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

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