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

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