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| || | ||  |  ___|| | || | ||   / _ \\   /_   _// 
| '--' ||  | ||__   | '--' ||  | / \ ||    | ||   
| .--. ||  | ||__   | .--. ||  | \_/ ||   _| ||   
|_|| |_||  |_____|| |_|| |_||   \___//   /__//    
`-`  `-`   `-----`  `-`  `-`    `---`    `--`

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Text this: Synthesis and analysis of high performance control systems