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           _    _    __   _      ___     _    _   
  ____    | || | || | || | ||   / _ \\  | |  | || 
 |    \\  | || | || | '--' ||  / //\ \\ | |/\| || 
 | [] ||  | \\_/ || | .--. || |  ___  |||  /\  || 
 |  __//   \____//  |_|| |_|| |_||  |_|||_// \_|| 
 |_|`-`     `---`   `-`  `-`  `-`   `-` `-`   `-` 
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Text this: State space predictive control of inverted pendulum