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  _  __     ___     __   __   _    _    ______   
 | |/ //   / _ \\   \ \\/ // | || | || |      \\ 
 | ' //   | / \ ||   \   //  | || | || |  --  // 
 | . \\   | \_/ ||   / . \\  | \\_/ || |  --  \\ 
 |_|\_\\   \___//   /_//\_\\  \____//  |______// 
 `-` --`   `---`    `-`  --`   `---`   `------`

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Text this: Iterative learning control for nonlinear systems