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 /  ___|| | || | || | \  / ||   / _ \\      ___   
| // __   | || | || |  \/  ||  / //\ \\    /   || 
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  `---`     `---`   `-`  `-`  `-`   `-`     -|_|| 
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Text this: An MPC-based position controller for a tilt-rotor tricopter VTOL UAV