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   /   ||  | / \ || | |  \ ||  / //\ \\ |  \/  || 
  | [] ||  | \_/ || | |__/ || |  ___  ||| .  . || 
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    -|_||   `---`    -----`   `-`   `-` `-`  `-`  
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Text this: A stable adaptive neural-network-based scheme for dynamical system control