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

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Text this: DUAL STAGE ACTUATOR MODELING AND CONTROL IN A CD-ROM DRIVE