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

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Text this: A synthesized integral sliding mode controller for an underactuated unicycle