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 __   __     ___      ______   _    _    ______   
 \ \\/ //   / _ \\   /_   _// | || | || |      \\ 
  \   //   | / \ ||  `-| |,-  | || | || |  --  // 
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 `-`  --`   `---`      `-`'     `---`   `------`

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Text this: Synthesized sliding mode control of a single-link flexible robot