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

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