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            ______    ____       ___      ____    
  ____     /_   _//  |  _ \\    / _ \\   |  _ \\  
 |    \\    -| ||-   | |_| ||  | / \ ||  | |_| || 
 | [] ||    _| ||_   | .  //   | \_/ ||  | .  //  
 |  __//   /_____//  |_|\_\\    \___//   |_|\_\\  
 |_|`-`    `-----`   `-` --`    `---`    `-` --`  
 `-`

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Text this: A learning variable structure controller of a flexible one-link manipulator