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

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Text this: Reduction of periodic speed ripples in PM synchronous motors using iterative learning control