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

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Text this: A learning variable structure controller of a flexible one-link manipulator