN
hjic-130	24	8	models	model	NOUN
hjic-130	24	9	applied	apply	VERB
hjic-130	24	10	in	in	ADP
hjic-130	24	11	control	control	NOUN
hjic-130	24	12	theory	theory	NOUN
hjic-130	24	13	do	do	AUX
hjic-130	24	14	not	not	PART
hjic-130	24	15	include	include	VERB
hjic-130	24	16	any	any	DET
hjic-130	24	17	information	information	NOUN
hjic-130	24	18	regarding	regard	VERB
hjic-130	24	19	the	the	DET
hjic-130	24	20	structure	structure	NOUN
hjic-130	24	21	of	of	ADP
hjic-130	24	22	the	the	DET
hjic-130	24	23	controlled	control	VERB
hjic-130	24	24	process	process	NOUN
hjic-130	24	25	.	.	PUNCT
hjic-130	25	1	recently	recently	ADV
hjic-130	25	2	published	publish	VERB
hjic-130	25	3	approaches	approach	NOUN
hjic-130	25	4	use	use	VERB
hjic-130	25	5	models	model	NOUN
hjic-130	25	6	reflecting	reflect	VERB
hjic-130	25	7	the	the	DET
hjic-130	25	8	structure	structure	NOUN
hjic-130	25	9	of	of	ADP
hjic-130	25	10	the	the	DET
hjic-130	25	11	controlled	control	VERB
hjic-130	25	12	process	process	NOUN
hjic-130	25	13	to	to	ADP
hjic-130	25	14	some	some	DET
hjic-130	25	15	extent	extent	NOUN
hjic-130	25	16	while	while	SCONJ
hjic-130	25	17	maintaining	maintain	VERB
hjic-130	25	18	a	a	DET
hjic-130	25	19	simplified	simplified	ADJ
hjic-130	25	20	48	48	NUM
hjic-130	25	21	form	form	NOUN
hjic-130	25	22	of	of	ADP
hjic-130	25	23	the	the	DET
hjic-130	25	24	model	model	NOUN
hjic-130	25	25	(	(	PUNCT
hjic-130	25	26	tendency	tendency	NOUN
hjic-130	25	27	models	model	NOUN
hjic-130	25	28	[	[	X
hjic-130	25	29	2	2	NUM
hjic-130	25	30	]	]	PUNCT
hjic-130	25	31	,	,	PUNCT
hjic-130	25	32	grey	grey	PROPN
hjic-130	25	33	box	box	PROPN
hjic-130	25	34	model	model	NOUN
hjic-130	25	35	,	,	PUNCT
hjic-130	25	36	etc	etc	X
hjic-130	25	37	)	)	PUNCT
hjic-130	25	38	.	.	PUNCT
hjic-130	26	1	present	present	ADJ
hjic-130	26	2	paper	paper	PROPN
hjic-130	26	3	proposes	propose	VERB
hjic-130	26	4	a	a	DET
hjic-130	26	5	well	well	ADV
hjic-130	26	6	structured	structured	ADJ
hjic-130	26	7	form	form	NOUN
hjic-130	26	8	of	of	ADP
hjic-130	26	9	the	the	DET
hjic-130	26	10	local	local	ADJ
hjic-130	26	11	control	control	NOUN
hjic-130	26	12	level	level	NOUN
hjic-130	26	13	which	which	PRON
hjic-130	26	14	allows	allow	VERB
hjic-130	26	15	the	the	DET
hjic-130	26	16	integration	integration	NOUN
hjic-130	26	17	of	of	ADP
hjic-130	26	18	different	different	ADJ
hjic-130	26	19	types	type	NOUN
hjic-130	26	20	of	of	ADP
hjic-130	26	21	engineering	engineering	NOUN
hjic-130	26	22	information	information	NOUN
hjic-130	26	23	in	in	ADP
hjic-130	26	24	the	the	DET
hjic-130	26	25	control	control	NOUN
hjic-130	26	26	algorithm	algorithm	NOUN
hjic-130	26	27	.	.	PUNCT
hjic-130	27	1	comparison	comparison	NOUN
hjic-130	27	2	of	of	ADP
hjic-130	27	3	control	control	NOUN
hjic-130	27	4	structures	structure	NOUN
hjic-130	27	5	the	the	DET
hjic-130	27	6	widespread	widespread	ADJ
hjic-130	27	7	use	use	NOUN
hjic-130	27	8	of	of	ADP
hjic-130	27	9	the	the	DET
hjic-130	27	10	pid	pid	NOUN
hjic-130	27	11	algorithms	algorithm	NOUN
hjic-130	27	12	in	in	ADP
hjic-130	27	13	the	the	DET
hjic-130	27	14	classical	classical	ADJ
hjic-130	27	15	feedback	feedback	NOUN
hjic-130	27	16	scheme	scheme	NOUN
hjic-130	27	17	is	be	AUX
hjic-130	27	18	due	due	ADJ
hjic-130	27	19	to	to	ADP
hjic-130	27	20	the	the	DET
hjic-130	27	21	following	following	NOUN
hjic-130	27	22	to	to	ADP
hjic-130	27	23	basic	basic	ADJ
hjic-130	27	24	reasons	reason	NOUN
hjic-130	27	25	:	:	PUNCT
hjic-130	28	1	1	1	X
hjic-130	28	2	.	.	X
hjic-130	28	3	the	the	DET
hjic-130	28	4	role	role	NOUN
hjic-130	28	5	of	of	ADP
hjic-130	28	6	pid	pid	NOUN
hjic-130	28	7	-	-	PUNCT
hjic-130	28	8	controllers	controller	NOUN
hjic-130	28	9	in	in	ADP
hjic-130	28	10	the	the	DET
hjic-130	28	11	traditional	traditional	ADJ
hjic-130	28	12	process	process	NOUN
hjic-130	28	13	control	control	NOUN
hjic-130	28	14	profession	profession	NOUN
hjic-130	28	15	.	.	PUNCT
hjic-130	29	1	2	2	X
hjic-130	29	2	.	.	X
hjic-130	29	3	the	the	DET
hjic-130	29	4	good	good	PROPN
hjic-130	29	5	control	control	NOUN
hjic-130	29	6	performance	performance	NOUN
hjic-130	29	7	achieved	achieve	VERB
hjic-130	29	8	at	at	ADP
hjic-130	29	9	the	the	DET
hjic-130	29	10	local	local	ADJ
hjic-130	29	11	control	control	NOUN
hjic-130	29	12	level	level	NOUN
hjic-130	29	13	.	.	PUNCT
hjic-130	30	1	the	the	DET
hjic-130	30	2	second	second	ADJ
hjic-130	30	3	one	one	NOUN
hjic-130	30	4	is	be	AUX
hjic-130	30	5	accounted	account	VERB
hjic-130	30	6	for	for	ADP
hjic-130	30	7	in	in	ADP
hjic-130	30	8	a	a	DET
hjic-130	30	9	bit	bit	NOUN
hjic-130	30	10	more	more	ADJ
hjic-130	30	11	details	detail	NOUN
hjic-130	30	12	.	.	PUNCT
hjic-130	31	1	the	the	DET
hjic-130	31	2	algorithm	algorithm	NOUN
hjic-130	31	3	is	be	AUX
hjic-130	31	4	transformed	transform	VERB
hjic-130	31	5	as	as	SCONJ
hjic-130	31	6	follows	follow	VERB
hjic-130	31	7	:	:	PUNCT
hjic-130	31	8	)	)	PUNCT
hjic-130	31	9	1(1)11	1(1)11	PROPN
hjic-130	31	10	(	(	PUNCT
hjic-130	31	11	2	2	NUM
hjic-130	31	12	+	+	NOUN
hjic-130	31	13	+	+	ADJ
hjic-130	31	14	∗=++=	∗=++=	PROPN
hjic-130	31	15	ststt	ststt	NOUN
hjic-130	31	16	t	t	PROPN
hjic-130	31	17	tk	tk	PROPN
hjic-130	31	18	st	st	PROPN
hjic-130	31	19	st	st	PROPN
hjic-130	31	20	st	st	PROPN
hjic-130	32	1	kg	kg	PROPN
hjic-130	32	2	idi	idi	PROPN
hjic-130	33	1	i	i	PRON
hjic-130	33	2	cc	cc	PROPN
hjic-130	33	3	c	c	PROPN
hjic-130	34	1	d	d	X
hjic-130	34	2	i	i	PRON
hjic-130	34	3	cc	cc	PROPN
hjic-130	34	4	(	(	PUNCT
hjic-130	34	5	1	1	NUM
hjic-130	34	6	)	)	PUNCT
hjic-130	34	7	i.e.	i.e.	X
hjic-130	34	8	the	the	DET
hjic-130	34	9	pid	pid	ADJ
hjic-130	34	10	-	-	PUNCT
hjic-130	34	11	controller	controller	NOUN
hjic-130	34	12	can	can	AUX
hjic-130	34	13	be	be	AUX
hjic-130	34	14	interpreted	interpret	VERB
hjic-130	34	15	as	as	ADP
hjic-130	34	16	a	a	DET
hjic-130	34	17	serial	serial	ADJ
hjic-130	34	18	system	system	NOUN
hjic-130	34	19	of	of	ADP
hjic-130	34	20	an	an	DET
hjic-130	34	21	integrator	integrator	NOUN
hjic-130	34	22	and	and	CCONJ
hjic-130	34	23	the	the	DET
hjic-130	34	24	inverse	inverse	NOUN
hjic-130	34	25	of	of	ADP
hjic-130	34	26	a	a	DET
hjic-130	34	27	second	second	ADJ
hjic-130	34	28	order	order	NOUN
hjic-130	34	29	system	system	NOUN
hjic-130	34	30	(	(	PUNCT
hjic-130	34	31	see	see	VERB
hjic-130	34	32	fig	fig	NOUN
hjic-130	34	33	.	.	PUNCT
hjic-130	35	1	1	1	NUM
hjic-130	35	2	)	)	PUNCT
hjic-130	35	3	.	.	PUNCT
hjic-130	36	1	if	if	SCONJ
hjic-130	36	2	the	the	DET
hjic-130	36	3	dynamics	dynamic	NOUN
hjic-130	36	4	of	of	ADP
hjic-130	36	5	the	the	DET
hjic-130	36	6	process	process	NOUN
hjic-130	36	7	is	be	AUX
hjic-130	36	8	second	second	ADJ
hjic-130	36	9	order	order	NOUN
hjic-130	36	10	then	then	ADV
hjic-130	36	11	the	the	DET
hjic-130	36	12	transfer	transfer	NOUN
hjic-130	36	13	function	function	NOUN
hjic-130	36	14	of	of	ADP
hjic-130	36	15	the	the	DET
hjic-130	36	16	part	part	NOUN
hjic-130	36	17	in	in	ADP
hjic-130	36	18	dotted	dotted	ADJ
hjic-130	36	19	frame	frame	NOUN
hjic-130	36	20	could	could	AUX
hjic-130	36	21	be	be	AUX
hjic-130	36	22	set	set	VERB
hjic-130	36	23	to	to	ADP
hjic-130	36	24	unity	unity	NOUN
hjic-130	36	25	by	by	ADP
hjic-130	36	26	appropriately	appropriately	ADV
hjic-130	36	27	tuning	tune	VERB
hjic-130	36	28	the	the	DET
hjic-130	36	29	pid	pid	NOUN
hjic-130	36	30	parameters	parameter	NOUN
hjic-130	36	31	.	.	PUNCT
hjic-130	37	1	this	this	DET
hjic-130	37	2	way	way	NOUN
hjic-130	37	3	the	the	DET
hjic-130	37	4	transfer	transfer	NOUN
hjic-130	37	5	function	function	NOUN
hjic-130	37	6	of	of	ADP
hjic-130	37	7	the	the	DET
hjic-130	37	8	closed	close	VERB
hjic-130	37	9	loop	loop	NOUN
hjic-130	37	10	is	be	AUX
hjic-130	37	11	a	a	DET
hjic-130	37	12	first	first	ADJ
hjic-130	37	13	-	-	PUNCT
hjic-130	37	14	order	order	NOUN
hjic-130	37	15	filter	filter	NOUN
hjic-130	37	16	and	and	CCONJ
hjic-130	37	17	its	its	PRON
hjic-130	37	18	time	time	NOUN
hjic-130	37	19	constant	constant	ADJ
hjic-130	37	20	can	can	AUX
hjic-130	37	21	be	be	AUX
hjic-130	37	22	set	set	VERB
hjic-130	37	23	arbitrarily	arbitrarily	ADV
hjic-130	37	24	.	.	PUNCT
hjic-130	38	1	since	since	SCONJ
hjic-130	38	2	many	many	ADJ
hjic-130	38	3	of	of	ADP
hjic-130	38	4	the	the	DET
hjic-130	38	5	chemical	chemical	NOUN
hjic-130	38	6	processes	process	NOUN
hjic-130	38	7	can	can	AUX
hjic-130	38	8	be	be	AUX
hjic-130	38	9	well	well	ADV
hjic-130	38	10	approximated	approximate	VERB
hjic-130	38	11	by	by	ADP
hjic-130	38	12	first	first	ADJ
hjic-130	38	13	or	or	CCONJ
hjic-130	38	14	second	second	ADJ
hjic-130	38	15	-	-	PUNCT
hjic-130	38	16	order	order	NOUN
hjic-130	38	17	dynamics	dynamic	NOUN
hjic-130	38	18	,	,	PUNCT
hjic-130	38	19	in	in	ADP
hjic-130	38	20	such	such	ADJ
hjic-130	38	21	cases	case	NOUN
hjic-130	38	22	the	the	DET
hjic-130	38	23	excellent	excellent	ADJ
hjic-130	38	24	performance	performance	NOUN
hjic-130	38	25	of	of	ADP
hjic-130	38	26	pid	pid	NOUN
hjic-130	38	27	controllers	controller	NOUN
hjic-130	38	28	is	be	AUX
hjic-130	38	29	not	not	PART
hjic-130	38	30	surprising	surprising	ADJ
hjic-130	38	31	.	.	PUNCT
hjic-130	39	1	it	it	PRON
hjic-130	39	2	should	should	AUX
hjic-130	39	3	be	be	AUX
hjic-130	39	4	emphasized	emphasize	VERB
hjic-130	39	5	,	,	PUNCT
hjic-130	39	6	that	that	SCONJ
hjic-130	39	7	the	the	DET
hjic-130	39	8	same	same	ADJ
hjic-130	39	9	results	result	NOUN
hjic-130	39	10	are	be	AUX
hjic-130	39	11	obtained	obtain	VERB
hjic-130	39	12	with	with	ADP
hjic-130	39	13	model	model	NOUN
hjic-130	39	14	-	-	PUNCT
hjic-130	39	15	based	base	VERB
hjic-130	39	16	design	design	NOUN
hjic-130	39	17	techniques	technique	NOUN
hjic-130	39	18	(	(	PUNCT
hjic-130	39	19	direct	direct	ADJ
hjic-130	39	20	synthesis	synthesis	NOUN
hjic-130	39	21	,	,	PUNCT
hjic-130	39	22	imc	imc	PROPN
hjic-130	39	23	,	,	PUNCT
hjic-130	39	24	etc	etc	X
hjic-130	39	25	.	.	X
hjic-130	39	26	)	)	PUNCT
hjic-130	39	27	,	,	PUNCT
hjic-130	39	28	in	in	ADP
hjic-130	39	29	case	case	NOUN
hjic-130	39	30	of	of	ADP
hjic-130	39	31	nonlinear	nonlinear	ADJ
hjic-130	39	32	systems	system	NOUN
hjic-130	39	33	the	the	DET
hjic-130	39	34	results	result	NOUN
hjic-130	39	35	are	be	AUX
hjic-130	39	36	not	not	PART
hjic-130	39	37	equivalent	equivalent	ADJ
hjic-130	39	38	rather	rather	ADV
hjic-130	39	39	they	they	PRON
hjic-130	39	40	are	be	AUX
hjic-130	39	41	only	only	ADV
hjic-130	39	42	similar	similar	ADJ
hjic-130	39	43	.	.	PUNCT
hjic-130	40	1	figure	figure	NOUN
hjic-130	40	2	1	1	NUM
hjic-130	40	3	:	:	PUNCT
hjic-130	40	4	classical	classical	ADJ
hjic-130	40	5	feedback	feedback	NOUN
hjic-130	40	6	scheme	scheme	NOUN
hjic-130	40	7	fig	fig	NOUN
hjic-130	40	8	.	.	PUNCT
hjic-130	41	1	1	1	NUM
hjic-130	41	2	illustrates	illustrate	VERB
hjic-130	41	3	well	well	ADV
hjic-130	41	4	the	the	DET
hjic-130	41	5	functions	function	NOUN
hjic-130	41	6	of	of	ADP
hjic-130	41	7	the	the	DET
hjic-130	41	8	two	two	NUM
hjic-130	41	9	parts	part	NOUN
hjic-130	41	10	of	of	ADP
hjic-130	41	11	the	the	DET
hjic-130	41	12	controller	controller	NOUN
hjic-130	41	13	used	use	VERB
hjic-130	41	14	in	in	ADP
hjic-130	41	15	the	the	DET
hjic-130	41	16	feedback	feedback	NOUN
hjic-130	41	17	loop	loop	NOUN
hjic-130	41	18	.	.	PUNCT
hjic-130	42	1	the	the	DET
hjic-130	42	2	inverse	inverse	ADJ
hjic-130	42	3	part	part	NOUN
hjic-130	42	4	compensates	compensate	NOUN
hjic-130	42	5	for	for	ADP
hjic-130	42	6	the	the	DET
hjic-130	42	7	dynamics	dynamic	NOUN
hjic-130	42	8	of	of	ADP
hjic-130	42	9	the	the	DET
hjic-130	42	10	process	process	NOUN
hjic-130	42	11	,	,	PUNCT
hjic-130	42	12	while	while	SCONJ
hjic-130	42	13	the	the	DET
hjic-130	42	14	integrator	integrator	NOUN
hjic-130	42	15	eliminates	eliminate	VERB
hjic-130	42	16	the	the	DET
hjic-130	42	17	control	control	NOUN
hjic-130	42	18	error	error	NOUN
hjic-130	42	19	(	(	PUNCT
hjic-130	42	20	and	and	CCONJ
hjic-130	42	21	ultimately	ultimately	ADV
hjic-130	42	22	the	the	DET
hjic-130	42	23	final	final	ADJ
hjic-130	42	24	control	control	NOUN
hjic-130	42	25	error	error	NOUN
hjic-130	42	26	completely	completely	ADV
hjic-130	42	27	)	)	PUNCT
hjic-130	42	28	.	.	PUNCT
hjic-130	43	1	the	the	DET
hjic-130	43	2	feed	feed	NOUN
hjic-130	43	3	-	-	PUNCT
hjic-130	43	4	back	back	NOUN
hjic-130	43	5	part	part	NOUN
hjic-130	43	6	can	can	AUX
hjic-130	43	7	compensate	compensate	VERB
hjic-130	43	8	for	for	ADP
hjic-130	43	9	the	the	DET
hjic-130	43	10	influence	influence	NOUN
hjic-130	43	11	of	of	ADP
hjic-130	43	12	both	both	CCONJ
hjic-130	43	13	the	the	DET
hjic-130	43	14	changes	change	NOUN
hjic-130	43	15	of	of	ADP
hjic-130	43	16	the	the	DET
hjic-130	43	17	setpoint	setpoint	NOUN
hjic-130	43	18	and	and	CCONJ
hjic-130	43	19	disturbances	disturbance	NOUN
hjic-130	43	20	(	(	PUNCT
hjic-130	43	21	causes	cause	NOUN
hjic-130	43	22	)	)	PUNCT
hjic-130	43	23	by	by	ADP
hjic-130	43	24	feeding	feed	VERB
hjic-130	43	25	back	back	ADP
hjic-130	43	26	the	the	DET
hjic-130	43	27	output	output	NOUN
hjic-130	43	28	(	(	PUNCT
hjic-130	43	29	time	time	NOUN
hjic-130	43	30	-	-	PUNCT
hjic-130	43	31	delayed	delay	VERB
hjic-130	43	32	effect	effect	NOUN
hjic-130	43	33	)	)	PUNCT
hjic-130	43	34	.	.	PUNCT
hjic-130	44	1	measuring	measure	VERB
hjic-130	44	2	the	the	DET
hjic-130	44	3	dominant	dominant	ADJ
hjic-130	44	4	disturbances	disturbance	NOUN
hjic-130	44	5	,	,	PUNCT
hjic-130	44	6	the	the	DET
hjic-130	44	7	dynamics	dynamic	NOUN
hjic-130	44	8	of	of	ADP
hjic-130	44	9	the	the	DET
hjic-130	44	10	compensation	compensation	NOUN
hjic-130	44	11	can	can	AUX
hjic-130	44	12	be	be	AUX
hjic-130	44	13	significantly	significantly	ADV
hjic-130	44	14	improved	improve	VERB
hjic-130	44	15	by	by	ADP
hjic-130	44	16	applying	apply	VERB
hjic-130	44	17	a	a	DET
hjic-130	44	18	feed	feed	NOUN
hjic-130	44	19	-	-	PUNCT
hjic-130	44	20	forward	forward	NOUN
hjic-130	44	21	part	part	NOUN
hjic-130	44	22	.	.	PUNCT
hjic-130	45	1	the	the	DET
hjic-130	45	2	feed	feed	NOUN
hjic-130	45	3	-	-	PUNCT
hjic-130	45	4	back	back	NOUN
hjic-130	45	5	and	and	CCONJ
hjic-130	45	6	feed	feed	NOUN
hjic-130	45	7	-	-	PUNCT
hjic-130	45	8	forward	forward	NOUN
hjic-130	45	9	parts	part	NOUN
hjic-130	45	10	can	can	AUX
hjic-130	45	11	be	be	AUX
hjic-130	45	12	synthesized	synthesize	VERB
hjic-130	45	13	in	in	ADP
hjic-130	45	14	the	the	DET
hjic-130	45	15	imc	imc	NOUN
hjic-130	45	16	structure	structure	NOUN
hjic-130	45	17	(	(	PUNCT
hjic-130	45	18	see	see	VERB
hjic-130	45	19	fig	fig	NOUN
hjic-130	45	20	.	.	PUNCT
hjic-130	46	1	2	2	NUM
hjic-130	46	2	)	)	PUNCT
hjic-130	46	3	.	.	PUNCT
hjic-130	47	1	the	the	DET
hjic-130	47	2	applied	apply	VERB
hjic-130	47	3	filter	filter	NOUN
hjic-130	47	4	has	have	VERB
hjic-130	47	5	two	two	NUM
hjic-130	47	6	functions	function	NOUN
hjic-130	47	7	;	;	PUNCT
hjic-130	47	8	on	on	ADP
hjic-130	47	9	the	the	DET
hjic-130	47	10	one	one	NUM
hjic-130	47	11	hand	hand	NOUN
hjic-130	47	12	it	it	PRON
hjic-130	47	13	filters	filter	VERB
hjic-130	47	14	the	the	DET
hjic-130	47	15	noises	noise	NOUN
hjic-130	47	16	,	,	PUNCT
hjic-130	47	17	and	and	CCONJ
hjic-130	47	18	on	on	ADP
hjic-130	47	19	the	the	DET
hjic-130	47	20	other	other	ADJ
hjic-130	47	21	hand	hand	NOUN
hjic-130	47	22	assures	assure	VERB
hjic-130	47	23	the	the	DET
hjic-130	47	24	operability	operability	NOUN
hjic-130	47	25	of	of	ADP
hjic-130	47	26	the	the	DET
hjic-130	47	27	scheme	scheme	NOUN
hjic-130	47	28	(	(	PUNCT
hjic-130	47	29	without	without	ADP
hjic-130	47	30	a	a	DET
hjic-130	47	31	filter	filter	NOUN
hjic-130	47	32	a	a	DET
hjic-130	47	33	short	short	ADJ
hjic-130	47	34	circuit	circuit	NOUN
hjic-130	47	35	can	can	AUX
hjic-130	47	36	be	be	AUX
hjic-130	47	37	obtained	obtain	VERB
hjic-130	47	38	)	)	PUNCT
hjic-130	47	39	.	.	PUNCT
hjic-130	48	1	applying	apply	VERB
hjic-130	48	2	a	a	DET
hjic-130	48	3	first	first	ADJ
hjic-130	48	4	-	-	PUNCT
hjic-130	48	5	order	order	NOUN
hjic-130	48	6	filter	filter	NOUN
hjic-130	48	7	,	,	PUNCT
hjic-130	48	8	the	the	DET
hjic-130	48	9	scheme	scheme	NOUN
hjic-130	48	10	can	can	AUX
hjic-130	48	11	be	be	AUX
hjic-130	48	12	transformed	transform	VERB
hjic-130	48	13	according	accord	VERB
hjic-130	48	14	to	to	ADP
hjic-130	48	15	fig	fig	NOUN
hjic-130	48	16	.	.	PUNCT
hjic-130	49	1	3	3	X
hjic-130	49	2	.	.	X
hjic-130	49	3	taking	take	VERB
hjic-130	49	4	into	into	ADP
hjic-130	49	5	account	account	NOUN
hjic-130	49	6	that	that	SCONJ
hjic-130	49	7	the	the	DET
hjic-130	49	8	product	product	NOUN
hjic-130	49	9	of	of	ADP
hjic-130	49	10	the	the	DET
hjic-130	49	11	transfer	transfer	NOUN
hjic-130	49	12	functions	function	NOUN
hjic-130	49	13	of	of	ADP
hjic-130	49	14	the	the	DET
hjic-130	49	15	model	model	NOUN
hjic-130	49	16	and	and	CCONJ
hjic-130	49	17	the	the	DET
hjic-130	49	18	inverse	inverse	NOUN
hjic-130	49	19	is	be	AUX
hjic-130	49	20	unity	unity	NOUN
hjic-130	49	21	,	,	PUNCT
hjic-130	49	22	the	the	DET
hjic-130	49	23	transfer	transfer	NOUN
hjic-130	49	24	function	function	NOUN
hjic-130	49	25	of	of	ADP
hjic-130	49	26	the	the	DET
hjic-130	49	27	part	part	NOUN
hjic-130	49	28	in	in	ADP
hjic-130	49	29	dotted	dotted	ADJ
hjic-130	49	30	frame	frame	NOUN
hjic-130	49	31	is	be	AUX
hjic-130	49	32	the	the	DET
hjic-130	49	33	following	following	NOUN
hjic-130	49	34	:	:	PUNCT
hjic-130	49	35	inverse	inverse	NOUN
hjic-130	49	36	stmodelinverse	stmodelinverse	NOUN
hjic-130	49	37	st	st	PROPN
hjic-130	49	38	inverse	inverse	PROPN
hjic-130	49	39	st	st	PROPN
hjic-130	50	1	g	g	PROPN
hjic-130	50	2	c	c	PROPN
hjic-130	50	3	c	c	PROPN
hjic-130	50	4	c	c	NOUN
hjic-130	50	5	∗=	∗=	NOUN
hjic-130	50	6	∗∗	∗∗	PROPN
hjic-130	51	1	+	+	CCONJ
hjic-130	51	2	−	−	NOUN
hjic-130	51	3	∗	∗	NOUN
hjic-130	51	4	+	+	X
hjic-130	52	1	=	=	SYM
hjic-130	52	2	1	1	NUM
hjic-130	52	3	1	1	NUM
hjic-130	52	4	11	11	NUM
hjic-130	52	5	1	1	NUM
hjic-130	52	6	1	1	NUM
hjic-130	52	7	(	(	PUNCT
hjic-130	52	8	2	2	NUM
hjic-130	52	9	)	)	PUNCT
hjic-130	52	10	figure	figure	NOUN
hjic-130	52	11	2	2	NUM
hjic-130	52	12	:	:	PUNCT
hjic-130	52	13	the	the	DET
hjic-130	52	14	imc	imc	PROPN
hjic-130	52	15	structure	structure	NOUN
hjic-130	52	16	filter	filter	NOUN
hjic-130	52	17	inverse	inverse	NOUN
hjic-130	52	18	process	process	NOUN
hjic-130	52	19	model	model	NOUN
hjic-130	52	20	+	+	CCONJ
hjic-130	53	1	+	+	CCONJ
hjic-130	53	2	inverse	inverse	NOUN
hjic-130	53	3	of	of	ADP
hjic-130	53	4	the	the	DET
hjic-130	53	5	second	second	ADJ
hjic-130	53	6	order	order	NOUN
hjic-130	53	7	system	system	NOUN
hjic-130	53	8	process	process	NOUN
hjic-130	53	9	+	+	CCONJ
hjic-130	53	10	1	1	NUM
hjic-130	53	11	=	=	NUM
hjic-130	53	12	sg	sg	PROPN
hjic-130	53	13	stc	stc	NOUN
hjic-130	53	14	1	1	NUM
hjic-130	53	15	49	49	NUM
hjic-130	53	16	figure	figure	NOUN
hjic-130	53	17	3	3	NUM
hjic-130	53	18	:	:	PUNCT
hjic-130	53	19	the	the	DET
hjic-130	53	20	transformed	transform	VERB
hjic-130	53	21	imc	imc	PROPN
hjic-130	53	22	this	this	PRON
hjic-130	53	23	gives	give	VERB
hjic-130	53	24	the	the	DET
hjic-130	53	25	same	same	ADJ
hjic-130	53	26	result	result	NOUN
hjic-130	53	27	shown	show	VERB
hjic-130	53	28	on	on	ADP
hjic-130	53	29	fig	fig	NOUN
hjic-130	53	30	.	.	PUNCT
hjic-130	54	1	1	1	NUM
hjic-130	54	2	,	,	PUNCT
hjic-130	54	3	except	except	SCONJ
hjic-130	54	4	that	that	SCONJ
hjic-130	54	5	there	there	PRON
hjic-130	54	6	was	be	VERB
hjic-130	54	7	not	not	PART
hjic-130	54	8	any	any	DET
hjic-130	54	9	assumption	assumption	NOUN
hjic-130	54	10	made	make	VERB
hjic-130	54	11	for	for	ADP
hjic-130	54	12	the	the	DET
hjic-130	54	13	model	model	NOUN
hjic-130	54	14	.	.	PUNCT
hjic-130	55	1	therefore	therefore	ADV
hjic-130	55	2	the	the	DET
hjic-130	55	3	part	part	NOUN
hjic-130	55	4	in	in	ADP
hjic-130	55	5	dotted	dotted	ADJ
hjic-130	55	6	frame	frame	NOUN
hjic-130	55	7	fulfils	fulfil	VERB
hjic-130	55	8	both	both	CCONJ
hjic-130	55	9	the	the	DET
hjic-130	55	10	inverting	inverting	NOUN
hjic-130	55	11	and	and	CCONJ
hjic-130	55	12	the	the	DET
hjic-130	55	13	error	error	NOUN
hjic-130	55	14	elimination	elimination	NOUN
hjic-130	55	15	functions	function	NOUN
hjic-130	55	16	.	.	PUNCT
hjic-130	56	1	the	the	DET
hjic-130	56	2	above	above	ADJ
hjic-130	56	3	analyses	analysis	NOUN
hjic-130	56	4	are	be	AUX
hjic-130	56	5	valid	valid	ADJ
hjic-130	56	6	for	for	ADP
hjic-130	56	7	linear	linear	ADJ
hjic-130	56	8	system	system	NOUN
hjic-130	56	9	models	model	NOUN
hjic-130	56	10	.	.	PUNCT
hjic-130	57	1	the	the	DET
hjic-130	57	2	imc	imc	PROPN
hjic-130	57	3	structure	structure	NOUN
hjic-130	57	4	allows	allow	VERB
hjic-130	57	5	taking	take	VERB
hjic-130	57	6	into	into	ADP
hjic-130	57	7	account	account	NOUN
hjic-130	57	8	the	the	DET
hjic-130	57	9	effect	effect	NOUN
hjic-130	57	10	of	of	ADP
hjic-130	57	11	the	the	DET
hjic-130	57	12	measured	measure	VERB
hjic-130	57	13	disturbances	disturbance	NOUN
hjic-130	57	14	in	in	ADP
hjic-130	57	15	the	the	DET
hjic-130	57	16	model	model	NOUN
hjic-130	57	17	construction	construction	NOUN
hjic-130	57	18	as	as	ADV
hjic-130	57	19	well	well	ADV
hjic-130	57	20	as	as	ADP
hjic-130	57	21	in	in	ADP
hjic-130	57	22	the	the	DET
hjic-130	57	23	model	model	NOUN
hjic-130	57	24	-	-	PUNCT
hjic-130	57	25	based	base	VERB
hjic-130	57	26	inverse	inverse	NOUN
hjic-130	57	27	formation	formation	NOUN
hjic-130	57	28	.	.	PUNCT
hjic-130	58	1	the	the	DET
hjic-130	58	2	model	model	NOUN
hjic-130	58	3	error	error	NOUN
hjic-130	58	4	and	and	CCONJ
hjic-130	58	5	the	the	DET
hjic-130	58	6	effect	effect	NOUN
hjic-130	58	7	of	of	ADP
hjic-130	58	8	the	the	DET
hjic-130	58	9	unmeasured	unmeasured	ADJ
hjic-130	58	10	disturbances	disturbance	NOUN
hjic-130	58	11	are	be	AUX
hjic-130	58	12	measured	measure	VERB
hjic-130	58	13	together	together	ADV
hjic-130	58	14	by	by	ADP
hjic-130	58	15	the	the	DET
hjic-130	58	16	model	model	NOUN
hjic-130	58	17	error	error	NOUN
hjic-130	58	18	.	.	PUNCT
hjic-130	59	1	therefore	therefore	ADV
hjic-130	59	2	the	the	DET
hjic-130	59	3	accuracy	accuracy	NOUN
hjic-130	59	4	of	of	ADP
hjic-130	59	5	the	the	DET
hjic-130	59	6	model	model	NOUN
hjic-130	59	7	is	be	AUX
hjic-130	59	8	known	know	VERB
hjic-130	59	9	by	by	ADP
hjic-130	59	10	very	very	ADV
hjic-130	59	11	instant	instant	ADJ
hjic-130	59	12	by	by	ADP
hjic-130	59	13	calculating	calculate	VERB
hjic-130	59	14	the	the	DET
hjic-130	59	15	model	model	NOUN
hjic-130	59	16	error	error	NOUN
hjic-130	59	17	.	.	PUNCT
hjic-130	60	1	in	in	ADP
hjic-130	60	2	the	the	DET
hjic-130	60	3	original	original	ADJ
hjic-130	60	4	imc	imc	NOUN
hjic-130	60	5	structure	structure	NOUN
hjic-130	60	6	the	the	DET
hjic-130	60	7	model	model	NOUN
hjic-130	60	8	error	error	NOUN
hjic-130	60	9	is	be	AUX
hjic-130	60	10	compensated	compensate	VERB
hjic-130	60	11	by	by	ADP
hjic-130	60	12	feeding	feed	VERB
hjic-130	60	13	back	back	ADP
hjic-130	60	14	the	the	DET
hjic-130	60	15	model	model	NOUN
hjic-130	60	16	error	error	NOUN
hjic-130	60	17	to	to	ADP
hjic-130	60	18	the	the	DET
hjic-130	60	19	input	input	NOUN
hjic-130	60	20	of	of	ADP
hjic-130	60	21	the	the	DET
hjic-130	60	22	feed	feed	NOUN
hjic-130	60	23	-	-	PUNCT
hjic-130	60	24	forward	forward	ADJ
hjic-130	60	25	inverse	inverse	NOUN
hjic-130	60	26	model	model	NOUN
hjic-130	60	27	.	.	PUNCT
hjic-130	61	1	this	this	DET
hjic-130	61	2	way	way	NOUN
hjic-130	61	3	the	the	DET
hjic-130	61	4	model	model	NOUN
hjic-130	61	5	approximates	approximate	VERB
hjic-130	61	6	the	the	DET
hjic-130	61	7	real	real	ADJ
hjic-130	61	8	system	system	NOUN
hjic-130	61	9	.	.	PUNCT
hjic-130	62	1	in	in	ADP
hjic-130	62	2	the	the	DET
hjic-130	62	3	structure	structure	NOUN
hjic-130	62	4	shown	show	VERB
hjic-130	62	5	on	on	ADP
hjic-130	62	6	fig	fig	NOUN
hjic-130	62	7	.	.	PUNCT
hjic-130	63	1	2	2	NUM
hjic-130	64	1	the	the	DET
hjic-130	64	2	input	input	NOUN
hjic-130	64	3	of	of	ADP
hjic-130	64	4	process	process	NOUN
hjic-130	64	5	and	and	CCONJ
hjic-130	64	6	the	the	DET
hjic-130	64	7	model	model	NOUN
hjic-130	64	8	are	be	AUX
hjic-130	64	9	the	the	DET
hjic-130	64	10	same	same	ADJ
hjic-130	64	11	,	,	PUNCT
hjic-130	64	12	consequently	consequently	ADV
hjic-130	64	13	it	it	PRON
hjic-130	64	14	can	can	AUX
hjic-130	64	15	be	be	AUX
hjic-130	64	16	used	use	VERB
hjic-130	64	17	for	for	ADP
hjic-130	64	18	the	the	DET
hjic-130	64	19	control	control	NOUN
hjic-130	64	20	of	of	ADP
hjic-130	64	21	stable	stable	ADJ
hjic-130	64	22	systems	system	NOUN
hjic-130	64	23	only	only	ADV
hjic-130	64	24	.	.	PUNCT
hjic-130	65	1	new	new	ADJ
hjic-130	65	2	control	control	NOUN
hjic-130	65	3	structure	structure	NOUN
hjic-130	65	4	in	in	ADP
hjic-130	65	5	the	the	DET
hjic-130	65	6	construction	construction	NOUN
hjic-130	65	7	of	of	ADP
hjic-130	65	8	the	the	DET
hjic-130	65	9	new	new	ADJ
hjic-130	65	10	structure	structure	NOUN
hjic-130	65	11	related	relate	VERB
hjic-130	65	12	to	to	ADP
hjic-130	65	13	the	the	DET
hjic-130	65	14	above	above	ADJ
hjic-130	65	15	ones	one	NOUN
hjic-130	65	16	the	the	DET
hjic-130	65	17	following	follow	VERB
hjic-130	65	18	starting	start	VERB
hjic-130	65	19	assumptions	assumption	NOUN
hjic-130	65	20	are	be	AUX
hjic-130	65	21	made	make	VERB
hjic-130	65	22	:	:	PUNCT
hjic-130	66	1	1	1	X
hjic-130	66	2	.	.	PUNCT
hjic-130	66	3	the	the	DET
hjic-130	66	4	system	system	NOUN
hjic-130	66	5	model	model	NOUN
hjic-130	66	6	includes	include	VERB
hjic-130	66	7	all	all	DET
hjic-130	66	8	important	important	ADJ
hjic-130	66	9	properties	property	NOUN
hjic-130	66	10	regarding	regard	VERB
hjic-130	66	11	the	the	DET
hjic-130	66	12	process	process	NOUN
hjic-130	66	13	dynamics	dynamic	NOUN
hjic-130	66	14	and	and	CCONJ
hjic-130	66	15	it	it	PRON
hjic-130	66	16	maps	map	VERB
hjic-130	66	17	the	the	DET
hjic-130	66	18	manipulated	manipulate	VERB
hjic-130	66	19	variables	variable	NOUN
hjic-130	66	20	,	,	PUNCT
hjic-130	66	21	the	the	DET
hjic-130	66	22	measured	measured	ADJ
hjic-130	66	23	disturbances	disturbance	NOUN
hjic-130	66	24	and	and	CCONJ
hjic-130	66	25	the	the	DET
hjic-130	66	26	parameters	parameter	NOUN
hjic-130	66	27	of	of	ADP
hjic-130	66	28	the	the	DET
hjic-130	66	29	model	model	NOUN
hjic-130	66	30	to	to	ADP
hjic-130	66	31	the	the	DET
hjic-130	66	32	controlled	control	VERB
hjic-130	66	33	variables	variable	NOUN
hjic-130	66	34	.	.	PUNCT
hjic-130	67	1	2	2	X
hjic-130	67	2	.	.	PUNCT
hjic-130	67	3	based	base	VERB
hjic-130	67	4	on	on	ADP
hjic-130	67	5	the	the	DET
hjic-130	67	6	model	model	NOUN
hjic-130	67	7	a	a	DET
hjic-130	67	8	constrained	constrain	VERB
hjic-130	67	9	inverse	inverse	NOUN
hjic-130	67	10	model	model	NOUN
hjic-130	67	11	is	be	AUX
hjic-130	67	12	constructed	construct	VERB
hjic-130	67	13	.	.	PUNCT
hjic-130	68	1	the	the	DET
hjic-130	68	2	constrained	constrain	VERB
hjic-130	68	3	inverse	inverse	NOUN
hjic-130	68	4	maps	map	VERB
hjic-130	68	5	the	the	DET
hjic-130	68	6	setpoints	setpoint	NOUN
hjic-130	68	7	,	,	PUNCT
hjic-130	68	8	the	the	DET
hjic-130	68	9	measured	measured	ADJ
hjic-130	68	10	disturbances	disturbance	NOUN
hjic-130	68	11	and	and	CCONJ
hjic-130	68	12	the	the	DET
hjic-130	68	13	parameters	parameter	NOUN
hjic-130	68	14	of	of	ADP
hjic-130	68	15	the	the	DET
hjic-130	68	16	inverse	inverse	NOUN
hjic-130	68	17	model	model	NOUN
hjic-130	68	18	to	to	PART
hjic-130	68	19	realizable	realizable	VERB
hjic-130	68	20	(	(	PUNCT
hjic-130	68	21	constrained	constrain	VERB
hjic-130	68	22	)	)	PUNCT
hjic-130	68	23	manipulated	manipulate	VERB
hjic-130	68	24	variables	variable	NOUN
hjic-130	68	25	.	.	PUNCT
hjic-130	69	1	sound	sound	ADJ
hjic-130	69	2	knowledge	knowledge	NOUN
hjic-130	69	3	of	of	ADP
hjic-130	69	4	the	the	DET
hjic-130	69	5	process	process	NOUN
hjic-130	69	6	is	be	AUX
hjic-130	69	7	utilised	utilise	VERB
hjic-130	69	8	in	in	ADP
hjic-130	69	9	feedforward	feedforward	NOUN
hjic-130	69	10	form	form	NOUN
hjic-130	69	11	.	.	PUNCT
hjic-130	70	1	3	3	X
hjic-130	70	2	.	.	X
hjic-130	70	3	the	the	DET
hjic-130	70	4	difference	difference	NOUN
hjic-130	70	5	between	between	ADP
hjic-130	70	6	the	the	DET
hjic-130	70	7	dynamics	dynamic	NOUN
hjic-130	70	8	of	of	ADP
hjic-130	70	9	the	the	DET
hjic-130	70	10	process	process	NOUN
hjic-130	70	11	and	and	CCONJ
hjic-130	70	12	model	model	NOUN
hjic-130	70	13	is	be	AUX
hjic-130	70	14	to	to	PART
hjic-130	70	15	be	be	AUX
hjic-130	70	16	eliminated	eliminate	VERB
hjic-130	70	17	by	by	ADP
hjic-130	70	18	applying	apply	VERB
hjic-130	70	19	a	a	DET
hjic-130	70	20	model	model	NOUN
hjic-130	70	21	-	-	PUNCT
hjic-130	70	22	error	error	NOUN
hjic-130	70	23	compensator	compensator	NOUN
hjic-130	70	24	.	.	PUNCT
hjic-130	71	1	as	as	SCONJ
hjic-130	71	2	it	it	PRON
hjic-130	71	3	was	be	AUX
hjic-130	71	4	shown	show	VERB
hjic-130	71	5	earlier	early	ADV
hjic-130	71	6	,	,	PUNCT
hjic-130	71	7	the	the	DET
hjic-130	71	8	model	model	NOUN
hjic-130	71	9	error	error	NOUN
hjic-130	71	10	comes	come	VERB
hjic-130	71	11	from	from	ADP
hjic-130	71	12	the	the	DET
hjic-130	71	13	direct	direct	ADJ
hjic-130	71	14	error	error	NOUN
hjic-130	71	15	of	of	ADP
hjic-130	71	16	the	the	DET
hjic-130	71	17	applied	apply	VERB
hjic-130	71	18	model	model	NOUN
hjic-130	71	19	and	and	CCONJ
hjic-130	71	20	from	from	ADP
hjic-130	71	21	the	the	DET
hjic-130	71	22	unmeasured	unmeasured	ADJ
hjic-130	71	23	disturbances	disturbance	NOUN
hjic-130	71	24	.	.	PUNCT
hjic-130	72	1	missing	miss	VERB
hjic-130	72	2	knowledge	knowledge	NOUN
hjic-130	72	3	about	about	ADP
hjic-130	72	4	the	the	DET
hjic-130	72	5	process	process	NOUN
hjic-130	72	6	is	be	AUX
hjic-130	72	7	compensated	compensate	VERB
hjic-130	72	8	for	for	ADP
hjic-130	72	9	by	by	ADP
hjic-130	72	10	feeding	feed	VERB
hjic-130	72	11	back	back	ADP
hjic-130	72	12	the	the	DET
hjic-130	72	13	model	model	NOUN
hjic-130	72	14	error	error	NOUN
hjic-130	72	15	obtained	obtain	VERB
hjic-130	72	16	from	from	ADP
hjic-130	72	17	the	the	DET
hjic-130	72	18	measurements	measurement	NOUN
hjic-130	72	19	and	and	CCONJ
hjic-130	72	20	the	the	DET
hjic-130	72	21	calculations	calculation	NOUN
hjic-130	72	22	.	.	PUNCT
hjic-130	73	1	based	base	VERB
hjic-130	73	2	on	on	ADP
hjic-130	73	3	the	the	DET
hjic-130	73	4	above	above	ADJ
hjic-130	73	5	assumptions	assumption	NOUN
hjic-130	73	6	a	a	DET
hjic-130	73	7	control	control	NOUN
hjic-130	73	8	structure	structure	NOUN
hjic-130	73	9	shown	show	VERB
hjic-130	73	10	on	on	ADP
hjic-130	73	11	fig	fig	NOUN
hjic-130	73	12	.	.	PUNCT
hjic-130	74	1	4	4	NUM
hjic-130	74	2	can	can	AUX
hjic-130	74	3	be	be	AUX
hjic-130	74	4	constructed	construct	VERB
hjic-130	74	5	.	.	PUNCT
hjic-130	75	1	the	the	DET
hjic-130	75	2	manipulated	manipulate	VERB
hjic-130	75	3	variable	variable	NOUN
hjic-130	75	4	which	which	PRON
hjic-130	75	5	is	be	AUX
hjic-130	75	6	the	the	DET
hjic-130	75	7	feed	feed	NOUN
hjic-130	75	8	-	-	PUNCT
hjic-130	75	9	forward	forward	NOUN
hjic-130	75	10	part	part	NOUN
hjic-130	75	11	of	of	ADP
hjic-130	75	12	the	the	DET
hjic-130	75	13	real	real	ADJ
hjic-130	75	14	(	(	PUNCT
hjic-130	75	15	physical	physical	ADJ
hjic-130	75	16	)	)	PUNCT
hjic-130	75	17	manipulated	manipulate	VERB
hjic-130	75	18	(	(	PUNCT
hjic-130	75	19	uff	uff	PROPN
hjic-130	75	20	)	)	PUNCT
hjic-130	75	21	variable	variable	NOUN
hjic-130	75	22	is	be	AUX
hjic-130	75	23	calculated	calculate	VERB
hjic-130	75	24	from	from	ADP
hjic-130	75	25	the	the	DET
hjic-130	75	26	setpoint	setpoint	NOUN
hjic-130	75	27	and	and	CCONJ
hjic-130	75	28	the	the	DET
hjic-130	75	29	measured	measured	ADJ
hjic-130	75	30	disturbances	disturbance	NOUN
hjic-130	75	31	by	by	ADP
hjic-130	75	32	forming	form	VERB
hjic-130	75	33	the	the	DET
hjic-130	75	34	constrained	constrained	ADJ
hjic-130	75	35	inverse	inverse	NOUN
hjic-130	75	36	.	.	PUNCT
hjic-130	76	1	from	from	ADP
hjic-130	76	2	this	this	DET
hjic-130	76	3	signal	signal	NOUN
hjic-130	76	4	the	the	DET
hjic-130	76	5	controlled	control	VERB
hjic-130	76	6	variable	variable	NOUN
hjic-130	76	7	which	which	PRON
hjic-130	76	8	serves	serve	VERB
hjic-130	76	9	as	as	ADP
hjic-130	76	10	reference	reference	NOUN
hjic-130	76	11	signal	signal	NOUN
hjic-130	76	12	for	for	SCONJ
hjic-130	76	13	the	the	DET
hjic-130	76	14	process	process	NOUN
hjic-130	76	15	output	output	NOUN
hjic-130	76	16	can	can	AUX
hjic-130	76	17	be	be	AUX
hjic-130	76	18	calculated	calculate	VERB
hjic-130	76	19	using	use	VERB
hjic-130	76	20	the	the	DET
hjic-130	76	21	model	model	NOUN
hjic-130	76	22	.	.	PUNCT
hjic-130	77	1	the	the	DET
hjic-130	77	2	difference	difference	NOUN
hjic-130	77	3	(	(	PUNCT
hjic-130	77	4	control	control	NOUN
hjic-130	77	5	error	error	NOUN
hjic-130	77	6	which	which	PRON
hjic-130	77	7	is	be	AUX
hjic-130	77	8	not	not	PART
hjic-130	77	9	equivalent	equivalent	ADJ
hjic-130	77	10	with	with	ADP
hjic-130	77	11	control	control	NOUN
hjic-130	77	12	deviation	deviation	NOUN
hjic-130	77	13	calculated	calculate	VERB
hjic-130	77	14	directly	directly	ADV
hjic-130	77	15	from	from	ADP
hjic-130	77	16	the	the	DET
hjic-130	77	17	setpoint	setpoint	NOUN
hjic-130	77	18	)	)	PUNCT
hjic-130	77	19	is	be	AUX
hjic-130	77	20	due	due	ADJ
hjic-130	77	21	to	to	ADP
hjic-130	77	22	the	the	DET
hjic-130	77	23	different	different	ADJ
hjic-130	77	24	dynamics	dynamic	NOUN
hjic-130	77	25	of	of	ADP
hjic-130	77	26	the	the	DET
hjic-130	77	27	model	model	NOUN
hjic-130	77	28	and	and	CCONJ
hjic-130	77	29	the	the	DET
hjic-130	77	30	process	process	NOUN
hjic-130	77	31	.	.	PUNCT
hjic-130	78	1	in	in	ADP
hjic-130	78	2	the	the	DET
hjic-130	78	3	imc	imc	PROPN
hjic-130	78	4	scheme	scheme	NOUN
hjic-130	78	5	this	this	DET
hjic-130	78	6	error	error	NOUN
hjic-130	78	7	can	can	AUX
hjic-130	78	8	be	be	AUX
hjic-130	78	9	compensated	compensate	VERB
hjic-130	78	10	for	for	ADP
hjic-130	78	11	by	by	ADP
hjic-130	78	12	correcting	correct	VERB
hjic-130	78	13	the	the	DET
hjic-130	78	14	setpoint	setpoint	NOUN
hjic-130	78	15	(	(	PUNCT
hjic-130	78	16	see	see	VERB
hjic-130	78	17	fig	fig	NOUN
hjic-130	78	18	.	.	PUNCT
hjic-130	79	1	2	2	NUM
hjic-130	79	2	,	,	PUNCT
hjic-130	79	3	the	the	DET
hjic-130	79	4	correction	correction	NOUN
hjic-130	79	5	is	be	AUX
hjic-130	79	6	on	on	ADP
hjic-130	79	7	the	the	DET
hjic-130	79	8	input	input	NOUN
hjic-130	79	9	of	of	ADP
hjic-130	79	10	the	the	DET
hjic-130	79	11	inverse	inverse	NOUN
hjic-130	79	12	model	model	NOUN
hjic-130	79	13	,	,	PUNCT
hjic-130	79	14	i.e.	i.e.	X
hjic-130	79	15	this	this	DET
hjic-130	79	16	correction	correction	NOUN
hjic-130	79	17	approaches	approach	VERB
hjic-130	79	18	the	the	DET
hjic-130	79	19	model	model	NOUN
hjic-130	79	20	to	to	ADP
hjic-130	79	21	the	the	DET
hjic-130	79	22	process	process	NOUN
hjic-130	79	23	)	)	PUNCT
hjic-130	79	24	.	.	PUNCT
hjic-130	80	1	another	another	DET
hjic-130	80	2	option	option	NOUN
hjic-130	80	3	is	be	AUX
hjic-130	80	4	to	to	PART
hjic-130	80	5	apply	apply	VERB
hjic-130	80	6	the	the	DET
hjic-130	80	7	correction	correction	NOUN
hjic-130	80	8	on	on	ADP
hjic-130	80	9	the	the	DET
hjic-130	80	10	input	input	NOUN
hjic-130	80	11	of	of	ADP
hjic-130	80	12	the	the	DET
hjic-130	80	13	process	process	NOUN
hjic-130	80	14	(	(	PUNCT
hjic-130	80	15	i.e.	i.e.	X
hjic-130	80	16	the	the	DET
hjic-130	80	17	output	output	NOUN
hjic-130	80	18	of	of	ADP
hjic-130	80	19	the	the	DET
hjic-130	80	20	inverse	inverse	NOUN
hjic-130	80	21	model	model	NOUN
hjic-130	80	22	)	)	PUNCT
hjic-130	80	23	using	use	VERB
hjic-130	80	24	a	a	DET
hjic-130	80	25	compensator	compensator	NOUN
hjic-130	80	26	(	(	PUNCT
hjic-130	80	27	this	this	PRON
hjic-130	80	28	approaches	approach	VERB
hjic-130	80	29	the	the	DET
hjic-130	80	30	process	process	NOUN
hjic-130	80	31	dynamics	dynamic	NOUN
hjic-130	80	32	to	to	ADP
hjic-130	80	33	the	the	DET
hjic-130	80	34	model	model	NOUN
hjic-130	80	35	by	by	ADP
hjic-130	80	36	correcting	correct	VERB
hjic-130	80	37	on	on	ADP
hjic-130	80	38	its	its	PRON
hjic-130	80	39	physical	physical	ADJ
hjic-130	80	40	input	input	NOUN
hjic-130	80	41	)	)	PUNCT
hjic-130	80	42	.	.	PUNCT
hjic-130	81	1	this	this	DET
hjic-130	81	2	correction	correction	NOUN
hjic-130	81	3	is	be	AUX
hjic-130	81	4	the	the	DET
hjic-130	81	5	feed	feed	NOUN
hjic-130	81	6	-	-	PUNCT
hjic-130	81	7	back	back	NOUN
hjic-130	81	8	part	part	NOUN
hjic-130	81	9	of	of	ADP
hjic-130	81	10	the	the	DET
hjic-130	81	11	physical	physical	ADJ
hjic-130	81	12	manipulated	manipulate	VERB
hjic-130	81	13	variable	variable	NOUN
hjic-130	81	14	(	(	PUNCT
hjic-130	81	15	ufb	ufb	NOUN
hjic-130	81	16	)	)	PUNCT
hjic-130	81	17	.	.	PUNCT
hjic-130	82	1	the	the	DET
hjic-130	82	2	compensator	compensator	NOUN
hjic-130	82	3	is	be	AUX
hjic-130	82	4	required	require	VERB
hjic-130	82	5	to	to	PART
hjic-130	82	6	eliminate	eliminate	VERB
hjic-130	82	7	the	the	DET
hjic-130	82	8	difference	difference	NOUN
hjic-130	82	9	(	(	PUNCT
hjic-130	82	10	control	control	NOUN
hjic-130	82	11	error	error	NOUN
hjic-130	82	12	)	)	PUNCT
hjic-130	82	13	between	between	ADP
hjic-130	82	14	the	the	DET
hjic-130	82	15	controlled	control	VERB
hjic-130	82	16	variable	variable	NOUN
hjic-130	82	17	and	and	CCONJ
hjic-130	82	18	the	the	DET
hjic-130	82	19	reference	reference	NOUN
hjic-130	82	20	signal	signal	NOUN
hjic-130	82	21	,	,	PUNCT
hjic-130	82	22	i.e.	i.e.	X
hjic-130	82	23	it	it	PRON
hjic-130	82	24	has	have	VERB
hjic-130	82	25	an	an	DET
hjic-130	82	26	integrating	integrate	VERB
hjic-130	82	27	character	character	NOUN
hjic-130	82	28	.	.	PUNCT
hjic-130	83	1	the	the	DET
hjic-130	83	2	imc	imc	PROPN
hjic-130	83	3	scheme	scheme	NOUN
hjic-130	83	4	synthesises	synthesise	VERB
hjic-130	83	5	the	the	DET
hjic-130	83	6	feed	feed	NOUN
hjic-130	83	7	-	-	PUNCT
hjic-130	83	8	back	back	NOUN
hjic-130	83	9	and	and	CCONJ
hjic-130	83	10	feed	feed	NOUN
hjic-130	83	11	-	-	PUNCT
hjic-130	83	12	forward	forward	NOUN
hjic-130	83	13	parts	part	NOUN
hjic-130	83	14	and	and	CCONJ
hjic-130	83	15	makes	make	VERB
hjic-130	83	16	the	the	DET
hjic-130	83	17	correction	correction	NOUN
hjic-130	83	18	on	on	ADP
hjic-130	83	19	the	the	DET
hjic-130	83	20	input	input	NOUN
hjic-130	83	21	of	of	ADP
hjic-130	83	22	the	the	DET
hjic-130	83	23	inverse	inverse	NOUN
hjic-130	83	24	model	model	NOUN
hjic-130	83	25	.	.	PUNCT
hjic-130	84	1	in	in	ADP
hjic-130	84	2	the	the	DET
hjic-130	84	3	above	above	ADJ
hjic-130	84	4	structure	structure	NOUN
hjic-130	84	5	,	,	PUNCT
hjic-130	84	6	defining	define	VERB
hjic-130	84	7	distinct	distinct	ADJ
hjic-130	84	8	functionalities	functionality	NOUN
hjic-130	84	9	,	,	PUNCT
hjic-130	84	10	the	the	DET
hjic-130	84	11	feed	feed	NOUN
hjic-130	84	12	-	-	PUNCT
hjic-130	84	13	forward	forward	NOUN
hjic-130	84	14	and	and	CCONJ
hjic-130	84	15	feed	feed	NOUN
hjic-130	84	16	-	-	PUNCT
hjic-130	84	17	back	back	NOUN
hjic-130	84	18	terms	term	NOUN
hjic-130	84	19	are	be	AUX
hjic-130	84	20	firmly	firmly	ADV
hjic-130	84	21	separated	separate	VERB
hjic-130	84	22	,	,	PUNCT
hjic-130	84	23	hence	hence	ADV
hjic-130	84	24	the	the	DET
hjic-130	84	25	degrees	degree	NOUN
hjic-130	84	26	of	of	ADP
hjic-130	84	27	freedom	freedom	NOUN
hjic-130	84	28	of	of	ADP
hjic-130	84	29	the	the	DET
hjic-130	84	30	controller	controller	NOUN
hjic-130	84	31	increases	increase	VERB
hjic-130	84	32	.	.	PUNCT
hjic-130	85	1	the	the	DET
hjic-130	85	2	feed	feed	NOUN
hjic-130	85	3	-	-	PUNCT
hjic-130	85	4	forward	forward	NOUN
hjic-130	85	5	part	part	NOUN
hjic-130	85	6	treats	treat	VERB
hjic-130	85	7	the	the	DET
hjic-130	85	8	servo	servo	NOUN
hjic-130	85	9	problem	problem	NOUN
hjic-130	85	10	while	while	SCONJ
hjic-130	85	11	the	the	DET
hjic-130	85	12	feed	feed	NOUN
hjic-130	85	13	-	-	PUNCT
hjic-130	85	14	back	back	NOUN
hjic-130	85	15	part	part	NOUN
hjic-130	85	16	provides	provide	VERB
hjic-130	85	17	the	the	DET
hjic-130	85	18	“	"	PUNCT
hjic-130	85	19	noise	noise	NOUN
hjic-130	85	20	”	"	PUNCT
hjic-130	85	21	compensation	compensation	NOUN
hjic-130	85	22	.	.	PUNCT
hjic-130	86	1	the	the	DET
hjic-130	86	2	design	design	NOUN
hjic-130	86	3	of	of	ADP
hjic-130	86	4	the	the	DET
hjic-130	86	5	above	above	ADJ
hjic-130	86	6	two	two	NUM
hjic-130	86	7	parts	part	NOUN
hjic-130	86	8	of	of	ADP
hjic-130	86	9	the	the	DET
hjic-130	86	10	controller	controller	NOUN
hjic-130	86	11	can	can	AUX
hjic-130	86	12	be	be	AUX
hjic-130	86	13	separated	separate	VERB
hjic-130	86	14	.	.	PUNCT
hjic-130	87	1	inverse	inverse	NOUN
hjic-130	87	2	model	model	NOUN
hjic-130	87	3	process	process	NOUN
hjic-130	87	4	1	1	NUM
hjic-130	87	5	1	1	NUM
hjic-130	87	6	+	+	NOUN
hjic-130	87	7	stc	stc	NOUN
hjic-130	87	8	+	+	X
hjic-130	87	9	+	+	CCONJ
hjic-130	87	10	+	+	CCONJ
hjic-130	87	11	g	g	NOUN
hjic-130	87	12	50	50	NUM
hjic-130	87	13	figure	figure	NOUN
hjic-130	87	14	4	4	NUM
hjic-130	87	15	:	:	PUNCT
hjic-130	87	16	the	the	DET
hjic-130	87	17	control	control	NOUN
hjic-130	87	18	scheme	scheme	NOUN
hjic-130	87	19	using	use	VERB
hjic-130	87	20	feed	feed	NOUN
hjic-130	87	21	the	the	DET
hjic-130	87	22	control	control	NOUN
hjic-130	87	23	error	error	NOUN
hjic-130	87	24	relative	relative	ADJ
hjic-130	87	25	to	to	ADP
hjic-130	87	26	the	the	DET
hjic-130	87	27	reference	reference	NOUN
hjic-130	87	28	signal	signal	NOUN
hjic-130	87	29	arising	arise	VERB
hjic-130	87	30	from	from	ADP
hjic-130	87	31	the	the	DET
hjic-130	87	32	different	different	ADJ
hjic-130	87	33	dynamics	dynamic	NOUN
hjic-130	87	34	of	of	ADP
hjic-130	87	35	the	the	DET
hjic-130	87	36	model	model	NOUN
hjic-130	87	37	and	and	CCONJ
hjic-130	87	38	the	the	DET
hjic-130	87	39	process	process	NOUN
hjic-130	87	40	can	can	AUX
hjic-130	87	41	be	be	AUX
hjic-130	87	42	set	set	VERB
hjic-130	87	43	to	to	ADP
hjic-130	87	44	zero	zero	NUM
hjic-130	87	45	.	.	PUNCT
hjic-130	88	1	the	the	DET
hjic-130	88	2	actual	actual	ADJ
hjic-130	88	3	model	model	NOUN
hjic-130	88	4	error	error	NOUN
hjic-130	88	5	is	be	AUX
hjic-130	88	6	generated	generate	VERB
hjic-130	88	7	in	in	ADP
hjic-130	88	8	a	a	DET
hjic-130	88	9	parallel	parallel	ADJ
hjic-130	88	10	scheme	scheme	NOUN
hjic-130	88	11	of	of	ADP
hjic-130	88	12	the	the	DET
hjic-130	88	13	process	process	NOUN
hjic-130	88	14	and	and	CCONJ
hjic-130	88	15	the	the	DET
hjic-130	88	16	model	model	NOUN
hjic-130	88	17	.	.	PUNCT
hjic-130	89	1	based	base	VERB
hjic-130	89	2	on	on	ADP
hjic-130	89	3	the	the	DET
hjic-130	89	4	model	model	NOUN
hjic-130	89	5	error	error	NOUN
hjic-130	89	6	the	the	DET
hjic-130	89	7	model	model	NOUN
hjic-130	89	8	parameters	parameter	NOUN
hjic-130	89	9	can	can	AUX
hjic-130	89	10	be	be	AUX
hjic-130	89	11	refined	refine	VERB
hjic-130	89	12	too	too	ADV
hjic-130	89	13	(	(	PUNCT
hjic-130	89	14	adaptive	adaptive	ADJ
hjic-130	89	15	systems	system	NOUN
hjic-130	89	16	)	)	PUNCT
hjic-130	89	17	.	.	PUNCT
hjic-130	90	1	this	this	PRON
hjic-130	90	2	involves	involve	VERB
hjic-130	90	3	a	a	DET
hjic-130	90	4	secondary	secondary	ADJ
hjic-130	90	5	feed	feed	NOUN
hjic-130	90	6	back	back	ADV
hjic-130	90	7	with	with	ADP
hjic-130	90	8	a	a	DET
hjic-130	90	9	much	much	ADV
hjic-130	90	10	larger	large	ADJ
hjic-130	90	11	time	time	NOUN
hjic-130	90	12	constant	constant	ADJ
hjic-130	90	13	than	than	ADP
hjic-130	90	14	that	that	PRON
hjic-130	90	15	of	of	ADP
hjic-130	90	16	the	the	DET
hjic-130	90	17	primary	primary	ADJ
hjic-130	90	18	feed	feed	NOUN
hjic-130	90	19	back	back	ADV
hjic-130	90	20	.	.	PUNCT
hjic-130	91	1	the	the	DET
hjic-130	91	2	different	different	ADJ
hjic-130	91	3	adaptation	adaptation	NOUN
hjic-130	91	4	possibilities	possibility	NOUN
hjic-130	91	5	are	be	AUX
hjic-130	91	6	not	not	PART
hjic-130	91	7	discussed	discuss	VERB
hjic-130	91	8	in	in	ADP
hjic-130	91	9	this	this	DET
hjic-130	91	10	paper	paper	NOUN
hjic-130	91	11	.	.	PUNCT
hjic-130	92	1	construction	construction	NOUN
hjic-130	92	2	of	of	ADP
hjic-130	92	3	the	the	DET
hjic-130	92	4	constrained	constrain	VERB
hjic-130	92	5	inverse	inverse	NOUN
hjic-130	92	6	the	the	DET
hjic-130	92	7	function	function	NOUN
hjic-130	92	8	of	of	ADP
hjic-130	92	9	the	the	DET
hjic-130	92	10	inverse	inverse	ADJ
hjic-130	92	11	term	term	NOUN
hjic-130	92	12	is	be	AUX
hjic-130	92	13	to	to	PART
hjic-130	92	14	generate	generate	VERB
hjic-130	92	15	the	the	DET
hjic-130	92	16	input	input	NOUN
hjic-130	92	17	for	for	ADP
hjic-130	92	18	the	the	DET
hjic-130	92	19	specified	specify	VERB
hjic-130	92	20	output	output	NOUN
hjic-130	92	21	.	.	PUNCT
hjic-130	93	1	this	this	PRON
hjic-130	93	2	is	be	AUX
hjic-130	93	3	interpreted	interpret	VERB
hjic-130	93	4	on	on	ADP
hjic-130	93	5	fig	fig	NOUN
hjic-130	93	6	.	.	PUNCT
hjic-130	94	1	5	5	X
hjic-130	94	2	.	.	X
hjic-130	94	3	the	the	DET
hjic-130	94	4	model	model	NOUN
hjic-130	94	5	of	of	ADP
hjic-130	94	6	the	the	DET
hjic-130	94	7	process	process	NOUN
hjic-130	94	8	to	to	PART
hjic-130	94	9	be	be	AUX
hjic-130	94	10	controlled	control	VERB
hjic-130	94	11	maps	map	NOUN
hjic-130	94	12	the	the	DET
hjic-130	94	13	manipulated	manipulate	VERB
hjic-130	94	14	variable(s	variable(s	NOUN
hjic-130	94	15	)	)	PUNCT
hjic-130	94	16	,	,	PUNCT
hjic-130	94	17	the	the	DET
hjic-130	94	18	measured	measured	ADJ
hjic-130	94	19	disturbance(s	disturbance(s	NOUN
hjic-130	94	20	)	)	PUNCT
hjic-130	94	21	(	(	PUNCT
hjic-130	94	22	inputs	input	NOUN
hjic-130	94	23	)	)	PUNCT
hjic-130	94	24	and	and	CCONJ
hjic-130	94	25	the	the	DET
hjic-130	94	26	parameter(s	parameter(s	NOUN
hjic-130	94	27	)	)	PUNCT
hjic-130	94	28	to	to	ADP
hjic-130	94	29	the	the	DET
hjic-130	94	30	controlled	control	VERB
hjic-130	94	31	variable(s	variable(s	NOUN
hjic-130	94	32	)	)	PUNCT
hjic-130	94	33	(	(	PUNCT
hjic-130	94	34	outputs	output	NOUN
hjic-130	94	35	)	)	PUNCT
hjic-130	94	36	.	.	PUNCT
hjic-130	95	1	this	this	PRON
hjic-130	95	2	is	be	AUX
hjic-130	95	3	a	a	DET
hjic-130	95	4	cause	cause	VERB
hjic-130	95	5	-	-	PUNCT
hjic-130	95	6	effect	effect	NOUN
hjic-130	95	7	relationship	relationship	NOUN
hjic-130	95	8	inferring	infer	VERB
hjic-130	95	9	that	that	SCONJ
hjic-130	95	10	a	a	DET
hjic-130	95	11	physically	physically	ADV
hjic-130	95	12	feasible	feasible	ADJ
hjic-130	95	13	output	output	NOUN
hjic-130	95	14	can	can	AUX
hjic-130	95	15	always	always	ADV
hjic-130	95	16	be	be	AUX
hjic-130	95	17	generated	generate	VERB
hjic-130	95	18	for	for	ADP
hjic-130	95	19	every	every	DET
hjic-130	95	20	physically	physically	ADV
hjic-130	95	21	realizable	realizable	ADJ
hjic-130	95	22	input	input	NOUN
hjic-130	95	23	.	.	PUNCT
hjic-130	96	1	the	the	DET
hjic-130	96	2	inverse	inverse	NOUN
hjic-130	96	3	model	model	NOUN
hjic-130	96	4	maps	map	VERB
hjic-130	96	5	the	the	DET
hjic-130	96	6	physically	physically	ADV
hjic-130	96	7	possible	possible	ADJ
hjic-130	96	8	disturbances	disturbance	NOUN
hjic-130	96	9	,	,	PUNCT
hjic-130	96	10	the	the	DET
hjic-130	96	11	references	reference	NOUN
hjic-130	96	12	given	give	VERB
hjic-130	96	13	independently	independently	ADV
hjic-130	96	14	from	from	ADP
hjic-130	96	15	process	process	NOUN
hjic-130	96	16	and	and	CCONJ
hjic-130	96	17	the	the	DET
hjic-130	96	18	parameters	parameter	NOUN
hjic-130	96	19	to	to	ADP
hjic-130	96	20	the	the	DET
hjic-130	96	21	process	process	NOUN
hjic-130	96	22	inputs	input	NOUN
hjic-130	96	23	.	.	PUNCT
hjic-130	97	1	this	this	PRON
hjic-130	97	2	is	be	AUX
hjic-130	97	3	a	a	DET
hjic-130	97	4	goal	goal	NOUN
hjic-130	97	5	-	-	PUNCT
hjic-130	97	6	cause	cause	NOUN
hjic-130	97	7	relationship	relationship	NOUN
hjic-130	97	8	,	,	PUNCT
hjic-130	97	9	i.e.	i.e.	X
hjic-130	97	10	the	the	DET
hjic-130	97	11	suitable	suitable	ADJ
hjic-130	97	12	system	system	NOUN
hjic-130	97	13	inputs	input	NOUN
hjic-130	97	14	must	must	AUX
hjic-130	97	15	be	be	AUX
hjic-130	97	16	find	find	VERB
hjic-130	97	17	for	for	ADP
hjic-130	97	18	the	the	DET
hjic-130	97	19	given	give	VERB
hjic-130	97	20	system	system	NOUN
hjic-130	97	21	outputs	output	NOUN
hjic-130	97	22	.	.	PUNCT
hjic-130	98	1	it	it	PRON
hjic-130	98	2	is	be	AUX
hjic-130	98	3	not	not	PART
hjic-130	98	4	always	always	ADV
hjic-130	98	5	guaranteed	guarantee	VERB
hjic-130	98	6	that	that	SCONJ
hjic-130	98	7	the	the	DET
hjic-130	98	8	specifications	specification	NOUN
hjic-130	98	9	can	can	AUX
hjic-130	98	10	be	be	AUX
hjic-130	98	11	satisfied	satisfied	ADJ
hjic-130	98	12	.	.	PUNCT
hjic-130	99	1	this	this	PRON
hjic-130	99	2	is	be	AUX
hjic-130	99	3	the	the	DET
hjic-130	99	4	basic	basic	ADJ
hjic-130	99	5	problem	problem	NOUN
hjic-130	99	6	of	of	ADP
hjic-130	99	7	composing	compose	VERB
hjic-130	99	8	the	the	DET
hjic-130	99	9	inverse	inverse	NOUN
hjic-130	99	10	.	.	PUNCT
hjic-130	100	1	the	the	DET
hjic-130	100	2	impractical	impractical	ADJ
hjic-130	100	3	specifications	specification	NOUN
hjic-130	100	4	can	can	AUX
hjic-130	100	5	be	be	AUX
hjic-130	100	6	corrected	correct	VERB
hjic-130	100	7	by	by	ADP
hjic-130	100	8	applying	apply	VERB
hjic-130	100	9	constrained	constrain	VERB
hjic-130	100	10	inverses	inverse	NOUN
hjic-130	100	11	.	.	PUNCT
hjic-130	101	1	the	the	DET
hjic-130	101	2	details	detail	NOUN
hjic-130	101	3	of	of	ADP
hjic-130	101	4	this	this	DET
hjic-130	101	5	method	method	NOUN
hjic-130	101	6	are	be	AUX
hjic-130	101	7	discussed	discuss	VERB
hjic-130	101	8	in	in	ADP
hjic-130	101	9	the	the	DET
hjic-130	101	10	following	following	NOUN
hjic-130	101	11	.	.	PUNCT
hjic-130	102	1	let	let	VERB
hjic-130	102	2	us	we	PRON
hjic-130	102	3	define	define	VERB
hjic-130	102	4	the	the	DET
hjic-130	102	5	model	model	NOUN
hjic-130	102	6	of	of	ADP
hjic-130	102	7	the	the	DET
hjic-130	102	8	process	process	NOUN
hjic-130	102	9	to	to	PART
hjic-130	102	10	be	be	AUX
hjic-130	102	11	controlled	control	VERB
hjic-130	102	12	in	in	ADP
hjic-130	102	13	the	the	DET
hjic-130	102	14	following	follow	VERB
hjic-130	102	15	state	state	NOUN
hjic-130	102	16	-	-	PUNCT
hjic-130	102	17	space	space	NOUN
hjic-130	102	18	form	form	NOUN
hjic-130	102	19	(	(	PUNCT
hjic-130	102	20	the	the	DET
hjic-130	102	21	principle	principle	NOUN
hjic-130	102	22	of	of	ADP
hjic-130	102	23	the	the	DET
hjic-130	102	24	method	method	NOUN
hjic-130	102	25	is	be	AUX
hjic-130	102	26	not	not	PART
hjic-130	102	27	affected	affect	VERB
hjic-130	102	28	when	when	SCONJ
hjic-130	102	29	,	,	PUNCT
hjic-130	102	30	for	for	ADP
hjic-130	102	31	the	the	DET
hjic-130	102	32	sake	sake	NOUN
hjic-130	102	33	of	of	ADP
hjic-130	102	34	simplicity	simplicity	NOUN
hjic-130	102	35	,	,	PUNCT
hjic-130	102	36	only	only	ADV
hjic-130	102	37	one	one	NUM
hjic-130	102	38	manipulated	manipulate	VERB
hjic-130	102	39	and	and	CCONJ
hjic-130	102	40	one	one	NUM
hjic-130	102	41	controlled	control	VERB
hjic-130	102	42	variable	variable	NOUN
hjic-130	102	43	considered	consider	VERB
hjic-130	102	44	in	in	ADP
hjic-130	102	45	the	the	DET
hjic-130	102	46	calculations	calculation	NOUN
hjic-130	102	47	in	in	ADP
hjic-130	102	48	the	the	DET
hjic-130	102	49	continuous	continuous	ADJ
hjic-130	102	50	time	time	NOUN
hjic-130	102	51	domain	domain	NOUN
hjic-130	102	52	):	):	PUNCT
hjic-130	102	53	)	)	PUNCT
hjic-130	102	54	,	,	PUNCT
hjic-130	102	55	,	,	PUNCT
hjic-130	102	56	(	(	PUNCT
hjic-130	102	57	zuxf	zuxf	NOUN
hjic-130	102	58	dt	dt	X
hjic-130	102	59	dx	dx	PROPN
hjic-130	103	1	=	=	SYM
hjic-130	103	2	,	,	PUNCT
hjic-130	103	3	state	state	NOUN
hjic-130	103	4	-	-	PUNCT
hjic-130	103	5	transition	transition	NOUN
hjic-130	103	6	function	function	NOUN
hjic-130	103	7	(	(	PUNCT
hjic-130	103	8	3	3	X
hjic-130	103	9	)	)	PUNCT
hjic-130	103	10	y	y	NOUN
hjic-130	103	11	=	=	SYM
hjic-130	103	12	g(x	g(x	PROPN
hjic-130	103	13	,	,	PUNCT
hjic-130	103	14	u	u	NOUN
hjic-130	103	15	,	,	PUNCT
hjic-130	103	16	z	z	NOUN
hjic-130	103	17	)	)	PUNCT
hjic-130	103	18	,	,	PUNCT
hjic-130	103	19	output	output	NOUN
hjic-130	103	20	function	function	NOUN
hjic-130	103	21	(	(	PUNCT
hjic-130	103	22	4	4	NUM
hjic-130	103	23	)	)	PUNCT
hjic-130	103	24	where	where	SCONJ
hjic-130	103	25	u	u	PRON
hjic-130	103	26	input	input	NOUN
hjic-130	103	27	signal	signal	NOUN
hjic-130	103	28	,	,	PUNCT
hjic-130	103	29	z	z	NOUN
hjic-130	103	30	measure	measure	NOUN
hjic-130	103	31	disturbance(s	disturbance(s	PROPN
hjic-130	103	32	)	)	PUNCT
hjic-130	103	33	,	,	PUNCT
hjic-130	103	34	y	y	PROPN
hjic-130	103	35	controlled	control	VERB
hjic-130	103	36	variable	variable	NOUN
hjic-130	103	37	,	,	PUNCT
hjic-130	103	38	x	x	PUNCT
hjic-130	103	39	state	state	NOUN
hjic-130	103	40	variables	variable	VERB
hjic-130	103	41	t	t	PROPN
hjic-130	103	42	time	time	NOUN
hjic-130	103	43	.	.	PUNCT
hjic-130	104	1	figure	figure	VERB
hjic-130	104	2	5	5	NUM
hjic-130	104	3	:	:	PUNCT
hjic-130	104	4	interpretation	interpretation	NOUN
hjic-130	104	5	of	of	ADP
hjic-130	104	6	the	the	DET
hjic-130	104	7	constrained	constrain	VERB
hjic-130	104	8	inverse	inverse	NOUN
hjic-130	104	9	constrains	constrain	VERB
hjic-130	104	10	model	model	NOUN
hjic-130	104	11	inverse	inverse	NOUN
hjic-130	104	12	manipulated	manipulate	VERB
hjic-130	104	13	variable	variable	NOUN
hjic-130	104	14	,	,	PUNCT
hjic-130	104	15	u	u	NOUN
hjic-130	104	16	constrained	constrain	VERB
hjic-130	104	17	manipulated	manipulate	VERB
hjic-130	104	18	variable	variable	ADJ
hjic-130	104	19	input	input	NOUN
hjic-130	104	20	,	,	PUNCT
hjic-130	104	21	u	u	NOUN
hjic-130	104	22	output	output	NOUN
hjic-130	104	23	,	,	PUNCT
hjic-130	104	24	y	y	PROPN
hjic-130	104	25	measured	measure	VERB
hjic-130	104	26	disturbance	disturbance	NOUN
hjic-130	104	27	,	,	PUNCT
hjic-130	104	28	z	z	NOUN
hjic-130	104	29	reference	reference	NOUN
hjic-130	104	30	signal	signal	NOUN
hjic-130	104	31	,	,	PUNCT
hjic-130	104	32	w	w	ADP
hjic-130	104	33	constrained	constrain	VERB
hjic-130	104	34	inverse	inverse	NOUN
hjic-130	104	35	model	model	NOUN
hjic-130	104	36	process	process	NOUN
hjic-130	104	37	compensation	compensation	NOUN
hjic-130	104	38	model	model	NOUN
hjic-130	104	39	adaptation	adaptation	NOUN
hjic-130	104	40	model	model	NOUN
hjic-130	104	41	setpoint	setpoint	NOUN
hjic-130	104	42	disturbance	disturbance	NOUN
hjic-130	104	43	manipulated	manipulate	VERB
hjic-130	104	44	variable	variable	ADJ
hjic-130	104	45	controlled	control	VERB
hjic-130	104	46	variable	variable	ADJ
hjic-130	104	47	parameters	parameter	NOUN
hjic-130	104	48	51	51	NUM
hjic-130	104	49	the	the	DET
hjic-130	104	50	relative	relative	ADJ
hjic-130	104	51	order	order	NOUN
hjic-130	104	52	of	of	ADP
hjic-130	104	53	(	(	PUNCT
hjic-130	104	54	3	3	NUM
hjic-130	104	55	-	-	SYM
hjic-130	104	56	4	4	NUM
hjic-130	104	57	)	)	PUNCT
hjic-130	104	58	system	system	NOUN
hjic-130	104	59	has	have	VERB
hjic-130	104	60	an	an	DET
hjic-130	104	61	important	important	ADJ
hjic-130	104	62	role	role	NOUN
hjic-130	104	63	in	in	ADP
hjic-130	104	64	the	the	DET
hjic-130	104	65	invertation	invertation	NOUN
hjic-130	104	66	[	[	X
hjic-130	104	67	3	3	NUM
hjic-130	104	68	]	]	PUNCT
hjic-130	104	69	.	.	PUNCT
hjic-130	105	1	the	the	DET
hjic-130	105	2	relative	relative	ADJ
hjic-130	105	3	order	order	NOUN
hjic-130	105	4	basically	basically	ADV
hjic-130	105	5	means	mean	VERB
hjic-130	105	6	the	the	DET
hjic-130	105	7	smallest	small	ADJ
hjic-130	105	8	order	order	NOUN
hjic-130	105	9	differential	differential	NOUN
hjic-130	105	10	of	of	ADP
hjic-130	105	11	the	the	DET
hjic-130	105	12	output	output	NOUN
hjic-130	105	13	signal	signal	NOUN
hjic-130	105	14	which	which	PRON
hjic-130	105	15	is	be	AUX
hjic-130	105	16	affected	affect	VERB
hjic-130	105	17	by	by	ADP
hjic-130	105	18	the	the	DET
hjic-130	105	19	manipulated	manipulated	ADJ
hjic-130	105	20	variable	variable	NOUN
hjic-130	105	21	directly	directly	ADV
hjic-130	105	22	.	.	PUNCT
hjic-130	106	1	therefore	therefore	ADV
hjic-130	106	2	if	if	SCONJ
hjic-130	106	3	the	the	DET
hjic-130	106	4	relative	relative	ADJ
hjic-130	106	5	order	order	NOUN
hjic-130	106	6	of	of	ADP
hjic-130	106	7	the	the	DET
hjic-130	106	8	system	system	NOUN
hjic-130	106	9	is	be	AUX
hjic-130	106	10	r	r	NOUN
hjic-130	106	11	,	,	PUNCT
hjic-130	106	12	then	then	ADV
hjic-130	106	13	the	the	DET
hjic-130	106	14	following	follow	VERB
hjic-130	106	15	applies	applie	NOUN
hjic-130	106	16	:	:	PUNCT
hjic-130	106	17	)	)	PUNCT
hjic-130	106	18	,	,	PUNCT
hjic-130	106	19	,	,	PUNCT
hjic-130	106	20	(	(	PUNCT
hjic-130	106	21	xzu	xzu	INTJ
hjic-130	106	22	dt	dt	NOUN
hjic-130	106	23	yd	yd	NOUN
hjic-130	106	24	r	r	NOUN
hjic-130	106	25	r	r	NOUN
hjic-130	106	26	ϕ=	ϕ=	NOUN
hjic-130	106	27	,	,	PUNCT
hjic-130	106	28	(	(	PUNCT
hjic-130	106	29	5	5	X
hjic-130	106	30	)	)	PUNCT
hjic-130	106	31	while	while	SCONJ
hjic-130	106	32	the	the	DET
hjic-130	106	33	(	(	PUNCT
hjic-130	106	34	r-1)-differential	r-1)-differential	PROPN
hjic-130	106	35	is	be	AUX
hjic-130	106	36	not	not	PART
hjic-130	106	37	a	a	DET
hjic-130	106	38	direct	direct	ADJ
hjic-130	106	39	function	function	NOUN
hjic-130	106	40	of	of	ADP
hjic-130	106	41	u.	u.	PROPN
hjic-130	106	42	function	function	PROPN
hjic-130	106	43	φ(u	φ(u	NOUN
hjic-130	106	44	,	,	PUNCT
hjic-130	106	45	z	z	NOUN
hjic-130	106	46	,	,	PUNCT
hjic-130	106	47	x	x	X
hjic-130	106	48	)	)	PUNCT
hjic-130	106	49	can	can	AUX
hjic-130	106	50	be	be	AUX
hjic-130	106	51	obtained	obtain	VERB
hjic-130	106	52	by	by	ADP
hjic-130	106	53	differentiating	differentiate	VERB
hjic-130	106	54	equation	equation	NOUN
hjic-130	106	55	(	(	PUNCT
hjic-130	106	56	4	4	NUM
hjic-130	106	57	)	)	PUNCT
hjic-130	106	58	r	r	NOUN
hjic-130	106	59	-	-	PUNCT
hjic-130	106	60	times	time	NOUN
hjic-130	106	61	and	and	CCONJ
hjic-130	106	62	taking	take	VERB
hjic-130	106	63	into	into	ADP
hjic-130	106	64	account	account	NOUN
hjic-130	106	65	the	the	DET
hjic-130	106	66	statetransition	statetransition	NOUN
hjic-130	106	67	function	function	VERB
hjic-130	106	68	too	too	ADV
hjic-130	106	69	.	.	PUNCT
hjic-130	107	1	the	the	DET
hjic-130	107	2	ideal	ideal	ADJ
hjic-130	107	3	form	form	NOUN
hjic-130	107	4	of	of	ADP
hjic-130	107	5	inverting	inverting	NOUN
hjic-130	107	6	was	be	AUX
hjic-130	107	7	,	,	PUNCT
hjic-130	107	8	if	if	SCONJ
hjic-130	107	9	the	the	DET
hjic-130	107	10	output	output	NOUN
hjic-130	107	11	followed	follow	VERB
hjic-130	107	12	the	the	DET
hjic-130	107	13	reference	reference	NOUN
hjic-130	107	14	signal	signal	NOUN
hjic-130	107	15	without	without	ADP
hjic-130	107	16	any	any	DET
hjic-130	107	17	time	time	NOUN
hjic-130	107	18	delay	delay	NOUN
hjic-130	107	19	(	(	PUNCT
hjic-130	107	20	y	y	NOUN
hjic-130	107	21	=	=	PUNCT
hjic-130	107	22	w	w	PROPN
hjic-130	107	23	)	)	PUNCT
hjic-130	107	24	.	.	PUNCT
hjic-130	108	1	apart	apart	ADV
hjic-130	108	2	from	from	ADP
hjic-130	108	3	the	the	DET
hjic-130	108	4	zero	zero	NUM
hjic-130	108	5	-	-	PUNCT
hjic-130	108	6	order	order	NOUN
hjic-130	108	7	systems	system	NOUN
hjic-130	108	8	without	without	ADP
hjic-130	108	9	any	any	DET
hjic-130	108	10	time	time	NOUN
hjic-130	108	11	delay	delay	NOUN
hjic-130	108	12	,	,	PUNCT
hjic-130	108	13	this	this	PRON
hjic-130	108	14	is	be	AUX
hjic-130	108	15	impossible	impossible	ADJ
hjic-130	108	16	in	in	ADP
hjic-130	108	17	case	case	NOUN
hjic-130	108	18	of	of	ADP
hjic-130	108	19	finite	finite	PROPN
hjic-130	108	20	manipulated	manipulate	VERB
hjic-130	108	21	variables	variable	NOUN
hjic-130	108	22	.	.	PUNCT
hjic-130	109	1	consequently	consequently	ADV
hjic-130	109	2	an	an	DET
hjic-130	109	3	r	r	NOUN
hjic-130	109	4	-	-	PUNCT
hjic-130	109	5	order	order	NOUN
hjic-130	109	6	filter	filter	NOUN
hjic-130	109	7	can	can	AUX
hjic-130	109	8	be	be	AUX
hjic-130	109	9	applied	apply	VERB
hjic-130	109	10	as	as	ADP
hjic-130	109	11	inverting	invert	VERB
hjic-130	109	12	rule	rule	NOUN
hjic-130	109	13	:	:	PUNCT
hjic-130	109	14	,	,	PUNCT
hjic-130	109	15	...	...	PUNCT
hjic-130	109	16	11	11	NUM
hjic-130	109	17	1	1	NUM
hjic-130	109	18	10	10	NUM
hjic-130	109	19	wy	wy	PROPN
hjic-130	109	20	dt	dt	PROPN
hjic-130	109	21	dya	dya	VERB
hjic-130	109	22	dt	dt	PROPN
hjic-130	110	1	yda	yda	INTJ
hjic-130	111	1	dt	dt	PROPN
hjic-130	111	2	yda	yda	INTJ
hjic-130	112	1	rr	rr	NOUN
hjic-130	112	2	r	r	NOUN
hjic-130	112	3	r	r	NOUN
hjic-130	112	4	r	r	NOUN
hjic-130	112	5	=	=	ADJ
hjic-130	112	6	+	+	NOUN
hjic-130	112	7	+	+	ADJ
hjic-130	112	8	+	+	ADJ
hjic-130	112	9	+	+	ADJ
hjic-130	112	10	−−	−−	NOUN
hjic-130	112	11	−	−	NOUN
hjic-130	112	12	(	(	PUNCT
hjic-130	112	13	6	6	NUM
hjic-130	112	14	)	)	PUNCT
hjic-130	112	15	where	where	SCONJ
hjic-130	112	16	a0	a0	PROPN
hjic-130	112	17	,	,	PUNCT
hjic-130	112	18	a1	a1	PROPN
hjic-130	112	19	,	,	PUNCT
hjic-130	112	20	...	...	PUNCT
hjic-130	112	21	,	,	PUNCT
hjic-130	112	22	ar–1	ar–1	NOUN
hjic-130	112	23	,	,	PUNCT
hjic-130	112	24	altogether	altogether	ADV
hjic-130	112	25	r	r	NOUN
hjic-130	112	26	pieces	piece	NOUN
hjic-130	112	27	of	of	ADP
hjic-130	112	28	parameters	parameter	NOUN
hjic-130	112	29	of	of	ADP
hjic-130	112	30	the	the	DET
hjic-130	112	31	inverse	inverse	NOUN
hjic-130	112	32	formation	formation	NOUN
hjic-130	112	33	.	.	PUNCT
hjic-130	113	1	the	the	DET
hjic-130	113	2	r	r	NOUN
hjic-130	113	3	-	-	PUNCT
hjic-130	113	4	order	order	NOUN
hjic-130	113	5	filter	filter	NOUN
hjic-130	113	6	can	can	AUX
hjic-130	113	7	be	be	AUX
hjic-130	113	8	given	give	VERB
hjic-130	113	9	as	as	ADP
hjic-130	113	10	cascading	cascade	VERB
hjic-130	113	11	r	r	NOUN
hjic-130	113	12	first	first	ADJ
hjic-130	113	13	-	-	PUNCT
hjic-130	113	14	order	order	NOUN
hjic-130	113	15	filter	filter	NOUN
hjic-130	113	16	.	.	PUNCT
hjic-130	114	1	in	in	ADP
hjic-130	114	2	this	this	DET
hjic-130	114	3	case	case	NOUN
hjic-130	114	4	the	the	DET
hjic-130	114	5	inverting	inverting	NOUN
hjic-130	114	6	has	have	VERB
hjic-130	114	7	only	only	ADV
hjic-130	114	8	one	one	NUM
hjic-130	114	9	parameter	parameter	NOUN
hjic-130	114	10	.	.	PUNCT
hjic-130	115	1	substituting	substitute	VERB
hjic-130	115	2	relationship	relationship	NOUN
hjic-130	115	3	(	(	PUNCT
hjic-130	115	4	5	5	NUM
hjic-130	115	5	)	)	PUNCT
hjic-130	115	6	into	into	ADP
hjic-130	115	7	specification	specification	NOUN
hjic-130	115	8	(	(	PUNCT
hjic-130	115	9	6	6	NUM
hjic-130	115	10	)	)	PUNCT
hjic-130	115	11	and	and	CCONJ
hjic-130	115	12	ordering	order	VERB
hjic-130	115	13	the	the	DET
hjic-130	115	14	equation	equation	NOUN
hjic-130	115	15	,	,	PUNCT
hjic-130	115	16	φ(u	φ(u	NOUN
hjic-130	115	17	,	,	PUNCT
hjic-130	115	18	z	z	NOUN
hjic-130	115	19	,	,	PUNCT
hjic-130	115	20	x	x	X
hjic-130	115	21	)	)	PUNCT
hjic-130	115	22	can	can	AUX
hjic-130	115	23	be	be	AUX
hjic-130	115	24	expressed	express	VERB
hjic-130	115	25	as	as	ADP
hjic-130	115	26	:	:	PUNCT
hjic-130	115	27	)	)	PUNCT
hjic-130	115	28	...	...	PUNCT
hjic-130	116	1	(	(	PUNCT
hjic-130	116	2	1	1	NUM
hjic-130	116	3	)	)	PUNCT
hjic-130	116	4	,	,	PUNCT
hjic-130	116	5	,	,	PUNCT
hjic-130	116	6	(	(	PUNCT
hjic-130	116	7	1	1	NUM
hjic-130	116	8	1	1	NUM
hjic-130	116	9	11	11	NUM
hjic-130	116	10	0	0	NUM
hjic-130	116	11	−	−	NOUN
hjic-130	116	12	−	−	PROPN
hjic-130	116	13	−	−	PROPN
hjic-130	117	1	−−−−=	−−−−=	PROPN
hjic-130	117	2	r	r	NOUN
hjic-130	117	3	r	r	NOUN
hjic-130	117	4	r	r	NOUN
hjic-130	117	5	dt	dt	X
hjic-130	117	6	yda	yda	PROPN
hjic-130	117	7	dt	dt	PROPN
hjic-130	117	8	dyayw	dyayw	VERB
hjic-130	117	9	a	a	DET
hjic-130	117	10	xzuϕ	xzuϕ	ADJ
hjic-130	117	11	(	(	PUNCT
hjic-130	117	12	7	7	NUM
hjic-130	117	13	)	)	PUNCT
hjic-130	117	14	the	the	DET
hjic-130	117	15	manipulating	manipulate	VERB
hjic-130	117	16	variable	variable	NOUN
hjic-130	117	17	can	can	AUX
hjic-130	117	18	be	be	AUX
hjic-130	117	19	expressed	express	VERB
hjic-130	117	20	by	by	ADP
hjic-130	117	21	inverting	invert	VERB
hjic-130	117	22	φ(u	φ(u	NOUN
hjic-130	117	23	,	,	PUNCT
hjic-130	117	24	z	z	NOUN
hjic-130	117	25	,	,	PUNCT
hjic-130	117	26	x	x	NOUN
hjic-130	117	27	)	)	PUNCT
hjic-130	117	28	with	with	ADP
hjic-130	117	29	respect	respect	NOUN
hjic-130	117	30	to	to	ADP
hjic-130	117	31	u	u	NOUN
hjic-130	117	32	:	:	PUNCT
hjic-130	117	33	u	u	NOUN
hjic-130	117	34	=	=	SYM
hjic-130	117	35	φ-1(u	φ-1(u	PROPN
hjic-130	117	36	,	,	PUNCT
hjic-130	117	37	z	z	NOUN
hjic-130	117	38	,	,	PUNCT
hjic-130	117	39	x	x	X
hjic-130	117	40	)	)	PUNCT
hjic-130	117	41	(	(	PUNCT
hjic-130	117	42	8)	8)	NUM
hjic-130	117	43	the	the	DET
hjic-130	117	44	smaller	small	ADJ
hjic-130	117	45	is	be	AUX
hjic-130	117	46	the	the	DET
hjic-130	117	47	time	time	NOUN
hjic-130	117	48	constant	constant	ADJ
hjic-130	117	49	of	of	ADP
hjic-130	117	50	the	the	DET
hjic-130	117	51	inverse	inverse	NOUN
hjic-130	117	52	,	,	PUNCT
hjic-130	117	53	the	the	DET
hjic-130	117	54	more	more	ADV
hjic-130	117	55	aggressive	aggressive	ADJ
hjic-130	117	56	is	be	AUX
hjic-130	117	57	the	the	DET
hjic-130	117	58	control	control	NOUN
hjic-130	117	59	action	action	NOUN
hjic-130	117	60	,	,	PUNCT
hjic-130	117	61	at	at	ADP
hjic-130	117	62	the	the	DET
hjic-130	117	63	same	same	ADJ
hjic-130	117	64	time	time	NOUN
hjic-130	117	65	the	the	DET
hjic-130	117	66	higher	high	ADJ
hjic-130	117	67	is	be	AUX
hjic-130	117	68	the	the	DET
hjic-130	117	69	risk	risk	NOUN
hjic-130	117	70	that	that	SCONJ
hjic-130	117	71	the	the	DET
hjic-130	117	72	manipulated	manipulate	VERB
hjic-130	117	73	variable	variable	NOUN
hjic-130	117	74	gets	get	VERB
hjic-130	117	75	outside	outside	ADP
hjic-130	117	76	the	the	DET
hjic-130	117	77	physical	physical	ADJ
hjic-130	117	78	constraints	constraint	NOUN
hjic-130	117	79	.	.	PUNCT
hjic-130	118	1	conversely	conversely	ADV
hjic-130	118	2	,	,	PUNCT
hjic-130	118	3	at	at	ADP
hjic-130	118	4	higher	high	ADJ
hjic-130	118	5	time	time	NOUN
hjic-130	118	6	constants	constant	NOUN
hjic-130	118	7	,	,	PUNCT
hjic-130	118	8	the	the	DET
hjic-130	118	9	physical	physical	ADJ
hjic-130	118	10	constraints	constraint	NOUN
hjic-130	118	11	of	of	ADP
hjic-130	118	12	the	the	DET
hjic-130	118	13	manipulated	manipulate	VERB
hjic-130	118	14	variable	variable	NOUN
hjic-130	118	15	are	be	AUX
hjic-130	118	16	more	more	ADV
hjic-130	118	17	rarely	rarely	ADV
hjic-130	118	18	attained	attain	VERB
hjic-130	118	19	.	.	PUNCT
hjic-130	119	1	the	the	DET
hjic-130	119	2	physical	physical	ADJ
hjic-130	119	3	realization	realization	NOUN
hjic-130	119	4	of	of	ADP
hjic-130	119	5	the	the	DET
hjic-130	119	6	manipulated	manipulate	VERB
hjic-130	119	7	variable	variable	NOUN
hjic-130	119	8	calculated	calculate	VERB
hjic-130	119	9	according	accord	VERB
hjic-130	119	10	to	to	ADP
hjic-130	119	11	equation	equation	NOUN
hjic-130	119	12	(	(	PUNCT
hjic-130	119	13	8)	8)	NUM
hjic-130	119	14	can	can	AUX
hjic-130	119	15	not	not	PART
hjic-130	119	16	be	be	AUX
hjic-130	119	17	guaranteed	guarantee	VERB
hjic-130	119	18	,	,	PUNCT
hjic-130	119	19	hence	hence	ADV
hjic-130	119	20	usually	usually	ADV
hjic-130	119	21	the	the	DET
hjic-130	119	22	constraints	constraint	NOUN
hjic-130	119	23	are	be	AUX
hjic-130	119	24	considered	consider	VERB
hjic-130	119	25	:	:	PUNCT
hjic-130	119	26	u	u	SYM
hjic-130	119	27	=	=	PUNCT
hjic-130	119	28	{	{	PUNCT
hjic-130	119	29	umin	umin	NOUN
hjic-130	119	30	,	,	PUNCT
hjic-130	119	31	if	if	SCONJ
hjic-130	119	32	u	u	PROPN
hjic-130	119	33	<	<	X
hjic-130	119	34	umin	umin	X
hjic-130	119	35	;	;	PUNCT
hjic-130	119	36	umax	umax	ADJ
hjic-130	119	37	,	,	PUNCT
hjic-130	119	38	if	if	SCONJ
hjic-130	119	39	u	u	PROPN
hjic-130	119	40	>	>	X
hjic-130	119	41	umax	umax	PROPN
hjic-130	119	42	;	;	PUNCT
hjic-130	119	43	u	u	NOUN
hjic-130	119	44	otherwise	otherwise	ADV
hjic-130	119	45	}	}	PUNCT
hjic-130	119	46	(	(	PUNCT
hjic-130	119	47	9	9	X
hjic-130	119	48	)	)	PUNCT
hjic-130	119	49	where	where	SCONJ
hjic-130	119	50	the	the	DET
hjic-130	119	51	allowable	allowable	ADJ
hjic-130	119	52	range	range	NOUN
hjic-130	119	53	of	of	ADP
hjic-130	119	54	u	u	NOUN
hjic-130	119	55	:	:	PUNCT
hjic-130	119	56	u	u	NOUN
hjic-130	119	57	∈	∈	PROPN
hjic-130	119	58	[	[	X
hjic-130	119	59	umin	umin	X
hjic-130	119	60	,	,	PUNCT
hjic-130	119	61	umax	umax	ADJ
hjic-130	119	62	]	]	X
hjic-130	119	63	.	.	PUNCT
hjic-130	120	1	the	the	DET
hjic-130	120	2	constrained	constrain	VERB
hjic-130	120	3	manipulated	manipulate	VERB
hjic-130	120	4	variable	variable	NOUN
hjic-130	120	5	calculated	calculate	VERB
hjic-130	120	6	according	accord	VERB
hjic-130	120	7	to	to	ADP
hjic-130	120	8	equation	equation	NOUN
hjic-130	120	9	(	(	PUNCT
hjic-130	120	10	9	9	NUM
hjic-130	120	11	)	)	PUNCT
hjic-130	120	12	can	can	AUX
hjic-130	120	13	always	always	ADV
hjic-130	120	14	be	be	AUX
hjic-130	120	15	realized	realize	VERB
hjic-130	120	16	;	;	PUNCT
hjic-130	120	17	however	however	ADV
hjic-130	120	18	during	during	ADP
hjic-130	120	19	the	the	DET
hjic-130	120	20	cutbacks	cutback	NOUN
hjic-130	120	21	the	the	DET
hjic-130	120	22	invertation	invertation	NOUN
hjic-130	120	23	rule	rule	NOUN
hjic-130	120	24	(	(	PUNCT
hjic-130	120	25	6	6	NUM
hjic-130	120	26	)	)	PUNCT
hjic-130	120	27	can	can	AUX
hjic-130	120	28	not	not	PART
hjic-130	120	29	be	be	AUX
hjic-130	120	30	applied	apply	VERB
hjic-130	120	31	.	.	PUNCT
hjic-130	121	1	model	model	NOUN
hjic-130	121	2	error	error	NOUN
hjic-130	121	3	compensation	compensation	NOUN
hjic-130	121	4	the	the	DET
hjic-130	121	5	design	design	NOUN
hjic-130	121	6	of	of	ADP
hjic-130	121	7	the	the	DET
hjic-130	121	8	model	model	NOUN
hjic-130	121	9	error	error	NOUN
hjic-130	121	10	compensator	compensator	NOUN
hjic-130	121	11	is	be	AUX
hjic-130	121	12	based	base	VERB
hjic-130	121	13	on	on	ADP
hjic-130	121	14	fig	fig	NOUN
hjic-130	121	15	.	.	PUNCT
hjic-130	122	1	4	4	NUM
hjic-130	123	1	and	and	CCONJ
hjic-130	123	2	the	the	DET
hjic-130	123	3	scheme	scheme	NOUN
hjic-130	123	4	of	of	ADP
hjic-130	123	5	the	the	DET
hjic-130	123	6	constrained	constrain	VERB
hjic-130	123	7	inverse	inverse	NOUN
hjic-130	123	8	based	base	VERB
hjic-130	123	9	feed	feed	NOUN
hjic-130	123	10	-	-	PUNCT
hjic-130	123	11	back	back	NOUN
hjic-130	123	12	controlled	control	VERB
hjic-130	123	13	process	process	NOUN
hjic-130	123	14	given	give	VERB
hjic-130	123	15	on	on	ADP
hjic-130	123	16	fig	fig	NOUN
hjic-130	123	17	.	.	PUNCT
hjic-130	124	1	6	6	NUM
hjic-130	124	2	.	.	PUNCT
hjic-130	124	3	the	the	DET
hjic-130	124	4	input	input	NOUN
hjic-130	124	5	of	of	ADP
hjic-130	124	6	the	the	DET
hjic-130	124	7	constrained	constrain	VERB
hjic-130	124	8	inverse	inverse	NOUN
hjic-130	124	9	is	be	AUX
hjic-130	124	10	the	the	DET
hjic-130	124	11	setpoint	setpoint	NOUN
hjic-130	124	12	and	and	CCONJ
hjic-130	124	13	the	the	DET
hjic-130	124	14	measured	measured	ADJ
hjic-130	124	15	disturbance	disturbance	NOUN
hjic-130	124	16	and	and	CCONJ
hjic-130	124	17	its	its	PRON
hjic-130	124	18	output	output	NOUN
hjic-130	124	19	is	be	AUX
hjic-130	124	20	the	the	DET
hjic-130	124	21	feedforward	feedforward	ADJ
hjic-130	124	22	manipulation	manipulation	NOUN
hjic-130	124	23	variable	variable	NOUN
hjic-130	124	24	(	(	PUNCT
hjic-130	124	25	uff	uff	PROPN
hjic-130	124	26	)	)	PUNCT
hjic-130	124	27	and	and	CCONJ
hjic-130	124	28	the	the	DET
hjic-130	124	29	reference	reference	NOUN
hjic-130	124	30	signal	signal	NOUN
hjic-130	124	31	calculated	calculate	VERB
hjic-130	124	32	from	from	ADP
hjic-130	124	33	the	the	DET
hjic-130	124	34	model	model	NOUN
hjic-130	124	35	.	.	PUNCT
hjic-130	125	1	the	the	DET
hjic-130	125	2	model	model	NOUN
hjic-130	125	3	error	error	NOUN
hjic-130	125	4	is	be	AUX
hjic-130	125	5	compensated	compensate	VERB
hjic-130	125	6	by	by	ADP
hjic-130	125	7	correcting	correct	VERB
hjic-130	125	8	the	the	DET
hjic-130	125	9	physical	physical	ADJ
hjic-130	125	10	input	input	NOUN
hjic-130	125	11	of	of	ADP
hjic-130	125	12	the	the	DET
hjic-130	125	13	process	process	NOUN
hjic-130	125	14	(	(	PUNCT
hjic-130	125	15	u	u	NOUN
hjic-130	125	16	)	)	PUNCT
hjic-130	125	17	,	,	PUNCT
hjic-130	125	18	while	while	SCONJ
hjic-130	125	19	the	the	DET
hjic-130	125	20	control	control	NOUN
hjic-130	125	21	error	error	NOUN
hjic-130	125	22	(	(	PUNCT
hjic-130	125	23	y	y	NOUN
hjic-130	125	24	)	)	PUNCT
hjic-130	125	25	is	be	AUX
hjic-130	125	26	calculated	calculate	VERB
hjic-130	125	27	from	from	ADP
hjic-130	125	28	difference	difference	NOUN
hjic-130	125	29	of	of	ADP
hjic-130	125	30	the	the	DET
hjic-130	125	31	reference	reference	NOUN
hjic-130	125	32	signal	signal	NOUN
hjic-130	125	33	and	and	CCONJ
hjic-130	125	34	the	the	DET
hjic-130	125	35	measured	measured	ADJ
hjic-130	125	36	output	output	NOUN
hjic-130	125	37	.	.	PUNCT
hjic-130	126	1	the	the	DET
hjic-130	126	2	model	model	NOUN
hjic-130	126	3	for	for	ADP
hjic-130	126	4	calculating	calculate	VERB
hjic-130	126	5	the	the	DET
hjic-130	126	6	model	model	NOUN
hjic-130	126	7	error	error	NOUN
hjic-130	126	8	(	(	PUNCT
hjic-130	126	9	merr	merr	PROPN
hjic-130	126	10	)	)	PUNCT
hjic-130	126	11	describes	describe	VERB
hjic-130	126	12	the	the	DET
hjic-130	126	13	relationship	relationship	NOUN
hjic-130	126	14	.	.	PUNCT
hjic-130	127	1	the	the	DET
hjic-130	127	2	error	error	NOUN
hjic-130	127	3	model	model	NOUN
hjic-130	127	4	can	can	AUX
hjic-130	127	5	be	be	AUX
hjic-130	127	6	derived	derive	VERB
hjic-130	127	7	from	from	ADP
hjic-130	127	8	the	the	DET
hjic-130	127	9	process	process	NOUN
hjic-130	127	10	model	model	NOUN
hjic-130	127	11	(	(	PUNCT
hjic-130	127	12	3	3	NUM
hjic-130	127	13	-	-	SYM
hjic-130	127	14	4	4	NUM
hjic-130	127	15	)	)	PUNCT
hjic-130	127	16	;	;	PUNCT
hjic-130	127	17	however	however	ADV
hjic-130	127	18	an	an	DET
hjic-130	127	19	autonomous	autonomous	ADJ
hjic-130	127	20	black	black	ADJ
hjic-130	127	21	-	-	PUNCT
hjic-130	127	22	box	box	NOUN
hjic-130	127	23	model	model	NOUN
hjic-130	127	24	can	can	AUX
hjic-130	127	25	also	also	ADV
hjic-130	127	26	be	be	AUX
hjic-130	127	27	identified	identify	VERB
hjic-130	127	28	.	.	PUNCT
hjic-130	128	1	e.g.	e.g.	ADV
hjic-130	128	2	if	if	SCONJ
hjic-130	128	3	the	the	DET
hjic-130	128	4	error	error	NOUN
hjic-130	128	5	model	model	NOUN
hjic-130	128	6	is	be	AUX
hjic-130	128	7	a	a	DET
hjic-130	128	8	maximum	maximum	ADJ
hjic-130	128	9	second	second	ADJ
hjic-130	128	10	-	-	PUNCT
hjic-130	128	11	order	order	NOUN
hjic-130	128	12	input	input	NOUN
hjic-130	128	13	-	-	PUNCT
hjic-130	128	14	output	output	NOUN
hjic-130	128	15	model	model	NOUN
hjic-130	128	16	,	,	PUNCT
hjic-130	128	17	then	then	ADV
hjic-130	128	18	a	a	DET
hjic-130	128	19	constrained	constrain	VERB
hjic-130	128	20	pid	pid	NOUN
hjic-130	128	21	controller	controller	NOUN
hjic-130	128	22	(	(	PUNCT
hjic-130	128	23	c	c	NOUN
hjic-130	128	24	-	-	PUNCT
hjic-130	128	25	pid	pid	NOUN
hjic-130	128	26	,	,	PUNCT
hjic-130	128	27	[	[	X
hjic-130	128	28	3	3	NUM
hjic-130	128	29	]	]	PUNCT
hjic-130	128	30	,	,	PUNCT
hjic-130	128	31	see	see	VERB
hjic-130	128	32	fig	fig	NOUN
hjic-130	128	33	.	.	PUNCT
hjic-130	129	1	7	7	X
hjic-130	129	2	)	)	PUNCT
hjic-130	129	3	can	can	AUX
hjic-130	129	4	be	be	AUX
hjic-130	129	5	well	well	ADV
hjic-130	129	6	applied	apply	VERB
hjic-130	129	7	.	.	PUNCT
hjic-130	130	1	the	the	DET
hjic-130	130	2	model	model	NOUN
hjic-130	130	3	error	error	NOUN
hjic-130	130	4	can	can	AUX
hjic-130	130	5	also	also	ADV
hjic-130	130	6	be	be	AUX
hjic-130	130	7	compensated	compensate	VERB
hjic-130	130	8	in	in	ADP
hjic-130	130	9	imc	imc	PROPN
hjic-130	130	10	structure	structure	NOUN
hjic-130	130	11	,	,	PUNCT
hjic-130	130	12	assuming	assume	VERB
hjic-130	130	13	that	that	SCONJ
hjic-130	130	14	the	the	DET
hjic-130	130	15	constrained	constrained	ADJ
hjic-130	130	16	inverse	inverse	NOUN
hjic-130	130	17	which	which	PRON
hjic-130	130	18	makes	make	VERB
hjic-130	130	19	unnecessary	unnecessary	ADJ
hjic-130	130	20	the	the	DET
hjic-130	130	21	application	application	NOUN
hjic-130	130	22	of	of	ADP
hjic-130	130	23	a	a	DET
hjic-130	130	24	separate	separate	ADJ
hjic-130	130	25	filter	filter	NOUN
hjic-130	130	26	and	and	CCONJ
hjic-130	130	27	discussed	discuss	VERB
hjic-130	130	28	in	in	ADP
hjic-130	130	29	the	the	DET
hjic-130	130	30	previous	previous	ADJ
hjic-130	130	31	part	part	NOUN
hjic-130	130	32	,	,	PUNCT
hjic-130	130	33	is	be	AUX
hjic-130	130	34	used	use	VERB
hjic-130	130	35	.	.	PUNCT
hjic-130	131	1	eliminating	eliminate	VERB
hjic-130	131	2	the	the	DET
hjic-130	131	3	model	model	NOUN
hjic-130	131	4	error	error	NOUN
hjic-130	131	5	,	,	PUNCT
hjic-130	131	6	the	the	DET
hjic-130	131	7	setpoint	setpoint	NOUN
hjic-130	131	8	is	be	AUX
hjic-130	131	9	implicitly	implicitly	ADV
hjic-130	131	10	zero	zero	NUM
hjic-130	131	11	;	;	PUNCT
hjic-130	131	12	therefore	therefore	ADV
hjic-130	131	13	the	the	DET
hjic-130	131	14	scheme	scheme	NOUN
hjic-130	131	15	becomes	become	VERB
hjic-130	131	16	simpler	simple	ADJ
hjic-130	131	17	as	as	SCONJ
hjic-130	131	18	shown	show	VERB
hjic-130	131	19	on	on	ADP
hjic-130	131	20	fig	fig	NOUN
hjic-130	131	21	.	.	PUNCT
hjic-130	132	1	8	8	X
hjic-130	132	2	.	.	PUNCT
hjic-130	133	1	it	it	PRON
hjic-130	133	2	is	be	AUX
hjic-130	133	3	well	well	ADV
hjic-130	133	4	known	know	VERB
hjic-130	133	5	,	,	PUNCT
hjic-130	133	6	that	that	SCONJ
hjic-130	133	7	the	the	DET
hjic-130	133	8	model	model	NOUN
hjic-130	133	9	is	be	AUX
hjic-130	133	10	required	require	VERB
hjic-130	133	11	to	to	PART
hjic-130	133	12	be	be	AUX
hjic-130	133	13	selfadjusting	selfadjuste	VERB
hjic-130	133	14	in	in	ADP
hjic-130	133	15	the	the	DET
hjic-130	133	16	imc	imc	PROPN
hjic-130	133	17	structure	structure	NOUN
hjic-130	133	18	.	.	PUNCT
hjic-130	134	1	figure	figure	VERB
hjic-130	134	2	6	6	NUM
hjic-130	134	3	:	:	PUNCT
hjic-130	134	4	classical	classical	ADJ
hjic-130	134	5	feedback	feedback	NOUN
hjic-130	134	6	scheme	scheme	NOUN
hjic-130	134	7	constrained	constrain	VERB
hjic-130	134	8	inverse	inverse	NOUN
hjic-130	134	9	model	model	NOUN
hjic-130	134	10	process	process	NOUN
hjic-130	134	11	+	+	PUNCT
hjic-130	134	12	fbu+	fbu+	ADP
hjic-130	134	13	ffu+	ffu+	PROPN
hjic-130	134	14	control	control	NOUN
hjic-130	134	15	error	error	NOUN
hjic-130	134	16	y	y	PROPN
hjic-130	134	17	correction	correction	NOUN
hjic-130	134	18	u	u	NOUN
hjic-130	134	19	52	52	NUM
hjic-130	134	20	figure	figure	NOUN
hjic-130	134	21	7	7	NUM
hjic-130	134	22	:	:	PUNCT
hjic-130	134	23	model	model	NOUN
hjic-130	134	24	error	error	NOUN
hjic-130	134	25	compensation	compensation	NOUN
hjic-130	134	26	with	with	ADP
hjic-130	134	27	c	c	NOUN
hjic-130	134	28	-	-	PUNCT
hjic-130	134	29	pid	pid	NOUN
hjic-130	134	30	controller	controller	NOUN
hjic-130	134	31	figure	figure	NOUN
hjic-130	134	32	8	8	NUM
hjic-130	134	33	:	:	PUNCT
hjic-130	134	34	model	model	NOUN
hjic-130	134	35	error	error	NOUN
hjic-130	134	36	compensation	compensation	NOUN
hjic-130	134	37	with	with	ADP
hjic-130	134	38	c	c	NOUN
hjic-130	134	39	-	-	PUNCT
hjic-130	134	40	pid	pid	NOUN
hjic-130	134	41	controller	controller	NOUN
hjic-130	134	42	application	application	NOUN
hjic-130	134	43	of	of	ADP
hjic-130	134	44	the	the	DET
hjic-130	134	45	method	method	NOUN
hjic-130	134	46	the	the	DET
hjic-130	134	47	application	application	NOUN
hjic-130	134	48	of	of	ADP
hjic-130	134	49	the	the	DET
hjic-130	134	50	new	new	ADJ
hjic-130	134	51	control	control	NOUN
hjic-130	134	52	structure	structure	NOUN
hjic-130	134	53	is	be	AUX
hjic-130	134	54	illustrated	illustrate	VERB
hjic-130	134	55	by	by	ADP
hjic-130	134	56	the	the	DET
hjic-130	134	57	example	example	NOUN
hjic-130	134	58	of	of	ADP
hjic-130	134	59	the	the	DET
hjic-130	134	60	temperature	temperature	NOUN
hjic-130	134	61	control	control	NOUN
hjic-130	134	62	in	in	ADP
hjic-130	134	63	a	a	DET
hjic-130	134	64	laboratory	laboratory	NOUN
hjic-130	134	65	water	water	NOUN
hjic-130	134	66	heater	heater	NOUN
hjic-130	134	67	system	system	NOUN
hjic-130	134	68	.	.	PUNCT
hjic-130	135	1	the	the	DET
hjic-130	135	2	scheme	scheme	NOUN
hjic-130	135	3	of	of	ADP
hjic-130	135	4	the	the	DET
hjic-130	135	5	system	system	NOUN
hjic-130	135	6	is	be	AUX
hjic-130	135	7	shown	show	VERB
hjic-130	135	8	on	on	ADP
hjic-130	135	9	fig	fig	NOUN
hjic-130	135	10	.	.	PUNCT
hjic-130	136	1	9	9	X
hjic-130	136	2	.	.	X
hjic-130	136	3	the	the	DET
hjic-130	136	4	feed	feed	NOUN
hjic-130	136	5	flow	flow	NOUN
hjic-130	136	6	rate	rate	NOUN
hjic-130	136	7	can	can	AUX
hjic-130	136	8	be	be	AUX
hjic-130	136	9	controlled	control	VERB
hjic-130	136	10	;	;	PUNCT
hjic-130	136	11	the	the	DET
hjic-130	136	12	discharge	discharge	NOUN
hjic-130	136	13	temperature	temperature	NOUN
hjic-130	136	14	of	of	ADP
hjic-130	136	15	the	the	DET
hjic-130	136	16	water	water	NOUN
hjic-130	136	17	can	can	AUX
hjic-130	136	18	be	be	AUX
hjic-130	136	19	controlled	control	VERB
hjic-130	136	20	by	by	ADP
hjic-130	136	21	the	the	DET
hjic-130	136	22	performance	performance	NOUN
hjic-130	136	23	of	of	ADP
hjic-130	136	24	the	the	DET
hjic-130	136	25	electric	electric	ADJ
hjic-130	136	26	heater	heater	NOUN
hjic-130	136	27	[	[	X
hjic-130	136	28	4	4	X
hjic-130	136	29	]	]	PUNCT
hjic-130	136	30	figure	figure	NOUN
hjic-130	136	31	9	9	NUM
hjic-130	136	32	:	:	PUNCT
hjic-130	136	33	scheme	scheme	NOUN
hjic-130	136	34	of	of	ADP
hjic-130	136	35	the	the	DET
hjic-130	136	36	laboratory	laboratory	NOUN
hjic-130	136	37	water	water	NOUN
hjic-130	136	38	heater	heater	NOUN
hjic-130	136	39	system	system	NOUN
hjic-130	136	40	the	the	DET
hjic-130	136	41	objective	objective	NOUN
hjic-130	136	42	is	be	AUX
hjic-130	136	43	to	to	PART
hjic-130	136	44	control	control	VERB
hjic-130	136	45	the	the	DET
hjic-130	136	46	discharge	discharge	NOUN
hjic-130	136	47	temperature	temperature	NOUN
hjic-130	136	48	of	of	ADP
hjic-130	136	49	the	the	DET
hjic-130	136	50	water	water	NOUN
hjic-130	136	51	while	while	SCONJ
hjic-130	136	52	the	the	DET
hjic-130	136	53	feed	feed	NOUN
hjic-130	136	54	flow	flow	NOUN
hjic-130	136	55	rate	rate	NOUN
hjic-130	136	56	and	and	CCONJ
hjic-130	136	57	the	the	DET
hjic-130	136	58	feed	feed	NOUN
hjic-130	136	59	temperature	temperature	NOUN
hjic-130	136	60	can	can	AUX
hjic-130	136	61	fluctuate	fluctuate	VERB
hjic-130	136	62	.	.	PUNCT
hjic-130	137	1	accordingly	accordingly	ADV
hjic-130	137	2	,	,	PUNCT
hjic-130	137	3	the	the	DET
hjic-130	137	4	controlled	control	VERB
hjic-130	137	5	variable	variable	NOUN
hjic-130	137	6	(	(	PUNCT
hjic-130	137	7	y	y	NOUN
hjic-130	137	8	)	)	PUNCT
hjic-130	137	9	is	be	AUX
hjic-130	137	10	the	the	DET
hjic-130	137	11	discharge	discharge	NOUN
hjic-130	137	12	temperature	temperature	NOUN
hjic-130	137	13	,	,	PUNCT
hjic-130	137	14	the	the	DET
hjic-130	137	15	manipulated	manipulate	VERB
hjic-130	137	16	variable	variable	NOUN
hjic-130	137	17	(	(	PUNCT
hjic-130	137	18	u	u	NOUN
hjic-130	137	19	)	)	PUNCT
hjic-130	137	20	is	be	AUX
hjic-130	137	21	the	the	DET
hjic-130	137	22	performance	performance	NOUN
hjic-130	137	23	of	of	ADP
hjic-130	137	24	the	the	DET
hjic-130	137	25	electric	electric	ADJ
hjic-130	137	26	heater	heater	NOUN
hjic-130	137	27	,	,	PUNCT
hjic-130	137	28	the	the	DET
hjic-130	137	29	measured	measured	ADJ
hjic-130	137	30	disturbances	disturbance	NOUN
hjic-130	137	31	are	be	AUX
hjic-130	137	32	the	the	DET
hjic-130	137	33	feed	feed	NOUN
hjic-130	137	34	temperature	temperature	NOUN
hjic-130	137	35	(	(	PUNCT
hjic-130	137	36	z1	z1	NOUN
hjic-130	137	37	)	)	PUNCT
hjic-130	137	38	and	and	CCONJ
hjic-130	137	39	the	the	DET
hjic-130	137	40	feed	feed	NOUN
hjic-130	137	41	flow	flow	NOUN
hjic-130	137	42	rate	rate	NOUN
hjic-130	137	43	(	(	PUNCT
hjic-130	137	44	z2	z2	NOUN
hjic-130	137	45	)	)	PUNCT
hjic-130	137	46	.	.	PUNCT
hjic-130	138	1	the	the	DET
hjic-130	138	2	model	model	NOUN
hjic-130	138	3	of	of	ADP
hjic-130	138	4	the	the	DET
hjic-130	138	5	process	process	NOUN
hjic-130	138	6	is	be	AUX
hjic-130	138	7	the	the	DET
hjic-130	138	8	following	follow	VERB
hjic-130	138	9	heat	heat	NOUN
hjic-130	138	10	balance	balance	NOUN
hjic-130	138	11	of	of	ADP
hjic-130	138	12	the	the	DET
hjic-130	138	13	tubular	tubular	ADJ
hjic-130	138	14	equipment	equipment	NOUN
hjic-130	138	15	:	:	PUNCT
hjic-130	138	16	)	)	PUNCT
hjic-130	138	17	(	(	PUNCT
hjic-130	138	18	hpp	hpp	PROPN
hjic-130	138	19	ttku	ttku	PROPN
hjic-130	138	20	x	x	PROPN
hjic-130	138	21	tcb	tcb	PROPN
hjic-130	138	22	t	t	PROPN
hjic-130	138	23	tcv	tcv	PROPN
hjic-130	138	24	−=	−=	PROPN
hjic-130	138	25	∂	∂	NUM
hjic-130	138	26	∂	∂	NUM
hjic-130	138	27	+	+	NUM
hjic-130	138	28	∂	∂	NUM
hjic-130	138	29	∂	∂	NUM
hjic-130	138	30	ρρ	ρρ	NOUN
hjic-130	138	31	(	(	PUNCT
hjic-130	138	32	10	10	NUM
hjic-130	138	33	)	)	PUNCT
hjic-130	138	34	where	where	SCONJ
hjic-130	138	35	x	x	SYM
hjic-130	138	36	∈	∈	PROPN
hjic-130	139	1	[	[	X
hjic-130	139	2	0	0	NUM
hjic-130	139	3	,	,	PUNCT
hjic-130	139	4	1	1	NUM
hjic-130	139	5	]	]	SYM
hjic-130	139	6	dimensionless	dimensionless	ADJ
hjic-130	139	7	length	length	NOUN
hjic-130	139	8	coordinate	coordinate	NOUN
hjic-130	139	9	,	,	PUNCT
hjic-130	139	10	t(t	t(t	NOUN
hjic-130	139	11	,	,	PUNCT
hjic-130	139	12	x	x	X
hjic-130	139	13	)	)	PUNCT
hjic-130	139	14	temperature	temperature	NOUN
hjic-130	139	15	function	function	NOUN
hjic-130	139	16	,	,	PUNCT
hjic-130	139	17	th	th	X
hjic-130	139	18	pure	pure	ADJ
hjic-130	139	19	time	time	NOUN
hjic-130	139	20	delay	delay	NOUN
hjic-130	139	21	,	,	PUNCT
hjic-130	139	22	b	b	PROPN
hjic-130	139	23	volumetric	volumetric	NOUN
hjic-130	139	24	flow	flow	NOUN
hjic-130	139	25	rate	rate	NOUN
hjic-130	139	26	,	,	PUNCT
hjic-130	139	27	disturbance	disturbance	NOUN
hjic-130	139	28	signal	signal	NOUN
hjic-130	139	29	(	(	PUNCT
hjic-130	139	30	z2	z2	PROPN
hjic-130	139	31	)	)	PUNCT
hjic-130	139	32	,	,	PUNCT
hjic-130	139	33	v	v	PRON
hjic-130	139	34	total	total	ADJ
hjic-130	139	35	volume	volume	NOUN
hjic-130	139	36	,	,	PUNCT
hjic-130	139	37	ρcp	ρcp	ADJ
hjic-130	139	38	heat	heat	NOUN
hjic-130	139	39	capacity	capacity	NOUN
hjic-130	139	40	of	of	ADP
hjic-130	139	41	the	the	DET
hjic-130	139	42	liquid	liquid	NOUN
hjic-130	139	43	,	,	PUNCT
hjic-130	139	44	ku(t	ku(t	X
hjic-130	139	45	–	–	PUNCT
hjic-130	139	46	th	th	X
hjic-130	139	47	)	)	PUNCT
hjic-130	139	48	source	source	NOUN
hjic-130	139	49	density	density	NOUN
hjic-130	139	50	of	of	ADP
hjic-130	139	51	electric	electric	ADJ
hjic-130	139	52	heating	heating	NOUN
hjic-130	139	53	,	,	PUNCT
hjic-130	139	54	manipulated	manipulate	VERB
hjic-130	139	55	variable	variable	NOUN
hjic-130	139	56	.	.	PUNCT
hjic-130	140	1	the	the	DET
hjic-130	140	2	necessary	necessary	ADJ
hjic-130	140	3	initial	initial	ADJ
hjic-130	140	4	and	and	CCONJ
hjic-130	140	5	boundary	boundary	ADJ
hjic-130	140	6	conditions	condition	NOUN
hjic-130	140	7	:	:	PUNCT
hjic-130	140	8	t(0	t(0	PROPN
hjic-130	140	9	,	,	PUNCT
hjic-130	140	10	x	x	NOUN
hjic-130	140	11	)	)	PUNCT
hjic-130	140	12	given	give	VERB
hjic-130	140	13	,	,	PUNCT
hjic-130	140	14	t(t	t(t	NOUN
hjic-130	140	15	,	,	PUNCT
hjic-130	140	16	0	0	NUM
hjic-130	140	17	)	)	PUNCT
hjic-130	140	18	=	=	SYM
hjic-130	140	19	z1	z1	VERB
hjic-130	140	20	temperature	temperature	NOUN
hjic-130	140	21	of	of	ADP
hjic-130	140	22	liquid	liquid	ADJ
hjic-130	140	23	feed	feed	NOUN
hjic-130	140	24	(	(	PUNCT
hjic-130	140	25	disturbance	disturbance	NOUN
hjic-130	140	26	signal	signal	NOUN
hjic-130	140	27	)	)	PUNCT
hjic-130	140	28	,	,	PUNCT
hjic-130	140	29	y	y	PROPN
hjic-130	140	30	=	=	SYM
hjic-130	140	31	t(t	t(t	NOUN
hjic-130	140	32	,	,	PUNCT
hjic-130	140	33	1	1	NUM
hjic-130	140	34	)	)	PUNCT
hjic-130	140	35	controlled	control	VERB
hjic-130	140	36	variable	variable	NOUN
hjic-130	140	37	.	.	PUNCT
hjic-130	141	1	the	the	DET
hjic-130	141	2	heat	heat	NOUN
hjic-130	141	3	balance	balance	NOUN
hjic-130	141	4	(	(	PUNCT
hjic-130	141	5	10	10	NUM
hjic-130	141	6	)	)	PUNCT
hjic-130	141	7	is	be	AUX
hjic-130	141	8	a	a	DET
hjic-130	141	9	partial	partial	ADJ
hjic-130	141	10	differential	differential	NOUN
hjic-130	141	11	equation	equation	NOUN
hjic-130	141	12	(	(	PUNCT
hjic-130	141	13	distributed	distribute	VERB
hjic-130	141	14	-	-	PUNCT
hjic-130	141	15	parameter	parameter	NOUN
hjic-130	141	16	model	model	NOUN
hjic-130	141	17	)	)	PUNCT
hjic-130	141	18	which	which	PRON
hjic-130	141	19	is	be	AUX
hjic-130	141	20	practical	practical	ADJ
hjic-130	141	21	to	to	PART
hjic-130	141	22	be	be	AUX
hjic-130	141	23	spatially	spatially	ADV
hjic-130	141	24	discretized	discretize	VERB
hjic-130	141	25	.	.	PUNCT
hjic-130	142	1	the	the	DET
hjic-130	142	2	so	so	ADV
hjic-130	142	3	called	call	VERB
hjic-130	142	4	cascade	cascade	NOUN
hjic-130	142	5	model	model	NOUN
hjic-130	142	6	,	,	PUNCT
hjic-130	142	7	obtained	obtain	VERB
hjic-130	142	8	this	this	DET
hjic-130	142	9	way	way	NOUN
hjic-130	142	10	,	,	PUNCT
hjic-130	142	11	can	can	AUX
hjic-130	142	12	be	be	AUX
hjic-130	142	13	transformed	transform	VERB
hjic-130	142	14	into	into	ADP
hjic-130	142	15	the	the	DET
hjic-130	142	16	following	follow	VERB
hjic-130	142	17	state	state	NOUN
hjic-130	142	18	-	-	PUNCT
hjic-130	142	19	space	space	NOUN
hjic-130	142	20	model	model	NOUN
hjic-130	142	21	:	:	PUNCT
hjic-130	142	22	)	)	PUNCT
hjic-130	142	23	]	]	PUNCT
hjic-130	142	24	(	(	PUNCT
hjic-130	142	25	[	[	PUNCT
hjic-130	142	26	211	211	NUM
hjic-130	142	27	1	1	NUM
hjic-130	142	28	21	21	NUM
hjic-130	142	29	httupxz	httupxz	NOUN
hjic-130	142	30	p	p	PROPN
hjic-130	142	31	z	z	NOUN
hjic-130	142	32	dt	dt	X
hjic-130	142	33	dx	dx	PROPN
hjic-130	142	34	−+−=	−+−=	PUNCT
hjic-130	142	35	)	)	PUNCT
hjic-130	143	1	]	]	PUNCT
hjic-130	143	2	(	(	PUNCT
hjic-130	143	3	[	[	PUNCT
hjic-130	143	4	21	21	NUM
hjic-130	143	5	1	1	NUM
hjic-130	143	6	2	2	NUM
hjic-130	143	7	hii	hii	NOUN
hjic-130	143	8	i	i	PRON
hjic-130	143	9	ttupxx	ttupxx	VERB
hjic-130	143	10	p	p	PROPN
hjic-130	144	1	z	z	PROPN
hjic-130	144	2	dt	dt	X
hjic-130	144	3	dx	dx	PROPN
hjic-130	144	4	−+−=	−+−=	PUNCT
hjic-130	144	5	−	−	PROPN
hjic-130	144	6	,	,	PUNCT
hjic-130	144	7	i=2,	i=2,	X
hjic-130	144	8	…	…	PUNCT
hjic-130	144	9	,n	,n	NOUN
hjic-130	144	10	,	,	PUNCT
hjic-130	144	11	(	(	PUNCT
hjic-130	144	12	11	11	NUM
hjic-130	144	13	)	)	PUNCT
hjic-130	144	14	y	y	NOUN
hjic-130	144	15	=	=	SYM
hjic-130	144	16	xn	xn	PROPN
hjic-130	144	17	,	,	PUNCT
hjic-130	144	18	where	where	SCONJ
hjic-130	144	19	n	n	CCONJ
hjic-130	144	20	the	the	DET
hjic-130	144	21	number	number	NOUN
hjic-130	144	22	of	of	ADP
hjic-130	144	23	cascade	cascade	NOUN
hjic-130	144	24	elements	element	NOUN
hjic-130	144	25	(	(	PUNCT
hjic-130	144	26	the	the	DET
hjic-130	144	27	order	order	NOUN
hjic-130	144	28	of	of	ADP
hjic-130	144	29	the	the	DET
hjic-130	144	30	state	state	NOUN
hjic-130	144	31	-	-	PUNCT
hjic-130	144	32	space	space	NOUN
hjic-130	144	33	model	model	NOUN
hjic-130	144	34	)	)	PUNCT
hjic-130	144	35	,	,	PUNCT
hjic-130	144	36	n	n	CCONJ
hjic-130	144	37	kp	kp	PROPN
hjic-130	144	38	n	n	ADV
hjic-130	144	39	vp	vp	X
hjic-130	145	1	=	=	SYM
hjic-130	145	2	=	=	SYM
hjic-130	145	3	21	21	NUM
hjic-130	145	4	,	,	PUNCT
hjic-130	145	5	parameters	parameter	NOUN
hjic-130	145	6	.	.	PUNCT
hjic-130	146	1	the	the	DET
hjic-130	146	2	state	state	NOUN
hjic-130	146	3	-	-	PUNCT
hjic-130	146	4	space	space	NOUN
hjic-130	146	5	model	model	NOUN
hjic-130	146	6	(	(	PUNCT
hjic-130	146	7	11	11	NUM
hjic-130	146	8	)	)	PUNCT
hjic-130	146	9	has	have	VERB
hjic-130	146	10	four	four	NUM
hjic-130	146	11	parameters	parameter	NOUN
hjic-130	146	12	(	(	PUNCT
hjic-130	146	13	p1	p1	NOUN
hjic-130	146	14	,	,	PUNCT
hjic-130	146	15	p2	p2	NOUN
hjic-130	146	16	,	,	PUNCT
hjic-130	146	17	th	th	X
hjic-130	146	18	,	,	PUNCT
hjic-130	146	19	n	n	CCONJ
hjic-130	146	20	)	)	PUNCT
hjic-130	146	21	which	which	PRON
hjic-130	146	22	can	can	AUX
hjic-130	146	23	be	be	AUX
hjic-130	146	24	determined	determine	VERB
hjic-130	146	25	from	from	ADP
hjic-130	146	26	a	a	DET
hjic-130	146	27	priory	priory	NOUN
hjic-130	146	28	knowledge	knowledge	NOUN
hjic-130	146	29	or	or	CCONJ
hjic-130	146	30	by	by	ADP
hjic-130	146	31	parameter	parameter	NOUN
hjic-130	146	32	estimation	estimation	NOUN
hjic-130	146	33	from	from	ADP
hjic-130	146	34	experimental	experimental	ADJ
hjic-130	146	35	data	datum	NOUN
hjic-130	146	36	.	.	PUNCT
hjic-130	147	1	based	base	VERB
hjic-130	147	2	on	on	ADP
hjic-130	147	3	the	the	DET
hjic-130	147	4	experimental	experimental	ADJ
hjic-130	147	5	and	and	CCONJ
hjic-130	147	6	simulation	simulation	NOUN
hjic-130	147	7	studies	study	NOUN
hjic-130	147	8	it	it	PRON
hjic-130	147	9	was	be	AUX
hjic-130	147	10	concluded	conclude	VERB
hjic-130	147	11	that	that	SCONJ
hjic-130	147	12	the	the	DET
hjic-130	147	13	model	model	NOUN
hjic-130	147	14	adequately	adequately	ADV
hjic-130	147	15	reflects	reflect	VERB
hjic-130	147	16	the	the	DET
hjic-130	147	17	experimental	experimental	ADJ
hjic-130	147	18	data	datum	NOUN
hjic-130	147	19	;	;	PUNCT
hjic-130	147	20	therefore	therefore	ADV
hjic-130	147	21	it	it	PRON
hjic-130	147	22	is	be	AUX
hjic-130	147	23	suitable	suitable	ADJ
hjic-130	147	24	for	for	ADP
hjic-130	147	25	the	the	DET
hjic-130	147	26	controller	controller	NOUN
hjic-130	147	27	design	design	NOUN
hjic-130	147	28	.	.	PUNCT
hjic-130	148	1	mv	mv	PROPN
hjic-130	148	2	water	water	PROPN
hjic-130	148	3	t	t	PROPN
hjic-130	148	4	in	in	ADP
hjic-130	148	5	f	f	PROPN
hjic-130	148	6	t	t	PROPN
hjic-130	148	7	<	<	X
hjic-130	148	8	heating	heating	NOUN
hjic-130	148	9	pc	pc	NOUN
hjic-130	148	10	<	<	X
hjic-130	148	11	open	open	ADJ
hjic-130	148	12	close	close	ADJ
hjic-130	148	13	adam-5000	adam-5000	ADJ
hjic-130	148	14	lan	lan	PROPN
hjic-130	148	15	u	u	PROPN
hjic-130	148	16	process	process	NOUN
hjic-130	148	17	for	for	ADP
hjic-130	148	18	feed	feed	NOUN
hjic-130	148	19	back	back	ADV
hjic-130	148	20	constrained	constrain	VERB
hjic-130	148	21	inverse	inverse	NOUN
hjic-130	148	22	error	error	NOUN
hjic-130	148	23	model	model	NOUN
hjic-130	148	24	control	control	NOUN
hjic-130	148	25	error	error	NOUN
hjic-130	148	26	c	c	NOUN
hjic-130	148	27	-	-	PUNCT
hjic-130	148	28	pid	pid	NOUN
hjic-130	148	29	process	process	NOUN
hjic-130	148	30	for	for	ADP
hjic-130	148	31	feed	feed	NOUN
hjic-130	148	32	back	back	ADV
hjic-130	148	33	53	53	NUM
hjic-130	148	34	the	the	DET
hjic-130	148	35	first	first	ADJ
hjic-130	148	36	step	step	NOUN
hjic-130	148	37	of	of	ADP
hjic-130	148	38	controller	controller	NOUN
hjic-130	148	39	design	design	NOUN
hjic-130	148	40	is	be	AUX
hjic-130	148	41	the	the	DET
hjic-130	148	42	development	development	NOUN
hjic-130	148	43	of	of	ADP
hjic-130	148	44	the	the	DET
hjic-130	148	45	constrained	constrain	VERB
hjic-130	148	46	inverse	inverse	NOUN
hjic-130	148	47	model	model	NOUN
hjic-130	148	48	.	.	PUNCT
hjic-130	149	1	since	since	SCONJ
hjic-130	149	2	y	y	PROPN
hjic-130	149	3	does	do	AUX
hjic-130	149	4	not	not	PART
hjic-130	149	5	directly	directly	ADV
hjic-130	149	6	depend	depend	VERB
hjic-130	149	7	on	on	ADP
hjic-130	149	8	u	u	NOUN
hjic-130	149	9	,	,	PUNCT
hjic-130	149	10	the	the	DET
hjic-130	149	11	output	output	NOUN
hjic-130	149	12	signal	signal	NOUN
hjic-130	149	13	is	be	AUX
hjic-130	149	14	differentiated	differentiate	VERB
hjic-130	149	15	according	accord	VERB
hjic-130	149	16	to	to	ADP
hjic-130	149	17	equation	equation	NOUN
hjic-130	149	18	(	(	PUNCT
hjic-130	149	19	5	5	NUM
hjic-130	149	20	):	):	PUNCT
hjic-130	149	21	)	)	PUNCT
hjic-130	149	22	]	]	PUNCT
hjic-130	149	23	(	(	PUNCT
hjic-130	149	24	[	[	PUNCT
hjic-130	149	25	21	21	NUM
hjic-130	149	26	1	1	NUM
hjic-130	149	27	2	2	NUM
hjic-130	149	28	hnn	hnn	PROPN
hjic-130	149	29	n	n	PROPN
hjic-130	149	30	ttupxx	ttupxx	NOUN
hjic-130	149	31	p	p	PROPN
hjic-130	149	32	z	z	PROPN
hjic-130	150	1	dt	dt	NOUN
hjic-130	150	2	dx	dx	PROPN
hjic-130	150	3	dt	dt	PROPN
hjic-130	150	4	dy	dy	VERB
hjic-130	150	5	−+−≡=	−+−≡=	PROPN
hjic-130	150	6	−	−	PROPN
hjic-130	150	7	.	.	PUNCT
hjic-130	151	1	(	(	PUNCT
hjic-130	151	2	12	12	NUM
hjic-130	151	3	)	)	PUNCT
hjic-130	151	4	the	the	DET
hjic-130	151	5	differential	differential	NOUN
hjic-130	151	6	of	of	ADP
hjic-130	151	7	the	the	DET
hjic-130	151	8	output	output	NOUN
hjic-130	151	9	is	be	AUX
hjic-130	151	10	a	a	DET
hjic-130	151	11	direct	direct	ADJ
hjic-130	151	12	function	function	NOUN
hjic-130	151	13	of	of	ADP
hjic-130	151	14	u	u	NOUN
hjic-130	151	15	;	;	PUNCT
hjic-130	151	16	therefore	therefore	ADV
hjic-130	151	17	the	the	DET
hjic-130	151	18	relative	relative	ADJ
hjic-130	151	19	order	order	NOUN
hjic-130	151	20	of	of	ADP
hjic-130	151	21	the	the	DET
hjic-130	151	22	system	system	NOUN
hjic-130	151	23	is	be	AUX
hjic-130	151	24	one	one	NUM
hjic-130	151	25	.	.	PUNCT
hjic-130	152	1	according	accord	VERB
hjic-130	152	2	to	to	ADP
hjic-130	152	3	equation	equation	NOUN
hjic-130	152	4	(	(	PUNCT
hjic-130	152	5	6	6	NUM
hjic-130	152	6	)	)	PUNCT
hjic-130	152	7	the	the	DET
hjic-130	152	8	rule	rule	NOUN
hjic-130	152	9	for	for	ADP
hjic-130	152	10	inverting	inverting	NOUN
hjic-130	152	11	is	be	AUX
hjic-130	152	12	the	the	DET
hjic-130	152	13	following	following	NOUN
hjic-130	152	14	:	:	PUNCT
hjic-130	152	15	wy	wy	PROPN
hjic-130	153	1	dt	dt	X
hjic-130	153	2	dy	dy	NOUN
hjic-130	153	3	c	c	PROPN
hjic-130	153	4	=	=	SYM
hjic-130	153	5	+	+	PROPN
hjic-130	153	6	τ	τ	X
hjic-130	153	7	,	,	PUNCT
hjic-130	153	8	(	(	PUNCT
hjic-130	153	9	13	13	NUM
hjic-130	153	10	)	)	PUNCT
hjic-130	153	11	where	where	SCONJ
hjic-130	153	12	w	w	PROPN
hjic-130	153	13	setpoint	setpoint	NOUN
hjic-130	153	14	,	,	PUNCT
hjic-130	153	15	τc	τc	ADV
hjic-130	153	16	time	time	NOUN
hjic-130	153	17	constant	constant	ADJ
hjic-130	153	18	.	.	PUNCT
hjic-130	154	1	substituting	substitute	VERB
hjic-130	154	2	relationship	relationship	NOUN
hjic-130	154	3	(	(	PUNCT
hjic-130	154	4	12	12	NUM
hjic-130	154	5	)	)	PUNCT
hjic-130	154	6	regarding	regard	VERB
hjic-130	154	7	the	the	DET
hjic-130	154	8	differential	differential	NOUN
hjic-130	154	9	into	into	ADP
hjic-130	154	10	equation	equation	NOUN
hjic-130	154	11	(	(	PUNCT
hjic-130	154	12	13	13	NUM
hjic-130	154	13	)	)	PUNCT
hjic-130	154	14	,	,	PUNCT
hjic-130	154	15	the	the	DET
hjic-130	154	16	manipulated	manipulate	VERB
hjic-130	154	17	variable	variable	NOUN
hjic-130	154	18	can	can	AUX
hjic-130	154	19	be	be	AUX
hjic-130	154	20	calculated	calculate	VERB
hjic-130	154	21	based	base	VERB
hjic-130	154	22	on	on	ADP
hjic-130	154	23	equations	equation	NOUN
hjic-130	154	24	(	(	PUNCT
hjic-130	154	25	7	7	NUM
hjic-130	154	26	-	-	SYM
hjic-130	154	27	8)	8)	NUM
hjic-130	154	28	:	:	PUNCT
hjic-130	154	29	]	]	PUNCT
hjic-130	154	30	)	)	PUNCT
hjic-130	154	31	(	(	PUNCT
hjic-130	154	32	[	[	X
hjic-130	154	33	1	1	NUM
hjic-130	154	34	1	1	NUM
hjic-130	154	35	2	2	NUM
hjic-130	154	36	1	1	NUM
hjic-130	154	37	2	2	NUM
hjic-130	154	38	−−+−=	−−+−=	NOUN
hjic-130	154	39	nnn	nnn	NOUN
hjic-130	154	40	c	c	PROPN
hjic-130	154	41	xxxw	xxxw	PROPN
hjic-130	154	42	z	z	PROPN
hjic-130	154	43	p	p	PROPN
hjic-130	155	1	p	p	X
hjic-130	155	2	u	u	X
hjic-130	155	3	τ	τ	PROPN
hjic-130	155	4	.	.	PUNCT
hjic-130	156	1	(	(	PUNCT
hjic-130	156	2	14	14	NUM
hjic-130	156	3	)	)	PUNCT
hjic-130	156	4	since	since	SCONJ
hjic-130	156	5	the	the	DET
hjic-130	156	6	system	system	NOUN
hjic-130	156	7	is	be	AUX
hjic-130	156	8	time	time	NOUN
hjic-130	156	9	-	-	PUNCT
hjic-130	156	10	delayed	delay	VERB
hjic-130	156	11	,	,	PUNCT
hjic-130	156	12	the	the	DET
hjic-130	156	13	variables	variable	NOUN
hjic-130	156	14	on	on	ADP
hjic-130	156	15	the	the	DET
hjic-130	156	16	right	right	ADJ
hjic-130	156	17	hand	hand	NOUN
hjic-130	156	18	side	side	NOUN
hjic-130	156	19	of	of	ADP
hjic-130	156	20	equation	equation	NOUN
hjic-130	156	21	(	(	PUNCT
hjic-130	156	22	14	14	NUM
hjic-130	156	23	)	)	PUNCT
hjic-130	156	24	can	can	AUX
hjic-130	156	25	be	be	AUX
hjic-130	156	26	considered	consider	VERB
hjic-130	156	27	as	as	SCONJ
hjic-130	156	28	the	the	DET
hjic-130	156	29	values	value	NOUN
hjic-130	156	30	predicted	predict	VERB
hjic-130	156	31	for	for	ADP
hjic-130	156	32	time	time	NOUN
hjic-130	156	33	t	t	PROPN
hjic-130	156	34	+	+	X
hjic-130	156	35	th	th	X
hjic-130	156	36	.	.	PUNCT
hjic-130	157	1	the	the	DET
hjic-130	157	2	constraints	constraint	NOUN
hjic-130	157	3	corresponding	correspond	VERB
hjic-130	157	4	to	to	ADP
hjic-130	157	5	equation	equation	NOUN
hjic-130	157	6	(	(	PUNCT
hjic-130	157	7	9	9	NUM
hjic-130	157	8	)	)	PUNCT
hjic-130	157	9	are	be	AUX
hjic-130	157	10	the	the	DET
hjic-130	157	11	following	following	NOUN
hjic-130	157	12	:	:	PUNCT
hjic-130	157	13	if	if	SCONJ
hjic-130	157	14	u	u	PROPN
hjic-130	157	15	<	<	X
hjic-130	157	16	0	0	NUM
hjic-130	157	17	,	,	PUNCT
hjic-130	157	18	then	then	ADV
hjic-130	157	19	u	u	X
hjic-130	157	20	=	=	PROPN
hjic-130	157	21	0	0	NUM
hjic-130	157	22	;	;	PUNCT
hjic-130	157	23	if	if	SCONJ
hjic-130	157	24	u	u	PROPN
hjic-130	157	25	>	>	X
hjic-130	157	26	10	10	NUM
hjic-130	157	27	,	,	PUNCT
hjic-130	157	28	then	then	ADV
hjic-130	157	29	u	u	X
hjic-130	157	30	=	=	PROPN
hjic-130	157	31	10	10	NUM
hjic-130	157	32	.	.	PUNCT
hjic-130	158	1	(	(	PUNCT
hjic-130	158	2	15	15	NUM
hjic-130	158	3	)	)	PUNCT
hjic-130	158	4	this	this	DET
hjic-130	158	5	way	way	NOUN
hjic-130	158	6	the	the	DET
hjic-130	158	7	constrained	constrained	ADJ
hjic-130	158	8	inverse	inverse	NOUN
hjic-130	158	9	model	model	NOUN
hjic-130	158	10	is	be	AUX
hjic-130	158	11	completely	completely	ADV
hjic-130	158	12	defined	define	VERB
hjic-130	158	13	.	.	PUNCT
hjic-130	159	1	the	the	DET
hjic-130	159	2	scheme	scheme	NOUN
hjic-130	159	3	given	give	VERB
hjic-130	159	4	on	on	ADP
hjic-130	159	5	fig	fig	NOUN
hjic-130	159	6	.	.	PUNCT
hjic-130	159	7	8	8	NUM
hjic-130	159	8	is	be	AUX
hjic-130	159	9	applied	apply	VERB
hjic-130	159	10	for	for	ADP
hjic-130	159	11	compensating	compensate	VERB
hjic-130	159	12	the	the	DET
hjic-130	159	13	model	model	NOUN
hjic-130	159	14	error	error	NOUN
hjic-130	159	15	.	.	PUNCT
hjic-130	160	1	since	since	SCONJ
hjic-130	160	2	the	the	DET
hjic-130	160	3	state	state	NOUN
hjic-130	160	4	-	-	PUNCT
hjic-130	160	5	space	space	NOUN
hjic-130	160	6	model	model	NOUN
hjic-130	160	7	(	(	PUNCT
hjic-130	160	8	11	11	NUM
hjic-130	160	9	)	)	PUNCT
hjic-130	160	10	can	can	AUX
hjic-130	160	11	be	be	AUX
hjic-130	160	12	considered	consider	VERB
hjic-130	160	13	as	as	ADP
hjic-130	160	14	a	a	DET
hjic-130	160	15	linear	linear	ADJ
hjic-130	160	16	system	system	NOUN
hjic-130	160	17	with	with	ADP
hjic-130	160	18	changing	change	VERB
hjic-130	160	19	parameters	parameter	NOUN
hjic-130	160	20	for	for	ADP
hjic-130	160	21	variables	variable	NOUN
hjic-130	160	22	u	u	PROPN
hjic-130	160	23	,	,	PUNCT
hjic-130	160	24	x	x	PROPN
hjic-130	160	25	,	,	PUNCT
hjic-130	160	26	y	y	PROPN
hjic-130	160	27	,	,	PUNCT
hjic-130	160	28	a	a	DET
hjic-130	160	29	model	model	NOUN
hjic-130	160	30	which	which	PRON
hjic-130	160	31	is	be	AUX
hjic-130	160	32	isomorphic	isomorphic	ADJ
hjic-130	160	33	to	to	ADP
hjic-130	160	34	model	model	NOUN
hjic-130	160	35	(	(	PUNCT
hjic-130	160	36	11	11	NUM
hjic-130	160	37	)	)	PUNCT
hjic-130	160	38	can	can	AUX
hjic-130	160	39	be	be	AUX
hjic-130	160	40	used	use	VERB
hjic-130	160	41	as	as	ADP
hjic-130	160	42	error	error	NOUN
hjic-130	160	43	model	model	NOUN
hjic-130	160	44	too	too	ADV
hjic-130	160	45	.	.	PUNCT
hjic-130	161	1	the	the	DET
hjic-130	161	2	difference	difference	NOUN
hjic-130	161	3	is	be	AUX
hjic-130	161	4	that	that	SCONJ
hjic-130	161	5	in	in	ADP
hjic-130	161	6	this	this	DET
hjic-130	161	7	case	case	NOUN
hjic-130	161	8	the	the	DET
hjic-130	161	9	input	input	NOUN
hjic-130	161	10	is	be	AUX
hjic-130	161	11	the	the	DET
hjic-130	161	12	correction	correction	NOUN
hjic-130	161	13	feed	feed	VERB
hjic-130	161	14	back	back	ADV
hjic-130	161	15	while	while	SCONJ
hjic-130	161	16	the	the	DET
hjic-130	161	17	output	output	NOUN
hjic-130	161	18	is	be	AUX
hjic-130	161	19	negative	negative	ADJ
hjic-130	161	20	control	control	NOUN
hjic-130	161	21	error	error	NOUN
hjic-130	161	22	(	(	PUNCT
hjic-130	161	23	with	with	ADP
hjic-130	161	24	respect	respect	NOUN
hjic-130	161	25	to	to	ADP
hjic-130	161	26	the	the	DET
hjic-130	161	27	reference	reference	NOUN
hjic-130	161	28	signal	signal	NOUN
hjic-130	161	29	)	)	PUNCT
hjic-130	161	30	.	.	PUNCT
hjic-130	162	1	zero	zero	NUM
hjic-130	162	2	initial	initial	ADJ
hjic-130	162	3	values	value	NOUN
hjic-130	162	4	are	be	AUX
hjic-130	162	5	used	use	VERB
hjic-130	162	6	as	as	ADP
hjic-130	162	7	initial	initial	ADJ
hjic-130	162	8	conditions	condition	NOUN
hjic-130	162	9	involving	involve	VERB
hjic-130	162	10	that	that	SCONJ
hjic-130	162	11	there	there	PRON
hjic-130	162	12	is	be	VERB
hjic-130	162	13	not	not	PART
hjic-130	162	14	any	any	DET
hjic-130	162	15	the	the	DET
hjic-130	162	16	control	control	NOUN
hjic-130	162	17	error	error	NOUN
hjic-130	162	18	initially	initially	ADV
hjic-130	162	19	.	.	PUNCT
hjic-130	163	1	due	due	ADP
hjic-130	163	2	to	to	ADP
hjic-130	163	3	the	the	DET
hjic-130	163	4	isomorphism	isomorphism	NOUN
hjic-130	163	5	of	of	ADP
hjic-130	163	6	the	the	DET
hjic-130	163	7	two	two	NUM
hjic-130	163	8	models	model	NOUN
hjic-130	163	9	,	,	PUNCT
hjic-130	163	10	the	the	DET
hjic-130	163	11	constrained	constrain	VERB
hjic-130	163	12	inverse	inverse	NOUN
hjic-130	163	13	error	error	NOUN
hjic-130	163	14	model	model	NOUN
hjic-130	163	15	is	be	AUX
hjic-130	163	16	isomorphic	isomorphic	ADJ
hjic-130	163	17	to	to	ADP
hjic-130	163	18	the	the	DET
hjic-130	163	19	constrained	constrain	VERB
hjic-130	163	20	inverse	inverse	NOUN
hjic-130	163	21	model	model	NOUN
hjic-130	163	22	.	.	PUNCT
hjic-130	164	1	the	the	DET
hjic-130	164	2	input	input	NOUN
hjic-130	164	3	,	,	PUNCT
hjic-130	164	4	output	output	NOUN
hjic-130	164	5	and	and	CCONJ
hjic-130	164	6	state	state	NOUN
hjic-130	164	7	variables	variable	NOUN
hjic-130	164	8	as	as	ADV
hjic-130	164	9	well	well	ADV
hjic-130	164	10	as	as	ADP
hjic-130	164	11	the	the	DET
hjic-130	164	12	constraints	constraint	NOUN
hjic-130	164	13	are	be	AUX
hjic-130	164	14	different	different	ADJ
hjic-130	164	15	,	,	PUNCT
hjic-130	164	16	while	while	SCONJ
hjic-130	164	17	the	the	DET
hjic-130	164	18	disturbances	disturbance	NOUN
hjic-130	164	19	and	and	CCONJ
hjic-130	164	20	the	the	DET
hjic-130	164	21	parameters	parameter	NOUN
hjic-130	164	22	are	be	AUX
hjic-130	164	23	the	the	DET
hjic-130	164	24	same	same	ADJ
hjic-130	164	25	.	.	PUNCT
hjic-130	165	1	the	the	DET
hjic-130	165	2	scheme	scheme	NOUN
hjic-130	165	3	of	of	ADP
hjic-130	165	4	the	the	DET
hjic-130	165	5	controller	controller	NOUN
hjic-130	165	6	constructed	construct	VERB
hjic-130	165	7	according	accord	VERB
hjic-130	165	8	to	to	ADP
hjic-130	165	9	the	the	DET
hjic-130	165	10	above	above	ADJ
hjic-130	165	11	reasoning	reasoning	NOUN
hjic-130	165	12	is	be	AUX
hjic-130	165	13	shown	show	VERB
hjic-130	165	14	on	on	ADP
hjic-130	165	15	fig	fig	NOUN
hjic-130	165	16	.	.	PUNCT
hjic-130	166	1	10	10	NUM
hjic-130	166	2	.	.	PUNCT
hjic-130	167	1	the	the	DET
hjic-130	167	2	control	control	NOUN
hjic-130	167	3	algorithm	algorithm	NOUN
hjic-130	167	4	based	base	VERB
hjic-130	167	5	on	on	ADP
hjic-130	167	6	the	the	DET
hjic-130	167	7	scheme	scheme	NOUN
hjic-130	167	8	on	on	ADP
hjic-130	167	9	fig	fig	NOUN
hjic-130	167	10	.	.	PUNCT
hjic-130	168	1	10	10	NUM
hjic-130	168	2	was	be	AUX
hjic-130	168	3	implemented	implement	VERB
hjic-130	168	4	in	in	ADP
hjic-130	168	5	matlab	matlab	PROPN
hjic-130	168	6	/	/	SYM
hjic-130	168	7	simulink	simulink	PROPN
hjic-130	168	8	programming	programming	NOUN
hjic-130	168	9	environment	environment	NOUN
hjic-130	168	10	.	.	PUNCT
hjic-130	169	1	the	the	DET
hjic-130	169	2	algorithm	algorithm	NOUN
hjic-130	169	3	was	be	AUX
hjic-130	169	4	tested	test	VERB
hjic-130	169	5	in	in	ADP
hjic-130	169	6	several	several	ADJ
hjic-130	169	7	simulation	simulation	NOUN
hjic-130	169	8	and	and	CCONJ
hjic-130	169	9	physical	physical	ADJ
hjic-130	169	10	experiments	experiment	NOUN
hjic-130	169	11	.	.	PUNCT
hjic-130	170	1	the	the	DET
hjic-130	170	2	results	result	NOUN
hjic-130	170	3	of	of	ADP
hjic-130	170	4	a	a	DET
hjic-130	170	5	representative	representative	ADJ
hjic-130	170	6	simulation	simulation	NOUN
hjic-130	170	7	study	study	NOUN
hjic-130	170	8	are	be	AUX
hjic-130	170	9	presented	present	VERB
hjic-130	170	10	on	on	ADP
hjic-130	170	11	fig	fig	NOUN
hjic-130	170	12	.	.	PUNCT
hjic-130	171	1	11	11	NUM
hjic-130	171	2	.	.	PUNCT
hjic-130	172	1	while	while	SCONJ
hjic-130	172	2	the	the	DET
hjic-130	172	3	temperature	temperature	NOUN
hjic-130	172	4	of	of	ADP
hjic-130	172	5	the	the	DET
hjic-130	172	6	feed	feed	NOUN
hjic-130	172	7	is	be	AUX
hjic-130	172	8	constant	constant	ADJ
hjic-130	172	9	,	,	PUNCT
hjic-130	172	10	a	a	DET
hjic-130	172	11	simulated	simulate	VERB
hjic-130	172	12	disturbance	disturbance	NOUN
hjic-130	172	13	is	be	AUX
hjic-130	172	14	generated	generate	VERB
hjic-130	172	15	by	by	ADP
hjic-130	172	16	applying	apply	VERB
hjic-130	172	17	a	a	DET
hjic-130	172	18	step	step	NOUN
hjic-130	172	19	function	function	NOUN
hjic-130	172	20	on	on	ADP
hjic-130	172	21	the	the	DET
hjic-130	172	22	setpoint	setpoint	NOUN
hjic-130	172	23	of	of	ADP
hjic-130	172	24	the	the	DET
hjic-130	172	25	ideal	ideal	ADJ
hjic-130	172	26	flow	flow	NOUN
hjic-130	172	27	controller	controller	NOUN
hjic-130	172	28	.	.	PUNCT
hjic-130	173	1	the	the	DET
hjic-130	173	2	controlled	control	VERB
hjic-130	173	3	system	system	NOUN
hjic-130	173	4	is	be	AUX
hjic-130	173	5	excited	excite	VERB
hjic-130	173	6	by	by	ADP
hjic-130	173	7	step	step	NOUN
hjic-130	173	8	-	-	PUNCT
hjic-130	173	9	wise	wise	ADJ
hjic-130	173	10	changes	change	NOUN
hjic-130	173	11	of	of	ADP
hjic-130	173	12	the	the	DET
hjic-130	173	13	temperature	temperature	NOUN
hjic-130	173	14	setpoint	setpoint	NOUN
hjic-130	173	15	and	and	CCONJ
hjic-130	173	16	the	the	DET
hjic-130	173	17	disturbance	disturbance	NOUN
hjic-130	173	18	signal	signal	NOUN
hjic-130	173	19	.	.	PUNCT
hjic-130	174	1	the	the	DET
hjic-130	174	2	controller	controller	NOUN
hjic-130	174	3	parameters	parameter	NOUN
hjic-130	174	4	can	can	AUX
hjic-130	174	5	be	be	AUX
hjic-130	174	6	directly	directly	ADV
hjic-130	174	7	estimated	estimate	VERB
hjic-130	174	8	on	on	ADP
hjic-130	174	9	the	the	DET
hjic-130	174	10	basis	basis	NOUN
hjic-130	174	11	of	of	ADP
hjic-130	174	12	the	the	DET
hjic-130	174	13	parameters	parameter	NOUN
hjic-130	174	14	of	of	ADP
hjic-130	174	15	the	the	DET
hjic-130	174	16	a	a	DET
hjic-130	174	17	priori	priori	ADJ
hjic-130	174	18	model	model	NOUN
hjic-130	174	19	.	.	PUNCT
hjic-130	175	1	the	the	DET
hjic-130	175	2	control	control	NOUN
hjic-130	175	3	performance	performance	NOUN
hjic-130	175	4	is	be	AUX
hjic-130	175	5	significantly	significantly	ADV
hjic-130	175	6	better	well	ADJ
hjic-130	175	7	than	than	ADP
hjic-130	175	8	that	that	PRON
hjic-130	175	9	of	of	ADP
hjic-130	175	10	a	a	DET
hjic-130	175	11	pid	pid	NOUN
hjic-130	175	12	controller	controller	NOUN
hjic-130	175	13	;	;	PUNCT
hjic-130	175	14	the	the	DET
hjic-130	175	15	tuning	tuning	NOUN
hjic-130	175	16	is	be	AUX
hjic-130	175	17	much	much	ADV
hjic-130	175	18	simpler	simple	ADJ
hjic-130	175	19	;	;	PUNCT
hjic-130	175	20	however	however	ADV
hjic-130	175	21	the	the	DET
hjic-130	175	22	construction	construction	NOUN
hjic-130	175	23	of	of	ADP
hjic-130	175	24	the	the	DET
hjic-130	175	25	model	model	NOUN
hjic-130	175	26	is	be	AUX
hjic-130	175	27	much	much	ADV
hjic-130	175	28	more	more	ADJ
hjic-130	175	29	time	time	NOUN
hjic-130	175	30	consuming	consume	VERB
hjic-130	175	31	.	.	PUNCT
hjic-130	176	1	after	after	ADP
hjic-130	176	2	acquiring	acquire	VERB
hjic-130	176	3	simulation	simulation	NOUN
hjic-130	176	4	experiences	experience	NOUN
hjic-130	176	5	physical	physical	ADJ
hjic-130	176	6	experiments	experiment	NOUN
hjic-130	176	7	were	be	AUX
hjic-130	176	8	conducted	conduct	VERB
hjic-130	176	9	(	(	PUNCT
hjic-130	176	10	see	see	VERB
hjic-130	176	11	fig	fig	NOUN
hjic-130	176	12	.	.	PUNCT
hjic-130	177	1	12	12	NUM
hjic-130	177	2	)	)	PUNCT
hjic-130	177	3	.	.	PUNCT
hjic-130	178	1	in	in	ADP
hjic-130	178	2	this	this	DET
hjic-130	178	3	case	case	NOUN
hjic-130	178	4	the	the	DET
hjic-130	178	5	flow	flow	NOUN
hjic-130	178	6	control	control	NOUN
hjic-130	178	7	of	of	ADP
hjic-130	178	8	the	the	DET
hjic-130	178	9	system	system	NOUN
hjic-130	178	10	was	be	AUX
hjic-130	178	11	not	not	PART
hjic-130	178	12	ideal	ideal	ADJ
hjic-130	178	13	either	either	CCONJ
hjic-130	178	14	due	due	ADJ
hjic-130	178	15	to	to	ADP
hjic-130	178	16	other	other	ADJ
hjic-130	178	17	(	(	PUNCT
hjic-130	178	18	unpredictable	unpredictable	ADJ
hjic-130	178	19	)	)	PUNCT
hjic-130	178	20	disturbances	disturbance	NOUN
hjic-130	178	21	affecting	affect	VERB
hjic-130	178	22	the	the	DET
hjic-130	178	23	system	system	NOUN
hjic-130	178	24	disturbances	disturbance	NOUN
hjic-130	178	25	.	.	PUNCT
hjic-130	179	1	in	in	ADP
hjic-130	179	2	spite	spite	NOUN
hjic-130	179	3	of	of	ADP
hjic-130	179	4	the	the	DET
hjic-130	179	5	poor	poor	ADJ
hjic-130	179	6	performance	performance	NOUN
hjic-130	179	7	of	of	ADP
hjic-130	179	8	the	the	DET
hjic-130	179	9	flow	flow	NOUN
hjic-130	179	10	controller	controller	NOUN
hjic-130	179	11	the	the	DET
hjic-130	179	12	experience	experience	NOUN
hjic-130	179	13	collected	collect	VERB
hjic-130	179	14	in	in	ADP
hjic-130	179	15	the	the	DET
hjic-130	179	16	simulation	simulation	NOUN
hjic-130	179	17	studies	study	NOUN
hjic-130	179	18	regarding	regard	VERB
hjic-130	179	19	the	the	DET
hjic-130	179	20	temperature	temperature	NOUN
hjic-130	179	21	control	control	NOUN
hjic-130	179	22	are	be	AUX
hjic-130	179	23	still	still	ADV
hjic-130	179	24	valid	valid	ADJ
hjic-130	179	25	.	.	PUNCT
hjic-130	180	1	figure	figure	VERB
hjic-130	180	2	10	10	NUM
hjic-130	180	3	:	:	PUNCT
hjic-130	180	4	temperature	temperature	NOUN
hjic-130	180	5	control	control	NOUN
hjic-130	180	6	of	of	ADP
hjic-130	180	7	the	the	DET
hjic-130	180	8	water	water	NOUN
hjic-130	180	9	heater	heater	NOUN
hjic-130	180	10	system	system	NOUN
hjic-130	180	11	calculation	calculation	NOUN
hjic-130	180	12	of	of	ADP
hjic-130	180	13	uff	uff	PROPN
hjic-130	180	14	(	(	PUNCT
hjic-130	180	15	14	14	NUM
hjic-130	180	16	)	)	PUNCT
hjic-130	180	17	constraint	constraint	NOUN
hjic-130	180	18	(	(	PUNCT
hjic-130	180	19	15	15	NUM
hjic-130	180	20	)	)	PUNCT
hjic-130	180	21	constraint	constraint	NOUN
hjic-130	180	22	(	(	PUNCT
hjic-130	180	23	15	15	NUM
hjic-130	180	24	)	)	PUNCT
hjic-130	180	25	model	model	NOUN
hjic-130	180	26	(	(	PUNCT
hjic-130	180	27	11	11	NUM
hjic-130	180	28	)	)	PUNCT
hjic-130	180	29	error	error	NOUN
hjic-130	180	30	model	model	NOUN
hjic-130	180	31	(	(	PUNCT
hjic-130	180	32	11	11	NUM
hjic-130	180	33	)	)	PUNCT
hjic-130	180	34	calculation	calculation	NOUN
hjic-130	180	35	of	of	ADP
hjic-130	180	36	ufb	ufb	NOUN
hjic-130	180	37	(	(	PUNCT
hjic-130	180	38	14	14	NUM
hjic-130	180	39	)	)	PUNCT
hjic-130	180	40	water	water	NOUN
hjic-130	180	41	heater	heater	NOUN
hjic-130	180	42	delay	delay	NOUN
hjic-130	180	43	(	(	PUNCT
hjic-130	180	44	th	th	NOUN
hjic-130	180	45	)	)	PUNCT
hjic-130	180	46	delay	delay	NOUN
hjic-130	180	47	(	(	PUNCT
hjic-130	180	48	th	th	NUM
hjic-130	180	49	)	)	PUNCT
hjic-130	180	50	)	)	PUNCT
hjic-130	180	51	setpoint	setpoint	NOUN
hjic-130	180	52	disturbance	disturbance	NOUN
hjic-130	180	53	constrained	constrain	VERB
hjic-130	180	54	inverse	inverse	NOUN
hjic-130	180	55	error	error	NOUN
hjic-130	180	56	model	model	NOUN
hjic-130	180	57	constrained	constrain	VERB
hjic-130	180	58	inverse	inverse	NOUN
hjic-130	180	59	model	model	NOUN
hjic-130	180	60	controlled	control	VERB
hjic-130	180	61	cariable	cariable	NOUN
hjic-130	180	62	manipulated	manipulate	VERB
hjic-130	180	63	variable	variable	ADJ
hjic-130	180	64	54	54	NUM
hjic-130	180	65	0	0	NUM
hjic-130	180	66	5	5	NUM
hjic-130	180	67	10	10	NUM
hjic-130	180	68	15	15	NUM
hjic-130	180	69	20	20	NUM
hjic-130	180	70	25	25	NUM
hjic-130	180	71	30	30	NUM
hjic-130	180	72	0	0	NUM
hjic-130	180	73	5	5	NUM
hjic-130	180	74	10	10	NUM
hjic-130	180	75	15	15	NUM
hjic-130	180	76	20	20	NUM
hjic-130	180	77	25	25	NUM
hjic-130	180	78	30	30	NUM
hjic-130	180	79	35	35	NUM
hjic-130	180	80	40	40	NUM
hjic-130	180	81	45	45	NUM
hjic-130	180	82	50	50	NUM
hjic-130	180	83	55	55	NUM
hjic-130	180	84	60	60	NUM
hjic-130	180	85	time	time	NOUN
hjic-130	180	86	(	(	PUNCT
hjic-130	180	87	min	min	NOUN
hjic-130	180	88	)	)	PUNCT
hjic-130	180	89	te	te	ADP
hjic-130	180	90	m	m	PROPN
hjic-130	180	91	pe	pe	INTJ
hjic-130	180	92	ra	ra	PROPN
hjic-130	180	93	tu	tu	X
hjic-130	180	94	re	re	X
hjic-130	180	95	(	(	PUNCT
hjic-130	180	96	°	°	ADP
hjic-130	180	97	c	c	NOUN
hjic-130	180	98	)	)	PUNCT
hjic-130	180	99	0	0	NUM
hjic-130	181	1	50	50	NUM
hjic-130	181	2	100	100	NUM
hjic-130	181	3	150	150	NUM
hjic-130	181	4	200	200	NUM
hjic-130	181	5	250	250	NUM
hjic-130	181	6	300	300	NUM
hjic-130	181	7	fl	fl	INTJ
hjic-130	181	8	ow	ow	INTJ
hjic-130	181	9	ra	ra	INTJ
hjic-130	181	10	te	te	INTJ
hjic-130	181	11	(	(	PUNCT
hjic-130	181	12	l	l	NOUN
hjic-130	181	13	/h	/h	X
hjic-130	181	14	)	)	PUNCT
hjic-130	181	15	,	,	PUNCT
hjic-130	182	1	h	h	NOUN
hjic-130	182	2	ea	ea	PROPN
hjic-130	182	3	tin	tin	NOUN
hjic-130	182	4	g	g	PROPN
hjic-130	182	5	(	(	PUNCT
hjic-130	182	6	%	%	NOUN
hjic-130	182	7	)	)	PUNCT
hjic-130	182	8	wtout	wtout	PROPN
hjic-130	182	9	tout	tout	PROPN
hjic-130	183	1	u	u	PROPN
hjic-130	183	2	f	f	PROPN
hjic-130	183	3	figure	figure	NOUN
hjic-130	183	4	11	11	NUM
hjic-130	183	5	:	:	PUNCT
hjic-130	183	6	results	result	NOUN
hjic-130	183	7	of	of	ADP
hjic-130	183	8	the	the	DET
hjic-130	183	9	simulation	simulation	NOUN
hjic-130	183	10	study	study	NOUN
hjic-130	183	11	0	0	NUM
hjic-130	183	12	5	5	NUM
hjic-130	183	13	10	10	NUM
hjic-130	183	14	15	15	NUM
hjic-130	183	15	20	20	NUM
hjic-130	183	16	25	25	NUM
hjic-130	183	17	30	30	NUM
hjic-130	183	18	0	0	NUM
hjic-130	183	19	5	5	NUM
hjic-130	183	20	10	10	NUM
hjic-130	183	21	15	15	NUM
hjic-130	183	22	20	20	NUM
hjic-130	183	23	25	25	NUM
hjic-130	183	24	30	30	NUM
hjic-130	183	25	35	35	NUM
hjic-130	183	26	40	40	NUM
hjic-130	183	27	45	45	NUM
hjic-130	183	28	50	50	NUM
hjic-130	183	29	55	55	NUM
hjic-130	183	30	60	60	NUM
hjic-130	183	31	time	time	NOUN
hjic-130	183	32	(	(	PUNCT
hjic-130	183	33	min	min	NOUN
hjic-130	183	34	)	)	PUNCT
hjic-130	183	35	te	te	ADP
hjic-130	183	36	m	m	PROPN
hjic-130	183	37	pe	pe	INTJ
hjic-130	183	38	ra	ra	PROPN
hjic-130	183	39	tu	tu	X
hjic-130	183	40	re	re	X
hjic-130	183	41	(	(	PUNCT
hjic-130	183	42	°	°	ADP
hjic-130	183	43	c	c	NOUN
hjic-130	183	44	)	)	PUNCT
hjic-130	183	45	0	0	NUM
hjic-130	184	1	50	50	NUM
hjic-130	184	2	100	100	NUM
hjic-130	184	3	150	150	NUM
hjic-130	184	4	200	200	NUM
hjic-130	184	5	250	250	NUM
hjic-130	184	6	300	300	NUM
hjic-130	184	7	fl	fl	INTJ
hjic-130	184	8	ow	ow	INTJ
hjic-130	184	9	ra	ra	INTJ
hjic-130	184	10	te	te	INTJ
hjic-130	184	11	(	(	PUNCT
hjic-130	184	12	l	l	NOUN
hjic-130	184	13	/h	/h	X
hjic-130	184	14	)	)	PUNCT
hjic-130	184	15	,	,	PUNCT
hjic-130	185	1	h	h	NOUN
hjic-130	185	2	ea	ea	PROPN
hjic-130	185	3	tin	tin	NOUN
hjic-130	185	4	g	g	PROPN
hjic-130	185	5	(	(	PUNCT
hjic-130	185	6	%	%	NOUN
hjic-130	185	7	)	)	PUNCT
hjic-130	185	8	wtout	wtout	PROPN
hjic-130	185	9	tout	tout	PROPN
hjic-130	186	1	f	f	PROPN
hjic-130	186	2	u	u	PROPN
hjic-130	186	3	figure	figure	NOUN
hjic-130	186	4	12	12	NUM
hjic-130	186	5	:	:	PUNCT
hjic-130	186	6	results	result	NOUN
hjic-130	186	7	of	of	ADP
hjic-130	186	8	the	the	DET
hjic-130	186	9	experimental	experimental	ADJ
hjic-130	186	10	study	study	NOUN
hjic-130	186	11	55	55	NUM
hjic-130	186	12	conclusions	conclusion	NOUN
hjic-130	186	13	based	base	VERB
hjic-130	186	14	on	on	ADP
hjic-130	186	15	a	a	DET
hjic-130	186	16	comparative	comparative	ADJ
hjic-130	186	17	study	study	NOUN
hjic-130	186	18	of	of	ADP
hjic-130	186	19	the	the	DET
hjic-130	186	20	structures	structure	NOUN
hjic-130	186	21	of	of	ADP
hjic-130	186	22	pid	pid	NOUN
hjic-130	186	23	and	and	CCONJ
hjic-130	186	24	imc	imc	PROPN
hjic-130	186	25	controllers	controller	NOUN
hjic-130	186	26	a	a	DET
hjic-130	186	27	novel	novel	ADJ
hjic-130	186	28	control	control	NOUN
hjic-130	186	29	structure	structure	NOUN
hjic-130	186	30	with	with	ADP
hjic-130	186	31	two	two	NUM
hjic-130	186	32	degrees	degree	NOUN
hjic-130	186	33	of	of	ADP
hjic-130	186	34	freedom	freedom	NOUN
hjic-130	186	35	(	(	PUNCT
hjic-130	186	36	or	or	CCONJ
hjic-130	186	37	three	three	NUM
hjic-130	186	38	if	if	SCONJ
hjic-130	186	39	the	the	DET
hjic-130	186	40	possibility	possibility	NOUN
hjic-130	186	41	of	of	ADP
hjic-130	186	42	adaptation	adaptation	NOUN
hjic-130	186	43	is	be	AUX
hjic-130	186	44	considered	consider	VERB
hjic-130	186	45	too	too	ADV
hjic-130	186	46	)	)	PUNCT
hjic-130	186	47	is	be	AUX
hjic-130	186	48	defined	define	VERB
hjic-130	186	49	.	.	PUNCT
hjic-130	187	1	at	at	ADP
hjic-130	187	2	the	the	DET
hjic-130	187	3	given	give	VERB
hjic-130	187	4	setpoint	setpoint	NOUN
hjic-130	187	5	and	and	CCONJ
hjic-130	187	6	measured	measured	ADJ
hjic-130	187	7	disturbances	disturbance	NOUN
hjic-130	187	8	,	,	PUNCT
hjic-130	187	9	the	the	DET
hjic-130	187	10	firm	firm	ADJ
hjic-130	187	11	knowledge	knowledge	NOUN
hjic-130	187	12	regarding	regard	VERB
hjic-130	187	13	the	the	DET
hjic-130	187	14	controlled	control	VERB
hjic-130	187	15	process	process	NOUN
hjic-130	187	16	is	be	AUX
hjic-130	187	17	fed	feed	VERB
hjic-130	187	18	forward	forward	ADV
hjic-130	187	19	through	through	ADP
hjic-130	187	20	a	a	DET
hjic-130	187	21	constrained	constrain	VERB
hjic-130	187	22	inverse	inverse	NOUN
hjic-130	187	23	model	model	NOUN
hjic-130	187	24	(	(	PUNCT
hjic-130	187	25	i.e.	i.e.	X
hjic-130	187	26	the	the	DET
hjic-130	187	27	feed	feed	NOUN
hjic-130	187	28	-	-	PUNCT
hjic-130	187	29	forward	forward	NOUN
hjic-130	187	30	solution	solution	NOUN
hjic-130	187	31	of	of	ADP
hjic-130	187	32	the	the	DET
hjic-130	187	33	servo	servo	NOUN
hjic-130	187	34	problem	problem	NOUN
hjic-130	187	35	)	)	PUNCT
hjic-130	187	36	.	.	PUNCT
hjic-130	188	1	the	the	DET
hjic-130	188	2	difference	difference	NOUN
hjic-130	188	3	between	between	ADP
hjic-130	188	4	the	the	DET
hjic-130	188	5	reference	reference	NOUN
hjic-130	188	6	signal	signal	NOUN
hjic-130	188	7	and	and	CCONJ
hjic-130	188	8	the	the	DET
hjic-130	188	9	measured	measured	ADJ
hjic-130	188	10	controlled	control	VERB
hjic-130	188	11	variable	variable	NOUN
hjic-130	188	12	is	be	AUX
hjic-130	188	13	a	a	DET
hjic-130	188	14	control	control	NOUN
hjic-130	188	15	error	error	NOUN
hjic-130	188	16	coming	come	VERB
hjic-130	188	17	from	from	ADP
hjic-130	188	18	the	the	DET
hjic-130	188	19	model	model	NOUN
hjic-130	188	20	error	error	NOUN
hjic-130	188	21	and	and	CCONJ
hjic-130	188	22	the	the	DET
hjic-130	188	23	effect	effect	NOUN
hjic-130	188	24	of	of	ADP
hjic-130	188	25	the	the	DET
hjic-130	188	26	unmeasured	unmeasured	ADJ
hjic-130	188	27	disturbances	disturbance	NOUN
hjic-130	188	28	which	which	PRON
hjic-130	188	29	is	be	AUX
hjic-130	188	30	not	not	PART
hjic-130	188	31	accounted	account	VERB
hjic-130	188	32	for	for	ADP
hjic-130	188	33	.	.	PUNCT
hjic-130	189	1	this	this	DET
hjic-130	189	2	error	error	NOUN
hjic-130	189	3	represents	represent	VERB
hjic-130	189	4	the	the	DET
hjic-130	189	5	lack	lack	NOUN
hjic-130	189	6	of	of	ADP
hjic-130	189	7	knowledge	knowledge	NOUN
hjic-130	189	8	regarding	regard	VERB
hjic-130	189	9	the	the	DET
hjic-130	189	10	process	process	NOUN
hjic-130	189	11	to	to	PART
hjic-130	189	12	be	be	AUX
hjic-130	189	13	controlled	control	VERB
hjic-130	189	14	that	that	SCONJ
hjic-130	189	15	can	can	AUX
hjic-130	189	16	only	only	ADV
hjic-130	189	17	be	be	AUX
hjic-130	189	18	compensated	compensate	VERB
hjic-130	189	19	for	for	ADP
hjic-130	189	20	in	in	ADP
hjic-130	189	21	feed	feed	NOUN
hjic-130	189	22	-	-	PUNCT
hjic-130	189	23	back	back	NOUN
hjic-130	189	24	scheme	scheme	NOUN
hjic-130	189	25	(	(	PUNCT
hjic-130	189	26	i.e.	i.e.	X
hjic-130	189	27	the	the	DET
hjic-130	189	28	feed	feed	NOUN
hjic-130	189	29	-	-	PUNCT
hjic-130	189	30	back	back	NOUN
hjic-130	189	31	solution	solution	NOUN
hjic-130	189	32	of	of	ADP
hjic-130	189	33	the	the	DET
hjic-130	189	34	noise	noise	NOUN
hjic-130	189	35	compensation	compensation	NOUN
hjic-130	189	36	)	)	PUNCT
hjic-130	189	37	.	.	PUNCT
hjic-130	190	1	this	this	PRON
hjic-130	190	2	can	can	AUX
hjic-130	190	3	be	be	AUX
hjic-130	190	4	designed	design	VERB
hjic-130	190	5	on	on	ADP
hjic-130	190	6	the	the	DET
hjic-130	190	7	basis	basis	NOUN
hjic-130	190	8	of	of	ADP
hjic-130	190	9	model	model	NOUN
hjic-130	190	10	error	error	NOUN
hjic-130	190	11	in	in	ADP
hjic-130	190	12	several	several	ADJ
hjic-130	190	13	ways	way	NOUN
hjic-130	190	14	.	.	PUNCT
hjic-130	191	1	the	the	DET
hjic-130	191	2	application	application	NOUN
hjic-130	191	3	of	of	ADP
hjic-130	191	4	imc	imc	PROPN
hjic-130	191	5	structure	structure	NOUN
hjic-130	191	6	is	be	AUX
hjic-130	191	7	advantageous	advantageous	ADJ
hjic-130	191	8	in	in	ADP
hjic-130	191	9	case	case	NOUN
hjic-130	191	10	of	of	ADP
hjic-130	191	11	stable	stable	ADJ
hjic-130	191	12	systems	system	NOUN
hjic-130	191	13	.	.	PUNCT
hjic-130	192	1	simulation	simulation	NOUN
hjic-130	192	2	and	and	CCONJ
hjic-130	192	3	physical	physical	ADJ
hjic-130	192	4	experiments	experiment	NOUN
hjic-130	192	5	conducted	conduct	VERB
hjic-130	192	6	on	on	ADP
hjic-130	192	7	a	a	DET
hjic-130	192	8	water	water	NOUN
hjic-130	192	9	heater	heater	NOUN
hjic-130	192	10	system	system	NOUN
hjic-130	192	11	,	,	PUNCT
hjic-130	192	12	which	which	PRON
hjic-130	192	13	can	can	AUX
hjic-130	192	14	be	be	AUX
hjic-130	192	15	described	describe	VERB
hjic-130	192	16	by	by	ADP
hjic-130	192	17	a	a	DET
hjic-130	192	18	distributed	distribute	VERB
hjic-130	192	19	parameter	parameter	NOUN
hjic-130	192	20	model	model	NOUN
hjic-130	192	21	,	,	PUNCT
hjic-130	192	22	justified	justify	VERB
hjic-130	192	23	the	the	DET
hjic-130	192	24	feasibility	feasibility	NOUN
hjic-130	192	25	and	and	CCONJ
hjic-130	192	26	good	good	ADJ
hjic-130	192	27	performance	performance	NOUN
hjic-130	192	28	of	of	ADP
hjic-130	192	29	the	the	DET
hjic-130	192	30	proposed	propose	VERB
hjic-130	192	31	scheme	scheme	NOUN
hjic-130	192	32	.	.	PUNCT
hjic-130	193	1	references	reference	NOUN
hjic-130	193	2	1	1	NUM
hjic-130	193	3	.	.	PUNCT
hjic-130	193	4	luyben	luyben	PROPN
hjic-130	193	5	w.	w.	PROPN
hjic-130	193	6	l.	l.	PROPN
hjic-130	193	7	:	:	PUNCT
hjic-130	193	8	effect	effect	NOUN
hjic-130	193	9	of	of	ADP
hjic-130	193	10	derivative	derivative	ADJ
hjic-130	193	11	algorithm	algorithm	NOUN
hjic-130	193	12	and	and	CCONJ
hjic-130	193	13	tuning	tune	VERB
hjic-130	193	14	selection	selection	NOUN
hjic-130	193	15	on	on	ADP
hjic-130	193	16	pid	pid	NOUN
hjic-130	193	17	control	control	NOUN
hjic-130	193	18	of	of	ADP
hjic-130	193	19	dead	dead	ADJ
hjic-130	193	20	-	-	PUNCT
hjic-130	193	21	time	time	NOUN
hjic-130	193	22	processes	process	NOUN
hjic-130	193	23	,	,	PUNCT
hjic-130	193	24	ind	ind	NOUN
hjic-130	193	25	.	.	PUNCT
hjic-130	194	1	eng	eng	PROPN
hjic-130	194	2	.	.	PROPN
hjic-130	194	3	chem	chem	PROPN
hjic-130	194	4	.	.	PUNCT
hjic-130	195	1	res	re	NOUN
hjic-130	195	2	.	.	PROPN
hjic-130	195	3	,	,	PUNCT
hjic-130	195	4	2001	2001	NUM
hjic-130	195	5	,	,	PUNCT
hjic-130	195	6	40	40	NUM
hjic-130	195	7	,	,	PUNCT
hjic-130	195	8	36053611	36053611	NUM
hjic-130	195	9	2	2	NUM
hjic-130	195	10	.	.	X
hjic-130	195	11	filippi	filippi	PROPN
hjic-130	195	12	-	-	PUNCT
hjic-130	195	13	bossy	bossy	PROPN
hjic-130	195	14	c.	c.	PROPN
hjic-130	195	15	,	,	PUNCT
hjic-130	195	16	bordet	bordet	PROPN
hjic-130	195	17	j.	j.	PROPN
hjic-130	195	18	,	,	PUNCT
hjic-130	195	19	villermaux	villermaux	PROPN
hjic-130	195	20	j.	j.	PROPN
hjic-130	195	21	:	:	PUNCT
hjic-130	195	22	marchal	marchal	VERB
hjic-130	195	23	-	-	PUNCT
hjic-130	195	24	brassely	brassely	ADV
hjic-130	195	25	s.	s.	PROPN
hjic-130	195	26	,	,	PUNCT
hjic-130	195	27	georgakis	georgakis	PROPN
hjic-130	195	28	c.	c.	PROPN
hjic-130	195	29	:	:	PUNCT
hjic-130	195	30	,	,	PUNCT
hjic-130	195	31	batch	batch	VERB
hjic-130	195	32	reactor	reactor	NOUN
hjic-130	195	33	optimization	optimization	NOUN
hjic-130	195	34	by	by	ADP
hjic-130	195	35	use	use	NOUN
hjic-130	195	36	of	of	ADP
hjic-130	195	37	tendency	tendency	NOUN
hjic-130	195	38	models	model	NOUN
hjic-130	195	39	,	,	PUNCT
hjic-130	195	40	comp	comp	NOUN
hjic-130	195	41	.	.	PUNCT
hjic-130	196	1	chem	chem	PROPN
hjic-130	196	2	.	.	PUNCT
hjic-130	197	1	eng	eng	PROPN
hjic-130	197	2	.	.	PROPN
hjic-130	197	3	,	,	PUNCT
hjic-130	197	4	1989	1989	NUM
hjic-130	197	5	,	,	PUNCT
hjic-130	197	6	13	13	NUM
hjic-130	197	7	,	,	PUNCT
hjic-130	197	8	35	35	NUM
hjic-130	197	9	-	-	SYM
hjic-130	197	10	47	47	NUM
hjic-130	197	11	3	3	NUM
hjic-130	197	12	.	.	PUNCT
hjic-130	197	13	szeifert	szeifert	PROPN
hjic-130	197	14	f.	f.	PROPN
hjic-130	197	15	,	,	PUNCT
hjic-130	197	16	nagy	nagy	PROPN
hjic-130	197	17	l.	l.	PROPN
hjic-130	197	18	,	,	PUNCT
hjic-130	197	19	chovan	chovan	PROPN
hjic-130	197	20	t.	t.	PROPN
hjic-130	197	21	,	,	PUNCT
hjic-130	197	22	abonyi	abonyi	PROPN
hjic-130	197	23	j.	j.	PROPN
hjic-130	197	24	:	:	PUNCT
hjic-130	197	25	constrained	constrain	VERB
hjic-130	197	26	pi(d	pi(d	NOUN
hjic-130	197	27	)	)	PUNCT
hjic-130	197	28	algorithms	algorithm	NOUN
hjic-130	197	29	(	(	PUNCT
hjic-130	197	30	c	c	NOUN
hjic-130	197	31	-	-	PUNCT
hjic-130	197	32	pid	pid	NOUN
hjic-130	197	33	)	)	PUNCT
hjic-130	197	34	,	,	PUNCT
hjic-130	197	35	hung	hung	PROPN
hjic-130	197	36	.	.	PUNCT
hjic-130	198	1	j.	j.	PROPN
hjic-130	198	2	ind	ind	PROPN
hjic-130	198	3	.	.	PUNCT
hjic-130	199	1	chem	chem	PROPN
hjic-130	199	2	.	.	PUNCT
hjic-130	199	3	,	,	PUNCT
hjic-130	199	4	2005	2005	NUM
hjic-130	199	5	,	,	PUNCT
hjic-130	199	6	33	33	NUM
hjic-130	199	7	,	,	PUNCT
hjic-130	199	8	81	81	NUM
hjic-130	199	9	-	-	SYM
hjic-130	199	10	88	88	NUM
hjic-130	199	11	4	4	NUM
hjic-130	199	12	.	.	PUNCT
hjic-130	199	13	bodizs	bodizs	PROPN
hjic-130	199	14	a.	a.	PROPN
hjic-130	199	15	,	,	PUNCT
hjic-130	199	16	szeifert	szeifert	PROPN
hjic-130	199	17	f.	f.	PROPN
hjic-130	199	18	,	,	PUNCT
hjic-130	199	19	chovan	chovan	PROPN
hjic-130	199	20	t.	t.	PROPN
hjic-130	199	21	:	:	PUNCT
hjic-130	199	22	convolution	convolution	NOUN
hjic-130	199	23	model	model	NOUN
hjic-130	199	24	based	base	VERB
hjic-130	199	25	predictive	predictive	ADJ
hjic-130	199	26	controller	controller	NOUN
hjic-130	199	27	for	for	ADP
hjic-130	199	28	nonlinear	nonlinear	ADJ
hjic-130	199	29	process	process	NOUN
hjic-130	199	30	,	,	PUNCT
hjic-130	199	31	ind	ind	PROPN
hjic-130	199	32	.	.	PUNCT
hjic-130	200	1	eng	eng	PROPN
hjic-130	200	2	.	.	PROPN
hjic-130	200	3	chem	chem	PROPN
hjic-130	200	4	.	.	PUNCT
hjic-130	201	1	res	re	NOUN
hjic-130	201	2	.	.	PROPN
hjic-130	201	3	,	,	PUNCT
hjic-130	201	4	1999	1999	NUM
hjic-130	201	5	,	,	PUNCT
hjic-130	201	6	38	38	NUM
hjic-130	201	7	,	,	PUNCT
hjic-130	201	8	154	154	NUM
hjic-130	201	9	-	-	SYM
hjic-130	201	10	161	161	NUM