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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