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

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Text this: Robustness analysis of exponential tracking with disturbance attenuation by output feedback (ETDAOF) with time delay in the process input