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  ______   _    _     _____    __   __    _____   
 /_____// | || | ||  / ____||  \ \\/ //  |__  //  
 `____ `  | || | || / //---`'   \ ` //     / //   
 /___//   | \\_/ || \ \\___      | ||     / //__  
 `__ `     \____//   \_____||    |_||    /_____|| 
 /_//       `---`     `----`     `-`'    `-----`  
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Text this: Controller design using RNGA-based-ETF for soptd mimo systems