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  _____      ___      ____      _____             
 / ____||   / _ \\   |  _ \\   |  ___||   ____    
/ //---`'  / //\ \\  | |_| ||  | ||__    |    \\  
\ \\___   |  ___  || | .  //   | ||__    | [] ||  
 \_____|| |_||  |_|| |_|\_\\   |_____||  |  __//  
  `----`  `-`   `-`  `-` --`   `-----`   |_|`-`   
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Text this: Robust digital control of a class-D amplifier with low switching frequency for vibration generator