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

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Text this: Approximate 2-Degree-of-freedom digital control of an interleaved low voltage DC-DC buck converter