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  _____      ___                 ___      _____   
 |__  //    / _ \\      ___     / _ \\   |__  //  
   / //    | / \ ||    /   ||  | / \ ||    / //   
  / //__   | \_/ ||   | [] ||  | \_/ ||   / //__  
 /_____||   \___//     \__ ||   \___//   /_____|| 
 `-----`    `---`       -|_||   `---`    `-----`  
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Text this: Model-free approach for regulation of multi-link flexible robots