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           _    _      _____   __   __            
  ____    | || | ||   / ___//  \ \\/ //     ___   
 |    \\  | || | ||   \___ \\   \ ` //     /   || 
 | [] ||  | \\_/ ||   /    //    | ||     | [] || 
 |  __//   \____//   /____//     |_||      \__ || 
 |_|`-`     `---`   `-----`      `-`'       -|_|| 
 `-`                                         `-`

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Text this: Iterative learning control for nonlinear systems