Text this: Multivariable control system design based on relative interaction energy

 _    _    _    _    _____      ______    ______  
| |  | || | || | || |  __ \\   /_   _//  /_   _// 
| |/\| || | || | || | |  \ ||   -| ||-   `-| |,-  
|  /\  || | \\_/ || | |__/ ||   _| ||_     | ||   
|_// \_||  \____//  |_____//   /_____//    |_||   
`-`   `-`   `---`    -----`    `-----`     `-`'