id	sid	tid	token	lemma	pos
6w924b3189j	1	1	an	an	DET
6w924b3189j	1	2	optimal	optimal	ADJ
6w924b3189j	1	3	k	k	X
6w924b3189j	1	4	-	-	PUNCT
6w924b3189j	1	5	cost	cost	NOUN
6w924b3189j	1	6	-	-	PUNCT
6w924b3189j	1	7	cumulant	cumulant	ADJ
6w924b3189j	1	8	(	(	PUNCT
6w924b3189j	1	9	kcc	kcc	PROPN
6w924b3189j	1	10	)	)	PUNCT
6w924b3189j	1	11	control	control	NOUN
6w924b3189j	1	12	problem	problem	NOUN
6w924b3189j	1	13	is	be	AUX
6w924b3189j	1	14	formulated	formulate	VERB
6w924b3189j	1	15	,	,	PUNCT
6w924b3189j	1	16	in	in	ADP
6w924b3189j	1	17	which	which	PRON
6w924b3189j	1	18	the	the	DET
6w924b3189j	1	19	objective	objective	NOUN
6w924b3189j	1	20	is	be	AUX
6w924b3189j	1	21	minimization	minimization	NOUN
6w924b3189j	1	22	of	of	ADP
6w924b3189j	1	23	a	a	DET
6w924b3189j	1	24	finite	finite	ADJ
6w924b3189j	1	25	linear	linear	ADJ
6w924b3189j	1	26	combination	combination	NOUN
6w924b3189j	1	27	of	of	ADP
6w924b3189j	1	28	the	the	DET
6w924b3189j	1	29	first	first	ADJ
6w924b3189j	1	30	k	k	PROPN
6w924b3189j	1	31	cost	cost	NOUN
6w924b3189j	1	32	cumulants	cumulant	NOUN
6w924b3189j	1	33	of	of	ADP
6w924b3189j	1	34	a	a	DET
6w924b3189j	1	35	finite	finite	ADJ
6w924b3189j	1	36	-	-	PUNCT
6w924b3189j	1	37	horizon	horizon	NOUN
6w924b3189j	1	38	integral	integral	ADJ
6w924b3189j	1	39	quadratic	quadratic	ADJ
6w924b3189j	1	40	cost	cost	NOUN
6w924b3189j	1	41	associated	associate	VERB
6w924b3189j	1	42	with	with	ADP
6w924b3189j	1	43	a	a	DET
6w924b3189j	1	44	linear	linear	ADJ
6w924b3189j	1	45	stochastic	stochastic	ADJ
6w924b3189j	1	46	system	system	NOUN
6w924b3189j	1	47	,	,	PUNCT
6w924b3189j	1	48	when	when	SCONJ
6w924b3189j	1	49	the	the	DET
6w924b3189j	1	50	controller	controller	NOUN
6w924b3189j	1	51	measures	measure	VERB
6w924b3189j	1	52	the	the	DET
6w924b3189j	1	53	states	state	NOUN
6w924b3189j	1	54	.	.	PUNCT
6w924b3189j	2	1	this	this	DET
6w924b3189j	2	2	problem	problem	NOUN
6w924b3189j	2	3	not	not	PART
6w924b3189j	2	4	only	only	ADV
6w924b3189j	2	5	defines	define	VERB
6w924b3189j	2	6	a	a	DET
6w924b3189j	2	7	very	very	ADV
6w924b3189j	2	8	general	general	ADJ
6w924b3189j	2	9	linear	linear	ADJ
6w924b3189j	2	10	-	-	PUNCT
6w924b3189j	2	11	quadratic	quadratic	ADJ
6w924b3189j	2	12	gaussian	gaussian	ADJ
6w924b3189j	2	13	problem	problem	NOUN
6w924b3189j	2	14	class	class	NOUN
6w924b3189j	2	15	,	,	PUNCT
6w924b3189j	2	16	but	but	CCONJ
6w924b3189j	2	17	also	also	ADV
6w924b3189j	2	18	may	may	AUX
6w924b3189j	2	19	be	be	AUX
6w924b3189j	2	20	seen	see	VERB
6w924b3189j	2	21	as	as	ADP
6w924b3189j	2	22	an	an	DET
6w924b3189j	2	23	approximation	approximation	NOUN
6w924b3189j	2	24	in	in	ADP
6w924b3189j	2	25	some	some	DET
6w924b3189j	2	26	sense	sense	NOUN
6w924b3189j	2	27	to	to	ADP
6w924b3189j	2	28	the	the	DET
6w924b3189j	2	29	theory	theory	NOUN
6w924b3189j	2	30	of	of	ADP
6w924b3189j	2	31	risk	risk	NOUN
6w924b3189j	2	32	sensitive	sensitive	ADJ
6w924b3189j	2	33	control	control	NOUN
6w924b3189j	2	34	.	.	PUNCT
6w924b3189j	3	1	the	the	DET
6w924b3189j	3	2	solution	solution	NOUN
6w924b3189j	3	3	is	be	AUX
6w924b3189j	3	4	obtained	obtain	VERB
6w924b3189j	3	5	by	by	ADP
6w924b3189j	3	6	a	a	DET
6w924b3189j	3	7	more	more	ADV
6w924b3189j	3	8	direct	direct	ADJ
6w924b3189j	3	9	dynamic	dynamic	ADJ
6w924b3189j	3	10	programming	programming	NOUN
6w924b3189j	3	11	approach	approach	NOUN
6w924b3189j	3	12	to	to	ADP
6w924b3189j	3	13	the	the	DET
6w924b3189j	3	14	kcc	kcc	PROPN
6w924b3189j	3	15	initial	initial	ADJ
6w924b3189j	3	16	-	-	PUNCT
6w924b3189j	3	17	cost	cost	NOUN
6w924b3189j	3	18	problem	problem	NOUN
6w924b3189j	3	19	.	.	PUNCT
6w924b3189j	4	1	moreover	moreover	ADV
6w924b3189j	4	2	,	,	PUNCT
6w924b3189j	4	3	the	the	DET
6w924b3189j	4	4	research	research	NOUN
6w924b3189j	4	5	continues	continue	VERB
6w924b3189j	4	6	with	with	ADP
6w924b3189j	4	7	a	a	DET
6w924b3189j	4	8	development	development	NOUN
6w924b3189j	4	9	of	of	ADP
6w924b3189j	4	10	cost	cost	NOUN
6w924b3189j	4	11	cumulants	cumulant	NOUN
6w924b3189j	4	12	per	per	ADP
6w924b3189j	4	13	unit	unit	NOUN
6w924b3189j	4	14	time	time	NOUN
6w924b3189j	4	15	in	in	ADP
6w924b3189j	4	16	infinite	infinite	PROPN
6w924b3189j	4	17	horizon	horizon	PROPN
6w924b3189j	4	18	control	control	NOUN
6w924b3189j	4	19	for	for	ADP
6w924b3189j	4	20	the	the	DET
6w924b3189j	4	21	state	state	NOUN
6w924b3189j	4	22	-	-	PUNCT
6w924b3189j	4	23	feedback	feedback	NOUN
6w924b3189j	4	24	kcc	kcc	PROPN
6w924b3189j	4	25	problem	problem	NOUN
6w924b3189j	4	26	.	.	PUNCT
6w924b3189j	5	1	a	a	DET
6w924b3189j	5	2	constant	constant	ADJ
6w924b3189j	5	3	controller	controller	NOUN
6w924b3189j	5	4	is	be	AUX
6w924b3189j	5	5	obtained	obtain	VERB
6w924b3189j	5	6	by	by	ADP
6w924b3189j	5	7	using	use	VERB
6w924b3189j	5	8	a	a	DET
6w924b3189j	5	9	lagrange	lagrange	ADJ
6w924b3189j	5	10	multiplier	multipli	ADJ
6w924b3189j	5	11	technique	technique	NOUN
6w924b3189j	5	12	.	.	PUNCT
6w924b3189j	6	1	the	the	DET
6w924b3189j	6	2	performance	performance	NOUN
6w924b3189j	6	3	and	and	CCONJ
6w924b3189j	6	4	stability	stability	NOUN
6w924b3189j	6	5	properties	property	NOUN
6w924b3189j	6	6	of	of	ADP
6w924b3189j	6	7	kcc	kcc	PROPN
6w924b3189j	6	8	controllers	controller	NOUN
6w924b3189j	6	9	are	be	AUX
6w924b3189j	6	10	discussed	discuss	VERB
6w924b3189j	6	11	at	at	ADP
6w924b3189j	6	12	length	length	NOUN
6w924b3189j	6	13	.	.	PUNCT
6w924b3189j	7	1	a	a	DET
6w924b3189j	7	2	theory	theory	NOUN
6w924b3189j	7	3	of	of	ADP
6w924b3189j	7	4	output	output	NOUN
6w924b3189j	7	5	feedback	feedback	NOUN
6w924b3189j	7	6	for	for	ADP
6w924b3189j	7	7	the	the	DET
6w924b3189j	7	8	linear	linear	ADJ
6w924b3189j	7	9	-	-	PUNCT
6w924b3189j	7	10	quadratic	quadratic	ADJ
6w924b3189j	7	11	kcc	kcc	PROPN
6w924b3189j	7	12	problem	problem	NOUN
6w924b3189j	7	13	class	class	NOUN
6w924b3189j	7	14	is	be	AUX
6w924b3189j	7	15	also	also	ADV
6w924b3189j	7	16	developed	develop	VERB
6w924b3189j	7	17	.	.	PUNCT
6w924b3189j	8	1	under	under	ADP
6w924b3189j	8	2	linearity	linearity	NOUN
6w924b3189j	8	3	and	and	CCONJ
6w924b3189j	8	4	gaussian	gaussian	ADJ
6w924b3189j	8	5	assumptions	assumption	NOUN
6w924b3189j	8	6	,	,	PUNCT
6w924b3189j	8	7	it	it	PRON
6w924b3189j	8	8	is	be	AUX
6w924b3189j	8	9	reasonable	reasonable	ADJ
6w924b3189j	8	10	to	to	PART
6w924b3189j	8	11	conclude	conclude	VERB
6w924b3189j	8	12	that	that	SCONJ
6w924b3189j	8	13	kalman	kalman	NOUN
6w924b3189j	8	14	-	-	PUNCT
6w924b3189j	8	15	state	state	NOUN
6w924b3189j	8	16	estimates	estimate	NOUN
6w924b3189j	8	17	contain	contain	VERB
6w924b3189j	8	18	all	all	DET
6w924b3189j	8	19	statistical	statistical	ADJ
6w924b3189j	8	20	information	information	NOUN
6w924b3189j	8	21	.	.	PUNCT
6w924b3189j	9	1	henceforth	henceforth	ADV
6w924b3189j	9	2	,	,	PUNCT
6w924b3189j	9	3	the	the	DET
6w924b3189j	9	4	finite	finite	NOUN
6w924b3189j	9	5	-	-	PUNCT
6w924b3189j	9	6	horizon	horizon	NOUN
6w924b3189j	9	7	kcc	kcc	PROPN
6w924b3189j	9	8	control	control	PROPN
6w924b3189j	9	9	problem	problem	NOUN
6w924b3189j	9	10	with	with	ADP
6w924b3189j	9	11	kalman	kalman	NOUN
6w924b3189j	9	12	state	state	NOUN
6w924b3189j	9	13	-	-	PUNCT
6w924b3189j	9	14	estimate	estimate	NOUN
6w924b3189j	9	15	feedback	feedback	NOUN
6w924b3189j	9	16	laws	law	NOUN
6w924b3189j	9	17	is	be	AUX
6w924b3189j	9	18	formulated	formulate	VERB
6w924b3189j	9	19	.	.	PUNCT
6w924b3189j	10	1	solutions	solution	NOUN
6w924b3189j	10	2	to	to	ADP
6w924b3189j	10	3	the	the	DET
6w924b3189j	10	4	output	output	NOUN
6w924b3189j	10	5	-	-	PUNCT
6w924b3189j	10	6	feedback	feedback	NOUN
6w924b3189j	10	7	kcc	kcc	PROPN
6w924b3189j	10	8	control	control	NOUN
6w924b3189j	10	9	problem	problem	NOUN
6w924b3189j	10	10	having	have	VERB
6w924b3189j	10	11	both	both	CCONJ
6w924b3189j	10	12	standard	standard	ADJ
6w924b3189j	10	13	and	and	CCONJ
6w924b3189j	10	14	generalized	generalized	ADJ
6w924b3189j	10	15	finite	finite	ADJ
6w924b3189j	10	16	-	-	PUNCT
6w924b3189j	10	17	horizon	horizon	NOUN
6w924b3189j	10	18	integral	integral	ADJ
6w924b3189j	10	19	quadratic	quadratic	ADJ
6w924b3189j	10	20	costs	cost	NOUN
6w924b3189j	10	21	are	be	AUX
6w924b3189j	10	22	then	then	ADV
6w924b3189j	10	23	obtained	obtain	VERB
6w924b3189j	10	24	by	by	ADP
6w924b3189j	10	25	adapting	adapt	VERB
6w924b3189j	10	26	a	a	DET
6w924b3189j	10	27	dynamic	dynamic	ADJ
6w924b3189j	10	28	programming	programming	NOUN
6w924b3189j	10	29	technique	technique	NOUN
6w924b3189j	10	30	.	.	PUNCT
6w924b3189j	11	1	furthermore	furthermore	ADV
6w924b3189j	11	2	,	,	PUNCT
6w924b3189j	11	3	constant	constant	ADJ
6w924b3189j	11	4	controllers	controller	NOUN
6w924b3189j	11	5	measuring	measure	VERB
6w924b3189j	11	6	kalman	kalman	NOUN
6w924b3189j	11	7	state	state	NOUN
6w924b3189j	11	8	-	-	PUNCT
6w924b3189j	11	9	estimates	estimate	NOUN
6w924b3189j	11	10	for	for	ADP
6w924b3189j	11	11	the	the	DET
6w924b3189j	11	12	output	output	NOUN
6w924b3189j	11	13	-	-	PUNCT
6w924b3189j	11	14	feedback	feedback	NOUN
6w924b3189j	11	15	kcc	kcc	PROPN
6w924b3189j	11	16	problem	problem	NOUN
6w924b3189j	11	17	in	in	ADP
6w924b3189j	11	18	infinite	infinite	PROPN
6w924b3189j	11	19	horizon	horizon	PROPN
6w924b3189j	11	20	control	control	NOUN
6w924b3189j	11	21	are	be	AUX
6w924b3189j	11	22	also	also	ADV
6w924b3189j	11	23	derived	derive	VERB
6w924b3189j	11	24	by	by	ADP
6w924b3189j	11	25	a	a	DET
6w924b3189j	11	26	lagrange	lagrange	NOUN
6w924b3189j	11	27	multiplier	multipli	ADJ
6w924b3189j	11	28	theory	theory	NOUN
6w924b3189j	11	29	.	.	PUNCT
6w924b3189j	12	1	some	some	DET
6w924b3189j	12	2	kcc	kcc	PROPN
6w924b3189j	12	3	control	control	NOUN
6w924b3189j	12	4	strategies	strategy	NOUN
6w924b3189j	12	5	having	have	VERB
6w924b3189j	12	6	perfect	perfect	ADJ
6w924b3189j	12	7	state	state	NOUN
6w924b3189j	12	8	measurements	measurement	NOUN
6w924b3189j	12	9	for	for	ADP
6w924b3189j	12	10	linear	linear	ADJ
6w924b3189j	12	11	stochastic	stochastic	ADJ
6w924b3189j	12	12	differential	differential	ADJ
6w924b3189j	12	13	games	game	NOUN
6w924b3189j	12	14	and	and	CCONJ
6w924b3189j	12	15	the	the	DET
6w924b3189j	12	16	worst	bad	ADJ
6w924b3189j	12	17	-	-	PUNCT
6w924b3189j	12	18	case	case	NOUN
6w924b3189j	12	19	model	model	NOUN
6w924b3189j	12	20	scenarios	scenario	NOUN
6w924b3189j	12	21	are	be	AUX
6w924b3189j	12	22	subsequently	subsequently	ADV
6w924b3189j	12	23	proposed	propose	VERB
6w924b3189j	12	24	.	.	PUNCT
6w924b3189j	13	1	performance	performance	NOUN
6w924b3189j	13	2	sensitivity	sensitivity	NOUN
6w924b3189j	13	3	with	with	ADP
6w924b3189j	13	4	respect	respect	NOUN
6w924b3189j	13	5	to	to	ADP
6w924b3189j	13	6	system	system	NOUN
6w924b3189j	13	7	parameter	parameter	NOUN
6w924b3189j	13	8	variations	variation	NOUN
6w924b3189j	13	9	of	of	ADP
6w924b3189j	13	10	optimal	optimal	ADJ
6w924b3189j	13	11	kcc	kcc	PROPN
6w924b3189j	13	12	systems	system	NOUN
6w924b3189j	13	13	over	over	ADP
6w924b3189j	13	14	finite	finite	NOUN
6w924b3189j	13	15	horizon	horizon	NOUN
6w924b3189j	13	16	is	be	AUX
6w924b3189j	13	17	examined	examine	VERB
6w924b3189j	13	18	as	as	ADV
6w924b3189j	13	19	well	well	ADV
6w924b3189j	13	20	.	.	PUNCT
6w924b3189j	14	1	the	the	DET
6w924b3189j	14	2	research	research	NOUN
6w924b3189j	14	3	finally	finally	ADV
6w924b3189j	14	4	extends	extend	VERB
6w924b3189j	14	5	the	the	DET
6w924b3189j	14	6	findings	finding	NOUN
6w924b3189j	14	7	to	to	ADP
6w924b3189j	14	8	a	a	DET
6w924b3189j	14	9	class	class	NOUN
6w924b3189j	14	10	of	of	ADP
6w924b3189j	14	11	uncertain	uncertain	ADJ
6w924b3189j	14	12	linear	linear	ADJ
6w924b3189j	14	13	systems	system	NOUN
6w924b3189j	14	14	and	and	CCONJ
6w924b3189j	14	15	problems	problem	NOUN
6w924b3189j	14	16	of	of	ADP
6w924b3189j	14	17	tracking	tracking	NOUN
6w924b3189j	14	18	,	,	PUNCT
6w924b3189j	14	19	servo	servo	NOUN
6w924b3189j	14	20	,	,	PUNCT
6w924b3189j	14	21	and	and	CCONJ
6w924b3189j	14	22	model	model	NOUN
6w924b3189j	14	23	-	-	PUNCT
6w924b3189j	14	24	following	following	NOUN
6w924b3189j	14	25	.	.	PUNCT
6w924b3189j	15	1	the	the	DET
6w924b3189j	15	2	use	use	NOUN
6w924b3189j	15	3	of	of	ADP
6w924b3189j	15	4	these	these	DET
6w924b3189j	15	5	statistical	statistical	ADJ
6w924b3189j	15	6	control	control	NOUN
6w924b3189j	15	7	paradigms	paradigm	NOUN
6w924b3189j	15	8	in	in	ADP
6w924b3189j	15	9	the	the	DET
6w924b3189j	15	10	american	american	ADJ
6w924b3189j	15	11	society	society	NOUN
6w924b3189j	15	12	of	of	ADP
6w924b3189j	15	13	civil	civil	ADJ
6w924b3189j	15	14	engineers	engineer	NOUN
6w924b3189j	15	15	first	first	ADV
6w924b3189j	15	16	,	,	PUNCT
6w924b3189j	15	17	second	second	ADJ
6w924b3189j	15	18	and	and	CCONJ
6w924b3189j	15	19	third	third	ADJ
6w924b3189j	15	20	generation	generation	NOUN
6w924b3189j	15	21	benchmarks	benchmark	NOUN
6w924b3189j	15	22	for	for	ADP
6w924b3189j	15	23	response	response	NOUN
6w924b3189j	15	24	control	control	NOUN
6w924b3189j	15	25	of	of	ADP
6w924b3189j	15	26	buildings	building	NOUN
6w924b3189j	15	27	and	and	CCONJ
6w924b3189j	15	28	cable	cable	NOUN
6w924b3189j	15	29	-	-	PUNCT
6w924b3189j	15	30	stayed	stay	VERB
6w924b3189j	15	31	bridges	bridge	NOUN
6w924b3189j	15	32	is	be	AUX
6w924b3189j	15	33	successfully	successfully	ADV
6w924b3189j	15	34	illustrated	illustrate	VERB
6w924b3189j	15	35	.	.	PUNCT
6w924b3189j	16	1	simulation	simulation	NOUN
6w924b3189j	16	2	results	result	NOUN
6w924b3189j	16	3	indicate	indicate	VERB
6w924b3189j	16	4	that	that	SCONJ
6w924b3189j	16	5	kcc	kcc	ADJ
6w924b3189j	16	6	controller	controller	NOUN
6w924b3189j	16	7	designs	design	NOUN
6w924b3189j	16	8	offer	offer	VERB
6w924b3189j	16	9	both	both	CCONJ
6w924b3189j	16	10	robust	robust	ADJ
6w924b3189j	16	11	performance	performance	NOUN
6w924b3189j	16	12	and	and	CCONJ
6w924b3189j	16	13	stability	stability	NOUN
6w924b3189j	16	14	improvements	improvement	NOUN
6w924b3189j	16	15	for	for	ADP
6w924b3189j	16	16	structural	structural	ADJ
6w924b3189j	16	17	vibration	vibration	NOUN
6w924b3189j	16	18	suppression	suppression	NOUN
6w924b3189j	16	19	.	.	PUNCT