id	sid	tid	token	lemma	pos
r207tm73247	1	1	in	in	ADP
r207tm73247	1	2	stochastic	stochastic	ADJ
r207tm73247	1	3	optimal	optimal	ADJ
r207tm73247	1	4	control	control	NOUN
r207tm73247	1	5	theory	theory	NOUN
r207tm73247	1	6	,	,	PUNCT
r207tm73247	1	7	the	the	DET
r207tm73247	1	8	complete	complete	ADJ
r207tm73247	1	9	specification	specification	NOUN
r207tm73247	1	10	of	of	ADP
r207tm73247	1	11	the	the	DET
r207tm73247	1	12	probability	probability	NOUN
r207tm73247	1	13	density	density	NOUN
r207tm73247	1	14	function	function	NOUN
r207tm73247	1	15	of	of	ADP
r207tm73247	1	16	the	the	DET
r207tm73247	1	17	random	random	ADJ
r207tm73247	1	18	cost	cost	NOUN
r207tm73247	1	19	functional	functional	ADJ
r207tm73247	1	20	might	might	AUX
r207tm73247	1	21	be	be	AUX
r207tm73247	1	22	considered	consider	VERB
r207tm73247	1	23	the	the	DET
r207tm73247	1	24	most	most	ADJ
r207tm73247	1	25	a	a	DET
r207tm73247	1	26	designer	designer	NOUN
r207tm73247	1	27	can	can	AUX
r207tm73247	1	28	do	do	VERB
r207tm73247	1	29	when	when	SCONJ
r207tm73247	1	30	formulating	formulate	VERB
r207tm73247	1	31	an	an	DET
r207tm73247	1	32	optimal	optimal	ADJ
r207tm73247	1	33	control	control	NOUN
r207tm73247	1	34	law	law	NOUN
r207tm73247	1	35	.	.	PUNCT
r207tm73247	2	1	the	the	DET
r207tm73247	2	2	field	field	NOUN
r207tm73247	2	3	of	of	ADP
r207tm73247	2	4	cost	cost	NOUN
r207tm73247	2	5	cumulant	cumulant	ADJ
r207tm73247	2	6	controls	control	NOUN
r207tm73247	2	7	has	have	AUX
r207tm73247	2	8	made	make	VERB
r207tm73247	2	9	considerable	considerable	ADJ
r207tm73247	2	10	advances	advance	NOUN
r207tm73247	2	11	towards	towards	ADP
r207tm73247	2	12	this	this	DET
r207tm73247	2	13	capability	capability	NOUN
r207tm73247	2	14	in	in	ADP
r207tm73247	2	15	the	the	DET
r207tm73247	2	16	past	past	ADJ
r207tm73247	2	17	few	few	ADJ
r207tm73247	2	18	decades	decade	NOUN
r207tm73247	2	19	,	,	PUNCT
r207tm73247	2	20	largely	largely	ADV
r207tm73247	2	21	because	because	SCONJ
r207tm73247	2	22	of	of	ADP
r207tm73247	2	23	the	the	DET
r207tm73247	2	24	advantage	advantage	NOUN
r207tm73247	2	25	gained	gain	VERB
r207tm73247	2	26	from	from	ADP
r207tm73247	2	27	controlling	control	VERB
r207tm73247	2	28	the	the	DET
r207tm73247	2	29	cost	cost	NOUN
r207tm73247	2	30	cumulants	cumulant	NOUN
r207tm73247	2	31	instead	instead	ADV
r207tm73247	2	32	of	of	ADP
r207tm73247	2	33	the	the	DET
r207tm73247	2	34	cost	cost	NOUN
r207tm73247	2	35	moments	moment	NOUN
r207tm73247	2	36	.	.	PUNCT
r207tm73247	3	1	however	however	ADV
r207tm73247	3	2	,	,	PUNCT
r207tm73247	3	3	current	current	ADJ
r207tm73247	3	4	cost	cost	NOUN
r207tm73247	3	5	cumulant	cumulant	NOUN
r207tm73247	3	6	control	control	NOUN
r207tm73247	3	7	paradigms	paradigm	NOUN
r207tm73247	3	8	have	have	AUX
r207tm73247	3	9	left	leave	VERB
r207tm73247	3	10	the	the	DET
r207tm73247	3	11	deliberate	deliberate	ADJ
r207tm73247	3	12	specification	specification	NOUN
r207tm73247	3	13	of	of	ADP
r207tm73247	3	14	the	the	DET
r207tm73247	3	15	probability	probability	NOUN
r207tm73247	3	16	density	density	NOUN
r207tm73247	3	17	function	function	NOUN
r207tm73247	3	18	for	for	ADP
r207tm73247	3	19	the	the	DET
r207tm73247	3	20	random	random	ADJ
r207tm73247	3	21	cost	cost	NOUN
r207tm73247	3	22	outside	outside	ADP
r207tm73247	3	23	the	the	DET
r207tm73247	3	24	designer	designer	NOUN
r207tm73247	3	25	's	's	PART
r207tm73247	3	26	direct	direct	ADJ
r207tm73247	3	27	influence	influence	NOUN
r207tm73247	3	28	.	.	PUNCT
r207tm73247	4	1	the	the	DET
r207tm73247	4	2	ability	ability	NOUN
r207tm73247	4	3	to	to	PART
r207tm73247	4	4	design	design	VERB
r207tm73247	4	5	control	control	NOUN
r207tm73247	4	6	laws	law	NOUN
r207tm73247	4	7	upon	upon	SCONJ
r207tm73247	4	8	the	the	DET
r207tm73247	4	9	desired	desire	VERB
r207tm73247	4	10	shape	shape	NOUN
r207tm73247	4	11	and	and	CCONJ
r207tm73247	4	12	location	location	NOUN
r207tm73247	4	13	of	of	ADP
r207tm73247	4	14	the	the	DET
r207tm73247	4	15	cost	cost	NOUN
r207tm73247	4	16	density	density	NOUN
r207tm73247	4	17	would	would	AUX
r207tm73247	4	18	be	be	AUX
r207tm73247	4	19	highly	highly	ADV
r207tm73247	4	20	valuable	valuable	ADJ
r207tm73247	4	21	to	to	PART
r207tm73247	4	22	control	control	VERB
r207tm73247	4	23	engineers	engineer	NOUN
r207tm73247	4	24	,	,	PUNCT
r207tm73247	4	25	since	since	SCONJ
r207tm73247	4	26	there	there	PRON
r207tm73247	4	27	is	be	VERB
r207tm73247	4	28	evidence	evidence	NOUN
r207tm73247	4	29	that	that	SCONJ
r207tm73247	4	30	the	the	DET
r207tm73247	4	31	shape	shape	NOUN
r207tm73247	4	32	of	of	ADP
r207tm73247	4	33	the	the	DET
r207tm73247	4	34	cost	cost	NOUN
r207tm73247	4	35	density	density	NOUN
r207tm73247	4	36	under	under	ADP
r207tm73247	4	37	high	high	ADJ
r207tm73247	4	38	-	-	PUNCT
r207tm73247	4	39	performance	performance	NOUN
r207tm73247	4	40	controllers	controller	NOUN
r207tm73247	4	41	directly	directly	ADV
r207tm73247	4	42	corresponds	correspond	VERB
r207tm73247	4	43	to	to	ADP
r207tm73247	4	44	the	the	DET
r207tm73247	4	45	resulting	result	VERB
r207tm73247	4	46	closed	closed	ADJ
r207tm73247	4	47	-	-	PUNCT
r207tm73247	4	48	loop	loop	NOUN
r207tm73247	4	49	system	system	NOUN
r207tm73247	4	50	behavior	behavior	NOUN
r207tm73247	4	51	.	.	PUNCT
r207tm73247	5	1	this	this	DET
r207tm73247	5	2	dissertation	dissertation	NOUN
r207tm73247	5	3	proposes	propose	VERB
r207tm73247	5	4	a	a	DET
r207tm73247	5	5	multiple	multiple	ADJ
r207tm73247	5	6	-	-	PUNCT
r207tm73247	5	7	cumulant	cumulant	ADJ
r207tm73247	5	8	cost	cost	NOUN
r207tm73247	5	9	density	density	NOUN
r207tm73247	5	10	-	-	PUNCT
r207tm73247	5	11	shaping	shape	VERB
r207tm73247	5	12	(	(	PUNCT
r207tm73247	5	13	mccds	mccds	PROPN
r207tm73247	5	14	)	)	PUNCT
r207tm73247	5	15	optimization	optimization	NOUN
r207tm73247	5	16	problem	problem	NOUN
r207tm73247	5	17	for	for	ADP
r207tm73247	5	18	the	the	DET
r207tm73247	5	19	lqg	lqg	PROPN
r207tm73247	5	20	framework	framework	NOUN
r207tm73247	5	21	.	.	PUNCT
r207tm73247	6	1	the	the	DET
r207tm73247	6	2	control	control	NOUN
r207tm73247	6	3	solution	solution	NOUN
r207tm73247	6	4	to	to	ADP
r207tm73247	6	5	the	the	DET
r207tm73247	6	6	mccds	mccds	ADJ
r207tm73247	6	7	optimization	optimization	NOUN
r207tm73247	6	8	is	be	AUX
r207tm73247	6	9	derived	derive	VERB
r207tm73247	6	10	using	use	VERB
r207tm73247	6	11	dynamic	dynamic	ADJ
r207tm73247	6	12	programming	programming	NOUN
r207tm73247	6	13	techniques	technique	NOUN
r207tm73247	6	14	;	;	PUNCT
r207tm73247	6	15	it	it	PRON
r207tm73247	6	16	is	be	AUX
r207tm73247	6	17	the	the	DET
r207tm73247	6	18	finite	finite	NOUN
r207tm73247	6	19	-	-	PUNCT
r207tm73247	6	20	horizon	horizon	NOUN
r207tm73247	6	21	,	,	PUNCT
r207tm73247	6	22	linear	linear	ADJ
r207tm73247	6	23	state	state	NOUN
r207tm73247	6	24	-	-	PUNCT
r207tm73247	6	25	feedback	feedback	NOUN
r207tm73247	6	26	control	control	NOUN
r207tm73247	6	27	that	that	PRON
r207tm73247	6	28	minimizes	minimize	VERB
r207tm73247	6	29	a	a	DET
r207tm73247	6	30	smooth	smooth	ADJ
r207tm73247	6	31	,	,	PUNCT
r207tm73247	6	32	convex	convex	ADJ
r207tm73247	6	33	,	,	PUNCT
r207tm73247	6	34	scalar	scalar	ADJ
r207tm73247	6	35	function	function	NOUN
r207tm73247	6	36	of	of	ADP
r207tm73247	6	37	arbitrarily	arbitrarily	ADV
r207tm73247	6	38	-	-	PUNCT
r207tm73247	6	39	many	many	ADJ
r207tm73247	6	40	initial	initial	ADJ
r207tm73247	6	41	cost	cost	NOUN
r207tm73247	6	42	cumulants	cumulant	NOUN
r207tm73247	6	43	and	and	CCONJ
r207tm73247	6	44	target	target	VERB
r207tm73247	6	45	initial	initial	ADJ
r207tm73247	6	46	cost	cost	NOUN
r207tm73247	6	47	cumulants	cumulant	NOUN
r207tm73247	6	48	.	.	PUNCT
r207tm73247	7	1	the	the	DET
r207tm73247	7	2	mccds	mccds	ADJ
r207tm73247	7	3	theory	theory	NOUN
r207tm73247	7	4	is	be	AUX
r207tm73247	7	5	shown	show	VERB
r207tm73247	7	6	to	to	PART
r207tm73247	7	7	generalize	generalize	VERB
r207tm73247	7	8	the	the	DET
r207tm73247	7	9	linear	linear	ADJ
r207tm73247	7	10	quadratic	quadratic	ADJ
r207tm73247	7	11	gaussian	gaussian	NOUN
r207tm73247	7	12	(	(	PUNCT
r207tm73247	7	13	lqg	lqg	PROPN
r207tm73247	7	14	)	)	PUNCT
r207tm73247	7	15	,	,	PUNCT
r207tm73247	7	16	'	'	PUNCT
r207tm73247	7	17	k	k	PROPN
r207tm73247	7	18	cost	cost	NOUN
r207tm73247	7	19	cumulant	cumulant	NOUN
r207tm73247	7	20	'	'	PUNCT
r207tm73247	7	21	(	(	PUNCT
r207tm73247	7	22	kcc	kcc	PROPN
r207tm73247	7	23	)	)	PUNCT
r207tm73247	7	24	,	,	PUNCT
r207tm73247	7	25	and	and	CCONJ
r207tm73247	7	26	risk	risk	NOUN
r207tm73247	7	27	-	-	PUNCT
r207tm73247	7	28	sensitive	sensitive	ADJ
r207tm73247	7	29	(	(	PUNCT
r207tm73247	7	30	rs	rs	NOUN
r207tm73247	7	31	)	)	PUNCT
r207tm73247	7	32	control	control	VERB
r207tm73247	7	33	paradigms	paradigm	NOUN
r207tm73247	7	34	for	for	ADP
r207tm73247	7	35	zero	zero	NUM
r207tm73247	7	36	targets	target	NOUN
r207tm73247	7	37	and	and	CCONJ
r207tm73247	7	38	linear	linear	ADJ
r207tm73247	7	39	performance	performance	NOUN
r207tm73247	7	40	indices	index	NOUN
r207tm73247	7	41	.	.	PUNCT
r207tm73247	8	1	additionally	additionally	ADV
r207tm73247	8	2	,	,	PUNCT
r207tm73247	8	3	the	the	DET
r207tm73247	8	4	mccds	mccds	ADJ
r207tm73247	8	5	framework	framework	NOUN
r207tm73247	8	6	enables	enable	VERB
r207tm73247	8	7	the	the	DET
r207tm73247	8	8	minimization	minimization	NOUN
r207tm73247	8	9	of	of	ADP
r207tm73247	8	10	well	well	ADV
r207tm73247	8	11	-	-	PUNCT
r207tm73247	8	12	known	know	VERB
r207tm73247	8	13	distance	distance	NOUN
r207tm73247	8	14	functions	function	NOUN
r207tm73247	8	15	between	between	ADP
r207tm73247	8	16	the	the	DET
r207tm73247	8	17	cost	cost	NOUN
r207tm73247	8	18	density	density	NOUN
r207tm73247	8	19	and	and	CCONJ
r207tm73247	8	20	a	a	DET
r207tm73247	8	21	target	target	NOUN
r207tm73247	8	22	cost	cost	NOUN
r207tm73247	8	23	density	density	NOUN
r207tm73247	8	24	,	,	PUNCT
r207tm73247	8	25	such	such	ADJ
r207tm73247	8	26	as	as	ADP
r207tm73247	8	27	the	the	DET
r207tm73247	8	28	kullback	kullback	PROPN
r207tm73247	8	29	-	-	PUNCT
r207tm73247	8	30	leibler	leibler	NOUN
r207tm73247	8	31	divergence	divergence	NOUN
r207tm73247	8	32	,	,	PUNCT
r207tm73247	8	33	bhattacharyya	bhattacharyya	ADJ
r207tm73247	8	34	distance	distance	NOUN
r207tm73247	8	35	,	,	PUNCT
r207tm73247	8	36	and	and	CCONJ
r207tm73247	8	37	the	the	DET
r207tm73247	8	38	hellinger	hellinger	PROPN
r207tm73247	8	39	distance	distance	NOUN
r207tm73247	8	40	.	.	PUNCT
r207tm73247	9	1	the	the	DET
r207tm73247	9	2	finite	finite	ADJ
r207tm73247	9	3	-	-	PUNCT
r207tm73247	9	4	horizon	horizon	NOUN
r207tm73247	9	5	mccds	mccds	ADJ
r207tm73247	9	6	control	control	NOUN
r207tm73247	9	7	is	be	AUX
r207tm73247	9	8	extended	extend	VERB
r207tm73247	9	9	to	to	ADP
r207tm73247	9	10	the	the	DET
r207tm73247	9	11	infinite	infinite	ADJ
r207tm73247	9	12	-	-	PUNCT
r207tm73247	9	13	horizon	horizon	NOUN
r207tm73247	9	14	in	in	ADP
r207tm73247	9	15	this	this	DET
r207tm73247	9	16	dissertation	dissertation	NOUN
r207tm73247	9	17	.	.	PUNCT
r207tm73247	10	1	other	other	ADJ
r207tm73247	10	2	areas	area	NOUN
r207tm73247	10	3	of	of	ADP
r207tm73247	10	4	investigation	investigation	NOUN
r207tm73247	10	5	include	include	VERB
r207tm73247	10	6	mccds	mccds	ADJ
r207tm73247	10	7	performance	performance	NOUN
r207tm73247	10	8	index	index	NOUN
r207tm73247	10	9	construction	construction	NOUN
r207tm73247	10	10	,	,	PUNCT
r207tm73247	10	11	cost	cost	VERB
r207tm73247	10	12	density	density	NOUN
r207tm73247	10	13	-	-	PUNCT
r207tm73247	10	14	shaping	shape	VERB
r207tm73247	10	15	minimax	minimax	ADJ
r207tm73247	10	16	and	and	CCONJ
r207tm73247	10	17	nash	nash	PROPN
r207tm73247	10	18	games	games	PROPN
r207tm73247	10	19	,	,	PUNCT
r207tm73247	10	20	and	and	CCONJ
r207tm73247	10	21	a	a	DET
r207tm73247	10	22	statistical	statistical	ADJ
r207tm73247	10	23	target	target	NOUN
r207tm73247	10	24	selection	selection	NOUN
r207tm73247	10	25	(	(	PUNCT
r207tm73247	10	26	sts	sts	PROPN
r207tm73247	10	27	)	)	PUNCT
r207tm73247	10	28	iterative	iterative	ADJ
r207tm73247	10	29	procedure	procedure	NOUN
r207tm73247	10	30	for	for	ADP
r207tm73247	10	31	control	control	NOUN
r207tm73247	10	32	design	design	NOUN
r207tm73247	10	33	.	.	PUNCT
r207tm73247	11	1	together	together	ADV
r207tm73247	11	2	mccds	mccds	PROPN
r207tm73247	11	3	and	and	CCONJ
r207tm73247	11	4	sts	st	NOUN
r207tm73247	11	5	enable	enable	VERB
r207tm73247	11	6	the	the	DET
r207tm73247	11	7	design	design	NOUN
r207tm73247	11	8	of	of	ADP
r207tm73247	11	9	control	control	NOUN
r207tm73247	11	10	laws	law	NOUN
r207tm73247	11	11	with	with	ADP
r207tm73247	11	12	optimality	optimality	NOUN
r207tm73247	11	13	among	among	ADP
r207tm73247	11	14	a	a	DET
r207tm73247	11	15	family	family	NOUN
r207tm73247	11	16	of	of	ADP
r207tm73247	11	17	target	target	NOUN
r207tm73247	11	18	cost	cost	NOUN
r207tm73247	11	19	densities	density	NOUN
r207tm73247	11	20	,	,	PUNCT
r207tm73247	11	21	which	which	PRON
r207tm73247	11	22	might	might	AUX
r207tm73247	11	23	be	be	AUX
r207tm73247	11	24	regarded	regard	VERB
r207tm73247	11	25	as	as	ADP
r207tm73247	11	26	a	a	DET
r207tm73247	11	27	new	new	ADJ
r207tm73247	11	28	approach	approach	NOUN
r207tm73247	11	29	to	to	ADP
r207tm73247	11	30	robust	robust	ADJ
r207tm73247	11	31	lqg	lqg	PROPN
r207tm73247	11	32	control	control	PROPN
r207tm73247	11	33	design	design	NOUN
r207tm73247	11	34	.	.	PUNCT
r207tm73247	12	1	for	for	ADP
r207tm73247	12	2	structures	structure	NOUN
r207tm73247	12	3	excited	excite	VERB
r207tm73247	12	4	by	by	ADP
r207tm73247	12	5	seismic	seismic	ADJ
r207tm73247	12	6	disturbances	disturbance	NOUN
r207tm73247	12	7	,	,	PUNCT
r207tm73247	12	8	numerical	numerical	ADJ
r207tm73247	12	9	experiments	experiment	NOUN
r207tm73247	12	10	show	show	VERB
r207tm73247	12	11	that	that	SCONJ
r207tm73247	12	12	the	the	DET
r207tm73247	12	13	mccds	mccds	ADJ
r207tm73247	12	14	controls	control	NOUN
r207tm73247	12	15	identified	identify	VERB
r207tm73247	12	16	thru	thru	ADP
r207tm73247	12	17	sts	st	NOUN
r207tm73247	12	18	can	can	AUX
r207tm73247	12	19	achieve	achieve	VERB
r207tm73247	12	20	greater	great	ADJ
r207tm73247	12	21	vibration	vibration	NOUN
r207tm73247	12	22	suppression	suppression	NOUN
r207tm73247	12	23	than	than	ADP
r207tm73247	12	24	nominal	nominal	ADJ
r207tm73247	12	25	kcc	kcc	PROPN
r207tm73247	12	26	controllers	controller	NOUN
r207tm73247	12	27	,	,	PUNCT
r207tm73247	12	28	without	without	ADP
r207tm73247	12	29	any	any	DET
r207tm73247	12	30	compromise	compromise	NOUN
r207tm73247	12	31	to	to	ADP
r207tm73247	12	32	robust	robust	ADJ
r207tm73247	12	33	stability	stability	NOUN
r207tm73247	12	34	.	.	PUNCT