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

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Text this: Real-time control of a permanent magnet synchronous motor drive (I)