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|      \\   / _ \\   /_   _// | || | ||  | \| || 
|  --  //  / //\ \\    | ||   | || | ||  |  ' || 
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|______// |_||  |_|| /__//     \____//   |_|\_|| 
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Text this: Real-time control of a permanent magnet synchronous motor drive (I)