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

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Text this: Discrete-time multirate LQG control of a DC motor speed control system