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  ______    _____     ______   __   __  __    __  
 /_____//  |  ___||  /_   _//  \ \\/ // \ \\ / // 
 `____ `   | ||__      | ||     \ ` //   \ \/ //  
 /___//    | ||__     _| ||      | ||     \  //   
 `__ `     |_____||  /__//       |_||      \//    
 /_//      `-----`   `--`        `-`'       `     
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Text this: DUAL STAGE ACTUATOR MODELING AND CONTROL IN A CD-ROM DRIVE