Text this: Generalized composite nonlinear feedback control technique to track non-step references

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| || | ||   / _ \\   /_   _//   / _ \\   \ \\/ // 
| '--' ||  / //\ \\    | ||    / //\ \\   \   //  
| .--. || |  ___  ||  _| ||   |  ___  ||  / . \\  
|_|| |_|| |_||  |_|| /__//    |_||  |_|| /_//\_\\ 
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