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  _____    __   __   _    _    _    _    __   __  
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/ //---`'   \ ` //  | || | || | || | ||   \   //  
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 \_____||    |_||    \____//   \____//   /_//\_\\ 
  `----`     `-`'     `---`     `---`    `-`  --`

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Text this: Applied control theory for embedded systems [electronic resource] / by Tim Wescott.