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  ______     ___      _  _    _    _    __   __  
 /_   _//   / _ \\   | \| || | || | ||  \ \\/ // 
 `-| |,-   / //\ \\  |  ' || | || | ||   \   //  
   | ||   |  ___  || | .  || | \\_/ ||   / . \\  
   |_||   |_||  |_|| |_|\_||  \____//   /_//\_\\ 
   `-`'   `-`   `-`  `-` -`    `---`    `-`  --`

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