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

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Text this: PI-based finite time consensus control for dual active bridge DC-DC converter