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

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Text this: Application of passivity and cascade structure to robust control against loss of actuator effectiveness