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 _____       ___     _    _      ___     _    _   
|  __ \\    / _ \\  | || | ||   / _ \\  | || | || 
| |  \ ||  | / \ || | || | ||  / //\ \\ | || | || 
| |__/ ||  | \_/ || | \\_/ || |  ___  ||| \\_/ || 
|_____//    \___//   \____//  |_||  |_|| \____//  
 -----`     `---`     `---`   `-`   `-`   `---`

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Text this: Iterative learning control with system relative degree