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 ______     ______   _    _      ___      ______  
|      \\  /_   _// | |  | ||   / _ \\   /_   _// 
|  --  //   -| ||-  | |/\| ||  / //\ \\  `-| |,-  
|  --  \\   _| ||_  |  /\  || |  ___  ||   | ||   
|______//  /_____// |_// \_|| |_||  |_||   |_||   
`------`   `-----`  `-`   `-` `-`   `-`    `-`'

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Text this: An improved model free predictive current control for PMSM with current prediction error variations