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

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發送短信 : PID control design based on a GPC approach