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           _    _     ______     ___     _    _   
    ___   | || | ||  /_   _//   / _ \\  | || | || 
   /   || | || | ||    | ||    / //\ \\ | || | || 
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   \__ ||  \____//   /__//    |_||  |_|| \____//  
    -|_||   `---`    `--`     `-`   `-`   `---`   
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Text this: Friction modeling and adaptive compensation using a relay feedback approach