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 __   _    _    _    _    _    __   __    ______  
| || | || | || | || | |  | ||  \ \\/ //  /_   _// 
| '--' || | || | || | |/\| ||   \ ` //     | ||   
| .--. || | \\_/ || |  /\  ||    | ||     _| ||   
|_|| |_||  \____//  |_// \_||    |_||    /__//    
`-`  `-`    `---`   `-`   `-`    `-`'    `--`

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Text this: A two-degree-of-freedom smith control for improved disturbance rejection