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  / ___//   / _ \\   /_   _//   / _ \\  | |  | || 
  \___ \\  / //\ \\  `-| |,-   / //\ \\ | |/\| || 
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 /____//  |_||  |_||   |_||   |_||  |_|||_// \_|| 
`-----`   `-`   `-`    `-`'   `-`   `-` `-`   `-`

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Text this: Bidirectional branch and bound for controlled variable selection Part II : exact local method for self-optimizing control