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            _____    _    _    __   __    _____   
  ____     |  ___|| | |  | ||  \ \\/ //  / ____|| 
 |    \\   | ||__   | |/\| ||   \ ` //  / //---`' 
 | [] ||   | ||__   |  /\  ||    | ||   \ \\___   
 |  __//   |_____|| |_// \_||    |_||    \_____|| 
 |_|`-`    `-----`  `-`   `-`    `-`'     `----`  
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Text this: Lie symmetries of nonlinear systems with unknown inputs