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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