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

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Text this: A polynomial approach to decentralised control analysis and design