id	sid	tid	token	lemma	pos
h415p843p2c	1	1	this	this	DET
h415p843p2c	1	2	dissertation	dissertation	NOUN
h415p843p2c	1	3	studies	study	VERB
h415p843p2c	1	4	the	the	DET
h415p843p2c	1	5	concept	concept	NOUN
h415p843p2c	1	6	of	of	ADP
h415p843p2c	1	7	dissipativity	dissipativity	NOUN
h415p843p2c	1	8	and	and	CCONJ
h415p843p2c	1	9	passivity	passivity	NOUN
h415p843p2c	1	10	,	,	PUNCT
h415p843p2c	1	11	in	in	ADP
h415p843p2c	1	12	theory	theory	NOUN
h415p843p2c	1	13	,	,	PUNCT
h415p843p2c	1	14	in	in	ADP
h415p843p2c	1	15	practice	practice	NOUN
h415p843p2c	1	16	,	,	PUNCT
h415p843p2c	1	17	and	and	CCONJ
h415p843p2c	1	18	in	in	ADP
h415p843p2c	1	19	design	design	NOUN
h415p843p2c	1	20	of	of	ADP
h415p843p2c	1	21	control	control	NOUN
h415p843p2c	1	22	systems	system	NOUN
h415p843p2c	1	23	.	.	PUNCT
h415p843p2c	2	1	to	to	ADP
h415p843p2c	2	2	this	this	DET
h415p843p2c	2	3	end	end	NOUN
h415p843p2c	2	4	,	,	PUNCT
h415p843p2c	2	5	the	the	DET
h415p843p2c	2	6	passivity	passivity	NOUN
h415p843p2c	2	7	-	-	PUNCT
h415p843p2c	2	8	based	base	VERB
h415p843p2c	2	9	approach	approach	NOUN
h415p843p2c	2	10	is	be	AUX
h415p843p2c	2	11	applied	apply	VERB
h415p843p2c	2	12	to	to	ADP
h415p843p2c	2	13	the	the	DET
h415p843p2c	2	14	control	control	NOUN
h415p843p2c	2	15	of	of	ADP
h415p843p2c	2	16	various	various	ADJ
h415p843p2c	2	17	types	type	NOUN
h415p843p2c	2	18	of	of	ADP
h415p843p2c	2	19	challenging	challenge	VERB
h415p843p2c	2	20	problems	problem	NOUN
h415p843p2c	2	21	in	in	ADP
h415p843p2c	2	22	control	control	NOUN
h415p843p2c	2	23	systems	system	NOUN
h415p843p2c	2	24	such	such	ADJ
h415p843p2c	2	25	as	as	ADP
h415p843p2c	2	26	symmetric	symmetric	ADJ
h415p843p2c	2	27	systems	system	NOUN
h415p843p2c	2	28	,	,	PUNCT
h415p843p2c	2	29	switched	switch	VERB
h415p843p2c	2	30	systems	system	NOUN
h415p843p2c	2	31	,	,	PUNCT
h415p843p2c	2	32	and	and	CCONJ
h415p843p2c	2	33	the	the	DET
h415p843p2c	2	34	automatic	automatic	ADJ
h415p843p2c	2	35	cycle	cycle	NOUN
h415p843p2c	2	36	-	-	PUNCT
h415p843p2c	2	37	rider	rider	NOUN
h415p843p2c	2	38	systems	system	NOUN
h415p843p2c	2	39	.	.	PUNCT
h415p843p2c	3	1	dissipativity	dissipativity	NOUN
h415p843p2c	3	2	/	/	SYM
h415p843p2c	3	3	passivity	passivity	NOUN
h415p843p2c	3	4	-	-	PUNCT
h415p843p2c	3	5	based	base	VERB
h415p843p2c	3	6	control	control	NOUN
h415p843p2c	3	7	approaches	approach	NOUN
h415p843p2c	3	8	,	,	PUNCT
h415p843p2c	3	9	referred	refer	VERB
h415p843p2c	3	10	to	to	ADP
h415p843p2c	3	11	as	as	ADP
h415p843p2c	3	12	energy	energy	NOUN
h415p843p2c	3	13	-	-	PUNCT
h415p843p2c	3	14	based	base	VERB
h415p843p2c	3	15	control	control	NOUN
h415p843p2c	3	16	approaches	approach	NOUN
h415p843p2c	3	17	,	,	PUNCT
h415p843p2c	3	18	play	play	VERB
h415p843p2c	3	19	an	an	DET
h415p843p2c	3	20	important	important	ADJ
h415p843p2c	3	21	role	role	NOUN
h415p843p2c	3	22	in	in	ADP
h415p843p2c	3	23	the	the	DET
h415p843p2c	3	24	analysis	analysis	NOUN
h415p843p2c	3	25	and	and	CCONJ
h415p843p2c	3	26	synthesis	synthesis	NOUN
h415p843p2c	3	27	of	of	ADP
h415p843p2c	3	28	dynamical	dynamical	ADJ
h415p843p2c	3	29	control	control	NOUN
h415p843p2c	3	30	systems	system	NOUN
h415p843p2c	3	31	.	.	PUNCT
h415p843p2c	4	1	in	in	ADP
h415p843p2c	4	2	these	these	DET
h415p843p2c	4	3	approaches	approach	NOUN
h415p843p2c	4	4	,	,	PUNCT
h415p843p2c	4	5	the	the	DET
h415p843p2c	4	6	manner	manner	NOUN
h415p843p2c	4	7	of	of	ADP
h415p843p2c	4	8	energy	energy	NOUN
h415p843p2c	4	9	exchange	exchange	NOUN
h415p843p2c	4	10	between	between	ADP
h415p843p2c	4	11	different	different	ADJ
h415p843p2c	4	12	components	component	NOUN
h415p843p2c	4	13	of	of	ADP
h415p843p2c	4	14	the	the	DET
h415p843p2c	4	15	system	system	NOUN
h415p843p2c	4	16	is	be	AUX
h415p843p2c	4	17	analyzed	analyze	VERB
h415p843p2c	4	18	.	.	PUNCT
h415p843p2c	5	1	in	in	ADP
h415p843p2c	5	2	addition	addition	NOUN
h415p843p2c	5	3	to	to	ADP
h415p843p2c	5	4	the	the	DET
h415p843p2c	5	5	direct	direct	ADJ
h415p843p2c	5	6	connection	connection	NOUN
h415p843p2c	5	7	of	of	ADP
h415p843p2c	5	8	the	the	DET
h415p843p2c	5	9	passivity	passivity	NOUN
h415p843p2c	5	10	and	and	CCONJ
h415p843p2c	5	11	stability	stability	NOUN
h415p843p2c	5	12	concepts	concept	NOUN
h415p843p2c	5	13	,	,	PUNCT
h415p843p2c	5	14	the	the	DET
h415p843p2c	5	15	passivity	passivity	NOUN
h415p843p2c	5	16	and	and	CCONJ
h415p843p2c	5	17	dissipativity	dissipativity	NOUN
h415p843p2c	5	18	-	-	PUNCT
h415p843p2c	5	19	based	base	VERB
h415p843p2c	5	20	approaches	approach	NOUN
h415p843p2c	5	21	provide	provide	VERB
h415p843p2c	5	22	numerous	numerous	ADJ
h415p843p2c	5	23	advantages	advantage	NOUN
h415p843p2c	5	24	including	include	VERB
h415p843p2c	5	25	conserved	conserved	ADJ
h415p843p2c	5	26	passivity	passivity	NOUN
h415p843p2c	5	27	of	of	ADP
h415p843p2c	5	28	interconnected	interconnect	VERB
h415p843p2c	5	29	systems	system	NOUN
h415p843p2c	5	30	and	and	CCONJ
h415p843p2c	5	31	guaranteed	guarantee	VERB
h415p843p2c	5	32	stability	stability	NOUN
h415p843p2c	5	33	of	of	ADP
h415p843p2c	5	34	closed	closed	ADJ
h415p843p2c	5	35	loop	loop	NOUN
h415p843p2c	5	36	systems	system	NOUN
h415p843p2c	5	37	.	.	PUNCT
h415p843p2c	6	1	this	this	DET
h415p843p2c	6	2	dissertation	dissertation	NOUN
h415p843p2c	6	3	contains	contain	VERB
h415p843p2c	6	4	three	three	NUM
h415p843p2c	6	5	major	major	ADJ
h415p843p2c	6	6	topics	topic	NOUN
h415p843p2c	6	7	all	all	PRON
h415p843p2c	6	8	linked	link	VERB
h415p843p2c	6	9	to	to	ADP
h415p843p2c	6	10	the	the	DET
h415p843p2c	6	11	dissipativity	dissipativity	NOUN
h415p843p2c	6	12	/	/	SYM
h415p843p2c	6	13	passivity	passivity	NOUN
h415p843p2c	6	14	concept	concept	NOUN
h415p843p2c	6	15	.	.	PUNCT
h415p843p2c	7	1	the	the	DET
h415p843p2c	7	2	stability	stability	NOUN
h415p843p2c	7	3	and	and	CCONJ
h415p843p2c	7	4	dissipativity	dissipativity	NOUN
h415p843p2c	7	5	of	of	ADP
h415p843p2c	7	6	multi	multi	ADJ
h415p843p2c	7	7	-	-	ADJ
h415p843p2c	7	8	agent	agent	ADJ
h415p843p2c	7	9	systems	system	NOUN
h415p843p2c	7	10	connected	connect	VERB
h415p843p2c	7	11	in	in	ADP
h415p843p2c	7	12	different	different	ADJ
h415p843p2c	7	13	symmetry	symmetry	NOUN
h415p843p2c	7	14	configurations	configuration	NOUN
h415p843p2c	7	15	are	be	AUX
h415p843p2c	7	16	studied	study	VERB
h415p843p2c	7	17	from	from	ADP
h415p843p2c	7	18	a	a	DET
h415p843p2c	7	19	theoretical	theoretical	ADJ
h415p843p2c	7	20	point	point	NOUN
h415p843p2c	7	21	of	of	ADP
h415p843p2c	7	22	view	view	NOUN
h415p843p2c	7	23	.	.	PUNCT
h415p843p2c	8	1	the	the	DET
h415p843p2c	8	2	concept	concept	NOUN
h415p843p2c	8	3	of	of	ADP
h415p843p2c	8	4	symmetry	symmetry	NOUN
h415p843p2c	8	5	is	be	AUX
h415p843p2c	8	6	employed	employ	VERB
h415p843p2c	8	7	as	as	ADP
h415p843p2c	8	8	a	a	DET
h415p843p2c	8	9	powerful	powerful	ADJ
h415p843p2c	8	10	tool	tool	NOUN
h415p843p2c	8	11	to	to	PART
h415p843p2c	8	12	overcome	overcome	VERB
h415p843p2c	8	13	the	the	DET
h415p843p2c	8	14	complexity	complexity	NOUN
h415p843p2c	8	15	of	of	ADP
h415p843p2c	8	16	multi	multi	ADJ
h415p843p2c	8	17	-	-	ADJ
h415p843p2c	8	18	agent	agent	ADJ
h415p843p2c	8	19	systems	system	NOUN
h415p843p2c	8	20	by	by	ADP
h415p843p2c	8	21	reducing	reduce	VERB
h415p843p2c	8	22	the	the	DET
h415p843p2c	8	23	number	number	NOUN
h415p843p2c	8	24	of	of	ADP
h415p843p2c	8	25	multiple	multiple	ADJ
h415p843p2c	8	26	interconnections	interconnection	NOUN
h415p843p2c	8	27	.	.	PUNCT
h415p843p2c	9	1	both	both	PRON
h415p843p2c	9	2	,	,	PUNCT
h415p843p2c	9	3	stability	stability	NOUN
h415p843p2c	9	4	conditions	condition	NOUN
h415p843p2c	9	5	and	and	CCONJ
h415p843p2c	9	6	passivity	passivity	NOUN
h415p843p2c	9	7	properties	property	NOUN
h415p843p2c	9	8	of	of	ADP
h415p843p2c	9	9	cyclic	cyclic	NOUN
h415p843p2c	9	10	and	and	CCONJ
h415p843p2c	9	11	star	star	NOUN
h415p843p2c	9	12	-	-	PUNCT
h415p843p2c	9	13	shaped	shape	VERB
h415p843p2c	9	14	symmetric	symmetric	ADJ
h415p843p2c	9	15	systems	system	NOUN
h415p843p2c	9	16	are	be	AUX
h415p843p2c	9	17	explored	explore	VERB
h415p843p2c	9	18	.	.	PUNCT
h415p843p2c	10	1	in	in	ADP
h415p843p2c	10	2	addition	addition	NOUN
h415p843p2c	10	3	,	,	PUNCT
h415p843p2c	10	4	we	we	PRON
h415p843p2c	10	5	employ	employ	VERB
h415p843p2c	10	6	energy	energy	NOUN
h415p843p2c	10	7	-	-	PUNCT
h415p843p2c	10	8	based	base	VERB
h415p843p2c	10	9	approaches	approach	NOUN
h415p843p2c	10	10	using	use	VERB
h415p843p2c	10	11	an	an	DET
h415p843p2c	10	12	enhanced	enhanced	ADJ
h415p843p2c	10	13	passivation	passivation	NOUN
h415p843p2c	10	14	method	method	NOUN
h415p843p2c	10	15	in	in	ADP
h415p843p2c	10	16	the	the	DET
h415p843p2c	10	17	design	design	NOUN
h415p843p2c	10	18	of	of	ADP
h415p843p2c	10	19	switched	switch	VERB
h415p843p2c	10	20	controllers	controller	NOUN
h415p843p2c	10	21	to	to	PART
h415p843p2c	10	22	circumvent	circumvent	VERB
h415p843p2c	10	23	the	the	DET
h415p843p2c	10	24	challenges	challenge	NOUN
h415p843p2c	10	25	of	of	ADP
h415p843p2c	10	26	traditional	traditional	ADJ
h415p843p2c	10	27	methods	method	NOUN
h415p843p2c	10	28	.	.	PUNCT
h415p843p2c	11	1	moreover	moreover	ADV
h415p843p2c	11	2	,	,	PUNCT
h415p843p2c	11	3	to	to	PART
h415p843p2c	11	4	guarantee	guarantee	VERB
h415p843p2c	11	5	the	the	DET
h415p843p2c	11	6	desirable	desirable	ADJ
h415p843p2c	11	7	performance	performance	NOUN
h415p843p2c	11	8	and	and	CCONJ
h415p843p2c	11	9	stability	stability	NOUN
h415p843p2c	11	10	for	for	ADP
h415p843p2c	11	11	switched	switch	VERB
h415p843p2c	11	12	controllers	controller	NOUN
h415p843p2c	11	13	,	,	PUNCT
h415p843p2c	11	14	our	our	PRON
h415p843p2c	11	15	approach	approach	NOUN
h415p843p2c	11	16	provides	provide	VERB
h415p843p2c	11	17	new	new	ADJ
h415p843p2c	11	18	insights	insight	NOUN
h415p843p2c	11	19	in	in	ADP
h415p843p2c	11	20	extending	extend	VERB
h415p843p2c	11	21	the	the	DET
h415p843p2c	11	22	notion	notion	NOUN
h415p843p2c	11	23	of	of	ADP
h415p843p2c	11	24	passivity	passivity	NOUN
h415p843p2c	11	25	to	to	PART
h415p843p2c	11	26	hybrid	hybrid	VERB
h415p843p2c	11	27	systems.in	systems.in	NUM
h415p843p2c	11	28	practical	practical	ADJ
h415p843p2c	11	29	applications	application	NOUN
h415p843p2c	11	30	,	,	PUNCT
h415p843p2c	11	31	motion	motion	NOUN
h415p843p2c	11	32	cycling	cycling	NOUN
h415p843p2c	11	33	system	system	NOUN
h415p843p2c	11	34	is	be	AUX
h415p843p2c	11	35	considered	consider	VERB
h415p843p2c	11	36	.	.	PUNCT
h415p843p2c	12	1	combination	combination	NOUN
h415p843p2c	12	2	of	of	ADP
h415p843p2c	12	3	learnability	learnability	NOUN
h415p843p2c	12	4	and	and	CCONJ
h415p843p2c	12	5	passivity	passivity	NOUN
h415p843p2c	12	6	concepts	concept	NOUN
h415p843p2c	12	7	are	be	AUX
h415p843p2c	12	8	applied	apply	VERB
h415p843p2c	12	9	to	to	ADP
h415p843p2c	12	10	the	the	DET
h415p843p2c	12	11	state	state	NOUN
h415p843p2c	12	12	-	-	PUNCT
h415p843p2c	12	13	dependent	dependent	ADJ
h415p843p2c	12	14	switched	switch	VERB
h415p843p2c	12	15	cycle	cycle	NOUN
h415p843p2c	12	16	-	-	PUNCT
h415p843p2c	12	17	rider	rider	NOUN
h415p843p2c	12	18	system	system	NOUN
h415p843p2c	12	19	,	,	PUNCT
h415p843p2c	12	20	induced	induce	VERB
h415p843p2c	12	21	by	by	ADP
h415p843p2c	12	22	functional	functional	ADJ
h415p843p2c	12	23	electrical	electrical	ADJ
h415p843p2c	12	24	stimulation	stimulation	NOUN
h415p843p2c	12	25	(	(	PUNCT
h415p843p2c	12	26	fes	fes	NOUN
h415p843p2c	12	27	)	)	PUNCT
h415p843p2c	12	28	of	of	ADP
h415p843p2c	12	29	lower	low	ADJ
h415p843p2c	12	30	muscles	muscle	NOUN
h415p843p2c	12	31	with	with	ADP
h415p843p2c	12	32	the	the	DET
h415p843p2c	12	33	assistance	assistance	NOUN
h415p843p2c	12	34	of	of	ADP
h415p843p2c	12	35	an	an	DET
h415p843p2c	12	36	electric	electric	ADJ
h415p843p2c	12	37	motor	motor	NOUN
h415p843p2c	12	38	.	.	PUNCT
h415p843p2c	13	1	the	the	DET
h415p843p2c	13	2	fes	fes	PROPN
h415p843p2c	13	3	cycling	cycling	NOUN
h415p843p2c	13	4	exercise	exercise	NOUN
h415p843p2c	13	5	has	have	VERB
h415p843p2c	13	6	therapeutic	therapeutic	ADJ
h415p843p2c	13	7	applications	application	NOUN
h415p843p2c	13	8	in	in	ADP
h415p843p2c	13	9	the	the	DET
h415p843p2c	13	10	rehabilitation	rehabilitation	NOUN
h415p843p2c	13	11	of	of	ADP
h415p843p2c	13	12	people	people	NOUN
h415p843p2c	13	13	who	who	PRON
h415p843p2c	13	14	suffer	suffer	VERB
h415p843p2c	13	15	from	from	ADP
h415p843p2c	13	16	paraplegia	paraplegia	NOUN
h415p843p2c	13	17	due	due	ADP
h415p843p2c	13	18	to	to	ADP
h415p843p2c	13	19	the	the	DET
h415p843p2c	13	20	stroke	stroke	NOUN
h415p843p2c	13	21	,	,	PUNCT
h415p843p2c	13	22	or	or	CCONJ
h415p843p2c	13	23	spinal	spinal	ADJ
h415p843p2c	13	24	cord	cord	NOUN
h415p843p2c	13	25	-	-	PUNCT
h415p843p2c	13	26	injury	injury	NOUN
h415p843p2c	13	27	.	.	PUNCT
h415p843p2c	14	1	in	in	ADP
h415p843p2c	14	2	this	this	DET
h415p843p2c	14	3	novel	novel	ADJ
h415p843p2c	14	4	approach	approach	NOUN
h415p843p2c	14	5	,	,	PUNCT
h415p843p2c	14	6	the	the	DET
h415p843p2c	14	7	iterative	iterative	ADJ
h415p843p2c	14	8	learning	learning	NOUN
h415p843p2c	14	9	control	control	NOUN
h415p843p2c	14	10	(	(	PUNCT
h415p843p2c	14	11	ilc	ilc	PROPN
h415p843p2c	14	12	)	)	PUNCT
h415p843p2c	14	13	scheme	scheme	NOUN
h415p843p2c	14	14	is	be	AUX
h415p843p2c	14	15	utilized	utilize	VERB
h415p843p2c	14	16	which	which	PRON
h415p843p2c	14	17	benefits	benefit	NOUN
h415p843p2c	14	18	from	from	ADP
h415p843p2c	14	19	the	the	DET
h415p843p2c	14	20	passivity	passivity	NOUN
h415p843p2c	14	21	property	property	NOUN
h415p843p2c	14	22	of	of	ADP
h415p843p2c	14	23	the	the	DET
h415p843p2c	14	24	closed	closed	ADJ
h415p843p2c	14	25	-	-	PUNCT
h415p843p2c	14	26	loop	loop	NOUN
h415p843p2c	14	27	dynamics	dynamic	NOUN
h415p843p2c	14	28	to	to	PART
h415p843p2c	14	29	reject	reject	VERB
h415p843p2c	14	30	the	the	DET
h415p843p2c	14	31	nonlinearity	nonlinearity	NOUN
h415p843p2c	14	32	and	and	CCONJ
h415p843p2c	14	33	uncertainty	uncertainty	NOUN
h415p843p2c	14	34	of	of	ADP
h415p843p2c	14	35	the	the	DET
h415p843p2c	14	36	dynamics	dynamic	NOUN
h415p843p2c	14	37	and	and	CCONJ
h415p843p2c	14	38	to	to	PART
h415p843p2c	14	39	achieve	achieve	VERB
h415p843p2c	14	40	the	the	DET
h415p843p2c	14	41	desired	desire	VERB
h415p843p2c	14	42	tracking	tracking	NOUN
h415p843p2c	14	43	performance	performance	NOUN
h415p843p2c	14	44	after	after	ADP
h415p843p2c	14	45	certain	certain	ADJ
h415p843p2c	14	46	cycling	cycling	NOUN
h415p843p2c	14	47	trials	trial	NOUN
h415p843p2c	14	48	.	.	PUNCT
h415p843p2c	15	1	overall	overall	ADV
h415p843p2c	15	2	,	,	PUNCT
h415p843p2c	15	3	this	this	DET
h415p843p2c	15	4	dissertation	dissertation	NOUN
h415p843p2c	15	5	considers	consider	VERB
h415p843p2c	15	6	energy	energy	NOUN
h415p843p2c	15	7	-	-	PUNCT
h415p843p2c	15	8	based	base	VERB
h415p843p2c	15	9	control	control	NOUN
h415p843p2c	15	10	methods	method	NOUN
h415p843p2c	15	11	to	to	PART
h415p843p2c	15	12	address	address	VERB
h415p843p2c	15	13	both	both	PRON
h415p843p2c	15	14	theoretical	theoretical	ADJ
h415p843p2c	15	15	(	(	PUNCT
h415p843p2c	15	16	symmetric	symmetric	ADJ
h415p843p2c	15	17	and	and	CCONJ
h415p843p2c	15	18	hybrid	hybrid	ADJ
h415p843p2c	15	19	systems	system	NOUN
h415p843p2c	15	20	)	)	PUNCT
h415p843p2c	15	21	and	and	CCONJ
h415p843p2c	15	22	practical	practical	ADJ
h415p843p2c	15	23	(	(	PUNCT
h415p843p2c	15	24	functional	functional	ADJ
h415p843p2c	15	25	electrical	electrical	ADJ
h415p843p2c	15	26	stimulation	stimulation	NOUN
h415p843p2c	15	27	)	)	PUNCT
h415p843p2c	15	28	problems	problem	NOUN
h415p843p2c	15	29	and	and	CCONJ
h415p843p2c	15	30	makes	make	VERB
h415p843p2c	15	31	important	important	ADJ
h415p843p2c	15	32	contributions	contribution	NOUN
h415p843p2c	15	33	to	to	ADP
h415p843p2c	15	34	the	the	DET
h415p843p2c	15	35	stability	stability	NOUN
h415p843p2c	15	36	and	and	CCONJ
h415p843p2c	15	37	performance	performance	NOUN
h415p843p2c	15	38	of	of	ADP
h415p843p2c	15	39	nonlinear	nonlinear	ADJ
h415p843p2c	15	40	control	control	NOUN
h415p843p2c	15	41	systems	system	NOUN
h415p843p2c	15	42	.	.	PUNCT