id	sid	tid	token	lemma	pos
hjic-848	1	1	hungarian	hungarian	ADJ
hjic-848	1	2	journal	journal	NOUN
hjic-848	1	3	of	of	ADP
hjic-848	1	4	industry	industry	NOUN
hjic-848	1	5	and	and	CCONJ
hjic-848	1	6	chemistry	chemistry	NOUN
hjic-848	1	7	vol	vol	NOUN
hjic-848	1	8	.	.	PUNCT
hjic-848	1	9	47(1	47(1	NUM
hjic-848	1	10	)	)	PUNCT
hjic-848	1	11	pp	pp	ADP
hjic-848	1	12	.	.	PUNCT
hjic-848	2	1	41–48	41–48	NUM
hjic-848	2	2	(	(	PUNCT
hjic-848	2	3	2019	2019	NUM
hjic-848	2	4	)	)	PUNCT
hjic-848	2	5	hjic.mk.uni-pannon.hu	hjic.mk.uni-pannon.hu	NOUN
hjic-848	2	6	doi	doi	PROPN
hjic-848	2	7	:	:	PUNCT
hjic-848	2	8	10.33927	10.33927	NUM
hjic-848	2	9	/	/	SYM
hjic-848	2	10	hjic-2019	hjic-2019	ADJ
hjic-848	2	11	-	-	PUNCT
hjic-848	2	12	07	07	NUM
hjic-848	2	13	model	model	NOUN
hjic-848	2	14	reference	reference	NOUN
hjic-848	2	15	adaptive	adaptive	ADJ
hjic-848	2	16	control	control	NOUN
hjic-848	2	17	for	for	ADP
hjic-848	2	18	telemanipulation	telemanipulation	NOUN
hjic-848	2	19	nándor	nándor	NOUN
hjic-848	2	20	fink	fink	VERB
hjic-848	2	21	*	*	PUNCT
hjic-848	2	22	1	1	PROPN
hjic-848	2	23	1department	1department	NUM
hjic-848	2	24	of	of	ADP
hjic-848	2	25	mechatronics	mechatronic	NOUN
hjic-848	2	26	,	,	PUNCT
hjic-848	2	27	optics	optic	NOUN
hjic-848	2	28	and	and	CCONJ
hjic-848	2	29	engineering	engineering	NOUN
hjic-848	2	30	informatics	informatic	NOUN
hjic-848	2	31	,	,	PUNCT
hjic-848	2	32	budapest	budapest	PROPN
hjic-848	2	33	university	university	PROPN
hjic-848	2	34	of	of	ADP
hjic-848	2	35	technology	technology	NOUN
hjic-848	2	36	and	and	CCONJ
hjic-848	2	37	economics	economic	NOUN
hjic-848	2	38	,	,	PUNCT
hjic-848	2	39	bertalan	bertalan	NOUN
hjic-848	2	40	lajos	lajos	NOUN
hjic-848	2	41	utca	utca	ADJ
hjic-848	2	42	4	4	NUM
hjic-848	2	43	-	-	SYM
hjic-848	2	44	6	6	NUM
hjic-848	2	45	,	,	PUNCT
hjic-848	2	46	budapest	budapest	NOUN
hjic-848	2	47	,	,	PUNCT
hjic-848	2	48	1111	1111	NUM
hjic-848	2	49	,	,	PUNCT
hjic-848	2	50	hungary	hungary	VERB
hjic-848	2	51	a	a	DET
hjic-848	2	52	1	1	NUM
hjic-848	2	53	-	-	PUNCT
hjic-848	2	54	dof	dof	NOUN
hjic-848	2	55	(	(	PUNCT
hjic-848	2	56	degree	degree	NOUN
hjic-848	2	57	-	-	PUNCT
hjic-848	2	58	of	of	ADP
hjic-848	2	59	-	-	PUNCT
hjic-848	2	60	freedom	freedom	NOUN
hjic-848	2	61	)	)	PUNCT
hjic-848	2	62	telemanipulation	telemanipulation	NOUN
hjic-848	2	63	system	system	NOUN
hjic-848	2	64	is	be	AUX
hjic-848	2	65	presented	present	VERB
hjic-848	2	66	in	in	ADP
hjic-848	2	67	this	this	DET
hjic-848	2	68	paper	paper	NOUN
hjic-848	2	69	.	.	PUNCT
hjic-848	3	1	the	the	DET
hjic-848	3	2	paper	paper	NOUN
hjic-848	3	3	focuses	focus	VERB
hjic-848	3	4	on	on	ADP
hjic-848	3	5	disturbance	disturbance	NOUN
hjic-848	3	6	compensation	compensation	NOUN
hjic-848	3	7	of	of	ADP
hjic-848	3	8	the	the	DET
hjic-848	3	9	haptic	haptic	ADJ
hjic-848	3	10	force	force	NOUN
hjic-848	3	11	feedback	feedback	NOUN
hjic-848	3	12	.	.	PUNCT
hjic-848	4	1	the	the	DET
hjic-848	4	2	master	master	NOUN
hjic-848	4	3	and	and	CCONJ
hjic-848	4	4	slave	slave	NOUN
hjic-848	4	5	devices	device	NOUN
hjic-848	4	6	are	be	AUX
hjic-848	4	7	connected	connect	VERB
hjic-848	4	8	via	via	ADP
hjic-848	4	9	serial	serial	ADJ
hjic-848	4	10	ports	port	NOUN
hjic-848	4	11	.	.	PUNCT
hjic-848	5	1	the	the	DET
hjic-848	5	2	mechanism	mechanism	NOUN
hjic-848	5	3	,	,	PUNCT
hjic-848	5	4	which	which	PRON
hjic-848	5	5	is	be	AUX
hjic-848	5	6	applied	apply	VERB
hjic-848	5	7	as	as	ADP
hjic-848	5	8	a	a	DET
hjic-848	5	9	human	human	ADJ
hjic-848	5	10	interface	interface	NOUN
hjic-848	5	11	device	device	NOUN
hjic-848	5	12	,	,	PUNCT
hjic-848	5	13	is	be	AUX
hjic-848	5	14	subject	subject	ADJ
hjic-848	5	15	to	to	ADP
hjic-848	5	16	perceptible	perceptible	ADJ
hjic-848	5	17	internal	internal	ADJ
hjic-848	5	18	friction	friction	NOUN
hjic-848	5	19	that	that	PRON
hjic-848	5	20	must	must	AUX
hjic-848	5	21	be	be	AUX
hjic-848	5	22	eliminated	eliminate	VERB
hjic-848	5	23	.	.	PUNCT
hjic-848	6	1	as	as	ADP
hjic-848	6	2	a	a	DET
hjic-848	6	3	result	result	NOUN
hjic-848	6	4	,	,	PUNCT
hjic-848	6	5	the	the	DET
hjic-848	6	6	operator	operator	NOUN
hjic-848	6	7	would	would	AUX
hjic-848	6	8	only	only	ADV
hjic-848	6	9	feel	feel	VERB
hjic-848	6	10	the	the	DET
hjic-848	6	11	force	force	NOUN
hjic-848	6	12	feedback	feedback	VERB
hjic-848	6	13	from	from	ADP
hjic-848	6	14	the	the	DET
hjic-848	6	15	manipulated	manipulate	VERB
hjic-848	6	16	environment	environment	NOUN
hjic-848	6	17	.	.	PUNCT
hjic-848	7	1	the	the	DET
hjic-848	7	2	main	main	ADJ
hjic-848	7	3	contribution	contribution	NOUN
hjic-848	7	4	of	of	ADP
hjic-848	7	5	this	this	DET
hjic-848	7	6	paper	paper	NOUN
hjic-848	7	7	is	be	AUX
hjic-848	7	8	the	the	DET
hjic-848	7	9	presentation	presentation	NOUN
hjic-848	7	10	of	of	ADP
hjic-848	7	11	the	the	DET
hjic-848	7	12	telemanipulation	telemanipulation	NOUN
hjic-848	7	13	device	device	NOUN
hjic-848	7	14	with	with	ADP
hjic-848	7	15	a	a	DET
hjic-848	7	16	model	model	NOUN
hjic-848	7	17	reference	reference	NOUN
hjic-848	7	18	adaptive	adaptive	ADJ
hjic-848	7	19	control	control	NOUN
hjic-848	7	20	that	that	PRON
hjic-848	7	21	compensates	compensate	VERB
hjic-848	7	22	for	for	ADP
hjic-848	7	23	the	the	DET
hjic-848	7	24	friction	friction	NOUN
hjic-848	7	25	force	force	NOUN
hjic-848	7	26	using	use	VERB
hjic-848	7	27	a	a	DET
hjic-848	7	28	direct	direct	ADJ
hjic-848	7	29	model	model	NOUN
hjic-848	7	30	-	-	PUNCT
hjic-848	7	31	based	base	VERB
hjic-848	7	32	sliding	sliding	ADJ
hjic-848	7	33	mode	mode	NOUN
hjic-848	7	34	algorithm	algorithm	NOUN
hjic-848	7	35	.	.	PUNCT
hjic-848	8	1	keywords	keyword	NOUN
hjic-848	8	2	:	:	PUNCT
hjic-848	8	3	telemanipulation	telemanipulation	NOUN
hjic-848	8	4	,	,	PUNCT
hjic-848	8	5	friction	friction	NOUN
hjic-848	8	6	compensation	compensation	NOUN
hjic-848	8	7	,	,	PUNCT
hjic-848	8	8	sliding	slide	VERB
hjic-848	8	9	mode	mode	NOUN
hjic-848	8	10	control	control	NOUN
hjic-848	8	11	1	1	NUM
hjic-848	8	12	.	.	PUNCT
hjic-848	8	13	introduction	introduction	NOUN
hjic-848	8	14	in	in	ADP
hjic-848	8	15	connection	connection	NOUN
hjic-848	8	16	with	with	ADP
hjic-848	8	17	the	the	DET
hjic-848	8	18	rapid	rapid	ADJ
hjic-848	8	19	spread	spread	NOUN
hjic-848	8	20	of	of	ADP
hjic-848	8	21	the	the	DET
hjic-848	8	22	internet	internet	NOUN
hjic-848	8	23	over	over	ADP
hjic-848	8	24	the	the	DET
hjic-848	8	25	past	past	ADJ
hjic-848	8	26	few	few	ADJ
hjic-848	8	27	years	year	NOUN
hjic-848	8	28	,	,	PUNCT
hjic-848	8	29	research	research	NOUN
hjic-848	8	30	about	about	ADP
hjic-848	8	31	cscw	cscw	NOUN
hjic-848	8	32	(	(	PUNCT
hjic-848	8	33	computersupported	computersupported	ADJ
hjic-848	8	34	cooperative	cooperative	ADJ
hjic-848	8	35	work	work	NOUN
hjic-848	8	36	)	)	PUNCT
hjic-848	8	37	technology	technology	NOUN
hjic-848	8	38	is	be	AUX
hjic-848	8	39	being	be	AUX
hjic-848	8	40	vehemently	vehemently	ADV
hjic-848	8	41	conducted	conduct	VERB
hjic-848	8	42	.	.	PUNCT
hjic-848	9	1	it	it	PRON
hjic-848	9	2	is	be	AUX
hjic-848	9	3	expected	expect	VERB
hjic-848	9	4	that	that	SCONJ
hjic-848	9	5	this	this	DET
hjic-848	9	6	network	network	NOUN
hjic-848	9	7	-	-	PUNCT
hjic-848	9	8	based	base	VERB
hjic-848	9	9	technology	technology	NOUN
hjic-848	9	10	will	will	AUX
hjic-848	9	11	make	make	VERB
hjic-848	9	12	collaboration	collaboration	NOUN
hjic-848	9	13	in	in	ADP
hjic-848	9	14	connection	connection	NOUN
hjic-848	9	15	with	with	ADP
hjic-848	9	16	human	human	ADJ
hjic-848	9	17	intellectual	intellectual	ADJ
hjic-848	9	18	activities	activity	NOUN
hjic-848	9	19	between	between	ADP
hjic-848	9	20	distantly	distantly	ADV
hjic-848	9	21	connected	connected	ADJ
hjic-848	9	22	people	people	NOUN
hjic-848	9	23	easier	easy	ADJ
hjic-848	9	24	.	.	PUNCT
hjic-848	10	1	in	in	ADP
hjic-848	10	2	the	the	DET
hjic-848	10	3	field	field	NOUN
hjic-848	10	4	of	of	ADP
hjic-848	10	5	cscw	cscw	NOUN
hjic-848	10	6	technology	technology	NOUN
hjic-848	10	7	,	,	PUNCT
hjic-848	10	8	the	the	DET
hjic-848	10	9	data	datum	NOUN
hjic-848	10	10	to	to	PART
hjic-848	10	11	be	be	AUX
hjic-848	10	12	processed	process	VERB
hjic-848	10	13	are	be	AUX
hjic-848	10	14	only	only	ADV
hjic-848	10	15	images	image	NOUN
hjic-848	10	16	,	,	PUNCT
hjic-848	10	17	sounds	sound	NOUN
hjic-848	10	18	and	and	CCONJ
hjic-848	10	19	other	other	ADJ
hjic-848	10	20	data	datum	NOUN
hjic-848	10	21	for	for	ADP
hjic-848	10	22	computers	computer	NOUN
hjic-848	10	23	,	,	PUNCT
hjic-848	10	24	little	little	ADJ
hjic-848	10	25	attention	attention	NOUN
hjic-848	10	26	has	have	AUX
hjic-848	10	27	been	be	AUX
hjic-848	10	28	paid	pay	VERB
hjic-848	10	29	to	to	PART
hjic-848	10	30	multi	multi	ADJ
hjic-848	10	31	-	-	ADJ
hjic-848	10	32	modal	modal	ADJ
hjic-848	10	33	collaboration	collaboration	NOUN
hjic-848	10	34	including	include	VERB
hjic-848	10	35	physical	physical	ADJ
hjic-848	10	36	contact	contact	NOUN
hjic-848	10	37	.	.	PUNCT
hjic-848	11	1	our	our	PRON
hjic-848	11	2	focus	focus	NOUN
hjic-848	11	3	concerns	concern	NOUN
hjic-848	11	4	networked	network	VERB
hjic-848	11	5	multi	multi	ADJ
hjic-848	11	6	-	-	ADJ
hjic-848	11	7	modal	modal	ADJ
hjic-848	11	8	collaboration	collaboration	NOUN
hjic-848	11	9	especially	especially	ADV
hjic-848	11	10	between	between	ADP
hjic-848	11	11	those	those	PRON
hjic-848	11	12	including	include	VERB
hjic-848	11	13	haptics	haptic	NOUN
hjic-848	11	14	.	.	PUNCT
hjic-848	12	1	a	a	DET
hjic-848	12	2	collaboration	collaboration	NOUN
hjic-848	12	3	tool	tool	NOUN
hjic-848	12	4	that	that	PRON
hjic-848	12	5	facilitates	facilitate	VERB
hjic-848	12	6	a	a	DET
hjic-848	12	7	better	well	ADJ
hjic-848	12	8	connection	connection	NOUN
hjic-848	12	9	between	between	ADP
hjic-848	12	10	laboratories	laboratory	NOUN
hjic-848	12	11	,	,	PUNCT
hjic-848	12	12	offices	office	NOUN
hjic-848	12	13	and	and	CCONJ
hjic-848	12	14	factories	factory	NOUN
hjic-848	12	15	in	in	ADP
hjic-848	12	16	the	the	DET
hjic-848	12	17	manufacturing	manufacturing	NOUN
hjic-848	12	18	industry	industry	NOUN
hjic-848	12	19	has	have	AUX
hjic-848	12	20	become	become	VERB
hjic-848	12	21	necessary	necessary	ADJ
hjic-848	12	22	[	[	X
hjic-848	12	23	1–3	1–3	NOUN
hjic-848	12	24	]	]	X
hjic-848	12	25	.	.	PUNCT
hjic-848	13	1	research	research	NOUN
hjic-848	13	2	into	into	ADP
hjic-848	13	3	the	the	DET
hjic-848	13	4	bilateral	bilateral	ADJ
hjic-848	13	5	control	control	NOUN
hjic-848	13	6	of	of	ADP
hjic-848	13	7	master	master	NOUN
hjic-848	13	8	-	-	PUNCT
hjic-848	13	9	slave	slave	NOUN
hjic-848	13	10	manipulators	manipulator	NOUN
hjic-848	13	11	was	be	AUX
hjic-848	13	12	conducted	conduct	VERB
hjic-848	13	13	in	in	ADP
hjic-848	13	14	1992	1992	NUM
hjic-848	13	15	.	.	PUNCT
hjic-848	14	1	in	in	ADP
hjic-848	14	2	[	[	X
hjic-848	14	3	4	4	X
hjic-848	14	4	]	]	PUNCT
hjic-848	14	5	a	a	DET
hjic-848	14	6	1	1	NUM
hjic-848	14	7	-	-	PUNCT
hjic-848	14	8	dof	dof	NOUN
hjic-848	14	9	telemanipulation	telemanipulation	NOUN
hjic-848	14	10	system	system	NOUN
hjic-848	14	11	was	be	AUX
hjic-848	14	12	tested	test	VERB
hjic-848	14	13	.	.	PUNCT
hjic-848	15	1	the	the	DET
hjic-848	15	2	research	research	NOUN
hjic-848	15	3	covered	cover	VERB
hjic-848	15	4	the	the	DET
hjic-848	15	5	dynamics	dynamic	NOUN
hjic-848	15	6	of	of	ADP
hjic-848	15	7	the	the	DET
hjic-848	15	8	human	human	ADJ
hjic-848	15	9	operator	operator	NOUN
hjic-848	15	10	as	as	ADV
hjic-848	15	11	well	well	ADV
hjic-848	15	12	as	as	ADP
hjic-848	15	13	the	the	DET
hjic-848	15	14	device	device	NOUN
hjic-848	15	15	.	.	PUNCT
hjic-848	16	1	three	three	NUM
hjic-848	16	2	levels	level	NOUN
hjic-848	16	3	of	of	ADP
hjic-848	16	4	ideal	ideal	ADJ
hjic-848	16	5	responses	response	NOUN
hjic-848	16	6	were	be	AUX
hjic-848	16	7	determined	determine	VERB
hjic-848	16	8	,	,	PUNCT
hjic-848	16	9	in	in	ADP
hjic-848	16	10	all	all	DET
hjic-848	16	11	cases	case	NOUN
hjic-848	16	12	a	a	DET
hjic-848	16	13	force	force	NOUN
hjic-848	16	14	signal	signal	NOUN
hjic-848	16	15	to	to	ADP
hjic-848	16	16	the	the	DET
hjic-848	16	17	master	master	NOUN
hjic-848	16	18	arm	arm	NOUN
hjic-848	16	19	was	be	AUX
hjic-848	16	20	the	the	DET
hjic-848	16	21	input	input	NOUN
hjic-848	16	22	.	.	PUNCT
hjic-848	17	1	the	the	DET
hjic-848	17	2	position	position	NOUN
hjic-848	17	3	of	of	ADP
hjic-848	17	4	the	the	DET
hjic-848	17	5	two	two	NUM
hjic-848	17	6	arms	arm	NOUN
hjic-848	17	7	was	be	AUX
hjic-848	17	8	identical	identical	ADJ
hjic-848	17	9	in	in	ADP
hjic-848	17	10	the	the	DET
hjic-848	17	11	first	first	ADJ
hjic-848	17	12	level	level	NOUN
hjic-848	17	13	,	,	PUNCT
hjic-848	17	14	whereas	whereas	SCONJ
hjic-848	17	15	the	the	DET
hjic-848	17	16	force	force	NOUN
hjic-848	17	17	response	response	NOUN
hjic-848	17	18	of	of	ADP
hjic-848	17	19	the	the	DET
hjic-848	17	20	two	two	NUM
hjic-848	17	21	arms	arm	NOUN
hjic-848	17	22	was	be	AUX
hjic-848	17	23	identical	identical	ADJ
hjic-848	17	24	in	in	ADP
hjic-848	17	25	the	the	DET
hjic-848	17	26	second	second	ADJ
hjic-848	17	27	,	,	PUNCT
hjic-848	17	28	and	and	CCONJ
hjic-848	17	29	both	both	DET
hjic-848	17	30	responses	response	NOUN
hjic-848	17	31	were	be	AUX
hjic-848	17	32	identical	identical	ADJ
hjic-848	17	33	in	in	ADP
hjic-848	17	34	the	the	DET
hjic-848	17	35	third	third	NOUN
hjic-848	17	36	.	.	PUNCT
hjic-848	18	1	in	in	ADP
hjic-848	18	2	[	[	X
hjic-848	18	3	5	5	NUM
hjic-848	18	4	]	]	PUNCT
hjic-848	18	5	a	a	DET
hjic-848	18	6	four	four	NUM
hjic-848	18	7	-	-	PUNCT
hjic-848	18	8	channel	channel	NOUN
hjic-848	18	9	control	control	NOUN
hjic-848	18	10	architecture	architecture	NOUN
hjic-848	18	11	was	be	AUX
hjic-848	18	12	examined	examine	VERB
hjic-848	18	13	.	.	PUNCT
hjic-848	19	1	four	four	NUM
hjic-848	19	2	models	model	NOUN
hjic-848	19	3	were	be	AUX
hjic-848	19	4	tested	test	VERB
hjic-848	19	5	on	on	ADP
hjic-848	19	6	a	a	DET
hjic-848	19	7	teleoperation	teleoperation	NOUN
hjic-848	19	8	system	system	NOUN
hjic-848	19	9	,	,	PUNCT
hjic-848	19	10	namely	namely	ADV
hjic-848	19	11	on	on	ADP
hjic-848	19	12	an	an	DET
hjic-848	19	13	admittance	admittance	NOUN
hjic-848	19	14	-	-	PUNCT
hjic-848	19	15	admittance	admittance	NOUN
hjic-848	19	16	,	,	PUNCT
hjic-848	19	17	impedance	impedance	NOUN
hjic-848	19	18	-	-	PUNCT
hjic-848	19	19	admittance	admittance	NOUN
hjic-848	19	20	,	,	PUNCT
hjic-848	19	21	admittance	admittance	NOUN
hjic-848	19	22	-	-	PUNCT
hjic-848	19	23	impedance	impedance	NOUN
hjic-848	19	24	and	and	CCONJ
hjic-848	19	25	impedance	impedance	NOUN
hjic-848	19	26	-	-	PUNCT
hjic-848	19	27	impedance	impedance	NOUN
hjic-848	19	28	pair	pair	NOUN
hjic-848	19	29	.	.	PUNCT
hjic-848	20	1	based	base	VERB
hjic-848	20	2	on	on	ADP
hjic-848	20	3	the	the	DET
hjic-848	20	4	types	type	NOUN
hjic-848	20	5	of	of	ADP
hjic-848	20	6	*	*	NOUN
hjic-848	20	7	correspondence	correspondence	NOUN
hjic-848	20	8	:	:	PUNCT
hjic-848	20	9	finknandor@mogi.bme.hu	finknandor@mogi.bme.hu	NOUN
hjic-848	20	10	model	model	PROPN
hjic-848	20	11	,	,	PUNCT
hjic-848	20	12	a	a	DET
hjic-848	20	13	one	one	NUM
hjic-848	20	14	-	-	PUNCT
hjic-848	20	15	one	one	NUM
hjic-848	20	16	suggestion	suggestion	NOUN
hjic-848	20	17	was	be	AUX
hjic-848	20	18	made	make	VERB
hjic-848	20	19	for	for	ADP
hjic-848	20	20	the	the	DET
hjic-848	20	21	control	control	NOUN
hjic-848	20	22	architecture	architecture	NOUN
hjic-848	20	23	in	in	ADP
hjic-848	20	24	each	each	DET
hjic-848	20	25	case	case	NOUN
hjic-848	20	26	,	,	PUNCT
hjic-848	20	27	namely	namely	ADV
hjic-848	20	28	position	position	NOUN
hjic-848	20	29	-	-	PUNCT
hjic-848	20	30	position	position	NOUN
hjic-848	20	31	,	,	PUNCT
hjic-848	20	32	position	position	NOUN
hjic-848	20	33	-	-	PUNCT
hjic-848	20	34	force	force	NOUN
hjic-848	20	35	,	,	PUNCT
hjic-848	20	36	force	force	NOUN
hjic-848	20	37	-	-	PUNCT
hjic-848	20	38	position	position	NOUN
hjic-848	20	39	and	and	CCONJ
hjic-848	20	40	force	force	NOUN
hjic-848	20	41	-	-	PUNCT
hjic-848	20	42	force	force	NOUN
hjic-848	20	43	.	.	PUNCT
hjic-848	21	1	in	in	ADP
hjic-848	21	2	addition	addition	NOUN
hjic-848	21	3	to	to	ADP
hjic-848	21	4	the	the	DET
hjic-848	21	5	basic	basic	ADJ
hjic-848	21	6	criteria	criterion	NOUN
hjic-848	21	7	of	of	ADP
hjic-848	21	8	stability	stability	NOUN
hjic-848	21	9	,	,	PUNCT
hjic-848	21	10	the	the	DET
hjic-848	21	11	ease	ease	NOUN
hjic-848	21	12	of	of	ADP
hjic-848	21	13	usability	usability	NOUN
hjic-848	21	14	becomes	become	VERB
hjic-848	21	15	increasingly	increasingly	ADV
hjic-848	21	16	important	important	ADJ
hjic-848	21	17	.	.	PUNCT
hjic-848	22	1	to	to	PART
hjic-848	22	2	ensure	ensure	VERB
hjic-848	22	3	comfortable	comfortable	ADJ
hjic-848	22	4	and	and	CCONJ
hjic-848	22	5	ergonomic	ergonomic	ADJ
hjic-848	22	6	telemanipulation	telemanipulation	NOUN
hjic-848	22	7	,	,	PUNCT
hjic-848	22	8	the	the	DET
hjic-848	22	9	operator	operator	NOUN
hjic-848	22	10	should	should	AUX
hjic-848	22	11	control	control	VERB
hjic-848	22	12	the	the	DET
hjic-848	22	13	slave	slave	NOUN
hjic-848	22	14	device	device	NOUN
hjic-848	22	15	more	more	ADV
hjic-848	22	16	smoothly	smoothly	ADV
hjic-848	22	17	and	and	CCONJ
hjic-848	22	18	precisely	precisely	ADV
hjic-848	22	19	.	.	PUNCT
hjic-848	23	1	furthermore	furthermore	ADV
hjic-848	23	2	,	,	PUNCT
hjic-848	23	3	the	the	DET
hjic-848	23	4	elimination	elimination	NOUN
hjic-848	23	5	of	of	ADP
hjic-848	23	6	perturbations	perturbation	NOUN
hjic-848	23	7	in	in	ADP
hjic-848	23	8	all	all	DET
hjic-848	23	9	circumstances	circumstance	NOUN
hjic-848	23	10	is	be	AUX
hjic-848	23	11	necessary	necessary	ADJ
hjic-848	23	12	.	.	PUNCT
hjic-848	24	1	for	for	ADP
hjic-848	24	2	this	this	DET
hjic-848	24	3	purpose	purpose	NOUN
hjic-848	24	4	,	,	PUNCT
hjic-848	24	5	the	the	DET
hjic-848	24	6	design	design	NOUN
hjic-848	24	7	of	of	ADP
hjic-848	24	8	a	a	DET
hjic-848	24	9	model	model	NOUN
hjic-848	24	10	-	-	PUNCT
hjic-848	24	11	reference	reference	NOUN
hjic-848	24	12	adaptive	adaptive	ADJ
hjic-848	24	13	control	control	NOUN
hjic-848	24	14	with	with	ADP
hjic-848	24	15	a	a	DET
hjic-848	24	16	sliding	slide	VERB
hjic-848	24	17	mode	mode	NOUN
hjic-848	24	18	friction	friction	NOUN
hjic-848	24	19	compensator	compensator	NOUN
hjic-848	24	20	is	be	AUX
hjic-848	24	21	promising	promise	VERB
hjic-848	24	22	.	.	PUNCT
hjic-848	25	1	2	2	X
hjic-848	25	2	.	.	X
hjic-848	25	3	theoretical	theoretical	ADJ
hjic-848	25	4	background	background	NOUN
hjic-848	25	5	of	of	ADP
hjic-848	25	6	the	the	DET
hjic-848	25	7	experiment	experiment	NOUN
hjic-848	25	8	2.1	2.1	NUM
hjic-848	25	9	sliding	slide	VERB
hjic-848	25	10	mode	mode	NOUN
hjic-848	25	11	-	-	PUNCT
hjic-848	25	12	based	base	VERB
hjic-848	25	13	disturbance	disturbance	NOUN
hjic-848	25	14	elimination	elimination	NOUN
hjic-848	25	15	the	the	DET
hjic-848	25	16	main	main	ADJ
hjic-848	25	17	concept	concept	NOUN
hjic-848	25	18	is	be	AUX
hjic-848	25	19	the	the	DET
hjic-848	25	20	design	design	NOUN
hjic-848	25	21	of	of	ADP
hjic-848	25	22	a	a	DET
hjic-848	25	23	reduced	reduce	VERB
hjic-848	25	24	-	-	PUNCT
hjic-848	25	25	order	order	NOUN
hjic-848	25	26	state	state	NOUN
hjic-848	25	27	observer	observer	NOUN
hjic-848	25	28	for	for	ADP
hjic-848	25	29	a	a	DET
hjic-848	25	30	partially	partially	ADV
hjic-848	25	31	perturbed	perturb	VERB
hjic-848	25	32	linear	linear	ADJ
hjic-848	25	33	system	system	NOUN
hjic-848	25	34	with	with	ADP
hjic-848	25	35	infinite	infinite	ADJ
hjic-848	25	36	gain	gain	NOUN
hjic-848	25	37	.	.	PUNCT
hjic-848	26	1	the	the	DET
hjic-848	26	2	traditional	traditional	ADJ
hjic-848	26	3	roles	role	NOUN
hjic-848	26	4	of	of	ADP
hjic-848	26	5	the	the	DET
hjic-848	26	6	system	system	NOUN
hjic-848	26	7	and	and	CCONJ
hjic-848	26	8	observer	observer	NOUN
hjic-848	26	9	are	be	AUX
hjic-848	26	10	exchanged	exchange	VERB
hjic-848	26	11	.	.	PUNCT
hjic-848	27	1	the	the	DET
hjic-848	27	2	system	system	NOUN
hjic-848	27	3	is	be	AUX
hjic-848	27	4	forced	force	VERB
hjic-848	27	5	to	to	PART
hjic-848	27	6	follow	follow	VERB
hjic-848	27	7	the	the	DET
hjic-848	27	8	states	state	NOUN
hjic-848	27	9	of	of	ADP
hjic-848	27	10	the	the	DET
hjic-848	27	11	unperturbed	unperturbed	ADJ
hjic-848	27	12	ideal	ideal	ADJ
hjic-848	27	13	model	model	NOUN
hjic-848	27	14	.	.	PUNCT
hjic-848	28	1	infinite	infinite	ADJ
hjic-848	28	2	gain	gain	NOUN
hjic-848	28	3	is	be	AUX
hjic-848	28	4	ensured	ensure	VERB
hjic-848	28	5	by	by	ADP
hjic-848	28	6	a	a	DET
hjic-848	28	7	sliding	slide	VERB
hjic-848	28	8	mode	mode	NOUN
hjic-848	28	9	.	.	PUNCT
hjic-848	29	1	consider	consider	VERB
hjic-848	29	2	the	the	DET
hjic-848	29	3	following	follow	VERB
hjic-848	29	4	partially	partially	ADV
hjic-848	29	5	perturbed	perturb	VERB
hjic-848	29	6	linear	linear	ADJ
hjic-848	29	7	system	system	NOUN
hjic-848	29	8	that	that	PRON
hjic-848	29	9	consists	consist	VERB
hjic-848	29	10	of	of	ADP
hjic-848	29	11	external	external	ADJ
hjic-848	29	12	disturbances	disturbance	NOUN
hjic-848	29	13	and	and	CCONJ
hjic-848	29	14	uncertain	uncertain	ADJ
hjic-848	29	15	parameters	parameter	NOUN
hjic-848	29	16	which	which	PRON
hjic-848	29	17	satisfy	satisfy	VERB
hjic-848	29	18	the	the	DET
hjic-848	29	19	so	so	ADV
hjic-848	29	20	-	-	PUNCT
hjic-848	29	21	called	call	VERB
hjic-848	29	22	drazenovic	drazenovic	ADJ
hjic-848	29	23	condition	condition	NOUN
hjic-848	29	24	,	,	PUNCT
hjic-848	29	25	written	write	VERB
hjic-848	29	26	in	in	ADP
hjic-848	29	27	the	the	DET
hjic-848	29	28	regular	regular	ADJ
hjic-848	29	29	form	form	NOUN
hjic-848	29	30	of	of	ADP
hjic-848	29	31	a	a	DET
hjic-848	29	32	state	state	NOUN
hjic-848	29	33	equation	equation	NOUN
hjic-848	29	34	,	,	PUNCT
hjic-848	30	1	d	d	NOUN
hjic-848	30	2	dt	dt	X
hjic-848	31	1	[	[	PUNCT
hjic-848	31	2	x1	x1	PROPN
hjic-848	31	3	x2	x2	X
hjic-848	31	4	]	]	PUNCT
hjic-848	32	1	=	=	PUNCT
hjic-848	32	2	[	[	PUNCT
hjic-848	32	3	a11	a11	PROPN
hjic-848	32	4	a12	a12	PROPN
hjic-848	32	5	a21	a21	PROPN
hjic-848	32	6	+	+	CCONJ
hjic-848	32	7	∆a21	∆a21	PROPN
hjic-848	32	8	a22	a22	NOUN
hjic-848	32	9	+	+	CCONJ
hjic-848	32	10	∆a22	∆a22	PROPN
hjic-848	32	11	]	]	PUNCT
hjic-848	32	12	[	[	PUNCT
hjic-848	32	13	x1	x1	PROPN
hjic-848	32	14	x2	x2	X
hjic-848	32	15	]	]	PUNCT
hjic-848	33	1	+	+	CCONJ
hjic-848	33	2	[	[	PUNCT
hjic-848	33	3	0	0	NUM
hjic-848	33	4	b2	b2	NOUN
hjic-848	33	5	+	+	CCONJ
hjic-848	33	6	∆b2	∆b2	ADJ
hjic-848	33	7	]	]	X
hjic-848	33	8	u0	u0	PROPN
hjic-848	33	9	+	+	X
hjic-848	33	10	[	[	PUNCT
hjic-848	33	11	0	0	NUM
hjic-848	33	12	e2	e2	PROPN
hjic-848	33	13	]	]	PUNCT
hjic-848	33	14	f(t	f(t	PROPN
hjic-848	33	15	)	)	PUNCT
hjic-848	33	16	(	(	PUNCT
hjic-848	33	17	1	1	X
hjic-848	33	18	)	)	PUNCT
hjic-848	33	19	mailto:finknandor@mogi.bme.hu	mailto:finknandor@mogi.bme.hu	NOUN
hjic-848	33	20	42	42	NUM
hjic-848	33	21	fink	fink	VERB
hjic-848	33	22	where	where	SCONJ
hjic-848	33	23	x1	x1	PROPN
hjic-848	33	24	∈	∈	PROPN
hjic-848	33	25	rn−m	rn−m	PROPN
hjic-848	33	26	denotes	denote	VERB
hjic-848	33	27	the	the	DET
hjic-848	33	28	vector	vector	NOUN
hjic-848	33	29	of	of	ADP
hjic-848	33	30	non	non	ADJ
hjic-848	33	31	-	-	ADJ
hjic-848	33	32	perturbed	perturb	VERB
hjic-848	33	33	state	state	NOUN
hjic-848	33	34	variables	variable	NOUN
hjic-848	33	35	,	,	PUNCT
hjic-848	33	36	x2	x2	PROPN
hjic-848	33	37	∈	∈	PROPN
hjic-848	33	38	rm	rm	NOUN
hjic-848	33	39	stands	stand	VERB
hjic-848	33	40	for	for	ADP
hjic-848	33	41	the	the	DET
hjic-848	33	42	vector	vector	NOUN
hjic-848	33	43	of	of	ADP
hjic-848	33	44	perturbed	perturb	VERB
hjic-848	33	45	state	state	NOUN
hjic-848	33	46	variables	variable	NOUN
hjic-848	33	47	,	,	PUNCT
hjic-848	33	48	u0	u0	PROPN
hjic-848	33	49	∈	∈	PROPN
hjic-848	33	50	rm	rm	NOUN
hjic-848	33	51	represents	represent	VERB
hjic-848	33	52	the	the	DET
hjic-848	33	53	input	input	NOUN
hjic-848	33	54	of	of	ADP
hjic-848	33	55	the	the	DET
hjic-848	33	56	real	real	ADJ
hjic-848	33	57	system	system	NOUN
hjic-848	33	58	,	,	PUNCT
hjic-848	33	59	aij(i	aij(i	PROPN
hjic-848	33	60	,	,	PUNCT
hjic-848	33	61	j	j	PROPN
hjic-848	33	62	=	=	SYM
hjic-848	33	63	1	1	NUM
hjic-848	33	64	,	,	PUNCT
hjic-848	33	65	2	2	NUM
hjic-848	33	66	)	)	PUNCT
hjic-848	33	67	and	and	CCONJ
hjic-848	33	68	b2	b2	NOUN
hjic-848	33	69	are	be	AUX
hjic-848	33	70	the	the	DET
hjic-848	33	71	nominal	nominal	ADJ
hjic-848	33	72	or	or	CCONJ
hjic-848	33	73	desired	desire	VERB
hjic-848	33	74	(	(	PUNCT
hjic-848	33	75	ideal	ideal	ADJ
hjic-848	33	76	)	)	PUNCT
hjic-848	33	77	matrices	matrix	NOUN
hjic-848	33	78	of	of	ADP
hjic-848	33	79	the	the	DET
hjic-848	33	80	system	system	NOUN
hjic-848	33	81	,	,	PUNCT
hjic-848	33	82	respectively	respectively	ADV
hjic-848	33	83	,	,	PUNCT
hjic-848	33	84	∆a2j(j	∆a2j(j	PROPN
hjic-848	33	85	=	=	SYM
hjic-848	33	86	1	1	NUM
hjic-848	33	87	,	,	PUNCT
hjic-848	33	88	2	2	NUM
hjic-848	33	89	)	)	PUNCT
hjic-848	33	90	and	and	CCONJ
hjic-848	33	91	∆b2	∆b2	PROPN
hjic-848	33	92	denote	denote	VERB
hjic-848	33	93	the	the	DET
hjic-848	33	94	bounded	bounded	ADJ
hjic-848	33	95	parameter	parameter	NOUN
hjic-848	33	96	perturbations	perturbation	NOUN
hjic-848	33	97	,	,	PUNCT
hjic-848	33	98	and	and	CCONJ
hjic-848	33	99	f(t	f(t	NOUN
hjic-848	33	100	)	)	PUNCT
hjic-848	33	101	stands	stand	VERB
hjic-848	33	102	for	for	ADP
hjic-848	33	103	the	the	DET
hjic-848	33	104	bounded	bounded	ADJ
hjic-848	33	105	external	external	ADJ
hjic-848	33	106	disturbance	disturbance	NOUN
hjic-848	33	107	.	.	PUNCT
hjic-848	34	1	the	the	DET
hjic-848	34	2	perturbed	perturb	VERB
hjic-848	34	3	state	state	NOUN
hjic-848	34	4	variables	variable	NOUN
hjic-848	34	5	are	be	AUX
hjic-848	34	6	estimated	estimate	VERB
hjic-848	34	7	by	by	ADP
hjic-848	34	8	a	a	DET
hjic-848	34	9	discontinuous	discontinuous	ADJ
hjic-848	34	10	observer	observer	NOUN
hjic-848	34	11	[	[	X
hjic-848	34	12	6	6	NUM
hjic-848	34	13	]	]	PUNCT
hjic-848	34	14	d	d	NOUN
hjic-848	34	15	dt	dt	NOUN
hjic-848	34	16	x̂2	x̂2	NOUN
hjic-848	34	17	=	=	SYM
hjic-848	34	18	a21x1	a21x1	ADP
hjic-848	34	19	+	+	CCONJ
hjic-848	34	20	a22x̂2	a22x̂2	ADJ
hjic-848	34	21	+	+	NUM
hjic-848	34	22	b2	b2	NOUN
hjic-848	34	23	(	(	PUNCT
hjic-848	34	24	u0	u0	ADJ
hjic-848	34	25	+	+	X
hjic-848	34	26	ν	ν	NOUN
hjic-848	34	27	)	)	PUNCT
hjic-848	34	28	(	(	PUNCT
hjic-848	34	29	2	2	X
hjic-848	34	30	)	)	PUNCT
hjic-848	34	31	where	where	SCONJ
hjic-848	34	32	ν	ν	PROPN
hjic-848	34	33	denotes	denote	VERB
hjic-848	34	34	the	the	DET
hjic-848	34	35	discontinuous	discontinuous	ADJ
hjic-848	34	36	term	term	NOUN
hjic-848	34	37	.	.	PUNCT
hjic-848	35	1	let	let	VERB
hjic-848	35	2	us	we	PRON
hjic-848	35	3	design	design	VERB
hjic-848	35	4	the	the	DET
hjic-848	35	5	following	follow	VERB
hjic-848	35	6	sliding	slide	VERB
hjic-848	35	7	surface	surface	NOUN
hjic-848	35	8	:	:	PUNCT
hjic-848	36	1	σ	σ	X
hjic-848	36	2	=	=	PUNCT
hjic-848	37	1	[	[	PUNCT
hjic-848	37	2	i	i	PRON
hjic-848	37	3	−i	−i	VERB
hjic-848	37	4	]	]	X
hjic-848	38	1	[	[	X
hjic-848	38	2	x2	x2	X
hjic-848	38	3	x̂2	x̂2	NOUN
hjic-848	38	4	]	]	X
hjic-848	39	1	=	=	SYM
hjic-848	39	2	0	0	PUNCT
hjic-848	39	3	(	(	PUNCT
hjic-848	39	4	3	3	NUM
hjic-848	39	5	)	)	PUNCT
hjic-848	39	6	where	where	SCONJ
hjic-848	39	7	i	i	PRON
hjic-848	39	8	∈	∈	PROPN
hjic-848	39	9	rm×m	rm×m	NOUN
hjic-848	39	10	represents	represent	VERB
hjic-848	39	11	the	the	DET
hjic-848	39	12	identity	identity	NOUN
hjic-848	39	13	matrix	matrix	NOUN
hjic-848	39	14	and	and	CCONJ
hjic-848	39	15	σ	σ	PROPN
hjic-848	39	16	∈	∈	PROPN
hjic-848	39	17	rm	rm	NOUN
hjic-848	39	18	stands	stand	VERB
hjic-848	39	19	for	for	ADP
hjic-848	39	20	the	the	DET
hjic-848	39	21	distance	distance	NOUN
hjic-848	39	22	from	from	ADP
hjic-848	39	23	the	the	DET
hjic-848	39	24	surface	surface	NOUN
hjic-848	39	25	.	.	PUNCT
hjic-848	40	1	σ	σ	NOUN
hjic-848	40	2	must	must	AUX
hjic-848	40	3	tend	tend	VERB
hjic-848	40	4	to	to	ADP
hjic-848	40	5	zero	zero	NUM
hjic-848	40	6	.	.	PUNCT
hjic-848	41	1	let	let	VERB
hjic-848	41	2	us	we	PRON
hjic-848	41	3	calculate	calculate	VERB
hjic-848	41	4	the	the	DET
hjic-848	41	5	elements	element	NOUN
hjic-848	41	6	of	of	ADP
hjic-848	41	7	the	the	DET
hjic-848	41	8	discontinuous	discontinuous	ADJ
hjic-848	41	9	term	term	NOUN
hjic-848	41	10	ν	ν	NOUN
hjic-848	41	11	in	in	ADP
hjic-848	41	12	following	follow	VERB
hjic-848	41	13	way	way	NOUN
hjic-848	41	14	:	:	PUNCT
hjic-848	41	15	νi	νi	NOUN
hjic-848	41	16	=	=	NOUN
hjic-848	41	17	gi	gi	NOUN
hjic-848	41	18	sign(σi	sign(σi	NOUN
hjic-848	41	19	)	)	PUNCT
hjic-848	41	20	,	,	PUNCT
hjic-848	41	21	(	(	PUNCT
hjic-848	41	22	4	4	X
hjic-848	41	23	)	)	PUNCT
hjic-848	41	24	where	where	SCONJ
hjic-848	41	25	gi	gi	PRON
hjic-848	41	26	is	be	AUX
hjic-848	41	27	the	the	DET
hjic-848	41	28	gain	gain	NOUN
hjic-848	41	29	of	of	ADP
hjic-848	41	30	the	the	DET
hjic-848	41	31	sliding	slide	VERB
hjic-848	41	32	mode	mode	NOUN
hjic-848	41	33	controller	controller	NOUN
hjic-848	41	34	.	.	PUNCT
hjic-848	42	1	the	the	DET
hjic-848	42	2	implementation	implementation	NOUN
hjic-848	42	3	of	of	ADP
hjic-848	42	4	a	a	DET
hjic-848	42	5	sliding	slide	VERB
hjic-848	42	6	mode	mode	NOUN
hjic-848	42	7	means	mean	VERB
hjic-848	42	8	that	that	SCONJ
hjic-848	42	9	the	the	DET
hjic-848	42	10	signs	sign	NOUN
hjic-848	42	11	of	of	ADP
hjic-848	42	12	σi	σi	NOUN
hjic-848	42	13	=	=	SYM
hjic-848	42	14	0	0	NUM
hjic-848	43	1	and	and	CCONJ
hjic-848	43	2	νi	νi	PRON
hjic-848	43	3	change	change	NOUN
hjic-848	43	4	at	at	ADP
hjic-848	43	5	an	an	DET
hjic-848	43	6	infinitely	infinitely	ADV
hjic-848	43	7	high	high	ADJ
hjic-848	43	8	frequency	frequency	NOUN
hjic-848	43	9	[	[	X
hjic-848	43	10	7	7	NUM
hjic-848	43	11	]	]	PUNCT
hjic-848	43	12	.	.	PUNCT
hjic-848	44	1	ν	ν	NOUN
hjic-848	44	2	can	can	AUX
hjic-848	44	3	be	be	AUX
hjic-848	44	4	substituted	substitute	VERB
hjic-848	44	5	by	by	ADP
hjic-848	44	6	its	its	PRON
hjic-848	44	7	mean	mean	ADJ
hjic-848	44	8	value	value	NOUN
hjic-848	44	9	denoted	denote	VERB
hjic-848	44	10	by	by	ADP
hjic-848	44	11	νeq	νeq	PROPN
hjic-848	44	12	.	.	PUNCT
hjic-848	45	1	by	by	ADP
hjic-848	45	2	comparing	compare	VERB
hjic-848	45	3	the	the	DET
hjic-848	45	4	second	second	ADJ
hjic-848	45	5	line	line	NOUN
hjic-848	45	6	of	of	ADP
hjic-848	45	7	eq	eq	PROPN
hjic-848	45	8	.	.	PROPN
hjic-848	45	9	1	1	NUM
hjic-848	45	10	and	and	CCONJ
hjic-848	45	11	eq	eq	NOUN
hjic-848	45	12	.	.	NOUN
hjic-848	45	13	2	2	NUM
hjic-848	45	14	:(	:(	NOUN
hjic-848	45	15	b2	b2	NOUN
hjic-848	45	16	+	+	CCONJ
hjic-848	45	17	∆b2	∆b2	ADJ
hjic-848	45	18	)	)	PUNCT
hjic-848	45	19	ν	ν	X
hjic-848	45	20	=	=	SYM
hjic-848	45	21	∆a21x1	∆a21x1	PROPN
hjic-848	45	22	+	+	CCONJ
hjic-848	45	23	(	(	PUNCT
hjic-848	45	24	a22	a22	X
hjic-848	45	25	+	+	CCONJ
hjic-848	45	26	∆a22	∆a22	PROPN
hjic-848	45	27	)	)	PUNCT
hjic-848	45	28	x2	x2	NOUN
hjic-848	45	29	−a22x̂2	−a22x̂2	NOUN
hjic-848	45	30	+	+	CCONJ
hjic-848	45	31	∆b2u	∆b2u	NOUN
hjic-848	45	32	0	0	PUNCT
hjic-848	45	33	+	+	CCONJ
hjic-848	45	34	e2f(t	e2f(t	NOUN
hjic-848	45	35	)	)	PUNCT
hjic-848	45	36	(	(	PUNCT
hjic-848	45	37	5	5	NUM
hjic-848	45	38	)	)	PUNCT
hjic-848	45	39	according	accord	VERB
hjic-848	45	40	to	to	ADP
hjic-848	45	41	eq	eq	PROPN
hjic-848	45	42	.	.	PROPN
hjic-848	45	43	5	5	NUM
hjic-848	45	44	,	,	PUNCT
hjic-848	45	45	ν	ν	NOUN
hjic-848	45	46	can	can	AUX
hjic-848	45	47	be	be	AUX
hjic-848	45	48	used	use	VERB
hjic-848	45	49	to	to	PART
hjic-848	45	50	estimate	estimate	VERB
hjic-848	45	51	the	the	DET
hjic-848	45	52	perturbation	perturbation	NOUN
hjic-848	45	53	.	.	PUNCT
hjic-848	46	1	as	as	ADP
hjic-848	46	2	a	a	DET
hjic-848	46	3	result	result	NOUN
hjic-848	46	4	,	,	PUNCT
hjic-848	46	5	the	the	DET
hjic-848	46	6	response	response	NOUN
hjic-848	46	7	of	of	ADP
hjic-848	46	8	the	the	DET
hjic-848	46	9	perturbed	perturb	VERB
hjic-848	46	10	system	system	NOUN
hjic-848	46	11	in	in	ADP
hjic-848	46	12	terms	term	NOUN
hjic-848	46	13	of	of	ADP
hjic-848	46	14	u	u	NOUN
hjic-848	46	15	−	−	PROPN
hjic-848	46	16	ν	ν	NOUN
hjic-848	46	17	will	will	AUX
hjic-848	46	18	be	be	AUX
hjic-848	46	19	identical	identical	ADJ
hjic-848	46	20	to	to	ADP
hjic-848	46	21	that	that	PRON
hjic-848	46	22	of	of	ADP
hjic-848	46	23	the	the	DET
hjic-848	46	24	unperturbed	unperturbed	ADJ
hjic-848	46	25	ideal	ideal	ADJ
hjic-848	46	26	system	system	NOUN
hjic-848	46	27	,	,	PUNCT
hjic-848	46	28	u.	u.	VERB
hjic-848	46	29	the	the	DET
hjic-848	46	30	main	main	ADJ
hjic-848	46	31	problem	problem	NOUN
hjic-848	46	32	concerning	concern	VERB
hjic-848	46	33	the	the	DET
hjic-848	46	34	sliding	slide	VERB
hjic-848	46	35	mode	mode	NOUN
hjic-848	46	36	is	be	AUX
hjic-848	46	37	the	the	DET
hjic-848	46	38	chattering	chattering	NOUN
hjic-848	46	39	caused	cause	VERB
hjic-848	46	40	by	by	ADP
hjic-848	46	41	the	the	DET
hjic-848	46	42	infinitely	infinitely	ADV
hjic-848	46	43	alternating	alternate	VERB
hjic-848	46	44	frequency	frequency	NOUN
hjic-848	46	45	of	of	ADP
hjic-848	46	46	ν	ν	PROPN
hjic-848	46	47	.	.	PUNCT
hjic-848	47	1	to	to	PART
hjic-848	47	2	avoid	avoid	VERB
hjic-848	47	3	uncontrolled	uncontrolled	ADJ
hjic-848	47	4	resonances	resonance	NOUN
hjic-848	47	5	of	of	ADP
hjic-848	47	6	the	the	DET
hjic-848	47	7	unmodeled	unmodeled	ADJ
hjic-848	47	8	dynamics	dynamic	NOUN
hjic-848	47	9	of	of	ADP
hjic-848	47	10	the	the	DET
hjic-848	47	11	real	real	ADJ
hjic-848	47	12	system	system	NOUN
hjic-848	47	13	,	,	PUNCT
hjic-848	47	14	ν	ν	NOUN
hjic-848	47	15	is	be	AUX
hjic-848	47	16	substituted	substitute	VERB
hjic-848	47	17	by	by	ADP
hjic-848	47	18	νeq	νeq	X
hjic-848	47	19	(	(	PUNCT
hjic-848	47	20	the	the	DET
hjic-848	47	21	continuous	continuous	ADJ
hjic-848	47	22	equivalent	equivalent	NOUN
hjic-848	47	23	of	of	ADP
hjic-848	47	24	ν	ν	X
hjic-848	47	25	.	.	PUNCT
hjic-848	48	1	in	in	ADP
hjic-848	48	2	practice	practice	NOUN
hjic-848	48	3	,	,	PUNCT
hjic-848	48	4	it	it	PRON
hjic-848	48	5	is	be	AUX
hjic-848	48	6	impossible	impossible	ADJ
hjic-848	48	7	to	to	PART
hjic-848	48	8	calculate	calculate	VERB
hjic-848	48	9	the	the	DET
hjic-848	48	10	equivalent	equivalent	ADJ
hjic-848	48	11	control	control	NOUN
hjic-848	48	12	νeq	νeq	VERB
hjic-848	48	13	precisely	precisely	ADV
hjic-848	48	14	,	,	PUNCT
hjic-848	48	15	but	but	CCONJ
hjic-848	48	16	it	it	PRON
hjic-848	48	17	can	can	AUX
hjic-848	48	18	be	be	AUX
hjic-848	48	19	estimated	estimate	VERB
hjic-848	48	20	by	by	ADP
hjic-848	48	21	a	a	DET
hjic-848	48	22	low	low	ADJ
hjic-848	48	23	-	-	PUNCT
hjic-848	48	24	pass	pass	NOUN
hjic-848	48	25	filter	filter	NOUN
hjic-848	48	26	for	for	ADP
hjic-848	48	27	ν	ν	NOUN
hjic-848	48	28	as	as	SCONJ
hjic-848	48	29	shown	show	VERB
hjic-848	48	30	in	in	ADP
hjic-848	48	31	fig	fig	NOUN
hjic-848	48	32	.	.	PUNCT
hjic-848	49	1	1	1	NUM
hjic-848	49	2	,	,	PUNCT
hjic-848	49	3	where	where	SCONJ
hjic-848	49	4	two	two	NUM
hjic-848	49	5	loops	loop	NOUN
hjic-848	49	6	can	can	AUX
hjic-848	49	7	be	be	AUX
hjic-848	49	8	seen	see	VERB
hjic-848	49	9	.	.	PUNCT
hjic-848	50	1	figure	figure	VERB
hjic-848	50	2	1	1	NUM
hjic-848	50	3	:	:	PUNCT
hjic-848	50	4	sliding	slide	VERB
hjic-848	50	5	mode	mode	NOUN
hjic-848	50	6	-	-	PUNCT
hjic-848	50	7	based	base	VERB
hjic-848	50	8	disturbance	disturbance	NOUN
hjic-848	50	9	compensation	compensation	NOUN
hjic-848	50	10	.	.	PUNCT
hjic-848	51	1	figure	figure	VERB
hjic-848	51	2	2	2	NUM
hjic-848	51	3	:	:	PUNCT
hjic-848	51	4	the	the	DET
hjic-848	51	5	haptic	haptic	ADJ
hjic-848	51	6	device	device	NOUN
hjic-848	51	7	.	.	PUNCT
hjic-848	52	1	the	the	DET
hjic-848	52	2	observer	observer	NOUN
hjic-848	52	3	–	–	PUNCT
hjic-848	52	4	sliding	slide	VERB
hjic-848	52	5	-	-	PUNCT
hjic-848	52	6	mode	mode	NOUN
hjic-848	52	7	control	control	NOUN
hjic-848	52	8	loop	loop	NOUN
hjic-848	52	9	is	be	AUX
hjic-848	52	10	calculated	calculate	VERB
hjic-848	52	11	by	by	ADP
hjic-848	52	12	the	the	DET
hjic-848	52	13	computer	computer	NOUN
hjic-848	52	14	and	and	CCONJ
hjic-848	52	15	should	should	AUX
hjic-848	52	16	be	be	AUX
hjic-848	52	17	as	as	ADV
hjic-848	52	18	fast	fast	ADJ
hjic-848	52	19	as	as	ADP
hjic-848	52	20	possible	possible	ADJ
hjic-848	52	21	to	to	PART
hjic-848	52	22	achieve	achieve	VERB
hjic-848	52	23	an	an	DET
hjic-848	52	24	ideal	ideal	ADJ
hjic-848	52	25	sliding	slide	VERB
hjic-848	52	26	mode	mode	NOUN
hjic-848	52	27	[	[	X
hjic-848	52	28	8	8	NUM
hjic-848	52	29	,	,	PUNCT
hjic-848	52	30	9	9	NUM
hjic-848	52	31	]	]	PUNCT
hjic-848	52	32	.	.	PUNCT
hjic-848	53	1	since	since	SCONJ
hjic-848	53	2	a	a	DET
hjic-848	53	3	reduced	reduce	VERB
hjic-848	53	4	order	order	NOUN
hjic-848	53	5	observer	observer	NOUN
hjic-848	53	6	is	be	AUX
hjic-848	53	7	used	use	VERB
hjic-848	53	8	,	,	PUNCT
hjic-848	53	9	x2	x2	PROPN
hjic-848	53	10	of	of	ADP
hjic-848	53	11	the	the	DET
hjic-848	53	12	real	real	ADJ
hjic-848	53	13	system	system	NOUN
hjic-848	53	14	is	be	AUX
hjic-848	53	15	measured	measure	VERB
hjic-848	53	16	in	in	ADP
hjic-848	53	17	terms	term	NOUN
hjic-848	53	18	of	of	ADP
hjic-848	53	19	the	the	DET
hjic-848	53	20	disturbance	disturbance	NOUN
hjic-848	53	21	compensation	compensation	NOUN
hjic-848	53	22	.	.	PUNCT
hjic-848	54	1	of	of	ADP
hjic-848	54	2	course	course	ADV
hjic-848	54	3	,	,	PUNCT
hjic-848	54	4	all	all	DET
hjic-848	54	5	state	state	NOUN
hjic-848	54	6	variables	variable	NOUN
hjic-848	54	7	might	might	AUX
hjic-848	54	8	be	be	AUX
hjic-848	54	9	measured	measure	VERB
hjic-848	54	10	in	in	ADP
hjic-848	54	11	the	the	DET
hjic-848	54	12	outer	outer	ADJ
hjic-848	54	13	control	control	PROPN
hjic-848	54	14	loop	loop	PROPN
hjic-848	54	15	.	.	PUNCT
hjic-848	55	1	ν̂eq	ν̂eq	NOUN
hjic-848	55	2	,	,	PUNCT
hjic-848	55	3	the	the	DET
hjic-848	55	4	estimation	estimation	NOUN
hjic-848	55	5	of	of	ADP
hjic-848	55	6	νeq	νeq	PROPN
hjic-848	55	7	,	,	PUNCT
hjic-848	55	8	is	be	AUX
hjic-848	55	9	added	add	VERB
hjic-848	55	10	to	to	ADP
hjic-848	55	11	the	the	DET
hjic-848	55	12	control	control	NOUN
hjic-848	55	13	signal	signal	NOUN
hjic-848	55	14	of	of	ADP
hjic-848	55	15	the	the	DET
hjic-848	55	16	outer	outer	ADJ
hjic-848	55	17	control	control	PROPN
hjic-848	55	18	loop	loop	NOUN
hjic-848	55	19	.	.	PUNCT
hjic-848	56	1	3	3	X
hjic-848	56	2	.	.	X
hjic-848	56	3	application	application	NOUN
hjic-848	56	4	3.1	3.1	NUM
hjic-848	56	5	tuning	tune	VERB
hjic-848	56	6	the	the	DET
hjic-848	56	7	disturbance	disturbance	NOUN
hjic-848	56	8	compensation	compensation	NOUN
hjic-848	56	9	the	the	DET
hjic-848	56	10	master	master	NOUN
hjic-848	56	11	device	device	NOUN
hjic-848	56	12	consists	consist	VERB
hjic-848	56	13	of	of	ADP
hjic-848	56	14	a	a	DET
hjic-848	56	15	dc	dc	PROPN
hjic-848	56	16	motor	motor	NOUN
hjic-848	56	17	and	and	CCONJ
hjic-848	56	18	an	an	DET
hjic-848	56	19	arm	arm	NOUN
hjic-848	56	20	(	(	PUNCT
hjic-848	56	21	fig	fig	NOUN
hjic-848	56	22	.	.	PUNCT
hjic-848	57	1	2	2	NUM
hjic-848	57	2	)	)	PUNCT
hjic-848	57	3	.	.	PUNCT
hjic-848	58	1	the	the	DET
hjic-848	58	2	slave	slave	NOUN
hjic-848	58	3	device	device	NOUN
hjic-848	58	4	is	be	AUX
hjic-848	58	5	identical	identical	ADJ
hjic-848	58	6	to	to	ADP
hjic-848	58	7	the	the	DET
hjic-848	58	8	master	master	NOUN
hjic-848	58	9	device	device	NOUN
hjic-848	58	10	.	.	PUNCT
hjic-848	59	1	their	their	PRON
hjic-848	59	2	roles	role	NOUN
hjic-848	59	3	are	be	AUX
hjic-848	59	4	interchangeable	interchangeable	ADJ
hjic-848	59	5	.	.	PUNCT
hjic-848	60	1	the	the	DET
hjic-848	60	2	arm	arm	NOUN
hjic-848	60	3	is	be	AUX
hjic-848	60	4	not	not	PART
hjic-848	60	5	rigid	rigid	ADJ
hjic-848	60	6	since	since	SCONJ
hjic-848	60	7	the	the	DET
hjic-848	60	8	force	force	NOUN
hjic-848	60	9	is	be	AUX
hjic-848	60	10	measured	measure	VERB
hjic-848	60	11	by	by	ADP
hjic-848	60	12	strain	strain	NOUN
hjic-848	60	13	gauges	gauge	NOUN
hjic-848	60	14	.	.	PUNCT
hjic-848	61	1	in	in	ADP
hjic-848	61	2	the	the	DET
hjic-848	61	3	case	case	NOUN
hjic-848	61	4	of	of	ADP
hjic-848	61	5	the	the	DET
hjic-848	61	6	ideal	ideal	ADJ
hjic-848	61	7	telemanipulation	telemanipulation	PROPN
hjic-848	61	8	model	model	NOUN
hjic-848	61	9	,	,	PUNCT
hjic-848	61	10	the	the	DET
hjic-848	61	11	master	master	NOUN
hjic-848	61	12	device	device	NOUN
hjic-848	61	13	is	be	AUX
hjic-848	61	14	not	not	PART
hjic-848	61	15	subject	subject	ADJ
hjic-848	61	16	to	to	ADP
hjic-848	61	17	friction	friction	NOUN
hjic-848	61	18	nor	nor	CCONJ
hjic-848	61	19	mass	mass	NOUN
hjic-848	61	20	(	(	PUNCT
hjic-848	61	21	inertia	inertia	NOUN
hjic-848	61	22	)	)	PUNCT
hjic-848	61	23	.	.	PUNCT
hjic-848	62	1	of	of	ADV
hjic-848	62	2	course	course	NOUN
hjic-848	62	3	it	it	PRON
hjic-848	62	4	is	be	AUX
hjic-848	62	5	impossible	impossible	ADJ
hjic-848	62	6	to	to	PART
hjic-848	62	7	construct	construct	VERB
hjic-848	62	8	an	an	DET
hjic-848	62	9	ideal	ideal	ADJ
hjic-848	62	10	master	master	NOUN
hjic-848	62	11	device	device	NOUN
hjic-848	62	12	.	.	PUNCT
hjic-848	63	1	the	the	DET
hjic-848	63	2	goal	goal	NOUN
hjic-848	63	3	of	of	ADP
hjic-848	63	4	the	the	DET
hjic-848	63	5	sliding	slide	VERB
hjic-848	63	6	mode	mode	NOUN
hjic-848	63	7	-	-	PUNCT
hjic-848	63	8	based	base	VERB
hjic-848	63	9	disturbance	disturbance	NOUN
hjic-848	63	10	compensation	compensation	NOUN
hjic-848	63	11	is	be	AUX
hjic-848	63	12	to	to	PART
hjic-848	63	13	force	force	VERB
hjic-848	63	14	the	the	DET
hjic-848	63	15	master	master	NOUN
hjic-848	63	16	device	device	NOUN
hjic-848	63	17	to	to	PART
hjic-848	63	18	follow	follow	VERB
hjic-848	63	19	a	a	DET
hjic-848	63	20	model	model	NOUN
hjic-848	63	21	subject	subject	NOUN
hjic-848	63	22	to	to	ADP
hjic-848	63	23	significantly	significantly	ADV
hjic-848	63	24	reduced	reduce	VERB
hjic-848	63	25	degrees	degree	NOUN
hjic-848	63	26	of	of	ADP
hjic-848	63	27	friction	friction	NOUN
hjic-848	63	28	and	and	CCONJ
hjic-848	63	29	inertia	inertia	NOUN
hjic-848	63	30	.	.	PUNCT
hjic-848	64	1	the	the	DET
hjic-848	64	2	model	model	NOUN
hjic-848	64	3	of	of	ADP
hjic-848	64	4	the	the	DET
hjic-848	64	5	master	master	NOUN
hjic-848	64	6	and	and	CCONJ
hjic-848	64	7	slave	slave	NOUN
hjic-848	64	8	devices	device	NOUN
hjic-848	64	9	is	be	AUX
hjic-848	64	10	shown	show	VERB
hjic-848	64	11	in	in	ADP
hjic-848	64	12	fig	fig	NOUN
hjic-848	64	13	.	.	PUNCT
hjic-848	65	1	3	3	X
hjic-848	65	2	.	.	X
hjic-848	65	3	the	the	DET
hjic-848	65	4	position	position	NOUN
hjic-848	65	5	of	of	ADP
hjic-848	65	6	the	the	DET
hjic-848	65	7	motor	motor	NOUN
hjic-848	65	8	is	be	AUX
hjic-848	65	9	controlled	control	VERB
hjic-848	65	10	by	by	ADP
hjic-848	65	11	a	a	DET
hjic-848	65	12	simple	simple	ADJ
hjic-848	65	13	proportional	proportional	ADJ
hjic-848	65	14	derivative	derivative	ADJ
hjic-848	65	15	(	(	PUNCT
hjic-848	65	16	pd	pd	NOUN
hjic-848	65	17	)	)	PUNCT
hjic-848	65	18	controller	controller	NOUN
hjic-848	65	19	.	.	PUNCT
hjic-848	66	1	the	the	DET
hjic-848	66	2	results	result	NOUN
hjic-848	66	3	of	of	ADP
hjic-848	66	4	three	three	NUM
hjic-848	66	5	simulations	simulation	NOUN
hjic-848	66	6	were	be	AUX
hjic-848	66	7	compared	compare	VERB
hjic-848	66	8	:	:	PUNCT
hjic-848	66	9	•	•	NUM
hjic-848	66	10	pd	pd	PROPN
hjic-848	66	11	controller	controller	NOUN
hjic-848	66	12	with	with	ADP
hjic-848	66	13	the	the	DET
hjic-848	66	14	parameters	parameter	NOUN
hjic-848	66	15	of	of	ADP
hjic-848	66	16	the	the	DET
hjic-848	66	17	real	real	ADJ
hjic-848	66	18	motor	motor	NOUN
hjic-848	66	19	•	•	PROPN
hjic-848	66	20	pd	pd	PROPN
hjic-848	66	21	controller	controller	NOUN
hjic-848	66	22	with	with	ADP
hjic-848	66	23	the	the	DET
hjic-848	66	24	parameters	parameter	NOUN
hjic-848	66	25	of	of	ADP
hjic-848	66	26	the	the	DET
hjic-848	66	27	desired	desire	VERB
hjic-848	66	28	motor	motor	NOUN
hjic-848	66	29	•	•	PROPN
hjic-848	66	30	pd	pd	PROPN
hjic-848	66	31	controller	controller	NOUN
hjic-848	66	32	with	with	ADP
hjic-848	66	33	the	the	DET
hjic-848	66	34	parameters	parameter	NOUN
hjic-848	66	35	of	of	ADP
hjic-848	66	36	the	the	DET
hjic-848	66	37	real	real	ADJ
hjic-848	66	38	motor	motor	NOUN
hjic-848	66	39	which	which	PRON
hjic-848	66	40	were	be	AUX
hjic-848	66	41	modified	modify	VERB
hjic-848	66	42	by	by	ADP
hjic-848	66	43	the	the	DET
hjic-848	66	44	addition	addition	NOUN
hjic-848	66	45	of	of	ADP
hjic-848	66	46	slidingmode	slidingmode	NOUN
hjic-848	66	47	disturbance	disturbance	NOUN
hjic-848	66	48	compensation	compensation	NOUN
hjic-848	66	49	.	.	PUNCT
hjic-848	67	1	figure	figure	VERB
hjic-848	67	2	3	3	NUM
hjic-848	67	3	:	:	PUNCT
hjic-848	67	4	model	model	NOUN
hjic-848	67	5	of	of	ADP
hjic-848	67	6	the	the	DET
hjic-848	67	7	master	master	NOUN
hjic-848	67	8	and	and	CCONJ
hjic-848	67	9	slave	slave	NOUN
hjic-848	67	10	devices	device	NOUN
hjic-848	67	11	.	.	PUNCT
hjic-848	68	1	hungarian	hungarian	ADJ
hjic-848	68	2	journal	journal	NOUN
hjic-848	68	3	of	of	ADP
hjic-848	68	4	industry	industry	NOUN
hjic-848	68	5	and	and	CCONJ
hjic-848	68	6	chemistry	chemistry	NOUN
hjic-848	68	7	model	model	NOUN
hjic-848	68	8	reference	reference	NOUN
hjic-848	68	9	adaptive	adaptive	ADJ
hjic-848	68	10	control	control	NOUN
hjic-848	68	11	for	for	ADP
hjic-848	68	12	telemanipulation	telemanipulation	NOUN
hjic-848	68	13	43	43	NUM
hjic-848	68	14	figure	figure	NOUN
hjic-848	68	15	4	4	NUM
hjic-848	68	16	:	:	PUNCT
hjic-848	68	17	model	model	NOUN
hjic-848	68	18	of	of	ADP
hjic-848	68	19	the	the	DET
hjic-848	68	20	feedback	feedback	NOUN
hjic-848	68	21	force	force	NOUN
hjic-848	68	22	.	.	PUNCT
hjic-848	69	1	the	the	DET
hjic-848	69	2	main	main	ADJ
hjic-848	69	3	goal	goal	NOUN
hjic-848	69	4	of	of	ADP
hjic-848	69	5	this	this	DET
hjic-848	69	6	chapter	chapter	NOUN
hjic-848	69	7	is	be	AUX
hjic-848	69	8	to	to	PART
hjic-848	69	9	tune	tune	VERB
hjic-848	69	10	the	the	DET
hjic-848	69	11	disturbance	disturbance	NOUN
hjic-848	69	12	compensation	compensation	NOUN
hjic-848	69	13	component	component	NOUN
hjic-848	69	14	.	.	PUNCT
hjic-848	70	1	if	if	SCONJ
hjic-848	70	2	the	the	DET
hjic-848	70	3	results	result	NOUN
hjic-848	70	4	of	of	ADP
hjic-848	70	5	the	the	DET
hjic-848	70	6	last	last	ADJ
hjic-848	70	7	two	two	NUM
hjic-848	70	8	simulations	simulation	NOUN
hjic-848	70	9	are	be	AUX
hjic-848	70	10	similar	similar	ADJ
hjic-848	70	11	,	,	PUNCT
hjic-848	70	12	sliding	sliding	ADJ
hjic-848	70	13	-	-	PUNCT
hjic-848	70	14	mode	mode	NOUN
hjic-848	70	15	disturbance	disturbance	NOUN
hjic-848	70	16	compensation	compensation	NOUN
hjic-848	70	17	can	can	AUX
hjic-848	70	18	be	be	AUX
hjic-848	70	19	used	use	VERB
hjic-848	70	20	in	in	ADP
hjic-848	70	21	a	a	DET
hjic-848	70	22	bilateral	bilateral	ADJ
hjic-848	70	23	telemanipulation	telemanipulation	NOUN
hjic-848	70	24	system	system	NOUN
hjic-848	70	25	.	.	PUNCT
hjic-848	71	1	the	the	DET
hjic-848	71	2	parameters	parameter	NOUN
hjic-848	71	3	used	use	VERB
hjic-848	71	4	in	in	ADP
hjic-848	71	5	the	the	DET
hjic-848	71	6	model	model	NOUN
hjic-848	71	7	are	be	AUX
hjic-848	71	8	calculable	calculable	ADJ
hjic-848	71	9	.	.	PUNCT
hjic-848	72	1	a	a	DET
hjic-848	72	2	1	1	NUM
hjic-848	72	3	-	-	PUNCT
hjic-848	72	4	dof	dof	NOUN
hjic-848	72	5	telemanipulation	telemanipulation	NOUN
hjic-848	72	6	system	system	NOUN
hjic-848	72	7	was	be	AUX
hjic-848	72	8	studied	study	VERB
hjic-848	72	9	where	where	SCONJ
hjic-848	72	10	the	the	DET
hjic-848	72	11	effect	effect	NOUN
hjic-848	72	12	of	of	ADP
hjic-848	72	13	the	the	DET
hjic-848	72	14	feedback	feedback	NOUN
hjic-848	72	15	force	force	NOUN
hjic-848	72	16	of	of	ADP
hjic-848	72	17	the	the	DET
hjic-848	72	18	master	master	NOUN
hjic-848	72	19	arm	arm	NOUN
hjic-848	72	20	was	be	AUX
hjic-848	72	21	modelled	model	VERB
hjic-848	72	22	[	[	PUNCT
hjic-848	72	23	10	10	NUM
hjic-848	72	24	]	]	PUNCT
hjic-848	72	25	as	as	SCONJ
hjic-848	72	26	follows	follow	VERB
hjic-848	72	27	(	(	PUNCT
hjic-848	72	28	fig	fig	NOUN
hjic-848	72	29	.	.	PUNCT
hjic-848	73	1	4	4	NUM
hjic-848	73	2	):	):	PUNCT
hjic-848	73	3	ωmot	ωmot	NOUN
hjic-848	73	4	r	r	NOUN
hjic-848	73	5	·	·	PUNCT
hjic-848	73	6	fm	fm	PROPN
hjic-848	73	7	=	=	SYM
hjic-848	73	8	1	1	NUM
hjic-848	73	9	s	s	PART
hjic-848	73	10	·	·	PUNCT
hjic-848	73	11	jl	jl	NOUN
hjic-848	74	1	+	+	PROPN
hjic-848	74	2	b	b	PROPN
hjic-848	74	3	+	+	PROPN
hjic-848	74	4	ba	ba	PROPN
hjic-848	74	5	(	(	PUNCT
hjic-848	74	6	6	6	NUM
hjic-848	74	7	)	)	PUNCT
hjic-848	74	8	ωmot	ωmot	NOUN
hjic-848	74	9	fm	fm	NOUN
hjic-848	74	10	=	=	NOUN
hjic-848	74	11	r	r	NOUN
hjic-848	74	12	b+ba	b+ba	NOUN
hjic-848	74	13	s	s	PART
hjic-848	74	14	·	·	PUNCT
hjic-848	74	15	jl	jl	NOUN
hjic-848	74	16	b+ba	b+ba	NOUN
hjic-848	74	17	+	+	CCONJ
hjic-848	74	18	1	1	NUM
hjic-848	74	19	=	=	SYM
hjic-848	74	20	r	r	X
hjic-848	74	21	bm	bm	PROPN
hjic-848	74	22	s	s	PROPN
hjic-848	74	23	·	·	PUNCT
hjic-848	74	24	t	t	PROPN
hjic-848	75	1	+	+	CCONJ
hjic-848	75	2	1	1	NUM
hjic-848	75	3	,	,	PUNCT
hjic-848	75	4	(	(	PUNCT
hjic-848	75	5	7	7	X
hjic-848	75	6	)	)	PUNCT
hjic-848	75	7	where	where	SCONJ
hjic-848	75	8	s	s	NOUN
hjic-848	75	9	is	be	AUX
hjic-848	75	10	a	a	DET
hjic-848	75	11	complex	complex	ADJ
hjic-848	75	12	variable	variable	NOUN
hjic-848	75	13	and	and	CCONJ
hjic-848	75	14	t	t	NOUN
hjic-848	75	15	denotes	denote	VERB
hjic-848	75	16	the	the	DET
hjic-848	75	17	time	time	NOUN
hjic-848	75	18	constant	constant	ADJ
hjic-848	75	19	of	of	ADP
hjic-848	75	20	the	the	DET
hjic-848	75	21	manipulator	manipulator	NOUN
hjic-848	75	22	:	:	PUNCT
hjic-848	75	23	t	t	PROPN
hjic-848	75	24	=	=	PUNCT
hjic-848	75	25	jl	jl	PROPN
hjic-848	75	26	bm	bm	PROPN
hjic-848	75	27	(	(	PUNCT
hjic-848	75	28	8)	8)	NUM
hjic-848	75	29	jl	jl	NOUN
hjic-848	75	30	is	be	AUX
hjic-848	75	31	calculated	calculate	VERB
hjic-848	75	32	according	accord	VERB
hjic-848	75	33	to	to	ADP
hjic-848	75	34	:	:	PUNCT
hjic-848	75	35	jl	jl	PROPN
hjic-848	75	36	=	=	PUNCT
hjic-848	75	37	jr	jr	PROPN
hjic-848	75	38	+	+	NUM
hjic-848	75	39	jtr2	jtr2	PROPN
hjic-848	75	40	+	+	CCONJ
hjic-848	75	41	ja	ja	PROPN
hjic-848	75	42	,	,	PUNCT
hjic-848	75	43	(	(	PUNCT
hjic-848	75	44	9	9	NUM
hjic-848	75	45	)	)	PUNCT
hjic-848	75	46	and	and	CCONJ
hjic-848	75	47	represents	represent	VERB
hjic-848	75	48	the	the	DET
hjic-848	75	49	resultant	resultant	ADJ
hjic-848	75	50	moment	moment	NOUN
hjic-848	75	51	of	of	ADP
hjic-848	75	52	inertia	inertia	NOUN
hjic-848	75	53	,	,	PUNCT
hjic-848	75	54	jr	jr	PROPN
hjic-848	75	55	stands	stand	VERB
hjic-848	75	56	for	for	ADP
hjic-848	75	57	the	the	DET
hjic-848	75	58	inertia	inertia	NOUN
hjic-848	75	59	of	of	ADP
hjic-848	75	60	the	the	DET
hjic-848	75	61	rotor	rotor	NOUN
hjic-848	75	62	,	,	PUNCT
hjic-848	75	63	jtr2	jtr2	PROPN
hjic-848	75	64	is	be	AUX
hjic-848	75	65	the	the	DET
hjic-848	75	66	transmission	transmission	NOUN
hjic-848	75	67	inertia	inertia	NOUN
hjic-848	75	68	and	and	CCONJ
hjic-848	75	69	ja	ja	PROPN
hjic-848	75	70	denotes	denote	VERB
hjic-848	75	71	the	the	DET
hjic-848	75	72	inertia	inertia	NOUN
hjic-848	75	73	of	of	ADP
hjic-848	75	74	the	the	DET
hjic-848	75	75	arm	arm	NOUN
hjic-848	75	76	.	.	PUNCT
hjic-848	76	1	bm	bm	PROPN
hjic-848	77	1	=	=	PROPN
hjic-848	77	2	b	b	PROPN
hjic-848	77	3	+	+	PROPN
hjic-848	77	4	ba	ba	PROPN
hjic-848	77	5	(	(	PUNCT
hjic-848	77	6	10	10	NUM
hjic-848	77	7	)	)	PUNCT
hjic-848	77	8	bm	bm	PROPN
hjic-848	77	9	represents	represent	VERB
hjic-848	77	10	the	the	DET
hjic-848	77	11	resultant	resultant	NOUN
hjic-848	77	12	damping	damp	VERB
hjic-848	77	13	,	,	PUNCT
hjic-848	77	14	b	b	PROPN
hjic-848	77	15	the	the	DET
hjic-848	77	16	mechanical	mechanical	ADJ
hjic-848	77	17	damping	damping	NOUN
hjic-848	77	18	and	and	CCONJ
hjic-848	77	19	ba	ba	X
hjic-848	77	20	the	the	DET
hjic-848	77	21	damping	damping	NOUN
hjic-848	77	22	caused	cause	VERB
hjic-848	77	23	by	by	ADP
hjic-848	77	24	the	the	DET
hjic-848	77	25	armature	armature	NOUN
hjic-848	77	26	resistance	resistance	NOUN
hjic-848	77	27	.	.	PUNCT
hjic-848	78	1	ba	ba	NOUN
hjic-848	78	2	=	=	PROPN
hjic-848	78	3	k2	k2	PROPN
hjic-848	78	4	fi	fi	PROPN
hjic-848	78	5	ra	ra	PROPN
hjic-848	78	6	(	(	PUNCT
hjic-848	78	7	11	11	NUM
hjic-848	78	8	)	)	PUNCT
hjic-848	78	9	kfi	kfi	NOUN
hjic-848	78	10	denotes	denote	VERB
hjic-848	78	11	the	the	DET
hjic-848	78	12	torque	torque	NOUN
hjic-848	78	13	constant	constant	ADJ
hjic-848	78	14	of	of	ADP
hjic-848	78	15	the	the	DET
hjic-848	78	16	motor	motor	NOUN
hjic-848	78	17	and	and	CCONJ
hjic-848	78	18	ra	ra	NOUN
hjic-848	78	19	its	its	PRON
hjic-848	78	20	resistance	resistance	NOUN
hjic-848	78	21	.	.	PUNCT
hjic-848	79	1	ωmot	ωmot	NOUN
hjic-848	79	2	stands	stand	VERB
hjic-848	79	3	for	for	ADP
hjic-848	79	4	the	the	DET
hjic-848	79	5	angular	angular	ADJ
hjic-848	79	6	speed	speed	NOUN
hjic-848	79	7	of	of	ADP
hjic-848	79	8	the	the	DET
hjic-848	79	9	motor	motor	NOUN
hjic-848	79	10	,	,	PUNCT
hjic-848	79	11	fm	fm	NOUN
hjic-848	79	12	the	the	DET
hjic-848	79	13	forceand	forceand	NOUN
hjic-848	79	14	r	r	NOUN
hjic-848	79	15	the	the	DET
hjic-848	79	16	vector	vector	NOUN
hjic-848	79	17	of	of	ADP
hjic-848	79	18	the	the	DET
hjic-848	79	19	lever	lever	NOUN
hjic-848	79	20	arm	arm	NOUN
hjic-848	79	21	with	with	ADP
hjic-848	79	22	regard	regard	NOUN
hjic-848	79	23	to	to	ADP
hjic-848	79	24	the	the	DET
hjic-848	79	25	torque	torque	NOUN
hjic-848	79	26	of	of	ADP
hjic-848	79	27	the	the	DET
hjic-848	79	28	motor	motor	NOUN
hjic-848	79	29	.	.	PUNCT
hjic-848	80	1	in	in	ADP
hjic-848	80	2	this	this	DET
hjic-848	80	3	experiment	experiment	NOUN
hjic-848	80	4	,	,	PUNCT
hjic-848	80	5	the	the	DET
hjic-848	80	6	following	follow	VERB
hjic-848	80	7	constants	constant	NOUN
hjic-848	80	8	were	be	AUX
hjic-848	80	9	used	use	VERB
hjic-848	80	10	for	for	ADP
hjic-848	80	11	the	the	DET
hjic-848	80	12	aforementioned	aforementioned	ADJ
hjic-848	80	13	parameters	parameter	NOUN
hjic-848	80	14	:	:	PUNCT
hjic-848	80	15	kfi	kfi	PROPN
hjic-848	80	16	=	=	PROPN
hjic-848	80	17	0.1222	0.1222	NUM
hjic-848	81	1	[	[	X
hjic-848	81	2	nm	nm	X
hjic-848	81	3	/	/	SYM
hjic-848	81	4	a	a	X
hjic-848	81	5	]	]	X
hjic-848	81	6	,	,	PUNCT
hjic-848	81	7	ra	ra	PROPN
hjic-848	81	8	=	=	SYM
hjic-848	81	9	80	80	NUM
hjic-848	82	1	[	[	X
hjic-848	82	2	ω	ω	X
hjic-848	82	3	]	]	X
hjic-848	82	4	,	,	PUNCT
hjic-848	82	5	la	la	X
hjic-848	82	6	=	=	PROPN
hjic-848	83	1	0.0011	0.0011	NUM
hjic-848	84	1	[	[	X
hjic-848	84	2	h	h	X
hjic-848	84	3	]	]	X
hjic-848	84	4	and	and	CCONJ
hjic-848	84	5	jl	jl	NOUN
hjic-848	84	6	=	=	SYM
hjic-848	84	7	0.12	0.12	NUM
hjic-848	85	1	[	[	X
hjic-848	85	2	kg	kg	X
hjic-848	85	3	m2	m2	PROPN
hjic-848	85	4	]	]	PUNCT
hjic-848	85	5	.	.	PUNCT
hjic-848	86	1	the	the	DET
hjic-848	86	2	model	model	NOUN
hjic-848	86	3	of	of	ADP
hjic-848	86	4	the	the	DET
hjic-848	86	5	ideal	ideal	ADJ
hjic-848	86	6	motor	motor	NOUN
hjic-848	86	7	took	take	VERB
hjic-848	86	8	friction	friction	NOUN
hjic-848	86	9	into	into	ADP
hjic-848	86	10	account	account	NOUN
hjic-848	86	11	(	(	PUNCT
hjic-848	86	12	fig	fig	NOUN
hjic-848	86	13	.	.	PUNCT
hjic-848	87	1	5	5	NUM
hjic-848	87	2	)	)	PUNCT
hjic-848	87	3	,	,	PUNCT
hjic-848	87	4	however	however	ADV
hjic-848	87	5	,	,	PUNCT
hjic-848	87	6	the	the	DET
hjic-848	87	7	other	other	ADJ
hjic-848	87	8	models	model	NOUN
hjic-848	87	9	accounted	account	VERB
hjic-848	87	10	for	for	ADP
hjic-848	87	11	this	this	PRON
hjic-848	87	12	separately	separately	ADV
hjic-848	87	13	.	.	PUNCT
hjic-848	88	1	3.2	3.2	NUM
hjic-848	88	2	design	design	NOUN
hjic-848	88	3	of	of	ADP
hjic-848	88	4	the	the	DET
hjic-848	88	5	disturbance	disturbance	NOUN
hjic-848	88	6	compensation	compensation	NOUN
hjic-848	88	7	component	component	NOUN
hjic-848	88	8	in	in	ADP
hjic-848	88	9	terms	term	NOUN
hjic-848	88	10	of	of	ADP
hjic-848	88	11	human	human	ADJ
hjic-848	88	12	sensation	sensation	NOUN
hjic-848	88	13	,	,	PUNCT
hjic-848	88	14	the	the	DET
hjic-848	88	15	electrical	electrical	ADJ
hjic-848	88	16	time	time	NOUN
hjic-848	88	17	constant	constant	ADJ
hjic-848	88	18	of	of	ADP
hjic-848	88	19	the	the	DET
hjic-848	88	20	system	system	NOUN
hjic-848	88	21	(	(	PUNCT
hjic-848	88	22	the	the	DET
hjic-848	88	23	inductance	inductance	NOUN
hjic-848	88	24	of	of	ADP
hjic-848	88	25	the	the	DET
hjic-848	88	26	dc	dc	PROPN
hjic-848	88	27	motor	motor	NOUN
hjic-848	88	28	)	)	PUNCT
hjic-848	88	29	is	be	AUX
hjic-848	88	30	negligible	negligible	ADJ
hjic-848	88	31	.	.	PUNCT
hjic-848	89	1	two	two	NUM
hjic-848	89	2	state	state	NOUN
hjic-848	89	3	variables	variable	NOUN
hjic-848	89	4	are	be	AUX
hjic-848	89	5	used	use	VERB
hjic-848	89	6	:	:	PUNCT
hjic-848	89	7	the	the	DET
hjic-848	89	8	position	position	NOUN
hjic-848	89	9	of	of	ADP
hjic-848	89	10	the	the	DET
hjic-848	89	11	arm	arm	NOUN
hjic-848	89	12	ϕ	ϕ	PROPN
hjic-848	89	13	and	and	CCONJ
hjic-848	89	14	the	the	DET
hjic-848	89	15	angular	angular	ADJ
hjic-848	89	16	speed	speed	NOUN
hjic-848	89	17	ω	ω	PROPN
hjic-848	89	18	.	.	PUNCT
hjic-848	90	1	the	the	DET
hjic-848	90	2	system	system	NOUN
hjic-848	90	3	equation	equation	NOUN
hjic-848	90	4	must	must	AUX
hjic-848	90	5	be	be	AUX
hjic-848	90	6	written	write	VERB
hjic-848	90	7	in	in	ADP
hjic-848	90	8	the	the	DET
hjic-848	90	9	same	same	ADJ
hjic-848	90	10	form	form	NOUN
hjic-848	90	11	as	as	ADP
hjic-848	90	12	(	(	PUNCT
hjic-848	90	13	eq	eq	NOUN
hjic-848	90	14	.	.	NOUN
hjic-848	90	15	1	1	NUM
hjic-848	90	16	)	)	PUNCT
hjic-848	91	1	where	where	SCONJ
hjic-848	91	2	:	:	PUNCT
hjic-848	92	1	d	d	X
hjic-848	92	2	dt	dt	X
hjic-848	92	3	[	[	PUNCT
hjic-848	92	4	ϕ	ϕ	PROPN
hjic-848	92	5	ω	ω	X
hjic-848	92	6	]	]	PUNCT
hjic-848	92	7	=	=	PUNCT
hjic-848	93	1	[	[	PUNCT
hjic-848	93	2	0	0	NUM
hjic-848	93	3	1	1	NUM
hjic-848	93	4	0	0	NUM
hjic-848	93	5	amotor	amotor	NOUN
hjic-848	93	6	]	]	X
hjic-848	93	7	[	[	PUNCT
hjic-848	93	8	ϕ	ϕ	X
hjic-848	93	9	ω	ω	X
hjic-848	93	10	]	]	PUNCT
hjic-848	94	1	+	+	CCONJ
hjic-848	94	2	[	[	PUNCT
hjic-848	94	3	0	0	NUM
hjic-848	94	4	bmotor	bmotor	NOUN
hjic-848	94	5	]	]	PUNCT
hjic-848	94	6	u0	u0	PROPN
hjic-848	94	7	,	,	PUNCT
hjic-848	94	8	(	(	PUNCT
hjic-848	94	9	12	12	NUM
hjic-848	94	10	)	)	PUNCT
hjic-848	94	11	amotor	amotor	NOUN
hjic-848	94	12	and	and	CCONJ
hjic-848	94	13	bmotor	bmotor	NOUN
hjic-848	94	14	are	be	AUX
hjic-848	94	15	the	the	DET
hjic-848	94	16	two	two	NUM
hjic-848	94	17	perturbed	perturb	VERB
hjic-848	94	18	parameters	parameter	NOUN
hjic-848	94	19	.	.	PUNCT
hjic-848	95	1	no	no	DET
hjic-848	95	2	external	external	ADJ
hjic-848	95	3	disturbance	disturbance	NOUN
hjic-848	95	4	is	be	AUX
hjic-848	95	5	applied	apply	VERB
hjic-848	95	6	.	.	PUNCT
hjic-848	96	1	the	the	DET
hjic-848	96	2	observer	observer	NOUN
hjic-848	96	3	is	be	AUX
hjic-848	96	4	designed	design	VERB
hjic-848	96	5	for	for	ADP
hjic-848	96	6	the	the	DET
hjic-848	96	7	state	state	NOUN
hjic-848	96	8	variable	variable	PROPN
hjic-848	96	9	ω	ω	PROPN
hjic-848	96	10	.	.	PUNCT
hjic-848	97	1	it	it	PRON
hjic-848	97	2	should	should	AUX
hjic-848	97	3	be	be	AUX
hjic-848	97	4	noted	note	VERB
hjic-848	97	5	that	that	SCONJ
hjic-848	97	6	in	in	ADP
hjic-848	97	7	the	the	DET
hjic-848	97	8	case	case	NOUN
hjic-848	97	9	of	of	ADP
hjic-848	97	10	the	the	DET
hjic-848	97	11	ideal	ideal	ADJ
hjic-848	97	12	system	system	NOUN
hjic-848	97	13	,	,	PUNCT
hjic-848	97	14	friction	friction	NOUN
hjic-848	97	15	is	be	AUX
hjic-848	97	16	accounted	account	VERB
hjic-848	97	17	for	for	ADP
hjic-848	97	18	in	in	ADP
hjic-848	97	19	the	the	DET
hjic-848	97	20	model	model	NOUN
hjic-848	97	21	.	.	PUNCT
hjic-848	98	1	the	the	DET
hjic-848	98	2	ideal	ideal	ADJ
hjic-848	98	3	parameters	parameter	NOUN
hjic-848	98	4	were	be	AUX
hjic-848	98	5	selected	select	VERB
hjic-848	98	6	in	in	ADP
hjic-848	98	7	terms	term	NOUN
hjic-848	98	8	of	of	ADP
hjic-848	98	9	friction	friction	NOUN
hjic-848	98	10	and	and	CCONJ
hjic-848	98	11	inertia	inertia	NOUN
hjic-848	98	12	.	.	PUNCT
hjic-848	99	1	it	it	PRON
hjic-848	99	2	is	be	AUX
hjic-848	99	3	important	important	ADJ
hjic-848	99	4	to	to	PART
hjic-848	99	5	choose	choose	VERB
hjic-848	99	6	the	the	DET
hjic-848	99	7	ideal	ideal	ADJ
hjic-848	99	8	parameters	parameter	NOUN
hjic-848	99	9	wisely	wisely	ADV
hjic-848	99	10	because	because	SCONJ
hjic-848	99	11	these	these	DET
hjic-848	99	12	two	two	NUM
hjic-848	99	13	parameters	parameter	NOUN
hjic-848	99	14	will	will	AUX
hjic-848	99	15	determine	determine	VERB
hjic-848	99	16	the	the	DET
hjic-848	99	17	trajectory	trajectory	NOUN
hjic-848	99	18	followed	follow	VERB
hjic-848	99	19	by	by	ADP
hjic-848	99	20	the	the	DET
hjic-848	99	21	position	position	NOUN
hjic-848	99	22	signal	signal	NOUN
hjic-848	99	23	of	of	ADP
hjic-848	99	24	the	the	DET
hjic-848	99	25	compensated	compensate	VERB
hjic-848	99	26	motor	motor	NOUN
hjic-848	99	27	.	.	PUNCT
hjic-848	100	1	if	if	SCONJ
hjic-848	100	2	the	the	DET
hjic-848	100	3	values	value	NOUN
hjic-848	100	4	of	of	ADP
hjic-848	100	5	the	the	DET
hjic-848	100	6	ideal	ideal	ADJ
hjic-848	100	7	parameters	parameter	NOUN
hjic-848	100	8	are	be	AUX
hjic-848	100	9	too	too	ADV
hjic-848	100	10	unrealistic	unrealistic	ADJ
hjic-848	100	11	,	,	PUNCT
hjic-848	100	12	the	the	DET
hjic-848	100	13	compensated	compensate	VERB
hjic-848	100	14	signal	signal	NOUN
hjic-848	100	15	would	would	AUX
hjic-848	100	16	not	not	PART
hjic-848	100	17	be	be	AUX
hjic-848	100	18	able	able	ADJ
hjic-848	100	19	to	to	PART
hjic-848	100	20	follow	follow	VERB
hjic-848	100	21	the	the	DET
hjic-848	100	22	trajectory	trajectory	NOUN
hjic-848	100	23	!	!	PUNCT
hjic-848	101	1	in	in	ADP
hjic-848	101	2	this	this	DET
hjic-848	101	3	simulation	simulation	NOUN
hjic-848	101	4	,	,	PUNCT
hjic-848	101	5	the	the	DET
hjic-848	101	6	following	follow	VERB
hjic-848	101	7	parameters	parameter	NOUN
hjic-848	101	8	were	be	AUX
hjic-848	101	9	used	use	VERB
hjic-848	101	10	:	:	PUNCT
hjic-848	101	11	jl_i	jl_i	NUM
hjic-848	101	12	=	=	SYM
hjic-848	101	13	jl	jl	NOUN
hjic-848	101	14	12	12	NUM
hjic-848	101	15	bm_i	bm_i	NUM
hjic-848	101	16	=	=	SYM
hjic-848	101	17	bm	bm	PROPN
hjic-848	101	18	5	5	NUM
hjic-848	101	19	(	(	PUNCT
hjic-848	101	20	13	13	NUM
hjic-848	101	21	)	)	PUNCT
hjic-848	101	22	where	where	SCONJ
hjic-848	101	23	jl_i	jl_i	PROPN
hjic-848	101	24	denotes	denote	VERB
hjic-848	101	25	the	the	DET
hjic-848	101	26	inertia	inertia	NOUN
hjic-848	101	27	with	with	ADP
hjic-848	101	28	regard	regard	NOUN
hjic-848	101	29	to	to	ADP
hjic-848	101	30	the	the	DET
hjic-848	101	31	model	model	NOUN
hjic-848	101	32	of	of	ADP
hjic-848	101	33	the	the	DET
hjic-848	101	34	ideal	ideal	ADJ
hjic-848	101	35	motor	motor	NOUN
hjic-848	101	36	and	and	CCONJ
hjic-848	101	37	bm_i	bm_i	PRON
hjic-848	101	38	stands	stand	VERB
hjic-848	101	39	for	for	ADP
hjic-848	101	40	the	the	DET
hjic-848	101	41	coefficient	coefficient	NOUN
hjic-848	101	42	of	of	ADP
hjic-848	101	43	friction	friction	NOUN
hjic-848	101	44	concerning	concern	VERB
hjic-848	101	45	the	the	DET
hjic-848	101	46	model	model	NOUN
hjic-848	101	47	of	of	ADP
hjic-848	101	48	the	the	DET
hjic-848	101	49	ideal	ideal	ADJ
hjic-848	101	50	motor	motor	NOUN
hjic-848	101	51	.	.	PUNCT
hjic-848	102	1	the	the	DET
hjic-848	102	2	compensation	compensation	NOUN
hjic-848	102	3	component	component	NOUN
hjic-848	102	4	consists	consist	VERB
hjic-848	102	5	of	of	ADP
hjic-848	102	6	the	the	DET
hjic-848	102	7	observer	observer	NOUN
hjic-848	102	8	with	with	ADP
hjic-848	102	9	the	the	DET
hjic-848	102	10	following	follow	VERB
hjic-848	102	11	transfer	transfer	NOUN
hjic-848	102	12	function	function	NOUN
hjic-848	102	13	:	:	PUNCT
hjic-848	102	14	bmotor	bmotor	NOUN
hjic-848	102	15	s+	s+	PROPN
hjic-848	102	16	amotor	amotor	PROPN
hjic-848	102	17	(	(	PUNCT
hjic-848	102	18	14	14	NUM
hjic-848	102	19	)	)	PUNCT
hjic-848	102	20	where	where	SCONJ
hjic-848	102	21	amotor	amotor	NOUN
hjic-848	102	22	is	be	AUX
hjic-848	102	23	calculated	calculate	VERB
hjic-848	102	24	by	by	ADP
hjic-848	102	25	:	:	PUNCT
hjic-848	102	26	amotor	amotor	NOUN
hjic-848	102	27	=	=	PUNCT
hjic-848	102	28	bm_i	bm_i	PROPN
hjic-848	102	29	jl_i	jl_i	NUM
hjic-848	102	30	−	−	PROPN
hjic-848	102	31	k2	k2	PROPN
hjic-848	102	32	fi	fi	NOUN
hjic-848	102	33	ra	ra	PROPN
hjic-848	102	34	·	·	PUNCT
hjic-848	102	35	jl_i	jl_i	NUM
hjic-848	102	36	(	(	PUNCT
hjic-848	102	37	15	15	NUM
hjic-848	102	38	)	)	PUNCT
hjic-848	102	39	and	and	CCONJ
hjic-848	102	40	bmotor	bmotor	NOUN
hjic-848	102	41	by	by	ADP
hjic-848	102	42	:	:	PUNCT
hjic-848	102	43	bmotor	bmotor	PROPN
hjic-848	102	44	=	=	PROPN
hjic-848	102	45	kfi	kfi	PROPN
hjic-848	102	46	ra	ra	PROPN
hjic-848	102	47	·	·	PUNCT
hjic-848	102	48	jl_i	jl_i	PROPN
hjic-848	102	49	(	(	PUNCT
hjic-848	102	50	16	16	NUM
hjic-848	102	51	)	)	PUNCT
hjic-848	102	52	then	then	ADV
hjic-848	102	53	a	a	DET
hjic-848	102	54	pd	pd	NOUN
hjic-848	102	55	position	position	NOUN
hjic-848	102	56	controller	controller	NOUN
hjic-848	102	57	is	be	AUX
hjic-848	102	58	added	add	VERB
hjic-848	102	59	to	to	ADP
hjic-848	102	60	each	each	DET
hjic-848	102	61	model	model	NOUN
hjic-848	102	62	of	of	ADP
hjic-848	102	63	a	a	DET
hjic-848	102	64	motor	motor	NOUN
hjic-848	102	65	(	(	PUNCT
hjic-848	102	66	fig	fig	NOUN
hjic-848	102	67	.	.	PUNCT
hjic-848	103	1	5	5	NUM
hjic-848	103	2	)	)	PUNCT
hjic-848	104	1	and	and	CCONJ
hjic-848	104	2	the	the	DET
hjic-848	104	3	component	component	NOUN
hjic-848	104	4	concerning	concern	VERB
hjic-848	104	5	the	the	DET
hjic-848	104	6	slidingmode	slidingmode	NOUN
hjic-848	104	7	compensator	compensator	NOUN
hjic-848	104	8	connected	connect	VERB
hjic-848	104	9	to	to	ADP
hjic-848	104	10	the	the	DET
hjic-848	104	11	first	first	ADJ
hjic-848	104	12	real	real	ADJ
hjic-848	104	13	model	model	NOUN
hjic-848	104	14	of	of	ADP
hjic-848	104	15	a	a	DET
hjic-848	104	16	motor	motor	NOUN
hjic-848	104	17	(	(	PUNCT
hjic-848	104	18	fig	fig	NOUN
hjic-848	104	19	.	.	PUNCT
hjic-848	104	20	6	6	NUM
hjic-848	104	21	)	)	PUNCT
hjic-848	104	22	.	.	PUNCT
hjic-848	105	1	an	an	DET
hjic-848	105	2	estimated	estimate	VERB
hjic-848	105	3	value	value	NOUN
hjic-848	105	4	of	of	ADP
hjic-848	105	5	the	the	DET
hjic-848	105	6	velocity	velocity	NOUN
hjic-848	105	7	is	be	AUX
hjic-848	105	8	specified	specify	VERB
hjic-848	105	9	in	in	ADP
hjic-848	105	10	this	this	DET
hjic-848	105	11	section	section	NOUN
hjic-848	105	12	which	which	PRON
hjic-848	105	13	will	will	AUX
hjic-848	105	14	be	be	AUX
hjic-848	105	15	compared	compare	VERB
hjic-848	105	16	with	with	ADP
hjic-848	105	17	that	that	PRON
hjic-848	105	18	of	of	ADP
hjic-848	105	19	the	the	DET
hjic-848	105	20	actual	actual	ADJ
hjic-848	105	21	velocity	velocity	NOUN
hjic-848	105	22	.	.	PUNCT
hjic-848	106	1	this	this	PRON
hjic-848	106	2	will	will	AUX
hjic-848	106	3	be	be	AUX
hjic-848	106	4	the	the	DET
hjic-848	106	5	input	input	NOUN
hjic-848	106	6	for	for	ADP
hjic-848	106	7	the	the	DET
hjic-848	106	8	component	component	NOUN
hjic-848	106	9	of	of	ADP
hjic-848	106	10	the	the	DET
hjic-848	106	11	sliding	sliding	ADJ
hjic-848	106	12	-	-	PUNCT
hjic-848	106	13	mode	mode	NOUN
hjic-848	106	14	controller	controller	NOUN
hjic-848	106	15	that	that	PRON
hjic-848	106	16	consists	consist	VERB
hjic-848	106	17	of	of	ADP
hjic-848	106	18	a	a	DET
hjic-848	106	19	signum	signum	ADJ
hjic-848	106	20	function	function	NOUN
hjic-848	106	21	and	and	CCONJ
hjic-848	106	22	a	a	DET
hjic-848	106	23	gain	gain	NOUN
hjic-848	106	24	block	block	NOUN
hjic-848	106	25	.	.	PUNCT
hjic-848	107	1	from	from	ADP
hjic-848	107	2	here	here	ADV
hjic-848	107	3	a	a	DET
hjic-848	107	4	positive	positive	ADJ
hjic-848	107	5	feedback	feedback	NOUN
hjic-848	107	6	was	be	AUX
hjic-848	107	7	applied	apply	VERB
hjic-848	107	8	from	from	ADP
hjic-848	107	9	the	the	DET
hjic-848	107	10	output	output	NOUN
hjic-848	107	11	of	of	ADP
hjic-848	107	12	the	the	DET
hjic-848	107	13	sliding	sliding	ADJ
hjic-848	107	14	-	-	PUNCT
hjic-848	107	15	mode	mode	NOUN
hjic-848	107	16	controller	controller	NOUN
hjic-848	107	17	to	to	ADP
hjic-848	107	18	the	the	DET
hjic-848	107	19	input	input	NOUN
hjic-848	107	20	of	of	ADP
hjic-848	107	21	the	the	DET
hjic-848	107	22	observer	observer	NOUN
hjic-848	107	23	,	,	PUNCT
hjic-848	107	24	and	and	CCONJ
hjic-848	107	25	the	the	DET
hjic-848	107	26	output	output	NOUN
hjic-848	107	27	of	of	ADP
hjic-848	107	28	the	the	DET
hjic-848	107	29	slidingmode	slidingmode	NOUN
hjic-848	107	30	controller	controller	NOUN
hjic-848	107	31	filtered	filter	VERB
hjic-848	107	32	by	by	ADP
hjic-848	107	33	a	a	DET
hjic-848	107	34	3rd	3rd	ADJ
hjic-848	107	35	order	order	NOUN
hjic-848	107	36	low	low	ADJ
hjic-848	107	37	-	-	PUNCT
hjic-848	107	38	pass	pass	NOUN
hjic-848	107	39	filter	filter	NOUN
hjic-848	107	40	as	as	ADP
hjic-848	107	41	the	the	DET
hjic-848	107	42	output	output	NOUN
hjic-848	107	43	of	of	ADP
hjic-848	107	44	the	the	DET
hjic-848	107	45	whole	whole	ADJ
hjic-848	107	46	compensation	compensation	NOUN
hjic-848	107	47	component	component	NOUN
hjic-848	107	48	(	(	PUNCT
hjic-848	107	49	fig	fig	NOUN
hjic-848	107	50	.	.	PUNCT
hjic-848	107	51	6	6	NUM
hjic-848	107	52	)	)	PUNCT
hjic-848	107	53	.	.	PUNCT
hjic-848	108	1	47(1	47(1	NUM
hjic-848	108	2	)	)	PUNCT
hjic-848	108	3	pp	pp	ADP
hjic-848	108	4	.	.	PUNCT
hjic-848	109	1	41–48	41–48	NUM
hjic-848	109	2	(	(	PUNCT
hjic-848	109	3	2019	2019	NUM
hjic-848	109	4	)	)	PUNCT
hjic-848	109	5	44	44	NUM
hjic-848	109	6	fink	fink	NOUN
hjic-848	109	7	figure	figure	NOUN
hjic-848	109	8	5	5	NUM
hjic-848	109	9	:	:	PUNCT
hjic-848	109	10	model	model	NOUN
hjic-848	109	11	of	of	ADP
hjic-848	109	12	the	the	DET
hjic-848	109	13	ideal	ideal	ADJ
hjic-848	109	14	motor	motor	NOUN
hjic-848	109	15	with	with	ADP
hjic-848	109	16	the	the	DET
hjic-848	109	17	application	application	NOUN
hjic-848	109	18	of	of	ADP
hjic-848	109	19	a	a	DET
hjic-848	109	20	pd	pd	NOUN
hjic-848	109	21	controller	controller	NOUN
hjic-848	109	22	.	.	PUNCT
hjic-848	110	1	figure	figure	VERB
hjic-848	110	2	6	6	NUM
hjic-848	110	3	:	:	PUNCT
hjic-848	110	4	the	the	DET
hjic-848	110	5	component	component	NOUN
hjic-848	110	6	with	with	ADP
hjic-848	110	7	regard	regard	NOUN
hjic-848	110	8	to	to	ADP
hjic-848	110	9	the	the	DET
hjic-848	110	10	compensation	compensation	NOUN
hjic-848	110	11	of	of	ADP
hjic-848	110	12	friction	friction	NOUN
hjic-848	110	13	.	.	PUNCT
hjic-848	111	1	3.3	3.3	NUM
hjic-848	111	2	calibration	calibration	NOUN
hjic-848	111	3	of	of	ADP
hjic-848	111	4	the	the	DET
hjic-848	111	5	model	model	NOUN
hjic-848	111	6	to	to	PART
hjic-848	111	7	specify	specify	VERB
hjic-848	111	8	the	the	DET
hjic-848	111	9	parameters	parameter	NOUN
hjic-848	111	10	of	of	ADP
hjic-848	111	11	the	the	DET
hjic-848	111	12	system	system	NOUN
hjic-848	111	13	,	,	PUNCT
hjic-848	111	14	first	first	ADV
hjic-848	111	15	the	the	DET
hjic-848	111	16	aforementioned	aforementioned	ADJ
hjic-848	111	17	model	model	NOUN
hjic-848	111	18	must	must	AUX
hjic-848	111	19	be	be	AUX
hjic-848	111	20	implemented	implement	VERB
hjic-848	111	21	.	.	PUNCT
hjic-848	112	1	in	in	ADP
hjic-848	112	2	the	the	DET
hjic-848	112	3	first	first	ADJ
hjic-848	112	4	case	case	NOUN
hjic-848	112	5	,	,	PUNCT
hjic-848	112	6	a	a	DET
hjic-848	112	7	position	position	NOUN
hjic-848	112	8	controller	controller	NOUN
hjic-848	112	9	was	be	AUX
hjic-848	112	10	used	use	VERB
hjic-848	112	11	for	for	ADP
hjic-848	112	12	tuning	tuning	NOUN
hjic-848	112	13	(	(	PUNCT
hjic-848	112	14	fig	fig	NOUN
hjic-848	112	15	.	.	PUNCT
hjic-848	113	1	7	7	NUM
hjic-848	113	2	)	)	PUNCT
hjic-848	113	3	.	.	PUNCT
hjic-848	114	1	it	it	PRON
hjic-848	114	2	is	be	AUX
hjic-848	114	3	worth	worth	ADJ
hjic-848	114	4	noting	note	VERB
hjic-848	114	5	that	that	SCONJ
hjic-848	114	6	the	the	DET
hjic-848	114	7	position	position	NOUN
hjic-848	114	8	signal	signal	NOUN
hjic-848	114	9	of	of	ADP
hjic-848	114	10	the	the	DET
hjic-848	114	11	real	real	ADJ
hjic-848	114	12	motor	motor	NOUN
hjic-848	114	13	reaches	reach	VERB
hjic-848	114	14	its	its	PRON
hjic-848	114	15	final	final	ADJ
hjic-848	114	16	value	value	NOUN
hjic-848	114	17	by	by	ADP
hjic-848	114	18	oscillation	oscillation	NOUN
hjic-848	114	19	and	and	CCONJ
hjic-848	114	20	overshooting	overshooting	NOUN
hjic-848	114	21	,	,	PUNCT
hjic-848	114	22	while	while	SCONJ
hjic-848	114	23	the	the	DET
hjic-848	114	24	graphs	graph	NOUN
hjic-848	114	25	of	of	ADP
hjic-848	114	26	the	the	DET
hjic-848	114	27	ideal	ideal	ADJ
hjic-848	114	28	motor	motor	NOUN
hjic-848	114	29	and	and	CCONJ
hjic-848	114	30	the	the	DET
hjic-848	114	31	compensated	compensated	ADJ
hjic-848	114	32	motor	motor	NOUN
hjic-848	114	33	are	be	AUX
hjic-848	114	34	smoother	smooth	ADJ
hjic-848	114	35	.	.	PUNCT
hjic-848	115	1	it	it	PRON
hjic-848	115	2	has	have	VERB
hjic-848	115	3	to	to	PART
hjic-848	115	4	be	be	AUX
hjic-848	115	5	mentioned	mention	VERB
hjic-848	115	6	that	that	SCONJ
hjic-848	115	7	the	the	DET
hjic-848	115	8	pd	pd	PROPN
hjic-848	115	9	controller	controller	NOUN
hjic-848	115	10	is	be	AUX
hjic-848	115	11	not	not	PART
hjic-848	115	12	optimised	optimise	VERB
hjic-848	115	13	for	for	ADP
hjic-848	115	14	a	a	DET
hjic-848	115	15	stand	stand	VERB
hjic-848	115	16	-	-	PUNCT
hjic-848	115	17	alone	alone	ADJ
hjic-848	115	18	task	task	NOUN
hjic-848	115	19	,	,	PUNCT
hjic-848	115	20	rather	rather	ADV
hjic-848	115	21	for	for	ADP
hjic-848	115	22	the	the	DET
hjic-848	115	23	compensation	compensation	NOUN
hjic-848	115	24	.	.	PUNCT
hjic-848	116	1	in	in	ADP
hjic-848	116	2	this	this	DET
hjic-848	116	3	experiment	experiment	NOUN
hjic-848	116	4	the	the	DET
hjic-848	116	5	following	following	ADJ
hjic-848	116	6	constants	constant	NOUN
hjic-848	116	7	were	be	AUX
hjic-848	116	8	used	use	VERB
hjic-848	116	9	for	for	ADP
hjic-848	116	10	the	the	DET
hjic-848	116	11	aforementioned	aforementioned	ADJ
hjic-848	116	12	parameters	parameter	NOUN
hjic-848	116	13	:	:	PUNCT
hjic-848	116	14	pidp	pidp	PROPN
hjic-848	116	15	=	=	SYM
hjic-848	116	16	190	190	NUM
hjic-848	116	17	,	,	PUNCT
hjic-848	116	18	pidp	pidp	NOUN
hjic-848	116	19	=	=	SYM
hjic-848	116	20	60	60	NUM
hjic-848	116	21	and	and	CCONJ
hjic-848	116	22	gainsliding	gainslide	VERB
hjic-848	116	23	=	=	SYM
hjic-848	116	24	30	30	NUM
hjic-848	116	25	,	,	PUNCT
hjic-848	116	26	000	000	NUM
hjic-848	116	27	.	.	PUNCT
hjic-848	117	1	in	in	ADP
hjic-848	117	2	the	the	DET
hjic-848	117	3	case	case	NOUN
hjic-848	117	4	of	of	ADP
hjic-848	117	5	a	a	DET
hjic-848	117	6	1	1	NUM
hjic-848	117	7	-	-	PUNCT
hjic-848	117	8	second	second	ADV
hjic-848	117	9	-	-	PUNCT
hjic-848	117	10	long	long	ADJ
hjic-848	117	11	simulation	simulation	NOUN
hjic-848	117	12	,	,	PUNCT
hjic-848	117	13	the	the	DET
hjic-848	117	14	difference	difference	NOUN
hjic-848	117	15	between	between	ADP
hjic-848	117	16	the	the	DET
hjic-848	117	17	position	position	NOUN
hjic-848	117	18	trajectory	trajectory	NOUN
hjic-848	117	19	of	of	ADP
hjic-848	117	20	the	the	DET
hjic-848	117	21	ideal	ideal	ADJ
hjic-848	117	22	and	and	CCONJ
hjic-848	117	23	compensated	compensated	ADJ
hjic-848	117	24	motors	motor	NOUN
hjic-848	117	25	is	be	AUX
hjic-848	117	26	visible	visible	ADJ
hjic-848	117	27	(	(	PUNCT
hjic-848	117	28	fig	fig	NOUN
hjic-848	117	29	.	.	PUNCT
hjic-848	118	1	8)	8)	NUM
hjic-848	118	2	.	.	PUNCT
hjic-848	119	1	in	in	ADP
hjic-848	119	2	fig	fig	NOUN
hjic-848	119	3	.	.	PUNCT
hjic-848	120	1	9	9	NUM
hjic-848	120	2	it	it	PRON
hjic-848	120	3	is	be	AUX
hjic-848	120	4	visible	visible	ADJ
hjic-848	120	5	that	that	SCONJ
hjic-848	120	6	the	the	DET
hjic-848	120	7	sliding	slide	VERB
hjic-848	120	8	-	-	PUNCT
hjic-848	120	9	mode	mode	NOUN
hjic-848	120	10	controller	controller	NOUN
hjic-848	120	11	is	be	AUX
hjic-848	120	12	inactive	inactive	ADJ
hjic-848	120	13	for	for	ADP
hjic-848	120	14	about	about	ADV
hjic-848	120	15	0.2	0.2	NUM
hjic-848	120	16	seconds	second	NOUN
hjic-848	120	17	which	which	PRON
hjic-848	120	18	is	be	AUX
hjic-848	120	19	the	the	DET
hjic-848	120	20	time	time	NOUN
hjic-848	120	21	necessary	necessary	ADJ
hjic-848	120	22	for	for	SCONJ
hjic-848	120	23	the	the	DET
hjic-848	120	24	controller	controller	NOUN
hjic-848	120	25	to	to	PART
hjic-848	120	26	reach	reach	VERB
hjic-848	120	27	the	the	DET
hjic-848	120	28	sliding	slide	VERB
hjic-848	120	29	surface	surface	NOUN
hjic-848	120	30	.	.	PUNCT
hjic-848	121	1	0	0	NUM
hjic-848	121	2	2	2	NUM
hjic-848	121	3	4	4	NUM
hjic-848	121	4	6	6	NUM
hjic-848	121	5	8	8	NUM
hjic-848	121	6	10	10	NUM
hjic-848	121	7	12	12	NUM
hjic-848	121	8	time	time	NOUN
hjic-848	121	9	[	[	X
hjic-848	121	10	s	s	X
hjic-848	121	11	]	]	X
hjic-848	121	12	0	0	NUM
hjic-848	121	13	10	10	NUM
hjic-848	121	14	20	20	NUM
hjic-848	121	15	30	30	NUM
hjic-848	121	16	40	40	NUM
hjic-848	121	17	50	50	NUM
hjic-848	122	1	p	p	NOUN
hjic-848	122	2	o	o	X
hjic-848	122	3	s	s	VERB
hjic-848	122	4	it	it	PRON
hjic-848	122	5	io	io	NOUN
hjic-848	122	6	n	n	X
hjic-848	122	7	[	[	PUNCT
hjic-848	122	8	in	in	ADP
hjic-848	122	9	c	c	PROPN
hjic-848	122	10	re	re	X
hjic-848	122	11	m	m	PROPN
hjic-848	122	12	e	e	PROPN
hjic-848	122	13	n	n	ADP
hjic-848	122	14	t	t	PROPN
hjic-848	122	15	]	]	PUNCT
hjic-848	122	16	position	position	NOUN
hjic-848	122	17	control	control	NOUN
hjic-848	122	18	with	with	ADP
hjic-848	122	19	friction	friction	NOUN
hjic-848	122	20	compensation	compensation	NOUN
hjic-848	122	21	real	real	ADJ
hjic-848	122	22	motor	motor	NOUN
hjic-848	122	23	with	with	ADP
hjic-848	122	24	compensation	compensation	NOUN
hjic-848	122	25	ideal	ideal	ADJ
hjic-848	122	26	motor	motor	NOUN
hjic-848	122	27	real	real	ADJ
hjic-848	122	28	motor	motor	NOUN
hjic-848	122	29	without	without	ADP
hjic-848	122	30	compensation	compensation	NOUN
hjic-848	122	31	figure	figure	NOUN
hjic-848	122	32	7	7	NUM
hjic-848	122	33	:	:	PUNCT
hjic-848	122	34	the	the	DET
hjic-848	122	35	compensated	compensate	VERB
hjic-848	122	36	signal	signal	NOUN
hjic-848	122	37	follows	follow	VERB
hjic-848	122	38	the	the	DET
hjic-848	122	39	stated	state	VERB
hjic-848	122	40	trajectory	trajectory	NOUN
hjic-848	122	41	.	.	PUNCT
hjic-848	123	1	between	between	ADP
hjic-848	123	2	−0.04	−0.04	PROPN
hjic-848	123	3	and	and	CCONJ
hjic-848	123	4	+0.04	+0.04	PROPN
hjic-848	123	5	the	the	DET
hjic-848	123	6	active	active	ADJ
hjic-848	123	7	sliding	sliding	ADJ
hjic-848	123	8	-	-	PUNCT
hjic-848	123	9	mode	mode	NOUN
hjic-848	123	10	becomes	become	VERB
hjic-848	123	11	visible	visible	ADJ
hjic-848	123	12	(	(	PUNCT
hjic-848	123	13	fig	fig	NOUN
hjic-848	123	14	.	.	PUNCT
hjic-848	123	15	10	10	NUM
hjic-848	123	16	)	)	PUNCT
hjic-848	123	17	.	.	PUNCT
hjic-848	124	1	there	there	PRON
hjic-848	124	2	is	be	VERB
hjic-848	124	3	a	a	DET
hjic-848	124	4	noticeable	noticeable	ADJ
hjic-848	124	5	level	level	NOUN
hjic-848	124	6	of	of	ADP
hjic-848	124	7	chattering	chatter	VERB
hjic-848	124	8	originating	originating	NOUN
hjic-848	124	9	from	from	ADP
hjic-848	124	10	the	the	DET
hjic-848	124	11	output	output	NOUN
hjic-848	124	12	signal	signal	NOUN
hjic-848	124	13	of	of	ADP
hjic-848	124	14	the	the	DET
hjic-848	124	15	sliding	sliding	ADJ
hjic-848	124	16	-	-	PUNCT
hjic-848	124	17	mode	mode	NOUN
hjic-848	124	18	controller	controller	NOUN
hjic-848	124	19	(	(	PUNCT
hjic-848	124	20	fig	fig	NOUN
hjic-848	124	21	.	.	PUNCT
hjic-848	124	22	11	11	NUM
hjic-848	124	23	)	)	PUNCT
hjic-848	124	24	.	.	PUNCT
hjic-848	125	1	this	this	PRON
hjic-848	125	2	was	be	AUX
hjic-848	125	3	eliminated	eliminate	VERB
hjic-848	125	4	by	by	ADP
hjic-848	125	5	the	the	DET
hjic-848	125	6	3rd	3rd	ADJ
hjic-848	125	7	order	order	NOUN
hjic-848	125	8	low	low	ADJ
hjic-848	125	9	-	-	PUNCT
hjic-848	125	10	pass	pass	NOUN
hjic-848	125	11	filter	filter	NOUN
hjic-848	125	12	(	(	PUNCT
hjic-848	125	13	fig	fig	NOUN
hjic-848	125	14	.	.	PUNCT
hjic-848	125	15	12	12	NUM
hjic-848	125	16	)	)	PUNCT
hjic-848	125	17	.	.	PUNCT
hjic-848	126	1	3.4	3.4	NUM
hjic-848	126	2	verification	verification	NOUN
hjic-848	126	3	of	of	ADP
hjic-848	126	4	the	the	DET
hjic-848	126	5	model	model	NOUN
hjic-848	126	6	subsequently	subsequently	ADV
hjic-848	126	7	,	,	PUNCT
hjic-848	126	8	the	the	DET
hjic-848	126	9	calibration	calibration	NOUN
hjic-848	126	10	component	component	NOUN
hjic-848	126	11	follows	follow	VERB
hjic-848	126	12	on	on	ADP
hjic-848	126	13	from	from	ADP
hjic-848	126	14	verification	verification	NOUN
hjic-848	126	15	of	of	ADP
hjic-848	126	16	the	the	DET
hjic-848	126	17	model	model	NOUN
hjic-848	126	18	.	.	PUNCT
hjic-848	127	1	the	the	DET
hjic-848	127	2	former	former	ADJ
hjic-848	127	3	simulations	simulation	NOUN
hjic-848	127	4	were	be	AUX
hjic-848	127	5	run	run	VERB
hjic-848	127	6	under	under	ADP
hjic-848	127	7	nearly	nearly	ADV
hjic-848	127	8	ideal	ideal	ADJ
hjic-848	127	9	conditions	condition	NOUN
hjic-848	127	10	,	,	PUNCT
hjic-848	127	11	but	but	CCONJ
hjic-848	127	12	now	now	ADV
hjic-848	127	13	a	a	DET
hjic-848	127	14	relevant	relevant	ADJ
hjic-848	127	15	coulomb	coulomb	NOUN
hjic-848	127	16	friction	friction	NOUN
hjic-848	127	17	will	will	AUX
hjic-848	127	18	be	be	AUX
hjic-848	127	19	added	add	VERB
hjic-848	127	20	to	to	ADP
hjic-848	127	21	the	the	DET
hjic-848	127	22	system	system	NOUN
hjic-848	127	23	as	as	ADV
hjic-848	127	24	well	well	ADV
hjic-848	127	25	as	as	ADP
hjic-848	127	26	an	an	DET
hjic-848	127	27	additional	additional	ADJ
hjic-848	127	28	step	step	NOUN
hjic-848	127	29	function	function	NOUN
hjic-848	127	30	load	load	NOUN
hjic-848	127	31	.	.	PUNCT
hjic-848	128	1	in	in	ADP
hjic-848	128	2	fig	fig	NOUN
hjic-848	128	3	.	.	PUNCT
hjic-848	129	1	13	13	NUM
hjic-848	130	1	the	the	DET
hjic-848	130	2	supplemented	supplement	VERB
hjic-848	130	3	system	system	NOUN
hjic-848	130	4	is	be	AUX
hjic-848	130	5	shown	show	VERB
hjic-848	130	6	only	only	ADV
hjic-848	130	7	for	for	ADP
hjic-848	130	8	the	the	DET
hjic-848	130	9	model	model	NOUN
hjic-848	130	10	of	of	ADP
hjic-848	130	11	the	the	DET
hjic-848	130	12	motor	motor	NOUN
hjic-848	130	13	that	that	PRON
hjic-848	130	14	compensated	compensate	VERB
hjic-848	130	15	for	for	ADP
hjic-848	130	16	friction	friction	NOUN
hjic-848	130	17	using	use	VERB
hjic-848	130	18	real	real	ADJ
hjic-848	130	19	parameters	parameter	NOUN
hjic-848	130	20	(	(	PUNCT
hjic-848	130	21	the	the	DET
hjic-848	130	22	models	model	NOUN
hjic-848	130	23	of	of	ADP
hjic-848	130	24	the	the	DET
hjic-848	130	25	ideal	ideal	ADJ
hjic-848	130	26	and	and	CCONJ
hjic-848	130	27	simple	simple	ADJ
hjic-848	130	28	real	real	ADJ
hjic-848	130	29	motors	motor	NOUN
hjic-848	130	30	were	be	AUX
hjic-848	130	31	excluded	exclude	VERB
hjic-848	130	32	to	to	PART
hjic-848	130	33	save	save	VERB
hjic-848	130	34	space	space	NOUN
hjic-848	130	35	)	)	PUNCT
hjic-848	130	36	.	.	PUNCT
hjic-848	131	1	0	0	NUM
hjic-848	131	2	0.2	0.2	NUM
hjic-848	131	3	0.4	0.4	NUM
hjic-848	131	4	0.6	0.6	NUM
hjic-848	131	5	0.8	0.8	NUM
hjic-848	131	6	1	1	NUM
hjic-848	131	7	time	time	NOUN
hjic-848	132	1	[	[	X
hjic-848	132	2	s	s	X
hjic-848	132	3	]	]	X
hjic-848	132	4	0	0	NUM
hjic-848	132	5	5	5	NUM
hjic-848	132	6	10	10	NUM
hjic-848	132	7	15	15	NUM
hjic-848	132	8	20	20	NUM
hjic-848	132	9	25	25	NUM
hjic-848	132	10	30	30	NUM
hjic-848	132	11	35	35	NUM
hjic-848	132	12	p	p	NOUN
hjic-848	132	13	o	o	X
hjic-848	132	14	s	s	VERB
hjic-848	132	15	it	it	PRON
hjic-848	132	16	io	io	NOUN
hjic-848	132	17	n	n	X
hjic-848	132	18	[	[	PUNCT
hjic-848	132	19	in	in	ADP
hjic-848	132	20	c	c	PROPN
hjic-848	132	21	re	re	X
hjic-848	132	22	m	m	PROPN
hjic-848	132	23	e	e	PROPN
hjic-848	132	24	n	n	ADP
hjic-848	132	25	t	t	PROPN
hjic-848	132	26	]	]	PUNCT
hjic-848	132	27	position	position	NOUN
hjic-848	132	28	control	control	NOUN
hjic-848	132	29	with	with	ADP
hjic-848	132	30	friction	friction	NOUN
hjic-848	132	31	compensation	compensation	NOUN
hjic-848	132	32	real	real	ADJ
hjic-848	132	33	motor	motor	NOUN
hjic-848	132	34	with	with	ADP
hjic-848	132	35	compensation	compensation	NOUN
hjic-848	132	36	ideal	ideal	ADJ
hjic-848	132	37	motor	motor	NOUN
hjic-848	132	38	real	real	ADJ
hjic-848	132	39	motor	motor	NOUN
hjic-848	132	40	without	without	ADP
hjic-848	132	41	compensation	compensation	NOUN
hjic-848	132	42	figure	figure	NOUN
hjic-848	132	43	8	8	NUM
hjic-848	132	44	:	:	PUNCT
hjic-848	132	45	the	the	DET
hjic-848	132	46	difference	difference	NOUN
hjic-848	132	47	between	between	ADP
hjic-848	132	48	the	the	DET
hjic-848	132	49	position	position	NOUN
hjic-848	132	50	signals	signal	NOUN
hjic-848	132	51	of	of	ADP
hjic-848	132	52	the	the	DET
hjic-848	132	53	ideal	ideal	ADJ
hjic-848	132	54	and	and	CCONJ
hjic-848	132	55	compensated	compensated	ADJ
hjic-848	132	56	motors	motor	NOUN
hjic-848	132	57	.	.	PUNCT
hjic-848	133	1	hungarian	hungarian	ADJ
hjic-848	133	2	journal	journal	NOUN
hjic-848	133	3	of	of	ADP
hjic-848	133	4	industry	industry	NOUN
hjic-848	133	5	and	and	CCONJ
hjic-848	133	6	chemistry	chemistry	NOUN
hjic-848	133	7	model	model	NOUN
hjic-848	133	8	reference	reference	NOUN
hjic-848	133	9	adaptive	adaptive	ADJ
hjic-848	133	10	control	control	NOUN
hjic-848	133	11	for	for	ADP
hjic-848	133	12	telemanipulation	telemanipulation	NOUN
hjic-848	133	13	45	45	NUM
hjic-848	133	14	0	0	NUM
hjic-848	133	15	0.2	0.2	NUM
hjic-848	133	16	0.4	0.4	NUM
hjic-848	133	17	0.6	0.6	NUM
hjic-848	133	18	0.8	0.8	NUM
hjic-848	133	19	1	1	NUM
hjic-848	133	20	time	time	NOUN
hjic-848	134	1	[	[	X
hjic-848	134	2	s	s	X
hjic-848	134	3	]	]	X
hjic-848	134	4	-20	-20	PUNCT
hjic-848	134	5	-15	-15	PUNCT
hjic-848	134	6	-10	-10	PUNCT
hjic-848	135	1	-5	-5	PUNCT
hjic-848	135	2	0	0	NUM
hjic-848	135	3	s	s	AUX
hjic-848	135	4	ig	ig	PROPN
hjic-848	135	5	m	m	VERB
hjic-848	135	6	a	a	PRON
hjic-848	135	7	[	[	PUNCT
hjic-848	135	8	-	-	PUNCT
hjic-848	135	9	]	]	X
hjic-848	135	10	reaching	reach	VERB
hjic-848	135	11	the	the	DET
hjic-848	135	12	sliding	slide	VERB
hjic-848	135	13	surface	surface	NOUN
hjic-848	135	14	sigma	sigma	NOUN
hjic-848	135	15	figure	figure	VERB
hjic-848	135	16	9	9	NUM
hjic-848	135	17	:	:	PUNCT
hjic-848	135	18	reaching	reach	VERB
hjic-848	135	19	the	the	DET
hjic-848	135	20	sliding	slide	VERB
hjic-848	135	21	surface	surface	NOUN
hjic-848	135	22	.	.	PUNCT
hjic-848	136	1	0.2	0.2	NUM
hjic-848	136	2	0.3	0.3	NUM
hjic-848	136	3	0.4	0.4	NUM
hjic-848	136	4	0.5	0.5	NUM
hjic-848	136	5	0.6	0.6	NUM
hjic-848	136	6	0.7	0.7	NUM
hjic-848	136	7	0.8	0.8	NUM
hjic-848	136	8	0.9	0.9	NUM
hjic-848	136	9	1	1	NUM
hjic-848	136	10	time	time	NOUN
hjic-848	137	1	[	[	X
hjic-848	137	2	s	s	X
hjic-848	137	3	]	]	X
hjic-848	137	4	-0.04	-0.04	NUM
hjic-848	137	5	-0.02	-0.02	NUM
hjic-848	137	6	0	0	NUM
hjic-848	137	7	0.02	0.02	NUM
hjic-848	137	8	0.04	0.04	NUM
hjic-848	137	9	0.06	0.06	NUM
hjic-848	137	10	s	s	VERB
hjic-848	137	11	ig	ig	PROPN
hjic-848	137	12	m	m	VERB
hjic-848	137	13	a	a	PRON
hjic-848	137	14	[	[	PUNCT
hjic-848	137	15	-	-	PUNCT
hjic-848	137	16	]	]	X
hjic-848	137	17	reaching	reach	VERB
hjic-848	137	18	the	the	DET
hjic-848	137	19	sliding	slide	VERB
hjic-848	137	20	surface	surface	NOUN
hjic-848	137	21	sigma	sigma	NOUN
hjic-848	137	22	figure	figure	VERB
hjic-848	137	23	10	10	NUM
hjic-848	137	24	:	:	PUNCT
hjic-848	137	25	after	after	ADP
hjic-848	137	26	reaching	reach	VERB
hjic-848	137	27	the	the	DET
hjic-848	137	28	sliding	slide	VERB
hjic-848	137	29	surface	surface	NOUN
hjic-848	137	30	,	,	PUNCT
hjic-848	137	31	the	the	DET
hjic-848	137	32	sliding	slide	VERB
hjic-848	137	33	mode	mode	NOUN
hjic-848	137	34	becomes	become	VERB
hjic-848	137	35	active	active	ADJ
hjic-848	137	36	.	.	PUNCT
hjic-848	138	1	0	0	NUM
hjic-848	138	2	0.2	0.2	NUM
hjic-848	138	3	0.4	0.4	NUM
hjic-848	138	4	0.6	0.6	NUM
hjic-848	138	5	0.8	0.8	NUM
hjic-848	138	6	1	1	NUM
hjic-848	138	7	time	time	NOUN
hjic-848	139	1	[	[	X
hjic-848	139	2	s	s	X
hjic-848	139	3	]	]	X
hjic-848	139	4	-3	-3	INTJ
hjic-848	139	5	-2	-2	INTJ
hjic-848	140	1	-1	-1	SYM
hjic-848	140	2	0	0	NUM
hjic-848	141	1	1	1	NUM
hjic-848	141	2	2	2	NUM
hjic-848	141	3	3	3	NUM
hjic-848	141	4	c	c	NOUN
hjic-848	141	5	o	o	NOUN
hjic-848	141	6	n	n	PRON
hjic-848	141	7	tr	tr	NOUN
hjic-848	141	8	o	o	PROPN
hjic-848	141	9	l	l	NOUN
hjic-848	141	10	s	s	VERB
hjic-848	141	11	ig	ig	PROPN
hjic-848	141	12	n	n	DET
hjic-848	141	13	a	a	DET
hjic-848	141	14	l	l	NOUN
hjic-848	142	1	[	[	X
hjic-848	142	2	]	]	X
hjic-848	142	3	#	#	SYM
hjic-848	142	4	104	104	NUM
hjic-848	142	5	chattering	chattering	NOUN
hjic-848	142	6	of	of	ADP
hjic-848	142	7	the	the	DET
hjic-848	142	8	unfiltered	unfiltered	ADJ
hjic-848	142	9	control	control	NOUN
hjic-848	142	10	signal	signal	PROPN
hjic-848	142	11	control	control	PROPN
hjic-848	142	12	signal	signal	PROPN
hjic-848	142	13	figure	figure	NOUN
hjic-848	142	14	11	11	NUM
hjic-848	142	15	:	:	PUNCT
hjic-848	142	16	chattering	chatter	VERB
hjic-848	142	17	originating	originating	NOUN
hjic-848	142	18	from	from	ADP
hjic-848	142	19	the	the	DET
hjic-848	142	20	output	output	NOUN
hjic-848	142	21	of	of	ADP
hjic-848	142	22	the	the	DET
hjic-848	142	23	sliding	sliding	ADJ
hjic-848	142	24	-	-	PUNCT
hjic-848	142	25	mode	mode	NOUN
hjic-848	142	26	controller	controller	NOUN
hjic-848	142	27	.	.	PUNCT
hjic-848	143	1	0	0	NUM
hjic-848	143	2	0.2	0.2	NUM
hjic-848	143	3	0.4	0.4	NUM
hjic-848	143	4	0.6	0.6	NUM
hjic-848	143	5	0.8	0.8	NUM
hjic-848	143	6	1	1	NUM
hjic-848	143	7	time	time	NOUN
hjic-848	144	1	[	[	X
hjic-848	144	2	s	s	X
hjic-848	144	3	]	]	X
hjic-848	144	4	-3	-3	INTJ
hjic-848	144	5	-2	-2	INTJ
hjic-848	145	1	-1	-1	SYM
hjic-848	145	2	0	0	NUM
hjic-848	146	1	1	1	NUM
hjic-848	146	2	2	2	NUM
hjic-848	146	3	c	c	NOUN
hjic-848	146	4	o	o	NOUN
hjic-848	146	5	n	n	PRON
hjic-848	146	6	tr	tr	NOUN
hjic-848	146	7	o	o	PROPN
hjic-848	146	8	l	l	NOUN
hjic-848	146	9	s	s	VERB
hjic-848	146	10	ig	ig	PROPN
hjic-848	146	11	n	n	DET
hjic-848	146	12	a	a	DET
hjic-848	146	13	l	l	NOUN
hjic-848	147	1	[	[	X
hjic-848	147	2	]	]	X
hjic-848	147	3	#	#	SYM
hjic-848	147	4	104	104	NUM
hjic-848	147	5	the	the	DET
hjic-848	147	6	filtered	filter	VERB
hjic-848	147	7	control	control	NOUN
hjic-848	147	8	signal	signal	PROPN
hjic-848	147	9	control	control	PROPN
hjic-848	147	10	signal	signal	PROPN
hjic-848	147	11	figure	figure	NOUN
hjic-848	147	12	12	12	NUM
hjic-848	147	13	:	:	PUNCT
hjic-848	147	14	the	the	DET
hjic-848	147	15	filtered	filter	VERB
hjic-848	147	16	signal	signal	NOUN
hjic-848	147	17	of	of	ADP
hjic-848	147	18	the	the	DET
hjic-848	147	19	sliding	sliding	ADJ
hjic-848	147	20	-	-	PUNCT
hjic-848	147	21	mode	mode	NOUN
hjic-848	147	22	controller	controller	NOUN
hjic-848	147	23	.	.	PUNCT
hjic-848	148	1	figure	figure	VERB
hjic-848	148	2	13	13	NUM
hjic-848	148	3	:	:	PUNCT
hjic-848	148	4	full	full	ADJ
hjic-848	148	5	model	model	NOUN
hjic-848	148	6	of	of	ADP
hjic-848	148	7	the	the	DET
hjic-848	148	8	compensated	compensate	VERB
hjic-848	148	9	motor	motor	NOUN
hjic-848	148	10	subjected	subject	VERB
hjic-848	148	11	to	to	ADP
hjic-848	148	12	calibration	calibration	NOUN
hjic-848	148	13	.	.	PUNCT
hjic-848	149	1	47(1	47(1	NUM
hjic-848	149	2	)	)	PUNCT
hjic-848	150	1	pp	pp	ADP
hjic-848	150	2	.	.	PUNCT
hjic-848	151	1	41–48	41–48	NUM
hjic-848	151	2	(	(	PUNCT
hjic-848	151	3	2019	2019	NUM
hjic-848	151	4	)	)	PUNCT
hjic-848	151	5	46	46	NUM
hjic-848	151	6	fink	fink	VERB
hjic-848	151	7	0	0	NUM
hjic-848	151	8	0.5	0.5	NUM
hjic-848	151	9	1	1	NUM
hjic-848	151	10	1.5	1.5	NUM
hjic-848	151	11	2	2	NUM
hjic-848	151	12	2.5	2.5	NUM
hjic-848	151	13	3	3	NUM
hjic-848	151	14	time	time	NOUN
hjic-848	151	15	[	[	X
hjic-848	151	16	s	s	X
hjic-848	151	17	]	]	X
hjic-848	151	18	0	0	NUM
hjic-848	151	19	5	5	NUM
hjic-848	151	20	10	10	NUM
hjic-848	151	21	15	15	NUM
hjic-848	151	22	20	20	NUM
hjic-848	151	23	25	25	NUM
hjic-848	151	24	30	30	NUM
hjic-848	151	25	35	35	NUM
hjic-848	151	26	p	p	NOUN
hjic-848	152	1	o	o	X
hjic-848	153	1	s	s	VERB
hjic-848	153	2	it	it	PRON
hjic-848	153	3	io	io	NOUN
hjic-848	153	4	n	n	X
hjic-848	153	5	[	[	PUNCT
hjic-848	153	6	in	in	ADP
hjic-848	153	7	c	c	PROPN
hjic-848	153	8	re	re	X
hjic-848	153	9	m	m	PROPN
hjic-848	153	10	e	e	PROPN
hjic-848	153	11	n	n	PROPN
hjic-848	153	12	t	t	PROPN
hjic-848	153	13	]	]	PUNCT
hjic-848	153	14	comparison	comparison	NOUN
hjic-848	153	15	of	of	ADP
hjic-848	153	16	the	the	DET
hjic-848	153	17	behavior	behavior	NOUN
hjic-848	153	18	of	of	ADP
hjic-848	153	19	the	the	DET
hjic-848	153	20	models	model	NOUN
hjic-848	153	21	real	real	ADJ
hjic-848	153	22	motor	motor	NOUN
hjic-848	153	23	with	with	ADP
hjic-848	153	24	compensation	compensation	NOUN
hjic-848	153	25	ideal	ideal	ADJ
hjic-848	153	26	motor	motor	NOUN
hjic-848	153	27	real	real	ADJ
hjic-848	153	28	motor	motor	NOUN
hjic-848	153	29	without	without	ADP
hjic-848	153	30	compensation	compensation	NOUN
hjic-848	153	31	figure	figure	NOUN
hjic-848	153	32	14	14	NUM
hjic-848	153	33	:	:	PUNCT
hjic-848	153	34	position	position	NOUN
hjic-848	153	35	signals	signal	NOUN
hjic-848	153	36	after	after	SCONJ
hjic-848	153	37	coulomb	coulomb	NOUN
hjic-848	153	38	friction	friction	NOUN
hjic-848	153	39	was	be	AUX
hjic-848	153	40	accounted	account	VERB
hjic-848	153	41	for	for	ADP
hjic-848	153	42	in	in	ADP
hjic-848	153	43	the	the	DET
hjic-848	153	44	system	system	NOUN
hjic-848	153	45	.	.	PUNCT
hjic-848	154	1	0	0	NUM
hjic-848	154	2	0.5	0.5	NUM
hjic-848	154	3	1	1	NUM
hjic-848	154	4	1.5	1.5	NUM
hjic-848	154	5	2	2	NUM
hjic-848	154	6	2.5	2.5	NUM
hjic-848	154	7	3	3	NUM
hjic-848	154	8	time	time	NOUN
hjic-848	155	1	[	[	X
hjic-848	155	2	s	s	X
hjic-848	155	3	]	]	X
hjic-848	155	4	-80	-80	PUNCT
hjic-848	155	5	-60	-60	PUNCT
hjic-848	155	6	-40	-40	PROPN
hjic-848	155	7	-20	-20	NUM
hjic-848	155	8	0	0	NUM
hjic-848	155	9	20	20	NUM
hjic-848	155	10	40	40	NUM
hjic-848	156	1	p	p	NOUN
hjic-848	156	2	o	o	X
hjic-848	156	3	s	s	VERB
hjic-848	156	4	it	it	PRON
hjic-848	156	5	io	io	NOUN
hjic-848	156	6	n	n	X
hjic-848	156	7	[	[	PUNCT
hjic-848	156	8	in	in	ADP
hjic-848	156	9	c	c	PROPN
hjic-848	156	10	re	re	X
hjic-848	156	11	m	m	PROPN
hjic-848	156	12	e	e	PROPN
hjic-848	156	13	n	n	PROPN
hjic-848	156	14	t	t	PROPN
hjic-848	156	15	]	]	PUNCT
hjic-848	156	16	comparison	comparison	NOUN
hjic-848	156	17	of	of	ADP
hjic-848	156	18	the	the	DET
hjic-848	156	19	behavior	behavior	NOUN
hjic-848	156	20	of	of	ADP
hjic-848	156	21	the	the	DET
hjic-848	156	22	models	model	NOUN
hjic-848	156	23	real	real	ADJ
hjic-848	156	24	motor	motor	NOUN
hjic-848	156	25	with	with	ADP
hjic-848	156	26	compensation	compensation	NOUN
hjic-848	156	27	ideal	ideal	ADJ
hjic-848	156	28	motor	motor	NOUN
hjic-848	156	29	real	real	ADJ
hjic-848	156	30	motor	motor	NOUN
hjic-848	156	31	without	without	ADP
hjic-848	156	32	compensation	compensation	NOUN
hjic-848	156	33	figure	figure	NOUN
hjic-848	156	34	15	15	NUM
hjic-848	156	35	:	:	PUNCT
hjic-848	156	36	an	an	DET
hjic-848	156	37	additional	additional	ADJ
hjic-848	156	38	load	load	NOUN
hjic-848	156	39	added	add	VERB
hjic-848	156	40	to	to	ADP
hjic-848	156	41	the	the	DET
hjic-848	156	42	system	system	NOUN
hjic-848	156	43	.	.	PUNCT
hjic-848	157	1	figure	figure	VERB
hjic-848	157	2	16	16	NUM
hjic-848	157	3	:	:	PUNCT
hjic-848	157	4	bilateral	bilateral	ADJ
hjic-848	157	5	control	control	NOUN
hjic-848	157	6	model	model	NOUN
hjic-848	157	7	.	.	PUNCT
hjic-848	158	1	0	0	NUM
hjic-848	158	2	0.5	0.5	NUM
hjic-848	158	3	1	1	NUM
hjic-848	158	4	1.5	1.5	NUM
hjic-848	158	5	2	2	NUM
hjic-848	158	6	2.5	2.5	NUM
hjic-848	158	7	3	3	NUM
hjic-848	158	8	time	time	NOUN
hjic-848	159	1	[	[	X
hjic-848	159	2	s	s	X
hjic-848	159	3	]	]	X
hjic-848	159	4	0	0	NUM
hjic-848	159	5	0.2	0.2	NUM
hjic-848	159	6	0.4	0.4	NUM
hjic-848	159	7	0.6	0.6	NUM
hjic-848	159	8	0.8	0.8	NUM
hjic-848	159	9	1	1	NUM
hjic-848	159	10	p	p	NOUN
hjic-848	159	11	o	o	NOUN
hjic-848	159	12	s	s	VERB
hjic-848	159	13	it	it	PRON
hjic-848	159	14	io	io	NOUN
hjic-848	159	15	n	n	X
hjic-848	159	16	[	[	PUNCT
hjic-848	159	17	in	in	ADP
hjic-848	159	18	c	c	PROPN
hjic-848	159	19	re	re	X
hjic-848	159	20	m	m	PROPN
hjic-848	159	21	e	e	PROPN
hjic-848	159	22	n	n	ADP
hjic-848	159	23	t	t	PROPN
hjic-848	159	24	]	]	PUNCT
hjic-848	159	25	position	position	NOUN
hjic-848	159	26	following	follow	VERB
hjic-848	159	27	of	of	ADP
hjic-848	159	28	the	the	DET
hjic-848	159	29	slave	slave	NOUN
hjic-848	159	30	arm	arm	NOUN
hjic-848	159	31	master	master	NOUN
hjic-848	159	32	arm	arm	NOUN
hjic-848	159	33	slave	slave	NOUN
hjic-848	159	34	arm	arm	NOUN
hjic-848	159	35	(	(	PUNCT
hjic-848	159	36	with	with	ADP
hjic-848	159	37	compensation	compensation	NOUN
hjic-848	159	38	)	)	PUNCT
hjic-848	159	39	slave	slave	NOUN
hjic-848	159	40	arm	arm	NOUN
hjic-848	159	41	(	(	PUNCT
hjic-848	159	42	without	without	ADP
hjic-848	159	43	compensation	compensation	NOUN
hjic-848	159	44	)	)	PUNCT
hjic-848	159	45	figure	figure	NOUN
hjic-848	159	46	17	17	NUM
hjic-848	159	47	:	:	PUNCT
hjic-848	159	48	the	the	DET
hjic-848	159	49	same	same	ADJ
hjic-848	159	50	parameters	parameter	NOUN
hjic-848	159	51	applied	apply	VERB
hjic-848	159	52	to	to	ADP
hjic-848	159	53	the	the	DET
hjic-848	159	54	slave	slave	NOUN
hjic-848	159	55	arm	arm	NOUN
hjic-848	159	56	failed	fail	VERB
hjic-848	159	57	to	to	PART
hjic-848	159	58	yield	yield	VERB
hjic-848	159	59	results	result	NOUN
hjic-848	159	60	.	.	PUNCT
hjic-848	160	1	0	0	NUM
hjic-848	160	2	0.5	0.5	NUM
hjic-848	160	3	1	1	NUM
hjic-848	160	4	1.5	1.5	NUM
hjic-848	160	5	2	2	NUM
hjic-848	160	6	2.5	2.5	NUM
hjic-848	160	7	3	3	NUM
hjic-848	160	8	time	time	NOUN
hjic-848	161	1	[	[	X
hjic-848	161	2	s	s	X
hjic-848	161	3	]	]	X
hjic-848	161	4	0	0	NUM
hjic-848	161	5	0.2	0.2	NUM
hjic-848	161	6	0.4	0.4	NUM
hjic-848	161	7	0.6	0.6	NUM
hjic-848	161	8	0.8	0.8	NUM
hjic-848	161	9	1	1	NUM
hjic-848	161	10	1.2	1.2	NUM
hjic-848	161	11	1.4	1.4	NUM
hjic-848	161	12	1.6	1.6	NUM
hjic-848	161	13	p	p	NOUN
hjic-848	161	14	o	o	PROPN
hjic-848	161	15	s	s	VERB
hjic-848	161	16	it	it	PRON
hjic-848	161	17	io	io	NOUN
hjic-848	161	18	n	n	X
hjic-848	161	19	[	[	PUNCT
hjic-848	161	20	in	in	ADP
hjic-848	161	21	c	c	PROPN
hjic-848	161	22	re	re	X
hjic-848	161	23	m	m	PROPN
hjic-848	161	24	e	e	PROPN
hjic-848	161	25	n	n	ADP
hjic-848	161	26	t	t	PROPN
hjic-848	161	27	]	]	PUNCT
hjic-848	161	28	position	position	NOUN
hjic-848	161	29	following	follow	VERB
hjic-848	161	30	of	of	ADP
hjic-848	161	31	the	the	DET
hjic-848	161	32	slave	slave	NOUN
hjic-848	161	33	arm	arm	NOUN
hjic-848	161	34	master	master	NOUN
hjic-848	161	35	arm	arm	NOUN
hjic-848	161	36	slave	slave	NOUN
hjic-848	161	37	arm	arm	NOUN
hjic-848	161	38	(	(	PUNCT
hjic-848	161	39	with	with	ADP
hjic-848	161	40	compensation	compensation	NOUN
hjic-848	161	41	)	)	PUNCT
hjic-848	161	42	slave	slave	NOUN
hjic-848	161	43	arm	arm	NOUN
hjic-848	161	44	(	(	PUNCT
hjic-848	161	45	without	without	ADP
hjic-848	161	46	compensation	compensation	NOUN
hjic-848	161	47	)	)	PUNCT
hjic-848	161	48	figure	figure	NOUN
hjic-848	161	49	18	18	NUM
hjic-848	161	50	:	:	PUNCT
hjic-848	161	51	position	position	NOUN
hjic-848	161	52	signal	signal	NOUN
hjic-848	161	53	following	follow	VERB
hjic-848	161	54	of	of	ADP
hjic-848	161	55	the	the	DET
hjic-848	161	56	bilateral	bilateral	ADJ
hjic-848	161	57	system	system	NOUN
hjic-848	161	58	.	.	PUNCT
hjic-848	162	1	hungarian	hungarian	ADJ
hjic-848	162	2	journal	journal	NOUN
hjic-848	162	3	of	of	ADP
hjic-848	162	4	industry	industry	NOUN
hjic-848	162	5	and	and	CCONJ
hjic-848	162	6	chemistry	chemistry	NOUN
hjic-848	162	7	model	model	NOUN
hjic-848	162	8	reference	reference	NOUN
hjic-848	162	9	adaptive	adaptive	ADJ
hjic-848	162	10	control	control	NOUN
hjic-848	162	11	for	for	ADP
hjic-848	162	12	telemanipulation	telemanipulation	NOUN
hjic-848	162	13	47	47	NUM
hjic-848	162	14	0	0	NUM
hjic-848	162	15	0.5	0.5	NUM
hjic-848	162	16	1	1	NUM
hjic-848	162	17	1.5	1.5	NUM
hjic-848	162	18	2	2	NUM
hjic-848	162	19	2.5	2.5	NUM
hjic-848	162	20	3	3	NUM
hjic-848	162	21	time	time	NOUN
hjic-848	163	1	[	[	X
hjic-848	163	2	s	s	X
hjic-848	163	3	]	]	X
hjic-848	163	4	-0.6	-0.6	X
hjic-848	163	5	-0.4	-0.4	X
hjic-848	163	6	-0.2	-0.2	PROPN
hjic-848	163	7	0	0	NUM
hjic-848	163	8	0.2	0.2	NUM
hjic-848	163	9	0.4	0.4	NUM
hjic-848	163	10	0.6	0.6	NUM
hjic-848	163	11	0.8	0.8	NUM
hjic-848	163	12	1	1	NUM
hjic-848	163	13	f	f	NOUN
hjic-848	163	14	o	o	X
hjic-848	163	15	rc	rc	X
hjic-848	163	16	e	e	PROPN
hjic-848	163	17	[	[	PUNCT
hjic-848	163	18	n	n	CCONJ
hjic-848	163	19	]	]	PUNCT
hjic-848	163	20	force	force	NOUN
hjic-848	163	21	input	input	NOUN
hjic-848	163	22	for	for	ADP
hjic-848	163	23	the	the	DET
hjic-848	163	24	bilateral	bilateral	ADJ
hjic-848	163	25	control	control	NOUN
hjic-848	163	26	master	master	NOUN
hjic-848	163	27	arm	arm	NOUN
hjic-848	163	28	figure	figure	NOUN
hjic-848	163	29	19	19	NUM
hjic-848	163	30	:	:	PUNCT
hjic-848	163	31	force	force	NOUN
hjic-848	163	32	input	input	NOUN
hjic-848	163	33	to	to	ADP
hjic-848	163	34	the	the	DET
hjic-848	163	35	bilateral	bilateral	ADJ
hjic-848	163	36	control	control	NOUN
hjic-848	163	37	.	.	PUNCT
hjic-848	164	1	in	in	ADP
hjic-848	164	2	fig	fig	NOUN
hjic-848	164	3	.	.	PUNCT
hjic-848	165	1	14	14	NUM
hjic-848	166	1	the	the	DET
hjic-848	166	2	position	position	NOUN
hjic-848	166	3	signals	signal	NOUN
hjic-848	166	4	are	be	AUX
hjic-848	166	5	shown	show	VERB
hjic-848	166	6	after	after	ADP
hjic-848	166	7	the	the	DET
hjic-848	166	8	addition	addition	NOUN
hjic-848	166	9	of	of	ADP
hjic-848	166	10	the	the	DET
hjic-848	166	11	coulomb	coulomb	NOUN
hjic-848	166	12	friction	friction	NOUN
hjic-848	166	13	to	to	ADP
hjic-848	166	14	the	the	DET
hjic-848	166	15	system	system	NOUN
hjic-848	166	16	.	.	PUNCT
hjic-848	167	1	this	this	DET
hjic-848	167	2	new	new	ADJ
hjic-848	167	3	component	component	NOUN
hjic-848	167	4	has	have	VERB
hjic-848	167	5	a	a	DET
hjic-848	167	6	stabilizing	stabilize	VERB
hjic-848	167	7	effect	effect	NOUN
hjic-848	167	8	on	on	ADP
hjic-848	167	9	the	the	DET
hjic-848	167	10	oscillation	oscillation	NOUN
hjic-848	167	11	of	of	ADP
hjic-848	167	12	the	the	DET
hjic-848	167	13	real	real	ADJ
hjic-848	167	14	motor	motor	NOUN
hjic-848	167	15	which	which	PRON
hjic-848	167	16	is	be	AUX
hjic-848	167	17	greater	great	ADJ
hjic-848	167	18	than	than	SCONJ
hjic-848	167	19	can	can	AUX
hjic-848	167	20	be	be	AUX
hjic-848	167	21	compensated	compensate	VERB
hjic-848	167	22	for	for	ADP
hjic-848	167	23	without	without	ADP
hjic-848	167	24	the	the	DET
hjic-848	167	25	introduction	introduction	NOUN
hjic-848	167	26	of	of	ADP
hjic-848	167	27	a	a	DET
hjic-848	167	28	permanent	permanent	ADJ
hjic-848	167	29	error	error	NOUN
hjic-848	167	30	.	.	PUNCT
hjic-848	168	1	however	however	ADV
hjic-848	168	2	,	,	PUNCT
hjic-848	168	3	the	the	DET
hjic-848	168	4	behaviour	behaviour	NOUN
hjic-848	168	5	of	of	ADP
hjic-848	168	6	the	the	DET
hjic-848	168	7	motor	motor	NOUN
hjic-848	168	8	compensated	compensate	VERB
hjic-848	168	9	for	for	ADP
hjic-848	168	10	by	by	ADP
hjic-848	168	11	friction	friction	NOUN
hjic-848	168	12	remains	remain	VERB
hjic-848	168	13	unchanged	unchanged	ADJ
hjic-848	168	14	.	.	PUNCT
hjic-848	169	1	the	the	DET
hjic-848	169	2	values	value	NOUN
hjic-848	169	3	of	of	ADP
hjic-848	169	4	the	the	DET
hjic-848	169	5	coulomb	coulomb	NOUN
hjic-848	169	6	friction	friction	NOUN
hjic-848	169	7	and	and	CCONJ
hjic-848	169	8	viscous	viscous	ADJ
hjic-848	169	9	friction	friction	NOUN
hjic-848	169	10	used	use	VERB
hjic-848	169	11	in	in	ADP
hjic-848	169	12	this	this	DET
hjic-848	169	13	experiment	experiment	NOUN
hjic-848	169	14	were	be	AUX
hjic-848	169	15	2	2	NUM
hjic-848	169	16	,	,	PUNCT
hjic-848	169	17	200	200	NUM
hjic-848	169	18	and	and	CCONJ
hjic-848	169	19	0.3	0.3	NUM
hjic-848	169	20	,	,	PUNCT
hjic-848	169	21	respectively	respectively	ADV
hjic-848	169	22	.	.	PUNCT
hjic-848	170	1	then	then	ADV
hjic-848	170	2	after	after	ADP
hjic-848	170	3	2	2	NUM
hjic-848	170	4	seconds	second	NOUN
hjic-848	170	5	an	an	DET
hjic-848	170	6	additional	additional	ADJ
hjic-848	170	7	load	load	NOUN
hjic-848	170	8	was	be	AUX
hjic-848	170	9	added	add	VERB
hjic-848	170	10	to	to	ADP
hjic-848	170	11	the	the	DET
hjic-848	170	12	system	system	NOUN
hjic-848	170	13	(	(	PUNCT
hjic-848	170	14	fig	fig	NOUN
hjic-848	170	15	.	.	PUNCT
hjic-848	170	16	15	15	NUM
hjic-848	170	17	)	)	PUNCT
hjic-848	170	18	.	.	PUNCT
hjic-848	171	1	it	it	PRON
hjic-848	171	2	was	be	AUX
hjic-848	171	3	noticeable	noticeable	ADJ
hjic-848	171	4	that	that	SCONJ
hjic-848	171	5	when	when	SCONJ
hjic-848	171	6	the	the	DET
hjic-848	171	7	position	position	NOUN
hjic-848	171	8	signal	signal	NOUN
hjic-848	171	9	of	of	ADP
hjic-848	171	10	the	the	DET
hjic-848	171	11	normal	normal	ADJ
hjic-848	171	12	motor	motor	NOUN
hjic-848	171	13	started	start	VERB
hjic-848	171	14	to	to	PART
hjic-848	171	15	rapidly	rapidly	ADV
hjic-848	171	16	decrease	decrease	VERB
hjic-848	171	17	,	,	PUNCT
hjic-848	171	18	the	the	DET
hjic-848	171	19	model	model	NOUN
hjic-848	171	20	compensated	compensate	VERB
hjic-848	171	21	for	for	ADP
hjic-848	171	22	by	by	ADP
hjic-848	171	23	friction	friction	NOUN
hjic-848	171	24	adapted	adapt	VERB
hjic-848	171	25	to	to	ADP
hjic-848	171	26	the	the	DET
hjic-848	171	27	new	new	ADJ
hjic-848	171	28	circumstances	circumstance	NOUN
hjic-848	171	29	.	.	PUNCT
hjic-848	172	1	the	the	DET
hjic-848	172	2	value	value	NOUN
hjic-848	172	3	of	of	ADP
hjic-848	172	4	the	the	DET
hjic-848	172	5	load	load	NOUN
hjic-848	172	6	added	add	VERB
hjic-848	172	7	after	after	SCONJ
hjic-848	172	8	2	2	NUM
hjic-848	172	9	s	s	PART
hjic-848	172	10	was	be	AUX
hjic-848	172	11	42	42	NUM
hjic-848	172	12	.	.	PUNCT
hjic-848	173	1	4	4	X
hjic-848	173	2	.	.	NOUN
hjic-848	173	3	results	result	NOUN
hjic-848	173	4	and	and	CCONJ
hjic-848	173	5	discussion	discussion	NOUN
hjic-848	173	6	4.1	4.1	NUM
hjic-848	173	7	final	final	ADJ
hjic-848	173	8	model	model	NOUN
hjic-848	173	9	finally	finally	ADV
hjic-848	173	10	,	,	PUNCT
hjic-848	173	11	bilateral	bilateral	ADJ
hjic-848	173	12	haptic	haptic	ADJ
hjic-848	173	13	control	control	NOUN
hjic-848	173	14	was	be	AUX
hjic-848	173	15	realized	realize	VERB
hjic-848	173	16	(	(	PUNCT
hjic-848	173	17	fig	fig	NOUN
hjic-848	173	18	.	.	PUNCT
hjic-848	174	1	16	16	NUM
hjic-848	174	2	)	)	PUNCT
hjic-848	174	3	.	.	PUNCT
hjic-848	175	1	the	the	DET
hjic-848	175	2	model	model	NOUN
hjic-848	175	3	of	of	ADP
hjic-848	175	4	the	the	DET
hjic-848	175	5	two	two	NUM
hjic-848	175	6	force	force	NOUN
hjic-848	175	7	cells	cell	NOUN
hjic-848	175	8	on	on	ADP
hjic-848	175	9	the	the	DET
hjic-848	175	10	real	real	ADJ
hjic-848	175	11	-	-	PUNCT
hjic-848	175	12	life	life	NOUN
hjic-848	175	13	device	device	NOUN
hjic-848	175	14	was	be	AUX
hjic-848	175	15	added	add	VERB
hjic-848	175	16	to	to	ADP
hjic-848	175	17	the	the	DET
hjic-848	175	18	system	system	NOUN
hjic-848	175	19	by	by	ADP
hjic-848	175	20	applying	apply	VERB
hjic-848	175	21	the	the	DET
hjic-848	175	22	same	same	ADJ
hjic-848	175	23	logic	logic	NOUN
hjic-848	175	24	as	as	SCONJ
hjic-848	175	25	used	use	VERB
hjic-848	175	26	on	on	ADP
hjic-848	175	27	the	the	DET
hjic-848	175	28	real	real	NOUN
hjic-848	175	29	.	.	PUNCT
hjic-848	176	1	each	each	DET
hjic-848	176	2	model	model	NOUN
hjic-848	176	3	of	of	ADP
hjic-848	176	4	the	the	DET
hjic-848	176	5	motor	motor	NOUN
hjic-848	176	6	was	be	AUX
hjic-848	176	7	extended	extend	VERB
hjic-848	176	8	by	by	ADP
hjic-848	176	9	a	a	DET
hjic-848	176	10	leftand	leftand	NOUN
hjic-848	176	11	right	right	ADJ
hjic-848	176	12	-	-	PUNCT
hjic-848	176	13	force	force	NOUN
hjic-848	176	14	block	block	NOUN
hjic-848	176	15	.	.	PUNCT
hjic-848	177	1	in	in	ADP
hjic-848	177	2	terms	term	NOUN
hjic-848	177	3	of	of	ADP
hjic-848	177	4	bilateral	bilateral	ADJ
hjic-848	177	5	control	control	NOUN
hjic-848	177	6	,	,	PUNCT
hjic-848	177	7	the	the	DET
hjic-848	177	8	difference	difference	NOUN
hjic-848	177	9	between	between	ADP
hjic-848	177	10	the	the	DET
hjic-848	177	11	force	force	NOUN
hjic-848	177	12	blocks	block	NOUN
hjic-848	177	13	of	of	ADP
hjic-848	177	14	each	each	DET
hjic-848	177	15	joystick	joystick	NOUN
hjic-848	177	16	was	be	AUX
hjic-848	177	17	compared	compare	VERB
hjic-848	177	18	,	,	PUNCT
hjic-848	177	19	which	which	PRON
hjic-848	177	20	was	be	AUX
hjic-848	177	21	also	also	ADV
hjic-848	177	22	the	the	DET
hjic-848	177	23	input	input	NOUN
hjic-848	177	24	of	of	ADP
hjic-848	177	25	the	the	DET
hjic-848	177	26	force	force	NOUN
hjic-848	177	27	controller	controller	NOUN
hjic-848	177	28	of	of	ADP
hjic-848	177	29	the	the	DET
hjic-848	177	30	master	master	NOUN
hjic-848	177	31	arm	arm	NOUN
hjic-848	177	32	.	.	PUNCT
hjic-848	178	1	subsequently	subsequently	ADV
hjic-848	178	2	,	,	PUNCT
hjic-848	178	3	the	the	DET
hjic-848	178	4	position	position	NOUN
hjic-848	178	5	of	of	ADP
hjic-848	178	6	the	the	DET
hjic-848	178	7	master	master	NOUN
hjic-848	178	8	arm	arm	NOUN
hjic-848	178	9	was	be	AUX
hjic-848	178	10	compared	compare	VERB
hjic-848	178	11	to	to	ADP
hjic-848	178	12	that	that	PRON
hjic-848	178	13	of	of	ADP
hjic-848	178	14	the	the	DET
hjic-848	178	15	slave	slave	NOUN
hjic-848	178	16	arm	arm	NOUN
hjic-848	178	17	,	,	PUNCT
hjic-848	178	18	which	which	PRON
hjic-848	178	19	was	be	AUX
hjic-848	178	20	the	the	DET
hjic-848	178	21	input	input	NOUN
hjic-848	178	22	of	of	ADP
hjic-848	178	23	the	the	DET
hjic-848	178	24	position	position	NOUN
hjic-848	178	25	controller	controller	NOUN
hjic-848	178	26	of	of	ADP
hjic-848	178	27	the	the	DET
hjic-848	178	28	slave	slave	NOUN
hjic-848	178	29	arm	arm	NOUN
hjic-848	178	30	(	(	PUNCT
hjic-848	178	31	fig	fig	NOUN
hjic-848	178	32	.	.	PUNCT
hjic-848	179	1	16	16	NUM
hjic-848	179	2	)	)	PUNCT
hjic-848	179	3	.	.	PUNCT
hjic-848	180	1	it	it	PRON
hjic-848	180	2	would	would	AUX
hjic-848	180	3	be	be	AUX
hjic-848	180	4	illogical	illogical	ADJ
hjic-848	180	5	to	to	PART
hjic-848	180	6	apply	apply	VERB
hjic-848	180	7	the	the	DET
hjic-848	180	8	same	same	ADJ
hjic-848	180	9	parameters	parameter	NOUN
hjic-848	180	10	to	to	ADP
hjic-848	180	11	the	the	DET
hjic-848	180	12	position	position	NOUN
hjic-848	180	13	controller	controller	NOUN
hjic-848	180	14	as	as	ADP
hjic-848	180	15	to	to	ADP
hjic-848	180	16	the	the	DET
hjic-848	180	17	one	one	NOUN
hjic-848	180	18	that	that	PRON
hjic-848	180	19	accounts	account	VERB
hjic-848	180	20	for	for	ADP
hjic-848	180	21	compensation	compensation	NOUN
hjic-848	180	22	because	because	SCONJ
hjic-848	180	23	without	without	ADP
hjic-848	180	24	the	the	DET
hjic-848	180	25	component	component	NOUN
hjic-848	180	26	of	of	ADP
hjic-848	180	27	compensation	compensation	NOUN
hjic-848	180	28	the	the	DET
hjic-848	180	29	friction	friction	NOUN
hjic-848	180	30	force	force	NOUN
hjic-848	180	31	would	would	AUX
hjic-848	180	32	prevent	prevent	VERB
hjic-848	180	33	the	the	DET
hjic-848	180	34	proper	proper	ADJ
hjic-848	180	35	position	position	NOUN
hjic-848	180	36	from	from	ADP
hjic-848	180	37	being	be	AUX
hjic-848	180	38	reached	reach	VERB
hjic-848	180	39	(	(	PUNCT
hjic-848	180	40	fig	fig	NOUN
hjic-848	180	41	.	.	PUNCT
hjic-848	180	42	17	17	NUM
hjic-848	180	43	)	)	PUNCT
hjic-848	180	44	.	.	PUNCT
hjic-848	181	1	nevertheless	nevertheless	ADV
hjic-848	181	2	,	,	PUNCT
hjic-848	181	3	if	if	SCONJ
hjic-848	181	4	an	an	DET
hjic-848	181	5	individually	individually	ADV
hjic-848	181	6	tuned	tune	VERB
hjic-848	181	7	proportional	proportional	ADJ
hjic-848	181	8	–	–	PUNCT
hjic-848	181	9	integral	integral	ADJ
hjic-848	181	10	–	–	PUNCT
hjic-848	181	11	derivative	derivative	ADJ
hjic-848	181	12	(	(	PUNCT
hjic-848	181	13	pid	pid	NOUN
hjic-848	181	14	)	)	PUNCT
hjic-848	181	15	controller	controller	NOUN
hjic-848	181	16	is	be	AUX
hjic-848	181	17	connected	connect	VERB
hjic-848	181	18	to	to	ADP
hjic-848	181	19	the	the	DET
hjic-848	181	20	component	component	NOUN
hjic-848	181	21	responsible	responsible	ADJ
hjic-848	181	22	for	for	ADP
hjic-848	181	23	position	position	NOUN
hjic-848	181	24	control	control	NOUN
hjic-848	181	25	of	of	ADP
hjic-848	181	26	the	the	DET
hjic-848	181	27	system	system	NOUN
hjic-848	181	28	,	,	PUNCT
hjic-848	181	29	the	the	DET
hjic-848	181	30	signal	signal	NOUN
hjic-848	181	31	that	that	SCONJ
hjic-848	181	32	results	result	NOUN
hjic-848	181	33	would	would	AUX
hjic-848	181	34	be	be	AUX
hjic-848	181	35	visible	visible	ADJ
hjic-848	181	36	(	(	PUNCT
hjic-848	181	37	fig	fig	NOUN
hjic-848	181	38	.	.	PUNCT
hjic-848	181	39	18	18	NUM
hjic-848	181	40	)	)	PUNCT
hjic-848	181	41	.	.	PUNCT
hjic-848	182	1	in	in	ADP
hjic-848	182	2	this	this	DET
hjic-848	182	3	case	case	NOUN
hjic-848	182	4	,	,	PUNCT
hjic-848	182	5	the	the	DET
hjic-848	182	6	input	input	NOUN
hjic-848	182	7	signal	signal	NOUN
hjic-848	182	8	was	be	AUX
hjic-848	182	9	applied	apply	VERB
hjic-848	182	10	to	to	ADP
hjic-848	182	11	the	the	DET
hjic-848	182	12	right	right	ADJ
hjic-848	182	13	force	force	NOUN
hjic-848	182	14	cell	cell	NOUN
hjic-848	182	15	of	of	ADP
hjic-848	182	16	the	the	DET
hjic-848	182	17	master	master	NOUN
hjic-848	182	18	arm	arm	NOUN
hjic-848	182	19	in	in	ADP
hjic-848	182	20	a	a	DET
hjic-848	182	21	shape	shape	NOUN
hjic-848	182	22	as	as	SCONJ
hjic-848	182	23	is	be	AUX
hjic-848	182	24	shown	show	VERB
hjic-848	182	25	in	in	ADP
hjic-848	182	26	fig	fig	NOUN
hjic-848	182	27	.	.	PUNCT
hjic-848	183	1	19	19	NUM
hjic-848	183	2	.	.	PUNCT
hjic-848	184	1	it	it	PRON
hjic-848	184	2	is	be	AUX
hjic-848	184	3	impossible	impossible	ADJ
hjic-848	184	4	to	to	PART
hjic-848	184	5	eliminate	eliminate	VERB
hjic-848	184	6	the	the	DET
hjic-848	184	7	entire	entire	ADJ
hjic-848	184	8	effects	effect	NOUN
hjic-848	184	9	of	of	ADP
hjic-848	184	10	friction	friction	NOUN
hjic-848	184	11	and	and	CCONJ
hjic-848	184	12	inertia	inertia	NOUN
hjic-848	184	13	on	on	ADP
hjic-848	184	14	the	the	DET
hjic-848	184	15	mechanical	mechanical	ADJ
hjic-848	184	16	construction	construction	NOUN
hjic-848	184	17	,	,	PUNCT
hjic-848	184	18	but	but	CCONJ
hjic-848	184	19	they	they	PRON
hjic-848	184	20	can	can	AUX
hjic-848	184	21	be	be	AUX
hjic-848	184	22	reduced	reduce	VERB
hjic-848	184	23	significantly	significantly	ADV
hjic-848	184	24	.	.	PUNCT
hjic-848	185	1	the	the	DET
hjic-848	185	2	magnitude	magnitude	NOUN
hjic-848	185	3	of	of	ADP
hjic-848	185	4	the	the	DET
hjic-848	185	5	friction	friction	NOUN
hjic-848	185	6	force	force	NOUN
hjic-848	185	7	exceeded	exceed	VERB
hjic-848	185	8	the	the	DET
hjic-848	185	9	limit	limit	NOUN
hjic-848	185	10	suitable	suitable	ADJ
hjic-848	185	11	for	for	ADP
hjic-848	185	12	a	a	DET
hjic-848	185	13	smooth	smooth	ADJ
hjic-848	185	14	,	,	PUNCT
hjic-848	185	15	comfortable	comfortable	ADJ
hjic-848	185	16	operation	operation	NOUN
hjic-848	185	17	.	.	PUNCT
hjic-848	186	1	compensation	compensation	NOUN
hjic-848	186	2	aims	aim	VERB
hjic-848	186	3	to	to	PART
hjic-848	186	4	make	make	VERB
hjic-848	186	5	the	the	DET
hjic-848	186	6	system	system	NOUN
hjic-848	186	7	behave	behave	VERB
hjic-848	186	8	like	like	ADP
hjic-848	186	9	an	an	DET
hjic-848	186	10	ideal	ideal	ADJ
hjic-848	186	11	model	model	NOUN
hjic-848	186	12	subject	subject	ADJ
hjic-848	186	13	to	to	ADP
hjic-848	186	14	a	a	DET
hjic-848	186	15	minimal	minimal	ADJ
hjic-848	186	16	level	level	NOUN
hjic-848	186	17	of	of	ADP
hjic-848	186	18	friction	friction	NOUN
hjic-848	186	19	.	.	PUNCT
hjic-848	187	1	due	due	ADP
hjic-848	187	2	to	to	ADP
hjic-848	187	3	the	the	DET
hjic-848	187	4	compensation	compensation	NOUN
hjic-848	187	5	,	,	PUNCT
hjic-848	187	6	the	the	DET
hjic-848	187	7	operator	operator	NOUN
hjic-848	187	8	can	can	AUX
hjic-848	187	9	move	move	VERB
hjic-848	187	10	the	the	DET
hjic-848	187	11	master	master	NOUN
hjic-848	187	12	joystick	joystick	NOUN
hjic-848	187	13	with	with	ADP
hjic-848	187	14	ease	ease	NOUN
hjic-848	187	15	.	.	PUNCT
hjic-848	188	1	over	over	ADP
hjic-848	188	2	a	a	DET
hjic-848	188	3	series	series	NOUN
hjic-848	188	4	of	of	ADP
hjic-848	188	5	experiments	experiment	NOUN
hjic-848	188	6	,	,	PUNCT
hjic-848	188	7	classical	classical	ADJ
hjic-848	188	8	and	and	CCONJ
hjic-848	188	9	sliding	slide	VERB
hjic-848	188	10	mode	mode	NOUN
hjic-848	188	11	-	-	PUNCT
hjic-848	188	12	based	base	VERB
hjic-848	188	13	model	model	NOUN
hjic-848	188	14	reference	reference	NOUN
hjic-848	188	15	adaptive	adaptive	ADJ
hjic-848	188	16	control	control	NOUN
hjic-848	188	17	methods	method	NOUN
hjic-848	188	18	were	be	AUX
hjic-848	188	19	compared	compare	VERB
hjic-848	188	20	.	.	PUNCT
hjic-848	189	1	the	the	DET
hjic-848	189	2	applications	application	NOUN
hjic-848	189	3	of	of	ADP
hjic-848	189	4	these	these	DET
hjic-848	189	5	methods	method	NOUN
hjic-848	189	6	with	with	ADP
hjic-848	189	7	regard	regard	NOUN
hjic-848	189	8	to	to	ADP
hjic-848	189	9	compensation	compensation	NOUN
hjic-848	189	10	for	for	ADP
hjic-848	189	11	friction	friction	NOUN
hjic-848	189	12	are	be	AUX
hjic-848	189	13	published	publish	VERB
hjic-848	189	14	in	in	ADP
hjic-848	189	15	[	[	X
hjic-848	189	16	11	11	NUM
hjic-848	189	17	,	,	PUNCT
hjic-848	189	18	12	12	NUM
hjic-848	189	19	]	]	PUNCT
hjic-848	189	20	.	.	PUNCT
hjic-848	190	1	it	it	PRON
hjic-848	190	2	is	be	AUX
hjic-848	190	3	crucial	crucial	ADJ
hjic-848	190	4	to	to	PART
hjic-848	190	5	identify	identify	VERB
hjic-848	190	6	an	an	DET
hjic-848	190	7	optimal	optimal	ADJ
hjic-848	190	8	adaptation	adaptation	NOUN
hjic-848	190	9	parameter	parameter	NOUN
hjic-848	190	10	which	which	PRON
hjic-848	190	11	facilitates	facilitate	VERB
hjic-848	190	12	rapid	rapid	ADJ
hjic-848	190	13	adaptation	adaptation	NOUN
hjic-848	190	14	but	but	CCONJ
hjic-848	190	15	avoids	avoid	VERB
hjic-848	190	16	overcompensation	overcompensation	NOUN
hjic-848	190	17	.	.	PUNCT
hjic-848	191	1	in	in	ADP
hjic-848	191	2	the	the	DET
hjic-848	191	3	event	event	NOUN
hjic-848	191	4	of	of	ADP
hjic-848	191	5	overcompensation	overcompensation	NOUN
hjic-848	191	6	,	,	PUNCT
hjic-848	191	7	the	the	DET
hjic-848	191	8	joystick	joystick	NOUN
hjic-848	191	9	moves	move	VERB
hjic-848	191	10	randomly	randomly	ADV
hjic-848	191	11	even	even	ADV
hjic-848	191	12	in	in	ADP
hjic-848	191	13	the	the	DET
hjic-848	191	14	absence	absence	NOUN
hjic-848	191	15	of	of	ADP
hjic-848	191	16	reference	reference	NOUN
hjic-848	191	17	torque	torque	NOUN
hjic-848	191	18	because	because	SCONJ
hjic-848	191	19	of	of	ADP
hjic-848	191	20	the	the	DET
hjic-848	191	21	measurement	measurement	NOUN
hjic-848	191	22	noise	noise	NOUN
hjic-848	191	23	.	.	PUNCT
hjic-848	192	1	as	as	ADP
hjic-848	192	2	the	the	DET
hjic-848	192	3	size	size	NOUN
hjic-848	192	4	of	of	ADP
hjic-848	192	5	the	the	DET
hjic-848	192	6	adaptation	adaptation	NOUN
hjic-848	192	7	parameter	parameter	NOUN
hjic-848	192	8	increases	increase	NOUN
hjic-848	192	9	,	,	PUNCT
hjic-848	192	10	adaptation	adaptation	NOUN
hjic-848	192	11	occurs	occur	VERB
hjic-848	192	12	more	more	ADV
hjic-848	192	13	rapidly	rapidly	ADV
hjic-848	192	14	,	,	PUNCT
hjic-848	192	15	however	however	ADV
hjic-848	192	16	,	,	PUNCT
hjic-848	192	17	the	the	DET
hjic-848	192	18	likelihood	likelihood	NOUN
hjic-848	192	19	of	of	ADP
hjic-848	192	20	random	random	ADJ
hjic-848	192	21	movements	movement	NOUN
hjic-848	192	22	rises	rise	VERB
hjic-848	192	23	.	.	PUNCT
hjic-848	193	1	5	5	X
hjic-848	193	2	.	.	X
hjic-848	193	3	conclusion	conclusion	NOUN
hjic-848	193	4	an	an	DET
hjic-848	193	5	experimental	experimental	ADJ
hjic-848	193	6	telemanipulation	telemanipulation	NOUN
hjic-848	193	7	system	system	NOUN
hjic-848	193	8	was	be	AUX
hjic-848	193	9	presented	present	VERB
hjic-848	193	10	in	in	ADP
hjic-848	193	11	this	this	DET
hjic-848	193	12	paper	paper	NOUN
hjic-848	193	13	.	.	PUNCT
hjic-848	194	1	the	the	DET
hjic-848	194	2	master	master	NOUN
hjic-848	194	3	device	device	NOUN
hjic-848	194	4	was	be	AUX
hjic-848	194	5	a	a	DET
hjic-848	194	6	serial	serial	ADJ
hjic-848	194	7	linked	link	VERB
hjic-848	194	8	levertype	levertype	NOUN
hjic-848	194	9	haptic	haptic	ADJ
hjic-848	194	10	interface	interface	NOUN
hjic-848	194	11	with	with	ADP
hjic-848	194	12	force	force	NOUN
hjic-848	194	13	feedback	feedback	NOUN
hjic-848	194	14	.	.	PUNCT
hjic-848	195	1	even	even	ADV
hjic-848	195	2	though	though	SCONJ
hjic-848	195	3	it	it	PRON
hjic-848	195	4	is	be	AUX
hjic-848	195	5	impossible	impossible	ADJ
hjic-848	195	6	to	to	PART
hjic-848	195	7	eliminate	eliminate	VERB
hjic-848	195	8	the	the	DET
hjic-848	195	9	entire	entire	ADJ
hjic-848	195	10	effects	effect	NOUN
hjic-848	195	11	of	of	ADP
hjic-848	195	12	friction	friction	NOUN
hjic-848	195	13	and	and	CCONJ
hjic-848	195	14	inertia	inertia	NOUN
hjic-848	195	15	on	on	ADP
hjic-848	195	16	the	the	DET
hjic-848	195	17	mechanical	mechanical	ADJ
hjic-848	195	18	construction	construction	NOUN
hjic-848	195	19	,	,	PUNCT
hjic-848	195	20	a	a	DET
hjic-848	195	21	reference	reference	NOUN
hjic-848	195	22	model	model	NOUN
hjic-848	195	23	that	that	PRON
hjic-848	195	24	accounts	account	VERB
hjic-848	195	25	for	for	ADP
hjic-848	195	26	minor	minor	ADJ
hjic-848	195	27	levels	level	NOUN
hjic-848	195	28	of	of	ADP
hjic-848	195	29	friction	friction	NOUN
hjic-848	195	30	was	be	AUX
hjic-848	195	31	designed	design	VERB
hjic-848	195	32	.	.	PUNCT
hjic-848	196	1	the	the	DET
hjic-848	196	2	system	system	NOUN
hjic-848	196	3	was	be	AUX
hjic-848	196	4	forced	force	VERB
hjic-848	196	5	to	to	PART
hjic-848	196	6	follow	follow	VERB
hjic-848	196	7	the	the	DET
hjic-848	196	8	reference	reference	NOUN
hjic-848	196	9	model	model	NOUN
hjic-848	196	10	.	.	PUNCT
hjic-848	197	1	in	in	ADP
hjic-848	197	2	other	other	ADJ
hjic-848	197	3	words	word	NOUN
hjic-848	197	4	,	,	PUNCT
hjic-848	197	5	the	the	DET
hjic-848	197	6	original	original	ADJ
hjic-848	197	7	dynamics	dynamic	NOUN
hjic-848	197	8	of	of	ADP
hjic-848	197	9	the	the	DET
hjic-848	197	10	master	master	NOUN
hjic-848	197	11	device	device	NOUN
hjic-848	197	12	were	be	AUX
hjic-848	197	13	replaced	replace	VERB
hjic-848	197	14	by	by	ADP
hjic-848	197	15	a	a	DET
hjic-848	197	16	virtual	virtual	ADJ
hjic-848	197	17	version	version	NOUN
hjic-848	197	18	which	which	PRON
hjic-848	197	19	ensures	ensure	VERB
hjic-848	197	20	a	a	DET
hjic-848	197	21	comfortable	comfortable	ADJ
hjic-848	197	22	degree	degree	NOUN
hjic-848	197	23	of	of	ADP
hjic-848	197	24	manipulation	manipulation	NOUN
hjic-848	197	25	for	for	ADP
hjic-848	197	26	the	the	DET
hjic-848	197	27	operator	operator	NOUN
hjic-848	197	28	.	.	PUNCT
hjic-848	198	1	references	reference	NOUN
hjic-848	198	2	[	[	X
hjic-848	198	3	1	1	NUM
hjic-848	198	4	]	]	PUNCT
hjic-848	198	5	arai	arai	PROPN
hjic-848	198	6	,	,	PUNCT
hjic-848	198	7	f.	f.	PROPN
hjic-848	198	8	;	;	PUNCT
hjic-848	198	9	sugiyama	sugiyama	NOUN
hjic-848	198	10	,	,	PUNCT
hjic-848	198	11	t.	t.	PROPN
hjic-848	198	12	;	;	PUNCT
hjic-848	198	13	fukuda	fukuda	PROPN
hjic-848	198	14	,	,	PUNCT
hjic-848	198	15	t.	t.	PROPN
hjic-848	198	16	;	;	PUNCT
hjic-848	198	17	iwata	iwata	PROPN
hjic-848	198	18	,	,	PUNCT
hjic-848	198	19	h.	h.	PROPN
hjic-848	198	20	;	;	PUNCT
hjic-848	198	21	itoigawa	itoigawa	PROPN
hjic-848	198	22	k.	k.	PROPN
hjic-848	198	23	:	:	PUNCT
hjic-848	198	24	micro	micro	PROPN
hjic-848	198	25	tri	tri	ADJ
hjic-848	198	26	-	-	ADJ
hjic-848	198	27	axial	axial	ADJ
hjic-848	198	28	force	force	NOUN
hjic-848	198	29	sensor	sensor	NOUN
hjic-848	198	30	for	for	ADP
hjic-848	198	31	3d	3d	PROPN
hjic-848	198	32	bio	bio	PROPN
hjic-848	198	33	-	-	NOUN
hjic-848	198	34	micromanipulation	micromanipulation	NOUN
hjic-848	198	35	,	,	PUNCT
hjic-848	198	36	1999	1999	NUM
hjic-848	198	37	ieee	ieee	PROPN
hjic-848	198	38	international	international	ADJ
hjic-848	198	39	conference	conference	NOUN
hjic-848	198	40	on	on	ADP
hjic-848	198	41	robotics	robotic	NOUN
hjic-848	198	42	and	and	CCONJ
hjic-848	198	43	automation	automation	NOUN
hjic-848	198	44	,	,	PUNCT
hjic-848	198	45	1999	1999	NUM
hjic-848	198	46	4	4	NUM
hjic-848	198	47	,	,	PUNCT
hjic-848	198	48	pp	pp	ADJ
hjic-848	198	49	.	.	PUNCT
hjic-848	199	1	2744–2749	2744–2749	PRON
hjic-848	199	2	isbn	isbn	NOUN
hjic-848	199	3	:	:	PUNCT
hjic-848	199	4	0	0	NUM
hjic-848	199	5	-	-	SYM
hjic-848	199	6	7803	7803	NUM
hjic-848	199	7	-	-	PUNCT
hjic-848	199	8	5180	5180	NUM
hjic-848	199	9	-	-	SYM
hjic-848	199	10	0	0	NUM
hjic-848	199	11	doi	doi	NOUN
hjic-848	199	12	:	:	PUNCT
hjic-848	199	13	10.1109	10.1109	NUM
hjic-848	199	14	/	/	SYM
hjic-848	199	15	robot.1999.774012	robot.1999.774012	NOUN
hjic-848	200	1	[	[	X
hjic-848	200	2	2	2	NUM
hjic-848	200	3	]	]	X
hjic-848	200	4	kwon	kwon	VERB
hjic-848	200	5	,	,	PUNCT
hjic-848	200	6	d	d	PROPN
hjic-848	200	7	-	-	PUNCT
hjic-848	200	8	s.	s.	PROPN
hjic-848	200	9	;	;	PUNCT
hjic-848	200	10	woo	woo	PROPN
hjic-848	200	11	,	,	PUNCT
hjic-848	200	12	k.	k.	PROPN
hjic-848	200	13	y.	y.	PROPN
hjic-848	200	14	;	;	PUNCT
hjic-848	200	15	cho	cho	PROPN
hjic-848	200	16	,	,	PUNCT
hjic-848	200	17	h.	h.	PROPN
hjic-848	200	18	s.	s.	PROPN
hjic-848	200	19	:	:	PUNCT
hjic-848	200	20	haptic	haptic	ADJ
hjic-848	200	21	control	control	NOUN
hjic-848	200	22	of	of	ADP
hjic-848	200	23	the	the	DET
hjic-848	200	24	master	master	NOUN
hjic-848	200	25	hand	hand	NOUN
hjic-848	200	26	controller	controller	NOUN
hjic-848	200	27	for	for	ADP
hjic-848	200	28	a	a	DET
hjic-848	200	29	microsurgical	microsurgical	ADJ
hjic-848	200	30	telerobot	telerobot	NOUN
hjic-848	200	31	system	system	NOUN
hjic-848	200	32	,	,	PUNCT
hjic-848	200	33	1999	1999	NUM
hjic-848	200	34	ieee	ieee	PROPN
hjic-848	200	35	international	international	ADJ
hjic-848	200	36	conference	conference	NOUN
hjic-848	200	37	on	on	ADP
hjic-848	200	38	robotics	robotic	NOUN
hjic-848	200	39	and	and	CCONJ
hjic-848	200	40	automation	automation	NOUN
hjic-848	200	41	,	,	PUNCT
hjic-848	200	42	1999	1999	NUM
hjic-848	200	43	3	3	NUM
hjic-848	200	44	,	,	PUNCT
hjic-848	200	45	pp	pp	ADJ
hjic-848	200	46	.	.	PUNCT
hjic-848	201	1	1722–1727	1722–1727	NUM
hjic-848	201	2	isbn	isbn	ADJ
hjic-848	201	3	:	:	PUNCT
hjic-848	201	4	0	0	NUM
hjic-848	201	5	-	-	SYM
hjic-848	201	6	7803	7803	NUM
hjic-848	201	7	-	-	PUNCT
hjic-848	201	8	5180	5180	NUM
hjic-848	201	9	-	-	SYM
hjic-848	201	10	0	0	NUM
hjic-848	201	11	doi	doi	NOUN
hjic-848	201	12	:	:	PUNCT
hjic-848	201	13	10.1109	10.1109	NUM
hjic-848	201	14	/	/	SYM
hjic-848	201	15	robot.1999.770357	robot.1999.770357	ADJ
hjic-848	201	16	[	[	X
hjic-848	201	17	3	3	X
hjic-848	201	18	]	]	X
hjic-848	201	19	n.	n.	PROPN
hjic-848	201	20	ando	ando	PROPN
hjic-848	201	21	,	,	PUNCT
hjic-848	201	22	m.	m.	NOUN
hjic-848	201	23	ohta	ohta	PROPN
hjic-848	201	24	,	,	PUNCT
hjic-848	201	25	h.	h.	PROPN
hjic-848	201	26	hashimoto	hashimoto	NOUN
hjic-848	201	27	:	:	PUNCT
hjic-848	201	28	“	"	PUNCT
hjic-848	201	29	micro	micro	ADJ
hjic-848	201	30	teleoperation	teleoperation	NOUN
hjic-848	201	31	with	with	ADP
hjic-848	201	32	haptic	haptic	ADJ
hjic-848	201	33	interface	interface	NOUN
hjic-848	201	34	”	"	PUNCT
hjic-848	201	35	,	,	PUNCT
hjic-848	201	36	proceedings	proceeding	NOUN
hjic-848	201	37	of	of	ADP
hjic-848	201	38	the	the	DET
hjic-848	201	39	2000	2000	NUM
hjic-848	201	40	ieee	ieee	NOUN
hjic-848	201	41	int	int	NOUN
hjic-848	201	42	.	.	PUNCT
hjic-848	202	1	conf	conf	PROPN
hjic-848	202	2	.	.	PUNCT
hjic-848	203	1	on	on	ADP
hjic-848	203	2	industrial	industrial	ADJ
hjic-848	203	3	electronics	electronic	NOUN
hjic-848	203	4	,	,	PUNCT
hjic-848	203	5	control	control	NOUN
hjic-848	203	6	and	and	CCONJ
hjic-848	203	7	instrumentation	instrumentation	NOUN
hjic-848	203	8	,	,	PUNCT
hjic-848	203	9	pp	pp	ADJ
hjic-848	203	10	.	.	PUNCT
hjic-848	204	1	13	13	NUM
hjic-848	204	2	-	-	SYM
hjic-848	204	3	18	18	NUM
hjic-848	204	4	,	,	PUNCT
hjic-848	204	5	2000	2000	NUM
hjic-848	204	6	,	,	PUNCT
hjic-848	204	7	10.1109	10.1109	NUM
hjic-848	204	8	/	/	SYM
hjic-848	204	9	iecon.2000.973119	iecon.2000.973119	NOUN
hjic-848	204	10	[	[	X
hjic-848	204	11	4	4	X
hjic-848	204	12	]	]	X
hjic-848	204	13	yokokohji	yokokohji	NOUN
hjic-848	204	14	,	,	PUNCT
hjic-848	204	15	y.	y.	PROPN
hjic-848	204	16	;	;	PUNCT
hjic-848	204	17	yoshikawa	yoshikawa	PROPN
hjic-848	204	18	,	,	PUNCT
hjic-848	204	19	t.	t.	PROPN
hjic-848	204	20	:	:	PUNCT
hjic-848	204	21	bilateral	bilateral	ADJ
hjic-848	204	22	control	control	NOUN
hjic-848	204	23	of	of	ADP
hjic-848	204	24	master	master	NOUN
hjic-848	204	25	-	-	PUNCT
hjic-848	204	26	slave	slave	NOUN
hjic-848	204	27	manipulators	manipulator	NOUN
hjic-848	204	28	for	for	ADP
hjic-848	204	29	ideal	ideal	ADJ
hjic-848	204	30	kinesthetic	kinesthetic	ADJ
hjic-848	204	31	coupling	coupling	NOUN
hjic-848	204	32	-	-	PUNCT
hjic-848	204	33	formulation	formulation	NOUN
hjic-848	204	34	and	and	CCONJ
hjic-848	204	35	experiment	experiment	NOUN
hjic-848	204	36	,	,	PUNCT
hjic-848	204	37	ieee	ieee	NOUN
hjic-848	204	38	t.	t.	PROPN
hjic-848	204	39	robotics	robotic	NOUN
hjic-848	204	40	autom	autom	PROPN
hjic-848	204	41	.	.	PUNCT
hjic-848	204	42	,	,	PUNCT
hjic-848	204	43	1994	1994	NUM
hjic-848	204	44	10(5	10(5	NUM
hjic-848	204	45	)	)	PUNCT
hjic-848	204	46	,	,	PUNCT
hjic-848	204	47	849–858	849–858	NUM
hjic-848	204	48	doi	doi	NOUN
hjic-848	204	49	:	:	PUNCT
hjic-848	204	50	10.1109/70.326566	10.1109/70.326566	NUM
hjic-848	204	51	47(1	47(1	NUM
hjic-848	204	52	)	)	PUNCT
hjic-848	204	53	pp	pp	ADP
hjic-848	204	54	.	.	PUNCT
hjic-848	205	1	41–48	41–48	NUM
hjic-848	205	2	(	(	PUNCT
hjic-848	205	3	2019	2019	NUM
hjic-848	205	4	)	)	PUNCT
hjic-848	205	5	https://doi.org/10.1109/robot.1999.774012	https://doi.org/10.1109/robot.1999.774012	PROPN
hjic-848	205	6	https://doi.org/10.1109/robot.1999.774012	https://doi.org/10.1109/robot.1999.774012	PROPN
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hjic-848	205	8	https://doi.org/10.1109/robot.1999.770357	https://doi.org/10.1109/robot.1999.770357	PROPN
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hjic-848	205	10	https://doi.org/10.1109/70.326566	https://doi.org/10.1109/70.326566	PROPN
hjic-848	205	11	48	48	NUM
hjic-848	205	12	fink	fink	NOUN
hjic-848	206	1	[	[	X
hjic-848	206	2	5	5	NUM
hjic-848	206	3	]	]	PUNCT
hjic-848	206	4	hashtrudi	hashtrudi	NOUN
hjic-848	206	5	-	-	PUNCT
hjic-848	206	6	zaad	zaad	PROPN
hjic-848	206	7	,	,	PUNCT
hjic-848	206	8	k.	k.	PROPN
hjic-848	206	9	;	;	PUNCT
hjic-848	206	10	salcudean	salcudean	PROPN
hjic-848	206	11	,	,	PUNCT
hjic-848	206	12	s.	s.	PROPN
hjic-848	206	13	e.	e.	PROPN
hjic-848	206	14	:	:	PUNCT
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hjic-848	206	20	teleoperation	teleoperation	NOUN
hjic-848	206	21	systems	system	NOUN
hjic-848	206	22	with	with	ADP
hjic-848	206	23	impedance	impedance	NOUN
hjic-848	206	24	/	/	SYM
hjic-848	206	25	admittance	admittance	NOUN
hjic-848	206	26	master	master	NOUN
hjic-848	206	27	and	and	CCONJ
hjic-848	206	28	slave	slave	NOUN
hjic-848	206	29	manipulators	manipulator	NOUN
hjic-848	206	30	,	,	PUNCT
hjic-848	206	31	int	int	NOUN
hjic-848	206	32	.	.	PUNCT
hjic-848	207	1	j.	j.	PROPN
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hjic-848	207	4	.	.	PUNCT
hjic-848	207	5	,	,	PUNCT
hjic-848	207	6	2001	2001	NUM
hjic-848	207	7	20(6	20(6	NOUN
hjic-848	207	8	)	)	PUNCT
hjic-848	207	9	,	,	PUNCT
hjic-848	207	10	419–445	419–445	NUM
hjic-848	207	11	doi	doi	NOUN
hjic-848	207	12	:	:	PUNCT
hjic-848	207	13	10.1177/02783640122067471	10.1177/02783640122067471	NUM
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hjic-848	207	15	6	6	NUM
hjic-848	207	16	]	]	PUNCT
hjic-848	207	17	korondi	korondi	NOUN
hjic-848	207	18	,	,	PUNCT
hjic-848	207	19	p.	p.	NOUN
hjic-848	207	20	;	;	PUNCT
hjic-848	207	21	young	young	ADJ
hjic-848	207	22	,	,	PUNCT
hjic-848	207	23	k.	k.	PROPN
hjic-848	207	24	d.	d.	PROPN
hjic-848	207	25	;	;	PUNCT
hjic-848	207	26	hashimoto	hashimoto	NOUN
hjic-848	207	27	,	,	PUNCT
hjic-848	207	28	h.	h.	NOUN
hjic-848	207	29	:	:	PUNCT
hjic-848	207	30	sliding	slide	VERB
hjic-848	207	31	mode	mode	NOUN
hjic-848	207	32	based	base	VERB
hjic-848	207	33	disturbance	disturbance	NOUN
hjic-848	207	34	observer	observer	NOUN
hjic-848	207	35	for	for	ADP
hjic-848	207	36	motion	motion	NOUN
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hjic-848	207	38	in	in	ADP
hjic-848	207	39	:	:	PUNCT
hjic-848	207	40	proceedings	proceeding	NOUN
hjic-848	207	41	of	of	ADP
hjic-848	207	42	the	the	DET
hjic-848	207	43	37th	37th	ADJ
hjic-848	207	44	ieee	ieee	NOUN
hjic-848	207	45	conference	conference	NOUN
hjic-848	207	46	on	on	ADP
hjic-848	207	47	decision	decision	NOUN
hjic-848	207	48	and	and	CCONJ
hjic-848	207	49	control	control	NOUN
hjic-848	207	50	,	,	PUNCT
hjic-848	207	51	(	(	PUNCT
hjic-848	207	52	ieee	ieee	NOUN
hjic-848	207	53	press	press	NOUN
hjic-848	207	54	,	,	PUNCT
hjic-848	207	55	new	new	PROPN
hjic-848	207	56	york	york	PROPN
hjic-848	207	57	,	,	PUNCT
hjic-848	207	58	usa	usa	PROPN
hjic-848	207	59	)	)	PUNCT
hjic-848	207	60	1998	1998	NUM
hjic-848	207	61	,	,	PUNCT
hjic-848	207	62	pp	pp	ADV
hjic-848	207	63	.	.	PUNCT
hjic-848	208	1	1926–1927	1926–1927	NUM
hjic-848	208	2	isbn	isbn	NOUN
hjic-848	208	3	:	:	PUNCT
hjic-848	208	4	0	0	NUM
hjic-848	208	5	-	-	SYM
hjic-848	208	6	7803	7803	NUM
hjic-848	208	7	-	-	PUNCT
hjic-848	208	8	4394	4394	NUM
hjic-848	208	9	-	-	SYM
hjic-848	208	10	8	8	NUM
hjic-848	208	11	doi	doi	NOUN
hjic-848	208	12	:	:	PUNCT
hjic-848	208	13	10.1109	10.1109	NUM
hjic-848	208	14	/	/	SYM
hjic-848	208	15	cdc.1998.758595	cdc.1998.758595	NOUN
hjic-848	209	1	[	[	X
hjic-848	209	2	7	7	X
hjic-848	209	3	]	]	X
hjic-848	209	4	v.	v.	PROPN
hjic-848	209	5	i.	i.	PROPN
hjic-848	209	6	utkin	utkin	PROPN
hjic-848	209	7	:	:	PUNCT
hjic-848	209	8	sliding	slide	VERB
hjic-848	209	9	modes	mode	NOUN
hjic-848	209	10	in	in	ADP
hjic-848	209	11	control	control	NOUN
hjic-848	209	12	and	and	CCONJ
hjic-848	209	13	optimization	optimization	NOUN
hjic-848	209	14	,	,	PUNCT
hjic-848	209	15	springer	springer	NOUN
hjic-848	209	16	–	–	PUNCT
hjic-848	209	17	verlag	verlag	PROPN
hjic-848	209	18	,	,	PUNCT
hjic-848	209	19	1992	1992	NUM
hjic-848	209	20	,	,	PUNCT
hjic-848	209	21	isbn	isbn	ADJ
hjic-848	209	22	:	:	PUNCT
hjic-848	209	23	978	978	NUM
hjic-848	209	24	-	-	SYM
hjic-848	209	25	3	3	NUM
hjic-848	209	26	-	-	PUNCT
hjic-848	209	27	642	642	NUM
hjic-848	209	28	-	-	PUNCT
hjic-848	209	29	84379	84379	NUM
hjic-848	209	30	-	-	SYM
hjic-848	209	31	2	2	NUM
hjic-848	209	32	doi	doi	NOUN
hjic-848	209	33	:	:	PUNCT
hjic-848	209	34	10.1007/978	10.1007/978	NUM
hjic-848	209	35	-	-	SYM
hjic-848	209	36	3	3	NUM
hjic-848	209	37	-	-	PUNCT
hjic-848	209	38	642	642	NUM
hjic-848	209	39	-	-	PUNCT
hjic-848	209	40	84379	84379	NUM
hjic-848	209	41	-	-	SYM
hjic-848	209	42	2	2	NUM
hjic-848	209	43	[	[	NOUN
hjic-848	209	44	8	8	NUM
hjic-848	209	45	]	]	X
hjic-848	209	46	ando	ando	PROPN
hjic-848	209	47	,	,	PUNCT
hjic-848	209	48	n.	n.	PROPN
hjic-848	209	49	;	;	PUNCT
hjic-848	209	50	korondi	korondi	NOUN
hjic-848	209	51	,	,	PUNCT
hjic-848	209	52	p.	p.	NOUN
hjic-848	209	53	;	;	PUNCT
hjic-848	209	54	hashimoto	hashimoto	NOUN
hjic-848	209	55	,	,	PUNCT
hjic-848	209	56	h.	h.	NOUN
hjic-848	209	57	:	:	PUNCT
hjic-848	209	58	development	development	NOUN
hjic-848	209	59	of	of	ADP
hjic-848	209	60	micromanipulator	micromanipulator	NOUN
hjic-848	209	61	and	and	CCONJ
hjic-848	209	62	haptic	haptic	ADJ
hjic-848	209	63	interface	interface	NOUN
hjic-848	209	64	for	for	ADP
hjic-848	209	65	networked	networked	ADJ
hjic-848	209	66	micromanipulation	micromanipulation	NOUN
hjic-848	209	67	,	,	PUNCT
hjic-848	209	68	ieee	ieee	PROPN
hjic-848	209	69	/	/	SYM
hjic-848	209	70	asme	asme	PROPN
hjic-848	209	71	t.	t.	PROPN
hjic-848	209	72	mechat	mechat	PROPN
hjic-848	209	73	.	.	PROPN
hjic-848	209	74	,	,	PUNCT
hjic-848	209	75	2001	2001	NUM
hjic-848	209	76	6(4	6(4	NUM
hjic-848	209	77	)	)	PUNCT
hjic-848	209	78	,	,	PUNCT
hjic-848	209	79	417–427	417–427	NUM
hjic-848	209	80	doi	doi	NOUN
hjic-848	209	81	:	:	PUNCT
hjic-848	209	82	10.1109/3516.974855	10.1109/3516.974855	NUM
hjic-848	209	83	[	[	X
hjic-848	209	84	9	9	NUM
hjic-848	209	85	]	]	SYM
hjic-848	209	86	korondi	korondi	NOUN
hjic-848	209	87	,	,	PUNCT
hjic-848	209	88	p.	p.	NOUN
hjic-848	209	89	;	;	PUNCT
hjic-848	209	90	young	young	ADJ
hjic-848	209	91	,	,	PUNCT
hjic-848	209	92	k	k	PROPN
hjic-848	209	93	-	-	PUNCT
hjic-848	209	94	k.	k.	PROPN
hjic-848	209	95	d.	d.	PROPN
hjic-848	209	96	;	;	PUNCT
hjic-848	209	97	hashimoto	hashimoto	NOUN
hjic-848	209	98	,	,	PUNCT
hjic-848	209	99	h.	h.	NOUN
hjic-848	209	100	:	:	PUNCT
hjic-848	209	101	discrete	discrete	ADJ
hjic-848	209	102	-	-	PUNCT
hjic-848	209	103	time	time	NOUN
hjic-848	209	104	sliding	slide	VERB
hjic-848	209	105	mode	mode	NOUN
hjic-848	209	106	based	base	VERB
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hjic-848	209	108	compensation	compensation	NOUN
hjic-848	209	109	for	for	ADP
hjic-848	209	110	motion	motion	NOUN
hjic-848	209	111	control	control	NOUN
hjic-848	209	112	,	,	PUNCT
hjic-848	209	113	1996	1996	NUM
hjic-848	209	114	ieee	ieee	NOUN
hjic-848	209	115	international	international	ADJ
hjic-848	209	116	workshop	workshop	NOUN
hjic-848	209	117	on	on	ADP
hjic-848	209	118	variable	variable	ADJ
hjic-848	209	119	structure	structure	NOUN
hjic-848	209	120	systems	system	NOUN
hjic-848	209	121	,	,	PUNCT
hjic-848	209	122	1996	1996	NUM
hjic-848	209	123	,	,	PUNCT
hjic-848	209	124	pp	pp	ADV
hjic-848	209	125	.	.	PUNCT
hjic-848	210	1	237–242	237–242	NUM
hjic-848	210	2	isbn	isbn	NOUN
hjic-848	210	3	:	:	PUNCT
hjic-848	210	4	0	0	NUM
hjic-848	210	5	-	-	SYM
hjic-848	210	6	7803	7803	NUM
hjic-848	210	7	-	-	PUNCT
hjic-848	210	8	3718	3718	NUM
hjic-848	210	9	-	-	SYM
hjic-848	210	10	2	2	NUM
hjic-848	210	11	doi	doi	NOUN
hjic-848	210	12	:	:	PUNCT
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hjic-848	210	14	/	/	SYM
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hjic-848	211	1	[	[	X
hjic-848	211	2	10	10	NUM
hjic-848	211	3	]	]	X
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hjic-848	211	6	:	:	PUNCT
hjic-848	211	7	1	1	NUM
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hjic-848	211	9	of	of	ADP
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hjic-848	211	11	haptic	haptic	ADJ
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hjic-848	211	15	,	,	PUNCT
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hjic-848	211	21	[	[	X
hjic-848	211	22	11	11	NUM
hjic-848	211	23	]	]	PUNCT
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hjic-848	211	25	,	,	PUNCT
hjic-848	211	26	n.	n.	PROPN
hjic-848	211	27	;	;	PUNCT
hjic-848	211	28	ohta	ohta	NOUN
hjic-848	211	29	,	,	PUNCT
hjic-848	211	30	m.	m.	NOUN
hjic-848	211	31	;	;	PUNCT
hjic-848	211	32	hashimoto	hashimoto	NOUN
hjic-848	211	33	,	,	PUNCT
hjic-848	211	34	h.	h.	PROPN
hjic-848	211	35	:	:	PUNCT
hjic-848	211	36	micro	micro	ADJ
hjic-848	211	37	teleoperation	teleoperation	NOUN
hjic-848	211	38	with	with	ADP
hjic-848	211	39	parallel	parallel	ADJ
hjic-848	211	40	manipulator	manipulator	NOUN
hjic-848	211	41	,	,	PUNCT
hjic-848	211	42	2000	2000	NUM
hjic-848	211	43	ieee	ieee	NOUN
hjic-848	211	44	/	/	SYM
hjic-848	211	45	rsj	rsj	NOUN
hjic-848	211	46	international	international	ADJ
hjic-848	211	47	conference	conference	NOUN
hjic-848	211	48	on	on	ADP
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hjic-848	211	51	and	and	CCONJ
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hjic-848	211	53	,	,	PUNCT
hjic-848	211	54	2000	2000	NUM
hjic-848	211	55	1	1	NUM
hjic-848	211	56	,	,	PUNCT
hjic-848	211	57	pp	pp	ADJ
hjic-848	211	58	.	.	PUNCT
hjic-848	212	1	677–682	677–682	NUM
hjic-848	212	2	isbn	isbn	ADJ
hjic-848	212	3	:	:	PUNCT
hjic-848	212	4	0	0	NUM
hjic-848	212	5	-	-	SYM
hjic-848	212	6	7803	7803	NUM
hjic-848	212	7	-	-	PUNCT
hjic-848	212	8	6348	6348	NUM
hjic-848	212	9	-	-	SYM
hjic-848	212	10	5	5	NUM
hjic-848	212	11	doi	doi	NOUN
hjic-848	212	12	:	:	PUNCT
hjic-848	212	13	10.1109	10.1109	NUM
hjic-848	212	14	/	/	SYM
hjic-848	212	15	iros.2000.894682	iros.2000.894682	NOUN
hjic-848	212	16	[	[	X
hjic-848	212	17	12	12	NUM
hjic-848	212	18	]	]	X
hjic-848	212	19	korondi	korondi	NOUN
hjic-848	212	20	,	,	PUNCT
hjic-848	212	21	p.	p.	NOUN
hjic-848	212	22	;	;	PUNCT
hjic-848	212	23	szemes	szeme	NOUN
hjic-848	212	24	,	,	PUNCT
hjic-848	212	25	p.	p.	PROPN
hjic-848	212	26	t.	t.	PROPN
hjic-848	212	27	;	;	PUNCT
hjic-848	212	28	hashimoto	hashimoto	NOUN
hjic-848	212	29	,	,	PUNCT
hjic-848	212	30	h.	h.	NOUN
hjic-848	212	31	:	:	PUNCT
hjic-848	212	32	sliding	slide	VERB
hjic-848	212	33	mode	mode	PROPN
hjic-848	212	34	friction	friction	NOUN
hjic-848	212	35	compensation	compensation	NOUN
hjic-848	212	36	for	for	ADP
hjic-848	212	37	a	a	DET
hjic-848	212	38	20	20	NUM
hjic-848	212	39	dof	dof	NOUN
hjic-848	212	40	sensor	sensor	NOUN
hjic-848	212	41	glove	glove	NOUN
hjic-848	212	42	,	,	PUNCT
hjic-848	212	43	j.	j.	PROPN
hjic-848	212	44	dyn	dyn	PROPN
hjic-848	212	45	.	.	PUNCT
hjic-848	213	1	sys	sys	PROPN
hjic-848	213	2	.	.	PROPN
hjic-848	213	3	,	,	PUNCT
hjic-848	213	4	meas	meas	PROPN
hjic-848	213	5	.	.	PUNCT
hjic-848	213	6	,	,	PUNCT
hjic-848	213	7	control	control	NOUN
hjic-848	213	8	,	,	PUNCT
hjic-848	213	9	2000	2000	NUM
hjic-848	213	10	122(4	122(4	NUM
hjic-848	213	11	)	)	PUNCT
hjic-848	213	12	611–615	611–615	NUM
hjic-848	213	13	doi	doi	NOUN
hjic-848	213	14	:	:	PUNCT
hjic-848	213	15	10.1115/1.1317232	10.1115/1.1317232	NUM
hjic-848	213	16	hungarian	hungarian	ADJ
hjic-848	213	17	journal	journal	NOUN
hjic-848	213	18	of	of	ADP
hjic-848	213	19	industry	industry	NOUN
hjic-848	213	20	and	and	CCONJ
hjic-848	213	21	chemistry	chemistry	NOUN
hjic-848	213	22	https://doi.org/10.1177/02783640122067471	https://doi.org/10.1177/02783640122067471	NOUN
hjic-848	213	23	https://doi.org/10.1177/02783640122067471	https://doi.org/10.1177/02783640122067471	NOUN
hjic-848	213	24	https://doi.org/10.1109/cdc.1998.758595	https://doi.org/10.1109/cdc.1998.758595	VERB
hjic-848	213	25	https://doi.org/10.1109/cdc.1998.758595	https://doi.org/10.1109/cdc.1998.758595	VERB
hjic-848	214	1	https://doi.org/10.1007/978-3-642-84379-2	https://doi.org/10.1007/978-3-642-84379-2	PROPN
hjic-848	214	2	https://doi.org/10.1109/3516.974855	https://doi.org/10.1109/3516.974855	NOUN
hjic-848	214	3	https://doi.org/10.1109/vss.1996.578577	https://doi.org/10.1109/vss.1996.578577	ADV
hjic-848	214	4	https://doi.org/10.1109/vss.1996.578577	https://doi.org/10.1109/vss.1996.578577	ADJ
hjic-848	214	5	https://doi.org/10.1109/iros.2000.894682	https://doi.org/10.1109/iros.2000.894682	PROPN
hjic-848	214	6	https://doi.org/10.1115/1.1317232	https://doi.org/10.1115/1.1317232	PROPN
hjic-848	214	7	introduction	introduction	NOUN
hjic-848	214	8	theoretical	theoretical	ADJ
hjic-848	214	9	background	background	NOUN
hjic-848	214	10	of	of	ADP
hjic-848	214	11	the	the	DET
hjic-848	214	12	experiment	experiment	NOUN
hjic-848	214	13	sliding	slide	VERB
hjic-848	214	14	mode	mode	NOUN
hjic-848	214	15	-	-	PUNCT
hjic-848	214	16	based	base	VERB
hjic-848	214	17	disturbance	disturbance	NOUN
hjic-848	214	18	elimination	elimination	NOUN
hjic-848	214	19	application	application	NOUN
hjic-848	214	20	tuning	tune	VERB
hjic-848	214	21	the	the	DET
hjic-848	214	22	disturbance	disturbance	NOUN
hjic-848	214	23	compensation	compensation	NOUN
hjic-848	214	24	design	design	NOUN
hjic-848	214	25	of	of	ADP
hjic-848	214	26	the	the	DET
hjic-848	214	27	disturbance	disturbance	NOUN
hjic-848	214	28	compensation	compensation	NOUN
hjic-848	214	29	component	component	NOUN
hjic-848	214	30	calibration	calibration	NOUN
hjic-848	214	31	of	of	ADP
hjic-848	214	32	the	the	DET
hjic-848	214	33	model	model	NOUN
hjic-848	214	34	verification	verification	NOUN
hjic-848	214	35	of	of	ADP
hjic-848	214	36	the	the	DET
hjic-848	214	37	model	model	NOUN
hjic-848	214	38	results	result	NOUN
hjic-848	214	39	and	and	CCONJ
hjic-848	214	40	discussion	discussion	NOUN
hjic-848	214	41	final	final	ADJ
hjic-848	214	42	model	model	NOUN
hjic-848	214	43	conclusion	conclusion	NOUN