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 _    _     _____    __   _      ___     _    _   
| || | ||  |  ___|| | || | ||   / _ \\  | |  | || 
| || | ||  | ||__   | '--' ||  | / \ || | |/\| || 
| \\_/ ||  | ||__   | .--. ||  | \_/ || |  /\  || 
 \____//   |_____|| |_|| |_||   \___//  |_// \_|| 
  `---`    `-----`  `-`  `-`    `---`   `-`   `-`

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Text this: Output tracking control of MIMO fuzzy nonlinear systems using variable structure control approach