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

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Text this: On-line learning rules for type-2 fuzzy controller