id	sid	tid	token	lemma	pos
hjic-491	1	1	hungarian	hungarian	ADJ
hjic-491	1	2	journal	journal	NOUN
hjic-491	1	3	of	of	ADP
hjic-491	1	4	industry	industry	NOUN
hjic-491	1	5	and	and	CCONJ
hjic-491	1	6	chemistry	chemistry	NOUN
hjic-491	1	7	veszprém	veszprém	NOUN
hjic-491	1	8	vol	vol	NOUN
hjic-491	1	9	.	.	PUNCT
hjic-491	2	1	42(2	42(2	NUM
hjic-491	2	2	)	)	PUNCT
hjic-491	3	1	pp	pp	ADP
hjic-491	3	2	.	.	PUNCT
hjic-491	4	1	91–95	91–95	NUM
hjic-491	4	2	(	(	PUNCT
hjic-491	4	3	2014	2014	NUM
hjic-491	4	4	)	)	PUNCT
hjic-491	4	5	quasi	quasi	ADJ
hjic-491	4	6	-	-	ADJ
hjic-491	4	7	polynomial	polynomial	ADJ
hjic-491	4	8	representation	representation	NOUN
hjic-491	4	9	-	-	PUNCT
hjic-491	4	10	based	base	VERB
hjic-491	4	11	control	control	NOUN
hjic-491	4	12	of	of	ADP
hjic-491	4	13	mechanical	mechanical	ADJ
hjic-491	4	14	systems	system	NOUN
hjic-491	4	15	lászló	lászló	ADP
hjic-491	4	16	neukirchnerb	neukirchnerb	NOUN
hjic-491	4	17	and	and	CCONJ
hjic-491	4	18	attila	attila	PROPN
hjic-491	4	19	magyar	magyar	PROPN
hjic-491	4	20	department	department	PROPN
hjic-491	4	21	of	of	ADP
hjic-491	4	22	electrical	electrical	ADJ
hjic-491	4	23	engineering	engineering	NOUN
hjic-491	4	24	and	and	CCONJ
hjic-491	4	25	information	information	NOUN
hjic-491	4	26	systems	system	NOUN
hjic-491	4	27	,	,	PUNCT
hjic-491	4	28	university	university	NOUN
hjic-491	4	29	of	of	ADP
hjic-491	4	30	pannonia	pannonia	PROPN
hjic-491	4	31	,	,	PUNCT
hjic-491	4	32	egyetem	egyetem	NOUN
hjic-491	4	33	u.	u.	PROPN
hjic-491	4	34	10	10	NUM
hjic-491	4	35	.	.	PUNCT
hjic-491	4	36	,	,	PUNCT
hjic-491	4	37	veszprém	veszprém	NOUN
hjic-491	4	38	,	,	PUNCT
hjic-491	4	39	8200	8200	NUM
hjic-491	4	40	,	,	PUNCT
hjic-491	4	41	hungary	hungary	NOUN
hjic-491	4	42	be	be	NOUN
hjic-491	4	43	-	-	PUNCT
hjic-491	4	44	mail	mail	NOUN
hjic-491	4	45	:	:	PUNCT
hjic-491	4	46	neu.groszber@gmail.com	neu.groszber@gmail.com	PROPN
hjic-491	4	47	a	a	DET
hjic-491	4	48	simple	simple	ADJ
hjic-491	4	49	kinematic	kinematic	ADJ
hjic-491	4	50	model	model	NOUN
hjic-491	4	51	of	of	ADP
hjic-491	4	52	a	a	DET
hjic-491	4	53	differential	differential	ADJ
hjic-491	4	54	steering	steering	NOUN
hjic-491	4	55	mobile	mobile	ADJ
hjic-491	4	56	robot	robot	NOUN
hjic-491	4	57	is	be	AUX
hjic-491	4	58	investigated	investigate	VERB
hjic-491	4	59	using	use	VERB
hjic-491	4	60	a	a	DET
hjic-491	4	61	nonlinear	nonlinear	ADJ
hjic-491	4	62	technique	technique	NOUN
hjic-491	4	63	based	base	VERB
hjic-491	4	64	on	on	ADP
hjic-491	4	65	the	the	DET
hjic-491	4	66	quasi	quasi	ADJ
hjic-491	4	67	-	-	ADJ
hjic-491	4	68	polynomial	polynomial	ADJ
hjic-491	4	69	representation	representation	NOUN
hjic-491	4	70	of	of	ADP
hjic-491	4	71	the	the	DET
hjic-491	4	72	dynamical	dynamical	ADJ
hjic-491	4	73	model	model	NOUN
hjic-491	4	74	.	.	PUNCT
hjic-491	5	1	dynamical	dynamical	ADJ
hjic-491	5	2	systems	system	NOUN
hjic-491	5	3	can	can	AUX
hjic-491	5	4	be	be	AUX
hjic-491	5	5	embedded	embed	VERB
hjic-491	5	6	in	in	ADP
hjic-491	5	7	the	the	DET
hjic-491	5	8	generalized	generalize	VERB
hjic-491	5	9	lotka	lotka	PROPN
hjic-491	5	10	-	-	PUNCT
hjic-491	5	11	volterrs	volterrs	NOUN
hjic-491	5	12	(	(	PUNCT
hjic-491	5	13	or	or	CCONJ
hjic-491	5	14	quasi	quasi	ADJ
hjic-491	5	15	-	-	ADJ
hjic-491	5	16	polynomial	polynomial	ADJ
hjic-491	5	17	)	)	PUNCT
hjic-491	5	18	form	form	NOUN
hjic-491	5	19	under	under	ADP
hjic-491	5	20	mild	mild	ADJ
hjic-491	5	21	conditions	condition	NOUN
hjic-491	5	22	.	.	PUNCT
hjic-491	6	1	quasi	quasi	ADJ
hjic-491	6	2	-	-	ADJ
hjic-491	6	3	polynomial	polynomial	ADJ
hjic-491	6	4	systems	system	NOUN
hjic-491	6	5	are	be	AUX
hjic-491	6	6	good	good	ADJ
hjic-491	6	7	candidates	candidate	NOUN
hjic-491	6	8	for	for	ADP
hjic-491	6	9	a	a	DET
hjic-491	6	10	general	general	ADJ
hjic-491	6	11	nonlinear	nonlinear	ADJ
hjic-491	6	12	system	system	NOUN
hjic-491	6	13	representation	representation	NOUN
hjic-491	6	14	,	,	PUNCT
hjic-491	6	15	since	since	SCONJ
hjic-491	6	16	their	their	PRON
hjic-491	6	17	global	global	ADJ
hjic-491	6	18	stability	stability	NOUN
hjic-491	6	19	analysis	analysis	NOUN
hjic-491	6	20	is	be	AUX
hjic-491	6	21	equivalent	equivalent	ADJ
hjic-491	6	22	to	to	ADP
hjic-491	6	23	the	the	DET
hjic-491	6	24	feasibility	feasibility	NOUN
hjic-491	6	25	of	of	ADP
hjic-491	6	26	a	a	DET
hjic-491	6	27	linear	linear	ADJ
hjic-491	6	28	matrix	matrix	NOUN
hjic-491	6	29	inequality	inequality	NOUN
hjic-491	6	30	.	.	PUNCT
hjic-491	7	1	the	the	DET
hjic-491	7	2	stabilizing	stabilize	VERB
hjic-491	7	3	quasi	quasi	ADJ
hjic-491	7	4	-	-	ADJ
hjic-491	7	5	polynomial	polynomial	ADJ
hjic-491	7	6	state	state	NOUN
hjic-491	7	7	feedback	feedback	NOUN
hjic-491	7	8	controller	controller	NOUN
hjic-491	7	9	design	design	NOUN
hjic-491	7	10	problem	problem	NOUN
hjic-491	7	11	is	be	AUX
hjic-491	7	12	equivalent	equivalent	ADJ
hjic-491	7	13	to	to	ADP
hjic-491	7	14	the	the	DET
hjic-491	7	15	feasibility	feasibility	NOUN
hjic-491	7	16	of	of	ADP
hjic-491	7	17	a	a	DET
hjic-491	7	18	bilinear	bilinear	NOUN
hjic-491	7	19	matrix	matrix	NOUN
hjic-491	7	20	inequality	inequality	NOUN
hjic-491	7	21	.	.	PUNCT
hjic-491	8	1	the	the	DET
hjic-491	8	2	classical	classical	ADJ
hjic-491	8	3	stabilizing	stabilize	VERB
hjic-491	8	4	state	state	NOUN
hjic-491	8	5	feedback	feedback	NOUN
hjic-491	8	6	problem	problem	NOUN
hjic-491	8	7	for	for	ADP
hjic-491	8	8	quasi	quasi	ADJ
hjic-491	8	9	-	-	ADJ
hjic-491	8	10	polynomial	polynomial	ADJ
hjic-491	8	11	systems	system	NOUN
hjic-491	8	12	was	be	AUX
hjic-491	8	13	extended	extend	VERB
hjic-491	8	14	with	with	ADP
hjic-491	8	15	the	the	DET
hjic-491	8	16	ability	ability	NOUN
hjic-491	8	17	of	of	ADP
hjic-491	8	18	tracking	track	VERB
hjic-491	8	19	time	time	NOUN
hjic-491	8	20	-	-	PUNCT
hjic-491	8	21	dependent	dependent	ADJ
hjic-491	8	22	reference	reference	NOUN
hjic-491	8	23	signals	signal	NOUN
hjic-491	8	24	.	.	PUNCT
hjic-491	9	1	it	it	PRON
hjic-491	9	2	is	be	AUX
hjic-491	9	3	shown	show	VERB
hjic-491	9	4	that	that	SCONJ
hjic-491	9	5	the	the	DET
hjic-491	9	6	stabilizing	stabilize	VERB
hjic-491	9	7	quasi	quasi	ADJ
hjic-491	9	8	-	-	ADJ
hjic-491	9	9	polynomial	polynomial	ADJ
hjic-491	9	10	controller	controller	NOUN
hjic-491	9	11	design	design	NOUN
hjic-491	9	12	is	be	AUX
hjic-491	9	13	equivalent	equivalent	ADJ
hjic-491	9	14	to	to	ADP
hjic-491	9	15	a	a	DET
hjic-491	9	16	bilinear	bilinear	NOUN
hjic-491	9	17	matrix	matrix	NOUN
hjic-491	9	18	inequality	inequality	NOUN
hjic-491	9	19	.	.	PUNCT
hjic-491	10	1	the	the	DET
hjic-491	10	2	results	result	NOUN
hjic-491	10	3	are	be	AUX
hjic-491	10	4	applied	apply	VERB
hjic-491	10	5	to	to	ADP
hjic-491	10	6	the	the	DET
hjic-491	10	7	model	model	NOUN
hjic-491	10	8	of	of	ADP
hjic-491	10	9	the	the	DET
hjic-491	10	10	differential	differential	NOUN
hjic-491	10	11	steering	steering	NOUN
hjic-491	10	12	mobile	mobile	ADJ
hjic-491	10	13	robot	robot	NOUN
hjic-491	10	14	.	.	PUNCT
hjic-491	11	1	the	the	DET
hjic-491	11	2	goal	goal	NOUN
hjic-491	11	3	reaching	reach	VERB
hjic-491	11	4	quasi	quasi	ADJ
hjic-491	11	5	-	-	ADJ
hjic-491	11	6	polynomial	polynomial	ADJ
hjic-491	11	7	controller	controller	NOUN
hjic-491	11	8	is	be	AUX
hjic-491	11	9	shown	show	VERB
hjic-491	11	10	to	to	PART
hjic-491	11	11	be	be	AUX
hjic-491	11	12	a	a	DET
hjic-491	11	13	special	special	ADJ
hjic-491	11	14	kind	kind	NOUN
hjic-491	11	15	of	of	ADP
hjic-491	11	16	proportional	proportional	ADJ
hjic-491	11	17	state	state	NOUN
hjic-491	11	18	feedback	feedback	NOUN
hjic-491	11	19	.	.	PUNCT
hjic-491	12	1	keywords	keyword	NOUN
hjic-491	12	2	:	:	PUNCT
hjic-491	12	3	quasi	quasi	ADJ
hjic-491	12	4	-	-	ADJ
hjic-491	12	5	polynomial	polynomial	ADJ
hjic-491	12	6	,	,	PUNCT
hjic-491	12	7	robotics	robotic	NOUN
hjic-491	12	8	,	,	PUNCT
hjic-491	12	9	differential	differential	ADJ
hjic-491	12	10	drive	drive	NOUN
hjic-491	12	11	robot	robot	NOUN
hjic-491	12	12	,	,	PUNCT
hjic-491	12	13	control	control	NOUN
hjic-491	12	14	systems	system	NOUN
hjic-491	12	15	,	,	PUNCT
hjic-491	12	16	kinematics	kinematic	NOUN
hjic-491	12	17	,	,	PUNCT
hjic-491	12	18	lotka	lotka	PROPN
hjic-491	12	19	-	-	PUNCT
hjic-491	12	20	volterra	volterra	PROPN
hjic-491	12	21	system	system	NOUN
hjic-491	12	22	introduction	introduction	NOUN
hjic-491	12	23	trajectory	trajectory	NOUN
hjic-491	12	24	and	and	CCONJ
hjic-491	12	25	goal	goal	NOUN
hjic-491	12	26	tracking	tracking	NOUN
hjic-491	12	27	of	of	ADP
hjic-491	12	28	mobile	mobile	ADJ
hjic-491	12	29	robots	robot	NOUN
hjic-491	12	30	is	be	AUX
hjic-491	12	31	an	an	DET
hjic-491	12	32	intensively	intensively	ADV
hjic-491	12	33	studied	study	VERB
hjic-491	12	34	field	field	NOUN
hjic-491	12	35	of	of	ADP
hjic-491	12	36	modern	modern	ADJ
hjic-491	12	37	robotics	robotic	NOUN
hjic-491	12	38	as	as	ADV
hjic-491	12	39	well	well	ADV
hjic-491	12	40	as	as	ADP
hjic-491	12	41	modern	modern	ADJ
hjic-491	12	42	control	control	NOUN
hjic-491	12	43	theory	theory	NOUN
hjic-491	12	44	.	.	PUNCT
hjic-491	13	1	several	several	ADJ
hjic-491	13	2	papers	paper	NOUN
hjic-491	13	3	deal	deal	VERB
hjic-491	13	4	with	with	ADP
hjic-491	13	5	an	an	DET
hjic-491	13	6	adaptive	adaptive	ADJ
hjic-491	13	7	output	output	NOUN
hjic-491	13	8	feedback	feedback	NOUN
hjic-491	13	9	approach	approach	NOUN
hjic-491	13	10	[	[	X
hjic-491	13	11	1	1	NUM
hjic-491	13	12	]	]	PUNCT
hjic-491	13	13	.	.	PUNCT
hjic-491	14	1	on	on	ADP
hjic-491	14	2	the	the	DET
hjic-491	14	3	other	other	ADJ
hjic-491	14	4	hand	hand	NOUN
hjic-491	14	5	some	some	DET
hjic-491	14	6	groups	group	NOUN
hjic-491	14	7	try	try	VERB
hjic-491	14	8	to	to	PART
hjic-491	14	9	apply	apply	VERB
hjic-491	14	10	neural	neural	ADJ
hjic-491	14	11	network	network	NOUN
hjic-491	14	12	-	-	PUNCT
hjic-491	14	13	based	base	VERB
hjic-491	14	14	methods	method	NOUN
hjic-491	14	15	for	for	ADP
hjic-491	14	16	the	the	DET
hjic-491	14	17	task	task	NOUN
hjic-491	14	18	[	[	X
hjic-491	14	19	2	2	NUM
hjic-491	14	20	]	]	PUNCT
hjic-491	14	21	.	.	PUNCT
hjic-491	15	1	another	another	DET
hjic-491	15	2	direction	direction	NOUN
hjic-491	15	3	is	be	AUX
hjic-491	15	4	to	to	PART
hjic-491	15	5	describe	describe	VERB
hjic-491	15	6	the	the	DET
hjic-491	15	7	problem	problem	NOUN
hjic-491	15	8	as	as	ADP
hjic-491	15	9	an	an	DET
hjic-491	15	10	optimal	optimal	ADJ
hjic-491	15	11	control	control	NOUN
hjic-491	15	12	problem	problem	NOUN
hjic-491	15	13	and	and	CCONJ
hjic-491	15	14	apply	apply	VERB
hjic-491	15	15	optimal	optimal	ADJ
hjic-491	15	16	control	control	NOUN
hjic-491	15	17	results	result	NOUN
hjic-491	15	18	for	for	ADP
hjic-491	15	19	it	it	PRON
hjic-491	15	20	[	[	X
hjic-491	15	21	3	3	NUM
hjic-491	15	22	]	]	PUNCT
hjic-491	15	23	.	.	PUNCT
hjic-491	16	1	the	the	DET
hjic-491	16	2	class	class	NOUN
hjic-491	16	3	of	of	ADP
hjic-491	16	4	quasi	quasi	ADJ
hjic-491	16	5	-	-	ADJ
hjic-491	16	6	polynomial	polynomial	ADJ
hjic-491	16	7	(	(	PUNCT
hjic-491	16	8	qp	qp	NOUN
hjic-491	16	9	)	)	PUNCT
hjic-491	16	10	systems	system	NOUN
hjic-491	16	11	plays	play	VERB
hjic-491	16	12	an	an	DET
hjic-491	16	13	important	important	ADJ
hjic-491	16	14	role	role	NOUN
hjic-491	16	15	in	in	ADP
hjic-491	16	16	the	the	DET
hjic-491	16	17	theory	theory	NOUN
hjic-491	16	18	of	of	ADP
hjic-491	16	19	nonlinear	nonlinear	ADJ
hjic-491	16	20	dynamical	dynamical	ADJ
hjic-491	16	21	systems	system	NOUN
hjic-491	16	22	because	because	SCONJ
hjic-491	16	23	nonlinear	nonlinear	ADJ
hjic-491	16	24	systems	system	NOUN
hjic-491	16	25	with	with	ADP
hjic-491	16	26	smooth	smooth	ADJ
hjic-491	16	27	nonlinearities	nonlinearitie	NOUN
hjic-491	16	28	can	can	AUX
hjic-491	16	29	be	be	AUX
hjic-491	16	30	transformed	transform	VERB
hjic-491	16	31	into	into	ADP
hjic-491	16	32	quasipolynomial	quasipolynomial	ADJ
hjic-491	16	33	form	form	NOUN
hjic-491	16	34	ref.[4	ref.[4	X
hjic-491	16	35	]	]	PUNCT
hjic-491	16	36	.	.	PUNCT
hjic-491	17	1	this	this	PRON
hjic-491	17	2	means	mean	VERB
hjic-491	17	3	,	,	PUNCT
hjic-491	17	4	that	that	SCONJ
hjic-491	17	5	any	any	DET
hjic-491	17	6	applicable	applicable	ADJ
hjic-491	17	7	method	method	NOUN
hjic-491	17	8	for	for	ADP
hjic-491	17	9	quasi	quasi	ADJ
hjic-491	17	10	-	-	ADJ
hjic-491	17	11	polynomial	polynomial	ADJ
hjic-491	17	12	systems	system	NOUN
hjic-491	17	13	can	can	AUX
hjic-491	17	14	be	be	AUX
hjic-491	17	15	regarded	regard	VERB
hjic-491	17	16	as	as	ADP
hjic-491	17	17	a	a	DET
hjic-491	17	18	general	general	ADJ
hjic-491	17	19	technique	technique	NOUN
hjic-491	17	20	for	for	ADP
hjic-491	17	21	nonlinear	nonlinear	ADJ
hjic-491	17	22	systems	system	NOUN
hjic-491	17	23	[	[	X
hjic-491	17	24	5	5	NUM
hjic-491	17	25	]	]	PUNCT
hjic-491	17	26	.	.	PUNCT
hjic-491	18	1	the	the	DET
hjic-491	18	2	aim	aim	NOUN
hjic-491	18	3	of	of	ADP
hjic-491	18	4	this	this	DET
hjic-491	18	5	work	work	NOUN
hjic-491	18	6	is	be	AUX
hjic-491	18	7	to	to	PART
hjic-491	18	8	widen	widen	VERB
hjic-491	18	9	the	the	DET
hjic-491	18	10	applicability	applicability	NOUN
hjic-491	18	11	of	of	ADP
hjic-491	18	12	the	the	DET
hjic-491	18	13	quasipolynomial	quasipolynomial	ADJ
hjic-491	18	14	representation	representation	NOUN
hjic-491	18	15	-	-	PUNCT
hjic-491	18	16	based	base	VERB
hjic-491	18	17	methods	method	NOUN
hjic-491	18	18	to	to	ADP
hjic-491	18	19	the	the	DET
hjic-491	18	20	class	class	NOUN
hjic-491	18	21	of	of	ADP
hjic-491	18	22	mechanical	mechanical	ADJ
hjic-491	18	23	systems	system	NOUN
hjic-491	18	24	,	,	PUNCT
hjic-491	18	25	more	more	ADV
hjic-491	18	26	precisely	precisely	ADV
hjic-491	18	27	to	to	ADP
hjic-491	18	28	mobile	mobile	ADJ
hjic-491	18	29	robots	robot	NOUN
hjic-491	18	30	.	.	PUNCT
hjic-491	19	1	the	the	DET
hjic-491	19	2	goal	goal	NOUN
hjic-491	19	3	reaching	reach	VERB
hjic-491	19	4	problem	problem	NOUN
hjic-491	19	5	of	of	ADP
hjic-491	19	6	a	a	DET
hjic-491	19	7	differential	differential	ADJ
hjic-491	19	8	steering	steering	NOUN
hjic-491	19	9	mobile	mobile	ADJ
hjic-491	19	10	robot	robot	NOUN
hjic-491	19	11	is	be	AUX
hjic-491	19	12	reformulated	reformulate	VERB
hjic-491	19	13	as	as	ADP
hjic-491	19	14	a	a	DET
hjic-491	19	15	globally	globally	ADV
hjic-491	19	16	stabilizing	stabilize	VERB
hjic-491	19	17	feedback	feedback	NOUN
hjic-491	19	18	design	design	NOUN
hjic-491	19	19	problem	problem	NOUN
hjic-491	19	20	in	in	ADP
hjic-491	19	21	the	the	DET
hjic-491	19	22	quasi	quasi	ADJ
hjic-491	19	23	-	-	ADJ
hjic-491	19	24	polynomial	polynomial	ADJ
hjic-491	19	25	framework	framework	NOUN
hjic-491	19	26	.	.	PUNCT
hjic-491	20	1	basic	basic	ADJ
hjic-491	20	2	notions	notion	NOUN
hjic-491	20	3	differential	differential	PROPN
hjic-491	20	4	drive	drive	PROPN
hjic-491	20	5	mobile	mobile	PROPN
hjic-491	20	6	robot	robot	NOUN
hjic-491	20	7	kinematics	kinematic	NOUN
hjic-491	20	8	the	the	DET
hjic-491	20	9	chosen	choose	VERB
hjic-491	20	10	mechanical	mechanical	ADJ
hjic-491	20	11	system	system	NOUN
hjic-491	20	12	is	be	AUX
hjic-491	20	13	the	the	DET
hjic-491	20	14	kinematic	kinematic	ADJ
hjic-491	20	15	model	model	NOUN
hjic-491	20	16	of	of	ADP
hjic-491	20	17	a	a	DET
hjic-491	20	18	two	two	NUM
hjic-491	20	19	wheeled	wheel	VERB
hjic-491	20	20	differential	differential	NOUN
hjic-491	20	21	drive	drive	PROPN
hjic-491	20	22	mobile	mobile	ADJ
hjic-491	20	23	robot	robot	NOUN
hjic-491	20	24	eq.(1	eq.(1	ADJ
hjic-491	20	25	)	)	PUNCT
hjic-491	20	26	.	.	PUNCT
hjic-491	21	1	the	the	DET
hjic-491	21	2	model	model	NOUN
hjic-491	21	3	deals	deal	VERB
hjic-491	21	4	with	with	ADP
hjic-491	21	5	the	the	DET
hjic-491	21	6	geometric	geometric	ADJ
hjic-491	21	7	relationships	relationship	NOUN
hjic-491	21	8	that	that	PRON
hjic-491	21	9	govern	govern	VERB
hjic-491	21	10	the	the	DET
hjic-491	21	11	system	system	NOUN
hjic-491	21	12	.	.	PUNCT
hjic-491	22	1	it	it	PRON
hjic-491	22	2	calculates	calculate	VERB
hjic-491	22	3	the	the	DET
hjic-491	22	4	motion	motion	NOUN
hjic-491	22	5	without	without	ADP
hjic-491	22	6	considering	consider	VERB
hjic-491	22	7	the	the	DET
hjic-491	22	8	affecting	affect	VERB
hjic-491	22	9	forces	force	NOUN
hjic-491	22	10	.	.	PUNCT
hjic-491	23	1	the	the	DET
hjic-491	23	2	system	system	NOUN
hjic-491	23	3	’s	’s	PART
hjic-491	23	4	states	state	NOUN
hjic-491	23	5	are	be	AUX
hjic-491	23	6	the	the	DET
hjic-491	23	7	cartesian	cartesian	ADJ
hjic-491	23	8	coordinates	coordinate	NOUN
hjic-491	23	9	x	x	NOUN
hjic-491	23	10	,	,	PUNCT
hjic-491	23	11	and	and	CCONJ
hjic-491	23	12	y	y	PROPN
hjic-491	23	13	and	and	CCONJ
hjic-491	23	14	the	the	DET
hjic-491	23	15	orientation	orientation	NOUN
hjic-491	23	16	θ	θ	PROPN
hjic-491	23	17	of	of	ADP
hjic-491	23	18	the	the	DET
hjic-491	23	19	mobile	mobile	NOUN
hjic-491	23	20	robot	robot	NOUN
hjic-491	23	21	.	.	PUNCT
hjic-491	24	1	the	the	DET
hjic-491	24	2	basic	basic	ADJ
hjic-491	24	3	kinematic	kinematic	ADJ
hjic-491	24	4	model	model	NOUN
hjic-491	24	5	of	of	ADP
hjic-491	24	6	the	the	DET
hjic-491	24	7	differential	differential	ADJ
hjic-491	24	8	drive	drive	NOUN
hjic-491	24	9	robot	robot	NOUN
hjic-491	24	10	is	be	AUX
hjic-491	24	11	given	give	VERB
hjic-491	24	12	by	by	ADP
hjic-491	24	13	θ̇	θ̇	NOUN
hjic-491	24	14	=	=	SYM
hjic-491	24	15	r	r	NOUN
hjic-491	24	16	2a	2a	NUM
hjic-491	24	17	(	(	PUNCT
hjic-491	24	18	ωleft	ωleft	NOUN
hjic-491	24	19	−	−	PROPN
hjic-491	24	20	ωright	ωright	NOUN
hjic-491	24	21	)	)	PUNCT
hjic-491	24	22	ẋ	ẋ	PUNCT
hjic-491	25	1	=	=	PUNCT
hjic-491	25	2	r	r	NOUN
hjic-491	25	3	2	2	NUM
hjic-491	25	4	cos(θ)(ωleft	cos(θ)(ωleft	ADV
hjic-491	25	5	+	+	CCONJ
hjic-491	25	6	ωright	ωright	NOUN
hjic-491	25	7	)	)	PUNCT
hjic-491	26	1	ẏ	ẏ	NOUN
hjic-491	26	2	=	=	SYM
hjic-491	26	3	r	r	NOUN
hjic-491	26	4	2	2	NUM
hjic-491	26	5	sin(θ)(ωleft	sin(θ)(ωleft	NOUN
hjic-491	26	6	+	+	CCONJ
hjic-491	26	7	ωright	ωright	NOUN
hjic-491	26	8	)	)	PUNCT
hjic-491	26	9	,	,	PUNCT
hjic-491	26	10	(	(	PUNCT
hjic-491	26	11	1	1	X
hjic-491	26	12	)	)	PUNCT
hjic-491	26	13	where	where	SCONJ
hjic-491	26	14	a	a	PRON
hjic-491	26	15	is	be	AUX
hjic-491	26	16	half	half	DET
hjic-491	26	17	the	the	DET
hjic-491	26	18	shaft	shaft	NOUN
hjic-491	26	19	’s	’s	PART
hjic-491	26	20	diameter	diameter	NOUN
hjic-491	26	21	,	,	PUNCT
hjic-491	26	22	r	r	NOUN
hjic-491	26	23	is	be	AUX
hjic-491	26	24	the	the	DET
hjic-491	26	25	radius	radius	NOUN
hjic-491	26	26	of	of	ADP
hjic-491	26	27	the	the	DET
hjic-491	26	28	wheels	wheel	NOUN
hjic-491	26	29	and	and	CCONJ
hjic-491	26	30	ω	ω	PROPN
hjic-491	26	31	is	be	AUX
hjic-491	26	32	the	the	DET
hjic-491	26	33	angular	angular	ADJ
hjic-491	26	34	velocity	velocity	NOUN
hjic-491	26	35	of	of	ADP
hjic-491	26	36	the	the	DET
hjic-491	26	37	right	right	NOUN
hjic-491	26	38	or	or	CCONJ
hjic-491	26	39	left	leave	VERB
hjic-491	26	40	wheel	wheel	NOUN
hjic-491	26	41	.	.	PUNCT
hjic-491	27	1	to	to	PART
hjic-491	27	2	order	order	VERB
hjic-491	27	3	the	the	DET
hjic-491	27	4	robot	robot	NOUN
hjic-491	27	5	to	to	PART
hjic-491	27	6	reach	reach	VERB
hjic-491	27	7	a	a	DET
hjic-491	27	8	specific	specific	ADJ
hjic-491	27	9	goal	goal	NOUN
hjic-491	27	10	,	,	PUNCT
hjic-491	27	11	it	it	PRON
hjic-491	27	12	is	be	AUX
hjic-491	27	13	acceptable	acceptable	ADJ
hjic-491	27	14	to	to	PART
hjic-491	27	15	design	design	VERB
hjic-491	27	16	a	a	DET
hjic-491	27	17	proportional	proportional	ADJ
hjic-491	27	18	controller	controller	NOUN
hjic-491	27	19	to	to	PART
hjic-491	27	20	govern	govern	VERB
hjic-491	27	21	the	the	DET
hjic-491	27	22	expected	expect	VERB
hjic-491	27	23	trajectory	trajectory	NOUN
hjic-491	27	24	eq.(2	eq.(2	NOUN
hjic-491	27	25	)	)	PUNCT
hjic-491	28	1	[	[	X
hjic-491	28	2	6	6	NUM
hjic-491	28	3	]	]	PUNCT
hjic-491	28	4	.	.	PUNCT
hjic-491	29	1	in	in	ADP
hjic-491	29	2	this	this	DET
hjic-491	29	3	case	case	NOUN
hjic-491	29	4	,	,	PUNCT
hjic-491	29	5	the	the	DET
hjic-491	29	6	model	model	NOUN
hjic-491	29	7	is	be	AUX
hjic-491	29	8	modified	modify	VERB
hjic-491	29	9	to	to	PART
hjic-491	29	10	calculate	calculate	VERB
hjic-491	29	11	the	the	DET
hjic-491	29	12	state	state	NOUN
hjic-491	29	13	errors	error	NOUN
hjic-491	29	14	between	between	ADP
hjic-491	29	15	the	the	DET
hjic-491	29	16	ordered	order	VERB
hjic-491	29	17	and	and	CCONJ
hjic-491	29	18	the	the	DET
hjic-491	29	19	present	present	ADJ
hjic-491	29	20	value	value	NOUN
hjic-491	29	21	.	.	PUNCT
hjic-491	30	1	the	the	DET
hjic-491	30	2	new	new	ADJ
hjic-491	30	3	error	error	NOUN
hjic-491	30	4	model	model	NOUN
hjic-491	30	5	with	with	ADP
hjic-491	30	6	proportional	proportional	ADJ
hjic-491	30	7	gain	gain	NOUN
hjic-491	30	8	is	be	AUX
hjic-491	30	9	ẋ	ẋ	PROPN
hjic-491	30	10	=	=	SYM
hjic-491	30	11	kv(edis	kv(edis	PROPN
hjic-491	30	12	cos(θ)−	cos(θ)−	PROPN
hjic-491	30	13	x(t	x(t	PROPN
hjic-491	30	14	)	)	PUNCT
hjic-491	30	15	)	)	PUNCT
hjic-491	31	1	ẏ	ẏ	PROPN
hjic-491	31	2	=	=	SYM
hjic-491	31	3	kv(edis	kv(edis	PROPN
hjic-491	31	4	sin(θ)−	sin(θ)−	PROPN
hjic-491	31	5	y(t	y(t	PROPN
hjic-491	31	6	)	)	PUNCT
hjic-491	31	7	)	)	PUNCT
hjic-491	32	1	θ̇	θ̇	NOUN
hjic-491	32	2	=	=	SYM
hjic-491	32	3	kh(eang	kh(eang	PROPN
hjic-491	32	4	−	−	PROPN
hjic-491	32	5	θ(t	θ(t	PROPN
hjic-491	32	6	)	)	PUNCT
hjic-491	32	7	)	)	PUNCT
hjic-491	32	8	edis	edis	PROPN
hjic-491	32	9	=	=	SYM
hjic-491	32	10	√	√	PROPN
hjic-491	32	11	(	(	PUNCT
hjic-491	32	12	xg	xg	NOUN
hjic-491	32	13	−	−	PROPN
hjic-491	32	14	x(t))2	x(t))2	PROPN
hjic-491	33	1	+	+	CCONJ
hjic-491	33	2	(	(	PUNCT
hjic-491	33	3	yg	yg	PROPN
hjic-491	33	4	−	−	PROPN
hjic-491	33	5	y(t))2	y(t))2	PROPN
hjic-491	33	6	eang	eang	PROPN
hjic-491	33	7	=	=	PROPN
hjic-491	33	8	arctan	arctan	PROPN
hjic-491	33	9	(	(	PUNCT
hjic-491	33	10	2	2	NUM
hjic-491	33	11	yg	yg	NOUN
hjic-491	33	12	−	−	PROPN
hjic-491	33	13	y(t	y(t	NUM
hjic-491	33	14	)	)	PUNCT
hjic-491	33	15	xg	xg	NOUN
hjic-491	34	1	−	−	PROPN
hjic-491	34	2	x(t	x(t	PROPN
hjic-491	34	3	)	)	PUNCT
hjic-491	34	4	)	)	PUNCT
hjic-491	34	5	,	,	PUNCT
hjic-491	34	6	(	(	PUNCT
hjic-491	34	7	2	2	X
hjic-491	34	8	)	)	PUNCT
hjic-491	34	9	wherekv	wherekv	NOUN
hjic-491	34	10	is	be	AUX
hjic-491	34	11	the	the	DET
hjic-491	34	12	velocity	velocity	NOUN
hjic-491	34	13	control	control	NOUN
hjic-491	34	14	gain	gain	NOUN
hjic-491	34	15	,	,	PUNCT
hjic-491	34	16	kh	kh	PROPN
hjic-491	34	17	is	be	AUX
hjic-491	34	18	the	the	DET
hjic-491	34	19	rotational	rotational	ADJ
hjic-491	34	20	velocity	velocity	NOUN
hjic-491	34	21	control	control	NOUN
hjic-491	34	22	gain	gain	NOUN
hjic-491	34	23	,	,	PUNCT
hjic-491	34	24	edis	edis	PROPN
hjic-491	34	25	is	be	AUX
hjic-491	34	26	the	the	DET
hjic-491	34	27	distance	distance	NOUN
hjic-491	34	28	error	error	NOUN
hjic-491	34	29	,	,	PUNCT
hjic-491	34	30	eang	eang	PROPN
hjic-491	34	31	is	be	AUX
hjic-491	34	32	the	the	DET
hjic-491	34	33	92	92	NUM
hjic-491	34	34	angular	angular	ADJ
hjic-491	34	35	error	error	NOUN
hjic-491	34	36	,	,	PUNCT
hjic-491	34	37	and	and	CCONJ
hjic-491	34	38	xg	xg	NOUN
hjic-491	34	39	,	,	PUNCT
hjic-491	34	40	yg	yg	PROPN
hjic-491	34	41	are	be	AUX
hjic-491	34	42	the	the	DET
hjic-491	34	43	cartesian	cartesian	ADJ
hjic-491	34	44	coordinates	coordinate	NOUN
hjic-491	34	45	to	to	PART
hjic-491	34	46	reach	reach	VERB
hjic-491	34	47	.	.	PUNCT
hjic-491	35	1	quasi	quasi	ADJ
hjic-491	35	2	-	-	ADJ
hjic-491	35	3	polynomial	polynomial	ADJ
hjic-491	35	4	representation	representation	NOUN
hjic-491	35	5	of	of	ADP
hjic-491	35	6	nonlinear	nonlinear	ADJ
hjic-491	35	7	systems	system	NOUN
hjic-491	35	8	some	some	DET
hjic-491	35	9	basic	basic	ADJ
hjic-491	35	10	notions	notion	NOUN
hjic-491	35	11	of	of	ADP
hjic-491	35	12	quasi	quasi	ADJ
hjic-491	35	13	-	-	ADJ
hjic-491	35	14	polynomial	polynomial	ADJ
hjic-491	35	15	and	and	CCONJ
hjic-491	35	16	lotkavolterra	lotkavolterra	NOUN
hjic-491	35	17	systems	system	NOUN
hjic-491	35	18	are	be	AUX
hjic-491	35	19	summarised	summarise	VERB
hjic-491	35	20	in	in	ADP
hjic-491	35	21	this	this	DET
hjic-491	35	22	section	section	NOUN
hjic-491	35	23	.	.	PUNCT
hjic-491	36	1	generalised	generalise	VERB
hjic-491	36	2	lotka	lotka	PROPN
hjic-491	36	3	-	-	PUNCT
hjic-491	36	4	volterra	volterra	NOUN
hjic-491	36	5	form	form	NOUN
hjic-491	36	6	representing	represent	VERB
hjic-491	36	7	an	an	DET
hjic-491	36	8	ode	ode	NOUN
hjic-491	36	9	in	in	ADP
hjic-491	36	10	generalised	generalise	VERB
hjic-491	36	11	lotka	lotka	PROPN
hjic-491	36	12	-	-	PUNCT
hjic-491	36	13	volterra	volterra	PROPN
hjic-491	36	14	(	(	PUNCT
hjic-491	36	15	glv	glv	X
hjic-491	36	16	)	)	PUNCT
hjic-491	36	17	form	form	NOUN
hjic-491	36	18	can	can	AUX
hjic-491	36	19	increase	increase	VERB
hjic-491	36	20	the	the	DET
hjic-491	36	21	structural	structural	ADJ
hjic-491	36	22	simplicity	simplicity	NOUN
hjic-491	36	23	in	in	ADP
hjic-491	36	24	exchange	exchange	NOUN
hjic-491	36	25	for	for	ADP
hjic-491	36	26	increasing	increase	VERB
hjic-491	36	27	its	its	PRON
hjic-491	36	28	dimension	dimension	NOUN
hjic-491	36	29	.	.	PUNCT
hjic-491	37	1	the	the	DET
hjic-491	37	2	glv	glv	NOUN
hjic-491	37	3	or	or	CCONJ
hjic-491	37	4	quasipolynomial	quasipolynomial	ADJ
hjic-491	37	5	(	(	PUNCT
hjic-491	37	6	qp	qp	NOUN
hjic-491	37	7	)	)	PUNCT
hjic-491	37	8	form	form	NOUN
hjic-491	37	9	:	:	PUNCT
hjic-491	37	10	ẋi	ẋi	PROPN
hjic-491	38	1	=	=	SYM
hjic-491	38	2	xi	xi	PROPN
hjic-491	38	3	(	(	PUNCT
hjic-491	38	4	λi	λi	PROPN
hjic-491	38	5	+	+	X
hjic-491	38	6	m∑	m∑	PROPN
hjic-491	38	7	i=1	i=1	PROPN
hjic-491	38	8	aij	aij	PROPN
hjic-491	38	9	·	·	PUNCT
hjic-491	38	10	n∏	n∏	PROPN
hjic-491	38	11	k=1	k=1	X
hjic-491	39	1	x	x	PUNCT
hjic-491	39	2	bij	bij	VERB
hjic-491	39	3	k	k	PROPN
hjic-491	39	4	)	)	PUNCT
hjic-491	39	5	,	,	PUNCT
hjic-491	39	6	i	i	PRON
hjic-491	39	7	=	=	NOUN
hjic-491	39	8	1	1	NUM
hjic-491	39	9	,	,	PUNCT
hjic-491	39	10	.	.	PUNCT
hjic-491	39	11	.	.	PUNCT
hjic-491	40	1	.	.	PUNCT
hjic-491	41	1	,	,	PUNCT
hjic-491	41	2	n	n	CCONJ
hjic-491	41	3	,	,	PUNCT
hjic-491	41	4	m	m	VERB
hjic-491	41	5	≥	≥	NOUN
hjic-491	41	6	n	n	CCONJ
hjic-491	41	7	(	(	PUNCT
hjic-491	41	8	3	3	NUM
hjic-491	41	9	)	)	PUNCT
hjic-491	41	10	where	where	SCONJ
hjic-491	41	11	a	a	PRON
hjic-491	41	12	and	and	CCONJ
hjic-491	41	13	b	b	NOUN
hjic-491	41	14	are	be	AUX
hjic-491	41	15	n	n	PRON
hjic-491	41	16	×	×	NOUN
hjic-491	41	17	m	m	PROPN
hjic-491	41	18	,	,	PUNCT
hjic-491	41	19	m	m	VERB
hjic-491	41	20	×	×	ADJ
hjic-491	41	21	n	n	CCONJ
hjic-491	41	22	real	real	ADJ
hjic-491	41	23	matrices	matrix	NOUN
hjic-491	41	24	,	,	PUNCT
hjic-491	41	25	and	and	CCONJ
hjic-491	41	26	λ	λ	PROPN
hjic-491	41	27	∈	∈	PROPN
hjic-491	41	28	rn	rn	PROPN
hjic-491	41	29	is	be	AUX
hjic-491	41	30	a	a	DET
hjic-491	41	31	vector	vector	NOUN
hjic-491	41	32	.	.	PUNCT
hjic-491	42	1	the	the	DET
hjic-491	42	2	set	set	NOUN
hjic-491	42	3	of	of	ADP
hjic-491	42	4	non	non	ADJ
hjic-491	42	5	-	-	ADJ
hjic-491	42	6	linear	linear	ADJ
hjic-491	42	7	odes	ode	NOUN
hjic-491	42	8	can	can	AUX
hjic-491	42	9	be	be	AUX
hjic-491	42	10	embedded	embed	VERB
hjic-491	42	11	into	into	ADP
hjic-491	42	12	qp	qp	ADP
hjic-491	42	13	form	form	NOUN
hjic-491	42	14	if	if	SCONJ
hjic-491	42	15	it	it	PRON
hjic-491	42	16	meets	meet	VERB
hjic-491	42	17	two	two	NUM
hjic-491	42	18	requirements	requirement	NOUN
hjic-491	42	19	:	:	PUNCT
hjic-491	42	20	(	(	PUNCT
hjic-491	42	21	i	i	NOUN
hjic-491	42	22	)	)	PUNCT
hjic-491	42	23	the	the	DET
hjic-491	42	24	non	non	ADJ
hjic-491	42	25	-	-	ADJ
hjic-491	42	26	linear	linear	ADJ
hjic-491	42	27	odes	ode	NOUN
hjic-491	42	28	should	should	AUX
hjic-491	42	29	follow	follow	VERB
hjic-491	42	30	this	this	DET
hjic-491	42	31	form	form	NOUN
hjic-491	42	32	:	:	PUNCT
hjic-491	42	33	ẋs	ẋs	PROPN
hjic-491	42	34	=	=	SYM
hjic-491	42	35	∑	∑	PROPN
hjic-491	42	36	is1	is1	PROPN
hjic-491	42	37	...	...	PUNCT
hjic-491	42	38	isn	isn	VERB
hjic-491	42	39	,	,	PUNCT
hjic-491	42	40	js	js	PROPN
hjic-491	42	41	ais1	ais1	PROPN
hjic-491	42	42	...	...	PUNCT
hjic-491	42	43	isn	isn	VERB
hjic-491	42	44	,	,	PUNCT
hjic-491	42	45	jsx	jsx	PROPN
hjic-491	42	46	is1	is1	PROPN
hjic-491	42	47	1	1	NUM
hjic-491	42	48	.	.	PUNCT
hjic-491	42	49	.	.	PUNCT
hjic-491	42	50	.	.	PUNCT
hjic-491	43	1	xisnn	xisnn	PROPN
hjic-491	43	2	f(x̄)js	f(x̄)js	PROPN
hjic-491	43	3	,	,	PUNCT
hjic-491	43	4	xs(t0	xs(t0	PROPN
hjic-491	43	5	)	)	PUNCT
hjic-491	44	1	=	=	SYM
hjic-491	44	2	x0s	x0	NOUN
hjic-491	44	3	,	,	PUNCT
hjic-491	44	4	s	s	NOUN
hjic-491	44	5	=	=	NOUN
hjic-491	44	6	1	1	NUM
hjic-491	44	7	.	.	PUNCT
hjic-491	44	8	.	.	PUNCT
hjic-491	44	9	.	.	PUNCT
hjic-491	45	1	n	n	X
hjic-491	45	2	(	(	PUNCT
hjic-491	45	3	4	4	X
hjic-491	45	4	)	)	PUNCT
hjic-491	45	5	where	where	SCONJ
hjic-491	45	6	ais1	ais1	PROPN
hjic-491	45	7	...	...	PUNCT
hjic-491	45	8	isn	isn	PROPN
hjic-491	45	9	,	,	PUNCT
hjic-491	45	10	jsεr	jsεr	NOUN
hjic-491	45	11	,	,	PUNCT
hjic-491	45	12	s	s	NOUN
hjic-491	45	13	=	=	NOUN
hjic-491	45	14	1	1	NUM
hjic-491	45	15	.	.	PUNCT
hjic-491	45	16	.	.	PUNCT
hjic-491	45	17	.	.	PUNCT
hjic-491	46	1	n	n	CCONJ
hjic-491	46	2	,	,	PUNCT
hjic-491	46	3	and	and	CCONJ
hjic-491	46	4	f(x̄	f(x̄	NOUN
hjic-491	46	5	)	)	PUNCT
hjic-491	46	6	is	be	AUX
hjic-491	46	7	some	some	DET
hjic-491	46	8	scalar	scalar	ADJ
hjic-491	46	9	function	function	NOUN
hjic-491	46	10	which	which	PRON
hjic-491	46	11	can	can	AUX
hjic-491	46	12	not	not	PART
hjic-491	46	13	be	be	AUX
hjic-491	46	14	reduced	reduce	VERB
hjic-491	46	15	to	to	ADP
hjic-491	46	16	quasy	quasy	NOUN
hjic-491	46	17	-	-	PUNCT
hjic-491	46	18	monomial	monomial	ADJ
hjic-491	46	19	form	form	NOUN
hjic-491	46	20	.	.	PUNCT
hjic-491	47	1	(	(	PUNCT
hjic-491	47	2	ii	ii	X
hjic-491	47	3	)	)	PUNCT
hjic-491	47	4	the	the	DET
hjic-491	47	5	partial	partial	ADJ
hjic-491	47	6	derivatives	derivative	NOUN
hjic-491	47	7	of	of	ADP
hjic-491	47	8	the	the	DET
hjic-491	47	9	system	system	NOUN
hjic-491	47	10	eq.(4	eq.(4	ADJ
hjic-491	47	11	)	)	PUNCT
hjic-491	47	12	should	should	AUX
hjic-491	47	13	fulfil	fulfil	VERB
hjic-491	47	14	:	:	PUNCT
hjic-491	47	15	∂f	∂f	PROPN
hjic-491	47	16	∂xs	∂xs	PROPN
hjic-491	47	17	=	=	SYM
hjic-491	47	18	∑	∑	PROPN
hjic-491	47	19	es1	es1	PROPN
hjic-491	47	20	...	...	PUNCT
hjic-491	47	21	esn	esn	PROPN
hjic-491	47	22	,	,	PUNCT
hjic-491	47	23	es	es	ADP
hjic-491	47	24	bes1	bes1	PROPN
hjic-491	47	25	...	...	PUNCT
hjic-491	47	26	esn	esn	PROPN
hjic-491	47	27	,	,	PUNCT
hjic-491	47	28	esx	esx	VERB
hjic-491	47	29	es1	es1	PROPN
hjic-491	47	30	1	1	NUM
hjic-491	47	31	.	.	PUNCT
hjic-491	47	32	.	.	PUNCT
hjic-491	47	33	.	.	PUNCT
hjic-491	48	1	xesnn	xesnn	PROPN
hjic-491	48	2	f(x̄)es	f(x̄)es	PROPN
hjic-491	48	3	,	,	PUNCT
hjic-491	48	4	(	(	PUNCT
hjic-491	48	5	5	5	X
hjic-491	48	6	)	)	PUNCT
hjic-491	48	7	where	where	SCONJ
hjic-491	48	8	bes1	bes1	PROPN
hjic-491	48	9	...	...	PUNCT
hjic-491	48	10	esn	esn	PROPN
hjic-491	48	11	,	,	PUNCT
hjic-491	48	12	esεr	esεr	PROPN
hjic-491	48	13	,	,	PUNCT
hjic-491	48	14	s	s	AUX
hjic-491	48	15	=	=	NOUN
hjic-491	48	16	1	1	NUM
hjic-491	48	17	.	.	PUNCT
hjic-491	48	18	.	.	PUNCT
hjic-491	48	19	.	.	PUNCT
hjic-491	49	1	n.	n.	NOUN
hjic-491	49	2	by	by	ADP
hjic-491	49	3	embedding	embed	VERB
hjic-491	49	4	,	,	PUNCT
hjic-491	49	5	we	we	PRON
hjic-491	49	6	introduce	introduce	VERB
hjic-491	49	7	the	the	DET
hjic-491	49	8	new	new	ADJ
hjic-491	49	9	auxiliary	auxiliary	ADJ
hjic-491	49	10	variable	variable	NOUN
hjic-491	49	11	:	:	PUNCT
hjic-491	50	1	y	y	PROPN
hjic-491	50	2	=	=	PUNCT
hjic-491	50	3	fq	fq	PROPN
hjic-491	50	4	n∏	n∏	PROPN
hjic-491	50	5	s=1	s=1	PROPN
hjic-491	50	6	xpss	xpss	PROPN
hjic-491	50	7	.	.	PUNCT
hjic-491	50	8	q	q	PUNCT
hjic-491	51	1	6=	6=	NUM
hjic-491	51	2	0	0	NUM
hjic-491	51	3	(	(	PUNCT
hjic-491	51	4	6	6	NUM
hjic-491	51	5	)	)	PUNCT
hjic-491	51	6	differentiating	differentiate	VERB
hjic-491	51	7	the	the	DET
hjic-491	51	8	new	new	ADJ
hjic-491	51	9	,	,	PUNCT
hjic-491	51	10	substituted	substitute	VERB
hjic-491	51	11	equations	equation	NOUN
hjic-491	51	12	we	we	PRON
hjic-491	51	13	get	get	VERB
hjic-491	51	14	the	the	DET
hjic-491	51	15	qp	qp	NOUN
hjic-491	51	16	representation	representation	NOUN
hjic-491	51	17	of	of	ADP
hjic-491	51	18	the	the	DET
hjic-491	51	19	original	original	ADJ
hjic-491	51	20	equation	equation	NOUN
hjic-491	51	21	eq.(4	eq.(4	ADV
hjic-491	51	22	):	):	PUNCT
hjic-491	51	23	ẋs	ẋs	PROPN
hjic-491	51	24	=	=	SYM
hjic-491	51	25	xs	xs	PROPN
hjic-491	51	26			PROPN
hjic-491	51	27	∑	∑	PROPN
hjic-491	51	28	is1	is1	PROPN
hjic-491	51	29	...	...	PUNCT
hjic-491	51	30	isn	isn	VERB
hjic-491	51	31	,	,	PUNCT
hjic-491	51	32	js	js	PROPN
hjic-491	51	33	(	(	PUNCT
hjic-491	51	34	ais1	ais1	PROPN
hjic-491	51	35	...	...	PUNCT
hjic-491	51	36	isnjsy	isnjsy	PROPN
hjic-491	51	37	js	js	PROPN
hjic-491	51	38	/	/	SYM
hjic-491	51	39	q	q	PROPN
hjic-491	51	40	n∏	n∏	PROPN
hjic-491	51	41	k=1	k=1	PUNCT
hjic-491	52	1	xisk−δsk−jspk	xisk−δsk−jspk	PROPN
hjic-491	52	2	/	/	SYM
hjic-491	52	3	q	q	NOUN
hjic-491	52	4	)	)	PUNCT
hjic-491	52	5	]	]	PUNCT
hjic-491	52	6	,	,	PUNCT
hjic-491	52	7	s	s	NOUN
hjic-491	52	8	=	=	NOUN
hjic-491	52	9	1	1	NUM
hjic-491	52	10	.	.	PUNCT
hjic-491	52	11	.	.	PUNCT
hjic-491	52	12	.	.	PUNCT
hjic-491	53	1	n	n	X
hjic-491	53	2	(	(	PUNCT
hjic-491	53	3	7	7	X
hjic-491	53	4	)	)	PUNCT
hjic-491	53	5	where	where	SCONJ
hjic-491	53	6	δsk	δsk	X
hjic-491	53	7	=	=	PUNCT
hjic-491	53	8	1	1	NUM
hjic-491	53	9	if	if	SCONJ
hjic-491	53	10	s	s	VERB
hjic-491	53	11	=	=	SYM
hjic-491	53	12	k	k	PROPN
hjic-491	53	13	and	and	CCONJ
hjic-491	53	14	0	0	NUM
hjic-491	53	15	otherwise	otherwise	ADV
hjic-491	53	16	.	.	PUNCT
hjic-491	54	1	a	a	DET
hjic-491	54	2	new	new	ADJ
hjic-491	54	3	additional	additional	ADJ
hjic-491	54	4	dimension	dimension	NOUN
hjic-491	54	5	appears	appear	VERB
hjic-491	54	6	as	as	ADP
hjic-491	54	7	the	the	DET
hjic-491	54	8	ode	ode	NOUN
hjic-491	54	9	of	of	ADP
hjic-491	54	10	the	the	DET
hjic-491	54	11	new	new	ADJ
hjic-491	54	12	variable	variable	ADJ
hjic-491	54	13	y	y	NOUN
hjic-491	54	14	:	:	PUNCT
hjic-491	54	15	ẏ	ẏ	PROPN
hjic-491	54	16	=	=	SYM
hjic-491	54	17	y	y	PROPN
hjic-491	54	18	[	[	PUNCT
hjic-491	54	19	∑	∑	INTJ
hjic-491	54	20	is1	is1	PROPN
hjic-491	54	21	...	...	PUNCT
hjic-491	54	22	isn	isn	VERB
hjic-491	54	23	,	,	PUNCT
hjic-491	54	24	js	js	PROPN
hjic-491	54	25	(	(	PUNCT
hjic-491	54	26	psx	psx	PROPN
hjic-491	54	27	−1	−1	NOUN
hjic-491	54	28	s	s	PART
hjic-491	54	29	ẋs	ẋs	PROPN
hjic-491	55	1	+	+	CCONJ
hjic-491	55	2	+	+	CCONJ
hjic-491	55	3	∑	∑	PROPN
hjic-491	55	4	isα	isα	PROPN
hjic-491	55	5	,	,	PUNCT
hjic-491	55	6	js	js	ADJ
hjic-491	55	7	esα	esα	NOUN
hjic-491	55	8	,	,	PUNCT
hjic-491	55	9	es	es	X
hjic-491	55	10	aisα	aisα	NOUN
hjic-491	55	11	,	,	PUNCT
hjic-491	55	12	jsbisα	jsbisα	NOUN
hjic-491	55	13	,	,	PUNCT
hjic-491	55	14	jsqy	jsqy	NOUN
hjic-491	55	15	(	(	PUNCT
hjic-491	55	16	es+js−1)/q	es+js−1)/q	NOUN
hjic-491	55	17	×	×	PROPN
hjic-491	55	18	×	×	PROPN
hjic-491	55	19	n∏	n∏	PROPN
hjic-491	55	20	k=1	k=1	PUNCT
hjic-491	56	1	x	x	SYM
hjic-491	56	2	isk+esk+(1−es−js)pk	isk+esk+(1−es−js)pk	PROPN
hjic-491	56	3	k	k	PROPN
hjic-491	56	4	)	)	PUNCT
hjic-491	56	5	]	]	PUNCT
hjic-491	56	6	.	.	PUNCT
hjic-491	57	1	α	α	X
hjic-491	57	2	=	=	NOUN
hjic-491	57	3	1	1	NUM
hjic-491	57	4	.	.	PUNCT
hjic-491	57	5	.	.	PUNCT
hjic-491	57	6	.	.	PUNCT
hjic-491	58	1	n	n	X
hjic-491	58	2	(	(	PUNCT
hjic-491	58	3	8)	8)	NUM
hjic-491	58	4	it	it	PRON
hjic-491	58	5	is	be	AUX
hjic-491	58	6	important	important	ADJ
hjic-491	58	7	to	to	PART
hjic-491	58	8	mention	mention	VERB
hjic-491	58	9	that	that	SCONJ
hjic-491	58	10	the	the	DET
hjic-491	58	11	new	new	ADJ
hjic-491	58	12	ode	ode	NOUN
hjic-491	58	13	is	be	AUX
hjic-491	58	14	not	not	PART
hjic-491	58	15	unique	unique	ADJ
hjic-491	58	16	because	because	SCONJ
hjic-491	58	17	we	we	PRON
hjic-491	58	18	can	can	AUX
hjic-491	58	19	choose	choose	VERB
hjic-491	58	20	the	the	DET
hjic-491	58	21	parameters	parameter	NOUN
hjic-491	58	22	ps	ps	PROPN
hjic-491	58	23	and	and	CCONJ
hjic-491	58	24	q.	q.	VERB
hjic-491	58	25	the	the	DET
hjic-491	58	26	quasi	quasi	ADJ
hjic-491	58	27	-	-	ADJ
hjic-491	58	28	monomial	monomial	ADJ
hjic-491	58	29	transformation	transformation	NOUN
hjic-491	58	30	is	be	AUX
hjic-491	58	31	defined	define	VERB
hjic-491	58	32	as	as	ADP
hjic-491	58	33	:	:	PUNCT
hjic-491	58	34	xi	xi	PROPN
hjic-491	58	35	=	=	PROPN
hjic-491	58	36	n∏	n∏	PROPN
hjic-491	59	1	k=1	k=1	PROPN
hjic-491	59	2	xcikk	xcikk	PROPN
hjic-491	59	3	,	,	PUNCT
hjic-491	59	4	i	i	PRON
hjic-491	59	5	=	=	NOUN
hjic-491	59	6	1	1	X
hjic-491	59	7	.	.	PUNCT
hjic-491	59	8	.	.	PUNCT
hjic-491	59	9	.	.	PUNCT
hjic-491	60	1	n	n	X
hjic-491	60	2	(	(	PUNCT
hjic-491	60	3	9	9	NUM
hjic-491	60	4	)	)	PUNCT
hjic-491	60	5	where	where	SCONJ
hjic-491	60	6	c	c	NOUN
hjic-491	60	7	is	be	AUX
hjic-491	60	8	an	an	DET
hjic-491	60	9	arbitrary	arbitrary	ADJ
hjic-491	60	10	invertible	invertible	ADJ
hjic-491	60	11	matrix	matrix	NOUN
hjic-491	60	12	.	.	PUNCT
hjic-491	61	1	the	the	DET
hjic-491	61	2	matrices	matrix	NOUN
hjic-491	61	3	of	of	ADP
hjic-491	61	4	glv	glv	X
hjic-491	61	5	can	can	AUX
hjic-491	61	6	be	be	AUX
hjic-491	61	7	modified	modify	VERB
hjic-491	61	8	as	as	ADP
hjic-491	61	9	b̂	b̂	NOUN
hjic-491	61	10	=	=	PROPN
hjic-491	61	11	b	b	PROPN
hjic-491	61	12	·	·	PUNCT
hjic-491	61	13	c	c	X
hjic-491	61	14	,	,	PUNCT
hjic-491	61	15	â	â	X
hjic-491	62	1	=	=	SYM
hjic-491	62	2	c−1	c−1	PROPN
hjic-491	62	3	·	·	PUNCT
hjic-491	62	4	a	a	X
hjic-491	62	5	,	,	PUNCT
hjic-491	62	6	and	and	CCONJ
hjic-491	62	7	λ̂	λ̂	X
hjic-491	62	8	=	=	SYM
hjic-491	62	9	c−1	c−1	PROPN
hjic-491	62	10	·	·	SYM
hjic-491	62	11	λ	λ	PROPN
hjic-491	62	12	,	,	PUNCT
hjic-491	62	13	and	and	CCONJ
hjic-491	62	14	the	the	DET
hjic-491	62	15	transformed	transform	VERB
hjic-491	62	16	set	set	NOUN
hjic-491	62	17	is	be	AUX
hjic-491	62	18	also	also	ADV
hjic-491	62	19	in	in	ADP
hjic-491	62	20	glv	glv	ADJ
hjic-491	62	21	form	form	NOUN
hjic-491	62	22	.	.	PUNCT
hjic-491	63	1	lotka	lotka	PROPN
hjic-491	63	2	-	-	PUNCT
hjic-491	63	3	volterra	volterra	PROPN
hjic-491	63	4	models	model	VERB
hjic-491	63	5	the	the	DET
hjic-491	63	6	above	above	ADJ
hjic-491	63	7	family	family	NOUN
hjic-491	63	8	of	of	ADP
hjic-491	63	9	models	model	NOUN
hjic-491	63	10	is	be	AUX
hjic-491	63	11	split	split	VERB
hjic-491	63	12	into	into	ADP
hjic-491	63	13	classes	class	NOUN
hjic-491	63	14	of	of	ADP
hjic-491	63	15	equivalence	equivalence	NOUN
hjic-491	63	16	according	accord	VERB
hjic-491	63	17	to	to	ADP
hjic-491	63	18	the	the	DET
hjic-491	63	19	values	value	NOUN
hjic-491	63	20	of	of	ADP
hjic-491	63	21	the	the	DET
hjic-491	63	22	products	product	NOUN
hjic-491	63	23	m	m	VERB
hjic-491	63	24	=	=	SYM
hjic-491	63	25	ba	ba	PROPN
hjic-491	63	26	and	and	CCONJ
hjic-491	63	27	n	n	NOUN
hjic-491	63	28	=	=	SYM
hjic-491	63	29	bl	bl	PROPN
hjic-491	63	30	.	.	PUNCT
hjic-491	64	1	the	the	DET
hjic-491	64	2	lotka	lotka	PROPN
hjic-491	64	3	-	-	PUNCT
hjic-491	64	4	volterra	volterra	NOUN
hjic-491	64	5	form	form	NOUN
hjic-491	64	6	gives	give	VERB
hjic-491	64	7	the	the	DET
hjic-491	64	8	representative	representative	ADJ
hjic-491	64	9	elements	element	NOUN
hjic-491	64	10	of	of	ADP
hjic-491	64	11	these	these	DET
hjic-491	64	12	classes	class	NOUN
hjic-491	64	13	of	of	ADP
hjic-491	64	14	equivalence	equivalence	NOUN
hjic-491	64	15	.	.	PUNCT
hjic-491	65	1	if	if	SCONJ
hjic-491	65	2	rank(b	rank(b	NOUN
hjic-491	65	3	)	)	PUNCT
hjic-491	65	4	=	=	SYM
hjic-491	66	1	n	n	CCONJ
hjic-491	66	2	,	,	PUNCT
hjic-491	66	3	then	then	ADV
hjic-491	66	4	the	the	DET
hjic-491	66	5	set	set	NOUN
hjic-491	66	6	of	of	ADP
hjic-491	66	7	odes	ode	NOUN
hjic-491	66	8	in	in	ADP
hjic-491	66	9	eq.(3	eq.(3	NOUN
hjic-491	66	10	)	)	PUNCT
hjic-491	66	11	can	can	AUX
hjic-491	66	12	be	be	AUX
hjic-491	66	13	embedded	embed	VERB
hjic-491	66	14	into	into	ADP
hjic-491	66	15	the	the	DET
hjic-491	66	16	following	follow	VERB
hjic-491	66	17	m	m	ADJ
hjic-491	66	18	-	-	ADJ
hjic-491	66	19	dimensional	dimensional	ADJ
hjic-491	66	20	set	set	NOUN
hjic-491	66	21	of	of	ADP
hjic-491	66	22	equations	equation	NOUN
hjic-491	66	23	,	,	PUNCT
hjic-491	66	24	the	the	DET
hjic-491	66	25	so	so	ADV
hjic-491	66	26	-	-	PUNCT
hjic-491	66	27	called	call	VERB
hjic-491	66	28	lotka	lotka	PROPN
hjic-491	66	29	-	-	PUNCT
hjic-491	66	30	volterra	volterra	PROPN
hjic-491	66	31	model	model	NOUN
hjic-491	66	32	:	:	PUNCT
hjic-491	67	1	żj	żj	PROPN
hjic-491	67	2	=	=	SYM
hjic-491	67	3	zj	zj	PROPN
hjic-491	67	4	(	(	PUNCT
hjic-491	67	5	nj	nj	PROPN
hjic-491	67	6	+	+	CCONJ
hjic-491	67	7	m∑	m∑	CCONJ
hjic-491	67	8	i=1	i=1	PROPN
hjic-491	67	9	mjizi	mjizi	PROPN
hjic-491	67	10	)	)	PUNCT
hjic-491	67	11	,	,	PUNCT
hjic-491	67	12	j	j	PROPN
hjic-491	67	13	=	=	SYM
hjic-491	67	14	1	1	NUM
hjic-491	67	15	,	,	PUNCT
hjic-491	67	16	.	.	PUNCT
hjic-491	67	17	.	.	PUNCT
hjic-491	67	18	.	.	PUNCT
hjic-491	68	1	,	,	PUNCT
hjic-491	68	2	m	m	PROPN
hjic-491	68	3	(	(	PUNCT
hjic-491	68	4	10	10	NUM
hjic-491	68	5	)	)	PUNCT
hjic-491	68	6	where	where	SCONJ
hjic-491	68	7	m	m	VERB
hjic-491	68	8	=	=	SYM
hjic-491	68	9	ba	ba	PROPN
hjic-491	68	10	,	,	PUNCT
hjic-491	68	11	n	n	NOUN
hjic-491	68	12	=	=	SYM
hjic-491	68	13	bl	bl	PROPN
hjic-491	68	14	,	,	PUNCT
hjic-491	68	15	and	and	CCONJ
hjic-491	68	16	each	each	DET
hjic-491	68	17	zj	zj	NOUN
hjic-491	68	18	represents	represent	VERB
hjic-491	68	19	a	a	DET
hjic-491	68	20	so	so	ADV
hjic-491	68	21	-	-	PUNCT
hjic-491	68	22	called	call	VERB
hjic-491	68	23	quasi	quasi	NOUN
hjic-491	68	24	-	-	NOUN
hjic-491	68	25	monomial	monomial	ADJ
hjic-491	68	26	:	:	PUNCT
hjic-491	68	27	zj	zj	PROPN
hjic-491	68	28	=	=	PUNCT
hjic-491	68	29	n∏	n∏	PROPN
hjic-491	68	30	k=1	k=1	NOUN
hjic-491	69	1	y	y	PROPN
hjic-491	69	2	bjk	bjk	PROPN
hjic-491	69	3	k	k	PROPN
hjic-491	69	4	,	,	PUNCT
hjic-491	69	5	j	j	PROPN
hjic-491	69	6	=	=	SYM
hjic-491	69	7	1	1	NUM
hjic-491	69	8	,	,	PUNCT
hjic-491	69	9	.	.	PUNCT
hjic-491	69	10	.	.	PUNCT
hjic-491	69	11	.	.	PUNCT
hjic-491	70	1	,	,	PUNCT
hjic-491	70	2	m.	m.	NOUN
hjic-491	70	3	(	(	PUNCT
hjic-491	70	4	11	11	NUM
hjic-491	70	5	)	)	PUNCT
hjic-491	70	6	input	input	NOUN
hjic-491	70	7	-	-	PUNCT
hjic-491	70	8	affine	affine	NOUN
hjic-491	70	9	qp	qp	PROPN
hjic-491	70	10	model	model	VERB
hjic-491	70	11	the	the	DET
hjic-491	70	12	well	well	ADV
hjic-491	70	13	known	know	VERB
hjic-491	70	14	input	input	NOUN
hjic-491	70	15	-	-	PUNCT
hjic-491	70	16	affine	affine	NOUN
hjic-491	70	17	model	model	NOUN
hjic-491	70	18	of	of	ADP
hjic-491	70	19	nonlinear	nonlinear	ADJ
hjic-491	70	20	systems	system	NOUN
hjic-491	70	21	is	be	AUX
hjic-491	70	22	given	give	VERB
hjic-491	70	23	in	in	ADP
hjic-491	70	24	the	the	DET
hjic-491	70	25	following	follow	VERB
hjic-491	70	26	state	state	NOUN
hjic-491	70	27	space	space	NOUN
hjic-491	70	28	model	model	NOUN
hjic-491	70	29	:	:	PUNCT
hjic-491	70	30	ẋ	ẋ	PROPN
hjic-491	71	1	=	=	SYM
hjic-491	71	2	f(x	f(x	PROPN
hjic-491	71	3	)	)	PUNCT
hjic-491	72	1	+	+	NUM
hjic-491	72	2	p∑	p∑	NOUN
hjic-491	72	3	j=1	j=1	NOUN
hjic-491	73	1	gj(x)uj	gj(x)uj	INTJ
hjic-491	73	2	where	where	SCONJ
hjic-491	73	3	f	f	PROPN
hjic-491	73	4	∈	∈	PROPN
hjic-491	73	5	rn	rn	PROPN
hjic-491	73	6	→	→	SYM
hjic-491	73	7	rn	rn	PROPN
hjic-491	73	8	,	,	PUNCT
hjic-491	73	9	and	and	CCONJ
hjic-491	73	10	gj	gj	PROPN
hjic-491	73	11	∈	∈	PROPN
hjic-491	73	12	rn	rn	PROPN
hjic-491	73	13	→	→	PROPN
hjic-491	73	14	rn	rn	PROPN
hjic-491	73	15	are	be	AUX
hjic-491	73	16	qp	qp	ADP
hjic-491	73	17	functions	function	NOUN
hjic-491	73	18	and	and	CCONJ
hjic-491	73	19	the	the	DET
hjic-491	73	20	input	input	NOUN
hjic-491	73	21	variable	variable	NOUN
hjic-491	73	22	u	u	NOUN
hjic-491	73	23	is	be	AUX
hjic-491	73	24	p	p	ADJ
hjic-491	73	25	-	-	PUNCT
hjic-491	73	26	dimensional	dimensional	ADJ
hjic-491	73	27	.	.	PUNCT
hjic-491	74	1	in	in	ADP
hjic-491	74	2	93	93	NUM
hjic-491	74	3	figure	figure	NOUN
hjic-491	74	4	1	1	NUM
hjic-491	74	5	:	:	PUNCT
hjic-491	74	6	membership	membership	NOUN
hjic-491	74	7	functions	function	NOUN
hjic-491	74	8	for	for	ADP
hjic-491	74	9	angular	angular	ADJ
hjic-491	74	10	error	error	NOUN
hjic-491	74	11	this	this	DET
hjic-491	74	12	case	case	NOUN
hjic-491	74	13	we	we	PRON
hjic-491	74	14	need	need	VERB
hjic-491	74	15	a	a	DET
hjic-491	74	16	qp	qp	NOUN
hjic-491	74	17	form	form	NOUN
hjic-491	74	18	with	with	ADP
hjic-491	74	19	the	the	DET
hjic-491	74	20	matrices	matrix	NOUN
hjic-491	74	21	from	from	ADP
hjic-491	74	22	the	the	DET
hjic-491	74	23	glv	glv	NUM
hjic-491	74	24	form	form	NOUN
hjic-491	74	25	ode	ode	PROPN
hjic-491	74	26	set	set	NOUN
hjic-491	74	27	:	:	PUNCT
hjic-491	74	28	ẋi	ẋi	X
hjic-491	74	29	=	=	PUNCT
hjic-491	75	1	xi	xi	X
hjic-491	75	2	λi	λi	PROPN
hjic-491	76	1	+	+	PUNCT
hjic-491	76	2	m∑	m∑	PROPN
hjic-491	76	3	j=1	j=1	PROPN
hjic-491	76	4	a′ij	a′ij	PROPN
hjic-491	76	5	n∏	n∏	PROPN
hjic-491	76	6	k=1	k=1	PROPN
hjic-491	77	1	x	x	X
hjic-491	77	2	bjk	bjk	PROPN
hjic-491	77	3	k	k	PROPN
hjic-491	77	4	+	+	PROPN
hjic-491	78	1	+	+	CCONJ
hjic-491	78	2	p∑	p∑	ADJ
hjic-491	79	1	l=1	l=1	X
hjic-491	79	2	xi	xi	NUM
hjic-491	79	3	µli	µli	PROPN
hjic-491	79	4	+	+	CCONJ
hjic-491	79	5	m∑	m∑	VERB
hjic-491	79	6	j=1	j=1	PROPN
hjic-491	79	7	clij	clij	PROPN
hjic-491	79	8	n∏	n∏	PROPN
hjic-491	79	9	k=1	k=1	PROPN
hjic-491	80	1	x	x	X
hjic-491	80	2	bjk	bjk	PROPN
hjic-491	80	3	k	k	PROPN
hjic-491	80	4	ul	ul	PROPN
hjic-491	80	5	.	.	PUNCT
hjic-491	81	1	i	i	PRON
hjic-491	81	2	=	=	NOUN
hjic-491	81	3	1	1	X
hjic-491	81	4	.	.	PUNCT
hjic-491	81	5	.	.	PUNCT
hjic-491	81	6	.	.	PUNCT
hjic-491	82	1	n	n	X
hjic-491	82	2	(	(	PUNCT
hjic-491	82	3	12	12	NUM
hjic-491	82	4	)	)	PUNCT
hjic-491	82	5	it	it	PRON
hjic-491	82	6	can	can	AUX
hjic-491	82	7	be	be	AUX
hjic-491	82	8	proven	prove	VERB
hjic-491	82	9	that	that	SCONJ
hjic-491	82	10	if	if	SCONJ
hjic-491	82	11	u	u	PROPN
hjic-491	82	12	=	=	PROPN
hjic-491	82	13	h(x	h(x	PROPN
hjic-491	82	14	)	)	PUNCT
hjic-491	82	15	state	state	NOUN
hjic-491	82	16	feedback	feedback	NOUN
hjic-491	82	17	is	be	AUX
hjic-491	82	18	in	in	ADP
hjic-491	82	19	qp	qp	ADP
hjic-491	82	20	form	form	NOUN
hjic-491	82	21	,	,	PUNCT
hjic-491	82	22	the	the	DET
hjic-491	82	23	closed	closed	ADJ
hjic-491	82	24	-	-	PUNCT
hjic-491	82	25	loop	loop	NOUN
hjic-491	82	26	system	system	NOUN
hjic-491	82	27	remains	remain	VERB
hjic-491	82	28	in	in	ADP
hjic-491	82	29	qp	qp	ADP
hjic-491	82	30	form	form	NOUN
hjic-491	82	31	as	as	ADV
hjic-491	82	32	well	well	ADV
hjic-491	82	33	,	,	PUNCT
hjic-491	82	34	but	but	CCONJ
hjic-491	82	35	the	the	DET
hjic-491	82	36	quasi	quasi	NOUN
hjic-491	82	37	-	-	NOUN
hjic-491	82	38	monomials	monomial	NOUN
hjic-491	82	39	of	of	ADP
hjic-491	82	40	the	the	DET
hjic-491	82	41	system	system	NOUN
hjic-491	82	42	will	will	AUX
hjic-491	82	43	be	be	AUX
hjic-491	82	44	greater	great	ADJ
hjic-491	82	45	,	,	PUNCT
hjic-491	82	46	than	than	SCONJ
hjic-491	82	47	the	the	DET
hjic-491	82	48	system	system	NOUN
hjic-491	82	49	’s	’	VERB
hjic-491	82	50	without	without	ADP
hjic-491	82	51	the	the	DET
hjic-491	82	52	feedback	feedback	NOUN
hjic-491	82	53	.	.	PUNCT
hjic-491	83	1	global	global	ADJ
hjic-491	83	2	stability	stability	NOUN
hjic-491	83	3	analysis	analysis	NOUN
hjic-491	83	4	global	global	ADJ
hjic-491	83	5	equilibrium	equilibrium	NOUN
hjic-491	83	6	points	point	NOUN
hjic-491	83	7	can	can	AUX
hjic-491	83	8	be	be	AUX
hjic-491	83	9	obtained	obtain	VERB
hjic-491	83	10	by	by	ADP
hjic-491	83	11	finding	find	VERB
hjic-491	83	12	a	a	DET
hjic-491	83	13	lyapunov	lyapunov	NOUN
hjic-491	83	14	function	function	NOUN
hjic-491	83	15	v	v	ADP
hjic-491	83	16	(	(	PUNCT
hjic-491	83	17	·	·	PUNCT
hjic-491	83	18	)	)	PUNCT
hjic-491	83	19	.	.	PUNCT
hjic-491	84	1	for	for	ADP
hjic-491	84	2	lv	lv	PROPN
hjic-491	84	3	systems	system	NOUN
hjic-491	84	4	there	there	PRON
hjic-491	84	5	is	be	VERB
hjic-491	84	6	a	a	DET
hjic-491	84	7	well	well	ADV
hjic-491	84	8	known	know	VERB
hjic-491	84	9	lyapunov	lyapunov	NOUN
hjic-491	84	10	function	function	NOUN
hjic-491	84	11	family	family	NOUN
hjic-491	84	12	:	:	PUNCT
hjic-491	84	13	v	v	X
hjic-491	84	14	(	(	PUNCT
hjic-491	84	15	z	z	NOUN
hjic-491	84	16	)	)	PUNCT
hjic-491	84	17	=	=	PUNCT
hjic-491	84	18	m∑	m∑	CCONJ
hjic-491	84	19	i=1	i=1	PROPN
hjic-491	84	20	ci	ci	PROPN
hjic-491	85	1	(	(	PUNCT
hjic-491	85	2	zi	zi	NOUN
hjic-491	85	3	−	−	PROPN
hjic-491	85	4	z∗i	z∗i	NUM
hjic-491	85	5	−	−	PROPN
hjic-491	85	6	ln	ln	PROPN
hjic-491	85	7	zi	zi	PROPN
hjic-491	85	8	z∗i	z∗i	NUM
hjic-491	85	9	)	)	PUNCT
hjic-491	85	10	,	,	PUNCT
hjic-491	85	11	ci	ci	PROPN
hjic-491	85	12	≥	≥	PROPN
hjic-491	85	13	0	0	NUM
hjic-491	85	14	,	,	PUNCT
hjic-491	85	15	i	i	PRON
hjic-491	85	16	=	=	NOUN
hjic-491	85	17	1	1	X
hjic-491	85	18	.	.	PUNCT
hjic-491	85	19	.	.	PUNCT
hjic-491	86	1	.m	.m	PROPN
hjic-491	87	1	(	(	PUNCT
hjic-491	87	2	13	13	NUM
hjic-491	87	3	)	)	PUNCT
hjic-491	87	4	and	and	CCONJ
hjic-491	87	5	the	the	DET
hjic-491	87	6	time	time	NOUN
hjic-491	87	7	derivative	derivative	NOUN
hjic-491	87	8	:	:	PUNCT
hjic-491	87	9	v̇z	v̇z	PROPN
hjic-491	87	10	=	=	SYM
hjic-491	87	11	∂v	∂v	PROPN
hjic-491	87	12	(	(	PUNCT
hjic-491	87	13	z	z	NOUN
hjic-491	87	14	)	)	PUNCT
hjic-491	87	15	∂z	∂z	PROPN
hjic-491	87	16	·	·	PUNCT
hjic-491	88	1	∂z	∂z	PROPN
hjic-491	89	1	∂t	∂t	PROPN
hjic-491	89	2	=	=	PUNCT
hjic-491	90	1	=	=	SYM
hjic-491	90	2	1	1	NUM
hjic-491	90	3	2	2	NUM
hjic-491	90	4	(	(	PUNCT
hjic-491	90	5	z	z	NOUN
hjic-491	90	6	−	−	PROPN
hjic-491	90	7	z∗)(cm	z∗)(cm	PROPN
hjic-491	91	1	+	+	PROPN
hjic-491	91	2	mt	mt	PROPN
hjic-491	91	3	c)(z	c)(z	VERB
hjic-491	91	4	−	−	PROPN
hjic-491	91	5	z∗	z∗	PROPN
hjic-491	91	6	)	)	PUNCT
hjic-491	91	7	,	,	PUNCT
hjic-491	91	8	(	(	PUNCT
hjic-491	91	9	14	14	NUM
hjic-491	91	10	)	)	PUNCT
hjic-491	91	11	where	where	SCONJ
hjic-491	91	12	z∗	z∗	NOUN
hjic-491	91	13	=	=	PUNCT
hjic-491	91	14	(	(	PUNCT
hjic-491	91	15	z∗1	z∗1	NOUN
hjic-491	91	16	.	.	PUNCT
hjic-491	91	17	.	.	PUNCT
hjic-491	91	18	.	.	PUNCT
hjic-491	92	1	z	z	NOUN
hjic-491	92	2	∗	∗	PROPN
hjic-491	92	3	m)t	m)t	PUNCT
hjic-491	92	4	is	be	AUX
hjic-491	92	5	the	the	DET
hjic-491	92	6	unique	unique	ADJ
hjic-491	92	7	positive	positive	ADJ
hjic-491	92	8	equilibrium	equilibrium	NOUN
hjic-491	92	9	point	point	NOUN
hjic-491	92	10	,	,	PUNCT
hjic-491	92	11	c	c	NOUN
hjic-491	92	12	=	=	SYM
hjic-491	92	13	diag(c1	diag(c1	NOUN
hjic-491	92	14	,	,	PUNCT
hjic-491	92	15	.	.	PUNCT
hjic-491	92	16	.	.	PUNCT
hjic-491	93	1	.	.	PUNCT
hjic-491	94	1	,	,	PUNCT
hjic-491	94	2	cm	cm	NOUN
hjic-491	94	3	)	)	PUNCT
hjic-491	94	4	and	and	CCONJ
hjic-491	94	5	m	m	PROPN
hjic-491	94	6	is	be	AUX
hjic-491	94	7	the	the	DET
hjic-491	94	8	invariant	invariant	ADJ
hjic-491	94	9	coefficient	coefficient	NOUN
hjic-491	94	10	matrix	matrix	NOUN
hjic-491	94	11	of	of	ADP
hjic-491	94	12	the	the	DET
hjic-491	94	13	lv	lv	PROPN
hjic-491	94	14	form	form	NOUN
hjic-491	94	15	.	.	PUNCT
hjic-491	95	1	if	if	SCONJ
hjic-491	95	2	cmt	cmt	PROPN
hjic-491	95	3	+	+	PROPN
hjic-491	95	4	m	m	PROPN
hjic-491	95	5	c	c	NOUN
hjic-491	95	6	is	be	AUX
hjic-491	95	7	negative	negative	ADJ
hjic-491	95	8	semi	semi	ADJ
hjic-491	95	9	-	-	ADJ
hjic-491	95	10	definite	definite	ADJ
hjic-491	95	11	then	then	ADV
hjic-491	95	12	z∗	z∗	NOUN
hjic-491	95	13	is	be	AUX
hjic-491	95	14	stable	stable	ADJ
hjic-491	95	15	and	and	CCONJ
hjic-491	95	16	if	if	SCONJ
hjic-491	95	17	negative	negative	ADJ
hjic-491	95	18	definite	definite	ADJ
hjic-491	95	19	then	then	ADV
hjic-491	95	20	z∗	z∗	PROPN
hjic-491	95	21	is	be	AUX
hjic-491	95	22	asymptotically	asymptotically	ADV
hjic-491	95	23	stable	stable	ADJ
hjic-491	95	24	.	.	PUNCT
hjic-491	96	1	the	the	DET
hjic-491	96	2	global	global	ADJ
hjic-491	96	3	stability	stability	NOUN
hjic-491	96	4	analysis	analysis	NOUN
hjic-491	96	5	is	be	AUX
hjic-491	96	6	thus	thus	ADV
hjic-491	96	7	equivalent	equivalent	ADJ
hjic-491	96	8	to	to	ADP
hjic-491	96	9	the	the	DET
hjic-491	96	10	linear	linear	ADJ
hjic-491	96	11	matrix	matrix	NOUN
hjic-491	96	12	inequality	inequality	NOUN
hjic-491	96	13	cmt	cmt	PROPN
hjic-491	97	1	+	+	PROPN
hjic-491	97	2	m	m	PROPN
hjic-491	97	3	c	c	NOUN
hjic-491	97	4	≤	≤	NUM
hjic-491	98	1	0	0	NUM
hjic-491	98	2	c	c	NOUN
hjic-491	98	3	>	>	X
hjic-491	98	4	0	0	NUM
hjic-491	98	5	.	.	PUNCT
hjic-491	99	1	(	(	PUNCT
hjic-491	99	2	15	15	NUM
hjic-491	99	3	)	)	PUNCT
hjic-491	99	4	the	the	DET
hjic-491	99	5	presented	present	VERB
hjic-491	99	6	lyapunov	lyapunov	NOUN
hjic-491	99	7	function	function	NOUN
hjic-491	99	8	eq.(13	eq.(13	ADV
hjic-491	99	9	)	)	PUNCT
hjic-491	99	10	can	can	AUX
hjic-491	99	11	be	be	AUX
hjic-491	99	12	extended	extend	VERB
hjic-491	99	13	to	to	ADP
hjic-491	99	14	glv	glv	ADJ
hjic-491	99	15	systems	system	NOUN
hjic-491	99	16	by	by	ADP
hjic-491	99	17	embedding	embed	VERB
hjic-491	99	18	the	the	DET
hjic-491	99	19	system	system	NOUN
hjic-491	99	20	using	use	VERB
hjic-491	99	21	the	the	DET
hjic-491	99	22	lv	lv	PROPN
hjic-491	99	23	coefficient	coefficient	NOUN
hjic-491	99	24	matrix	matrix	NOUN
hjic-491	99	25	m	m	NOUN
hjic-491	100	1	=	=	SYM
hjic-491	100	2	ba	ba	PROPN
hjic-491	100	3	.	.	PUNCT
hjic-491	101	1	it	it	PRON
hjic-491	101	2	is	be	AUX
hjic-491	101	3	necessary	necessary	ADJ
hjic-491	101	4	to	to	PART
hjic-491	101	5	solve	solve	VERB
hjic-491	101	6	the	the	DET
hjic-491	101	7	lmi	lmi	PROPN
hjic-491	101	8	system	system	NOUN
hjic-491	101	9	eq.(15	eq.(15	NOUN
hjic-491	101	10	)	)	PUNCT
hjic-491	101	11	for	for	ADP
hjic-491	101	12	the	the	DET
hjic-491	101	13	stability	stability	NOUN
hjic-491	101	14	analysis	analysis	NOUN
hjic-491	101	15	of	of	ADP
hjic-491	101	16	the	the	DET
hjic-491	101	17	qp	qp	PROPN
hjic-491	101	18	and	and	CCONJ
hjic-491	101	19	lv	lv	PROPN
hjic-491	101	20	system	system	NOUN
hjic-491	101	21	:(	:(	PUNCT
hjic-491	102	1	c	c	NOUN
hjic-491	102	2	0	0	NUM
hjic-491	102	3	0	0	NUM
hjic-491	102	4	−cmt	−cmt	NOUN
hjic-491	102	5	−m	−m	PROPN
hjic-491	102	6	c	c	PROPN
hjic-491	102	7	)	)	PUNCT
hjic-491	102	8	>	>	X
hjic-491	102	9	0	0	PUNCT
hjic-491	102	10	(	(	PUNCT
hjic-491	102	11	16	16	NUM
hjic-491	102	12	)	)	PUNCT
hjic-491	102	13	controller	controller	NOUN
hjic-491	102	14	design	design	NOUN
hjic-491	102	15	in	in	ADP
hjic-491	102	16	quasi	quasi	ADJ
hjic-491	102	17	-	-	ADJ
hjic-491	102	18	polynomial	polynomial	ADJ
hjic-491	102	19	representation	representation	NOUN
hjic-491	102	20	the	the	DET
hjic-491	102	21	globally	globally	ADV
hjic-491	102	22	stabilizing	stabilizing	NOUN
hjic-491	102	23	qp	qp	ADP
hjic-491	102	24	state	state	NOUN
hjic-491	102	25	feedback	feedback	NOUN
hjic-491	102	26	design	design	NOUN
hjic-491	102	27	problem	problem	NOUN
hjic-491	102	28	for	for	ADP
hjic-491	102	29	qp	qp	NOUN
hjic-491	102	30	systems	system	NOUN
hjic-491	102	31	can	can	AUX
hjic-491	102	32	be	be	AUX
hjic-491	102	33	formulated	formulate	VERB
hjic-491	102	34	as	as	SCONJ
hjic-491	102	35	follows	follow	VERB
hjic-491	102	36	[	[	X
hjic-491	102	37	7	7	NUM
hjic-491	102	38	]	]	PUNCT
hjic-491	102	39	.	.	PUNCT
hjic-491	103	1	consider	consider	VERB
hjic-491	103	2	arbitrary	arbitrary	ADJ
hjic-491	103	3	quasi	quasi	ADJ
hjic-491	103	4	-	-	ADJ
hjic-491	103	5	polynomial	polynomial	ADJ
hjic-491	103	6	inputs	input	NOUN
hjic-491	103	7	in	in	ADP
hjic-491	103	8	the	the	DET
hjic-491	103	9	form	form	NOUN
hjic-491	103	10	:	:	PUNCT
hjic-491	103	11	ul	ul	INTJ
hjic-491	103	12	=	=	PUNCT
hjic-491	103	13	r∑	r∑	NOUN
hjic-491	103	14	i=1	i=1	PROPN
hjic-491	103	15	kilq̂i	kilq̂i	PROPN
hjic-491	103	16	,	,	PUNCT
hjic-491	103	17	l	l	NOUN
hjic-491	103	18	=	=	SYM
hjic-491	103	19	1	1	X
hjic-491	103	20	.	.	PUNCT
hjic-491	103	21	.	.	PUNCT
hjic-491	103	22	.	.	PUNCT
hjic-491	104	1	,	,	PUNCT
hjic-491	104	2	p	p	X
hjic-491	104	3	(	(	PUNCT
hjic-491	104	4	17	17	NUM
hjic-491	104	5	)	)	PUNCT
hjic-491	104	6	where	where	SCONJ
hjic-491	104	7	q̂i	q̂i	DET
hjic-491	104	8	=	=	SYM
hjic-491	104	9	q̂i(y1	q̂i(y1	PROPN
hjic-491	104	10	,	,	PUNCT
hjic-491	104	11	.	.	PUNCT
hjic-491	104	12	.	.	PUNCT
hjic-491	105	1	.	.	PUNCT
hjic-491	106	1	,	,	PUNCT
hjic-491	106	2	yn	yn	PROPN
hjic-491	106	3	)	)	PUNCT
hjic-491	106	4	,	,	PUNCT
hjic-491	106	5	i	i	PRON
hjic-491	106	6	=	=	NOUN
hjic-491	106	7	1	1	NUM
hjic-491	106	8	,	,	PUNCT
hjic-491	106	9	.	.	PUNCT
hjic-491	106	10	.	.	PUNCT
hjic-491	107	1	.	.	PUNCT
hjic-491	108	1	,	,	PUNCT
hjic-491	108	2	r	r	NOUN
hjic-491	108	3	are	be	AUX
hjic-491	108	4	arbitrary	arbitrary	ADJ
hjic-491	108	5	quasi	quasi	ADJ
hjic-491	108	6	-	-	ADJ
hjic-491	108	7	monomial	monomial	ADJ
hjic-491	108	8	functions	function	NOUN
hjic-491	108	9	of	of	ADP
hjic-491	108	10	the	the	DET
hjic-491	108	11	state	state	NOUN
hjic-491	108	12	variables	variable	NOUN
hjic-491	108	13	of	of	ADP
hjic-491	108	14	the	the	DET
hjic-491	108	15	system	system	NOUN
hjic-491	108	16	and	and	CCONJ
hjic-491	108	17	kil	kil	PROPN
hjic-491	108	18	is	be	AUX
hjic-491	108	19	the	the	DET
hjic-491	108	20	constant	constant	ADJ
hjic-491	108	21	gain	gain	NOUN
hjic-491	108	22	of	of	ADP
hjic-491	108	23	the	the	DET
hjic-491	108	24	quasi	quasi	ADJ
hjic-491	108	25	-	-	ADJ
hjic-491	108	26	monomial	monomial	ADJ
hjic-491	108	27	function	function	NOUN
hjic-491	108	28	q̂i	q̂i	CCONJ
hjic-491	108	29	in	in	ADP
hjic-491	108	30	the	the	DET
hjic-491	108	31	l	l	NOUN
hjic-491	108	32	-	-	PUNCT
hjic-491	108	33	th	th	VERB
hjic-491	108	34	input	input	NOUN
hjic-491	108	35	ul	ul	INTJ
hjic-491	108	36	.	.	PUNCT
hjic-491	109	1	the	the	DET
hjic-491	109	2	closed	close	VERB
hjic-491	109	3	-	-	PUNCT
hjic-491	109	4	loop	loop	NOUN
hjic-491	109	5	system	system	NOUN
hjic-491	109	6	will	will	AUX
hjic-491	109	7	also	also	ADV
hjic-491	109	8	be	be	AUX
hjic-491	109	9	a	a	DET
hjic-491	109	10	qp	qp	NOUN
hjic-491	109	11	system	system	NOUN
hjic-491	109	12	furthermore	furthermore	ADV
hjic-491	109	13	,	,	PUNCT
hjic-491	109	14	the	the	DET
hjic-491	109	15	closed	close	VERB
hjic-491	109	16	-	-	PUNCT
hjic-491	109	17	loop	loop	NOUN
hjic-491	109	18	lv	lv	PROPN
hjic-491	109	19	coefficient	coefficient	NOUN
hjic-491	109	20	matrix	matrix	NOUN
hjic-491	109	21	m̂	m̂	NOUN
hjic-491	109	22	can	can	AUX
hjic-491	109	23	also	also	ADV
hjic-491	109	24	be	be	AUX
hjic-491	109	25	expressed	express	VERB
hjic-491	109	26	in	in	ADP
hjic-491	109	27	the	the	DET
hjic-491	109	28	form	form	NOUN
hjic-491	109	29	m̂	m̂	NOUN
hjic-491	109	30	=	=	SYM
hjic-491	109	31	b̂	b̂	X
hjic-491	109	32	â	â	X
hjic-491	109	33	=	=	SYM
hjic-491	109	34	m0	m0	PROPN
hjic-491	109	35	+	+	CCONJ
hjic-491	109	36	p∑	p∑	NOUN
hjic-491	110	1	l=1	l=1	X
hjic-491	110	2	r∑	r∑	NOUN
hjic-491	110	3	i=1	i=1	PROPN
hjic-491	110	4	kilmil	kilmil	PROPN
hjic-491	110	5	.	.	PUNCT
hjic-491	111	1	(	(	PUNCT
hjic-491	111	2	18	18	NUM
hjic-491	111	3	)	)	PUNCT
hjic-491	111	4	then	then	ADV
hjic-491	111	5	the	the	DET
hjic-491	111	6	global	global	ADJ
hjic-491	111	7	stability	stability	NOUN
hjic-491	111	8	analysis	analysis	NOUN
hjic-491	111	9	of	of	ADP
hjic-491	111	10	the	the	DET
hjic-491	111	11	closed	closed	ADJ
hjic-491	111	12	-	-	PUNCT
hjic-491	111	13	loop	loop	NOUN
hjic-491	111	14	system	system	NOUN
hjic-491	111	15	with	with	ADP
hjic-491	111	16	unknown	unknown	ADJ
hjic-491	111	17	feedback	feedback	NOUN
hjic-491	111	18	gains	gain	NOUN
hjic-491	111	19	kil	kil	PROPN
hjic-491	111	20	leads	lead	VERB
hjic-491	111	21	to	to	ADP
hjic-491	111	22	the	the	DET
hjic-491	111	23	following	follow	VERB
hjic-491	111	24	bilinear	bilinear	NOUN
hjic-491	111	25	matrix	matrix	NOUN
hjic-491	111	26	inequality	inequality	NOUN
hjic-491	111	27	m̂	m̂	PROPN
hjic-491	111	28	t	t	PROPN
hjic-491	111	29	c	c	PROPN
hjic-491	112	1	+	+	PROPN
hjic-491	112	2	cm̂	cm̂	NOUN
hjic-491	112	3	=	=	SYM
hjic-491	112	4	m0	m0	PROPN
hjic-491	112	5	tc	tc	X
hjic-491	112	6	+	+	PROPN
hjic-491	112	7	cm0	cm0	NOUN
hjic-491	112	8	+	+	NOUN
hjic-491	112	9	p∑	p∑	NOUN
hjic-491	113	1	l=1	l=1	X
hjic-491	113	2	r∑	r∑	NOUN
hjic-491	113	3	i=1	i=1	PROPN
hjic-491	113	4	kil	kil	PROPN
hjic-491	113	5	(	(	PUNCT
hjic-491	113	6	mil	mil	NOUN
hjic-491	113	7	tc	tc	X
hjic-491	114	1	+	+	NOUN
hjic-491	114	2	cmil	cmil	NOUN
hjic-491	114	3	)	)	PUNCT
hjic-491	114	4	≤	≤	NOUN
hjic-491	114	5	0	0	NUM
hjic-491	114	6	.	.	PUNCT
hjic-491	115	1	(	(	PUNCT
hjic-491	115	2	19	19	NUM
hjic-491	115	3	)	)	PUNCT
hjic-491	115	4	the	the	DET
hjic-491	115	5	variables	variable	NOUN
hjic-491	115	6	of	of	ADP
hjic-491	115	7	the	the	DET
hjic-491	115	8	bmi	bmi	NOUN
hjic-491	115	9	are	be	AUX
hjic-491	115	10	the	the	DET
hjic-491	115	11	p	p	X
hjic-491	115	12	×	×	NOUN
hjic-491	115	13	r	r	NOUN
hjic-491	115	14	kil	kil	NOUN
hjic-491	115	15	feedback	feedback	NOUN
hjic-491	115	16	gain	gain	NOUN
hjic-491	115	17	parameters	parameter	NOUN
hjic-491	115	18	and	and	CCONJ
hjic-491	115	19	the	the	DET
hjic-491	115	20	cj	cj	NOUN
hjic-491	115	21	,	,	PUNCT
hjic-491	115	22	j	j	PROPN
hjic-491	115	23	=	=	SYM
hjic-491	115	24	1	1	PROPN
hjic-491	115	25	,	,	PUNCT
hjic-491	115	26	..	..	PUNCT
hjic-491	115	27	,	,	PUNCT
hjic-491	115	28	m	m	VERB
hjic-491	115	29	parameters	parameter	NOUN
hjic-491	115	30	of	of	ADP
hjic-491	115	31	the	the	DET
hjic-491	115	32	lyapunov	lyapunov	ADJ
hjic-491	115	33	function	function	NOUN
hjic-491	115	34	.	.	PUNCT
hjic-491	116	1	if	if	SCONJ
hjic-491	116	2	the	the	DET
hjic-491	116	3	bmi	bmi	NOUN
hjic-491	116	4	above	above	ADV
hjic-491	116	5	is	be	AUX
hjic-491	116	6	feasible	feasible	ADJ
hjic-491	116	7	then	then	ADV
hjic-491	116	8	there	there	PRON
hjic-491	116	9	exists	exist	VERB
hjic-491	116	10	a	a	DET
hjic-491	116	11	globally	globally	ADV
hjic-491	116	12	stabilizing	stabilize	VERB
hjic-491	116	13	feedback	feedback	NOUN
hjic-491	116	14	with	with	ADP
hjic-491	116	15	the	the	DET
hjic-491	116	16	selected	select	VERB
hjic-491	116	17	structure	structure	NOUN
hjic-491	116	18	.	.	PUNCT
hjic-491	117	1	quasi	quasi	ADJ
hjic-491	117	2	-	-	ADJ
hjic-491	117	3	polynomial	polynomial	ADJ
hjic-491	117	4	control	control	NOUN
hjic-491	117	5	of	of	ADP
hjic-491	117	6	a	a	DET
hjic-491	117	7	differential	differential	ADJ
hjic-491	117	8	drive	drive	NOUN
hjic-491	117	9	mobile	mobile	PROPN
hjic-491	117	10	robot	robot	NOUN
hjic-491	117	11	quasi	quasi	ADJ
hjic-491	117	12	-	-	ADJ
hjic-491	117	13	polynomial	polynomial	ADJ
hjic-491	117	14	representation	representation	NOUN
hjic-491	117	15	of	of	ADP
hjic-491	117	16	the	the	DET
hjic-491	117	17	kinematic	kinematic	ADJ
hjic-491	117	18	model	model	NOUN
hjic-491	117	19	with	with	ADP
hjic-491	117	20	the	the	DET
hjic-491	117	21	given	give	VERB
hjic-491	117	22	differential	differential	ADJ
hjic-491	117	23	drive	drive	NOUN
hjic-491	117	24	robot	robot	NOUN
hjic-491	117	25	model	model	NOUN
hjic-491	117	26	eq.(1	eq.(1	ADJ
hjic-491	117	27	)	)	PUNCT
hjic-491	117	28	and	and	CCONJ
hjic-491	117	29	the	the	DET
hjic-491	117	30	explained	explain	VERB
hjic-491	117	31	error	error	NOUN
hjic-491	117	32	model	model	NOUN
hjic-491	117	33	eq.(2	eq.(2	NOUN
hjic-491	117	34	)	)	PUNCT
hjic-491	117	35	the	the	DET
hjic-491	117	36	qp	qp	PROPN
hjic-491	117	37	representation	representation	NOUN
hjic-491	117	38	can	can	AUX
hjic-491	117	39	be	be	AUX
hjic-491	117	40	built	build	VERB
hjic-491	117	41	.	.	PUNCT
hjic-491	118	1	the	the	DET
hjic-491	118	2	fist	fist	ADJ
hjic-491	118	3	step	step	NOUN
hjic-491	118	4	as	as	SCONJ
hjic-491	118	5	mentioned	mention	VERB
hjic-491	118	6	,	,	PUNCT
hjic-491	118	7	is	be	AUX
hjic-491	118	8	to	to	PART
hjic-491	118	9	find	find	VERB
hjic-491	118	10	the	the	DET
hjic-491	118	11	new	new	ADJ
hjic-491	118	12	auxiliary	auxiliary	ADJ
hjic-491	118	13	variables	variable	NOUN
hjic-491	118	14	,	,	PUNCT
hjic-491	118	15	that	that	PRON
hjic-491	118	16	help	help	VERB
hjic-491	118	17	to	to	PART
hjic-491	118	18	eliminate	eliminate	VERB
hjic-491	118	19	the	the	DET
hjic-491	118	20	non	non	ADJ
hjic-491	118	21	-	-	ADJ
hjic-491	118	22	qp	qp	ADJ
hjic-491	118	23	expressions	expression	NOUN
hjic-491	118	24	.	.	PUNCT
hjic-491	119	1	the	the	DET
hjic-491	119	2	newly	newly	ADV
hjic-491	119	3	chosen	choose	VERB
hjic-491	119	4	auxiliary	auxiliary	ADJ
hjic-491	119	5	variables	variable	NOUN
hjic-491	119	6	are	be	AUX
hjic-491	119	7	:	:	PUNCT
hjic-491	119	8	α	α	X
hjic-491	119	9	=	=	SYM
hjic-491	119	10	cos(θ	cos(θ	PROPN
hjic-491	119	11	)	)	PUNCT
hjic-491	119	12	,	,	PUNCT
hjic-491	119	13	β	β	X
hjic-491	119	14	=	=	PUNCT
hjic-491	119	15	sin(θ	sin(θ	PROPN
hjic-491	119	16	)	)	PUNCT
hjic-491	119	17	,	,	PUNCT
hjic-491	119	18	γ	γ	PROPN
hjic-491	119	19	=	=	SYM
hjic-491	119	20	arctan	arctan	PROPN
hjic-491	119	21	(	(	PUNCT
hjic-491	119	22	2	2	NUM
hjic-491	119	23	yg	yg	NOUN
hjic-491	119	24	−	−	PROPN
hjic-491	119	25	y	y	PROPN
hjic-491	119	26	xg	xg	PROPN
hjic-491	119	27	−	−	PROPN
hjic-491	119	28	x	x	SYM
hjic-491	119	29	)	)	PUNCT
hjic-491	119	30	,	,	PUNCT
hjic-491	119	31	δ	δ	PROPN
hjic-491	119	32	=	=	PRON
hjic-491	119	33	(	(	PUNCT
hjic-491	119	34	xg	xg	NOUN
hjic-491	119	35	−	−	PROPN
hjic-491	119	36	x)2	x)2	VERB
hjic-491	120	1	+	+	CCONJ
hjic-491	120	2	(	(	PUNCT
hjic-491	120	3	yg	yg	PROPN
hjic-491	120	4	−	−	PROPN
hjic-491	120	5	y)2	y)2	NOUN
hjic-491	120	6	,	,	PUNCT
hjic-491	120	7	and	and	CCONJ
hjic-491	120	8	ε	ε	PROPN
hjic-491	120	9	=	=	SYM
hjic-491	120	10	√	√	PROPN
hjic-491	120	11	δ	δ	PROPN
hjic-491	120	12	+	+	CCONJ
hjic-491	120	13	(	(	PUNCT
hjic-491	120	14	xg	xg	NOUN
hjic-491	120	15	−	−	PROPN
hjic-491	120	16	x	x	NOUN
hjic-491	120	17	)	)	PUNCT
hjic-491	120	18	.	.	PUNCT
hjic-491	121	1	(	(	PUNCT
hjic-491	121	2	20	20	NUM
hjic-491	121	3	)	)	PUNCT
hjic-491	121	4	94	94	NUM
hjic-491	121	5	−2	−2	NOUN
hjic-491	121	6	0	0	NUM
hjic-491	121	7	2	2	NUM
hjic-491	121	8	4	4	NUM
hjic-491	121	9	6	6	NUM
hjic-491	121	10	0	0	NUM
hjic-491	121	11	2	2	NUM
hjic-491	121	12	4	4	NUM
hjic-491	121	13	6	6	NUM
hjic-491	121	14	start	start	NOUN
hjic-491	121	15	finish	finish	NOUN
hjic-491	121	16	x	x	PUNCT
hjic-491	122	1	[	[	X
hjic-491	122	2	m	m	X
hjic-491	122	3	]	]	X
hjic-491	122	4	y	y	PROPN
hjic-491	123	1	[	[	X
hjic-491	123	2	m	m	X
hjic-491	123	3	]	]	X
hjic-491	123	4	pid	pid	NOUN
hjic-491	123	5	qp	qp	ADP
hjic-491	123	6	fuzzy	fuzzy	ADJ
hjic-491	123	7	figure	figure	NOUN
hjic-491	123	8	2	2	NUM
hjic-491	123	9	:	:	PUNCT
hjic-491	123	10	comparison	comparison	NOUN
hjic-491	123	11	of	of	ADP
hjic-491	123	12	different	different	ADJ
hjic-491	123	13	controllers	controller	NOUN
hjic-491	123	14	by	by	ADP
hjic-491	123	15	substituting	substitute	VERB
hjic-491	123	16	them	they	PRON
hjic-491	123	17	into	into	ADP
hjic-491	123	18	the	the	DET
hjic-491	123	19	original	original	ADJ
hjic-491	123	20	system	system	NOUN
hjic-491	123	21	eq.(2	eq.(2	NOUN
hjic-491	123	22	)	)	PUNCT
hjic-491	123	23	and	and	CCONJ
hjic-491	123	24	performing	perform	VERB
hjic-491	123	25	the	the	DET
hjic-491	123	26	differentiation	differentiation	NOUN
hjic-491	123	27	of	of	ADP
hjic-491	123	28	the	the	DET
hjic-491	123	29	new	new	ADJ
hjic-491	123	30	equations	equation	NOUN
hjic-491	123	31	eq.(20	eq.(20	PROPN
hjic-491	123	32	):	):	PUNCT
hjic-491	123	33	ẋ	ẋ	PROPN
hjic-491	124	1	=	=	PUNCT
hjic-491	124	2	x	x	PROPN
hjic-491	124	3	(	(	PUNCT
hjic-491	124	4	kv	kv	PROPN
hjic-491	124	5	√	√	PROPN
hjic-491	124	6	δα	δα	VERB
hjic-491	124	7	x	x	SYM
hjic-491	124	8	−kv	−kv	X
hjic-491	124	9	)	)	PUNCT
hjic-491	125	1	ẏ	ẏ	PROPN
hjic-491	125	2	=	=	SYM
hjic-491	125	3	y	y	PROPN
hjic-491	125	4	(	(	PUNCT
hjic-491	125	5	kv	kv	PROPN
hjic-491	125	6	√	√	PROPN
hjic-491	125	7	δβ	δβ	NOUN
hjic-491	125	8	y	y	PROPN
hjic-491	125	9	−kv	−kv	X
hjic-491	125	10	)	)	PUNCT
hjic-491	125	11	θ̇	θ̇	NOUN
hjic-491	125	12	=	=	SYM
hjic-491	125	13	θ	θ	PROPN
hjic-491	125	14	(	(	PUNCT
hjic-491	125	15	khγ	khγ	NOUN
hjic-491	125	16	θ	θ	NOUN
hjic-491	125	17	−kh	−kh	NOUN
hjic-491	125	18	)	)	PUNCT
hjic-491	125	19	α̇	α̇	NOUN
hjic-491	126	1	=	=	SYM
hjic-491	126	2	α	α	PROPN
hjic-491	126	3	(	(	PUNCT
hjic-491	126	4	−β	−β	NOUN
hjic-491	126	5	α	α	NOUN
hjic-491	126	6	)	)	PUNCT
hjic-491	126	7	β̇	β̇	PROPN
hjic-491	127	1	=	=	SYM
hjic-491	127	2	β	β	X
hjic-491	127	3	(	(	PUNCT
hjic-491	127	4	α	α	NOUN
hjic-491	127	5	β	β	NOUN
hjic-491	127	6	)	)	PUNCT
hjic-491	127	7	(	(	PUNCT
hjic-491	127	8	21	21	NUM
hjic-491	127	9	)	)	PUNCT
hjic-491	127	10	γ̇	γ̇	NOUN
hjic-491	127	11	=	=	SYM
hjic-491	127	12	γ	γ	X
hjic-491	127	13	·	·	PUNCT
hjic-491	127	14	(	(	PUNCT
hjic-491	127	15	−	−	PROPN
hjic-491	127	16	2kvβ	2kvβ	NUM
hjic-491	127	17	√	√	PUNCT
hjic-491	127	18	δ	δ	PROPN
hjic-491	127	19	γε	γε	PROPN
hjic-491	128	1	+	+	PROPN
hjic-491	128	2	kvy	kvy	PROPN
hjic-491	128	3	γε	γε	PROPN
hjic-491	128	4	−kvxgβ	−kvxgβ	PROPN
hjic-491	128	5	γε	γε	PROPN
hjic-491	129	1	+	+	PROPN
hjic-491	129	2	kvxβ	kvxβ	ADJ
hjic-491	129	3	γε	γε	X
hjic-491	129	4	+	+	X
hjic-491	129	5	kvxgy	kvxgy	PROPN
hjic-491	129	6	γε	γε	ADJ
hjic-491	129	7	√	√	PROPN
hjic-491	129	8	δ	δ	PROPN
hjic-491	129	9	−kvxy	−kvxy	NOUN
hjic-491	129	10	γε	γε	VERB
hjic-491	129	11	√	√	PUNCT
hjic-491	129	12	δ	δ	PROPN
hjic-491	130	1	+	+	CCONJ
hjic-491	130	2	kvygα	kvygα	NOUN
hjic-491	131	1	γε	γε	INTJ
hjic-491	131	2	−kvyα	−kvyα	INTJ
hjic-491	131	3	γε	γε	PROPN
hjic-491	131	4	−kvygx	−kvygx	PROPN
hjic-491	131	5	γε	γε	NOUN
hjic-491	131	6	√	√	PROPN
hjic-491	131	7	δ	δ	PROPN
hjic-491	132	1	+	+	NOUN
hjic-491	132	2	kvxy	kvxy	NOUN
hjic-491	132	3	γε	γε	VERB
hjic-491	132	4	√	√	PROPN
hjic-491	132	5	δ	δ	PROPN
hjic-491	132	6	)	)	PUNCT
hjic-491	132	7	(	(	PUNCT
hjic-491	132	8	22	22	NUM
hjic-491	132	9	)	)	PUNCT
hjic-491	132	10	δ̇	δ̇	PROPN
hjic-491	132	11	=	=	SYM
hjic-491	132	12	δ	δ	PROPN
hjic-491	132	13	(	(	PUNCT
hjic-491	132	14	−	−	PROPN
hjic-491	132	15	2kvxgα√	2kvxgα√	NUM
hjic-491	132	16	δ	δ	PROPN
hjic-491	132	17	+	+	X
hjic-491	132	18	2kvxgx	2kvxgx	NUM
hjic-491	132	19	δ	δ	PROPN
hjic-491	132	20	+	+	CCONJ
hjic-491	132	21	2kvxα√	2kvxα√	PROPN
hjic-491	132	22	δ	δ	PROPN
hjic-491	132	23	−	−	PROPN
hjic-491	132	24	2kvx	2kvx	NUM
hjic-491	132	25	2	2	NUM
hjic-491	132	26	δ	δ	NOUN
hjic-491	132	27	−	−	PROPN
hjic-491	133	1	2kvygβ√	2kvygβ√	NUM
hjic-491	133	2	δ	δ	PROPN
hjic-491	133	3	+	+	X
hjic-491	133	4	2kvygy	2kvygy	NUM
hjic-491	133	5	δ	δ	NOUN
hjic-491	133	6	+	+	CCONJ
hjic-491	133	7	2kvyβ√	2kvyβ√	NUM
hjic-491	133	8	δ	δ	NOUN
hjic-491	133	9	−	−	NOUN
hjic-491	133	10	2kvy	2kvy	NUM
hjic-491	133	11	2	2	NUM
hjic-491	133	12	δ	δ	NOUN
hjic-491	133	13	)	)	PUNCT
hjic-491	133	14	(	(	PUNCT
hjic-491	133	15	23	23	NUM
hjic-491	133	16	)	)	PUNCT
hjic-491	133	17	ε̇	ε̇	NOUN
hjic-491	133	18	=	=	SYM
hjic-491	133	19	ε	ε	PROPN
hjic-491	133	20	(	(	PUNCT
hjic-491	133	21	−kvxgα	−kvxgα	NOUN
hjic-491	133	22	ε	ε	PROPN
hjic-491	134	1	+	+	PROPN
hjic-491	134	2	kvxα	kvxα	NOUN
hjic-491	134	3	ε	ε	PROPN
hjic-491	134	4	+	+	CCONJ
hjic-491	134	5	kvxgx	kvxgx	PROPN
hjic-491	134	6	ε	ε	PROPN
hjic-491	134	7	√	√	NUM
hjic-491	134	8	δ	δ	PROPN
hjic-491	134	9	−kvx	−kvx	ADP
hjic-491	134	10	2	2	NUM
hjic-491	134	11	ε	ε	PROPN
hjic-491	134	12	√	√	PROPN
hjic-491	134	13	δ	δ	PROPN
hjic-491	134	14	−kvygβ	−kvygβ	PRON
hjic-491	134	15	ε	ε	PROPN
hjic-491	134	16	+	+	CCONJ
hjic-491	134	17	kvyβ	kvyβ	PROPN
hjic-491	134	18	ε	ε	PROPN
hjic-491	134	19	+	+	CCONJ
hjic-491	134	20	kvygy	kvygy	PROPN
hjic-491	134	21	ε	ε	PROPN
hjic-491	134	22	√	√	PUNCT
hjic-491	134	23	δ	δ	PROPN
hjic-491	134	24	−kvy	−kvy	ADJ
hjic-491	134	25	2	2	NUM
hjic-491	134	26	ε	ε	PROPN
hjic-491	134	27	√	√	NOUN
hjic-491	134	28	δ	δ	PROPN
hjic-491	135	1	+	+	PROPN
hjic-491	135	2	kvα	kvα	PROPN
hjic-491	135	3	ε	ε	PROPN
hjic-491	135	4	−kvx	−kvx	NOUN
hjic-491	135	5	ε	ε	PROPN
hjic-491	135	6	√	√	NUM
hjic-491	135	7	δ	δ	PROPN
hjic-491	135	8	)	)	PUNCT
hjic-491	135	9	(	(	PUNCT
hjic-491	135	10	24	24	NUM
hjic-491	135	11	)	)	PUNCT
hjic-491	135	12	figure	figure	NOUN
hjic-491	135	13	3	3	NUM
hjic-491	135	14	:	:	PUNCT
hjic-491	135	15	membership	membership	NOUN
hjic-491	135	16	functions	function	NOUN
hjic-491	135	17	for	for	ADP
hjic-491	135	18	distance	distance	NOUN
hjic-491	135	19	error	error	NOUN
hjic-491	135	20	the	the	DET
hjic-491	135	21	closed	close	VERB
hjic-491	135	22	-	-	PUNCT
hjic-491	135	23	loop	loop	NOUN
hjic-491	135	24	qp	qp	NOUN
hjic-491	135	25	system	system	NOUN
hjic-491	135	26	eq.(21	eq.(21	NOUN
hjic-491	135	27	-	-	PUNCT
hjic-491	135	28	24	24	NUM
hjic-491	135	29	)	)	PUNCT
hjic-491	135	30	has	have	VERB
hjic-491	135	31	29	29	NUM
hjic-491	135	32	quasimonomials	quasimonomial	NOUN
hjic-491	135	33	.	.	PUNCT
hjic-491	136	1	x	x	X
hjic-491	136	2	:	:	PUNCT
hjic-491	136	3	α	α	NOUN
hjic-491	136	4	√	√	VERB
hjic-491	136	5	δx−1	δx−1	VERB
hjic-491	136	6	y	y	PROPN
hjic-491	136	7	:	:	PUNCT
hjic-491	136	8	β	β	X
hjic-491	136	9	√	√	VERB
hjic-491	136	10	δy−1	δy−1	PROPN
hjic-491	136	11	θ	θ	PROPN
hjic-491	136	12	:	:	PUNCT
hjic-491	137	1	γθ−1	γθ−1	PROPN
hjic-491	137	2	α	α	NOUN
hjic-491	137	3	:	:	PUNCT
hjic-491	137	4	βα−1	βα−1	NOUN
hjic-491	137	5	β	β	X
hjic-491	137	6	:	:	PUNCT
hjic-491	137	7	αβ−1	αβ−1	INTJ
hjic-491	137	8	γ	γ	NOUN
hjic-491	137	9	:	:	PUNCT
hjic-491	137	10	β	β	NOUN
hjic-491	137	11	√	√	ADP
hjic-491	137	12	δγ−1ε−1	δγ−1ε−1	NOUN
hjic-491	137	13	,	,	PUNCT
hjic-491	137	14	yγ−1ε−1	yγ−1ε−1	PROPN
hjic-491	137	15	,	,	PUNCT
hjic-491	137	16	βγ−1ε−1	βγ−1ε−1	PROPN
hjic-491	137	17	,	,	PUNCT
hjic-491	137	18	xβγ−1ε−1	xβγ−1ε−1	PROPN
hjic-491	137	19	,	,	PUNCT
hjic-491	137	20	yγ−1δ−1/2ε−1	yγ−1δ−1/2ε−1	PROPN
hjic-491	137	21	,	,	PUNCT
hjic-491	137	22	αγ−1ε−1	αγ−1ε−1	PROPN
hjic-491	137	23	,	,	PUNCT
hjic-491	137	24	yαγ−1ε−1	yαγ−1ε−1	PROPN
hjic-491	137	25	,	,	PUNCT
hjic-491	137	26	xγ−1δ−1/2ε−1	xγ−1δ−1/2ε−1	PROPN
hjic-491	137	27	δ	δ	PROPN
hjic-491	137	28	:	:	PUNCT
hjic-491	137	29	αδ−1/2	αδ−1/2	NUM
hjic-491	137	30	,	,	PUNCT
hjic-491	137	31	xδ−1	xδ−1	PROPN
hjic-491	137	32	,	,	PUNCT
hjic-491	137	33	xαδ−1/2	xαδ−1/2	PROPN
hjic-491	137	34	,	,	PUNCT
hjic-491	137	35	x2δ−1	x2δ−1	PROPN
hjic-491	137	36	,	,	PUNCT
hjic-491	137	37	βδ−1/2	βδ−1/2	NUM
hjic-491	137	38	,	,	PUNCT
hjic-491	137	39	yδ−1	yδ−1	PROPN
hjic-491	137	40	,	,	PUNCT
hjic-491	137	41	yβδ−1/2	yβδ−1/2	PROPN
hjic-491	137	42	,	,	PUNCT
hjic-491	137	43	y2δ−1	y2δ−1	PROPN
hjic-491	137	44	ε	ε	PROPN
hjic-491	137	45	:	:	PUNCT
hjic-491	137	46	αε−1	αε−1	PROPN
hjic-491	137	47	,	,	PUNCT
hjic-491	137	48	xαε−1	xαε−1	PROPN
hjic-491	137	49	,	,	PUNCT
hjic-491	137	50	xε−1δ−1/2	xε−1δ−1/2	PROPN
hjic-491	137	51	,	,	PUNCT
hjic-491	137	52	x2ε−1δ−1/2	x2ε−1δ−1/2	PROPN
hjic-491	137	53	,	,	PUNCT
hjic-491	137	54	βε−1	βε−1	PROPN
hjic-491	137	55	,	,	PUNCT
hjic-491	137	56	yβε−1	yβε−1	PROPN
hjic-491	137	57	,	,	PUNCT
hjic-491	137	58	yε−1δ−1/2	yε−1δ−1/2	PROPN
hjic-491	137	59	,	,	PUNCT
hjic-491	137	60	y2ε−1δ−1/2	y2ε−1δ−1/2	PROPN
hjic-491	137	61	,	,	PUNCT
hjic-491	137	62	(	(	PUNCT
hjic-491	137	63	25	25	NUM
hjic-491	137	64	)	)	PUNCT
hjic-491	137	65	the	the	DET
hjic-491	137	66	qp	qp	PROPN
hjic-491	137	67	system	system	NOUN
hjic-491	137	68	eq.(21	eq.(21	NOUN
hjic-491	137	69	-	-	PUNCT
hjic-491	137	70	24	24	NUM
hjic-491	137	71	)	)	PUNCT
hjic-491	137	72	can	can	AUX
hjic-491	137	73	obtain	obtain	VERB
hjic-491	137	74	the	the	DET
hjic-491	137	75	glv	glv	NUM
hjic-491	137	76	form	form	NOUN
hjic-491	137	77	invariants	invariant	NOUN
hjic-491	137	78	with	with	ADP
hjic-491	137	79	the	the	DET
hjic-491	137	80	help	help	NOUN
hjic-491	137	81	of	of	ADP
hjic-491	137	82	monomials	monomial	NOUN
hjic-491	137	83	.	.	PUNCT
hjic-491	138	1	these	these	DET
hjic-491	138	2	matrices	matrix	NOUN
hjic-491	138	3	are	be	AUX
hjic-491	138	4	:	:	PUNCT
hjic-491	138	5	a	a	DET
hjic-491	138	6	the	the	DET
hjic-491	138	7	coefficient	coefficient	NOUN
hjic-491	138	8	matrix	matrix	NOUN
hjic-491	138	9	,	,	PUNCT
hjic-491	138	10	b	b	NOUN
hjic-491	138	11	the	the	DET
hjic-491	138	12	exponential	exponential	ADJ
hjic-491	138	13	matrix	matrix	NOUN
hjic-491	138	14	and	and	CCONJ
hjic-491	138	15	λ	λ	X
hjic-491	138	16	the	the	DET
hjic-491	138	17	constant	constant	ADJ
hjic-491	138	18	’s	’s	PART
hjic-491	138	19	matrix	matrix	NOUN
hjic-491	138	20	.	.	PUNCT
hjic-491	139	1	the	the	DET
hjic-491	139	2	invariant	invariant	ADJ
hjic-491	139	3	matrix	matrix	NOUN
hjic-491	139	4	product	product	NOUN
hjic-491	139	5	ba	ba	NOUN
hjic-491	139	6	results	result	VERB
hjic-491	139	7	in	in	ADP
hjic-491	139	8	the	the	DET
hjic-491	139	9	lv	lv	PROPN
hjic-491	139	10	coefficient	coefficient	NOUN
hjic-491	139	11	matrix	matrix	NOUN
hjic-491	139	12	m	m	VERB
hjic-491	139	13	,	,	PUNCT
hjic-491	139	14	which	which	PRON
hjic-491	139	15	is	be	AUX
hjic-491	139	16	necessary	necessary	ADJ
hjic-491	139	17	for	for	ADP
hjic-491	139	18	the	the	DET
hjic-491	139	19	global	global	ADJ
hjic-491	139	20	stability	stability	NOUN
hjic-491	139	21	analysis	analysis	NOUN
hjic-491	139	22	.	.	PUNCT
hjic-491	140	1	controller	controller	NOUN
hjic-491	140	2	design	design	NOUN
hjic-491	140	3	as	as	ADP
hjic-491	140	4	the	the	DET
hjic-491	140	5	original	original	ADJ
hjic-491	140	6	model	model	NOUN
hjic-491	140	7	eq.(2	eq.(2	NOUN
hjic-491	140	8	)	)	PUNCT
hjic-491	140	9	already	already	ADV
hjic-491	140	10	contains	contain	VERB
hjic-491	140	11	the	the	DET
hjic-491	140	12	proportional	proportional	ADJ
hjic-491	140	13	controller	controller	NOUN
hjic-491	140	14	parameters	parameter	NOUN
hjic-491	140	15	kh	kh	PROPN
hjic-491	140	16	and	and	CCONJ
hjic-491	140	17	kv	kv	PROPN
hjic-491	140	18	,	,	PUNCT
hjic-491	140	19	they	they	PRON
hjic-491	140	20	naturally	naturally	ADV
hjic-491	140	21	appear	appear	VERB
hjic-491	140	22	in	in	ADP
hjic-491	140	23	the	the	DET
hjic-491	140	24	qp	qp	PROPN
hjic-491	140	25	and	and	CCONJ
hjic-491	140	26	lotka	lotka	PROPN
hjic-491	140	27	-	-	PUNCT
hjic-491	140	28	volterra	volterra	NOUN
hjic-491	140	29	forms	form	NOUN
hjic-491	140	30	,	,	PUNCT
hjic-491	140	31	respectively	respectively	ADV
hjic-491	140	32	.	.	PUNCT
hjic-491	141	1	the	the	DET
hjic-491	141	2	closed	close	VERB
hjic-491	141	3	-	-	PUNCT
hjic-491	141	4	loop	loop	NOUN
hjic-491	141	5	lotka	lotka	PROPN
hjic-491	141	6	-	-	PUNCT
hjic-491	141	7	volterra	volterra	PROPN
hjic-491	141	8	coefficient	coefficient	NOUN
hjic-491	141	9	matrixm	matrixm	PROPN
hjic-491	141	10	contains	contain	VERB
hjic-491	141	11	the	the	DET
hjic-491	141	12	proportional	proportional	ADJ
hjic-491	141	13	gains	gain	NOUN
hjic-491	141	14	in	in	ADP
hjic-491	141	15	a	a	DET
hjic-491	141	16	linear	linear	ADJ
hjic-491	141	17	manner	manner	NOUN
hjic-491	141	18	eq.(26	eq.(26	ADP
hjic-491	141	19	)	)	PUNCT
hjic-491	142	1	[	[	X
hjic-491	142	2	7	7	X
hjic-491	142	3	]	]	X
hjic-491	142	4	m	m	PROPN
hjic-491	142	5	=	=	VERB
hjic-491	142	6	m0	m0	PROPN
hjic-491	143	1	+	+	CCONJ
hjic-491	143	2	khmh	khmh	PROPN
hjic-491	143	3	+	+	PROPN
hjic-491	143	4	kvmv	kvmv	NOUN
hjic-491	143	5	,	,	PUNCT
hjic-491	143	6	(	(	PUNCT
hjic-491	143	7	26	26	NUM
hjic-491	143	8	)	)	PUNCT
hjic-491	143	9	where	where	SCONJ
hjic-491	143	10	m	m	PROPN
hjic-491	143	11	∈	∈	PROPN
hjic-491	143	12	r29×29	r29×29	NOUN
hjic-491	143	13	.	.	PUNCT
hjic-491	144	1	this	this	PRON
hjic-491	144	2	means	mean	VERB
hjic-491	144	3	,	,	PUNCT
hjic-491	144	4	that	that	SCONJ
hjic-491	144	5	the	the	DET
hjic-491	144	6	globally	globally	ADV
hjic-491	144	7	stabilizing	stabilize	VERB
hjic-491	144	8	feedback	feedback	NOUN
hjic-491	144	9	design	design	NOUN
hjic-491	144	10	bmi	bmi	NOUN
hjic-491	144	11	can	can	AUX
hjic-491	144	12	be	be	AUX
hjic-491	144	13	formulated	formulate	VERB
hjic-491	144	14	,	,	PUNCT
hjic-491	144	15	and	and	CCONJ
hjic-491	144	16	checked	check	VERB
hjic-491	144	17	for	for	ADP
hjic-491	144	18	feasibility	feasibility	NOUN
hjic-491	144	19	.	.	PUNCT
hjic-491	145	1	the	the	DET
hjic-491	145	2	controller	controller	NOUN
hjic-491	145	3	design	design	NOUN
hjic-491	145	4	is	be	AUX
hjic-491	145	5	practically	practically	ADV
hjic-491	145	6	solved	solve	VERB
hjic-491	145	7	as	as	ADP
hjic-491	145	8	a	a	DET
hjic-491	145	9	control	control	NOUN
hjic-491	145	10	-	-	PUNCT
hjic-491	145	11	lyapunov	lyapunov	ADJ
hjic-491	145	12	function	function	NOUN
hjic-491	145	13	-	-	PUNCT
hjic-491	145	14	based	base	VERB
hjic-491	145	15	state	state	NOUN
hjic-491	145	16	feedback	feedback	NOUN
hjic-491	145	17	.	.	PUNCT
hjic-491	146	1	the	the	DET
hjic-491	146	2	prescribed	prescribed	ADJ
hjic-491	146	3	lyapunov	lyapunov	NOUN
hjic-491	146	4	function	function	NOUN
hjic-491	146	5	parameters	parameter	NOUN
hjic-491	146	6	are	be	AUX
hjic-491	146	7	c1,2,3	c1,2,3	NUM
hjic-491	146	8	=	=	SYM
hjic-491	146	9	0.1	0.1	NUM
hjic-491	146	10	,	,	PUNCT
hjic-491	146	11	c4,5	c4,5	NOUN
hjic-491	146	12	=	=	SYM
hjic-491	146	13	1	1	NUM
hjic-491	146	14	and	and	CCONJ
hjic-491	146	15	c6−29	c6−29	NOUN
hjic-491	146	16	=	=	SYM
hjic-491	146	17	0	0	X
hjic-491	146	18	.	.	PUNCT
hjic-491	147	1	the	the	DET
hjic-491	147	2	control	control	NOUN
hjic-491	147	3	gains	gain	NOUN
hjic-491	147	4	are	be	AUX
hjic-491	147	5	obtained	obtain	VERB
hjic-491	147	6	by	by	ADP
hjic-491	147	7	solving	solve	VERB
hjic-491	147	8	an	an	DET
hjic-491	147	9	lmi	lmi	PROPN
hjic-491	147	10	version	version	NOUN
hjic-491	147	11	of	of	ADP
hjic-491	147	12	the	the	DET
hjic-491	147	13	feedback	feedback	NOUN
hjic-491	147	14	design	design	NOUN
hjic-491	147	15	bmi	bmi	NOUN
hjic-491	147	16	by	by	ADP
hjic-491	147	17	substitutingc	substitutingc	NOUN
hjic-491	147	18	into	into	ADP
hjic-491	147	19	eq.(19	eq.(19	NOUN
hjic-491	147	20	)	)	PUNCT
hjic-491	147	21	.	.	PUNCT
hjic-491	148	1	the	the	DET
hjic-491	148	2	obtained	obtain	VERB
hjic-491	148	3	values	value	NOUN
hjic-491	148	4	are	be	AUX
hjic-491	148	5	kh	kh	PROPN
hjic-491	148	6	=	=	PROPN
hjic-491	148	7	2.78	2.78	NUM
hjic-491	148	8	and	and	CCONJ
hjic-491	148	9	kv	kv	PROPN
hjic-491	148	10	=	=	PROPN
hjic-491	149	1	0.8	0.8	NUM
hjic-491	149	2	.	.	PUNCT
hjic-491	150	1	95	95	NUM
hjic-491	150	2	table	table	NOUN
hjic-491	150	3	1	1	NUM
hjic-491	150	4	:	:	PUNCT
hjic-491	150	5	rules	rule	NOUN
hjic-491	150	6	for	for	ADP
hjic-491	150	7	the	the	DET
hjic-491	150	8	fuzzy	fuzzy	ADJ
hjic-491	150	9	controller	controller	NOUN
hjic-491	150	10	∧	∧	PROPN
hjic-491	150	11	∧	∧	PROPN
hjic-491	150	12	eang	eang	PROPN
hjic-491	150	13	edis	edis	PROPN
hjic-491	150	14	ωleft	ωleft	VERB
hjic-491	150	15	ωright	ωright	NOUN
hjic-491	150	16	zero	zero	NUM
hjic-491	150	17	zero	zero	NUM
hjic-491	150	18	⇒	⇒	NOUN
hjic-491	150	19	zero	zero	NUM
hjic-491	150	20	zero	zero	NUM
hjic-491	150	21	pos	pos	NOUN
hjic-491	150	22	zero	zero	NUM
hjic-491	150	23	pos	pos	NOUN
hjic-491	150	24	neg	neg	NOUN
hjic-491	150	25	zero	zero	NUM
hjic-491	150	26	neg	neg	NOUN
hjic-491	150	27	pos	pos	NOUN
hjic-491	150	28	zero	zero	NUM
hjic-491	150	29	pos	pos	NOUN
hjic-491	150	30	pos	pos	NOUN
hjic-491	150	31	pos	pos	NOUN
hjic-491	150	32	pos	pos	NOUN
hjic-491	150	33	pos	pos	NOUN
hjic-491	150	34	pos	pos	NOUN
hjic-491	150	35	zero	zero	NUM
hjic-491	150	36	pos	pos	NOUN
hjic-491	150	37	zero	zero	NUM
hjic-491	150	38	pos	pos	NOUN
hjic-491	150	39	comparison	comparison	NOUN
hjic-491	150	40	of	of	ADP
hjic-491	150	41	results	result	NOUN
hjic-491	150	42	for	for	ADP
hjic-491	150	43	different	different	ADJ
hjic-491	150	44	controller	controller	NOUN
hjic-491	150	45	types	type	NOUN
hjic-491	150	46	the	the	DET
hjic-491	150	47	first	first	ADJ
hjic-491	150	48	and	and	CCONJ
hjic-491	150	49	most	most	ADV
hjic-491	150	50	basic	basic	ADJ
hjic-491	150	51	method	method	NOUN
hjic-491	150	52	was	be	AUX
hjic-491	150	53	the	the	DET
hjic-491	150	54	proportional	proportional	ADJ
hjic-491	150	55	controller	controller	NOUN
hjic-491	150	56	approach	approach	NOUN
hjic-491	150	57	.	.	PUNCT
hjic-491	151	1	this	this	PRON
hjic-491	151	2	was	be	AUX
hjic-491	151	3	explained	explain	VERB
hjic-491	151	4	in	in	ADP
hjic-491	151	5	the	the	DET
hjic-491	151	6	second	second	ADJ
hjic-491	151	7	chapter	chapter	NOUN
hjic-491	151	8	.	.	PUNCT
hjic-491	152	1	this	this	PRON
hjic-491	152	2	is	be	AUX
hjic-491	152	3	a	a	DET
hjic-491	152	4	more	more	ADV
hjic-491	152	5	systematic	systematic	ADJ
hjic-491	152	6	approach	approach	NOUN
hjic-491	152	7	,	,	PUNCT
hjic-491	152	8	but	but	CCONJ
hjic-491	152	9	with	with	ADP
hjic-491	152	10	the	the	DET
hjic-491	152	11	increasing	increase	VERB
hjic-491	152	12	non	non	NOUN
hjic-491	152	13	-	-	NOUN
hjic-491	152	14	linearities	linearity	NOUN
hjic-491	152	15	it	it	PRON
hjic-491	152	16	is	be	AUX
hjic-491	152	17	becoming	become	VERB
hjic-491	152	18	a	a	DET
hjic-491	152	19	more	more	ADV
hjic-491	152	20	difficult	difficult	ADJ
hjic-491	152	21	method	method	NOUN
hjic-491	152	22	to	to	PART
hjic-491	152	23	solve	solve	VERB
hjic-491	152	24	.	.	PUNCT
hjic-491	153	1	fig.3	fig.3	PROPN
hjic-491	153	2	shows	show	VERB
hjic-491	153	3	that	that	SCONJ
hjic-491	153	4	the	the	DET
hjic-491	153	5	robot	robot	NOUN
hjic-491	153	6	moves	move	VERB
hjic-491	153	7	on	on	ADP
hjic-491	153	8	a	a	DET
hjic-491	153	9	significantly	significantly	ADV
hjic-491	153	10	wider	wide	ADJ
hjic-491	153	11	curve	curve	NOUN
hjic-491	153	12	compared	compare	VERB
hjic-491	153	13	to	to	ADP
hjic-491	153	14	the	the	DET
hjic-491	153	15	other	other	ADJ
hjic-491	153	16	two	two	NUM
hjic-491	153	17	designs	design	NOUN
hjic-491	153	18	.	.	PUNCT
hjic-491	154	1	secondly	secondly	ADV
hjic-491	154	2	a	a	DET
hjic-491	154	3	fuzzy	fuzzy	ADJ
hjic-491	154	4	controller	controller	NOUN
hjic-491	154	5	was	be	AUX
hjic-491	154	6	designed	design	VERB
hjic-491	154	7	to	to	PART
hjic-491	154	8	compare	compare	VERB
hjic-491	154	9	the	the	DET
hjic-491	154	10	original	original	ADJ
hjic-491	154	11	design	design	NOUN
hjic-491	154	12	to	to	ADP
hjic-491	154	13	.	.	PUNCT
hjic-491	155	1	this	this	PRON
hjic-491	155	2	is	be	AUX
hjic-491	155	3	a	a	DET
hjic-491	155	4	much	much	ADV
hjic-491	155	5	more	more	ADV
hjic-491	155	6	intuitive	intuitive	ADJ
hjic-491	155	7	approach	approach	NOUN
hjic-491	155	8	,	,	PUNCT
hjic-491	155	9	the	the	DET
hjic-491	155	10	physical	physical	ADJ
hjic-491	155	11	nonlinearities	nonlinearitie	NOUN
hjic-491	155	12	were	be	AUX
hjic-491	155	13	easily	easily	ADV
hjic-491	155	14	implementable	implementable	ADJ
hjic-491	155	15	with	with	ADP
hjic-491	155	16	the	the	DET
hjic-491	155	17	cost	cost	NOUN
hjic-491	155	18	of	of	ADP
hjic-491	155	19	inaccuracy	inaccuracy	NOUN
hjic-491	155	20	.	.	PUNCT
hjic-491	156	1	this	this	PRON
hjic-491	156	2	can	can	AUX
hjic-491	156	3	be	be	AUX
hjic-491	156	4	seen	see	VERB
hjic-491	156	5	in	in	ADP
hjic-491	156	6	fig.3	fig.3	PROPN
hjic-491	156	7	,	,	PUNCT
hjic-491	156	8	where	where	SCONJ
hjic-491	156	9	the	the	DET
hjic-491	156	10	robot	robot	NOUN
hjic-491	156	11	travels	travel	VERB
hjic-491	156	12	on	on	ADP
hjic-491	156	13	a	a	DET
hjic-491	156	14	much	much	ADV
hjic-491	156	15	smaller	small	ADJ
hjic-491	156	16	curve	curve	NOUN
hjic-491	156	17	.	.	PUNCT
hjic-491	157	1	table	table	NOUN
hjic-491	157	2	1	1	NUM
hjic-491	157	3	shows	show	VERB
hjic-491	157	4	the	the	DET
hjic-491	157	5	definition	definition	NOUN
hjic-491	157	6	of	of	ADP
hjic-491	157	7	the	the	DET
hjic-491	157	8	rules	rule	NOUN
hjic-491	157	9	.	.	PUNCT
hjic-491	158	1	the	the	DET
hjic-491	158	2	membership	membership	NOUN
hjic-491	158	3	functions	function	NOUN
hjic-491	158	4	follow	follow	VERB
hjic-491	158	5	simple	simple	ADJ
hjic-491	158	6	triangular	triangular	NOUN
hjic-491	158	7	shapes	shape	NOUN
hjic-491	158	8	according	accord	VERB
hjic-491	158	9	to	to	ADP
hjic-491	158	10	the	the	DET
hjic-491	158	11	acceptable	acceptable	ADJ
hjic-491	158	12	rate	rate	NOUN
hjic-491	158	13	of	of	ADP
hjic-491	158	14	angular	angular	ADJ
hjic-491	158	15	and	and	CCONJ
hjic-491	158	16	velocity	velocity	NOUN
hjic-491	158	17	changes	change	NOUN
hjic-491	158	18	.	.	PUNCT
hjic-491	159	1	the	the	DET
hjic-491	159	2	qp	qp	PROPN
hjic-491	159	3	controller	controller	NOUN
hjic-491	159	4	performance	performance	NOUN
hjic-491	159	5	can	can	AUX
hjic-491	159	6	be	be	AUX
hjic-491	159	7	seen	see	VERB
hjic-491	159	8	in	in	ADP
hjic-491	159	9	fig.3	fig.3	PROPN
hjic-491	159	10	.	.	PUNCT
hjic-491	160	1	where	where	SCONJ
hjic-491	160	2	a	a	DET
hjic-491	160	3	classical	classical	ADJ
hjic-491	160	4	pid	pid	NOUN
hjic-491	160	5	controller	controller	NOUN
hjic-491	160	6	and	and	CCONJ
hjic-491	160	7	a	a	DET
hjic-491	160	8	fuzzy	fuzzy	ADJ
hjic-491	160	9	logic	logic	NOUN
hjic-491	160	10	controller	controller	NOUN
hjic-491	160	11	are	be	AUX
hjic-491	160	12	also	also	ADV
hjic-491	160	13	shown	show	VERB
hjic-491	160	14	.	.	PUNCT
hjic-491	161	1	it	it	PRON
hjic-491	161	2	is	be	AUX
hjic-491	161	3	apparent	apparent	ADJ
hjic-491	161	4	,	,	PUNCT
hjic-491	161	5	that	that	SCONJ
hjic-491	161	6	the	the	DET
hjic-491	161	7	qp	qp	PROPN
hjic-491	161	8	controller	controller	NOUN
hjic-491	161	9	performs	perform	VERB
hjic-491	161	10	well	well	ADV
hjic-491	161	11	by	by	ADP
hjic-491	161	12	means	mean	NOUN
hjic-491	161	13	of	of	ADP
hjic-491	161	14	the	the	DET
hjic-491	161	15	length	length	NOUN
hjic-491	161	16	of	of	ADP
hjic-491	161	17	the	the	DET
hjic-491	161	18	trajectory	trajectory	NOUN
hjic-491	161	19	.	.	PUNCT
hjic-491	162	1	conclusions	conclusion	NOUN
hjic-491	162	2	a	a	DET
hjic-491	162	3	quasi	quasi	ADJ
hjic-491	162	4	-	-	ADJ
hjic-491	162	5	polynomial	polynomial	ADJ
hjic-491	162	6	representation	representation	NOUN
hjic-491	162	7	-	-	PUNCT
hjic-491	162	8	based	base	VERB
hjic-491	162	9	nonlinear	nonlinear	ADJ
hjic-491	162	10	control	control	NOUN
hjic-491	162	11	design	design	NOUN
hjic-491	162	12	method	method	NOUN
hjic-491	162	13	has	have	AUX
hjic-491	162	14	been	be	AUX
hjic-491	162	15	applied	apply	VERB
hjic-491	162	16	to	to	ADP
hjic-491	162	17	the	the	DET
hjic-491	162	18	kinematics	kinematic	NOUN
hjic-491	162	19	of	of	ADP
hjic-491	162	20	a	a	DET
hjic-491	162	21	differential	differential	ADJ
hjic-491	162	22	steering	steering	NOUN
hjic-491	162	23	mobile	mobile	ADJ
hjic-491	162	24	robot	robot	NOUN
hjic-491	162	25	in	in	ADP
hjic-491	162	26	this	this	DET
hjic-491	162	27	work	work	NOUN
hjic-491	162	28	.	.	PUNCT
hjic-491	163	1	it	it	PRON
hjic-491	163	2	has	have	AUX
hjic-491	163	3	been	be	AUX
hjic-491	163	4	shown	show	VERB
hjic-491	163	5	,	,	PUNCT
hjic-491	163	6	that	that	SCONJ
hjic-491	163	7	the	the	DET
hjic-491	163	8	quasi	quasi	ADJ
hjic-491	163	9	-	-	ADJ
hjic-491	163	10	polynomial	polynomial	ADJ
hjic-491	163	11	model	model	NOUN
hjic-491	163	12	of	of	ADP
hjic-491	163	13	the	the	DET
hjic-491	163	14	mobile	mobile	PROPN
hjic-491	163	15	robot	robot	NOUN
hjic-491	163	16	’s	’s	PART
hjic-491	163	17	kinematics	kinematic	NOUN
hjic-491	163	18	extended	extend	VERB
hjic-491	163	19	with	with	ADP
hjic-491	163	20	the	the	DET
hjic-491	163	21	tracking	tracking	NOUN
hjic-491	163	22	error	error	NOUN
hjic-491	163	23	dynamics	dynamic	NOUN
hjic-491	163	24	has	have	VERB
hjic-491	163	25	29	29	NUM
hjic-491	163	26	quasi	quasi	NOUN
hjic-491	163	27	-	-	NOUN
hjic-491	163	28	monomials	monomial	NOUN
hjic-491	163	29	,	,	PUNCT
hjic-491	163	30	i.e.	i.e.	X
hjic-491	163	31	the	the	DET
hjic-491	163	32	sizes	size	NOUN
hjic-491	163	33	of	of	ADP
hjic-491	163	34	matrices	matrix	NOUN
hjic-491	163	35	appearing	appear	VERB
hjic-491	163	36	in	in	ADP
hjic-491	163	37	the	the	DET
hjic-491	163	38	bilinear	bilinear	NOUN
hjic-491	163	39	matrix	matrix	NOUN
hjic-491	163	40	inequality	inequality	NOUN
hjic-491	163	41	that	that	PRON
hjic-491	163	42	should	should	AUX
hjic-491	163	43	be	be	AUX
hjic-491	163	44	solved	solve	VERB
hjic-491	163	45	for	for	ADP
hjic-491	163	46	a	a	DET
hjic-491	163	47	globally	globally	ADV
hjic-491	163	48	stabilizing	stabilize	VERB
hjic-491	163	49	feedback	feedback	NOUN
hjic-491	163	50	controller	controller	NOUN
hjic-491	163	51	acknowledgement	acknowledgement	NOUN
hjic-491	163	52	this	this	DET
hjic-491	163	53	research	research	NOUN
hjic-491	163	54	was	be	AUX
hjic-491	163	55	supported	support	VERB
hjic-491	163	56	by	by	ADP
hjic-491	163	57	the	the	DET
hjic-491	163	58	european	european	PROPN
hjic-491	163	59	union	union	PROPN
hjic-491	163	60	and	and	CCONJ
hjic-491	163	61	the	the	DET
hjic-491	163	62	state	state	NOUN
hjic-491	163	63	of	of	ADP
hjic-491	163	64	hungary	hungary	PROPN
hjic-491	163	65	,	,	PUNCT
hjic-491	163	66	co	co	VERB
hjic-491	163	67	-	-	VERB
hjic-491	163	68	financed	finance	VERB
hjic-491	163	69	by	by	ADP
hjic-491	163	70	the	the	DET
hjic-491	163	71	european	european	PROPN
hjic-491	163	72	social	social	PROPN
hjic-491	163	73	are	be	AUX
hjic-491	163	74	reasonably	reasonably	ADV
hjic-491	163	75	great	great	ADJ
hjic-491	163	76	.	.	PUNCT
hjic-491	164	1	the	the	DET
hjic-491	164	2	resulting	result	VERB
hjic-491	164	3	controller	controller	NOUN
hjic-491	164	4	and	and	CCONJ
hjic-491	164	5	the	the	DET
hjic-491	164	6	trajectory	trajectory	NOUN
hjic-491	164	7	were	be	AUX
hjic-491	164	8	compared	compare	VERB
hjic-491	164	9	to	to	ADP
hjic-491	164	10	the	the	DET
hjic-491	164	11	trajectories	trajectory	NOUN
hjic-491	164	12	of	of	ADP
hjic-491	164	13	a	a	DET
hjic-491	164	14	reference	reference	NOUN
hjic-491	164	15	pid	pid	NOUN
hjic-491	164	16	controller	controller	NOUN
hjic-491	164	17	and	and	CCONJ
hjic-491	164	18	a	a	DET
hjic-491	164	19	fuzzy	fuzzy	ADJ
hjic-491	164	20	logic	logic	NOUN
hjic-491	164	21	controller	controller	NOUN
hjic-491	164	22	.	.	PUNCT
hjic-491	165	1	it	it	PRON
hjic-491	165	2	can	can	AUX
hjic-491	165	3	be	be	AUX
hjic-491	165	4	seen	see	VERB
hjic-491	165	5	that	that	SCONJ
hjic-491	165	6	the	the	DET
hjic-491	165	7	controller	controller	NOUN
hjic-491	165	8	performs	perform	VERB
hjic-491	165	9	satisfactorily	satisfactorily	ADV
hjic-491	165	10	.	.	PUNCT
hjic-491	166	1	possible	possible	ADJ
hjic-491	166	2	future	future	ADJ
hjic-491	166	3	directions	direction	NOUN
hjic-491	166	4	include	include	VERB
hjic-491	166	5	the	the	DET
hjic-491	166	6	application	application	NOUN
hjic-491	166	7	of	of	ADP
hjic-491	166	8	the	the	DET
hjic-491	166	9	lmi	lmi	PROPN
hjic-491	166	10	and	and	CCONJ
hjic-491	166	11	/or	/or	ADV
hjic-491	166	12	bmi	bmi	PROPN
hjic-491	166	13	cost	cost	NOUN
hjic-491	166	14	function	function	NOUN
hjic-491	166	15	to	to	PART
hjic-491	166	16	introduce	introduce	VERB
hjic-491	166	17	some	some	DET
hjic-491	166	18	optimality	optimality	NOUN
hjic-491	166	19	measure	measure	NOUN
hjic-491	166	20	to	to	ADP
hjic-491	166	21	the	the	DET
hjic-491	166	22	problem	problem	NOUN
hjic-491	166	23	to	to	PART
hjic-491	166	24	be	be	AUX
hjic-491	166	25	minimised	minimise	VERB
hjic-491	166	26	.	.	PUNCT
hjic-491	167	1	a	a	DET
hjic-491	167	2	next	next	ADJ
hjic-491	167	3	step	step	NOUN
hjic-491	167	4	would	would	AUX
hjic-491	167	5	be	be	AUX
hjic-491	167	6	the	the	DET
hjic-491	167	7	application	application	NOUN
hjic-491	167	8	of	of	ADP
hjic-491	167	9	a	a	DET
hjic-491	167	10	time	time	NOUN
hjic-491	167	11	dependent	dependent	ADJ
hjic-491	167	12	goal	goal	NOUN
hjic-491	167	13	position	position	NOUN
hjic-491	167	14	(	(	PUNCT
hjic-491	167	15	i.e.	i.e.	X
hjic-491	167	16	a	a	DET
hjic-491	167	17	trajectory	trajectory	NOUN
hjic-491	167	18	)	)	PUNCT
hjic-491	167	19	.	.	PUNCT
hjic-491	168	1	fund	fund	NOUN
hjic-491	168	2	in	in	ADP
hjic-491	168	3	the	the	DET
hjic-491	168	4	framework	framework	NOUN
hjic-491	168	5	of	of	ADP
hjic-491	168	6	the	the	DET
hjic-491	168	7	támop	támop	NOUN
hjic-491	168	8	4.2.4	4.2.4	NUM
hjic-491	168	9	.	.	PUNCT
hjic-491	169	1	a/2	a/2	NOUN
hjic-491	169	2	-	-	SYM
hjic-491	169	3	11	11	NUM
hjic-491	169	4	-	-	PUNCT
hjic-491	169	5	12012	12012	NUM
hjic-491	169	6	-	-	PUNCT
hjic-491	169	7	0001	0001	NUM
hjic-491	169	8	’	'	PUNCT
hjic-491	169	9	national	national	PROPN
hjic-491	169	10	excellence	excellence	PROPN
hjic-491	169	11	programme	programme	PROPN
hjic-491	169	12	’	'	PUNCT
hjic-491	169	13	.	.	PUNCT
hjic-491	170	1	references	reference	NOUN
hjic-491	170	2	[	[	X
hjic-491	170	3	1	1	X
hjic-491	170	4	]	]	X
hjic-491	170	5	huang	huang	PROPN
hjic-491	170	6	j.	j.	PROPN
hjic-491	170	7	,	,	PUNCT
hjic-491	170	8	wen	wen	PROPN
hjic-491	170	9	c.	c.	PROPN
hjic-491	170	10	,	,	PUNCT
hjic-491	170	11	wang	wang	PROPN
hjic-491	170	12	w.	w.	PROPN
hjic-491	170	13	,	,	PUNCT
hjic-491	170	14	jiang	jiang	PROPN
hjic-491	170	15	z.-p	z.-p	PROPN
hjic-491	170	16	.	.	PUNCT
hjic-491	170	17	:	:	PUNCT
hjic-491	171	1	adaptive	adaptive	ADJ
hjic-491	171	2	output	output	NOUN
hjic-491	171	3	feedback	feedback	NOUN
hjic-491	171	4	tracking	tracking	NOUN
hjic-491	171	5	control	control	NOUN
hjic-491	171	6	of	of	ADP
hjic-491	171	7	a	a	DET
hjic-491	171	8	nonholonomic	nonholonomic	ADJ
hjic-491	171	9	mobile	mobile	ADJ
hjic-491	171	10	robot	robot	NOUN
hjic-491	171	11	,	,	PUNCT
hjic-491	171	12	automatica	automatica	PROPN
hjic-491	171	13	,	,	PUNCT
hjic-491	171	14	2004	2004	NUM
hjic-491	171	15	,	,	PUNCT
hjic-491	171	16	50(3	50(3	NUM
hjic-491	171	17	)	)	PUNCT
hjic-491	171	18	,	,	PUNCT
hjic-491	171	19	821	821	NUM
hjic-491	171	20	–	–	PUNCT
hjic-491	171	21	831	831	NUM
hjic-491	171	22	[	[	PUNCT
hjic-491	171	23	2	2	NUM
hjic-491	171	24	]	]	PUNCT
hjic-491	171	25	mohareri	mohareri	NOUN
hjic-491	171	26	o.	o.	NOUN
hjic-491	171	27	,	,	PUNCT
hjic-491	171	28	dhaouadi	dhaouadi	PROPN
hjic-491	171	29	r.	r.	PROPN
hjic-491	171	30	,	,	PUNCT
hjic-491	171	31	rad	rad	PROPN
hjic-491	171	32	a.b	a.b	PROPN
hjic-491	171	33	.	.	PROPN
hjic-491	171	34	:	:	PUNCT
hjic-491	171	35	indirect	indirect	ADJ
hjic-491	171	36	adaptive	adaptive	ADJ
hjic-491	171	37	tracking	tracking	NOUN
hjic-491	171	38	control	control	NOUN
hjic-491	171	39	of	of	ADP
hjic-491	171	40	a	a	DET
hjic-491	171	41	nonholonomic	nonholonomic	ADJ
hjic-491	171	42	mobile	mobile	ADJ
hjic-491	171	43	robot	robot	NOUN
hjic-491	171	44	via	via	ADP
hjic-491	171	45	neural	neural	ADJ
hjic-491	171	46	networks	network	NOUN
hjic-491	171	47	,	,	PUNCT
hjic-491	171	48	neurocomputing	neurocomputing	NOUN
hjic-491	171	49	,	,	PUNCT
hjic-491	171	50	2012	2012	NUM
hjic-491	171	51	,	,	PUNCT
hjic-491	171	52	88	88	NUM
hjic-491	171	53	,	,	PUNCT
hjic-491	171	54	54–66	54–66	NUM
hjic-491	171	55	[	[	X
hjic-491	171	56	3	3	NUM
hjic-491	171	57	]	]	X
hjic-491	171	58	li	li	PROPN
hjic-491	171	59	j.	j.	PROPN
hjic-491	171	60	,	,	PUNCT
hjic-491	171	61	guo	guo	PROPN
hjic-491	171	62	x.	x.	PROPN
hjic-491	171	63	,	,	PUNCT
hjic-491	171	64	li	li	PROPN
hjic-491	171	65	z.	z.	PROPN
hjic-491	171	66	,	,	PUNCT
hjic-491	171	67	chen	chen	PROPN
hjic-491	171	68	w.	w.	PROPN
hjic-491	171	69	:	:	PUNCT
hjic-491	171	70	stochastic	stochastic	VERB
hjic-491	171	71	adaptive	adaptive	ADJ
hjic-491	171	72	optimal	optimal	ADJ
hjic-491	171	73	control	control	NOUN
hjic-491	171	74	of	of	ADP
hjic-491	171	75	under	under	ADV
hjic-491	171	76	-	-	PUNCT
hjic-491	171	77	actuated	actuate	VERB
hjic-491	171	78	robots	robot	NOUN
hjic-491	171	79	using	use	VERB
hjic-491	171	80	neural	neural	ADJ
hjic-491	171	81	networks	network	NOUN
hjic-491	171	82	,	,	PUNCT
hjic-491	171	83	neurocomputing	neurocomputing	NOUN
hjic-491	171	84	,	,	PUNCT
hjic-491	171	85	2014	2014	NUM
hjic-491	171	86	,	,	PUNCT
hjic-491	171	87	142	142	NUM
hjic-491	171	88	,	,	PUNCT
hjic-491	171	89	190	190	NUM
hjic-491	171	90	-	-	SYM
hjic-491	171	91	200	200	NUM
hjic-491	171	92	[	[	SYM
hjic-491	171	93	4	4	NUM
hjic-491	171	94	]	]	X
hjic-491	171	95	hernández	hernández	PROPN
hjic-491	171	96	-	-	PUNCT
hjic-491	171	97	bermejo	bermejo	PROPN
hjic-491	171	98	b.	b.	PROPN
hjic-491	171	99	,	,	PUNCT
hjic-491	171	100	fairén	fairén	VERB
hjic-491	172	1	v.	v.	NOUN
hjic-491	172	2	:	:	PUNCT
hjic-491	172	3	nonpolynomial	nonpolynomial	ADJ
hjic-491	172	4	vector	vector	NOUN
hjic-491	172	5	fields	field	NOUN
hjic-491	172	6	under	under	ADP
hjic-491	172	7	the	the	DET
hjic-491	172	8	lotka	lotka	PROPN
hjic-491	172	9	-	-	PUNCT
hjic-491	172	10	volterra	volterra	PROPN
hjic-491	172	11	normal	normal	ADJ
hjic-491	172	12	form	form	NOUN
hjic-491	172	13	,	,	PUNCT
hjic-491	172	14	phys	phy	NOUN
hjic-491	172	15	.	.	PUNCT
hjic-491	173	1	lett	lett	PROPN
hjic-491	173	2	.	.	PUNCT
hjic-491	174	1	a	a	PRON
hjic-491	174	2	,	,	PUNCT
hjic-491	174	3	1995	1995	NUM
hjic-491	174	4	,	,	PUNCT
hjic-491	174	5	206	206	NUM
hjic-491	174	6	,	,	PUNCT
hjic-491	174	7	31–37	31–37	PROPN
hjic-491	175	1	[	[	X
hjic-491	175	2	5	5	NUM
hjic-491	175	3	]	]	X
hjic-491	175	4	magyar	magyar	PROPN
hjic-491	175	5	a.	a.	PROPN
hjic-491	175	6	,	,	PUNCT
hjic-491	175	7	fodor	fodor	PROPN
hjic-491	175	8	a.	a.	NOUN
hjic-491	175	9	:	:	PUNCT
hjic-491	175	10	quasi	quasi	ADJ
hjic-491	175	11	-	-	ADJ
hjic-491	175	12	polynomial	polynomial	ADJ
hjic-491	175	13	control	control	NOUN
hjic-491	175	14	of	of	ADP
hjic-491	175	15	a	a	DET
hjic-491	175	16	synchronous	synchronous	ADJ
hjic-491	175	17	generator	generator	NOUN
hjic-491	175	18	,	,	PUNCT
hjic-491	175	19	hung	hung	PROPN
hjic-491	175	20	.	.	PUNCT
hjic-491	176	1	j.	j.	PROPN
hjic-491	176	2	ind	ind	PROPN
hjic-491	176	3	.	.	PUNCT
hjic-491	177	1	chem	chem	PROPN
hjic-491	177	2	.	.	PUNCT
hjic-491	177	3	,	,	PUNCT
hjic-491	177	4	2013	2013	NUM
hjic-491	177	5	,	,	PUNCT
hjic-491	177	6	41(1	41(1	NUM
hjic-491	177	7	)	)	PUNCT
hjic-491	177	8	,	,	PUNCT
hjic-491	177	9	55–61	55–61	NUM
hjic-491	177	10	[	[	X
hjic-491	177	11	6	6	NUM
hjic-491	177	12	]	]	PUNCT
hjic-491	177	13	tzafestas	tzafestas	NOUN
hjic-491	177	14	s.g	s.g	PROPN
hjic-491	177	15	.	.	PROPN
hjic-491	177	16	:	:	PUNCT
hjic-491	178	1	mobile	mobile	ADJ
hjic-491	178	2	robot	robot	NOUN
hjic-491	178	3	control	control	NOUN
hjic-491	178	4	i	i	PRON
hjic-491	178	5	:	:	PUNCT
hjic-491	178	6	the	the	DET
hjic-491	178	7	lyapunov	lyapunov	NOUN
hjic-491	178	8	-	-	PUNCT
hjic-491	178	9	based	base	VERB
hjic-491	178	10	method	method	NOUN
hjic-491	178	11	,	,	PUNCT
hjic-491	178	12	in	in	ADP
hjic-491	178	13	introduction	introduction	NOUN
hjic-491	178	14	to	to	ADP
hjic-491	178	15	mobile	mobile	ADJ
hjic-491	178	16	robot	robot	NOUN
hjic-491	178	17	control	control	NOUN
hjic-491	178	18	(	(	PUNCT
hjic-491	178	19	tzafestas	tzafestas	PROPN
hjic-491	178	20	s.g	s.g	PROPN
hjic-491	178	21	.	.	PROPN
hjic-491	178	22	,	,	PUNCT
hjic-491	178	23	ed	ed	NOUN
hjic-491	178	24	.	.	PUNCT
hjic-491	178	25	)	)	PUNCT
hjic-491	179	1	elsevier	elsevier	NOUN
hjic-491	179	2	,	,	PUNCT
hjic-491	179	3	oxford	oxford	PROPN
hjic-491	179	4	,	,	PUNCT
hjic-491	179	5	2014	2014	NUM
hjic-491	179	6	,	,	PUNCT
hjic-491	179	7	137–183	137–183	NUM
hjic-491	179	8	[	[	X
hjic-491	179	9	7	7	X
hjic-491	179	10	]	]	X
hjic-491	179	11	magyar	magyar	PROPN
hjic-491	179	12	a.	a.	PROPN
hjic-491	179	13	,	,	PUNCT
hjic-491	179	14	szederkényi	szederkényi	PROPN
hjic-491	179	15	g.	g.	PROPN
hjic-491	179	16	,	,	PUNCT
hjic-491	179	17	hangos	hangos	PROPN
hjic-491	179	18	k.	k.	PROPN
hjic-491	179	19	m.	m.	PROPN
hjic-491	179	20	:	:	PUNCT
hjic-491	179	21	globally	globally	ADV
hjic-491	179	22	stabilizing	stabilize	VERB
hjic-491	179	23	feedback	feedback	NOUN
hjic-491	179	24	control	control	NOUN
hjic-491	179	25	of	of	ADP
hjic-491	179	26	process	process	NOUN
hjic-491	179	27	systems	system	NOUN
hjic-491	179	28	in	in	ADP
hjic-491	179	29	generalized	generalized	ADJ
hjic-491	179	30	lotka	lotka	PROPN
hjic-491	179	31	-	-	PUNCT
hjic-491	179	32	volterra	volterra	NOUN
hjic-491	179	33	form	form	NOUN
hjic-491	179	34	,	,	PUNCT
hjic-491	179	35	j.	j.	PROPN
hjic-491	179	36	proc	proc	PROPN
hjic-491	179	37	.	.	PUNCT
hjic-491	180	1	contr	contr	PROPN
hjic-491	180	2	.	.	PROPN
hjic-491	180	3	,	,	PUNCT
hjic-491	180	4	2008	2008	NUM
hjic-491	180	5	,	,	PUNCT
hjic-491	180	6	18(1	18(1	NUM
hjic-491	180	7	)	)	PUNCT
hjic-491	180	8	,	,	PUNCT
hjic-491	180	9	80–91	80–91	NUM