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  ______   __   __    _  __    ______    _____   
 /_   _//  \ \\/ //  | |/ //  /_   _//  |__  //  
 `-| |,-    \ ` //   | ' //    -| ||-     / //   
   | ||      | ||    | . \\    _| ||_    / //__  
   |_||      |_||    |_|\_\\  /_____//  /_____|| 
   `-`'      `-`'    `-` --`  `-----`   `-----`

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發送短信 : Generalized composite nonlinear feedback control technique to track non-step references