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

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Text this: Adaptive internal model control of nonlinear processes