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

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Text this: Observer-based fault detection for piecewise linear systems: Continuous-time cases