id	sid	tid	token	lemma	pos
hjic-99	1	1	hungarian	hungarian	ADJ
hjic-99	1	2	journal	journal	NOUN
hjic-99	1	3	of	of	ADP
hjic-99	1	4	industrial	industrial	ADJ
hjic-99	1	5	chemistry	chemistry	NOUN
hjic-99	1	6	veszprém	veszprém	NOUN
hjic-99	1	7	vol	vol	NOUN
hjic-99	1	8	.	.	PUNCT
hjic-99	2	1	33	33	NUM
hjic-99	2	2	(	(	PUNCT
hjic-99	2	3	1	1	NUM
hjic-99	2	4	-	-	SYM
hjic-99	2	5	2	2	NUM
hjic-99	2	6	)	)	PUNCT
hjic-99	2	7	.	.	PUNCT
hjic-99	3	1	pp	pp	ADV
hjic-99	3	2	.	.	PUNCT
hjic-99	4	1	81	81	NUM
hjic-99	4	2	-	-	SYM
hjic-99	4	3	88	88	NUM
hjic-99	4	4	.	.	PUNCT
hjic-99	5	1	(	(	PUNCT
hjic-99	5	2	2005	2005	NUM
hjic-99	5	3	)	)	PUNCT
hjic-99	5	4	constrained	constrain	VERB
hjic-99	5	5	pi(d	pi(d	NOUN
hjic-99	5	6	)	)	PUNCT
hjic-99	5	7	algorithms	algorithm	NOUN
hjic-99	5	8	(	(	PUNCT
hjic-99	5	9	c	c	NOUN
hjic-99	5	10	-	-	PUNCT
hjic-99	5	11	pid	pid	NOUN
hjic-99	5	12	)	)	PUNCT
hjic-99	5	13	f.	f.	PROPN
hjic-99	5	14	szeifert	szeifert	PROPN
hjic-99	5	15	,	,	PUNCT
hjic-99	5	16	l.	l.	PROPN
hjic-99	5	17	nagy	nagy	PROPN
hjic-99	5	18	,	,	PUNCT
hjic-99	5	19	t.	t.	PROPN
hjic-99	5	20	chován	chován	PROPN
hjic-99	5	21	*	*	PROPN
hjic-99	5	22	and	and	CCONJ
hjic-99	5	23	j.	j.	PROPN
hjic-99	5	24	abonyi	abonyi	PROPN
hjic-99	5	25	department	department	PROPN
hjic-99	5	26	of	of	ADP
hjic-99	5	27	process	process	NOUN
hjic-99	5	28	engeneering	engeneere	VERB
hjic-99	5	29	,	,	PUNCT
hjic-99	5	30	university	university	NOUN
hjic-99	5	31	of	of	ADP
hjic-99	5	32	veszprém	veszprém	NOUN
hjic-99	5	33	,	,	PUNCT
hjic-99	5	34	veszprém	veszprém	NOUN
hjic-99	5	35	,	,	PUNCT
hjic-99	5	36	egyetem	egyetem	PROPN
hjic-99	5	37	u.	u.	PROPN
hjic-99	5	38	10	10	NUM
hjic-99	5	39	,	,	PUNCT
hjic-99	5	40	h-8200	h-8200	PROPN
hjic-99	5	41	,	,	PUNCT
hjic-99	5	42	hungary	hungary	NOUN
hjic-99	5	43	,	,	PUNCT
hjic-99	5	44	www.fmt.vein.hu	www.fmt.vein.hu	PROPN
hjic-99	5	45	,	,	PUNCT
hjic-99	5	46	chovan@fmt.vein.hu	chovan@fmt.vein.hu	PROPN
hjic-99	5	47	majority	majority	NOUN
hjic-99	5	48	of	of	ADP
hjic-99	5	49	control	control	NOUN
hjic-99	5	50	algorithms	algorithm	NOUN
hjic-99	5	51	used	use	VERB
hjic-99	5	52	in	in	ADP
hjic-99	5	53	industrial	industrial	ADJ
hjic-99	5	54	processes	process	NOUN
hjic-99	5	55	is	be	AUX
hjic-99	5	56	pid	pid	NOUN
hjic-99	5	57	or	or	CCONJ
hjic-99	5	58	pid	pid	NOUN
hjic-99	5	59	modification	modification	NOUN
hjic-99	5	60	and	and	CCONJ
hjic-99	5	61	many	many	ADJ
hjic-99	5	62	of	of	ADP
hjic-99	5	63	these	these	PRON
hjic-99	5	64	is	be	AUX
hjic-99	5	65	badly	badly	ADV
hjic-99	5	66	tuned	tune	VERB
hjic-99	5	67	.	.	PUNCT
hjic-99	6	1	the	the	DET
hjic-99	6	2	reason	reason	NOUN
hjic-99	6	3	for	for	ADP
hjic-99	6	4	this	this	PRON
hjic-99	6	5	is	be	AUX
hjic-99	6	6	that	that	SCONJ
hjic-99	6	7	the	the	DET
hjic-99	6	8	physical	physical	ADJ
hjic-99	6	9	constraints	constraint	NOUN
hjic-99	6	10	of	of	ADP
hjic-99	6	11	the	the	DET
hjic-99	6	12	manipulated	manipulate	VERB
hjic-99	6	13	variable	variable	NOUN
hjic-99	6	14	are	be	AUX
hjic-99	6	15	neglected	neglect	VERB
hjic-99	6	16	.	.	PUNCT
hjic-99	7	1	the	the	DET
hjic-99	7	2	pid	pid	NOUN
hjic-99	7	3	algorithm	algorithm	NOUN
hjic-99	7	4	,	,	PUNCT
hjic-99	7	5	presented	present	VERB
hjic-99	7	6	in	in	ADP
hjic-99	7	7	the	the	DET
hjic-99	7	8	paper	paper	NOUN
hjic-99	7	9	,	,	PUNCT
hjic-99	7	10	is	be	AUX
hjic-99	7	11	obtained	obtain	VERB
hjic-99	7	12	by	by	ADP
hjic-99	7	13	inverting	invert	VERB
hjic-99	7	14	the	the	DET
hjic-99	7	15	standard	standard	ADJ
hjic-99	7	16	pid	pid	NOUN
hjic-99	7	17	twice	twice	ADV
hjic-99	7	18	and	and	CCONJ
hjic-99	7	19	it	it	PRON
hjic-99	7	20	is	be	AUX
hjic-99	7	21	able	able	ADJ
hjic-99	7	22	to	to	PART
hjic-99	7	23	handle	handle	VERB
hjic-99	7	24	the	the	DET
hjic-99	7	25	constraints	constraint	NOUN
hjic-99	7	26	.	.	PUNCT
hjic-99	8	1	the	the	DET
hjic-99	8	2	first	first	ADJ
hjic-99	8	3	analytical	analytical	ADJ
hjic-99	8	4	inverting	inverting	NOUN
hjic-99	8	5	step	step	NOUN
hjic-99	8	6	results	result	NOUN
hjic-99	8	7	in	in	ADP
hjic-99	8	8	a	a	DET
hjic-99	8	9	proper	proper	ADJ
hjic-99	8	10	pid	pid	NOUN
hjic-99	8	11	inverse	inverse	NOUN
hjic-99	8	12	.	.	PUNCT
hjic-99	9	1	this	this	PRON
hjic-99	9	2	is	be	AUX
hjic-99	9	3	then	then	ADV
hjic-99	9	4	transformed	transform	VERB
hjic-99	9	5	into	into	ADP
hjic-99	9	6	a	a	DET
hjic-99	9	7	state	state	NOUN
hjic-99	9	8	-	-	PUNCT
hjic-99	9	9	space	space	NOUN
hjic-99	9	10	model	model	NOUN
hjic-99	9	11	.	.	PUNCT
hjic-99	10	1	the	the	DET
hjic-99	10	2	statespace	statespace	NOUN
hjic-99	10	3	model	model	NOUN
hjic-99	10	4	is	be	AUX
hjic-99	10	5	then	then	ADV
hjic-99	10	6	inverted	invert	VERB
hjic-99	10	7	again	again	ADV
hjic-99	10	8	by	by	ADP
hjic-99	10	9	using	use	VERB
hjic-99	10	10	the	the	DET
hjic-99	10	11	same	same	ADJ
hjic-99	10	12	method	method	NOUN
hjic-99	10	13	which	which	PRON
hjic-99	10	14	is	be	AUX
hjic-99	10	15	applied	apply	VERB
hjic-99	10	16	in	in	ADP
hjic-99	10	17	globally	globally	ADV
hjic-99	10	18	linearizing	linearize	VERB
hjic-99	10	19	control	control	NOUN
hjic-99	10	20	and	and	CCONJ
hjic-99	10	21	taking	take	VERB
hjic-99	10	22	into	into	ADP
hjic-99	10	23	account	account	NOUN
hjic-99	10	24	the	the	DET
hjic-99	10	25	physical	physical	ADJ
hjic-99	10	26	constraints	constraint	NOUN
hjic-99	10	27	of	of	ADP
hjic-99	10	28	the	the	DET
hjic-99	10	29	manipulated	manipulate	VERB
hjic-99	10	30	variable	variable	NOUN
hjic-99	10	31	.	.	PUNCT
hjic-99	11	1	the	the	DET
hjic-99	11	2	constrained	constrain	VERB
hjic-99	11	3	pid	pid	NOUN
hjic-99	11	4	(	(	PUNCT
hjic-99	11	5	c	c	NOUN
hjic-99	11	6	-	-	PUNCT
hjic-99	11	7	pid	pid	NOUN
hjic-99	11	8	)	)	PUNCT
hjic-99	11	9	algorithm	algorithm	NOUN
hjic-99	11	10	obtained	obtain	VERB
hjic-99	11	11	this	this	DET
hjic-99	11	12	way	way	NOUN
hjic-99	11	13	is	be	AUX
hjic-99	11	14	an	an	DET
hjic-99	11	15	anti	anti	ADJ
hjic-99	11	16	reset	reset	ADJ
hjic-99	11	17	wind	wind	NOUN
hjic-99	11	18	-	-	PUNCT
hjic-99	11	19	up	up	ADP
hjic-99	11	20	algorithm	algorithm	NOUN
hjic-99	11	21	which	which	PRON
hjic-99	11	22	can	can	AUX
hjic-99	11	23	be	be	AUX
hjic-99	11	24	readily	readily	ADV
hjic-99	11	25	implemented	implement	VERB
hjic-99	11	26	.	.	PUNCT
hjic-99	12	1	a	a	DET
hjic-99	12	2	possible	possible	ADJ
hjic-99	12	3	design	design	NOUN
hjic-99	12	4	methodology	methodology	NOUN
hjic-99	12	5	is	be	AUX
hjic-99	12	6	also	also	ADV
hjic-99	12	7	proposed	propose	VERB
hjic-99	12	8	.	.	PUNCT
hjic-99	13	1	at	at	ADP
hjic-99	13	2	the	the	DET
hjic-99	13	3	same	same	ADJ
hjic-99	13	4	time	time	NOUN
hjic-99	13	5	,	,	PUNCT
hjic-99	13	6	regarding	regard	VERB
hjic-99	13	7	processes	process	NOUN
hjic-99	13	8	with	with	ADP
hjic-99	13	9	not	not	PART
hjic-99	13	10	higher	high	ADJ
hjic-99	13	11	than	than	ADP
hjic-99	13	12	second	second	ADJ
hjic-99	13	13	order	order	NOUN
hjic-99	13	14	dynamics	dynamic	NOUN
hjic-99	13	15	,	,	PUNCT
hjic-99	13	16	the	the	DET
hjic-99	13	17	solution	solution	NOUN
hjic-99	13	18	a	a	DET
hjic-99	13	19	rigourous	rigourous	ADJ
hjic-99	13	20	model	model	NOUN
hjic-99	13	21	-	-	PUNCT
hjic-99	13	22	based	base	VERB
hjic-99	13	23	one	one	NOUN
hjic-99	13	24	.	.	PUNCT
hjic-99	14	1	keywords	keyword	NOUN
hjic-99	14	2	:	:	PUNCT
hjic-99	14	3	constrained	constrained	ADJ
hjic-99	14	4	control	control	NOUN
hjic-99	14	5	,	,	PUNCT
hjic-99	14	6	pid	pid	NOUN
hjic-99	14	7	algorithm	algorithm	NOUN
hjic-99	14	8	,	,	PUNCT
hjic-99	14	9	model	model	NOUN
hjic-99	14	10	-	-	PUNCT
hjic-99	14	11	based	base	VERB
hjic-99	14	12	,	,	PUNCT
hjic-99	14	13	constrained	constrain	VERB
hjic-99	14	14	inverse	inverse	NOUN
hjic-99	14	15	introduction	introduction	NOUN
hjic-99	14	16	based	base	VERB
hjic-99	14	17	on	on	ADP
hjic-99	14	18	different	different	ADJ
hjic-99	14	19	surveys	survey	NOUN
hjic-99	14	20	,	,	PUNCT
hjic-99	14	21	95	95	NUM
hjic-99	14	22	%	%	NOUN
hjic-99	14	23	of	of	ADP
hjic-99	14	24	control	control	NOUN
hjic-99	14	25	algorithms	algorithm	NOUN
hjic-99	14	26	used	use	VERB
hjic-99	14	27	in	in	ADP
hjic-99	14	28	industrial	industrial	ADJ
hjic-99	14	29	processes	process	NOUN
hjic-99	14	30	is	be	AUX
hjic-99	14	31	pid	pid	NOUN
hjic-99	14	32	or	or	CCONJ
hjic-99	14	33	pid	pid	NOUN
hjic-99	14	34	modification	modification	NOUN
hjic-99	14	35	and	and	CCONJ
hjic-99	14	36	most	most	ADJ
hjic-99	14	37	of	of	ADP
hjic-99	14	38	these	these	PRON
hjic-99	14	39	is	be	AUX
hjic-99	14	40	badly	badly	ADV
hjic-99	14	41	tuned	tune	VERB
hjic-99	14	42	.	.	PUNCT
hjic-99	15	1	the	the	DET
hjic-99	15	2	consequence	consequence	NOUN
hjic-99	15	3	is	be	AUX
hjic-99	15	4	that	that	SCONJ
hjic-99	15	5	the	the	DET
hjic-99	15	6	dynamic	dynamic	ADJ
hjic-99	15	7	performance	performance	NOUN
hjic-99	15	8	is	be	AUX
hjic-99	15	9	poor	poor	ADJ
hjic-99	15	10	and	and	CCONJ
hjic-99	15	11	in	in	ADP
hjic-99	15	12	the	the	DET
hjic-99	15	13	worst	bad	ADJ
hjic-99	15	14	cases	case	NOUN
hjic-99	15	15	even	even	ADV
hjic-99	15	16	instability	instability	NOUN
hjic-99	15	17	might	might	AUX
hjic-99	15	18	occur	occur	VERB
hjic-99	15	19	.	.	PUNCT
hjic-99	16	1	correct	correct	ADJ
hjic-99	16	2	tuning	tuning	NOUN
hjic-99	16	3	is	be	AUX
hjic-99	16	4	made	make	VERB
hjic-99	16	5	difficult	difficult	ADJ
hjic-99	16	6	by	by	ADP
hjic-99	16	7	several	several	ADJ
hjic-99	16	8	problems	problem	NOUN
hjic-99	16	9	which	which	PRON
hjic-99	16	10	are	be	AUX
hjic-99	16	11	at	at	ADP
hjic-99	16	12	the	the	DET
hjic-99	16	13	same	same	ADJ
hjic-99	16	14	time	time	NOUN
hjic-99	16	15	the	the	DET
hjic-99	16	16	reasons	reason	NOUN
hjic-99	16	17	for	for	ADP
hjic-99	16	18	the	the	DET
hjic-99	16	19	gap	gap	NOUN
hjic-99	16	20	between	between	ADP
hjic-99	16	21	the	the	DET
hjic-99	16	22	control	control	NOUN
hjic-99	16	23	engineering	engineering	NOUN
hjic-99	16	24	practice	practice	NOUN
hjic-99	16	25	and	and	CCONJ
hjic-99	16	26	the	the	DET
hjic-99	16	27	control	control	NOUN
hjic-99	16	28	theory	theory	NOUN
hjic-99	16	29	.	.	PUNCT
hjic-99	17	1	only	only	ADV
hjic-99	17	2	a	a	DET
hjic-99	17	3	few	few	ADJ
hjic-99	17	4	of	of	ADP
hjic-99	17	5	these	these	PRON
hjic-99	17	6	are	be	AUX
hjic-99	17	7	:	:	PUNCT
hjic-99	17	8	on	on	ADP
hjic-99	17	9	the	the	DET
hjic-99	17	10	practical	practical	ADJ
hjic-99	17	11	side	side	NOUN
hjic-99	17	12	:	:	PUNCT
hjic-99	17	13	•	•	NUM
hjic-99	17	14	dynamics	dynamic	NOUN
hjic-99	17	15	of	of	ADP
hjic-99	17	16	the	the	DET
hjic-99	17	17	process	process	NOUN
hjic-99	17	18	is	be	AUX
hjic-99	17	19	known	know	VERB
hjic-99	17	20	only	only	ADV
hjic-99	17	21	roughly	roughly	ADV
hjic-99	17	22	.	.	PUNCT
hjic-99	18	1	•	•	NUM
hjic-99	18	2	dynamic	dynamic	ADJ
hjic-99	18	3	properties	property	NOUN
hjic-99	18	4	can	can	AUX
hjic-99	18	5	change	change	VERB
hjic-99	18	6	with	with	ADP
hjic-99	18	7	time	time	NOUN
hjic-99	18	8	(	(	PUNCT
hjic-99	18	9	valve	valve	VERB
hjic-99	18	10	sticking	sticking	NOUN
hjic-99	18	11	,	,	PUNCT
hjic-99	18	12	wearness	wearness	NOUN
hjic-99	18	13	,	,	PUNCT
hjic-99	18	14	etc	etc	X
hjic-99	18	15	.	.	X
hjic-99	18	16	)	)	PUNCT
hjic-99	18	17	.	.	PUNCT
hjic-99	19	1	•	•	NUM
hjic-99	19	2	the	the	DET
hjic-99	19	3	algorithm	algorithm	NOUN
hjic-99	19	4	of	of	ADP
hjic-99	19	5	the	the	DET
hjic-99	19	6	used	use	VERB
hjic-99	19	7	pid	pid	NOUN
hjic-99	19	8	modification	modification	NOUN
hjic-99	19	9	is	be	AUX
hjic-99	19	10	not	not	PART
hjic-99	19	11	known	know	VERB
hjic-99	19	12	(	(	PUNCT
hjic-99	19	13	because	because	SCONJ
hjic-99	19	14	of	of	ADP
hjic-99	19	15	the	the	DET
hjic-99	19	16	intellectual	intellectual	ADJ
hjic-99	19	17	property	property	NOUN
hjic-99	19	18	rights	right	NOUN
hjic-99	19	19	,	,	PUNCT
hjic-99	19	20	the	the	DET
hjic-99	19	21	documentation	documentation	NOUN
hjic-99	19	22	are	be	AUX
hjic-99	19	23	non	non	ADJ
hjic-99	19	24	-	-	ADJ
hjic-99	19	25	algorithmic	algorithmic	ADJ
hjic-99	19	26	-	-	PUNCT
hjic-99	19	27	level	level	NOUN
hjic-99	19	28	and	and	CCONJ
hjic-99	19	29	superficial	superficial	ADJ
hjic-99	19	30	)	)	PUNCT
hjic-99	19	31	.	.	PUNCT
hjic-99	20	1	•	•	NOUN
hjic-99	20	2	for	for	ADP
hjic-99	20	3	the	the	DET
hjic-99	20	4	above	above	ADJ
hjic-99	20	5	reasons	reason	NOUN
hjic-99	20	6	the	the	DET
hjic-99	20	7	“	"	PUNCT
hjic-99	20	8	academic	academic	ADJ
hjic-99	20	9	”	"	PUNCT
hjic-99	20	10	tuning	tuning	NOUN
hjic-99	20	11	methods	method	NOUN
hjic-99	20	12	can	can	AUX
hjic-99	20	13	not	not	PART
hjic-99	20	14	be	be	AUX
hjic-99	20	15	applied	apply	VERB
hjic-99	20	16	.	.	PUNCT
hjic-99	21	1	•	•	NUM
hjic-99	21	2	industrial	industrial	ADJ
hjic-99	21	3	implementation	implementation	NOUN
hjic-99	21	4	of	of	ADP
hjic-99	21	5	algorithms	algorithm	NOUN
hjic-99	21	6	established	establish	VERB
hjic-99	21	7	in	in	ADP
hjic-99	21	8	control	control	NOUN
hjic-99	21	9	theory	theory	NOUN
hjic-99	21	10	encounters	encounter	VERB
hjic-99	21	11	difficulties	difficulty	NOUN
hjic-99	21	12	.	.	PUNCT
hjic-99	22	1	on	on	ADP
hjic-99	22	2	the	the	DET
hjic-99	22	3	theoretical	theoretical	ADJ
hjic-99	22	4	side	side	NOUN
hjic-99	22	5	:	:	PUNCT
hjic-99	22	6	•	•	ADP
hjic-99	22	7	most	most	ADJ
hjic-99	22	8	of	of	ADP
hjic-99	22	9	the	the	DET
hjic-99	22	10	methods	method	NOUN
hjic-99	22	11	,	,	PUNCT
hjic-99	22	12	thriving	thriving	ADJ
hjic-99	22	13	mathematical	mathematical	ADJ
hjic-99	22	14	accuracy	accuracy	NOUN
hjic-99	22	15	,	,	PUNCT
hjic-99	22	16	start	start	VERB
hjic-99	22	17	form	form	NOUN
hjic-99	22	18	assumption	assumption	NOUN
hjic-99	22	19	which	which	PRON
hjic-99	22	20	are	be	AUX
hjic-99	22	21	not	not	PART
hjic-99	22	22	satisfied	satisfied	ADJ
hjic-99	22	23	in	in	ADP
hjic-99	22	24	practice	practice	NOUN
hjic-99	22	25	.	.	PUNCT
hjic-99	23	1	•	•	NUM
hjic-99	23	2	methods	method	NOUN
hjic-99	23	3	built	build	VERB
hjic-99	23	4	on	on	ADP
hjic-99	23	5	idealized	idealized	ADJ
hjic-99	23	6	models	model	NOUN
hjic-99	23	7	are	be	AUX
hjic-99	23	8	preferred	prefer	VERB
hjic-99	23	9	.	.	PUNCT
hjic-99	24	1	•	•	NUM
hjic-99	24	2	physical	physical	ADJ
hjic-99	24	3	constraints	constraint	NOUN
hjic-99	24	4	are	be	AUX
hjic-99	24	5	neglected	neglect	VERB
hjic-99	24	6	(	(	PUNCT
hjic-99	24	7	involving	involve	VERB
hjic-99	24	8	the	the	DET
hjic-99	24	9	constraints	constraint	NOUN
hjic-99	24	10	,	,	PUNCT
hjic-99	24	11	the	the	DET
hjic-99	24	12	inherently	inherently	ADV
hjic-99	24	13	linear	linear	ADJ
hjic-99	24	14	models	model	NOUN
hjic-99	24	15	become	become	VERB
hjic-99	24	16	non	non	ADJ
hjic-99	24	17	-	-	ADJ
hjic-99	24	18	linear	linear	ADJ
hjic-99	24	19	)	)	PUNCT
hjic-99	24	20	.	.	PUNCT
hjic-99	25	1	•	•	NUM
hjic-99	25	2	the	the	DET
hjic-99	25	3	methods	method	NOUN
hjic-99	25	4	“	"	PUNCT
hjic-99	25	5	in	in	ADP
hjic-99	25	6	focus	focus	NOUN
hjic-99	25	7	”	"	PUNCT
hjic-99	25	8	are	be	AUX
hjic-99	25	9	favoured	favour	VERB
hjic-99	25	10	.	.	PUNCT
hjic-99	26	1	the	the	DET
hjic-99	26	2	paper	paper	NOUN
hjic-99	26	3	defines	define	VERB
hjic-99	26	4	a	a	DET
hjic-99	26	5	constrained	constrain	VERB
hjic-99	26	6	pid	pid	NOUN
hjic-99	26	7	algorithm	algorithm	NOUN
hjic-99	26	8	which	which	PRON
hjic-99	26	9	can	can	AUX
hjic-99	26	10	be	be	AUX
hjic-99	26	11	readily	readily	ADV
hjic-99	26	12	implemented	implement	VERB
hjic-99	26	13	in	in	ADP
hjic-99	26	14	practice	practice	NOUN
hjic-99	26	15	as	as	ADV
hjic-99	26	16	well	well	ADV
hjic-99	26	17	as	as	ADP
hjic-99	26	18	discusses	discuss	VERB
hjic-99	26	19	the	the	DET
hjic-99	26	20	limitations	limitation	NOUN
hjic-99	26	21	of	of	ADP
hjic-99	26	22	pid	pid	NOUN
hjic-99	26	23	-	-	PUNCT
hjic-99	26	24	based	base	VERB
hjic-99	26	25	algorithms	algorithm	NOUN
hjic-99	26	26	and	and	CCONJ
hjic-99	26	27	the	the	DET
hjic-99	26	28	possibilities	possibility	NOUN
hjic-99	26	29	of	of	ADP
hjic-99	26	30	model	model	NOUN
hjic-99	26	31	-	-	PUNCT
hjic-99	26	32	based	base	VERB
hjic-99	26	33	design	design	NOUN
hjic-99	26	34	.	.	PUNCT
hjic-99	27	1	the	the	DET
hjic-99	27	2	set	set	NOUN
hjic-99	27	3	of	of	ADP
hjic-99	27	4	pid	pid	NOUN
hjic-99	27	5	algorithms	algorithm	NOUN
hjic-99	27	6	in	in	ADP
hjic-99	27	7	spite	spite	NOUN
hjic-99	27	8	of	of	ADP
hjic-99	27	9	the	the	DET
hjic-99	27	10	two	two	NUM
hjic-99	27	11	decades	decade	NOUN
hjic-99	27	12	of	of	ADP
hjic-99	27	13	industrial	industrial	ADJ
hjic-99	27	14	application	application	NOUN
hjic-99	27	15	and	and	CCONJ
hjic-99	27	16	the	the	DET
hjic-99	27	17	intensive	intensive	ADJ
hjic-99	27	18	academic	academic	ADJ
hjic-99	27	19	research	research	NOUN
hjic-99	27	20	providing	provide	VERB
hjic-99	27	21	the	the	DET
hjic-99	27	22	*	*	ADJ
hjic-99	27	23	correspondence	correspondence	NOUN
hjic-99	27	24	concerning	concern	VERB
hjic-99	27	25	this	this	DET
hjic-99	27	26	article	article	NOUN
hjic-99	27	27	should	should	AUX
hjic-99	27	28	be	be	AUX
hjic-99	27	29	addressed	address	VERB
hjic-99	27	30	to	to	ADP
hjic-99	27	31	t.	t.	PROPN
hjic-99	27	32	chovan	chovan	PROPN
hjic-99	27	33	(	(	PUNCT
hjic-99	27	34	chovan@fmt.vein.hu	chovan@fmt.vein.hu	NOUN
hjic-99	27	35	)	)	PUNCT
hjic-99	27	36	82	82	NUM
hjic-99	27	37	theoretical	theoretical	ADJ
hjic-99	27	38	bases	basis	NOUN
hjic-99	27	39	,	,	PUNCT
hjic-99	27	40	chemical	chemical	NOUN
hjic-99	27	41	processes	process	NOUN
hjic-99	27	42	are	be	AUX
hjic-99	27	43	dominated	dominate	VERB
hjic-99	27	44	by	by	ADP
hjic-99	27	45	pid	pid	NOUN
hjic-99	27	46	or	or	CCONJ
hjic-99	27	47	pid	pid	NOUN
hjic-99	27	48	-	-	PUNCT
hjic-99	27	49	based	base	VERB
hjic-99	27	50	controllers	controller	NOUN
hjic-99	28	1	[	[	X
hjic-99	28	2	1	1	NUM
hjic-99	28	3	]	]	PUNCT
hjic-99	28	4	.	.	PUNCT
hjic-99	29	1	the	the	DET
hjic-99	29	2	main	main	ADJ
hjic-99	29	3	reasons	reason	NOUN
hjic-99	29	4	for	for	ADP
hjic-99	29	5	this	this	DET
hjic-99	29	6	dominancy	dominancy	NOUN
hjic-99	29	7	are	be	AUX
hjic-99	29	8	the	the	DET
hjic-99	29	9	role	role	NOUN
hjic-99	29	10	of	of	ADP
hjic-99	29	11	pid	pid	NOUN
hjic-99	29	12	controllers	controller	NOUN
hjic-99	29	13	in	in	ADP
hjic-99	29	14	the	the	DET
hjic-99	29	15	classical	classical	ADJ
hjic-99	29	16	control	control	NOUN
hjic-99	29	17	technologies	technology	NOUN
hjic-99	29	18	,	,	PUNCT
hjic-99	29	19	their	their	PRON
hjic-99	29	20	position	position	NOUN
hjic-99	29	21	in	in	ADP
hjic-99	29	22	the	the	DET
hjic-99	29	23	engineering	engineering	NOUN
hjic-99	29	24	curriculum	curriculum	NOUN
hjic-99	29	25	,	,	PUNCT
hjic-99	29	26	their	their	PRON
hjic-99	29	27	availability	availability	NOUN
hjic-99	29	28	in	in	ADP
hjic-99	29	29	dcs	dcs	PROPN
hjic-99	29	30	’s	’s	PART
hjic-99	29	31	and	and	CCONJ
hjic-99	29	32	not	not	PART
hjic-99	29	33	at	at	ADP
hjic-99	29	34	least	least	ADJ
hjic-99	29	35	the	the	DET
hjic-99	29	36	efficiency	efficiency	NOUN
hjic-99	29	37	of	of	ADP
hjic-99	29	38	their	their	PRON
hjic-99	29	39	application	application	NOUN
hjic-99	29	40	.	.	PUNCT
hjic-99	30	1	on	on	ADP
hjic-99	30	2	the	the	DET
hjic-99	30	3	top	top	NOUN
hjic-99	30	4	of	of	ADP
hjic-99	30	5	these	these	PRON
hjic-99	30	6	,	,	PUNCT
hjic-99	30	7	certain	certain	ADJ
hjic-99	30	8	model	model	NOUN
hjic-99	30	9	-	-	PUNCT
hjic-99	30	10	based	base	VERB
hjic-99	30	11	techniques	technique	NOUN
hjic-99	30	12	,	,	PUNCT
hjic-99	30	13	depending	depend	VERB
hjic-99	30	14	on	on	ADP
hjic-99	30	15	the	the	DET
hjic-99	30	16	process	process	NOUN
hjic-99	30	17	model	model	NOUN
hjic-99	30	18	,	,	PUNCT
hjic-99	30	19	often	often	ADV
hjic-99	30	20	result	result	VERB
hjic-99	30	21	in	in	ADP
hjic-99	30	22	pid	pid	NOUN
hjic-99	30	23	algorithms	algorithm	NOUN
hjic-99	30	24	and	and	CCONJ
hjic-99	30	25	therefore	therefore	ADV
hjic-99	30	26	can	can	AUX
hjic-99	30	27	be	be	AUX
hjic-99	30	28	implemented	implement	VERB
hjic-99	30	29	as	as	ADP
hjic-99	30	30	pid	pid	NOUN
hjic-99	30	31	controllers	controller	NOUN
hjic-99	30	32	.	.	PUNCT
hjic-99	31	1	still	still	ADV
hjic-99	31	2	the	the	DET
hjic-99	31	3	research	research	NOUN
hjic-99	31	4	and	and	CCONJ
hjic-99	31	5	application	application	NOUN
hjic-99	31	6	of	of	ADP
hjic-99	31	7	model	model	NOUN
hjic-99	31	8	-	-	PUNCT
hjic-99	31	9	based	base	VERB
hjic-99	31	10	control	control	NOUN
hjic-99	31	11	algorithms	algorithm	NOUN
hjic-99	31	12	are	be	AUX
hjic-99	31	13	rather	rather	ADV
hjic-99	31	14	important	important	ADJ
hjic-99	31	15	,	,	PUNCT
hjic-99	31	16	first	first	ADV
hjic-99	31	17	of	of	ADP
hjic-99	31	18	all	all	PRON
hjic-99	31	19	,	,	PUNCT
hjic-99	31	20	in	in	ADP
hjic-99	31	21	cases	case	NOUN
hjic-99	31	22	of	of	ADP
hjic-99	31	23	processes	process	NOUN
hjic-99	31	24	where	where	SCONJ
hjic-99	31	25	the	the	DET
hjic-99	31	26	application	application	NOUN
hjic-99	31	27	of	of	ADP
hjic-99	31	28	pid	pid	NOUN
hjic-99	31	29	is	be	AUX
hjic-99	31	30	not	not	PART
hjic-99	31	31	efficient	efficient	ADJ
hjic-99	31	32	.	.	PUNCT
hjic-99	32	1	the	the	DET
hjic-99	32	2	study	study	NOUN
hjic-99	32	3	of	of	ADP
hjic-99	32	4	model	model	NOUN
hjic-99	32	5	-	-	PUNCT
hjic-99	32	6	based	base	VERB
hjic-99	32	7	control	control	NOUN
hjic-99	32	8	algorithms	algorithm	NOUN
hjic-99	32	9	is	be	AUX
hjic-99	32	10	getting	get	VERB
hjic-99	32	11	more	more	ADJ
hjic-99	32	12	and	and	CCONJ
hjic-99	32	13	more	more	ADV
hjic-99	32	14	intensive	intensive	ADJ
hjic-99	32	15	as	as	SCONJ
hjic-99	32	16	the	the	DET
hjic-99	32	17	technological	technological	ADJ
hjic-99	32	18	possibilities	possibility	NOUN
hjic-99	32	19	are	be	AUX
hjic-99	32	20	opening	open	VERB
hjic-99	32	21	.	.	PUNCT
hjic-99	33	1	at	at	ADP
hjic-99	33	2	the	the	DET
hjic-99	33	3	same	same	ADJ
hjic-99	33	4	time	time	NOUN
hjic-99	33	5	the	the	DET
hjic-99	33	6	model	model	NOUN
hjic-99	33	7	of	of	ADP
hjic-99	33	8	the	the	DET
hjic-99	33	9	controlled	control	VERB
hjic-99	33	10	process	process	NOUN
hjic-99	33	11	gains	gain	VERB
hjic-99	33	12	more	more	ADJ
hjic-99	33	13	importance	importance	NOUN
hjic-99	33	14	in	in	ADP
hjic-99	33	15	the	the	DET
hjic-99	33	16	analysis	analysis	NOUN
hjic-99	33	17	.	.	PUNCT
hjic-99	34	1	the	the	DET
hjic-99	34	2	input	input	NOUN
hjic-99	34	3	of	of	ADP
hjic-99	34	4	the	the	DET
hjic-99	34	5	pid	pid	NOUN
hjic-99	34	6	algorithm	algorithm	NOUN
hjic-99	34	7	is	be	AUX
hjic-99	34	8	the	the	DET
hjic-99	34	9	control	control	NOUN
hjic-99	34	10	error	error	NOUN
hjic-99	34	11	(	(	PUNCT
hjic-99	34	12	)	)	PUNCT
hjic-99	34	13	,	,	PUNCT
hjic-99	34	14	the	the	DET
hjic-99	34	15	output	output	NOUN
hjic-99	34	16	is	be	AUX
hjic-99	34	17	the	the	DET
hjic-99	34	18	control	control	NOUN
hjic-99	34	19	signal	signal	NOUN
hjic-99	34	20	(	(	PUNCT
hjic-99	34	21	)	)	PUNCT
hjic-99	34	22	,	,	PUNCT
hjic-99	34	23	and	and	CCONJ
hjic-99	34	24	its	its	PRON
hjic-99	34	25	continuous	continuous	ADJ
hjic-99	34	26	time	time	NOUN
hjic-99	34	27	(	(	PUNCT
hjic-99	34	28	)	)	PUNCT
hjic-99	34	29	model	model	NOUN
hjic-99	34	30	is	be	AUX
hjic-99	34	31	:	:	PUNCT
hjic-99	34	32	e	e	X
hjic-99	34	33	u	u	PROPN
hjic-99	34	34	0≥t	0≥t	PROPN
hjic-99	34	35	sd	sd	ADP
hjic-99	34	36	t	t	NOUN
hjic-99	35	1	i	i	PRON
hjic-99	35	2	u	u	NOUN
hjic-99	35	3	dt	dt	AUX
hjic-99	35	4	tdetde	tdetde	VERB
hjic-99	35	5	t	t	PROPN
hjic-99	35	6	tektu	tektu	NOUN
hjic-99	36	1	+	+	ADP
hjic-99	36	2	⎟	⎟	X
hjic-99	36	3	⎟	⎟	X
hjic-99	36	4	⎠	⎠	PUNCT
hjic-99	36	5	⎞	⎞	PROPN
hjic-99	36	6	⎜	⎜	PROPN
hjic-99	36	7	⎜	⎜	PROPN
hjic-99	36	8	⎝	⎝	PUNCT
hjic-99	36	9	⎛	⎛	X
hjic-99	36	10	+	+	ADJ
hjic-99	36	11	+	+	NOUN
hjic-99	36	12	=	=	ADJ
hjic-99	36	13	∫	∫	PROPN
hjic-99	36	14	)	)	PUNCT
hjic-99	36	15	(	(	PUNCT
hjic-99	36	16	)	)	PUNCT
hjic-99	36	17	(	(	PUNCT
hjic-99	36	18	1	1	NUM
hjic-99	36	19	)	)	PUNCT
hjic-99	36	20	(	(	PUNCT
hjic-99	36	21	)	)	PUNCT
hjic-99	36	22	(	(	PUNCT
hjic-99	36	23	0	0	NUM
hjic-99	36	24	ττ	ττ	NOUN
hjic-99	36	25	,	,	PUNCT
hjic-99	36	26	(	(	PUNCT
hjic-99	36	27	1	1	X
hjic-99	36	28	)	)	PUNCT
hjic-99	36	29	where	where	SCONJ
hjic-99	36	30	di	di	X
hjic-99	36	31	ttk	ttk	PROPN
hjic-99	36	32	,	,	PUNCT
hjic-99	36	33	,	,	PUNCT
hjic-99	36	34	are	be	AUX
hjic-99	36	35	the	the	DET
hjic-99	36	36	parameters	parameter	NOUN
hjic-99	36	37	(	(	PUNCT
hjic-99	36	38	gain	gain	NOUN
hjic-99	36	39	,	,	PUNCT
hjic-99	36	40	integral	integral	ADJ
hjic-99	36	41	and	and	CCONJ
hjic-99	36	42	differential	differential	ADJ
hjic-99	36	43	time	time	NOUN
hjic-99	36	44	constants	constant	NOUN
hjic-99	36	45	)	)	PUNCT
hjic-99	36	46	su	su	PROPN
hjic-99	36	47	is	be	AUX
hjic-99	36	48	the	the	DET
hjic-99	36	49	steady	steady	ADJ
hjic-99	36	50	-	-	PUNCT
hjic-99	36	51	state	state	NOUN
hjic-99	36	52	control	control	NOUN
hjic-99	36	53	signal	signal	NOUN
hjic-99	36	54	corresponding	correspond	VERB
hjic-99	36	55	to	to	ADP
hjic-99	36	56	setpoint	setpoint	NOUN
hjic-99	36	57	)	)	PUNCT
hjic-99	36	58	(	(	PUNCT
hjic-99	36	59	tw	tw	NOUN
hjic-99	36	60	design	design	NOUN
hjic-99	36	61	of	of	ADP
hjic-99	36	62	the	the	DET
hjic-99	36	63	controller	controller	NOUN
hjic-99	36	64	involves	involve	VERB
hjic-99	36	65	the	the	DET
hjic-99	36	66	determination	determination	NOUN
hjic-99	36	67	of	of	ADP
hjic-99	36	68	the	the	DET
hjic-99	36	69	three	three	NUM
hjic-99	36	70	parameters	parameter	NOUN
hjic-99	36	71	,	,	PUNCT
hjic-99	36	72	while	while	SCONJ
hjic-99	36	73	the	the	DET
hjic-99	36	74	value	value	NOUN
hjic-99	36	75	of	of	ADP
hjic-99	36	76	is	be	AUX
hjic-99	36	77	often	often	ADV
hjic-99	36	78	set	set	VERB
hjic-99	36	79	to	to	ADP
hjic-99	36	80	zero	zero	NUM
hjic-99	36	81	or	or	CCONJ
hjic-99	36	82	sometimes	sometimes	ADV
hjic-99	36	83	to	to	ADP
hjic-99	36	84	other	other	ADJ
hjic-99	36	85	constant	constant	ADJ
hjic-99	36	86	(	(	PUNCT
hjic-99	36	87	the	the	DET
hjic-99	36	88	i	i	NOUN
hjic-99	36	89	-	-	PUNCT
hjic-99	36	90	term	term	NOUN
hjic-99	36	91	assures	assure	VERB
hjic-99	36	92	the	the	DET
hjic-99	36	93	settling	settling	NOUN
hjic-99	36	94	without	without	ADP
hjic-99	36	95	steady	steady	ADJ
hjic-99	36	96	-	-	PUNCT
hjic-99	36	97	state	state	NOUN
hjic-99	36	98	error	error	NOUN
hjic-99	36	99	)	)	PUNCT
hjic-99	36	100	.	.	PUNCT
hjic-99	37	1	in	in	ADP
hjic-99	37	2	case	case	NOUN
hjic-99	37	3	of	of	ADP
hjic-99	37	4	more	more	ADJ
hjic-99	37	5	complex	complex	ADJ
hjic-99	37	6	algorithms	algorithm	NOUN
hjic-99	37	7	(	(	PUNCT
hjic-99	37	8	e.g.	e.g.	ADV
hjic-99	37	9	for	for	ADP
hjic-99	37	10	batch	batch	NOUN
hjic-99	37	11	processes	process	NOUN
hjic-99	37	12	)	)	PUNCT
hjic-99	37	13	the	the	PRON
hjic-99	37	14	can	can	AUX
hjic-99	37	15	be	be	AUX
hjic-99	37	16	estimated	estimate	VERB
hjic-99	37	17	more	more	ADV
hjic-99	37	18	accurately	accurately	ADV
hjic-99	37	19	:	:	PUNCT
hjic-99	37	20	su	su	PROPN
hjic-99	37	21	su	su	PROPN
hjic-99	37	22	)	)	PUNCT
hjic-99	37	23	,	,	PUNCT
hjic-99	37	24	,	,	PUNCT
hjic-99	37	25	(	(	PUNCT
hjic-99	37	26	0	0	NUM
hjic-99	37	27	kzwffuus	kzwffuus	NOUN
hjic-99	37	28	+	+	PROPN
hjic-99	37	29	=	=	NOUN
hjic-99	37	30	,	,	PUNCT
hjic-99	37	31	(	(	PUNCT
hjic-99	37	32	2	2	X
hjic-99	37	33	)	)	PUNCT
hjic-99	37	34	where	where	SCONJ
hjic-99	37	35	0u	0u	PROPN
hjic-99	37	36	is	be	AUX
hjic-99	37	37	constant	constant	ADJ
hjic-99	37	38	(	(	PUNCT
hjic-99	37	39	in	in	ADP
hjic-99	37	40	batch	batch	NOUN
hjic-99	37	41	processes	process	NOUN
hjic-99	37	42	it	it	PRON
hjic-99	37	43	can	can	AUX
hjic-99	37	44	be	be	AUX
hjic-99	37	45	used	use	VERB
hjic-99	37	46	for	for	ADP
hjic-99	37	47	initialization	initialization	NOUN
hjic-99	37	48	in	in	ADP
hjic-99	37	49	the	the	DET
hjic-99	37	50	different	different	ADJ
hjic-99	37	51	phases	phase	NOUN
hjic-99	37	52	)	)	PUNCT
hjic-99	37	53	)	)	PUNCT
hjic-99	37	54	,	,	PUNCT
hjic-99	37	55	,	,	PUNCT
hjic-99	37	56	(	(	PUNCT
hjic-99	37	57	kzwff	kzwff	PROPN
hjic-99	37	58	is	be	AUX
hjic-99	37	59	a	a	DET
hjic-99	37	60	feed	feed	NOUN
hjic-99	37	61	-	-	PUNCT
hjic-99	37	62	forward	forward	NOUN
hjic-99	37	63	term	term	NOUN
hjic-99	37	64	based	base	VERB
hjic-99	37	65	on	on	ADP
hjic-99	37	66	the	the	DET
hjic-99	37	67	setpoint	setpoint	NOUN
hjic-99	37	68	and	and	CCONJ
hjic-99	37	69	the	the	DET
hjic-99	37	70	measured	measured	ADJ
hjic-99	37	71	disturbance(s	disturbance(s	NOUN
hjic-99	37	72	)	)	PUNCT
hjic-99	37	73	(	(	PUNCT
hjic-99	37	74	k	k	X
hjic-99	37	75	,	,	PUNCT
hjic-99	37	76	z	z	NOUN
hjic-99	37	77	)	)	PUNCT
hjic-99	37	78	.	.	PUNCT
hjic-99	38	1	in	in	ADP
hjic-99	38	2	the	the	DET
hjic-99	38	3	process	process	NOUN
hjic-99	38	4	control	control	NOUN
hjic-99	38	5	systems	system	NOUN
hjic-99	38	6	usually	usually	ADV
hjic-99	38	7	different	different	ADJ
hjic-99	38	8	(	(	PUNCT
hjic-99	38	9	i	i	NOUN
hjic-99	38	10	)	)	PUNCT
hjic-99	38	11	modifications	modification	NOUN
hjic-99	38	12	are	be	AUX
hjic-99	38	13	implemented	implement	VERB
hjic-99	38	14	.	.	PUNCT
hjic-99	39	1	transfer	transfer	NOUN
hjic-99	39	2	functions	function	NOUN
hjic-99	39	3	of	of	ADP
hjic-99	39	4	the	the	DET
hjic-99	39	5	common	common	ADJ
hjic-99	39	6	solutions	solution	NOUN
hjic-99	39	7	are	be	AUX
hjic-99	39	8	the	the	DET
hjic-99	39	9	following	follow	VERB
hjic-99	39	10	:	:	PUNCT
hjic-99	39	11	parallel	parallel	ADJ
hjic-99	39	12	pid	pid	NOUN
hjic-99	39	13	(	(	PUNCT
hjic-99	39	14	p	p	NOUN
hjic-99	39	15	-	-	PUNCT
hjic-99	39	16	pid	pid	NOUN
hjic-99	39	17	):	):	PUNCT
hjic-99	39	18	⎟⎟	⎟⎟	ADJ
hjic-99	39	19	⎠	⎠	NOUN
hjic-99	39	20	⎞	⎞	PROPN
hjic-99	39	21	⎜⎜	⎜⎜	NOUN
hjic-99	39	22	⎝	⎝	PUNCT
hjic-99	39	23	⎛	⎛	NOUN
hjic-99	39	24	+	+	X
hjic-99	40	1	+	+	ADJ
hjic-99	40	2	+	+	NOUN
hjic-99	40	3	=	=	NOUN
hjic-99	40	4	=	=	SYM
hjic-99	40	5	1	1	NUM
hjic-99	40	6	11	11	NUM
hjic-99	40	7	)	)	PUNCT
hjic-99	40	8	(	(	PUNCT
hjic-99	40	9	)	)	PUNCT
hjic-99	40	10	(	(	PUNCT
hjic-99	40	11	st	st	PROPN
hjic-99	40	12	st	st	PROPN
hjic-99	40	13	st	st	PROPN
hjic-99	40	14	k	k	PROPN
hjic-99	40	15	se	se	PROPN
hjic-99	40	16	sug	sug	PROPN
hjic-99	41	1	d	d	PROPN
hjic-99	41	2	d	d	NOUN
hjic-99	41	3	i	i	PRON
hjic-99	41	4	pidp	pidp	VERB
hjic-99	41	5	α	α	INTJ
hjic-99	41	6	,	,	PUNCT
hjic-99	41	7	(	(	PUNCT
hjic-99	41	8	3	3	X
hjic-99	41	9	)	)	PUNCT
hjic-99	41	10	serial	serial	ADJ
hjic-99	41	11	pid	pid	NOUN
hjic-99	41	12	(	(	PUNCT
hjic-99	41	13	s	s	NOUN
hjic-99	41	14	-	-	PUNCT
hjic-99	41	15	pid	pid	NOUN
hjic-99	41	16	):	):	PUNCT
hjic-99	41	17	1	1	NUM
hjic-99	41	18	11	11	NUM
hjic-99	41	19	+	+	CCONJ
hjic-99	41	20	⋅⎟⎟	⋅⎟⎟	ADJ
hjic-99	41	21	⎠	⎠	NOUN
hjic-99	41	22	⎞	⎞	PROPN
hjic-99	41	23	⎜⎜	⎜⎜	NOUN
hjic-99	41	24	⎝	⎝	PUNCT
hjic-99	41	25	⎛	⎛	NOUN
hjic-99	42	1	+	+	PROPN
hjic-99	42	2	=	=	PROPN
hjic-99	42	3	st	st	PROPN
hjic-99	42	4	st	st	PROPN
hjic-99	42	5	st	st	PROPN
hjic-99	42	6	kg	kg	PROPN
hjic-99	42	7	d	d	PROPN
hjic-99	43	1	d	d	NOUN
hjic-99	43	2	i	i	PRON
hjic-99	43	3	pids	pid	VERB
hjic-99	43	4	α	α	PROPN
hjic-99	43	5	,	,	PUNCT
hjic-99	43	6	(	(	PUNCT
hjic-99	43	7	4	4	X
hjic-99	43	8	)	)	PUNCT
hjic-99	43	9	filtered	filter	VERB
hjic-99	43	10	parallel	parallel	ADJ
hjic-99	43	11	pid	pid	NOUN
hjic-99	43	12	:	:	PUNCT
hjic-99	43	13	1	1	NUM
hjic-99	43	14	1	1	NUM
hjic-99	43	15	+	+	NUM
hjic-99	43	16	⋅=	⋅=	PROPN
hjic-99	43	17	st	st	PROPN
hjic-99	43	18	gg	gg	PROPN
hjic-99	43	19	f	f	PROPN
hjic-99	43	20	pidfpidf	pidfpidf	PROPN
hjic-99	43	21	,	,	PUNCT
hjic-99	43	22	(	(	PUNCT
hjic-99	43	23	5	5	X
hjic-99	43	24	)	)	PUNCT
hjic-99	43	25	where	where	SCONJ
hjic-99	43	26	]	]	X
hjic-99	43	27	5.0,1.0[∈α	5.0,1.0[∈α	NUM
hjic-99	43	28	,	,	PUNCT
hjic-99	43	29	constant	constant	ADJ
hjic-99	43	30	ft	ft	NOUN
hjic-99	43	31	is	be	AUX
hjic-99	43	32	the	the	DET
hjic-99	43	33	time	time	NOUN
hjic-99	43	34	constant	constant	ADJ
hjic-99	43	35	of	of	ADP
hjic-99	43	36	the	the	DET
hjic-99	43	37	first	first	ADJ
hjic-99	43	38	order	order	NOUN
hjic-99	43	39	filter	filter	NOUN
hjic-99	43	40	,	,	PUNCT
hjic-99	43	41	it	it	PRON
hjic-99	43	42	must	must	AUX
hjic-99	43	43	be	be	AUX
hjic-99	43	44	determined	determine	VERB
hjic-99	43	45	during	during	ADP
hjic-99	43	46	the	the	DET
hjic-99	43	47	design	design	NOUN
hjic-99	43	48	.	.	PUNCT
hjic-99	44	1	the	the	DET
hjic-99	44	2	above	above	ADJ
hjic-99	44	3	controllers	controller	NOUN
hjic-99	44	4	are	be	AUX
hjic-99	44	5	in	in	ADP
hjic-99	44	6	continuous	continuous	ADJ
hjic-99	44	7	time	time	NOUN
hjic-99	44	8	.	.	PUNCT
hjic-99	45	1	discretizing	discretize	VERB
hjic-99	45	2	with	with	ADP
hjic-99	45	3	an	an	DET
hjic-99	45	4	appropriate	appropriate	ADJ
hjic-99	45	5	sampling	sampling	NOUN
hjic-99	45	6	time	time	NOUN
hjic-99	45	7	the	the	DET
hjic-99	45	8	corresponding	correspond	VERB
hjic-99	45	9	discrete	discrete	ADJ
hjic-99	45	10	pid	pid	NOUN
hjic-99	45	11	algorithms	algorithm	NOUN
hjic-99	45	12	can	can	AUX
hjic-99	45	13	be	be	AUX
hjic-99	45	14	obtained	obtain	VERB
hjic-99	45	15	.	.	PUNCT
hjic-99	46	1	using	use	VERB
hjic-99	46	2	a	a	DET
hjic-99	46	3	sampling	sampling	NOUN
hjic-99	46	4	time	time	NOUN
hjic-99	46	5	,	,	PUNCT
hjic-99	46	6	orders	order	NOUN
hjic-99	46	7	of	of	ADP
hjic-99	46	8	magnitude	magnitude	NOUN
hjic-99	46	9	less	less	ADJ
hjic-99	46	10	than	than	ADP
hjic-99	46	11	the	the	DET
hjic-99	46	12	characteristic	characteristic	ADJ
hjic-99	46	13	time	time	NOUN
hjic-99	46	14	constant	constant	ADJ
hjic-99	46	15	of	of	ADP
hjic-99	46	16	the	the	DET
hjic-99	46	17	process	process	NOUN
hjic-99	46	18	,	,	PUNCT
hjic-99	46	19	the	the	DET
hjic-99	46	20	discrete	discrete	ADJ
hjic-99	46	21	pid	pid	NOUN
hjic-99	46	22	approximate	approximate	NOUN
hjic-99	46	23	the	the	DET
hjic-99	46	24	results	result	NOUN
hjic-99	46	25	the	the	DET
hjic-99	46	26	corresponding	corresponding	ADJ
hjic-99	46	27	continuous	continuous	ADJ
hjic-99	46	28	algorithm	algorithm	NOUN
hjic-99	46	29	with	with	ADP
hjic-99	46	30	the	the	DET
hjic-99	46	31	required	require	VERB
hjic-99	46	32	accuracy	accuracy	NOUN
hjic-99	46	33	.	.	PUNCT
hjic-99	47	1	the	the	DET
hjic-99	47	2	time	time	NOUN
hjic-99	47	3	constant	constant	ADJ
hjic-99	47	4	for	for	ADP
hjic-99	47	5	the	the	DET
hjic-99	47	6	great	great	ADJ
hjic-99	47	7	majority	majority	NOUN
hjic-99	47	8	of	of	ADP
hjic-99	47	9	chemical	chemical	NOUN
hjic-99	47	10	processes	process	NOUN
hjic-99	47	11	is	be	AUX
hjic-99	47	12	several	several	ADJ
hjic-99	47	13	orders	order	NOUN
hjic-99	47	14	of	of	ADP
hjic-99	47	15	magnitude	magnitude	NOUN
hjic-99	47	16	larger	large	ADJ
hjic-99	47	17	than	than	ADP
hjic-99	47	18	the	the	DET
hjic-99	47	19	(	(	PUNCT
hjic-99	47	20	hardware	hardware	NOUN
hjic-99	47	21	)	)	PUNCT
hjic-99	47	22	sampling	sample	VERB
hjic-99	47	23	time	time	NOUN
hjic-99	47	24	of	of	ADP
hjic-99	47	25	100	100	NUM
hjic-99	47	26	msec	msec	NOUN
hjic-99	47	27	or	or	CCONJ
hjic-99	47	28	1	1	NUM
hjic-99	47	29	sec	sec	PROPN
hjic-99	47	30	,	,	PUNCT
hjic-99	47	31	realized	realize	VERB
hjic-99	47	32	in	in	ADP
hjic-99	47	33	the	the	DET
hjic-99	47	34	process	process	NOUN
hjic-99	47	35	control	control	NOUN
hjic-99	47	36	systems	system	NOUN
hjic-99	47	37	.	.	PUNCT
hjic-99	48	1	in	in	ADP
hjic-99	48	2	case	case	NOUN
hjic-99	48	3	of	of	ADP
hjic-99	48	4	relatively	relatively	ADV
hjic-99	48	5	high	high	ADJ
hjic-99	48	6	sampling	sampling	NOUN
hjic-99	48	7	time	time	NOUN
hjic-99	48	8	,	,	PUNCT
hjic-99	48	9	the	the	DET
hjic-99	48	10	discrete	discrete	ADJ
hjic-99	48	11	pid	pid	NOUN
hjic-99	48	12	algorithms	algorithm	NOUN
hjic-99	48	13	require	require	VERB
hjic-99	48	14	special	special	ADJ
hjic-99	48	15	analysis	analysis	NOUN
hjic-99	48	16	.	.	PUNCT
hjic-99	49	1	it	it	PRON
hjic-99	49	2	is	be	AUX
hjic-99	49	3	well	well	ADV
hjic-99	49	4	known	know	VERB
hjic-99	49	5	that	that	SCONJ
hjic-99	49	6	in	in	ADP
hjic-99	49	7	feedback	feedback	NOUN
hjic-99	49	8	loops	loop	NOUN
hjic-99	49	9	,	,	PUNCT
hjic-99	49	10	the	the	DET
hjic-99	49	11	zero	zero	NUM
hjic-99	49	12	steadystate	steadystate	NOUN
hjic-99	49	13	error	error	NOUN
hjic-99	49	14	is	be	AUX
hjic-99	49	15	maintained	maintain	VERB
hjic-99	49	16	by	by	ADP
hjic-99	49	17	the	the	DET
hjic-99	49	18	integrating	integrating	NOUN
hjic-99	49	19	term	term	NOUN
hjic-99	49	20	,	,	PUNCT
hjic-99	49	21	therefore	therefore	ADV
hjic-99	49	22	the	the	DET
hjic-99	49	23	i	i	NOUN
hjic-99	49	24	-	-	PUNCT
hjic-99	49	25	term	term	NOUN
hjic-99	49	26	must	must	AUX
hjic-99	49	27	included	include	VERB
hjic-99	49	28	in	in	ADP
hjic-99	49	29	most	most	ADJ
hjic-99	49	30	of	of	ADP
hjic-99	49	31	the	the	DET
hjic-99	49	32	cases	case	NOUN
hjic-99	49	33	.	.	PUNCT
hjic-99	50	1	at	at	ADP
hjic-99	50	2	the	the	DET
hjic-99	50	3	same	same	ADJ
hjic-99	50	4	time	time	NOUN
hjic-99	50	5	,	,	PUNCT
hjic-99	50	6	since	since	SCONJ
hjic-99	50	7	the	the	DET
hjic-99	50	8	physical	physical	ADJ
hjic-99	50	9	control	control	NOUN
hjic-99	50	10	signal	signal	NOUN
hjic-99	50	11	is	be	AUX
hjic-99	50	12	constrained	constrain	VERB
hjic-99	50	13	,	,	PUNCT
hjic-99	50	14	the	the	DET
hjic-99	50	15	application	application	NOUN
hjic-99	50	16	of	of	ADP
hjic-99	50	17	the	the	DET
hjic-99	50	18	i	i	NOUN
hjic-99	50	19	-	-	PUNCT
hjic-99	50	20	term	term	NOUN
hjic-99	50	21	can	can	AUX
hjic-99	50	22	lead	lead	VERB
hjic-99	50	23	to	to	ADP
hjic-99	50	24	saturation	saturation	NOUN
hjic-99	50	25	(	(	PUNCT
hjic-99	50	26	wind	wind	NOUN
hjic-99	50	27	-	-	PUNCT
hjic-99	50	28	up	up	NOUN
hjic-99	50	29	)	)	PUNCT
hjic-99	50	30	which	which	PRON
hjic-99	50	31	is	be	AUX
hjic-99	50	32	treated	treat	VERB
hjic-99	50	33	by	by	ADP
hjic-99	50	34	different	different	ADJ
hjic-99	50	35	“	"	PUNCT
hjic-99	50	36	backward	backward	ADJ
hjic-99	50	37	integration	integration	NOUN
hjic-99	50	38	”	"	PUNCT
hjic-99	50	39	algorithms	algorithm	NOUN
hjic-99	50	40	.	.	PUNCT
hjic-99	51	1	pid	pid	NOUN
hjic-99	51	2	blocks	block	NOUN
hjic-99	51	3	of	of	ADP
hjic-99	51	4	the	the	DET
hjic-99	51	5	process	process	NOUN
hjic-99	51	6	control	control	NOUN
hjic-99	51	7	systems	system	NOUN
hjic-99	51	8	allow	allow	VERB
hjic-99	51	9	realization	realization	NOUN
hjic-99	51	10	of	of	ADP
hjic-99	51	11	a	a	DET
hjic-99	51	12	large	large	ADJ
hjic-99	51	13	variety	variety	NOUN
hjic-99	51	14	of	of	ADP
hjic-99	51	15	pid	pid	NOUN
hjic-99	51	16	modifications	modification	NOUN
hjic-99	51	17	by	by	ADP
hjic-99	51	18	using	use	VERB
hjic-99	51	19	different	different	ADJ
hjic-99	51	20	configuration	configuration	NOUN
hjic-99	51	21	parameters	parameter	NOUN
hjic-99	51	22	.	.	PUNCT
hjic-99	52	1	this	this	DET
hjic-99	52	2	solution	solution	NOUN
hjic-99	52	3	,	,	PUNCT
hjic-99	52	4	however	however	ADV
hjic-99	52	5	,	,	PUNCT
hjic-99	52	6	makes	make	VERB
hjic-99	52	7	the	the	DET
hjic-99	52	8	correct	correct	ADJ
hjic-99	52	9	application	application	NOUN
hjic-99	52	10	of	of	ADP
hjic-99	52	11	pid	pid	NOUN
hjic-99	52	12	algorithms	algorithm	VERB
hjic-99	52	13	more	more	ADV
hjic-99	52	14	difficult	difficult	ADJ
hjic-99	52	15	in	in	ADP
hjic-99	52	16	itself	itself	PRON
hjic-99	52	17	,	,	PUNCT
hjic-99	52	18	since	since	SCONJ
hjic-99	52	19	it	it	PRON
hjic-99	52	20	may	may	AUX
hjic-99	52	21	require	require	VERB
hjic-99	52	22	the	the	DET
hjic-99	52	23	specification	specification	NOUN
hjic-99	52	24	further	far	ADV
hjic-99	52	25	several	several	ADJ
hjic-99	52	26	tens	ten	NOUN
hjic-99	52	27	of	of	ADP
hjic-99	52	28	parameters	parameter	NOUN
hjic-99	52	29	above	above	ADP
hjic-99	52	30	the	the	DET
hjic-99	52	31	three	three	NUM
hjic-99	52	32	or	or	CCONJ
hjic-99	52	33	four	four	NUM
hjic-99	52	34	tuning	tuning	NOUN
hjic-99	52	35	parameters	parameter	NOUN
hjic-99	52	36	.	.	PUNCT
hjic-99	53	1	model	model	NOUN
hjic-99	53	2	-	-	PUNCT
hjic-99	53	3	based	base	VERB
hjic-99	53	4	algorithms	algorithm	NOUN
hjic-99	53	5	the	the	DET
hjic-99	53	6	fundamental	fundamental	ADJ
hjic-99	53	7	problem	problem	NOUN
hjic-99	53	8	of	of	ADP
hjic-99	53	9	feedback	feedback	NOUN
hjic-99	53	10	control	control	NOUN
hjic-99	53	11	is	be	AUX
hjic-99	53	12	that	that	SCONJ
hjic-99	53	13	the	the	DET
hjic-99	53	14	effect	effect	NOUN
hjic-99	53	15	of	of	ADP
hjic-99	53	16	the	the	DET
hjic-99	53	17	actual	actual	ADJ
hjic-99	53	18	control	control	NOUN
hjic-99	53	19	output	output	NOUN
hjic-99	53	20	–	–	PUNCT
hjic-99	53	21	especially	especially	ADV
hjic-99	53	22	in	in	ADP
hjic-99	53	23	case	case	NOUN
hjic-99	53	24	of	of	ADP
hjic-99	53	25	higher	high	ADJ
hjic-99	53	26	order	order	NOUN
hjic-99	53	27	systems	system	NOUN
hjic-99	53	28	with	with	ADP
hjic-99	53	29	dead	dead	ADJ
hjic-99	53	30	-	-	PUNCT
hjic-99	53	31	time	time	NOUN
hjic-99	53	32	–	–	PUNCT
hjic-99	53	33	is	be	AUX
hjic-99	53	34	delayed	delay	VERB
hjic-99	53	35	in	in	ADP
hjic-99	53	36	time	time	NOUN
hjic-99	53	37	.	.	PUNCT
hjic-99	54	1	the	the	DET
hjic-99	54	2	small	small	ADJ
hjic-99	54	3	change	change	NOUN
hjic-99	54	4	induces	induce	VERB
hjic-99	54	5	higher	high	ADJ
hjic-99	54	6	control	control	NOUN
hjic-99	54	7	output	output	NOUN
hjic-99	54	8	which	which	PRON
hjic-99	54	9	ultimately	ultimately	ADV
hjic-99	54	10	can	can	AUX
hjic-99	54	11	even	even	ADV
hjic-99	54	12	cause	cause	VERB
hjic-99	54	13	instability	instability	NOUN
hjic-99	54	14	.	.	PUNCT
hjic-99	55	1	the	the	DET
hjic-99	55	2	mathematical	mathematical	ADJ
hjic-99	55	3	model	model	NOUN
hjic-99	55	4	of	of	ADP
hjic-99	55	5	the	the	DET
hjic-99	55	6	process	process	NOUN
hjic-99	55	7	allows	allow	VERB
hjic-99	55	8	estimating	estimate	VERB
hjic-99	55	9	the	the	DET
hjic-99	55	10	future	future	ADJ
hjic-99	55	11	effect	effect	NOUN
hjic-99	55	12	of	of	ADP
hjic-99	55	13	the	the	DET
hjic-99	55	14	control	control	NOUN
hjic-99	55	15	output	output	NOUN
hjic-99	55	16	and	and	CCONJ
hjic-99	55	17	this	this	DET
hjic-99	55	18	way	way	NOUN
hjic-99	55	19	determining	determine	VERB
hjic-99	55	20	the	the	DET
hjic-99	55	21	optimal	optimal	ADJ
hjic-99	55	22	output	output	NOUN
hjic-99	55	23	.	.	PUNCT
hjic-99	56	1	the	the	DET
hjic-99	56	2	model	model	NOUN
hjic-99	56	3	predictive	predictive	PROPN
hjic-99	56	4	controllers	controller	NOUN
hjic-99	56	5	(	(	PUNCT
hjic-99	56	6	mpc	mpc	NOUN
hjic-99	56	7	)	)	PUNCT
hjic-99	56	8	solving	solve	VERB
hjic-99	56	9	the	the	DET
hjic-99	56	10	optimal	optimal	ADJ
hjic-99	56	11	control	control	NOUN
hjic-99	56	12	problem	problem	NOUN
hjic-99	56	13	over	over	ADP
hjic-99	56	14	a	a	DET
hjic-99	56	15	discrete	discrete	ADJ
hjic-99	56	16	prediction	prediction	NOUN
hjic-99	56	17	horizon	horizon	NOUN
hjic-99	56	18	determine	determine	VERB
hjic-99	56	19	the	the	DET
hjic-99	56	20	optimal	optimal	ADJ
hjic-99	56	21	future	future	ADJ
hjic-99	56	22	values	value	NOUN
hjic-99	56	23	of	of	ADP
hjic-99	56	24	discrete	discrete	ADJ
hjic-99	56	25	time	time	NOUN
hjic-99	56	26	control	control	NOUN
hjic-99	56	27	outputs	output	NOUN
hjic-99	56	28	.	.	PUNCT
hjic-99	57	1	the	the	DET
hjic-99	57	2	first	first	ADJ
hjic-99	57	3	element	element	NOUN
hjic-99	57	4	is	be	AUX
hjic-99	57	5	then	then	ADV
hjic-99	57	6	realized	realize	VERB
hjic-99	57	7	and	and	CCONJ
hjic-99	57	8	the	the	DET
hjic-99	57	9	calculation	calculation	NOUN
hjic-99	57	10	is	be	AUX
hjic-99	57	11	repeated	repeat	VERB
hjic-99	57	12	83	83	NUM
hjic-99	57	13	in	in	ADP
hjic-99	57	14	every	every	DET
hjic-99	57	15	sampling	sampling	NOUN
hjic-99	57	16	period	period	NOUN
hjic-99	57	17	.	.	PUNCT
hjic-99	58	1	industrial	industrial	ADJ
hjic-99	58	2	application	application	NOUN
hjic-99	58	3	of	of	ADP
hjic-99	58	4	mpc	mpc	PROPN
hjic-99	58	5	has	have	VERB
hjic-99	58	6	two	two	NUM
hjic-99	58	7	decades	decade	NOUN
hjic-99	58	8	of	of	ADP
hjic-99	58	9	history	history	NOUN
hjic-99	58	10	and	and	CCONJ
hjic-99	58	11	software	software	NOUN
hjic-99	58	12	tools	tool	NOUN
hjic-99	58	13	(	(	PUNCT
hjic-99	58	14	e.g.	e.g.	ADV
hjic-99	58	15	rmpct	rmpct	ADJ
hjic-99	58	16	)	)	PUNCT
hjic-99	58	17	for	for	ADP
hjic-99	58	18	considerably	considerably	ADV
hjic-99	58	19	supporting	support	VERB
hjic-99	58	20	the	the	DET
hjic-99	58	21	design	design	NOUN
hjic-99	58	22	have	have	AUX
hjic-99	58	23	been	be	AUX
hjic-99	58	24	introduced	introduce	VERB
hjic-99	58	25	.	.	PUNCT
hjic-99	59	1	mpc	mpc	PROPN
hjic-99	59	2	superposed	superpose	VERB
hjic-99	59	3	on	on	ADP
hjic-99	59	4	pid	pid	NOUN
hjic-99	59	5	loops	loop	NOUN
hjic-99	59	6	can	can	AUX
hjic-99	59	7	be	be	AUX
hjic-99	59	8	efficiently	efficiently	ADV
hjic-99	59	9	used	use	VERB
hjic-99	59	10	,	,	PUNCT
hjic-99	59	11	first	first	ADV
hjic-99	59	12	of	of	ADP
hjic-99	59	13	all	all	PRON
hjic-99	59	14	,	,	PUNCT
hjic-99	59	15	for	for	ADP
hjic-99	59	16	multivariable	multivariable	ADJ
hjic-99	59	17	(	(	PUNCT
hjic-99	59	18	mimo	mimo	PROPN
hjic-99	59	19	)	)	PUNCT
hjic-99	59	20	problems	problem	NOUN
hjic-99	59	21	.	.	PUNCT
hjic-99	60	1	in	in	ADP
hjic-99	60	2	case	case	NOUN
hjic-99	60	3	of	of	ADP
hjic-99	60	4	simple	simple	ADJ
hjic-99	60	5	siso	siso	NOUN
hjic-99	60	6	problems	problem	VERB
hjic-99	60	7	the	the	DET
hjic-99	60	8	performance	performance	NOUN
hjic-99	60	9	of	of	ADP
hjic-99	60	10	mpc	mpc	PROPN
hjic-99	60	11	is	be	AUX
hjic-99	60	12	comparable	comparable	ADJ
hjic-99	60	13	to	to	ADP
hjic-99	60	14	that	that	PRON
hjic-99	60	15	of	of	ADP
hjic-99	60	16	a	a	DET
hjic-99	60	17	pid	pid	NOUN
hjic-99	60	18	,	,	PUNCT
hjic-99	60	19	however	however	ADV
hjic-99	60	20	its	its	PRON
hjic-99	60	21	calculation	calculation	NOUN
hjic-99	60	22	requirements	requirement	NOUN
hjic-99	60	23	and	and	CCONJ
hjic-99	60	24	implementation	implementation	NOUN
hjic-99	60	25	cost	cost	NOUN
hjic-99	60	26	can	can	AUX
hjic-99	60	27	be	be	AUX
hjic-99	60	28	significantly	significantly	ADV
hjic-99	60	29	higher	high	ADJ
hjic-99	61	1	[	[	X
hjic-99	61	2	2	2	NUM
hjic-99	61	3	]	]	PUNCT
hjic-99	61	4	.	.	PUNCT
hjic-99	62	1	one	one	NUM
hjic-99	62	2	of	of	ADP
hjic-99	62	3	the	the	DET
hjic-99	62	4	simplest	simple	ADJ
hjic-99	62	5	model	model	NOUN
hjic-99	62	6	-	-	PUNCT
hjic-99	62	7	based	base	VERB
hjic-99	62	8	design	design	NOUN
hjic-99	62	9	methods	method	NOUN
hjic-99	62	10	is	be	AUX
hjic-99	62	11	the	the	DET
hjic-99	62	12	direct	direct	ADJ
hjic-99	62	13	synthesis	synthesis	NOUN
hjic-99	62	14	technique	technique	NOUN
hjic-99	62	15	[	[	X
hjic-99	62	16	3	3	NUM
hjic-99	62	17	]	]	PUNCT
hjic-99	62	18	.	.	PUNCT
hjic-99	63	1	its	its	PRON
hjic-99	63	2	basic	basic	ADJ
hjic-99	63	3	idea	idea	NOUN
hjic-99	63	4	is	be	AUX
hjic-99	63	5	that	that	SCONJ
hjic-99	63	6	the	the	DET
hjic-99	63	7	dynamics	dynamic	NOUN
hjic-99	63	8	of	of	ADP
hjic-99	63	9	the	the	DET
hjic-99	63	10	closed	close	VERB
hjic-99	63	11	loop	loop	NOUN
hjic-99	63	12	is	be	AUX
hjic-99	63	13	defined	define	VERB
hjic-99	63	14	and	and	CCONJ
hjic-99	63	15	the	the	DET
hjic-99	63	16	controller	controller	NOUN
hjic-99	63	17	providing	provide	VERB
hjic-99	63	18	this	this	DET
hjic-99	63	19	response	response	NOUN
hjic-99	63	20	is	be	AUX
hjic-99	63	21	calculated	calculate	VERB
hjic-99	63	22	backward	backward	ADV
hjic-99	63	23	using	use	VERB
hjic-99	63	24	the	the	DET
hjic-99	63	25	known	know	VERB
hjic-99	63	26	process	process	NOUN
hjic-99	63	27	model	model	NOUN
hjic-99	63	28	.	.	PUNCT
hjic-99	64	1	in	in	ADP
hjic-99	64	2	case	case	NOUN
hjic-99	64	3	of	of	ADP
hjic-99	64	4	simple	simple	ADJ
hjic-99	64	5	process	process	NOUN
hjic-99	64	6	models	model	NOUN
hjic-99	64	7	,	,	PUNCT
hjic-99	64	8	very	very	ADV
hjic-99	64	9	often	often	ADV
hjic-99	64	10	a	a	DET
hjic-99	64	11	pid	pid	NOUN
hjic-99	64	12	variant	variant	NOUN
hjic-99	64	13	,	,	PUNCT
hjic-99	64	14	which	which	PRON
hjic-99	64	15	can	can	AUX
hjic-99	64	16	be	be	AUX
hjic-99	64	17	readily	readily	ADV
hjic-99	64	18	implemented	implement	VERB
hjic-99	64	19	on	on	ADP
hjic-99	64	20	any	any	DET
hjic-99	64	21	dcs	dcs	PROPN
hjic-99	64	22	,	,	PUNCT
hjic-99	64	23	is	be	AUX
hjic-99	64	24	obtained	obtain	VERB
hjic-99	64	25	as	as	ADP
hjic-99	64	26	a	a	DET
hjic-99	64	27	result	result	NOUN
hjic-99	64	28	.	.	PUNCT
hjic-99	65	1	the	the	DET
hjic-99	65	2	results	result	NOUN
hjic-99	65	3	of	of	ADP
hjic-99	65	4	the	the	DET
hjic-99	65	5	design	design	NOUN
hjic-99	65	6	for	for	ADP
hjic-99	65	7	a	a	DET
hjic-99	65	8	few	few	ADJ
hjic-99	65	9	simple	simple	ADJ
hjic-99	65	10	processes	process	NOUN
hjic-99	65	11	are	be	AUX
hjic-99	65	12	summarized	summarize	VERB
hjic-99	65	13	in	in	ADP
hjic-99	65	14	table	table	NOUN
hjic-99	65	15	1	1	NUM
hjic-99	65	16	,	,	PUNCT
hjic-99	65	17	where	where	SCONJ
hjic-99	65	18	the	the	DET
hjic-99	65	19	closed	closed	ADJ
hjic-99	65	20	loop	loop	NOUN
hjic-99	65	21	is	be	AUX
hjic-99	65	22	defined	define	VERB
hjic-99	65	23	as	as	ADP
hjic-99	65	24	a	a	DET
hjic-99	65	25	first	first	ADJ
hjic-99	65	26	order	order	NOUN
hjic-99	65	27	filter	filter	NOUN
hjic-99	65	28	(	(	PUNCT
hjic-99	65	29	with	with	ADP
hjic-99	65	30	dead	dead	ADJ
hjic-99	65	31	-	-	PUNCT
hjic-99	65	32	time	time	NOUN
hjic-99	65	33	)	)	PUNCT
hjic-99	65	34	and	and	CCONJ
hjic-99	65	35	is	be	AUX
hjic-99	65	36	the	the	DET
hjic-99	65	37	time	time	NOUN
hjic-99	65	38	constant	constant	ADJ
hjic-99	65	39	of	of	ADP
hjic-99	65	40	the	the	DET
hjic-99	65	41	closed	closed	ADJ
hjic-99	65	42	loop	loop	NOUN
hjic-99	65	43	.	.	PUNCT
hjic-99	66	1	ct	ct	NUM
hjic-99	66	2	controllers	controller	NOUN
hjic-99	66	3	applying	apply	VERB
hjic-99	66	4	the	the	DET
hjic-99	66	5	internal	internal	ADJ
hjic-99	66	6	model	model	NOUN
hjic-99	66	7	control	control	PROPN
hjic-99	66	8	(	(	PUNCT
hjic-99	66	9	imc	imc	PROPN
hjic-99	66	10	)	)	PUNCT
hjic-99	66	11	principle	principle	NOUN
hjic-99	66	12	are	be	AUX
hjic-99	66	13	very	very	ADV
hjic-99	66	14	popular	popular	ADJ
hjic-99	66	15	in	in	ADP
hjic-99	66	16	academic	academic	ADJ
hjic-99	66	17	studies	study	NOUN
hjic-99	66	18	.	.	PUNCT
hjic-99	67	1	their	their	PRON
hjic-99	67	2	essence	essence	NOUN
hjic-99	67	3	is	be	AUX
hjic-99	67	4	a	a	DET
hjic-99	67	5	feed	feed	NOUN
hjic-99	67	6	-	-	PUNCT
hjic-99	67	7	forward	forward	NOUN
hjic-99	67	8	term	term	NOUN
hjic-99	67	9	containing	contain	VERB
hjic-99	67	10	the	the	DET
hjic-99	67	11	inverse	inverse	NOUN
hjic-99	67	12	of	of	ADP
hjic-99	67	13	the	the	DET
hjic-99	67	14	process	process	NOUN
hjic-99	67	15	model	model	NOUN
hjic-99	67	16	.	.	PUNCT
hjic-99	68	1	the	the	DET
hjic-99	68	2	control	control	NOUN
hjic-99	68	3	offset	offset	NOUN
hjic-99	68	4	coming	come	VERB
hjic-99	68	5	from	from	ADP
hjic-99	68	6	the	the	DET
hjic-99	68	7	model	model	NOUN
hjic-99	68	8	error	error	NOUN
hjic-99	68	9	is	be	AUX
hjic-99	68	10	corrected	correct	VERB
hjic-99	68	11	by	by	ADP
hjic-99	68	12	feeding	feed	VERB
hjic-99	68	13	back	back	ADP
hjic-99	68	14	the	the	DET
hjic-99	68	15	filtered	filter	VERB
hjic-99	68	16	model	model	NOUN
hjic-99	68	17	error	error	NOUN
hjic-99	68	18	.	.	PUNCT
hjic-99	69	1	depending	depend	VERB
hjic-99	69	2	on	on	ADP
hjic-99	69	3	the	the	DET
hjic-99	69	4	process	process	NOUN
hjic-99	69	5	model	model	NOUN
hjic-99	69	6	,	,	PUNCT
hjic-99	69	7	often	often	ADV
hjic-99	69	8	a	a	DET
hjic-99	69	9	pid	pid	NOUN
hjic-99	69	10	algorithm	algorithm	NOUN
hjic-99	69	11	,	,	PUNCT
hjic-99	69	12	which	which	PRON
hjic-99	69	13	can	can	AUX
hjic-99	69	14	be	be	AUX
hjic-99	69	15	used	use	VERB
hjic-99	69	16	in	in	ADP
hjic-99	69	17	the	the	DET
hjic-99	69	18	classical	classical	ADJ
hjic-99	69	19	feedback	feedback	NOUN
hjic-99	69	20	scheme	scheme	NOUN
hjic-99	69	21	,	,	PUNCT
hjic-99	69	22	is	be	AUX
hjic-99	69	23	obtained	obtain	VERB
hjic-99	69	24	in	in	ADP
hjic-99	69	25	this	this	DET
hjic-99	69	26	case	case	NOUN
hjic-99	69	27	too	too	ADV
hjic-99	69	28	.	.	PUNCT
hjic-99	70	1	applying	apply	VERB
hjic-99	70	2	the	the	DET
hjic-99	70	3	imc	imc	NOUN
hjic-99	70	4	method	method	NOUN
hjic-99	70	5	on	on	ADP
hjic-99	70	6	the	the	DET
hjic-99	70	7	processes	process	NOUN
hjic-99	70	8	in	in	ADP
hjic-99	70	9	table	table	NOUN
hjic-99	70	10	1	1	NUM
hjic-99	70	11	and	and	CCONJ
hjic-99	70	12	using	use	VERB
hjic-99	70	13	first	first	ADJ
hjic-99	70	14	order	order	NOUN
hjic-99	70	15	filters	filter	NOUN
hjic-99	70	16	,	,	PUNCT
hjic-99	70	17	the	the	DET
hjic-99	70	18	same	same	ADJ
hjic-99	70	19	results	result	NOUN
hjic-99	70	20	given	give	VERB
hjic-99	70	21	in	in	ADP
hjic-99	70	22	the	the	DET
hjic-99	70	23	table	table	NOUN
hjic-99	70	24	are	be	AUX
hjic-99	70	25	obtained	obtain	VERB
hjic-99	70	26	[	[	PUNCT
hjic-99	70	27	3	3	NUM
hjic-99	70	28	]	]	PUNCT
hjic-99	70	29	.	.	PUNCT
hjic-99	71	1	investigating	investigate	VERB
hjic-99	71	2	the	the	DET
hjic-99	71	3	results	result	NOUN
hjic-99	71	4	in	in	ADP
hjic-99	71	5	table	table	NOUN
hjic-99	71	6	1	1	NUM
hjic-99	71	7	it	it	PRON
hjic-99	71	8	can	can	AUX
hjic-99	71	9	be	be	AUX
hjic-99	71	10	concluded	conclude	VERB
hjic-99	71	11	that	that	SCONJ
hjic-99	71	12	up	up	ADP
hjic-99	71	13	to	to	PART
hjic-99	71	14	second	second	ADJ
hjic-99	71	15	order	order	NOUN
hjic-99	71	16	systems	system	NOUN
hjic-99	71	17	the	the	DET
hjic-99	71	18	linear	linear	ADJ
hjic-99	71	19	-	-	PUNCT
hjic-99	71	20	model	model	NOUN
hjic-99	71	21	-	-	PUNCT
hjic-99	71	22	based	base	VERB
hjic-99	71	23	methods	method	NOUN
hjic-99	71	24	also	also	ADV
hjic-99	71	25	result	result	VERB
hjic-99	71	26	in	in	ADP
hjic-99	71	27	pid	pid	NOUN
hjic-99	71	28	algorithms	algorithm	NOUN
hjic-99	71	29	.	.	PUNCT
hjic-99	72	1	it	it	PRON
hjic-99	72	2	is	be	AUX
hjic-99	72	3	well	well	ADV
hjic-99	72	4	known	know	VERB
hjic-99	72	5	too	too	ADV
hjic-99	72	6	that	that	SCONJ
hjic-99	72	7	a	a	DET
hjic-99	72	8	large	large	ADJ
hjic-99	72	9	number	number	NOUN
hjic-99	72	10	of	of	ADP
hjic-99	72	11	simple	simple	ADJ
hjic-99	72	12	chemical	chemical	NOUN
hjic-99	72	13	processes	process	NOUN
hjic-99	72	14	can	can	AUX
hjic-99	72	15	be	be	AUX
hjic-99	72	16	modeled	model	VERB
hjic-99	72	17	as	as	ADP
hjic-99	72	18	first	first	ADV
hjic-99	72	19	(	(	PUNCT
hjic-99	72	20	or	or	CCONJ
hjic-99	72	21	second	second	ADJ
hjic-99	72	22	)	)	PUNCT
hjic-99	72	23	order	order	NOUN
hjic-99	72	24	system	system	NOUN
hjic-99	72	25	with	with	ADP
hjic-99	72	26	dead	dead	ADJ
hjic-99	72	27	-	-	PUNCT
hjic-99	72	28	time	time	NOUN
hjic-99	72	29	.	.	PUNCT
hjic-99	73	1	these	these	DET
hjic-99	73	2	facts	fact	NOUN
hjic-99	73	3	support	support	VERB
hjic-99	73	4	the	the	DET
hjic-99	73	5	widely	widely	ADV
hjic-99	73	6	accepted	accept	VERB
hjic-99	73	7	experience	experience	NOUN
hjic-99	73	8	that	that	PRON
hjic-99	73	9	a	a	DET
hjic-99	73	10	considerable	considerable	ADJ
hjic-99	73	11	part	part	NOUN
hjic-99	73	12	of	of	ADP
hjic-99	73	13	chemical	chemical	NOUN
hjic-99	73	14	process	process	NOUN
hjic-99	73	15	control	control	NOUN
hjic-99	73	16	problems	problem	NOUN
hjic-99	73	17	can	can	AUX
hjic-99	73	18	be	be	AUX
hjic-99	73	19	solved	solve	VERB
hjic-99	73	20	by	by	ADP
hjic-99	73	21	different	different	ADJ
hjic-99	73	22	pid	pid	NOUN
hjic-99	73	23	variants	variant	NOUN
hjic-99	73	24	.	.	PUNCT
hjic-99	74	1	for	for	ADP
hjic-99	74	2	systems	system	NOUN
hjic-99	74	3	with	with	ADP
hjic-99	74	4	dead	dead	ADJ
hjic-99	74	5	-	-	PUNCT
hjic-99	74	6	time	time	NOUN
hjic-99	74	7	,	,	PUNCT
hjic-99	74	8	the	the	DET
hjic-99	74	9	smith	smith	PROPN
hjic-99	74	10	predictor	predictor	PROPN
hjic-99	74	11	which	which	PRON
hjic-99	74	12	can	can	AUX
hjic-99	74	13	also	also	ADV
hjic-99	74	14	be	be	AUX
hjic-99	74	15	well	well	ADV
hjic-99	74	16	inserted	insert	VERB
hjic-99	74	17	into	into	ADP
hjic-99	74	18	imc	imc	PROPN
hjic-99	74	19	structures	structure	NOUN
hjic-99	74	20	lives	live	VERB
hjic-99	74	21	its	its	PRON
hjic-99	74	22	renaissance	renaissance	NOUN
hjic-99	74	23	.	.	PUNCT
hjic-99	75	1	in	in	ADP
hjic-99	75	2	case	case	NOUN
hjic-99	75	3	of	of	ADP
hjic-99	75	4	batch	batch	NOUN
hjic-99	75	5	systems	system	NOUN
hjic-99	75	6	it	it	PRON
hjic-99	75	7	is	be	AUX
hjic-99	75	8	practical	practical	ADJ
hjic-99	75	9	to	to	PART
hjic-99	75	10	specify	specify	VERB
hjic-99	75	11	the	the	DET
hjic-99	75	12	pid	pid	NOUN
hjic-99	75	13	algorithm	algorithm	NOUN
hjic-99	75	14	by	by	ADP
hjic-99	75	15	phases	phase	NOUN
hjic-99	75	16	and	and	CCONJ
hjic-99	75	17	often	often	ADV
hjic-99	75	18	more	more	ADV
hjic-99	75	19	complex	complex	ADJ
hjic-99	75	20	solutions	solution	NOUN
hjic-99	75	21	have	have	VERB
hjic-99	75	22	to	to	PART
hjic-99	75	23	be	be	AUX
hjic-99	75	24	applied	apply	VERB
hjic-99	75	25	(	(	PUNCT
hjic-99	75	26	e.g.	e.g.	ADV
hjic-99	75	27	dual	dual	ADJ
hjic-99	75	28	-	-	PUNCT
hjic-99	75	29	mode	mode	NOUN
hjic-99	75	30	control	control	NOUN
hjic-99	76	1	[	[	X
hjic-99	76	2	4	4	NUM
hjic-99	76	3	]	]	NUM
hjic-99	76	4	)	)	PUNCT
hjic-99	76	5	.	.	PUNCT
hjic-99	77	1	table	table	NOUN
hjic-99	77	2	1	1	NUM
hjic-99	77	3	model	model	NOUN
hjic-99	77	4	-	-	PUNCT
hjic-99	77	5	based	base	VERB
hjic-99	77	6	pid	pid	NOUN
hjic-99	77	7	algorithms	algorithm	VERB
hjic-99	77	8	direct	direct	ADJ
hjic-99	77	9	synthesis	synthesis	NOUN
hjic-99	77	10	or	or	CCONJ
hjic-99	77	11	imc	imc	NOUN
hjic-99	77	12	process	process	NOUN
hjic-99	77	13	model	model	NOUN
hjic-99	77	14	ckk	ckk	VERB
hjic-99	77	15	⋅	⋅	PROPN
hjic-99	77	16	it	it	PRON
hjic-99	77	17	dt	dt	X
hjic-99	78	1	1+st	1+st	NUM
hjic-99	78	2	k	k	PROPN
hjic-99	78	3	ct	ct	INTJ
hjic-99	78	4	t	t	PROPN
hjic-99	78	5	t	t	NOUN
hjic-99	78	6	0	0	PUNCT
hjic-99	78	7	(	(	PUNCT
hjic-99	78	8	)	)	PUNCT
hjic-99	78	9	(	(	PUNCT
hjic-99	78	10	)	)	PUNCT
hjic-99	78	11	11	11	NUM
hjic-99	78	12	21	21	NUM
hjic-99	79	1	+	+	ADJ
hjic-99	79	2	+	+	NUM
hjic-99	79	3	stst	stst	PROPN
hjic-99	80	1	k	k	PROPN
hjic-99	80	2	ct	ct	PROPN
hjic-99	80	3	tt	tt	PROPN
hjic-99	80	4	21	21	NUM
hjic-99	80	5	+	+	NUM
hjic-99	80	6	21	21	NUM
hjic-99	80	7	tt	tt	NOUN
hjic-99	80	8	+	+	CCONJ
hjic-99	80	9	21	21	NUM
hjic-99	80	10	21	21	NUM
hjic-99	80	11	tt	tt	PROPN
hjic-99	80	12	tt	tt	PROPN
hjic-99	80	13	+	+	CCONJ
hjic-99	80	14	⋅	⋅	PROPN
hjic-99	80	15	s	s	PART
hjic-99	80	16	k	k	NOUN
hjic-99	80	17	ct	ct	NUM
hjic-99	80	18	1	1	NUM
hjic-99	80	19	∞	∞	NUM
hjic-99	80	20	0	0	NUM
hjic-99	81	1	(	(	PUNCT
hjic-99	81	2	)	)	PUNCT
hjic-99	81	3	1+sts	1+sts	PROPN
hjic-99	81	4	k	k	PROPN
hjic-99	82	1	ct	ct	NUM
hjic-99	82	2	1	1	NUM
hjic-99	82	3	∞	∞	NUM
hjic-99	82	4	t	t	NOUN
hjic-99	82	5	1	1	NUM
hjic-99	82	6	+	+	CCONJ
hjic-99	82	7	−	−	PROPN
hjic-99	82	8	st	st	PROPN
hjic-99	82	9	ek	ek	PROPN
hjic-99	82	10	sth	sth	PROPN
hjic-99	82	11	hc	hc	PROPN
hjic-99	82	12	tt	tt	PROPN
hjic-99	82	13	t	t	PROPN
hjic-99	82	14	+	+	CCONJ
hjic-99	82	15	t	t	PROPN
hjic-99	82	16	0	0	NUM
hjic-99	82	17	(	(	PUNCT
hjic-99	82	18	)	)	PUNCT
hjic-99	82	19	(	(	PUNCT
hjic-99	82	20	)	)	PUNCT
hjic-99	82	21	hc	hc	VERB
hjic-99	82	22	tt	tt	PROPN
hjic-99	82	23	tt	tt	PROPN
hjic-99	83	1	+	+	CCONJ
hjic-99	83	2	+	+	NUM
hjic-99	83	3	21	21	NUM
hjic-99	83	4	21	21	NUM
hjic-99	83	5	tt	tt	PROPN
hjic-99	83	6	+	+	CCONJ
hjic-99	83	7	21	21	NUM
hjic-99	83	8	21	21	NUM
hjic-99	83	9	tt	tt	PROPN
hjic-99	83	10	tt	tt	PROPN
hjic-99	83	11	+	+	CCONJ
hjic-99	83	12	⋅	⋅	PROPN
hjic-99	83	13	11	11	NUM
hjic-99	83	14	21	21	NUM
hjic-99	84	1	+	+	NOUN
hjic-99	84	2	+	+	NUM
hjic-99	84	3	−	−	PROPN
hjic-99	84	4	stst	stst	NOUN
hjic-99	84	5	ek	ek	PROPN
hjic-99	84	6	sth	sth	PROPN
hjic-99	84	7	investigating	investigate	VERB
hjic-99	84	8	the	the	DET
hjic-99	84	9	results	result	NOUN
hjic-99	84	10	in	in	ADP
hjic-99	84	11	table	table	NOUN
hjic-99	84	12	1	1	NUM
hjic-99	84	13	it	it	PRON
hjic-99	84	14	can	can	AUX
hjic-99	84	15	be	be	AUX
hjic-99	84	16	concluded	conclude	VERB
hjic-99	84	17	that	that	SCONJ
hjic-99	84	18	up	up	ADP
hjic-99	84	19	to	to	PART
hjic-99	84	20	second	second	ADJ
hjic-99	84	21	order	order	NOUN
hjic-99	84	22	systems	system	NOUN
hjic-99	84	23	the	the	DET
hjic-99	84	24	linear	linear	ADJ
hjic-99	84	25	-	-	PUNCT
hjic-99	84	26	model	model	NOUN
hjic-99	84	27	-	-	PUNCT
hjic-99	84	28	based	base	VERB
hjic-99	84	29	methods	method	NOUN
hjic-99	84	30	also	also	ADV
hjic-99	84	31	result	result	VERB
hjic-99	84	32	in	in	ADP
hjic-99	84	33	pid	pid	NOUN
hjic-99	84	34	algorithms	algorithm	NOUN
hjic-99	84	35	.	.	PUNCT
hjic-99	85	1	it	it	PRON
hjic-99	85	2	is	be	AUX
hjic-99	85	3	well	well	ADV
hjic-99	85	4	known	know	VERB
hjic-99	85	5	too	too	ADV
hjic-99	85	6	that	that	SCONJ
hjic-99	85	7	a	a	DET
hjic-99	85	8	large	large	ADJ
hjic-99	85	9	number	number	NOUN
hjic-99	85	10	of	of	ADP
hjic-99	85	11	simple	simple	ADJ
hjic-99	85	12	chemical	chemical	NOUN
hjic-99	85	13	processes	process	NOUN
hjic-99	85	14	can	can	AUX
hjic-99	85	15	be	be	AUX
hjic-99	85	16	modeled	model	VERB
hjic-99	85	17	as	as	ADP
hjic-99	85	18	first	first	ADV
hjic-99	85	19	(	(	PUNCT
hjic-99	85	20	or	or	CCONJ
hjic-99	85	21	second	second	ADJ
hjic-99	85	22	)	)	PUNCT
hjic-99	85	23	order	order	NOUN
hjic-99	85	24	system	system	NOUN
hjic-99	85	25	with	with	ADP
hjic-99	85	26	dead	dead	ADJ
hjic-99	85	27	-	-	PUNCT
hjic-99	85	28	time	time	NOUN
hjic-99	85	29	.	.	PUNCT
hjic-99	86	1	these	these	DET
hjic-99	86	2	facts	fact	NOUN
hjic-99	86	3	support	support	VERB
hjic-99	86	4	the	the	DET
hjic-99	86	5	widely	widely	ADV
hjic-99	86	6	accepted	accept	VERB
hjic-99	86	7	experience	experience	NOUN
hjic-99	86	8	that	that	PRON
hjic-99	86	9	a	a	DET
hjic-99	86	10	considerable	considerable	ADJ
hjic-99	86	11	part	part	NOUN
hjic-99	86	12	of	of	ADP
hjic-99	86	13	chemical	chemical	NOUN
hjic-99	86	14	process	process	NOUN
hjic-99	86	15	control	control	NOUN
hjic-99	86	16	problems	problem	NOUN
hjic-99	86	17	can	can	AUX
hjic-99	86	18	be	be	AUX
hjic-99	86	19	solved	solve	VERB
hjic-99	86	20	by	by	ADP
hjic-99	86	21	different	different	ADJ
hjic-99	86	22	pid	pid	NOUN
hjic-99	86	23	variants	variant	NOUN
hjic-99	86	24	.	.	PUNCT
hjic-99	87	1	for	for	ADP
hjic-99	87	2	systems	system	NOUN
hjic-99	87	3	with	with	ADP
hjic-99	87	4	dead	dead	ADJ
hjic-99	87	5	-	-	PUNCT
hjic-99	87	6	time	time	NOUN
hjic-99	87	7	,	,	PUNCT
hjic-99	87	8	the	the	DET
hjic-99	87	9	smith	smith	PROPN
hjic-99	87	10	predictor	predictor	PROPN
hjic-99	87	11	which	which	PRON
hjic-99	87	12	can	can	AUX
hjic-99	87	13	also	also	ADV
hjic-99	87	14	be	be	AUX
hjic-99	87	15	well	well	ADV
hjic-99	87	16	inserted	insert	VERB
hjic-99	87	17	into	into	ADP
hjic-99	87	18	imc	imc	PROPN
hjic-99	87	19	structures	structure	NOUN
hjic-99	87	20	lives	live	VERB
hjic-99	87	21	its	its	PRON
hjic-99	87	22	renaissance	renaissance	NOUN
hjic-99	87	23	.	.	PUNCT
hjic-99	88	1	in	in	ADP
hjic-99	88	2	case	case	NOUN
hjic-99	88	3	of	of	ADP
hjic-99	88	4	batch	batch	NOUN
hjic-99	88	5	systems	system	NOUN
hjic-99	88	6	it	it	PRON
hjic-99	88	7	is	be	AUX
hjic-99	88	8	practical	practical	ADJ
hjic-99	88	9	to	to	PART
hjic-99	88	10	specify	specify	VERB
hjic-99	88	11	the	the	DET
hjic-99	88	12	pid	pid	NOUN
hjic-99	88	13	algorithm	algorithm	NOUN
hjic-99	88	14	by	by	ADP
hjic-99	88	15	phases	phase	NOUN
hjic-99	88	16	and	and	CCONJ
hjic-99	88	17	often	often	ADV
hjic-99	88	18	more	more	ADV
hjic-99	88	19	complex	complex	ADJ
hjic-99	88	20	solutions	solution	NOUN
hjic-99	88	21	have	have	VERB
hjic-99	88	22	to	to	PART
hjic-99	88	23	be	be	AUX
hjic-99	88	24	applied	apply	VERB
hjic-99	88	25	(	(	PUNCT
hjic-99	88	26	e.g.	e.g.	ADV
hjic-99	88	27	dual	dual	ADJ
hjic-99	88	28	-	-	PUNCT
hjic-99	88	29	mode	mode	NOUN
hjic-99	88	30	control	control	NOUN
hjic-99	89	1	[	[	X
hjic-99	89	2	4	4	NUM
hjic-99	89	3	]	]	NUM
hjic-99	89	4	)	)	PUNCT
hjic-99	89	5	.	.	PUNCT
hjic-99	90	1	controller	controller	NOUN
hjic-99	90	2	design	design	VERB
hjic-99	90	3	the	the	DET
hjic-99	90	4	design	design	NOUN
hjic-99	90	5	of	of	ADP
hjic-99	90	6	the	the	DET
hjic-99	90	7	control	control	NOUN
hjic-99	90	8	systems	system	NOUN
hjic-99	90	9	,	,	PUNCT
hjic-99	90	10	in	in	ADP
hjic-99	90	11	a	a	DET
hjic-99	90	12	broader	broad	ADJ
hjic-99	90	13	sense	sense	NOUN
hjic-99	90	14	,	,	PUNCT
hjic-99	90	15	involves	involve	VERB
hjic-99	90	16	the	the	DET
hjic-99	90	17	selection	selection	NOUN
hjic-99	90	18	of	of	ADP
hjic-99	90	19	manipulated	manipulate	VERB
hjic-99	90	20	and	and	CCONJ
hjic-99	90	21	measured	measure	VERB
hjic-99	90	22	variables	variable	NOUN
hjic-99	90	23	based	base	VERB
hjic-99	90	24	on	on	ADP
hjic-99	90	25	the	the	DET
hjic-99	90	26	analysis	analysis	NOUN
hjic-99	90	27	of	of	ADP
hjic-99	90	28	degree	degree	NOUN
hjic-99	90	29	of	of	ADP
hjic-99	90	30	freedom	freedom	NOUN
hjic-99	90	31	,	,	PUNCT
hjic-99	90	32	sensitivity	sensitivity	NOUN
hjic-99	90	33	and	and	CCONJ
hjic-99	90	34	dynamic	dynamic	ADJ
hjic-99	90	35	behavior	behavior	NOUN
hjic-99	90	36	,	,	PUNCT
hjic-99	90	37	as	as	ADV
hjic-99	90	38	well	well	ADV
hjic-99	90	39	as	as	ADP
hjic-99	90	40	to	to	PART
hjic-99	90	41	select	select	VERB
hjic-99	90	42	the	the	DET
hjic-99	90	43	control	control	NOUN
hjic-99	90	44	structure	structure	NOUN
hjic-99	90	45	and	and	CCONJ
hjic-99	90	46	method	method	NOUN
hjic-99	90	47	.	.	PUNCT
hjic-99	91	1	more	more	ADV
hjic-99	91	2	specifically	specifically	ADV
hjic-99	91	3	the	the	DET
hjic-99	91	4	design	design	NOUN
hjic-99	91	5	means	mean	VERB
hjic-99	91	6	selecting	select	VERB
hjic-99	91	7	the	the	DET
hjic-99	91	8	control	control	NOUN
hjic-99	91	9	algorithm	algorithm	NOUN
hjic-99	91	10	and	and	CCONJ
hjic-99	91	11	determining	determine	VERB
hjic-99	91	12	its	its	PRON
hjic-99	91	13	parameters	parameter	NOUN
hjic-99	91	14	.	.	PUNCT
hjic-99	92	1	this	this	PRON
hjic-99	92	2	later	later	ADV
hjic-99	92	3	,	,	PUNCT
hjic-99	92	4	even	even	ADV
hjic-99	92	5	now	now	ADV
hjic-99	92	6	,	,	PUNCT
hjic-99	92	7	is	be	AUX
hjic-99	92	8	often	often	ADV
hjic-99	92	9	solved	solve	VERB
hjic-99	92	10	by	by	ADP
hjic-99	92	11	using	use	VERB
hjic-99	92	12	classical	classical	ADJ
hjic-99	92	13	methods	method	NOUN
hjic-99	92	14	(	(	PUNCT
hjic-99	92	15	zieglernichols	zieglernichol	NOUN
hjic-99	92	16	,	,	PUNCT
hjic-99	92	17	cohen	cohen	NOUN
hjic-99	92	18	-	-	PUNCT
hjic-99	92	19	coon	coon	PROPN
hjic-99	92	20	,	,	PUNCT
hjic-99	92	21	integral	integral	ADJ
hjic-99	92	22	criteria	criterion	NOUN
hjic-99	92	23	,	,	PUNCT
hjic-99	92	24	etc	etc	X
hjic-99	92	25	.	.	X
hjic-99	92	26	)	)	PUNCT
hjic-99	92	27	with	with	ADP
hjic-99	92	28	appropriate	appropriate	ADJ
hjic-99	92	29	computer	computer	NOUN
hjic-99	92	30	aids	aid	NOUN
hjic-99	92	31	and	and	CCONJ
hjic-99	92	32	simulation	simulation	NOUN
hjic-99	92	33	tools	tool	NOUN
hjic-99	92	34	.	.	PUNCT
hjic-99	93	1	based	base	VERB
hjic-99	93	2	on	on	ADP
hjic-99	93	3	simulation	simulation	NOUN
hjic-99	93	4	,	,	PUNCT
hjic-99	93	5	the	the	DET
hjic-99	93	6	optimal	optimal	ADJ
hjic-99	93	7	parameters	parameter	NOUN
hjic-99	93	8	of	of	ADP
hjic-99	93	9	the	the	DET
hjic-99	93	10	controller	controller	NOUN
hjic-99	93	11	can	can	AUX
hjic-99	93	12	also	also	ADV
hjic-99	93	13	be	be	AUX
hjic-99	93	14	found	find	VERB
hjic-99	93	15	by	by	ADP
hjic-99	93	16	different	different	ADJ
hjic-99	93	17	search	search	NOUN
hjic-99	93	18	methods	method	NOUN
hjic-99	93	19	.	.	PUNCT
hjic-99	94	1	there	there	PRON
hjic-99	94	2	are	be	VERB
hjic-99	94	3	known	know	VERB
hjic-99	94	4	several	several	ADJ
hjic-99	94	5	modified	modify	VERB
hjic-99	94	6	versions	version	NOUN
hjic-99	94	7	of	of	ADP
hjic-99	94	8	the	the	DET
hjic-99	94	9	classical	classical	ADJ
hjic-99	94	10	techniques	technique	NOUN
hjic-99	94	11	.	.	PUNCT
hjic-99	95	1	model	model	NOUN
hjic-99	95	2	-	-	PUNCT
hjic-99	95	3	based	base	VERB
hjic-99	95	4	approaches	approach	NOUN
hjic-99	95	5	(	(	PUNCT
hjic-99	95	6	see	see	VERB
hjic-99	95	7	e.g.	e.g.	ADV
hjic-99	95	8	table	table	NOUN
hjic-99	95	9	1	1	NUM
hjic-99	95	10	)	)	PUNCT
hjic-99	95	11	,	,	PUNCT
hjic-99	95	12	starting	start	VERB
hjic-99	95	13	from	from	ADP
hjic-99	95	14	different	different	ADJ
hjic-99	95	15	types	type	NOUN
hjic-99	95	16	of	of	ADP
hjic-99	95	17	models	model	NOUN
hjic-99	95	18	,	,	PUNCT
hjic-99	95	19	derive	derive	VERB
hjic-99	95	20	the	the	DET
hjic-99	95	21	control	control	NOUN
hjic-99	95	22	equations	equation	NOUN
hjic-99	95	23	using	use	VERB
hjic-99	95	24	the	the	DET
hjic-99	95	25	techniques	technique	NOUN
hjic-99	95	26	of	of	ADP
hjic-99	95	27	the	the	DET
hjic-99	95	28	linear	linear	PROPN
hjic-99	95	29	control	control	PROPN
hjic-99	95	30	theory	theory	NOUN
hjic-99	95	31	and	and	CCONJ
hjic-99	95	32	applying	apply	VERB
hjic-99	95	33	suitable	suitable	ADJ
hjic-99	95	34	approximations	approximation	NOUN
hjic-99	95	35	(	(	PUNCT
hjic-99	95	36	e.g.	e.g.	ADV
hjic-99	95	37	dead	dead	ADJ
hjic-99	95	38	-	-	PUNCT
hjic-99	95	39	time	time	NOUN
hjic-99	95	40	:	:	PUNCT
hjic-99	95	41	pade	pade	NOUN
hjic-99	95	42	-	-	PUNCT
hjic-99	95	43	approximation	approximation	NOUN
hjic-99	95	44	,	,	PUNCT
hjic-99	95	45	nonlinearities	nonlinearitie	NOUN
hjic-99	95	46	:	:	PUNCT
hjic-99	95	47	taylor	taylor	PROPN
hjic-99	95	48	-	-	PUNCT
hjic-99	95	49	series	series	PROPN
hjic-99	95	50	)	)	PUNCT
hjic-99	95	51	.	.	PUNCT
hjic-99	96	1	in	in	ADP
hjic-99	96	2	this	this	DET
hjic-99	96	3	case	case	NOUN
hjic-99	96	4	the	the	DET
hjic-99	96	5	identified	identify	VERB
hjic-99	96	6	process	process	NOUN
hjic-99	96	7	model	model	NOUN
hjic-99	96	8	and	and	CCONJ
hjic-99	96	9	the	the	DET
hjic-99	96	10	control	control	NOUN
hjic-99	96	11	rule	rule	NOUN
hjic-99	96	12	determine	determine	VERB
hjic-99	96	13	the	the	DET
hjic-99	96	14	control	control	NOUN
hjic-99	96	15	structure	structure	NOUN
hjic-99	96	16	and	and	CCONJ
hjic-99	96	17	the	the	DET
hjic-99	96	18	controller	controller	NOUN
hjic-99	96	19	parameters	parameter	NOUN
hjic-99	96	20	too	too	ADV
hjic-99	96	21	;	;	PUNCT
hjic-99	96	22	separate	separate	ADJ
hjic-99	96	23	tuning	tuning	NOUN
hjic-99	96	24	rules	rule	NOUN
hjic-99	96	25	are	be	AUX
hjic-99	96	26	not	not	PART
hjic-99	96	27	needed	need	VERB
hjic-99	96	28	.	.	PUNCT
hjic-99	97	1	building	build	VERB
hjic-99	97	2	in	in	ADP
hjic-99	97	3	the	the	DET
hjic-99	97	4	identification	identification	NOUN
hjic-99	97	5	of	of	ADP
hjic-99	97	6	the	the	DET
hjic-99	97	7	applied	applied	ADJ
hjic-99	97	8	model	model	NOUN
hjic-99	97	9	,	,	PUNCT
hjic-99	97	10	in	in	ADP
hjic-99	97	11	the	the	DET
hjic-99	97	12	framework	framework	NOUN
hjic-99	97	13	of	of	ADP
hjic-99	97	14	classical	classical	ADJ
hjic-99	97	15	schemes	scheme	NOUN
hjic-99	97	16	(	(	PUNCT
hjic-99	97	17	gain	gain	VERB
hjic-99	97	18	scheduling	scheduling	NOUN
hjic-99	97	19	,	,	PUNCT
hjic-99	97	20	model	model	NOUN
hjic-99	97	21	reference	reference	NOUN
hjic-99	97	22	,	,	PUNCT
hjic-99	97	23	self	self	NOUN
hjic-99	97	24	tuning	tuning	NOUN
hjic-99	97	25	)	)	PUNCT
hjic-99	97	26	,	,	PUNCT
hjic-99	97	27	adaptive	adaptive	ADJ
hjic-99	97	28	algorithm	algorithm	NOUN
hjic-99	97	29	can	can	AUX
hjic-99	97	30	be	be	AUX
hjic-99	97	31	84	84	NUM
hjic-99	97	32	constructed	construct	VERB
hjic-99	97	33	too	too	ADV
hjic-99	97	34	.	.	PUNCT
hjic-99	98	1	it	it	PRON
hjic-99	98	2	is	be	AUX
hjic-99	98	3	advisable	advisable	ADJ
hjic-99	98	4	to	to	PART
hjic-99	98	5	design	design	VERB
hjic-99	98	6	the	the	DET
hjic-99	98	7	supervision	supervision	NOUN
hjic-99	98	8	of	of	ADP
hjic-99	98	9	their	their	PRON
hjic-99	98	10	operation	operation	NOUN
hjic-99	98	11	in	in	ADP
hjic-99	98	12	advance	advance	NOUN
hjic-99	98	13	.	.	PUNCT
hjic-99	99	1	in	in	ADP
hjic-99	99	2	the	the	DET
hjic-99	99	3	controller	controller	NOUN
hjic-99	99	4	design	design	VERB
hjic-99	99	5	several	several	ADJ
hjic-99	99	6	practical	practical	ADJ
hjic-99	99	7	problems	problem	NOUN
hjic-99	99	8	emerge	emerge	VERB
hjic-99	99	9	,	,	PUNCT
hjic-99	99	10	making	make	VERB
hjic-99	99	11	more	more	ADV
hjic-99	99	12	difficult	difficult	ADJ
hjic-99	99	13	the	the	DET
hjic-99	99	14	efficient	efficient	ADJ
hjic-99	99	15	application	application	NOUN
hjic-99	99	16	of	of	ADP
hjic-99	99	17	academic	academic	ADJ
hjic-99	99	18	results	result	NOUN
hjic-99	99	19	.	.	PUNCT
hjic-99	100	1	problems	problem	NOUN
hjic-99	100	2	related	relate	VERB
hjic-99	100	3	to	to	ADP
hjic-99	100	4	control	control	NOUN
hjic-99	100	5	valves	valve	NOUN
hjic-99	100	6	,	,	PUNCT
hjic-99	100	7	like	like	ADP
hjic-99	100	8	hystheresis	hystheresis	NOUN
hjic-99	100	9	,	,	PUNCT
hjic-99	100	10	sticking	stick	VERB
hjic-99	100	11	and	and	CCONJ
hjic-99	100	12	nonlinear	nonlinear	ADJ
hjic-99	100	13	valve	valve	NOUN
hjic-99	100	14	characteristic	characteristic	ADJ
hjic-99	100	15	,	,	PUNCT
hjic-99	100	16	are	be	AUX
hjic-99	100	17	well	well	ADV
hjic-99	100	18	known	know	VERB
hjic-99	100	19	.	.	PUNCT
hjic-99	101	1	since	since	SCONJ
hjic-99	101	2	the	the	DET
hjic-99	101	3	problems	problem	NOUN
hjic-99	101	4	of	of	ADP
hjic-99	101	5	hystheresis	hystheresis	NOUN
hjic-99	101	6	and	and	CCONJ
hjic-99	101	7	sticking	sticking	NOUN
hjic-99	101	8	must	must	AUX
hjic-99	101	9	be	be	AUX
hjic-99	101	10	solved	solve	VERB
hjic-99	101	11	by	by	ADP
hjic-99	101	12	mechanical	mechanical	ADJ
hjic-99	101	13	engineering	engineering	NOUN
hjic-99	101	14	techniques	technique	NOUN
hjic-99	101	15	they	they	PRON
hjic-99	101	16	are	be	AUX
hjic-99	101	17	not	not	PART
hjic-99	101	18	considered	consider	VERB
hjic-99	101	19	in	in	ADP
hjic-99	101	20	the	the	DET
hjic-99	101	21	design	design	NOUN
hjic-99	101	22	model	model	NOUN
hjic-99	101	23	.	.	PUNCT
hjic-99	102	1	(	(	PUNCT
hjic-99	102	2	their	their	PRON
hjic-99	102	3	indication	indication	NOUN
hjic-99	102	4	,	,	PUNCT
hjic-99	102	5	at	at	ADP
hjic-99	102	6	the	the	DET
hjic-99	102	7	same	same	ADJ
hjic-99	102	8	time	time	NOUN
hjic-99	102	9	is	be	AUX
hjic-99	102	10	a	a	DET
hjic-99	102	11	model	model	NOUN
hjic-99	102	12	-	-	PUNCT
hjic-99	102	13	based	base	VERB
hjic-99	102	14	diagnostic	diagnostic	ADJ
hjic-99	102	15	problem	problem	NOUN
hjic-99	102	16	)	)	PUNCT
hjic-99	102	17	.	.	PUNCT
hjic-99	103	1	taking	take	VERB
hjic-99	103	2	into	into	ADP
hjic-99	103	3	account	account	NOUN
hjic-99	103	4	the	the	DET
hjic-99	103	5	strongly	strongly	ADV
hjic-99	103	6	nonlinear	nonlinear	ADJ
hjic-99	103	7	valve	valve	NOUN
hjic-99	103	8	characteristics	characteristic	NOUN
hjic-99	103	9	is	be	AUX
hjic-99	103	10	a	a	DET
hjic-99	103	11	prerequisite	prerequisite	NOUN
hjic-99	103	12	for	for	ADP
hjic-99	103	13	the	the	DET
hjic-99	103	14	appropriate	appropriate	ADJ
hjic-99	103	15	design	design	NOUN
hjic-99	103	16	.	.	PUNCT
hjic-99	104	1	considering	consider	VERB
hjic-99	104	2	the	the	DET
hjic-99	104	3	practical	practical	ADJ
hjic-99	104	4	controller	controller	NOUN
hjic-99	104	5	design	design	NOUN
hjic-99	104	6	,	,	PUNCT
hjic-99	104	7	an	an	DET
hjic-99	104	8	important	important	ADJ
hjic-99	104	9	element	element	NOUN
hjic-99	104	10	of	of	ADP
hjic-99	104	11	the	the	DET
hjic-99	104	12	model	model	NOUN
hjic-99	104	13	is	be	AUX
hjic-99	104	14	the	the	DET
hjic-99	104	15	allowable	allowable	ADJ
hjic-99	104	16	range	range	NOUN
hjic-99	104	17	of	of	ADP
hjic-99	104	18	its	its	PRON
hjic-99	104	19	variables	variable	NOUN
hjic-99	104	20	,	,	PUNCT
hjic-99	104	21	i.e.	i.e.	X
hjic-99	104	22	taking	take	VERB
hjic-99	104	23	into	into	ADP
hjic-99	104	24	account	account	NOUN
hjic-99	104	25	the	the	DET
hjic-99	104	26	related	related	ADJ
hjic-99	104	27	constraints	constraint	NOUN
hjic-99	104	28	.	.	PUNCT
hjic-99	105	1	in	in	ADP
hjic-99	105	2	mathematical	mathematical	ADJ
hjic-99	105	3	sense	sense	NOUN
hjic-99	105	4	,	,	PUNCT
hjic-99	105	5	this	this	PRON
hjic-99	105	6	changes	change	VERB
hjic-99	105	7	the	the	DET
hjic-99	105	8	not	not	PART
hjic-99	105	9	constrained	constrain	VERB
hjic-99	105	10	linear	linear	ADJ
hjic-99	105	11	model	model	NOUN
hjic-99	105	12	into	into	ADP
hjic-99	105	13	a	a	DET
hjic-99	105	14	nonlinear	nonlinear	ADJ
hjic-99	105	15	one	one	NOUN
hjic-99	105	16	and	and	CCONJ
hjic-99	105	17	makes	make	VERB
hjic-99	105	18	the	the	DET
hjic-99	105	19	detailed	detailed	ADJ
hjic-99	105	20	analysis	analysis	NOUN
hjic-99	105	21	more	more	ADV
hjic-99	105	22	difficult	difficult	ADJ
hjic-99	105	23	(	(	PUNCT
hjic-99	105	24	that	that	PRON
hjic-99	105	25	is	be	AUX
hjic-99	105	26	why	why	SCONJ
hjic-99	105	27	it	it	PRON
hjic-99	105	28	is	be	AUX
hjic-99	105	29	often	often	ADV
hjic-99	105	30	neglected	neglect	VERB
hjic-99	105	31	in	in	ADP
hjic-99	105	32	academic	academic	ADJ
hjic-99	105	33	studies	study	NOUN
hjic-99	105	34	)	)	PUNCT
hjic-99	105	35	.	.	PUNCT
hjic-99	106	1	a	a	DET
hjic-99	106	2	number	number	NOUN
hjic-99	106	3	of	of	ADP
hjic-99	106	4	publication	publication	NOUN
hjic-99	106	5	confirm	confirm	VERB
hjic-99	106	6	that	that	SCONJ
hjic-99	106	7	using	use	VERB
hjic-99	106	8	adequate	adequate	ADJ
hjic-99	106	9	models	model	NOUN
hjic-99	106	10	containing	contain	VERB
hjic-99	106	11	the	the	DET
hjic-99	106	12	corresponding	corresponding	ADJ
hjic-99	106	13	constraints	constraint	NOUN
hjic-99	106	14	,	,	PUNCT
hjic-99	106	15	the	the	DET
hjic-99	106	16	model	model	NOUN
hjic-99	106	17	-	-	PUNCT
hjic-99	106	18	based	base	VERB
hjic-99	106	19	algorithms	algorithm	NOUN
hjic-99	106	20	are	be	AUX
hjic-99	106	21	more	more	ADV
hjic-99	106	22	efficient	efficient	ADJ
hjic-99	106	23	than	than	ADP
hjic-99	106	24	pid	pid	NOUN
hjic-99	106	25	controllers	controller	NOUN
hjic-99	106	26	tuned	tune	VERB
hjic-99	106	27	with	with	ADP
hjic-99	106	28	classical	classical	ADJ
hjic-99	106	29	methods	method	NOUN
hjic-99	106	30	[	[	X
hjic-99	106	31	5	5	NUM
hjic-99	106	32	]	]	PUNCT
hjic-99	106	33	.	.	PUNCT
hjic-99	107	1	constrained	constrain	VERB
hjic-99	107	2	pi(d	pi(d	NOUN
hjic-99	107	3	)	)	PUNCT
hjic-99	107	4	algorithm	algorithm	NOUN
hjic-99	107	5	taking	take	VERB
hjic-99	107	6	into	into	ADP
hjic-99	107	7	account	account	NOUN
hjic-99	107	8	the	the	DET
hjic-99	107	9	physical	physical	ADJ
hjic-99	107	10	constraints	constraint	NOUN
hjic-99	107	11	on	on	ADP
hjic-99	107	12	the	the	DET
hjic-99	107	13	control	control	NOUN
hjic-99	107	14	variable	variable	NOUN
hjic-99	107	15	the	the	DET
hjic-99	107	16	saturation	saturation	NOUN
hjic-99	107	17	(	(	PUNCT
hjic-99	107	18	wind	wind	NOUN
hjic-99	107	19	-	-	PUNCT
hjic-99	107	20	up	up	NOUN
hjic-99	107	21	)	)	PUNCT
hjic-99	107	22	effect	effect	NOUN
hjic-99	107	23	can	can	AUX
hjic-99	107	24	be	be	AUX
hjic-99	107	25	eliminated	eliminate	VERB
hjic-99	107	26	.	.	PUNCT
hjic-99	108	1	especially	especially	ADV
hjic-99	108	2	in	in	ADP
hjic-99	108	3	case	case	NOUN
hjic-99	108	4	of	of	ADP
hjic-99	108	5	batch	batch	NOUN
hjic-99	108	6	systems	system	NOUN
hjic-99	108	7	it	it	PRON
hjic-99	108	8	is	be	AUX
hjic-99	108	9	frequently	frequently	ADV
hjic-99	108	10	occurs	occurs	ADJ
hjic-99	108	11	,	,	PUNCT
hjic-99	108	12	that	that	SCONJ
hjic-99	108	13	the	the	DET
hjic-99	108	14	requirement	requirement	NOUN
hjic-99	108	15	for	for	ADP
hjic-99	108	16	fast	fast	ADJ
hjic-99	108	17	settling	settling	NOUN
hjic-99	108	18	generates	generate	VERB
hjic-99	108	19	such	such	ADJ
hjic-99	108	20	huge	huge	ADJ
hjic-99	108	21	changes	change	NOUN
hjic-99	108	22	in	in	ADP
hjic-99	108	23	the	the	DET
hjic-99	108	24	control	control	NOUN
hjic-99	108	25	output	output	NOUN
hjic-99	108	26	that	that	PRON
hjic-99	108	27	can	can	AUX
hjic-99	108	28	not	not	PART
hjic-99	108	29	be	be	AUX
hjic-99	108	30	realized	realize	VERB
hjic-99	108	31	.	.	PUNCT
hjic-99	109	1	this	this	PRON
hjic-99	109	2	may	may	AUX
hjic-99	109	3	lead	lead	VERB
hjic-99	109	4	considerably	considerably	ADV
hjic-99	109	5	high	high	ADJ
hjic-99	109	6	overshoots	overshoot	NOUN
hjic-99	109	7	which	which	PRON
hjic-99	109	8	prevent	prevent	VERB
hjic-99	109	9	achieving	achieve	VERB
hjic-99	109	10	good	good	ADJ
hjic-99	109	11	control	control	NOUN
hjic-99	109	12	performance	performance	NOUN
hjic-99	109	13	.	.	PUNCT
hjic-99	110	1	this	this	PRON
hjic-99	110	2	was	be	AUX
hjic-99	110	3	our	our	PRON
hjic-99	110	4	main	main	ADJ
hjic-99	110	5	reason	reason	NOUN
hjic-99	110	6	motivating	motivate	VERB
hjic-99	110	7	the	the	DET
hjic-99	110	8	development	development	NOUN
hjic-99	110	9	a	a	DET
hjic-99	110	10	constrained	constrain	VERB
hjic-99	110	11	pid	pid	NOUN
hjic-99	110	12	variant	variant	NOUN
hjic-99	110	13	.	.	PUNCT
hjic-99	111	1	to	to	PART
hjic-99	111	2	take	take	VERB
hjic-99	111	3	the	the	DET
hjic-99	111	4	physical	physical	ADJ
hjic-99	111	5	constraints	constraint	NOUN
hjic-99	111	6	of	of	ADP
hjic-99	111	7	the	the	DET
hjic-99	111	8	control	control	NOUN
hjic-99	111	9	variable	variable	NOUN
hjic-99	111	10	into	into	ADP
hjic-99	111	11	account	account	NOUN
hjic-99	111	12	,	,	PUNCT
hjic-99	111	13	two	two	NUM
hjic-99	111	14	consecutive	consecutive	ADJ
hjic-99	111	15	inverting	inverting	NOUN
hjic-99	111	16	of	of	ADP
hjic-99	111	17	a	a	DET
hjic-99	111	18	standard	standard	ADJ
hjic-99	111	19	pid	pid	NOUN
hjic-99	111	20	algorithm	algorithm	NOUN
hjic-99	111	21	is	be	AUX
hjic-99	111	22	applied	apply	VERB
hjic-99	111	23	,	,	PUNCT
hjic-99	111	24	as	as	SCONJ
hjic-99	111	25	follows	follow	VERB
hjic-99	111	26	:	:	PUNCT
hjic-99	112	1	1	1	X
hjic-99	112	2	.	.	PUNCT
hjic-99	112	3	the	the	DET
hjic-99	112	4	inverse	inverse	NOUN
hjic-99	112	5	of	of	ADP
hjic-99	112	6	a	a	DET
hjic-99	112	7	standard	standard	ADJ
hjic-99	112	8	pid	pid	NOUN
hjic-99	112	9	is	be	AUX
hjic-99	112	10	formed	form	VERB
hjic-99	112	11	in	in	ADP
hjic-99	112	12	the	the	DET
hjic-99	112	13	transformed	transform	VERB
hjic-99	112	14	domain	domain	NOUN
hjic-99	112	15	.	.	PUNCT
hjic-99	113	1	this	this	PRON
hjic-99	113	2	can	can	AUX
hjic-99	113	3	be	be	AUX
hjic-99	113	4	solved	solve	VERB
hjic-99	113	5	reciprocating	reciprocate	VERB
hjic-99	113	6	the	the	DET
hjic-99	113	7	transfer	transfer	NOUN
hjic-99	113	8	function	function	NOUN
hjic-99	113	9	.	.	PUNCT
hjic-99	114	1	2	2	X
hjic-99	114	2	.	.	X
hjic-99	114	3	a	a	DET
hjic-99	114	4	constrained	constrained	ADJ
hjic-99	114	5	inverse	inverse	NOUN
hjic-99	114	6	of	of	ADP
hjic-99	114	7	the	the	DET
hjic-99	114	8	inverse	inverse	NOUN
hjic-99	114	9	pid	pid	NOUN
hjic-99	114	10	is	be	AUX
hjic-99	114	11	formed	form	VERB
hjic-99	114	12	after	after	ADP
hjic-99	114	13	converting	convert	VERB
hjic-99	114	14	the	the	DET
hjic-99	114	15	inverse	inverse	NOUN
hjic-99	114	16	transfer	transfer	NOUN
hjic-99	114	17	function	function	NOUN
hjic-99	114	18	(	(	PUNCT
hjic-99	114	19	in	in	ADP
hjic-99	114	20	time	time	NOUN
hjic-99	114	21	domain	domain	NOUN
hjic-99	114	22	)	)	PUNCT
hjic-99	114	23	into	into	ADP
hjic-99	114	24	a	a	DET
hjic-99	114	25	state	state	NOUN
hjic-99	114	26	-	-	PUNCT
hjic-99	114	27	space	space	NOUN
hjic-99	114	28	model	model	NOUN
hjic-99	114	29	.	.	PUNCT
hjic-99	115	1	in	in	ADP
hjic-99	115	2	details	detail	NOUN
hjic-99	115	3	the	the	DET
hjic-99	115	4	following	follow	VERB
hjic-99	115	5	transformations	transformation	NOUN
hjic-99	115	6	are	be	AUX
hjic-99	115	7	to	to	PART
hjic-99	115	8	be	be	AUX
hjic-99	115	9	done	do	VERB
hjic-99	115	10	.	.	PUNCT
hjic-99	116	1	using	use	VERB
hjic-99	116	2	a	a	DET
hjic-99	116	3	p	p	ADJ
hjic-99	116	4	-	-	PUNCT
hjic-99	116	5	pid	pid	NOUN
hjic-99	116	6	controller	controller	NOUN
hjic-99	116	7	(	(	PUNCT
hjic-99	116	8	0	0	NUM
hjic-99	116	9	=	=	NOUN
hjic-99	116	10	α	α	NOUN
hjic-99	116	11	)	)	PUNCT
hjic-99	116	12	the	the	DET
hjic-99	116	13	starting	start	VERB
hjic-99	116	14	transfer	transfer	NOUN
hjic-99	116	15	function	function	NOUN
hjic-99	116	16	is	be	AUX
hjic-99	116	17	the	the	DET
hjic-99	116	18	following	following	NOUN
hjic-99	116	19	:	:	PUNCT
hjic-99	116	20	⎟⎟	⎟⎟	ADJ
hjic-99	116	21	⎠	⎠	PUNCT
hjic-99	116	22	⎞	⎞	PROPN
hjic-99	116	23	⎜⎜	⎜⎜	NOUN
hjic-99	116	24	⎝	⎝	PUNCT
hjic-99	116	25	⎛	⎛	NOUN
hjic-99	117	1	+	+	PROPN
hjic-99	117	2	+	+	ADJ
hjic-99	117	3	=	=	ADJ
hjic-99	117	4	=	=	SYM
hjic-99	117	5	st	st	PROPN
hjic-99	117	6	st	st	PROPN
hjic-99	117	7	k	k	PROPN
hjic-99	117	8	se	se	PROPN
hjic-99	117	9	supid	supid	PROPN
hjic-99	118	1	d	d	PROPN
hjic-99	118	2	i	i	PRON
hjic-99	118	3	c	c	PROPN
hjic-99	118	4	11	11	NUM
hjic-99	118	5	)	)	PUNCT
hjic-99	118	6	(	(	PUNCT
hjic-99	118	7	)	)	PUNCT
hjic-99	118	8	(	(	PUNCT
hjic-99	118	9	,	,	PUNCT
hjic-99	118	10	(	(	PUNCT
hjic-99	118	11	6	6	NUM
hjic-99	118	12	)	)	PUNCT
hjic-99	118	13	that	that	PRON
hjic-99	118	14	defines	define	VERB
hjic-99	118	15	an	an	DET
hjic-99	118	16	improper	improper	ADJ
hjic-99	118	17	object	object	NOUN
hjic-99	118	18	.	.	PUNCT
hjic-99	119	1	let	let	VERB
hjic-99	119	2	us	we	PRON
hjic-99	119	3	take	take	VERB
hjic-99	119	4	its	its	PRON
hjic-99	119	5	proper	proper	ADJ
hjic-99	119	6	inverse	inverse	NOUN
hjic-99	119	7	:	:	PUNCT
hjic-99	119	8	2	2	NUM
hjic-99	119	9	1	1	NUM
hjic-99	119	10	1	1	NUM
hjic-99	119	11	)	)	PUNCT
hjic-99	119	12	(	(	PUNCT
hjic-99	119	13	)	)	PUNCT
hjic-99	119	14	(	(	PUNCT
hjic-99	119	15	sttst	sttst	PROPN
hjic-99	119	16	s	s	PART
hjic-99	119	17	k	k	PROPN
hjic-99	119	18	t	t	PROPN
hjic-99	119	19	su	su	PROPN
hjic-99	119	20	sepid	sepid	PROPN
hjic-99	119	21	diic	diic	ADP
hjic-99	119	22	i	i	PRON
hjic-99	119	23	+	+	NOUN
hjic-99	119	24	+	+	X
hjic-99	119	25	⋅==−	⋅==−	NOUN
hjic-99	119	26	,	,	PUNCT
hjic-99	119	27	(	(	PUNCT
hjic-99	119	28	7	7	X
hjic-99	119	29	)	)	PUNCT
hjic-99	119	30	based	base	VERB
hjic-99	119	31	on	on	ADP
hjic-99	119	32	the	the	DET
hjic-99	119	33	transfer	transfer	NOUN
hjic-99	119	34	function	function	NOUN
hjic-99	119	35	,	,	PUNCT
hjic-99	119	36	the	the	DET
hjic-99	119	37	inverse	inverse	NOUN
hjic-99	119	38	can	can	AUX
hjic-99	119	39	be	be	AUX
hjic-99	119	40	given	give	VERB
hjic-99	119	41	as	as	ADP
hjic-99	119	42	a	a	DET
hjic-99	119	43	time	time	NOUN
hjic-99	119	44	-	-	PUNCT
hjic-99	119	45	domain	domain	NOUN
hjic-99	119	46	input	input	NOUN
hjic-99	119	47	-	-	PUNCT
hjic-99	119	48	output	output	NOUN
hjic-99	119	49	model	model	NOUN
hjic-99	119	50	:	:	PUNCT
hjic-99	119	51	dt	dt	X
hjic-99	119	52	du	du	PROPN
hjic-99	119	53	k	k	X
hjic-99	119	54	te	te	PROPN
hjic-99	119	55	dt	dt	X
hjic-99	119	56	det	det	PROPN
hjic-99	119	57	dt	dt	PROPN
hjic-99	119	58	edtt	edtt	VERB
hjic-99	120	1	c	c	PROPN
hjic-99	120	2	i	i	PRON
hjic-99	120	3	idi	idi	PROPN
hjic-99	120	4	⋅=++2	⋅=++2	PROPN
hjic-99	120	5	2	2	NUM
hjic-99	120	6	,	,	PUNCT
hjic-99	120	7	(	(	PUNCT
hjic-99	120	8	8)	8)	NUM
hjic-99	120	9	let	let	VERB
hjic-99	120	10	us	we	PRON
hjic-99	120	11	transform	transform	VERB
hjic-99	120	12	the	the	DET
hjic-99	120	13	input	input	NOUN
hjic-99	120	14	-	-	PUNCT
hjic-99	120	15	output	output	NOUN
hjic-99	120	16	model	model	NOUN
hjic-99	120	17	into	into	ADP
hjic-99	120	18	the	the	DET
hjic-99	120	19	following	follow	VERB
hjic-99	120	20	input	input	NOUN
hjic-99	120	21	-	-	PUNCT
hjic-99	120	22	output	output	NOUN
hjic-99	120	23	equivalent	equivalent	ADJ
hjic-99	120	24	state	state	NOUN
hjic-99	120	25	-	-	PUNCT
hjic-99	120	26	space	space	NOUN
hjic-99	120	27	model	model	NOUN
hjic-99	120	28	(	(	PUNCT
hjic-99	120	29	using	use	VERB
hjic-99	120	30	the	the	DET
hjic-99	120	31	∫==	∫==	PROPN
hjic-99	120	32	e	e	PROPN
hjic-99	120	33	t	t	PROPN
hjic-99	120	34	xex	xex	PROPN
hjic-99	120	35	i	i	PRON
hjic-99	120	36	1	1	NUM
hjic-99	120	37	,	,	PUNCT
hjic-99	120	38	21	21	NUM
hjic-99	120	39	state	state	NOUN
hjic-99	120	40	definitions	definition	NOUN
hjic-99	120	41	):	):	PUNCT
hjic-99	120	42	uktx	uktx	PROPN
hjic-99	120	43	t	t	PROPN
hjic-99	120	44	tt	tt	PROPN
hjic-99	121	1	dt	dt	PUNCT
hjic-99	121	2	xd	xd	INTJ
hjic-99	121	3	cd	cd	PROPN
hjic-99	121	4	i	i	PRON
hjic-99	121	5	dd	dd	VERB
hjic-99	121	6	⋅	⋅	PROPN
hjic-99	121	7	⎥	⎥	PROPN
hjic-99	121	8	⎥	⎥	PROPN
hjic-99	121	9	⎥	⎥	PROPN
hjic-99	121	10	⎥	⎥	PROPN
hjic-99	121	11	⎦	⎦	NOUN
hjic-99	121	12	⎤	⎤	ADJ
hjic-99	121	13	⎢	⎢	NOUN
hjic-99	121	14	⎢	⎢	NOUN
hjic-99	121	15	⎢	⎢	NOUN
hjic-99	121	16	⎢	⎢	NOUN
hjic-99	121	17	⎣	⎣	PROPN
hjic-99	121	18	⎡	⎡	NOUN
hjic-99	121	19	+	+	PROPN
hjic-99	121	20	⋅	⋅	PROPN
hjic-99	121	21	⎥	⎥	PROPN
hjic-99	121	22	⎥	⎥	PROPN
hjic-99	121	23	⎥	⎥	PROPN
hjic-99	121	24	⎥	⎥	PROPN
hjic-99	121	25	⎦	⎦	NOUN
hjic-99	121	26	⎤	⎤	ADJ
hjic-99	121	27	⎢	⎢	NOUN
hjic-99	121	28	⎢	⎢	NOUN
hjic-99	121	29	⎢	⎢	NOUN
hjic-99	121	30	⎢	⎢	NOUN
hjic-99	121	31	⎣	⎣	PROPN
hjic-99	121	32	⎡	⎡	NOUN
hjic-99	121	33	−−	−−	NOUN
hjic-99	121	34	=	=	SYM
hjic-99	121	35	0	0	NUM
hjic-99	121	36	1	1	NUM
hjic-99	121	37	01	01	NUM
hjic-99	121	38	11	11	NUM
hjic-99	121	39	,	,	PUNCT
hjic-99	121	40	(	(	PUNCT
hjic-99	121	41	9	9	NUM
hjic-99	121	42	)	)	PUNCT
hjic-99	121	43	xey	xey	NOUN
hjic-99	122	1	⋅=≡	⋅=≡	NOUN
hjic-99	122	2	]	]	PUNCT
hjic-99	122	3	01	01	NUM
hjic-99	122	4	[	[	NOUN
hjic-99	122	5	)	)	PUNCT
hjic-99	122	6	(	(	PUNCT
hjic-99	122	7	,	,	PUNCT
hjic-99	122	8	(	(	PUNCT
hjic-99	122	9	10	10	NUM
hjic-99	122	10	)	)	PUNCT
hjic-99	122	11	the	the	DET
hjic-99	122	12	state	state	NOUN
hjic-99	122	13	-	-	PUNCT
hjic-99	122	14	space	space	NOUN
hjic-99	122	15	model	model	NOUN
hjic-99	122	16	given	give	VERB
hjic-99	122	17	by	by	ADP
hjic-99	122	18	eq.(9	eq.(9	NOUN
hjic-99	122	19	-	-	PUNCT
hjic-99	122	20	10	10	NUM
hjic-99	122	21	)	)	PUNCT
hjic-99	122	22	is	be	AUX
hjic-99	122	23	a	a	DET
hjic-99	122	24	proper	proper	ADJ
hjic-99	122	25	inverse	inverse	NOUN
hjic-99	122	26	of	of	ADP
hjic-99	122	27	a	a	DET
hjic-99	122	28	standard	standard	ADJ
hjic-99	122	29	p	p	NOUN
hjic-99	122	30	-	-	PUNCT
hjic-99	122	31	pid	pid	NOUN
hjic-99	122	32	.	.	PUNCT
hjic-99	123	1	the	the	DET
hjic-99	123	2	new	new	ADJ
hjic-99	123	3	c	c	NOUN
hjic-99	123	4	-	-	PUNCT
hjic-99	123	5	pid	pid	NOUN
hjic-99	123	6	algorithm	algorithm	NOUN
hjic-99	123	7	is	be	AUX
hjic-99	123	8	constructed	construct	VERB
hjic-99	123	9	by	by	ADP
hjic-99	123	10	forming	form	VERB
hjic-99	123	11	a	a	DET
hjic-99	123	12	constrained	constrained	ADJ
hjic-99	123	13	inverse	inverse	NOUN
hjic-99	123	14	of	of	ADP
hjic-99	123	15	this	this	DET
hjic-99	123	16	model	model	NOUN
hjic-99	123	17	.	.	PUNCT
hjic-99	124	1	to	to	PART
hjic-99	124	2	form	form	VERB
hjic-99	124	3	a	a	DET
hjic-99	124	4	constrained	constrain	VERB
hjic-99	124	5	inverse	inverse	NOUN
hjic-99	124	6	,	,	PUNCT
hjic-99	124	7	let	let	VERB
hjic-99	124	8	us	we	PRON
hjic-99	124	9	consider	consider	VERB
hjic-99	124	10	the	the	DET
hjic-99	124	11	general	general	ADJ
hjic-99	124	12	scheme	scheme	NOUN
hjic-99	124	13	(	(	PUNCT
hjic-99	124	14	fig.1	fig.1	PROPN
hjic-99	124	15	)	)	PUNCT
hjic-99	124	16	of	of	ADP
hjic-99	124	17	globally	globally	ADV
hjic-99	124	18	linearizing	linearize	VERB
hjic-99	124	19	control	control	NOUN
hjic-99	124	20	(	(	PUNCT
hjic-99	124	21	glc	glc	PROPN
hjic-99	124	22	)	)	PUNCT
hjic-99	125	1	[	[	X
hjic-99	125	2	6	6	NUM
hjic-99	125	3	]	]	PUNCT
hjic-99	125	4	.	.	PUNCT
hjic-99	126	1	the	the	DET
hjic-99	126	2	idea	idea	NOUN
hjic-99	126	3	is	be	AUX
hjic-99	126	4	that	that	SCONJ
hjic-99	126	5	an	an	DET
hjic-99	126	6	originally	originally	ADV
hjic-99	126	7	nonlinear	nonlinear	ADJ
hjic-99	126	8	object	object	NOUN
hjic-99	126	9	can	can	AUX
hjic-99	126	10	be	be	AUX
hjic-99	126	11	transformed	transform	VERB
hjic-99	126	12	into	into	ADP
hjic-99	126	13	a	a	DET
hjic-99	126	14	linear	linear	ADJ
hjic-99	126	15	one	one	NUM
hjic-99	126	16	by	by	ADP
hjic-99	126	17	a	a	DET
hjic-99	126	18	state	state	NOUN
hjic-99	126	19	feedback	feedback	NOUN
hjic-99	126	20	compensator	compensator	NOUN
hjic-99	126	21	.	.	PUNCT
hjic-99	127	1	linear	linear	ADJ
hjic-99	127	2	controller	controller	NOUN
hjic-99	127	3	state	state	NOUN
hjic-99	127	4	feedback	feedback	NOUN
hjic-99	127	5	compensator	compensator	NOUN
hjic-99	127	6	process	process	NOUN
hjic-99	127	7	output	output	NOUN
hjic-99	127	8	map	map	NOUN
hjic-99	127	9	u	u	PRON
hjic-99	127	10	y	y	PROPN
hjic-99	127	11	x	x	PROPN
hjic-99	127	12	vsetpoint	vsetpoint	PROPN
hjic-99	127	13	+	+	X
hjic-99	127	14	.	.	PUNCT
hjic-99	127	15	.	.	PUNCT
hjic-99	128	1	fig.1	fig.1	ADJ
hjic-99	128	2	globally	globally	ADV
hjic-99	128	3	linearizing	linearize	VERB
hjic-99	128	4	control	control	NOUN
hjic-99	128	5	structure	structure	NOUN
hjic-99	128	6	the	the	DET
hjic-99	128	7	order	order	NOUN
hjic-99	128	8	of	of	ADP
hjic-99	128	9	the	the	DET
hjic-99	128	10	linear	linear	ADJ
hjic-99	128	11	input	input	NOUN
hjic-99	128	12	-	-	PUNCT
hjic-99	128	13	output	output	NOUN
hjic-99	128	14	model	model	NOUN
hjic-99	128	15	,	,	PUNCT
hjic-99	128	16	where	where	SCONJ
hjic-99	128	17	the	the	DET
hjic-99	128	18	input	input	NOUN
hjic-99	128	19	is	be	AUX
hjic-99	128	20	v	v	NUM
hjic-99	128	21	,	,	PUNCT
hjic-99	128	22	the	the	DET
hjic-99	128	23	output	output	NOUN
hjic-99	128	24	is	be	AUX
hjic-99	128	25	,	,	PUNCT
hjic-99	128	26	is	be	AUX
hjic-99	128	27	equal	equal	ADJ
hjic-99	128	28	to	to	ADP
hjic-99	128	29	the	the	DET
hjic-99	128	30	relative	relative	ADJ
hjic-99	128	31	order	order	NOUN
hjic-99	128	32	of	of	ADP
hjic-99	128	33	the	the	DET
hjic-99	128	34	state	state	NOUN
hjic-99	128	35	-	-	PUNCT
hjic-99	128	36	space	space	NOUN
hjic-99	128	37	model	model	NOUN
hjic-99	128	38	,	,	PUNCT
hjic-99	128	39	eq.(9	eq.(9	NOUN
hjic-99	128	40	-	-	PUNCT
hjic-99	128	41	10	10	NUM
hjic-99	128	42	)	)	PUNCT
hjic-99	128	43	.	.	PUNCT
hjic-99	129	1	based	base	VERB
hjic-99	129	2	on	on	ADP
hjic-99	129	3	the	the	DET
hjic-99	129	4	linearization	linearization	NOUN
hjic-99	129	5	technique	technique	NOUN
hjic-99	129	6	,	,	PUNCT
hjic-99	129	7	the	the	DET
hjic-99	129	8	constrained	constrain	VERB
hjic-99	129	9	inverse	inverse	NOUN
hjic-99	129	10	is	be	AUX
hjic-99	129	11	formed	form	VERB
hjic-99	129	12	according	accord	VERB
hjic-99	129	13	to	to	ADP
hjic-99	129	14	the	the	DET
hjic-99	129	15	scheme	scheme	NOUN
hjic-99	129	16	shown	show	VERB
hjic-99	129	17	on	on	ADP
hjic-99	129	18	fig.2	fig.2	NOUN
hjic-99	129	19	[	[	X
hjic-99	129	20	7	7	NUM
hjic-99	129	21	]	]	PUNCT
hjic-99	129	22	.	.	PUNCT
hjic-99	130	1	the	the	DET
hjic-99	130	2	variables	variable	NOUN
hjic-99	130	3	are	be	AUX
hjic-99	130	4	interpreted	interpret	VERB
hjic-99	130	5	in	in	ADP
hjic-99	130	6	the	the	DET
hjic-99	130	7	following	following	ADJ
hjic-99	130	8	way	way	NOUN
hjic-99	130	9	:	:	PUNCT
hjic-99	130	10	the	the	DET
hjic-99	130	11	input	input	NOUN
hjic-99	130	12	of	of	ADP
hjic-99	130	13	the	the	DET
hjic-99	130	14	inverse	inverse	NOUN
hjic-99	130	15	is	be	AUX
hjic-99	130	16	the	the	DET
hjic-99	130	17	setpoint	setpoint	NOUN
hjic-99	130	18	(	(	PUNCT
hjic-99	130	19	)	)	PUNCT
hjic-99	130	20	,	,	PUNCT
hjic-99	130	21	its	its	PRON
hjic-99	130	22	output	output	NOUN
hjic-99	130	23	is	be	AUX
hjic-99	130	24	the	the	DET
hjic-99	130	25	manipulated	manipulate	VERB
hjic-99	130	26	variable	variable	NOUN
hjic-99	130	27	(	(	PUNCT
hjic-99	130	28	)	)	PUNCT
hjic-99	130	29	.	.	PUNCT
hjic-99	131	1	let	let	VERB
hjic-99	131	2	the	the	DET
hjic-99	131	3	relative	relative	ADJ
hjic-99	131	4	order	order	NOUN
hjic-99	131	5	of	of	ADP
hjic-99	131	6	of	of	ADP
hjic-99	131	7	the	the	DET
hjic-99	131	8	state	state	NOUN
hjic-99	131	9	-	-	PUNCT
hjic-99	131	10	space	space	NOUN
hjic-99	131	11	model	model	NOUN
hjic-99	131	12	,	,	PUNCT
hjic-99	131	13	eq.(9	eq.(9	NOUN
hjic-99	131	14	-	-	PUNCT
hjic-99	131	15	10	10	NUM
hjic-99	131	16	)	)	PUNCT
hjic-99	131	17	be	be	AUX
hjic-99	131	18	y	y	PROPN
hjic-99	131	19	w	w	PROPN
hjic-99	131	20	u	u	PROPN
hjic-99	131	21	r	r	NOUN
hjic-99	131	22	.	.	PUNCT
hjic-99	132	1	this	this	PRON
hjic-99	132	2	means	mean	VERB
hjic-99	132	3	that	that	SCONJ
hjic-99	132	4	the	the	DET
hjic-99	132	5	input	input	NOUN
hjic-99	132	6	of	of	ADP
hjic-99	132	7	the	the	DET
hjic-99	132	8	process	process	NOUN
hjic-99	132	9	(	(	PUNCT
hjic-99	132	10	is	be	AUX
hjic-99	132	11	not	not	PART
hjic-99	132	12	constrained	constrain	VERB
hjic-99	132	13	,	,	PUNCT
hjic-99	132	14	u	u	NOUN
hjic-99	132	15	is	be	AUX
hjic-99	132	16	constrained	constrain	VERB
hjic-99	132	17	)	)	PUNCT
hjic-99	132	18	has	have	VERB
hjic-99	132	19	a	a	DET
hjic-99	132	20	direct	direct	ADJ
hjic-99	132	21	effect	effect	NOUN
hjic-99	132	22	on	on	ADP
hjic-99	132	23	the	the	DET
hjic-99	132	24	w	w	PROPN
hjic-99	132	25	r	r	NOUN
hjic-99	132	26	-order	-order	NOUN
hjic-99	132	27	derivative	derivative	NOUN
hjic-99	132	28	of	of	ADP
hjic-99	132	29	the	the	DET
hjic-99	132	30	output	output	NOUN
hjic-99	132	31	(	(	PUNCT
hjic-99	132	32	)	)	PUNCT
hjic-99	132	33	.	.	PUNCT
hjic-99	133	1	the	the	DET
hjic-99	133	2	not	not	PART
hjic-99	133	3	-	-	PUNCT
hjic-99	133	4	constrained	constrain	VERB
hjic-99	133	5	control	control	NOUN
hjic-99	133	6	output	output	NOUN
hjic-99	133	7	(	(	PUNCT
hjic-99	133	8	v	v	NOUN
hjic-99	133	9	)	)	PUNCT
hjic-99	133	10	is	be	AUX
hjic-99	133	11	determined	determine	VERB
hjic-99	133	12	in	in	ADP
hjic-99	133	13	such	such	DET
hjic-99	133	14	a	a	DET
hjic-99	133	15	way	way	NOUN
hjic-99	133	16	that	that	PRON
hjic-99	133	17	the	the	DET
hjic-99	133	18	relationship	relationship	NOUN
hjic-99	133	19	between	between	ADP
hjic-99	133	20	the	the	DET
hjic-99	133	21	setpoint	setpoint	NOUN
hjic-99	133	22	(	(	PUNCT
hjic-99	133	23	)	)	PUNCT
hjic-99	133	24	and	and	CCONJ
hjic-99	133	25	the	the	DET
hjic-99	133	26	controlled	control	VERB
hjic-99	133	27	variable	variable	NOUN
hjic-99	133	28	(	(	PUNCT
hjic-99	133	29	)	)	PUNCT
hjic-99	133	30	is	be	AUX
hjic-99	133	31	defined	define	VERB
hjic-99	133	32	by	by	ADP
hjic-99	133	33	an	an	DET
hjic-99	133	34	rr	rr	NOUN
hjic-99	133	35	dtyd	dtyd	NOUN
hjic-99	133	36	/	/	SYM
hjic-99	133	37	w	w	PROPN
hjic-99	133	38	y	y	PROPN
hjic-99	133	39	r	r	NOUN
hjic-99	133	40	-order	-order	NOUN
hjic-99	133	41	linear	linear	ADJ
hjic-99	133	42	input	input	NOUN
hjic-99	133	43	-	-	PUNCT
hjic-99	133	44	output	output	NOUN
hjic-99	133	45	model	model	NOUN
hjic-99	133	46	.	.	PUNCT
hjic-99	134	1	the	the	DET
hjic-99	134	2	time	time	NOUN
hjic-99	134	3	constant	constant	ADJ
hjic-99	134	4	of	of	ADP
hjic-99	134	5	this	this	DET
hjic-99	134	6	linear	linear	ADJ
hjic-99	134	7	85	85	NUM
hjic-99	134	8	model	model	NOUN
hjic-99	134	9	should	should	AUX
hjic-99	134	10	be	be	AUX
hjic-99	134	11	determined	determine	VERB
hjic-99	134	12	according	accord	VERB
hjic-99	134	13	to	to	ADP
hjic-99	134	14	the	the	DET
hjic-99	134	15	time	time	NOUN
hjic-99	134	16	constants	constant	NOUN
hjic-99	134	17	of	of	ADP
hjic-99	134	18	the	the	DET
hjic-99	134	19	object	object	NOUN
hjic-99	134	20	given	give	VERB
hjic-99	134	21	by	by	ADP
hjic-99	134	22	eq.(9	eq.(9	NOUN
hjic-99	134	23	-	-	PUNCT
hjic-99	134	24	10	10	NUM
hjic-99	134	25	)	)	PUNCT
hjic-99	134	26	.	.	PUNCT
hjic-99	135	1	relatively	relatively	ADV
hjic-99	135	2	small	small	ADJ
hjic-99	135	3	time	time	NOUN
hjic-99	135	4	constants	constant	NOUN
hjic-99	135	5	result	result	VERB
hjic-99	135	6	in	in	ADP
hjic-99	135	7	aggressive	aggressive	ADJ
hjic-99	135	8	interventions	intervention	NOUN
hjic-99	135	9	;	;	PUNCT
hjic-99	135	10	the	the	DET
hjic-99	135	11	control	control	NOUN
hjic-99	135	12	output	output	NOUN
hjic-99	135	13	(	(	PUNCT
hjic-99	135	14	v	v	NOUN
hjic-99	135	15	)	)	PUNCT
hjic-99	135	16	is	be	AUX
hjic-99	135	17	often	often	ADV
hjic-99	135	18	reaches	reach	VERB
hjic-99	135	19	the	the	DET
hjic-99	135	20	physical	physical	ADJ
hjic-99	135	21	constraints	constraint	NOUN
hjic-99	135	22	(	(	PUNCT
hjic-99	135	23	in	in	ADP
hjic-99	135	24	this	this	DET
hjic-99	135	25	case	case	NOUN
hjic-99	135	26	u	u	NOUN
hjic-99	135	27	takes	take	VERB
hjic-99	135	28	its	its	PRON
hjic-99	135	29	minimal	minimal	ADJ
hjic-99	135	30	or	or	CCONJ
hjic-99	135	31	maximal	maximal	ADJ
hjic-99	135	32	value	value	NOUN
hjic-99	135	33	)	)	PUNCT
hjic-99	135	34	.	.	PUNCT
hjic-99	136	1	with	with	ADP
hjic-99	136	2	relatively	relatively	ADV
hjic-99	136	3	large	large	ADJ
hjic-99	136	4	time	time	NOUN
hjic-99	136	5	constants	constant	VERB
hjic-99	136	6	the	the	DET
hjic-99	136	7	system	system	NOUN
hjic-99	136	8	capacity	capacity	NOUN
hjic-99	136	9	is	be	AUX
hjic-99	136	10	not	not	PART
hjic-99	136	11	exploited	exploit	VERB
hjic-99	136	12	resulting	result	VERB
hjic-99	136	13	in	in	ADP
hjic-99	136	14	slow	slow	ADJ
hjic-99	136	15	control	control	NOUN
hjic-99	136	16	settlings	settling	NOUN
hjic-99	136	17	.	.	PUNCT
hjic-99	137	1	constraint	constraint	NOUN
hjic-99	137	2	state	state	NOUN
hjic-99	137	3	feedback	feedback	NOUN
hjic-99	137	4	compensator	compensator	NOUN
hjic-99	137	5	u(t	u(t	NOUN
hjic-99	137	6	)	)	PUNCT
hjic-99	137	7	x	x	SYM
hjic-99	137	8	v(t	v(t	NOUN
hjic-99	137	9	)	)	PUNCT
hjic-99	137	10	setpoint	setpoint	NOUN
hjic-99	137	11	w	w	PROPN
hjic-99	137	12	process	process	NOUN
hjic-99	137	13	eq	eq	ADJ
hjic-99	137	14	.	.	PUNCT
hjic-99	138	1	(	(	PUNCT
hjic-99	138	2	9	9	X
hjic-99	138	3	)	)	PUNCT
hjic-99	138	4	output	output	NOUN
hjic-99	138	5	map	map	NOUN
hjic-99	138	6	eq	eq	ADP
hjic-99	138	7	.	.	PUNCT
hjic-99	139	1	(	(	PUNCT
hjic-99	139	2	10	10	NUM
hjic-99	139	3	)	)	PUNCT
hjic-99	139	4	y	y	NOUN
hjic-99	139	5	constrained	constrain	VERB
hjic-99	139	6	control	control	NOUN
hjic-99	139	7	output	output	NOUN
hjic-99	139	8	.	.	PUNCT
hjic-99	139	9	.	.	PUNCT
hjic-99	140	1	fig.2	fig.2	NOUN
hjic-99	140	2	formation	formation	NOUN
hjic-99	140	3	of	of	ADP
hjic-99	140	4	constrained	constrained	ADJ
hjic-99	140	5	inverse	inverse	NOUN
hjic-99	140	6	to	to	ADP
hjic-99	140	7	invert	invert	VERB
hjic-99	140	8	according	accord	VERB
hjic-99	140	9	to	to	ADP
hjic-99	140	10	the	the	DET
hjic-99	140	11	given	give	VERB
hjic-99	140	12	scheme	scheme	NOUN
hjic-99	140	13	,	,	PUNCT
hjic-99	140	14	the	the	DET
hjic-99	140	15	the	the	DET
hjic-99	140	16	output	output	NOUN
hjic-99	140	17	of	of	ADP
hjic-99	140	18	eq.(9	eq.(9	NOUN
hjic-99	140	19	-	-	PUNCT
hjic-99	140	20	10	10	NUM
hjic-99	140	21	)	)	PUNCT
hjic-99	140	22	is	be	AUX
hjic-99	140	23	differentiated	differentiate	VERB
hjic-99	140	24	:	:	PUNCT
hjic-99	141	1	u	u	NOUN
hjic-99	141	2	tk	tk	PROPN
hjic-99	141	3	xx	xx	NUM
hjic-99	141	4	tdt	tdt	PROPN
hjic-99	141	5	dx	dx	PROPN
hjic-99	141	6	dt	dt	PROPN
hjic-99	141	7	dy	dy	PROPN
hjic-99	141	8	dcd	dcd	PROPN
hjic-99	141	9	⋅++⋅−==	⋅++⋅−==	PROPN
hjic-99	141	10	1)(1	1)(1	NUM
hjic-99	141	11	21	21	NUM
hjic-99	141	12	1	1	NUM
hjic-99	141	13	,	,	PUNCT
hjic-99	141	14	(	(	PUNCT
hjic-99	141	15	11	11	NUM
hjic-99	141	16	)	)	PUNCT
hjic-99	141	17	since	since	SCONJ
hjic-99	141	18	the	the	DET
hjic-99	141	19	first	first	ADJ
hjic-99	141	20	order	order	NOUN
hjic-99	141	21	derivative	derivative	NOUN
hjic-99	141	22	contains	contain	VERB
hjic-99	141	23	the	the	DET
hjic-99	141	24	control	control	NOUN
hjic-99	141	25	output	output	NOUN
hjic-99	141	26	explicitly	explicitly	ADV
hjic-99	141	27	,	,	PUNCT
hjic-99	141	28	the	the	DET
hjic-99	141	29	relative	relative	ADJ
hjic-99	141	30	order	order	NOUN
hjic-99	141	31	of	of	ADP
hjic-99	141	32	the	the	DET
hjic-99	141	33	inverse	inverse	NOUN
hjic-99	141	34	pid	pid	NOUN
hjic-99	141	35	is	be	AUX
hjic-99	141	36	one	one	NUM
hjic-99	141	37	.	.	PUNCT
hjic-99	142	1	hence	hence	ADV
hjic-99	142	2	the	the	DET
hjic-99	142	3	linear	linear	ADJ
hjic-99	142	4	system	system	NOUN
hjic-99	142	5	can	can	AUX
hjic-99	142	6	be	be	AUX
hjic-99	142	7	defined	define	VERB
hjic-99	142	8	in	in	ADP
hjic-99	142	9	the	the	DET
hjic-99	142	10	following	following	ADJ
hjic-99	142	11	way	way	NOUN
hjic-99	142	12	:	:	PUNCT
hjic-99	142	13	wy	wy	PROPN
hjic-99	142	14	dt	dt	X
hjic-99	142	15	dytf	dytf	PROPN
hjic-99	142	16	=	=	PUNCT
hjic-99	143	1	+	+	NOUN
hjic-99	143	2	⋅	⋅	PROPN
hjic-99	143	3	,	,	PUNCT
hjic-99	143	4	(	(	PUNCT
hjic-99	143	5	12	12	NUM
hjic-99	143	6	)	)	PUNCT
hjic-99	143	7	substituting	substitute	VERB
hjic-99	143	8	eq.(11	eq.(11	PROPN
hjic-99	143	9	)	)	PUNCT
hjic-99	143	10	in	in	ADP
hjic-99	143	11	place	place	NOUN
hjic-99	143	12	of	of	ADP
hjic-99	143	13	the	the	DET
hjic-99	143	14	derivative	derivative	NOUN
hjic-99	143	15	,	,	PUNCT
hjic-99	143	16	the	the	DET
hjic-99	143	17	value	value	NOUN
hjic-99	143	18	of	of	ADP
hjic-99	143	19	the	the	DET
hjic-99	143	20	required	require	VERB
hjic-99	143	21	control	control	NOUN
hjic-99	143	22	output	output	NOUN
hjic-99	143	23	is	be	AUX
hjic-99	143	24	obtained	obtain	VERB
hjic-99	143	25	(	(	PUNCT
hjic-99	143	26	output	output	NOUN
hjic-99	143	27	of	of	ADP
hjic-99	143	28	the	the	DET
hjic-99	143	29	feedback	feedback	NOUN
hjic-99	143	30	compensator	compensator	NOUN
hjic-99	143	31	):	):	PUNCT
hjic-99	143	32	⎥	⎥	PROPN
hjic-99	143	33	⎦	⎦	NOUN
hjic-99	143	34	⎤	⎤	ADJ
hjic-99	143	35	⎢	⎢	NOUN
hjic-99	143	36	⎣	⎣	PROPN
hjic-99	143	37	⎡	⎡	NOUN
hjic-99	143	38	+	+	NOUN
hjic-99	143	39	+	+	ADJ
hjic-99	143	40	−⋅⋅=	−⋅⋅=	ADP
hjic-99	143	41	211	211	NUM
hjic-99	143	42	)	)	PUNCT
hjic-99	143	43	(	(	PUNCT
hjic-99	143	44	xxxw	xxxw	PROPN
hjic-99	143	45	t	t	PROPN
hjic-99	143	46	tkv	tkv	NOUN
hjic-99	143	47	f	f	PROPN
hjic-99	143	48	d	d	PROPN
hjic-99	143	49	c	c	PROPN
hjic-99	143	50	,	,	PUNCT
hjic-99	143	51	(	(	PUNCT
hjic-99	143	52	13	13	NUM
hjic-99	143	53	)	)	PUNCT
hjic-99	143	54	the	the	DET
hjic-99	143	55	output	output	NOUN
hjic-99	143	56	constraints	constraint	NOUN
hjic-99	143	57	are	be	AUX
hjic-99	143	58	treated	treat	VERB
hjic-99	143	59	as	as	SCONJ
hjic-99	143	60	follows	follow	VERB
hjic-99	143	61	:	:	PUNCT
hjic-99	143	62	⎪	⎪	NOUN
hjic-99	143	63	⎩	⎩	NUM
hjic-99	143	64	⎪	⎪	NOUN
hjic-99	144	1	⎨	⎨	PROPN
hjic-99	144	2	⎧	⎧	PROPN
hjic-99	144	3	>	>	PUNCT
hjic-99	144	4	<	<	X
hjic-99	144	5	∈	∈	PROPN
hjic-99	144	6	=	=	SYM
hjic-99	144	7	maxmax	maxmax	NOUN
hjic-99	144	8	minmin	minmin	NOUN
hjic-99	144	9	maxmin	maxmin	NOUN
hjic-99	144	10	,	,	PUNCT
hjic-99	144	11	,	,	PUNCT
hjic-99	144	12	]	]	PUNCT
hjic-99	144	13	,	,	PUNCT
hjic-99	144	14	[	[	X
hjic-99	144	15	,	,	PUNCT
hjic-99	144	16	uvifu	uvifu	ADJ
hjic-99	144	17	uvifu	uvifu	ADJ
hjic-99	144	18	uuvifv	uuvifv	ADJ
hjic-99	144	19	u	u	PROPN
hjic-99	144	20	,	,	PUNCT
hjic-99	144	21	(	(	PUNCT
hjic-99	144	22	14	14	NUM
hjic-99	144	23	)	)	PUNCT
hjic-99	144	24	where	where	SCONJ
hjic-99	144	25	is	be	AUX
hjic-99	144	26	the	the	DET
hjic-99	144	27	physically	physically	ADV
hjic-99	144	28	allowed	allow	VERB
hjic-99	144	29	range	range	NOUN
hjic-99	144	30	of	of	ADP
hjic-99	144	31	control	control	NOUN
hjic-99	144	32	output	output	NOUN
hjic-99	144	33	.	.	PUNCT
hjic-99	145	1	]	]	X
hjic-99	145	2	,	,	PUNCT
hjic-99	145	3	[	[	PUNCT
hjic-99	145	4	maxmin	maxmin	NOUN
hjic-99	145	5	uuu∈	uuu∈	VERB
hjic-99	145	6	summarizing	summarize	VERB
hjic-99	145	7	the	the	DET
hjic-99	145	8	steps	step	NOUN
hjic-99	145	9	above	above	ADV
hjic-99	145	10	,	,	PUNCT
hjic-99	145	11	the	the	DET
hjic-99	145	12	scheme	scheme	NOUN
hjic-99	145	13	of	of	ADP
hjic-99	145	14	the	the	DET
hjic-99	145	15	constrained	constrain	VERB
hjic-99	145	16	pid	pid	NOUN
hjic-99	145	17	(	(	PUNCT
hjic-99	145	18	c	c	NOUN
hjic-99	145	19	-	-	PUNCT
hjic-99	145	20	pid	pid	NOUN
hjic-99	145	21	)	)	PUNCT
hjic-99	145	22	algorithm	algorithm	NOUN
hjic-99	145	23	can	can	AUX
hjic-99	145	24	be	be	AUX
hjic-99	145	25	constructed	construct	VERB
hjic-99	145	26	(	(	PUNCT
hjic-99	145	27	see	see	VERB
hjic-99	145	28	fig.3	fig.3	PROPN
hjic-99	145	29	)	)	PUNCT
hjic-99	145	30	.	.	PUNCT
hjic-99	146	1	initial	initial	ADJ
hjic-99	146	2	values	value	NOUN
hjic-99	146	3	of	of	ADP
hjic-99	146	4	the	the	DET
hjic-99	146	5	differential	differential	ADJ
hjic-99	146	6	equations	equation	NOUN
hjic-99	146	7	are	be	AUX
hjic-99	146	8	set	set	VERB
hjic-99	146	9	to	to	ADP
hjic-99	146	10	zero	zero	NUM
hjic-99	146	11	error	error	NOUN
hjic-99	146	12	and	and	CCONJ
hjic-99	146	13	to	to	ADP
hjic-99	146	14	zero	zero	NUM
hjic-99	146	15	output	output	NOUN
hjic-99	146	16	difference	difference	NOUN
hjic-99	146	17	.	.	PUNCT
hjic-99	147	1	constraint	constraint	NOUN
hjic-99	147	2	u(t	u(t	PROPN
hjic-99	147	3	)	)	PUNCT
hjic-99	148	1	x1	x1	PROPN
hjic-99	148	2	e(t	e(t	NOUN
hjic-99	148	3	)	)	PUNCT
hjic-99	149	1	+	+	CCONJ
hjic-99	149	2	ck	ck	INTJ
hjic-99	149	3	f	f	PROPN
hjic-99	149	4	d	d	PROPN
hjic-99	149	5	t	t	PROPN
hjic-99	149	6	t	t	X
hjic-99	149	7	sti	sti	PROPN
hjic-99	149	8	1	1	NUM
hjic-99	149	9	ck	ck	PROPN
hjic-99	149	10	1	1	NUM
hjic-99	149	11	1	1	NUM
hjic-99	149	12	1	1	NUM
hjic-99	149	13	+	+	NOUN
hjic-99	149	14	std	std	NOUN
hjic-99	149	15	x2	x2	NOUN
hjic-99	150	1	+	+	X
hjic-99	150	2	+	+	PUNCT
hjic-99	150	3	+	+	CCONJ
hjic-99	150	4	+	+	NUM
hjic-99	150	5	cku	cku	NOUN
hjic-99	150	6	/	/	SYM
hjic-99	150	7	0	0	NUM
hjic-99	151	1	+	+	CCONJ
hjic-99	151	2	.	.	PUNCT
hjic-99	151	3	.	.	PUNCT
hjic-99	151	4	.	.	PUNCT
hjic-99	151	5	.	.	PUNCT
hjic-99	152	1	fig.3	fig.3	ADJ
hjic-99	152	2	scheme	scheme	NOUN
hjic-99	152	3	of	of	ADP
hjic-99	152	4	the	the	DET
hjic-99	152	5	c	c	NOUN
hjic-99	152	6	-	-	PUNCT
hjic-99	152	7	pid	pid	NOUN
hjic-99	152	8	controller	controller	NOUN
hjic-99	152	9	applying	apply	VERB
hjic-99	152	10	a	a	DET
hjic-99	152	11	similar	similar	ADJ
hjic-99	152	12	reasoning	reasoning	NOUN
hjic-99	152	13	or	or	CCONJ
hjic-99	152	14	the	the	DET
hjic-99	152	15	limit	limit	NOUN
hjic-99	152	16	value	value	NOUN
hjic-99	152	17	a	a	DET
hjic-99	152	18	c	c	NOUN
hjic-99	152	19	-	-	PUNCT
hjic-99	152	20	pi	pi	NOUN
hjic-99	152	21	algorithm	algorithm	NOUN
hjic-99	152	22	can	can	AUX
hjic-99	152	23	be	be	AUX
hjic-99	152	24	elucidated	elucidate	VERB
hjic-99	152	25	too	too	ADV
hjic-99	152	26	(	(	PUNCT
hjic-99	152	27	see	see	VERB
hjic-99	152	28	fig.4	fig.4	PROPN
hjic-99	152	29	)	)	PUNCT
hjic-99	152	30	.	.	PUNCT
hjic-99	153	1	here	here	ADV
hjic-99	153	2	the	the	DET
hjic-99	153	3	relative	relative	ADJ
hjic-99	153	4	order	order	NOUN
hjic-99	153	5	of	of	ADP
hjic-99	153	6	the	the	DET
hjic-99	153	7	inverse	inverse	NOUN
hjic-99	153	8	is	be	AUX
hjic-99	153	9	zero	zero	NUM
hjic-99	153	10	.	.	PUNCT
hjic-99	154	1	0→dt	0→dt	NOUN
hjic-99	154	2	constraint	constraint	VERB
hjic-99	154	3	u(t)e(t	u(t)e(t	NOUN
hjic-99	154	4	)	)	PUNCT
hjic-99	155	1	+	+	CCONJ
hjic-99	156	1	+	+	CCONJ
hjic-99	156	2	ck	ck	ADJ
hjic-99	156	3	1	1	NUM
hjic-99	156	4	1	1	NUM
hjic-99	156	5	+	+	NOUN
hjic-99	156	6	sti	sti	PROPN
hjic-99	156	7	ck	ck	PROPN
hjic-99	156	8	1	1	NUM
hjic-99	156	9	cku	cku	NOUN
hjic-99	156	10	/	/	PUNCT
hjic-99	156	11	.	.	PUNCT
hjic-99	157	1	fig.4	fig.4	PRON
hjic-99	157	2	scheme	scheme	NOUN
hjic-99	157	3	of	of	ADP
hjic-99	157	4	the	the	DET
hjic-99	157	5	c	c	NOUN
hjic-99	157	6	-	-	PUNCT
hjic-99	157	7	pi	pi	NOUN
hjic-99	157	8	controller	controller	NOUN
hjic-99	157	9	the	the	DET
hjic-99	157	10	non	non	ADJ
hjic-99	157	11	-	-	ADJ
hjic-99	157	12	constrained	constrained	ADJ
hjic-99	157	13	transfer	transfer	NOUN
hjic-99	157	14	functions	function	NOUN
hjic-99	157	15	can	can	AUX
hjic-99	157	16	be	be	AUX
hjic-99	157	17	easily	easily	ADV
hjic-99	157	18	constructed	construct	VERB
hjic-99	157	19	and	and	CCONJ
hjic-99	157	20	the	the	DET
hjic-99	157	21	following	following	ADJ
hjic-99	157	22	results	result	NOUN
hjic-99	157	23	are	be	AUX
hjic-99	157	24	obtained	obtain	VERB
hjic-99	157	25	:	:	PUNCT
hjic-99	157	26	c	c	X
hjic-99	157	27	-	-	PUNCT
hjic-99	157	28	pid	pid	NOUN
hjic-99	157	29	:	:	PUNCT
hjic-99	157	30	1	1	NUM
hjic-99	157	31	111	111	NUM
hjic-99	157	32	+	+	CCONJ
hjic-99	157	33	⋅⎟⎟	⋅⎟⎟	ADJ
hjic-99	157	34	⎠	⎠	NOUN
hjic-99	157	35	⎞	⎞	PROPN
hjic-99	157	36	⎜⎜	⎜⎜	NOUN
hjic-99	157	37	⎝	⎝	PUNCT
hjic-99	157	38	⎛	⎛	NOUN
hjic-99	158	1	+	+	ADJ
hjic-99	158	2	+	+	ADJ
hjic-99	158	3	⋅=−	⋅=−	ADJ
hjic-99	158	4	st	st	PROPN
hjic-99	158	5	st	st	PROPN
hjic-99	158	6	st	st	PROPN
hjic-99	159	1	kg	kg	PROPN
hjic-99	159	2	f	f	PROPN
hjic-99	160	1	d	d	NOUN
hjic-99	160	2	i	i	PRON
hjic-99	160	3	cpidc	cpidc	VERB
hjic-99	160	4	,	,	PUNCT
hjic-99	160	5	(	(	PUNCT
hjic-99	160	6	15	15	NUM
hjic-99	160	7	)	)	PUNCT
hjic-99	160	8	c	c	NOUN
hjic-99	160	9	-	-	PUNCT
hjic-99	160	10	pi	pi	NOUN
hjic-99	160	11	:	:	PUNCT
hjic-99	160	12	⎟⎟	⎟⎟	ADJ
hjic-99	160	13	⎠	⎠	NOUN
hjic-99	160	14	⎞	⎞	PROPN
hjic-99	160	15	⎜⎜	⎜⎜	NOUN
hjic-99	160	16	⎝	⎝	PUNCT
hjic-99	160	17	⎛	⎛	NOUN
hjic-99	160	18	+	+	NOUN
hjic-99	160	19	⋅=−	⋅=−	NOUN
hjic-99	160	20	st	st	PROPN
hjic-99	161	1	kg	kg	INTJ
hjic-99	162	1	i	i	PRON
hjic-99	162	2	cpic	cpic	NOUN
hjic-99	162	3	11	11	NUM
hjic-99	162	4	,	,	PUNCT
hjic-99	162	5	(	(	PUNCT
hjic-99	162	6	16	16	NUM
hjic-99	162	7	)	)	PUNCT
hjic-99	162	8	it	it	PRON
hjic-99	162	9	can	can	AUX
hjic-99	162	10	be	be	AUX
hjic-99	162	11	seen	see	VERB
hjic-99	162	12	that	that	SCONJ
hjic-99	162	13	c	c	NOUN
hjic-99	162	14	-	-	PUNCT
hjic-99	162	15	pid	pid	NOUN
hjic-99	162	16	not	not	PART
hjic-99	162	17	reaching	reach	VERB
hjic-99	162	18	the	the	DET
hjic-99	162	19	constraints	constraint	NOUN
hjic-99	162	20	is	be	AUX
hjic-99	162	21	equivalent	equivalent	ADJ
hjic-99	162	22	to	to	ADP
hjic-99	162	23	a	a	DET
hjic-99	162	24	parallel	parallel	ADJ
hjic-99	162	25	pid	pid	NOUN
hjic-99	162	26	with	with	ADP
hjic-99	162	27	a	a	DET
hjic-99	162	28	filter	filter	NOUN
hjic-99	162	29	,	,	PUNCT
hjic-99	162	30	eq	eq	NOUN
hjic-99	162	31	.	.	PUNCT
hjic-99	163	1	(	(	PUNCT
hjic-99	163	2	5	5	NUM
hjic-99	163	3	)	)	PUNCT
hjic-99	163	4	,	,	PUNCT
hjic-99	163	5	while	while	SCONJ
hjic-99	163	6	a	a	DET
hjic-99	163	7	c	c	NOUN
hjic-99	163	8	-	-	PUNCT
hjic-99	163	9	pi	pi	NOUN
hjic-99	163	10	to	to	ADP
hjic-99	163	11	a	a	DET
hjic-99	163	12	normal	normal	ADJ
hjic-99	163	13	pi	pi	NOUN
hjic-99	163	14	controller	controller	NOUN
hjic-99	163	15	.	.	PUNCT
hjic-99	164	1	hence	hence	ADV
hjic-99	164	2	it	it	PRON
hjic-99	164	3	is	be	AUX
hjic-99	164	4	clear	clear	ADJ
hjic-99	164	5	that	that	SCONJ
hjic-99	164	6	taking	take	VERB
hjic-99	164	7	the	the	DET
hjic-99	164	8	constraints	constraint	NOUN
hjic-99	164	9	into	into	ADP
hjic-99	164	10	account	account	NOUN
hjic-99	164	11	do	do	AUX
hjic-99	164	12	n’t	not	PART
hjic-99	164	13	makes	make	VERB
hjic-99	164	14	the	the	DET
hjic-99	164	15	basic	basic	ADJ
hjic-99	164	16	algorithms	algorithm	NOUN
hjic-99	164	17	more	more	ADV
hjic-99	164	18	complicated	complicated	ADJ
hjic-99	164	19	.	.	PUNCT
hjic-99	165	1	this	this	DET
hjic-99	165	2	fact	fact	NOUN
hjic-99	165	3	has	have	VERB
hjic-99	165	4	a	a	DET
hjic-99	165	5	great	great	ADJ
hjic-99	165	6	importance	importance	NOUN
hjic-99	165	7	for	for	ADP
hjic-99	165	8	practical	practical	ADJ
hjic-99	165	9	realizations	realization	NOUN
hjic-99	165	10	.	.	PUNCT
hjic-99	166	1	design	design	NOUN
hjic-99	166	2	of	of	ADP
hjic-99	166	3	constrained	constrain	VERB
hjic-99	166	4	pi(d	pi(d	NOUN
hjic-99	166	5	)	)	PUNCT
hjic-99	166	6	algorithms	algorithm	NOUN
hjic-99	166	7	to	to	PART
hjic-99	166	8	determine	determine	VERB
hjic-99	166	9	the	the	DET
hjic-99	166	10	parameters	parameter	NOUN
hjic-99	166	11	of	of	ADP
hjic-99	166	12	a	a	DET
hjic-99	166	13	c	c	NOUN
hjic-99	166	14	-	-	PUNCT
hjic-99	166	15	pid	pid	NOUN
hjic-99	166	16	it	it	PRON
hjic-99	166	17	is	be	AUX
hjic-99	166	18	practical	practical	ADJ
hjic-99	166	19	to	to	PART
hjic-99	166	20	describe	describe	VERB
hjic-99	166	21	the	the	DET
hjic-99	166	22	controlled	control	VERB
hjic-99	166	23	system	system	NOUN
hjic-99	166	24	as	as	ADP
hjic-99	166	25	a	a	DET
hjic-99	166	26	second	second	ADJ
hjic-99	166	27	order	order	NOUN
hjic-99	166	28	object	object	NOUN
hjic-99	166	29	.	.	PUNCT
hjic-99	167	1	the	the	DET
hjic-99	167	2	scheme	scheme	NOUN
hjic-99	167	3	of	of	ADP
hjic-99	167	4	the	the	DET
hjic-99	167	5	closed	closed	ADJ
hjic-99	167	6	loop	loop	NOUN
hjic-99	167	7	for	for	ADP
hjic-99	167	8	the	the	DET
hjic-99	167	9	non	non	ADJ
hjic-99	167	10	-	-	ADJ
hjic-99	167	11	constrained	constrain	VERB
hjic-99	167	12	case	case	NOUN
hjic-99	167	13	is	be	AUX
hjic-99	167	14	shown	show	VERB
hjic-99	167	15	in	in	ADP
hjic-99	167	16	fig.5	fig.5	PROPN
hjic-99	167	17	.	.	PUNCT
hjic-99	168	1	86	86	NUM
hjic-99	168	2	y	y	PROPN
hjic-99	168	3	w	w	PROPN
hjic-99	168	4	+	+	NUM
hjic-99	168	5	.21	.21	NUM
hjic-99	168	6	ss	ss	NOUN
hjic-99	169	1	k	k	X
hjic-99	169	2	βα	βα	PUNCT
hjic-99	170	1	+	+	PUNCT
hjic-99	170	2	+	+	PROPN
hjic-99	170	3	1+st	1+st	NUM
hjic-99	170	4	pid	pid	NOUN
hjic-99	170	5	f	f	PROPN
hjic-99	170	6	u	u	PROPN
hjic-99	170	7	fig.5	fig.5	VERB
hjic-99	170	8	non	non	ADJ
hjic-99	170	9	-	-	ADJ
hjic-99	170	10	constrained	constrain	VERB
hjic-99	170	11	closed	closed	ADJ
hjic-99	170	12	loop	loop	NOUN
hjic-99	170	13	this	this	PRON
hjic-99	170	14	is	be	AUX
hjic-99	170	15	equivalent	equivalent	ADJ
hjic-99	170	16	to	to	ADP
hjic-99	170	17	the	the	DET
hjic-99	170	18	closed	closed	ADJ
hjic-99	170	19	loop	loop	NOUN
hjic-99	170	20	given	give	VERB
hjic-99	170	21	in	in	ADP
hjic-99	170	22	fig.6	fig.6	PROPN
hjic-99	170	23	.	.	PUNCT
hjic-99	171	1	y	y	PROPN
hjic-99	171	2	w	w	PROPN
hjic-99	172	1	+	+	NUM
hjic-99	172	2	1	1	NUM
hjic-99	172	3	11	11	NUM
hjic-99	172	4	+	+	CCONJ
hjic-99	172	5	⋅	⋅	PROPN
hjic-99	172	6	⋅	⋅	PROPN
hjic-99	172	7	sts	sts	PROPN
hjic-99	173	1	kk	kk	PROPN
hjic-99	173	2	t	t	PROPN
hjic-99	174	1	f	f	PROPN
hjic-99	174	2	c	c	NOUN
hjic-99	174	3	i	i	PRON
hjic-99	174	4	.21	.21	NUM
hjic-99	174	5	1	1	NUM
hjic-99	174	6	ss	ss	NOUN
hjic-99	174	7	βα	βα	PUNCT
hjic-99	175	1	+	+	PUNCT
hjic-99	175	2	+	+	SYM
hjic-99	175	3	21	21	NUM
hjic-99	175	4	sttst	sttst	NOUN
hjic-99	175	5	dii	dii	NOUN
hjic-99	175	6	+	+	NOUN
hjic-99	175	7	+	+	NUM
hjic-99	175	8	fig.6	fig.6	PROPN
hjic-99	175	9	equivalent	equivalent	ADJ
hjic-99	175	10	loop	loop	NOUN
hjic-99	175	11	the	the	DET
hjic-99	175	12	framed	frame	VERB
hjic-99	175	13	part	part	NOUN
hjic-99	175	14	shows	show	VERB
hjic-99	175	15	well	well	ADV
hjic-99	175	16	that	that	SCONJ
hjic-99	175	17	the	the	DET
hjic-99	175	18	controller	controller	NOUN
hjic-99	175	19	compensates	compensate	VERB
hjic-99	175	20	the	the	DET
hjic-99	175	21	dynamics	dynamic	NOUN
hjic-99	175	22	of	of	ADP
hjic-99	175	23	the	the	DET
hjic-99	175	24	process	process	NOUN
hjic-99	175	25	if	if	SCONJ
hjic-99	175	26	the	the	DET
hjic-99	175	27	controller	controller	NOUN
hjic-99	175	28	parameters	parameter	NOUN
hjic-99	175	29	are	be	AUX
hjic-99	175	30	chosen	choose	VERB
hjic-99	175	31	according	accord	VERB
hjic-99	175	32	to	to	ADP
hjic-99	175	33	the	the	DET
hjic-99	175	34	followings	following	NOUN
hjic-99	175	35	:	:	PUNCT
hjic-99	175	36	βαα	βαα	NOUN
hjic-99	175	37	/	/	SYM
hjic-99	175	38	,	,	PUNCT
hjic-99	175	39	=	=	SYM
hjic-99	175	40	=	=	SYM
hjic-99	175	41	di	di	X
hjic-99	175	42	tt	tt	PROPN
hjic-99	175	43	.	.	PUNCT
hjic-99	176	1	(	(	PUNCT
hjic-99	176	2	17	17	NUM
hjic-99	176	3	)	)	PUNCT
hjic-99	176	4	the	the	DET
hjic-99	176	5	filter	filter	NOUN
hjic-99	176	6	parameter	parameter	NOUN
hjic-99	176	7	should	should	AUX
hjic-99	176	8	be	be	AUX
hjic-99	176	9	selected	select	VERB
hjic-99	176	10	at	at	ADP
hjic-99	176	11	the	the	DET
hjic-99	176	12	possible	possible	ADJ
hjic-99	176	13	smallest	small	ADJ
hjic-99	176	14	value	value	NOUN
hjic-99	176	15	(	(	PUNCT
hjic-99	176	16	)	)	PUNCT
hjic-99	176	17	allowed	allow	VERB
hjic-99	176	18	by	by	ADP
hjic-99	176	19	the	the	DET
hjic-99	176	20	measurement	measurement	NOUN
hjic-99	176	21	noises	noise	VERB
hjic-99	176	22	,	,	PUNCT
hjic-99	176	23	and	and	CCONJ
hjic-99	176	24	then	then	ADV
hjic-99	176	25	setting	set	VERB
hjic-99	176	26	the	the	DET
hjic-99	176	27	time	time	NOUN
hjic-99	176	28	constant	constant	ADJ
hjic-99	176	29	of	of	ADP
hjic-99	176	30	the	the	DET
hjic-99	176	31	closed	closed	ADJ
hjic-99	176	32	loop	loop	NOUN
hjic-99	176	33	to	to	ADP
hjic-99	176	34	,	,	PUNCT
hjic-99	176	35	the	the	DET
hjic-99	176	36	controller	controller	NOUN
hjic-99	176	37	gain	gain	NOUN
hjic-99	176	38	can	can	AUX
hjic-99	176	39	be	be	AUX
hjic-99	176	40	given	give	VERB
hjic-99	176	41	by	by	ADP
hjic-99	176	42	the	the	DET
hjic-99	176	43	following	follow	VERB
hjic-99	176	44	expression	expression	NOUN
hjic-99	176	45	:	:	PUNCT
hjic-99	177	1	ft	ft	PROPN
hjic-99	177	2	0→ft	0→ft	NUM
hjic-99	178	1	ct	ct	NUM
hjic-99	179	1	c	c	NOUN
hjic-99	180	1	c	c	PROPN
hjic-99	180	2	tk	tk	PROPN
hjic-99	180	3	k	k	PROPN
hjic-99	180	4	⋅	⋅	PROPN
hjic-99	180	5	=	=	SYM
hjic-99	180	6	α	α	PROPN
hjic-99	180	7	.	.	PUNCT
hjic-99	181	1	(	(	PUNCT
hjic-99	181	2	18	18	NUM
hjic-99	181	3	)	)	PUNCT
hjic-99	181	4	in	in	ADP
hjic-99	181	5	the	the	DET
hjic-99	181	6	direct	direct	ADJ
hjic-99	181	7	synthesis	synthesis	NOUN
hjic-99	181	8	method	method	NOUN
hjic-99	181	9	the	the	DET
hjic-99	181	10	time	time	NOUN
hjic-99	181	11	constant	constant	ADJ
hjic-99	181	12	of	of	ADP
hjic-99	181	13	the	the	DET
hjic-99	181	14	closed	close	VERB
hjic-99	181	15	loop	loop	NOUN
hjic-99	181	16	is	be	AUX
hjic-99	181	17	selected	select	VERB
hjic-99	181	18	as	as	ADP
hjic-99	181	19	a	a	DET
hjic-99	181	20	half	half	NOUN
hjic-99	181	21	or	or	CCONJ
hjic-99	181	22	fifth	fifth	ADJ
hjic-99	181	23	of	of	ADP
hjic-99	181	24	the	the	DET
hjic-99	181	25	time	time	NOUN
hjic-99	181	26	constant	constant	ADJ
hjic-99	181	27	of	of	ADP
hjic-99	181	28	the	the	DET
hjic-99	181	29	process	process	NOUN
hjic-99	181	30	,	,	PUNCT
hjic-99	181	31	therefore	therefore	ADV
hjic-99	181	32	the	the	DET
hjic-99	181	33	gain	gain	NOUN
hjic-99	181	34	can	can	AUX
hjic-99	181	35	be	be	AUX
hjic-99	181	36	estimates	estimate	NOUN
hjic-99	181	37	as	as	SCONJ
hjic-99	181	38	:	:	PUNCT
hjic-99	181	39	]	]	X
hjic-99	181	40	5,2	5,2	NUM
hjic-99	181	41	[	[	NOUN
hjic-99	181	42	,	,	PUNCT
hjic-99	181	43	∈=	∈=	PUNCT
hjic-99	181	44	γγ	γγ	PROPN
hjic-99	181	45	k	k	PROPN
hjic-99	181	46	kc	kc	PROPN
hjic-99	181	47	,	,	PUNCT
hjic-99	181	48	(	(	PUNCT
hjic-99	181	49	19	19	NUM
hjic-99	181	50	)	)	PUNCT
hjic-99	181	51	the	the	DET
hjic-99	181	52	two	two	NUM
hjic-99	181	53	parameters	parameter	NOUN
hjic-99	181	54	of	of	ADP
hjic-99	181	55	a	a	DET
hjic-99	181	56	c	c	NOUN
hjic-99	181	57	-	-	PUNCT
hjic-99	181	58	pi	pi	NOUN
hjic-99	181	59	controller	controller	NOUN
hjic-99	181	60	can	can	AUX
hjic-99	181	61	be	be	AUX
hjic-99	181	62	determined	determine	VERB
hjic-99	181	63	also	also	ADV
hjic-99	181	64	according	accord	VERB
hjic-99	181	65	to	to	ADP
hjic-99	181	66	the	the	DET
hjic-99	181	67	above	above	ADJ
hjic-99	181	68	reasoning	reasoning	NOUN
hjic-99	181	69	.	.	PUNCT
hjic-99	182	1	testing	testing	NOUN
hjic-99	182	2	of	of	ADP
hjic-99	182	3	constrained	constrain	VERB
hjic-99	182	4	pi(d	pi(d	NOUN
hjic-99	182	5	)	)	PUNCT
hjic-99	182	6	algorithms	algorithm	VERB
hjic-99	182	7	the	the	DET
hjic-99	182	8	c	c	NOUN
hjic-99	182	9	-	-	PUNCT
hjic-99	182	10	pid	pid	NOUN
hjic-99	182	11	algorithm	algorithm	NOUN
hjic-99	183	1	was	be	AUX
hjic-99	183	2	physicaly	physicaly	PROPN
hjic-99	183	3	tested	test	VERB
hjic-99	183	4	on	on	ADP
hjic-99	183	5	an	an	DET
hjic-99	183	6	electrical	electrical	ADJ
hjic-99	183	7	water	water	NOUN
hjic-99	183	8	heating	heating	NOUN
hjic-99	183	9	system	system	NOUN
hjic-99	183	10	installed	instal	VERB
hjic-99	183	11	in	in	ADP
hjic-99	183	12	our	our	PRON
hjic-99	183	13	process	process	NOUN
hjic-99	183	14	engineering	engineering	NOUN
hjic-99	183	15	laboratory	laboratory	NOUN
hjic-99	183	16	.	.	PUNCT
hjic-99	184	1	the	the	DET
hjic-99	184	2	p&i	p&i	PROPN
hjic-99	184	3	diagram	diagram	NOUN
hjic-99	184	4	of	of	ADP
hjic-99	184	5	the	the	DET
hjic-99	184	6	system	system	NOUN
hjic-99	184	7	is	be	AUX
hjic-99	184	8	shown	show	VERB
hjic-99	184	9	on	on	ADP
hjic-99	184	10	fig.7	fig.7	ADV
hjic-99	184	11	;	;	PUNCT
hjic-99	184	12	its	its	PRON
hjic-99	184	13	technical	technical	ADJ
hjic-99	184	14	specification	specification	NOUN
hjic-99	184	15	is	be	AUX
hjic-99	184	16	given	give	VERB
hjic-99	184	17	in	in	ADP
hjic-99	184	18	an	an	DET
hjic-99	184	19	earlier	early	ADJ
hjic-99	184	20	publication	publication	NOUN
hjic-99	184	21	[	[	X
hjic-99	184	22	8	8	NUM
hjic-99	184	23	]	]	PUNCT
hjic-99	184	24	.	.	PUNCT
hjic-99	185	1	the	the	DET
hjic-99	185	2	temperature	temperature	NOUN
hjic-99	185	3	of	of	ADP
hjic-99	185	4	the	the	DET
hjic-99	185	5	water	water	NOUN
hjic-99	185	6	(	(	PUNCT
hjic-99	185	7	)	)	PUNCT
hjic-99	185	8	leaving	leave	VERB
hjic-99	185	9	the	the	DET
hjic-99	185	10	heater	heater	NOUN
hjic-99	185	11	system	system	NOUN
hjic-99	185	12	is	be	AUX
hjic-99	185	13	controlled	control	VERB
hjic-99	185	14	by	by	ADP
hjic-99	185	15	manipulating	manipulate	VERB
hjic-99	185	16	the	the	DET
hjic-99	185	17	heater	heater	NOUN
hjic-99	185	18	performance	performance	NOUN
hjic-99	185	19	(	(	PUNCT
hjic-99	185	20	u	u	NOUN
hjic-99	185	21	)	)	PUNCT
hjic-99	185	22	.	.	PUNCT
hjic-99	186	1	the	the	DET
hjic-99	186	2	flowrate	flowrate	NOUN
hjic-99	186	3	of	of	ADP
hjic-99	186	4	the	the	DET
hjic-99	186	5	water	water	NOUN
hjic-99	186	6	and	and	CCONJ
hjic-99	186	7	its	its	PRON
hjic-99	186	8	feed	feed	NOUN
hjic-99	186	9	temperature	temperature	NOUN
hjic-99	186	10	are	be	AUX
hjic-99	186	11	considered	consider	VERB
hjic-99	186	12	as	as	ADP
hjic-99	186	13	non	non	ADJ
hjic-99	186	14	-	-	ADJ
hjic-99	186	15	measured	measured	ADJ
hjic-99	186	16	disturbances	disturbance	NOUN
hjic-99	186	17	.	.	PUNCT
hjic-99	187	1	the	the	DET
hjic-99	187	2	dynamic	dynamic	ADJ
hjic-99	187	3	relationship	relationship	NOUN
hjic-99	187	4	is	be	AUX
hjic-99	187	5	chosen	choose	VERB
hjic-99	187	6	as	as	ADP
hjic-99	187	7	a	a	DET
hjic-99	187	8	second	second	ADJ
hjic-99	187	9	order	order	NOUN
hjic-99	187	10	inputoutput	inputoutput	NOUN
hjic-99	187	11	model	model	NOUN
hjic-99	187	12	with	with	ADP
hjic-99	187	13	dead	dead	ADJ
hjic-99	187	14	-	-	PUNCT
hjic-99	187	15	time	time	NOUN
hjic-99	187	16	that	that	PRON
hjic-99	187	17	provides	provide	VERB
hjic-99	187	18	a	a	DET
hjic-99	187	19	structuraly	structuraly	ADJ
hjic-99	187	20	adequate	adequate	ADJ
hjic-99	187	21	description	description	NOUN
hjic-99	187	22	.	.	PUNCT
hjic-99	188	1	open	open	ADJ
hjic-99	188	2	-	-	PUNCT
hjic-99	188	3	loop	loop	NOUN
hjic-99	188	4	experiments	experiment	NOUN
hjic-99	188	5	were	be	AUX
hjic-99	188	6	conducted	conduct	VERB
hjic-99	188	7	in	in	ADP
hjic-99	188	8	order	order	NOUN
hjic-99	188	9	to	to	PART
hjic-99	188	10	determine	determine	VERB
hjic-99	188	11	the	the	DET
hjic-99	188	12	model	model	NOUN
hjic-99	188	13	parameters	parameter	NOUN
hjic-99	188	14	.	.	PUNCT
hjic-99	189	1	the	the	DET
hjic-99	189	2	parameters	parameter	NOUN
hjic-99	189	3	were	be	AUX
hjic-99	189	4	estimated	estimate	VERB
hjic-99	189	5	by	by	ADP
hjic-99	189	6	fitting	fit	VERB
hjic-99	189	7	to	to	ADP
hjic-99	189	8	the	the	DET
hjic-99	189	9	measured	measured	ADJ
hjic-99	189	10	data	datum	NOUN
hjic-99	189	11	using	use	VERB
hjic-99	189	12	matlab	matlab	PROPN
hjic-99	189	13	(	(	PUNCT
hjic-99	189	14	see	see	VERB
hjic-99	189	15	fig.8	fig.8	PROPN
hjic-99	189	16	)	)	PUNCT
hjic-99	189	17	.	.	PUNCT
hjic-99	190	1	ty	ty	NUM
hjic-99	190	2	≡	≡	PROPN
hjic-99	190	3	]	]	SYM
hjic-99	190	4	10,0[∈	10,0[∈	NUM
hjic-99	190	5	yu	yu	PROPN
hjic-99	190	6	→	→	SYM
hjic-99	190	7	fig.7	fig.7	ADJ
hjic-99	190	8	the	the	DET
hjic-99	190	9	laboratory	laboratory	NOUN
hjic-99	190	10	system	system	NOUN
hjic-99	190	11	for	for	ADP
hjic-99	190	12	testing	testing	NOUN
hjic-99	190	13	0	0	NUM
hjic-99	190	14	5	5	NUM
hjic-99	190	15	10	10	NUM
hjic-99	190	16	15	15	NUM
hjic-99	190	17	20	20	NUM
hjic-99	190	18	25	25	NUM
hjic-99	190	19	30	30	NUM
hjic-99	190	20	35	35	NUM
hjic-99	190	21	40	40	NUM
hjic-99	190	22	45	45	NUM
hjic-99	190	23	50	50	NUM
hjic-99	190	24	0	0	NUM
hjic-99	190	25	10	10	NUM
hjic-99	190	26	20	20	NUM
hjic-99	190	27	30	30	NUM
hjic-99	190	28	40	40	NUM
hjic-99	190	29	5	5	NUM
hjic-99	190	30	time	time	NOUN
hjic-99	190	31	(	(	PUNCT
hjic-99	190	32	min	min	NOUN
hjic-99	190	33	)	)	PUNCT
hjic-99	190	34	te	te	ADP
hjic-99	190	35	m	m	PROPN
hjic-99	190	36	pe	pe	INTJ
hjic-99	190	37	ra	ra	PROPN
hjic-99	190	38	tu	tu	X
hjic-99	190	39	re	re	X
hjic-99	190	40	(	(	PUNCT
hjic-99	190	41	°	°	ADP
hjic-99	190	42	c	c	NOUN
hjic-99	190	43	)	)	PUNCT
hjic-99	190	44	,	,	PUNCT
hjic-99	190	45	co	co	VERB
hjic-99	190	46	nt	not	PART
hjic-99	190	47	ro	ro	PROPN
hjic-99	190	48	l	l	NOUN
hjic-99	190	49	o	o	X
hjic-99	190	50	ut	ut	PROPN
hjic-99	190	51	pu	pu	PROPN
hjic-99	190	52	t	t	PROPN
hjic-99	190	53	(	(	PUNCT
hjic-99	190	54	v	v	NOUN
hjic-99	190	55	)	)	PUNCT
hjic-99	190	56	0	0	NUM
hjic-99	191	1	fig.8	fig.8	PROPN
hjic-99	191	2	identification	identification	NOUN
hjic-99	191	3	of	of	ADP
hjic-99	191	4	the	the	DET
hjic-99	191	5	process	process	NOUN
hjic-99	191	6	model	model	NOUN
hjic-99	191	7	0	0	NUM
hjic-99	191	8	5	5	NUM
hjic-99	191	9	10	10	NUM
hjic-99	191	10	15	15	NUM
hjic-99	191	11	20	20	NUM
hjic-99	191	12	25	25	NUM
hjic-99	191	13	30	30	NUM
hjic-99	191	14	35	35	NUM
hjic-99	191	15	40	40	NUM
hjic-99	191	16	45	45	NUM
hjic-99	191	17	0	0	NUM
hjic-99	191	18	10	10	NUM
hjic-99	191	19	20	20	NUM
hjic-99	191	20	30	30	NUM
hjic-99	191	21	time	time	NOUN
hjic-99	191	22	(	(	PUNCT
hjic-99	191	23	min	min	NOUN
hjic-99	191	24	)	)	PUNCT
hjic-99	191	25	te	te	ADP
hjic-99	191	26	m	m	PROPN
hjic-99	191	27	pe	pe	INTJ
hjic-99	191	28	ra	ra	PROPN
hjic-99	191	29	tu	tu	X
hjic-99	191	30	re	re	X
hjic-99	191	31	(	(	PUNCT
hjic-99	191	32	°	°	ADP
hjic-99	191	33	c	c	NOUN
hjic-99	191	34	)	)	PUNCT
hjic-99	191	35	,	,	PUNCT
hjic-99	191	36	co	co	VERB
hjic-99	191	37	nt	not	PART
hjic-99	191	38	ro	ro	PROPN
hjic-99	191	39	l	l	NOUN
hjic-99	191	40	o	o	X
hjic-99	191	41	ut	ut	PROPN
hjic-99	191	42	pu	pu	PROPN
hjic-99	191	43	t	t	PROPN
hjic-99	191	44	(	(	PUNCT
hjic-99	191	45	v	v	NOUN
hjic-99	191	46	)	)	PUNCT
hjic-99	191	47	40	40	NUM
hjic-99	191	48	fig.9	fig.9	PROPN
hjic-99	191	49	simulation	simulation	NOUN
hjic-99	191	50	test	test	NOUN
hjic-99	191	51	of	of	ADP
hjic-99	191	52	the	the	DET
hjic-99	191	53	p	p	NOUN
hjic-99	191	54	-	-	PUNCT
hjic-99	191	55	pid	pid	NOUN
hjic-99	191	56	controller	controller	NOUN
hjic-99	191	57	mv	mv	PROPN
hjic-99	191	58	water	water	PROPN
hjic-99	191	59	tin	tin	PROPN
hjic-99	191	60	f	f	PROPN
hjic-99	191	61	t	t	X
hjic-99	191	62	<	<	X
hjic-99	191	63	heating	heating	NOUN
hjic-99	191	64	pc	pc	NOUN
hjic-99	191	65	<	<	X
hjic-99	191	66	open	open	ADJ
hjic-99	191	67	close	close	ADJ
hjic-99	191	68	adam-5000	adam-5000	ADJ
hjic-99	191	69	lan	lan	NOUN
hjic-99	191	70	u	u	NOUN
hjic-99	191	71	87	87	NUM
hjic-99	191	72	0	0	NUM
hjic-99	191	73	5	5	NUM
hjic-99	191	74	10	10	NUM
hjic-99	191	75	15	15	NUM
hjic-99	191	76	20	20	NUM
hjic-99	191	77	25	25	NUM
hjic-99	191	78	30	30	NUM
hjic-99	191	79	35	35	NUM
hjic-99	191	80	40	40	NUM
hjic-99	191	81	45	45	NUM
hjic-99	191	82	0	0	NUM
hjic-99	191	83	10	10	NUM
hjic-99	191	84	20	20	NUM
hjic-99	191	85	30	30	NUM
hjic-99	191	86	4	4	NUM
hjic-99	191	87	time	time	NOUN
hjic-99	191	88	(	(	PUNCT
hjic-99	191	89	min	min	NOUN
hjic-99	191	90	)	)	PUNCT
hjic-99	191	91	te	te	ADP
hjic-99	191	92	m	m	PROPN
hjic-99	191	93	pe	pe	INTJ
hjic-99	191	94	ra	ra	PROPN
hjic-99	191	95	tu	tu	X
hjic-99	191	96	re	re	X
hjic-99	191	97	(	(	PUNCT
hjic-99	191	98	°	°	ADP
hjic-99	191	99	c	c	NOUN
hjic-99	191	100	)	)	PUNCT
hjic-99	191	101	,	,	PUNCT
hjic-99	191	102	co	co	VERB
hjic-99	191	103	nt	not	PART
hjic-99	191	104	ro	ro	PROPN
hjic-99	191	105	l	l	NOUN
hjic-99	191	106	o	o	X
hjic-99	191	107	ut	ut	PROPN
hjic-99	191	108	pu	pu	PROPN
hjic-99	191	109	t	t	PROPN
hjic-99	191	110	(	(	PUNCT
hjic-99	191	111	v	v	NOUN
hjic-99	191	112	)	)	PUNCT
hjic-99	191	113	0	0	NUM
hjic-99	191	114	0	0	NUM
hjic-99	191	115	5	5	NUM
hjic-99	191	116	10	10	NUM
hjic-99	191	117	15	15	NUM
hjic-99	191	118	20	20	NUM
hjic-99	191	119	25	25	NUM
hjic-99	191	120	30	30	NUM
hjic-99	191	121	35	35	NUM
hjic-99	191	122	40	40	NUM
hjic-99	191	123	45	45	NUM
hjic-99	191	124	0	0	NUM
hjic-99	191	125	10	10	NUM
hjic-99	191	126	20	20	NUM
hjic-99	191	127	30	30	NUM
hjic-99	191	128	4	4	NUM
hjic-99	191	129	time	time	NOUN
hjic-99	191	130	(	(	PUNCT
hjic-99	191	131	min	min	NOUN
hjic-99	191	132	)	)	PUNCT
hjic-99	191	133	te	te	ADP
hjic-99	191	134	m	m	PROPN
hjic-99	191	135	pe	pe	INTJ
hjic-99	191	136	ra	ra	PROPN
hjic-99	191	137	tu	tu	X
hjic-99	191	138	re	re	X
hjic-99	191	139	(	(	PUNCT
hjic-99	191	140	°	°	ADP
hjic-99	191	141	c	c	NOUN
hjic-99	191	142	)	)	PUNCT
hjic-99	191	143	,	,	PUNCT
hjic-99	191	144	co	co	VERB
hjic-99	191	145	nt	not	PART
hjic-99	191	146	ro	ro	PROPN
hjic-99	191	147	l	l	NOUN
hjic-99	191	148	o	o	X
hjic-99	191	149	ut	ut	PROPN
hjic-99	191	150	pu	pu	PROPN
hjic-99	191	151	t	t	PROPN
hjic-99	191	152	(	(	PUNCT
hjic-99	191	153	v	v	NOUN
hjic-99	191	154	)	)	PUNCT
hjic-99	191	155	0	0	PUNCT
hjic-99	192	1	fig.10	fig.10	DET
hjic-99	192	2	simulation	simulation	NOUN
hjic-99	192	3	test	test	NOUN
hjic-99	192	4	of	of	ADP
hjic-99	192	5	the	the	DET
hjic-99	192	6	anti	anti	ADJ
hjic-99	192	7	wind	wind	NOUN
hjic-99	192	8	-	-	PUNCT
hjic-99	192	9	up	up	ADP
hjic-99	192	10	pid	pid	NOUN
hjic-99	192	11	controller	controller	NOUN
hjic-99	192	12	fig.12	fig.12	PROPN
hjic-99	192	13	physical	physical	ADJ
hjic-99	192	14	test	test	NOUN
hjic-99	192	15	of	of	ADP
hjic-99	192	16	the	the	DET
hjic-99	192	17	p	p	NOUN
hjic-99	192	18	-	-	PUNCT
hjic-99	192	19	pid	pid	NOUN
hjic-99	192	20	controller	controller	NOUN
hjic-99	192	21	0	0	NUM
hjic-99	192	22	5	5	NUM
hjic-99	192	23	10	10	NUM
hjic-99	192	24	15	15	NUM
hjic-99	192	25	20	20	NUM
hjic-99	192	26	25	25	NUM
hjic-99	192	27	30	30	NUM
hjic-99	192	28	35	35	NUM
hjic-99	192	29	40	40	NUM
hjic-99	192	30	45	45	NUM
hjic-99	192	31	0	0	NUM
hjic-99	192	32	10	10	NUM
hjic-99	192	33	20	20	NUM
hjic-99	192	34	30	30	NUM
hjic-99	192	35	4	4	NUM
hjic-99	192	36	time	time	NOUN
hjic-99	192	37	(	(	PUNCT
hjic-99	192	38	min	min	NOUN
hjic-99	192	39	)	)	PUNCT
hjic-99	192	40	te	te	ADP
hjic-99	192	41	m	m	PROPN
hjic-99	192	42	pe	pe	INTJ
hjic-99	192	43	ra	ra	PROPN
hjic-99	192	44	tu	tu	X
hjic-99	192	45	re	re	X
hjic-99	192	46	(	(	PUNCT
hjic-99	192	47	°	°	ADP
hjic-99	192	48	c	c	NOUN
hjic-99	192	49	)	)	PUNCT
hjic-99	192	50	,	,	PUNCT
hjic-99	192	51	c	c	NOUN
hjic-99	192	52	on	on	ADP
hjic-99	192	53	tro	tro	X
hjic-99	192	54	l	l	X
hjic-99	192	55	o	o	X
hjic-99	192	56	ut	ut	PROPN
hjic-99	192	57	pu	pu	PROPN
hjic-99	192	58	t	t	PROPN
hjic-99	192	59	(	(	PUNCT
hjic-99	192	60	v	v	NOUN
hjic-99	192	61	)	)	PUNCT
hjic-99	192	62	0	0	NUM
hjic-99	192	63	0	0	NUM
hjic-99	192	64	5	5	NUM
hjic-99	192	65	10	10	NUM
hjic-99	192	66	15	15	NUM
hjic-99	192	67	20	20	NUM
hjic-99	192	68	25	25	NUM
hjic-99	192	69	30	30	NUM
hjic-99	192	70	35	35	NUM
hjic-99	192	71	40	40	NUM
hjic-99	192	72	45	45	NUM
hjic-99	192	73	0	0	NUM
hjic-99	192	74	10	10	NUM
hjic-99	192	75	20	20	NUM
hjic-99	192	76	30	30	NUM
hjic-99	192	77	4	4	NUM
hjic-99	192	78	time	time	NOUN
hjic-99	192	79	(	(	PUNCT
hjic-99	192	80	min	min	NOUN
hjic-99	192	81	)	)	PUNCT
hjic-99	192	82	te	te	ADP
hjic-99	192	83	m	m	PROPN
hjic-99	192	84	pe	pe	INTJ
hjic-99	192	85	ra	ra	PROPN
hjic-99	192	86	tu	tu	X
hjic-99	192	87	re	re	X
hjic-99	192	88	(	(	PUNCT
hjic-99	192	89	°	°	ADP
hjic-99	192	90	c	c	NOUN
hjic-99	192	91	)	)	PUNCT
hjic-99	192	92	,	,	PUNCT
hjic-99	192	93	co	co	VERB
hjic-99	192	94	nt	not	PART
hjic-99	192	95	ro	ro	PROPN
hjic-99	192	96	l	l	NOUN
hjic-99	192	97	o	o	X
hjic-99	192	98	ut	ut	PROPN
hjic-99	192	99	pu	pu	PROPN
hjic-99	192	100	t	t	PROPN
hjic-99	192	101	(	(	PUNCT
hjic-99	192	102	v	v	NOUN
hjic-99	192	103	)	)	PUNCT
hjic-99	192	104	0	0	NUM
hjic-99	193	1	fig.11	fig.11	PROPN
hjic-99	193	2	simulation	simulation	NOUN
hjic-99	193	3	test	test	NOUN
hjic-99	193	4	of	of	ADP
hjic-99	193	5	the	the	DET
hjic-99	193	6	c	c	NOUN
hjic-99	193	7	-	-	PUNCT
hjic-99	193	8	pid	pid	NOUN
hjic-99	193	9	controller	controller	NOUN
hjic-99	193	10	fig.13	fig.13	VERB
hjic-99	193	11	physical	physical	ADJ
hjic-99	193	12	test	test	NOUN
hjic-99	193	13	of	of	ADP
hjic-99	193	14	the	the	DET
hjic-99	193	15	anti	anti	ADJ
hjic-99	193	16	wind	wind	NOUN
hjic-99	193	17	-	-	PUNCT
hjic-99	193	18	up	up	ADP
hjic-99	193	19	pid	pid	NOUN
hjic-99	193	20	controller	controller	NOUN
hjic-99	193	21	the	the	DET
hjic-99	193	22	c	c	NOUN
hjic-99	193	23	-	-	PUNCT
hjic-99	193	24	pid	pid	NOUN
hjic-99	193	25	algorithm	algorithm	NOUN
hjic-99	193	26	was	be	AUX
hjic-99	193	27	compared	compare	VERB
hjic-99	193	28	to	to	ADP
hjic-99	193	29	a	a	DET
hjic-99	193	30	standard	standard	ADJ
hjic-99	193	31	ppid	ppid	NOUN
hjic-99	193	32	algorithm	algorithm	NOUN
hjic-99	193	33	as	as	ADV
hjic-99	193	34	well	well	ADV
hjic-99	193	35	as	as	ADP
hjic-99	193	36	to	to	ADP
hjic-99	193	37	an	an	DET
hjic-99	193	38	anti	anti	ADJ
hjic-99	193	39	wind	wind	NOUN
hjic-99	193	40	-	-	PUNCT
hjic-99	193	41	up	up	ADP
hjic-99	193	42	pid	pid	NOUN
hjic-99	193	43	algorithm	algorithm	NOUN
hjic-99	193	44	used	use	VERB
hjic-99	193	45	in	in	ADP
hjic-99	193	46	an	an	DET
hjic-99	193	47	industrial	industrial	PROPN
hjic-99	193	48	plc	plc	PROPN
hjic-99	193	49	.	.	PUNCT
hjic-99	194	1	the	the	DET
hjic-99	194	2	pid	pid	NOUN
hjic-99	194	3	parameters	parameter	NOUN
hjic-99	194	4	are	be	AUX
hjic-99	194	5	determined	determine	VERB
hjic-99	194	6	in	in	ADP
hjic-99	194	7	each	each	DET
hjic-99	194	8	cases	case	NOUN
hjic-99	194	9	by	by	ADP
hjic-99	194	10	the	the	DET
hjic-99	194	11	direct	direct	ADJ
hjic-99	194	12	synthesis	synthesis	NOUN
hjic-99	194	13	method	method	NOUN
hjic-99	194	14	based	base	VERB
hjic-99	194	15	on	on	ADP
hjic-99	194	16	the	the	DET
hjic-99	194	17	identified	identify	VERB
hjic-99	194	18	process	process	NOUN
hjic-99	194	19	model	model	NOUN
hjic-99	194	20	.	.	PUNCT
hjic-99	195	1	in	in	ADP
hjic-99	195	2	the	the	DET
hjic-99	195	3	simulation	simulation	NOUN
hjic-99	195	4	studies	study	VERB
hjic-99	195	5	the	the	DET
hjic-99	195	6	mathematical	mathematical	ADJ
hjic-99	195	7	model	model	NOUN
hjic-99	195	8	of	of	ADP
hjic-99	195	9	the	the	DET
hjic-99	195	10	heater	heater	NOUN
hjic-99	195	11	system	system	NOUN
hjic-99	195	12	was	be	AUX
hjic-99	195	13	the	the	DET
hjic-99	195	14	process	process	NOUN
hjic-99	195	15	.	.	PUNCT
hjic-99	196	1	the	the	DET
hjic-99	196	2	studies	study	NOUN
hjic-99	196	3	presents	present	VERB
hjic-99	196	4	servo	servo	NOUN
hjic-99	196	5	problems	problem	NOUN
hjic-99	196	6	,	,	PUNCT
hjic-99	196	7	however	however	ADV
hjic-99	196	8	the	the	DET
hjic-99	196	9	load	load	NOUN
hjic-99	196	10	disturnbance	disturnbance	PROPN
hjic-99	196	11	compensation	compensation	NOUN
hjic-99	196	12	studies	study	NOUN
hjic-99	196	13	qualitatively	qualitatively	ADV
hjic-99	196	14	showed	show	VERB
hjic-99	196	15	similar	similar	ADJ
hjic-99	196	16	results	result	NOUN
hjic-99	196	17	.	.	PUNCT
hjic-99	197	1	simulation	simulation	NOUN
hjic-99	197	2	tests	test	NOUN
hjic-99	197	3	are	be	AUX
hjic-99	197	4	illustrated	illustrate	VERB
hjic-99	197	5	on	on	ADP
hjic-99	197	6	fig.9	fig.9	PROPN
hjic-99	197	7	-	-	PUNCT
hjic-99	197	8	11	11	NUM
hjic-99	197	9	.	.	PUNCT
hjic-99	198	1	fig.9	fig.9	PROPN
hjic-99	198	2	shows	show	VERB
hjic-99	198	3	well	well	ADV
hjic-99	198	4	that	that	SCONJ
hjic-99	198	5	in	in	ADP
hjic-99	198	6	those	those	DET
hjic-99	198	7	time	time	NOUN
hjic-99	198	8	periods	period	NOUN
hjic-99	198	9	when	when	SCONJ
hjic-99	198	10	the	the	DET
hjic-99	198	11	control	control	NOUN
hjic-99	198	12	output	output	NOUN
hjic-99	198	13	approaches	approach	VERB
hjic-99	198	14	its	its	PRON
hjic-99	198	15	physical	physical	ADJ
hjic-99	198	16	limits	limit	NOUN
hjic-99	198	17	,	,	PUNCT
hjic-99	198	18	significant	significant	ADJ
hjic-99	198	19	overshoots	overshoot	NOUN
hjic-99	198	20	can	can	AUX
hjic-99	198	21	be	be	AUX
hjic-99	198	22	observed	observe	VERB
hjic-99	198	23	after	after	ADP
hjic-99	198	24	changing	change	VERB
hjic-99	198	25	the	the	DET
hjic-99	198	26	setpoint	setpoint	NOUN
hjic-99	198	27	.	.	PUNCT
hjic-99	199	1	overshoots	overshoot	NOUN
hjic-99	199	2	can	can	AUX
hjic-99	199	3	be	be	AUX
hjic-99	199	4	considerably	considerably	ADV
hjic-99	199	5	reduced	reduce	VERB
hjic-99	199	6	by	by	ADP
hjic-99	199	7	applying	apply	VERB
hjic-99	199	8	an	an	DET
hjic-99	199	9	anti	anti	ADJ
hjic-99	199	10	wind	wind	NOUN
hjic-99	199	11	-	-	PUNCT
hjic-99	199	12	up	up	ADP
hjic-99	199	13	compensator	compensator	NOUN
hjic-99	199	14	(	(	PUNCT
hjic-99	199	15	see	see	VERB
hjic-99	199	16	fig.10	fig.10	PRON
hjic-99	199	17	)	)	PUNCT
hjic-99	199	18	.	.	PUNCT
hjic-99	200	1	fig.11	fig.11	PROPN
hjic-99	200	2	justifies	justify	VERB
hjic-99	200	3	that	that	SCONJ
hjic-99	200	4	the	the	DET
hjic-99	200	5	c	c	NOUN
hjic-99	200	6	-	-	PUNCT
hjic-99	200	7	pid	pid	NOUN
hjic-99	200	8	algorithm	algorithm	NOUN
hjic-99	200	9	completely	completely	ADV
hjic-99	200	10	eliminates	eliminate	VERB
hjic-99	200	11	the	the	DET
hjic-99	200	12	overshoot	overshoot	NOUN
hjic-99	200	13	.	.	PUNCT
hjic-99	201	1	0	0	NUM
hjic-99	202	1	5	5	NUM
hjic-99	202	2	10	10	NUM
hjic-99	202	3	15	15	NUM
hjic-99	202	4	20	20	NUM
hjic-99	202	5	25	25	NUM
hjic-99	202	6	30	30	NUM
hjic-99	202	7	35	35	NUM
hjic-99	202	8	40	40	NUM
hjic-99	202	9	45	45	NUM
hjic-99	202	10	0	0	NUM
hjic-99	202	11	10	10	NUM
hjic-99	202	12	20	20	NUM
hjic-99	202	13	30	30	NUM
hjic-99	202	14	time	time	NOUN
hjic-99	202	15	(	(	PUNCT
hjic-99	202	16	min	min	NOUN
hjic-99	202	17	)	)	PUNCT
hjic-99	202	18	te	te	ADP
hjic-99	202	19	m	m	PROPN
hjic-99	202	20	pe	pe	INTJ
hjic-99	202	21	ra	ra	PROPN
hjic-99	202	22	tu	tu	X
hjic-99	202	23	re	re	X
hjic-99	202	24	(	(	PUNCT
hjic-99	202	25	°	°	ADP
hjic-99	202	26	c	c	NOUN
hjic-99	202	27	)	)	PUNCT
hjic-99	202	28	,	,	PUNCT
hjic-99	202	29	co	co	VERB
hjic-99	202	30	nt	not	PART
hjic-99	202	31	ro	ro	PROPN
hjic-99	202	32	l	l	NOUN
hjic-99	202	33	o	o	X
hjic-99	202	34	ut	ut	PROPN
hjic-99	202	35	pu	pu	PROPN
hjic-99	202	36	t	t	PROPN
hjic-99	202	37	(	(	PUNCT
hjic-99	202	38	v	v	NOUN
hjic-99	202	39	)	)	PUNCT
hjic-99	202	40	40	40	NUM
hjic-99	203	1	fig.14	fig.14	NOUN
hjic-99	203	2	physical	physical	ADJ
hjic-99	203	3	test	test	NOUN
hjic-99	203	4	of	of	ADP
hjic-99	203	5	the	the	DET
hjic-99	203	6	c	c	NOUN
hjic-99	203	7	-	-	PUNCT
hjic-99	203	8	pid	pid	NOUN
hjic-99	203	9	controller	controller	NOUN
hjic-99	203	10	the	the	DET
hjic-99	203	11	same	same	ADJ
hjic-99	203	12	tests	test	NOUN
hjic-99	203	13	were	be	AUX
hjic-99	203	14	conducted	conduct	VERB
hjic-99	203	15	on	on	ADP
hjic-99	203	16	the	the	DET
hjic-99	203	17	laboratory	laboratory	NOUN
hjic-99	203	18	physical	physical	ADJ
hjic-99	203	19	system	system	NOUN
hjic-99	203	20	.	.	PUNCT
hjic-99	204	1	the	the	DET
hjic-99	204	2	results	result	NOUN
hjic-99	204	3	are	be	AUX
hjic-99	204	4	given	give	VERB
hjic-99	204	5	on	on	ADP
hjic-99	204	6	fig.12	fig.12	NOUN
hjic-99	204	7	-	-	NOUN
hjic-99	204	8	14	14	NUM
hjic-99	204	9	.	.	PUNCT
hjic-99	205	1	the	the	DET
hjic-99	205	2	physical	physical	ADJ
hjic-99	205	3	experiments	experiment	NOUN
hjic-99	205	4	illustrates	illustrate	VERB
hjic-99	205	5	well	well	ADV
hjic-99	205	6	the	the	DET
hjic-99	205	7	effect	effect	NOUN
hjic-99	205	8	of	of	ADP
hjic-99	205	9	measurement	measurement	NOUN
hjic-99	205	10	noises	noise	NOUN
hjic-99	205	11	,	,	PUNCT
hjic-99	205	12	still	still	ADV
hjic-99	205	13	the	the	DET
hjic-99	205	14	relation	relation	NOUN
hjic-99	205	15	of	of	ADP
hjic-99	205	16	the	the	DET
hjic-99	205	17	different	different	ADJ
hjic-99	205	18	methods	method	NOUN
hjic-99	205	19	is	be	AUX
hjic-99	205	20	the	the	DET
hjic-99	205	21	same	same	ADJ
hjic-99	205	22	in	in	ADP
hjic-99	205	23	case	case	NOUN
hjic-99	205	24	of	of	ADP
hjic-99	205	25	the	the	DET
hjic-99	205	26	physical	physical	ADJ
hjic-99	205	27	tests	test	NOUN
hjic-99	205	28	as	as	SCONJ
hjic-99	205	29	it	it	PRON
hjic-99	205	30	was	be	AUX
hjic-99	205	31	shown	show	VERB
hjic-99	205	32	in	in	ADP
hjic-99	205	33	the	the	DET
hjic-99	205	34	simulation	simulation	NOUN
hjic-99	205	35	studies	study	NOUN
hjic-99	205	36	.	.	PUNCT
hjic-99	206	1	conclusions	conclusion	NOUN
hjic-99	206	2	in	in	ADP
hjic-99	206	3	industrial	industrial	ADJ
hjic-99	206	4	applications	application	NOUN
hjic-99	206	5	several	several	ADJ
hjic-99	206	6	versions	version	NOUN
hjic-99	206	7	of	of	ADP
hjic-99	206	8	pid	pid	NOUN
hjic-99	206	9	controllers	controller	NOUN
hjic-99	206	10	can	can	AUX
hjic-99	206	11	be	be	AUX
hjic-99	206	12	found	find	VERB
hjic-99	206	13	.	.	PUNCT
hjic-99	207	1	because	because	SCONJ
hjic-99	207	2	of	of	ADP
hjic-99	207	3	the	the	DET
hjic-99	207	4	physical	physical	ADJ
hjic-99	207	5	constraints	constraint	NOUN
hjic-99	207	6	on	on	ADP
hjic-99	207	7	the	the	DET
hjic-99	207	8	control	control	NOUN
hjic-99	207	9	output	output	NOUN
hjic-99	207	10	only	only	ADV
hjic-99	207	11	those	those	PRON
hjic-99	207	12	supplemented	supplement	VERB
hjic-99	207	13	with	with	ADP
hjic-99	207	14	anti	anti	ADJ
hjic-99	207	15	reset	reset	ADJ
hjic-99	207	16	wind	wind	NOUN
hjic-99	207	17	-	-	PUNCT
hjic-99	207	18	up	up	ADP
hjic-99	207	19	compensators	compensator	NOUN
hjic-99	207	20	can	can	AUX
hjic-99	207	21	follow	follow	VERB
hjic-99	207	22	setpoint	setpoint	NOUN
hjic-99	207	23	changes	change	NOUN
hjic-99	207	24	without	without	ADP
hjic-99	207	25	overshoots	overshoot	NOUN
hjic-99	207	26	.	.	PUNCT
hjic-99	208	1	significant	significant	ADJ
hjic-99	208	2	overshoots	overshoot	NOUN
hjic-99	208	3	can	can	AUX
hjic-99	208	4	involve	involve	VERB
hjic-99	208	5	safety	safety	NOUN
hjic-99	208	6	risk	risk	NOUN
hjic-99	208	7	especially	especially	ADV
hjic-99	208	8	in	in	ADP
hjic-99	208	9	control	control	NOUN
hjic-99	208	10	of	of	ADP
hjic-99	208	11	batch	batch	NOUN
hjic-99	208	12	systems	system	NOUN
hjic-99	208	13	.	.	PUNCT
hjic-99	209	1	the	the	DET
hjic-99	209	2	paper	paper	NOUN
hjic-99	209	3	presents	present	VERB
hjic-99	209	4	the	the	DET
hjic-99	209	5	so	so	ADV
hjic-99	209	6	called	call	VERB
hjic-99	209	7	c	c	PROPN
hjic-99	209	8	88	88	NUM
hjic-99	209	9	pid	pid	NOUN
hjic-99	209	10	algorithm	algorithm	NOUN
hjic-99	209	11	which	which	PRON
hjic-99	209	12	takes	take	VERB
hjic-99	209	13	the	the	DET
hjic-99	209	14	physical	physical	ADJ
hjic-99	209	15	constraints	constraint	NOUN
hjic-99	209	16	into	into	ADP
hjic-99	209	17	account	account	NOUN
hjic-99	209	18	and	and	CCONJ
hjic-99	209	19	provides	provide	VERB
hjic-99	209	20	settlings	settling	NOUN
hjic-99	209	21	practically	practically	ADV
hjic-99	209	22	without	without	ADP
hjic-99	209	23	overshoots	overshoot	NOUN
hjic-99	209	24	.	.	PUNCT
hjic-99	210	1	the	the	DET
hjic-99	210	2	algorithm	algorithm	NOUN
hjic-99	210	3	does	do	AUX
hjic-99	210	4	not	not	PART
hjic-99	210	5	make	make	VERB
hjic-99	210	6	the	the	DET
hjic-99	210	7	standard	standard	ADJ
hjic-99	210	8	pid	pid	NOUN
hjic-99	210	9	algorithm	algorithm	NOUN
hjic-99	210	10	more	more	ADV
hjic-99	210	11	complex	complex	ADJ
hjic-99	210	12	and	and	CCONJ
hjic-99	210	13	it	it	PRON
hjic-99	210	14	can	can	AUX
hjic-99	210	15	be	be	AUX
hjic-99	210	16	readily	readily	ADV
hjic-99	210	17	implemented	implement	VERB
hjic-99	210	18	in	in	ADP
hjic-99	210	19	dcs	dcs	PROPN
hjic-99	210	20	’s	’s	PART
hjic-99	210	21	.	.	PUNCT
hjic-99	211	1	for	for	ADP
hjic-99	211	2	the	the	DET
hjic-99	211	3	c	c	NOUN
hjic-99	211	4	-	-	PUNCT
hjic-99	211	5	pid	pid	NOUN
hjic-99	211	6	design	design	NOUN
hjic-99	211	7	,	,	PUNCT
hjic-99	211	8	considering	consider	VERB
hjic-99	211	9	the	the	DET
hjic-99	211	10	potential	potential	ADJ
hjic-99	211	11	capacity	capacity	NOUN
hjic-99	211	12	of	of	ADP
hjic-99	211	13	pid	pid	NOUN
hjic-99	211	14	algorithms	algorithm	NOUN
hjic-99	211	15	,	,	PUNCT
hjic-99	211	16	it	it	PRON
hjic-99	211	17	is	be	AUX
hjic-99	211	18	practical	practical	ADJ
hjic-99	211	19	to	to	PART
hjic-99	211	20	describe	describe	VERB
hjic-99	211	21	the	the	DET
hjic-99	211	22	object	object	NOUN
hjic-99	211	23	as	as	ADP
hjic-99	211	24	a	a	DET
hjic-99	211	25	second	second	ADJ
hjic-99	211	26	order	order	NOUN
hjic-99	211	27	process	process	NOUN
hjic-99	211	28	with	with	ADP
hjic-99	211	29	dead	dead	ADJ
hjic-99	211	30	-	-	PUNCT
hjic-99	211	31	time	time	NOUN
hjic-99	211	32	.	.	PUNCT
hjic-99	212	1	in	in	ADP
hjic-99	212	2	case	case	NOUN
hjic-99	212	3	of	of	ADP
hjic-99	212	4	systems	system	NOUN
hjic-99	212	5	with	with	ADP
hjic-99	212	6	large	large	ADJ
hjic-99	212	7	dead	dead	ADJ
hjic-99	212	8	-	-	PUNCT
hjic-99	212	9	times	time	NOUN
hjic-99	212	10	the	the	DET
hjic-99	212	11	use	use	NOUN
hjic-99	212	12	of	of	ADP
hjic-99	212	13	a	a	DET
hjic-99	212	14	smith	smith	PROPN
hjic-99	212	15	predictor	predictor	NOUN
hjic-99	212	16	is	be	AUX
hjic-99	212	17	suggested	suggest	VERB
hjic-99	212	18	that	that	SCONJ
hjic-99	212	19	does	do	AUX
hjic-99	212	20	not	not	PART
hjic-99	212	21	limit	limit	VERB
hjic-99	212	22	the	the	DET
hjic-99	212	23	applicability	applicability	NOUN
hjic-99	212	24	of	of	ADP
hjic-99	212	25	c	c	NOUN
hjic-99	212	26	-	-	PUNCT
hjic-99	212	27	pid	pid	NOUN
hjic-99	212	28	.	.	PROPN
hjic-99	212	29	acknowledgement	acknowledgement	NOUN
hjic-99	212	30	this	this	DET
hjic-99	212	31	project	project	NOUN
hjic-99	212	32	has	have	AUX
hjic-99	212	33	been	be	AUX
hjic-99	212	34	financially	financially	ADV
hjic-99	212	35	supported	support	VERB
hjic-99	212	36	in	in	ADP
hjic-99	212	37	part	part	NOUN
hjic-99	212	38	by	by	ADP
hjic-99	212	39	the	the	DET
hjic-99	212	40	chemical	chemical	PROPN
hjic-99	212	41	engineering	engineering	PROPN
hjic-99	212	42	institute	institute	PROPN
hjic-99	212	43	cooperative	cooperative	ADJ
hjic-99	212	44	research	research	NOUN
hjic-99	212	45	center	center	NOUN
hjic-99	212	46	,	,	PUNCT
hjic-99	212	47	iii-2	iii-2	ADJ
hjic-99	212	48	project	project	NOUN
hjic-99	212	49	.	.	PUNCT
hjic-99	213	1	references	reference	NOUN
hjic-99	213	2	1	1	NUM
hjic-99	213	3	.	.	PUNCT
hjic-99	213	4	luyben	luyben	PROPN
hjic-99	213	5	,	,	PUNCT
hjic-99	213	6	w.	w.	PROPN
hjic-99	213	7	l.	l.	PROPN
hjic-99	213	8	:	:	PUNCT
hjic-99	213	9	effect	effect	NOUN
hjic-99	213	10	of	of	ADP
hjic-99	213	11	derivative	derivative	ADJ
hjic-99	213	12	algorithm	algorithm	NOUN
hjic-99	213	13	and	and	CCONJ
hjic-99	213	14	tuning	tune	VERB
hjic-99	213	15	selection	selection	NOUN
hjic-99	213	16	on	on	ADP
hjic-99	213	17	the	the	DET
hjic-99	213	18	pid	pid	NOUN
hjic-99	213	19	control	control	NOUN
hjic-99	213	20	of	of	ADP
hjic-99	213	21	dead	dead	ADJ
hjic-99	213	22	-	-	PUNCT
hjic-99	213	23	time	time	NOUN
hjic-99	213	24	processes	process	NOUN
hjic-99	213	25	,	,	PUNCT
hjic-99	213	26	ind	ind	NOUN
hjic-99	213	27	.	.	PUNCT
hjic-99	214	1	eng	eng	PROPN
hjic-99	214	2	.	.	PROPN
hjic-99	214	3	chem	chem	PROPN
hjic-99	214	4	.	.	PUNCT
hjic-99	215	1	res	re	NOUN
hjic-99	215	2	.	.	PROPN
hjic-99	215	3	,	,	PUNCT
hjic-99	215	4	2001	2001	NUM
hjic-99	215	5	,	,	PUNCT
hjic-99	215	6	40	40	NUM
hjic-99	215	7	,	,	PUNCT
hjic-99	215	8	36053611	36053611	NUM
hjic-99	215	9	.	.	PUNCT
hjic-99	216	1	2	2	X
hjic-99	216	2	.	.	X
hjic-99	216	3	bódizs	bódizs	PROPN
hjic-99	216	4	á	á	PROPN
hjic-99	216	5	.	.	PUNCT
hjic-99	216	6	:	:	PUNCT
hjic-99	217	1	study	study	NOUN
hjic-99	217	2	of	of	ADP
hjic-99	217	3	model	model	PROPN
hjic-99	217	4	predictive	predictive	PROPN
hjic-99	217	5	control	control	NOUN
hjic-99	217	6	(	(	PUNCT
hjic-99	217	7	in	in	ADP
hjic-99	217	8	hungarian	hungarian	PROPN
hjic-99	217	9	)	)	PUNCT
hjic-99	217	10	,	,	PUNCT
hjic-99	217	11	ph.d	ph.d	PROPN
hjic-99	217	12	.	.	PUNCT
hjic-99	218	1	theses	theses	PROPN
hjic-99	218	2	,	,	PUNCT
hjic-99	218	3	veszprém	veszprém	NOUN
hjic-99	218	4	,	,	PUNCT
hjic-99	218	5	1998	1998	NUM
hjic-99	218	6	.	.	PUNCT
hjic-99	219	1	3	3	X
hjic-99	219	2	.	.	X
hjic-99	219	3	seeborg	seeborg	NOUN
hjic-99	219	4	,	,	PUNCT
hjic-99	219	5	d.	d.	PROPN
hjic-99	219	6	e.	e.	PROPN
hjic-99	219	7	,	,	PUNCT
hjic-99	219	8	edgar	edgar	PROPN
hjic-99	219	9	,	,	PUNCT
hjic-99	219	10	t.	t.	PROPN
hjic-99	219	11	f.	f.	PROPN
hjic-99	219	12	,	,	PUNCT
hjic-99	219	13	mellichamp	mellichamp	PROPN
hjic-99	219	14	,	,	PUNCT
hjic-99	219	15	d.	d.	PROPN
hjic-99	219	16	a.	a.	PROPN
hjic-99	219	17	:	:	PUNCT
hjic-99	219	18	process	process	NOUN
hjic-99	219	19	dynamics	dynamic	NOUN
hjic-99	219	20	and	and	CCONJ
hjic-99	219	21	control	control	NOUN
hjic-99	219	22	,	,	PUNCT
hjic-99	219	23	wiley	wiley	PROPN
hjic-99	219	24	,	,	PUNCT
hjic-99	219	25	new	new	PROPN
hjic-99	219	26	york	york	PROPN
hjic-99	219	27	,	,	PUNCT
hjic-99	219	28	1989	1989	NUM
hjic-99	219	29	.	.	PUNCT
hjic-99	220	1	4	4	X
hjic-99	220	2	.	.	X
hjic-99	220	3	lipták	lipták	PROPN
hjic-99	220	4	,	,	PUNCT
hjic-99	220	5	b.	b.	PROPN
hjic-99	220	6	g.	g.	PROPN
hjic-99	220	7	(	(	PUNCT
hjic-99	221	1	ed	ed	NOUN
hjic-99	221	2	.	.	PROPN
hjic-99	221	3	):	):	PUNCT
hjic-99	221	4	instrument	instrument	PROPN
hjic-99	221	5	engineers	engineer	NOUN
hjic-99	221	6	'	'	PART
hjic-99	221	7	handbook	handbook	NOUN
hjic-99	221	8	.	.	PUNCT
hjic-99	222	1	process	process	NOUN
hjic-99	222	2	control	control	NOUN
hjic-99	222	3	,	,	PUNCT
hjic-99	222	4	3rd	3rd	ADJ
hjic-99	222	5	ed	ed	NOUN
hjic-99	222	6	.	.	PROPN
hjic-99	222	7	,	,	PUNCT
hjic-99	222	8	chilton	chilton	PROPN
hjic-99	222	9	book	book	PROPN
hjic-99	222	10	c.	c.	PROPN
hjic-99	222	11	,	,	PUNCT
hjic-99	222	12	radnor	radnor	PROPN
hjic-99	222	13	,	,	PUNCT
hjic-99	222	14	pe	pe	X
hjic-99	222	15	,	,	PUNCT
hjic-99	222	16	1995	1995	NUM
hjic-99	222	17	.	.	PUNCT
hjic-99	223	1	5	5	NUM
hjic-99	223	2	.	.	X
hjic-99	223	3	nagy	nagy	NOUN
hjic-99	223	4	,	,	PUNCT
hjic-99	223	5	l.	l.	PROPN
hjic-99	223	6	:	:	PUNCT
hjic-99	223	7	simulation	simulation	NOUN
hjic-99	223	8	and	and	CCONJ
hjic-99	223	9	control	control	NOUN
hjic-99	223	10	of	of	ADP
hjic-99	223	11	batch	batch	NOUN
hjic-99	223	12	reactors	reactor	NOUN
hjic-99	223	13	,	,	PUNCT
hjic-99	223	14	ph.d	ph.d	PROPN
hjic-99	223	15	.	.	PUNCT
hjic-99	224	1	theses	theses	PROPN
hjic-99	224	2	,	,	PUNCT
hjic-99	224	3	veszprém	veszprém	NOUN
hjic-99	224	4	,	,	PUNCT
hjic-99	224	5	2005	2005	NUM
hjic-99	224	6	.	.	PUNCT
hjic-99	225	1	6	6	NUM
hjic-99	225	2	.	.	X
hjic-99	225	3	madar	madar	PROPN
hjic-99	225	4	,	,	PUNCT
hjic-99	225	5	j.	j.	PROPN
hjic-99	225	6	,	,	PUNCT
hjic-99	225	7	abonyi	abonyi	PROPN
hjic-99	225	8	,	,	PUNCT
hjic-99	225	9	j.	j.	PROPN
hjic-99	225	10	,	,	PUNCT
hjic-99	225	11	szeifert	szeifert	PROPN
hjic-99	225	12	,	,	PUNCT
hjic-99	225	13	f	f	X
hjic-99	225	14	:	:	PUNCT
hjic-99	225	15	feedback	feedback	NOUN
hjic-99	225	16	linearizing	linearize	VERB
hjic-99	225	17	control	control	NOUN
hjic-99	225	18	using	use	VERB
hjic-99	225	19	hybrid	hybrid	ADJ
hjic-99	225	20	neural	neural	ADJ
hjic-99	225	21	networks	network	NOUN
hjic-99	225	22	identified	identify	VERB
hjic-99	225	23	by	by	ADP
hjic-99	225	24	sensitivity	sensitivity	NOUN
hjic-99	225	25	approach	approach	NOUN
hjic-99	225	26	,	,	PUNCT
hjic-99	225	27	eng	eng	PROPN
hjic-99	225	28	.	.	PROPN
hjic-99	225	29	appl	appl	PROPN
hjic-99	225	30	.	.	PROPN
hjic-99	225	31	of	of	ADP
hjic-99	225	32	artificial	artificial	ADJ
hjic-99	225	33	intelligence	intelligence	NOUN
hjic-99	225	34	,	,	PUNCT
hjic-99	225	35	2005	2005	NUM
hjic-99	225	36	,	,	PUNCT
hjic-99	225	37	18	18	NUM
hjic-99	225	38	,	,	PUNCT
hjic-99	225	39	343	343	NUM
hjic-99	225	40	-	-	SYM
hjic-99	225	41	351	351	NUM
hjic-99	225	42	.	.	PUNCT
hjic-99	226	1	7	7	X
hjic-99	226	2	.	.	X
hjic-99	226	3	szeifert	szeifert	PROPN
hjic-99	226	4	,	,	PUNCT
hjic-99	226	5	f.	f.	PROPN
hjic-99	226	6	,	,	PUNCT
hjic-99	226	7	nagy	nagy	PROPN
hjic-99	226	8	,	,	PUNCT
hjic-99	226	9	l.	l.	PROPN
hjic-99	226	10	,	,	PUNCT
hjic-99	226	11	chován	chován	PROPN
hjic-99	226	12	,	,	PUNCT
hjic-99	226	13	t.	t.	PROPN
hjic-99	226	14	,	,	PUNCT
hjic-99	226	15	abonyi	abonyi	PROPN
hjic-99	226	16	,	,	PUNCT
hjic-99	226	17	j.	j.	PROPN
hjic-99	226	18	:	:	PUNCT
hjic-99	226	19	constrained	constrained	ADJ
hjic-99	226	20	inverse	inverse	NOUN
hjic-99	226	21	model	model	NOUN
hjic-99	226	22	-	-	PUNCT
hjic-99	226	23	based	base	VERB
hjic-99	226	24	control	control	NOUN
hjic-99	226	25	(	(	PUNCT
hjic-99	226	26	in	in	ADP
hjic-99	226	27	preparation	preparation	NOUN
hjic-99	226	28	)	)	PUNCT
hjic-99	226	29	.	.	PUNCT
hjic-99	227	1	8	8	X
hjic-99	227	2	.	.	PUNCT
hjic-99	227	3	bódizs	bódizs	PROPN
hjic-99	227	4	á	á	PROPN
hjic-99	227	5	.	.	PROPN
hjic-99	227	6	,	,	PUNCT
hjic-99	227	7	szeifert	szeifert	PROPN
hjic-99	227	8	f.	f.	PROPN
hjic-99	227	9	,	,	PUNCT
hjic-99	227	10	chován	chován	PROPN
hjic-99	227	11	t.	t.	PROPN
hjic-99	227	12	:	:	PUNCT
hjic-99	227	13	convolution	convolution	NOUN
hjic-99	227	14	model	model	NOUN
hjic-99	227	15	based	base	VERB
hjic-99	227	16	predictive	predictive	ADJ
hjic-99	227	17	controller	controller	NOUN
hjic-99	227	18	for	for	ADP
hjic-99	227	19	nonlinear	nonlinear	ADJ
hjic-99	227	20	process	process	NOUN
hjic-99	227	21	,	,	PUNCT
hjic-99	227	22	ind	ind	PROPN
hjic-99	227	23	.	.	PUNCT
hjic-99	228	1	eng	eng	PROPN
hjic-99	228	2	.	.	PROPN
hjic-99	228	3	chem	chem	PROPN
hjic-99	228	4	.	.	PUNCT
hjic-99	229	1	res	re	NOUN
hjic-99	229	2	.	.	PROPN
hjic-99	229	3	,	,	PUNCT
hjic-99	229	4	1999	1999	NUM
hjic-99	229	5	,	,	PUNCT
hjic-99	229	6	38	38	NUM
hjic-99	229	7	,	,	PUNCT
hjic-99	229	8	154	154	NUM
hjic-99	229	9	-	-	SYM
hjic-99	229	10	161	161	NUM
hjic-99	229	11	.	.	PUNCT