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  ____       ___                _____    __   __  
 |  _ \\    / _ \\    ____     |  ___||  \ \\/ // 
 | |_| ||  | / \ ||  |    \\   | ||__     \   //  
 | .  //   | \_/ ||  | [] ||   | ||__     / . \\  
 |_|\_\\    \___//   |  __//   |_____||  /_//\_\\ 
 `-` --`    `---`    |_|`-`    `-----`   `-`  --` 
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Text this: MPC of switching in a boost converter using a hybrid state model with a sliding mode observer