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2022 China Automation Congress (CAC) | 978-1-6654-6533-5/22/$31.00 ©2022 IEEE | DOI: 10.1109/CAC57257.2022.10055063

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978-1-6654-6533-5/22/$31.00 ©2022 IEEE 6403

Authorized licensed use limited to: ROBERT BOSCH. Downloaded on October 31,2023 at 07:50:36 UTC from IEEE Xplore. Restrictions apply.
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6404

Authorized licensed use limited to: ROBERT BOSCH. Downloaded on October 31,2023 at 07:50:36 UTC from IEEE Xplore. Restrictions apply.
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. URkV
⎨ (m1 L1 + m2 L2 + I1 + I2 )θ̈ + I2 φ̈−
⎡ ⎤ ⎡ ⎤
(m1 L1 + m2 L2 )gθ = 0, U3V 0 1 0 0
⎩
I2 (θ̈ + φ̈) = τ. KQM; i?2K- A=⎣ 0 0 1 ⎦- B = ⎣ b 0 ⎦-
0 0 0 0
⎡ ⎤
S`K2i2`BxBM; 2[miBQM U3V vB2H/b i?2 7QHHQrBM; irQ 0
2[miBQMb, E = ⎣ 0 ⎦- C = 1 0 0 .
1
(m1 L1 + m2 L2 )g 1
θ̈ = θ− τ, UNV aBM+2 f˙ Bb mMFMQrM M/ +M #2 2biBKi2/- Bi +M #2 QKBii2/X
m1 L1 2 + m2 L2 2 + I1 m1 L1 2 + m2 L2 2 + I1 h?2 +Q``2bTQM/BM; +QMiBMmQmb G1aP Bb,

(m1 L1 + m2 L2 )g m1 L1 2 + m2 L2 2 + I1 + I2 ż = Az + Bu + R(y − ŷ),
URjV
φ̈ = − 2 2 θ+ 2 2 τ. ŷ = Cx.
m1 L1 + m2 L2 + I2 (m1 L1 + m2 L2 + I1 )I2
URyV r?2`2 z = [z1 z2 z3 ]T Bb i?2 bii2 p2+iQ` Q7 i?2 Q#b2`p2`- M/
"v +?QQbBM; x = [x1 , x2 , x3 , x4 ]T = [θ, θ̇, φ, φ̇]T b i?2 bii2 R Bb i?2 Q#b2`p2` 2``Q` 722/#+F ;BM Ki`BtX _2+iB7vBM; i?2
p`B#H2b Q7 i?2 bvbi2K- i?2 bii2 bT+2 2[miBQM Q7 i?2 Q#b2`p2` 2[miBQMb vB2H/b,
bvbi2K Bb b?QrM b 7QHHQrb, 
ż = [A − RC]z + Bu + Ry,
⎡ ⎤ ⎡ ⎤⎡ ⎤ yc =x.
UR9V
θ̇ 0 1 0 0 θ
⎢ θ̈ ⎥ ⎢ m(mL1 L2 +m
1 +m2 L2 )g
0 0 0⎥ ⎢ ⎥
⎢ ⎥=⎢ 1 1
2
2 L2 +I1 ⎥ ⎢ θ̇ ⎥+ *QK#BMBM; 2[miBQMb URjV M/ UR8V- 7i2` T`K2i2`BxiBQM- r2
⎣ φ̇ ⎦ ⎣ 0 0 0 1 ⎦⎣ φ ⎦ +M Q#iBM,
φ̈ − m(m 1 L1 +m2 L2 )g
2
1 L1 +m2 L2 +I2
2 0 0 0 φ̇ ẋ − ż = (A − RC)(x − z). UR8V
⎡ ⎤ URRV
0
1 6Q` i?2 Q#b2`p2` iQ #2 #H2 iQ Q#b2`p2 i?2 bii2 Q7 i?2 #Qp2
⎢ − m1 L1 2 +m ⎥
⎢ 2
2 L2 +I1 ⎥ τ. bvbi2K r2HH- i?2M i?2 Q#b2`piBQM 2``Q` Bb 2tT2+i2/ iQ #2 0- i?2
⎣ 0 ⎦ TQH2b Q7 i?2 +?`+i2`BbiB+ 2[miBQM +M #2 TH+2/ i i?2 bK2
m1 L1 2 +m2 L2 2 +I1 +I2
(m1 L1 2 +m2 L2 2 +I1 )I2 HQ+iBQM −ωo - M/ ωo Bb i?2 Q#b2`p2` #M/rB/i?X aQ iFBM; i?2
;BM Ki`Bt Q7 i?2 Q#b2`p2` b R = [3ωo 3ωo 2 ωo 3 ]T KF2b
h?2 T`K2i2`b Q7 i?2 AqS bvbi2K `2 +QMbBbi2Mi rBi? i?Qb2 λ(s) = |sI − (A − RC)| = (s + ωo )3 X AM i?Bb rv- i?2 Q#b2`p2`
Q7 i?2 #B+v+H2 BM i?2 _Pa@:x2#Q 2MpB`QMK2MiX h?2 #B+v+H2 ;BM Ki`Bt Bb mMB[m2Hv `2Hi2/ iQ i?2 Q#b2`p2` #M/rB/i?-
#Q/v b  r?QH2 BM+Hm/2b i?2 7`QMi r?22H- i?2 `2` r?22H- i?2 r?B+? KF2b i?2 /2bB;M Q7 +QMiBMmH G1aP iQ #2 2bvX
#Q/v M/ i?2 ?M/H2#`b- r?B+? `2 b?QrM BM h#H2 A, h?2 G1aP Q7 i?2 }MH bvbi2K Bb /2bB;M2/ b,
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
−3ωo 1 0 0 3ωo y=theta
h"G1 A ż = ⎣ −3ωo 2 0 1 ⎦ z + ⎣ b0 ⎦ u + ⎣ 3ωo 2 ⎦ y. UReV
3 3
avbi2K S`K2i2`b −ωo 0 0 0 ωo
S`K2i2` oHm2
o2`iB+H ?2B;?i Q7 #B+v+H2 +2Mi2` Q7 ;`pBivUL1 V yXd m 6`QK 2[miBQM URdV- i?2 7QHHQrBM; 2[miBQM +M #2 Q#iBM2/,
o2`iB+H ?2B;?i Q7 Kbb ~vr?22H +2Mi2` Q7 ;`pBivUL2 V yXN m ⎧
⎨ z˙1 = −3ωo z1 + z2 + 3ωo y,
hQiH [mHBiv Q7 i?2 #B+v+H2Um1 V 8X89 kg
z˙2 = −3ωo 2 z1 + z3 + b0 u + 3ωo 2 y, URdV
Jbb Q7 i?2 ~vr?22HUm2 V 8Xj8 kg ⎩
"B+v+H2 KQK2Mi Q7 BM2`iBUI1 V kXdR9e kgm2 z˙3 = −ωo 3 z1 + ωo 3 y.
Jbb ~vr?22H KQK2Mi Q7 BM2`iBUI2 V yXyj kgm2
r?2`2 z1−3 /2MQi2b i?2 bii2 p2+iQ` Q7 G1aP- r?B+? Bb M
:`pBiv ++2H2`iBQMUgV NX3R m/s2
2biBKi2 Q7 i?2 QmiTmi [mMiBiv y- i?2 /Bz2`2M+2 ẏ Q7 i?2 QmiTmi
[mMiBiv M/ i?2 iQiH T2`im`#iBQM f - `2bT2+iBp2HvX

6405

Authorized licensed use limited to: ROBERT BOSCH. Downloaded on October 31,2023 at 07:50:36 UTC from IEEE Xplore. Restrictions apply.
 h?2 G1aP Bb /Bb+`2iBx2/ mbBM; i?2 7Q`r`/ 1mH2` K2i?Q/- AoX aBKmHiBQMb M/ `2bmHib MHvbBb
i?2 /Bb+`2iBx2/ G1aP Bb b?QrM ?2`2, AM i?Bb `iB+H2- i?2 _Pa@:x2#Q pB`imH bBKmHiBQM THi7Q`K
⎧
⎨ z1 (k + 1) = z1 (k) + h(z2 (k) + 3ωo (y(k) − z1 (k))), Bb mb2/ iQ p2`B7v i?2 T2`7Q`KM+2 Q7 i?2 /vMKB+b M/ T`QTQb2/
z2 (k + 1) = z2 (k) + h(z3 (k) + b0 u(k) + 3ωo 2 (y(k) − z1 (k))), +QMi`QH K2i?Q/b 7Q` i?2 mMKMM2/ #B+v+H2X h?2 }`bi bi2T iQ
⎩ T2`7Q`K bvbi2K bBKmHiBQMb BM :x2#Q Bb iQ #mBH/  pB`imH
z3 (k + 1) = z3 (k) + h(ωo 3 (y(k) − z1 (k))).
UR3V KQ/2H Q7 i?2 mMKMM2/ #B+v+H2- r?B+? Bb b?QrM BM 6B;X jX
h Bb i?2 BMi2;`iBQM bi2TX
Mass flywheel
"X G._* +QMi`QHH2` /2bB;M
Body of bicycle
h?2 mMKMM2/ #B+v+H2 b2H7@#HM+BM; +QMi`QH bvbi2K /2@
bB;M2/ BM i?Bb TT2` Qp2`+QK2b i?2 iBTTBM; 2z2+i Q7 i?2 #B+v+H2Ƕb
;`pBiv i?`Qm;? i?2 7Q`+2 ;2M2`i2/ #v i?2 `QiiBQM Q7 i?2
Kbb ~vr?22HX h?2`27Q`2- i?2 #B+v+H2 +M #2 F2Ti BM #HM+2 #v
/2bB;MBM; i?2 +QMi`QHH2` iQ F22T i?2 #B+v+H2 #Q/v iBHiBM; M;H2
Hrvb i yêX
h?2 b+?2KiB+ Q7 i?2 mMKMM2/ #B+v+H2 b2H7@#HM+BM;
G._* +QMi`QHH2` Bb b?QrM BM i?2 7QHHQrBM; 6B;X k,

LADRC 6B;X jX lMKMM2/ #B+v+H2 KQ/2H BM :x2#Q 2MpB`QMK2Mi

r PD Control X X mass y
Combo -
  E
flywheel
bicycle h?2 pB`imH KQ/2H Q7 i?2 mMKMM2/ #B+v+H2 Bb /2b+`B#2/
#v i?2 lMB}2/ _Q#QiB+b .2b+`BTiBQM 6BH2 6Q`Ki Ul_.6VX
]
h?2 KBM #Q/v +QMbBbib Q7 7Qm` HBMFb, 7`QMi r?22HUr?22HkV-
]
]
LESO
`2` r?22HUr?22HRV- #Q/vU7`K2V- M/ ?M/H2#`Ubi22`BM;V- BM
//BiBQM iQ ?pBM;  Kbb ~vr?22H U#HM+2`V- r?B+? Bb mb2/ 7Q`
b2H7@#HM+BM; +QMi`QH Q7 i?2 mMKMM2/ #B+v+H2X AM i?Bb pB`imH
KQ/2H- i?2`2 Bb MQ M22/ 7Q` +QMi+i #2ir22M i?2 Kbb r?22H
6B;X kX G._* +QMi`QH bvbi2K Q7 lMKMM2/ #B+v+H2 rBi? AqS M/ i?2 #Q/v- #mi i?2`2 Bb  +2`iBM +QMM2+iBQM `2HiBQMb?BT
#2ir22M i?2KX h?2 bi`m+im`2 Q7 i?2 mMKMM2/ #B+v+H2 KQ/2H
h?2 QmiTmi y Q7 i?2 bvbi2K Bb i?2 iBHi M;H2 Q7 i?2 #B+v+H2- l_.6 BM i?Bb TT2` Bb b 7QHHQrb,
i?2 `272`2M+2 BMTmi r iQ i?2 bvbi2K Bb i?2 /2bB`2/ iBHi M;H2- M/
i?2 +QMi`QH Hr u Bb mb2/ b i?2 BMTmi Q7 i?2 +QMi`QHH2/ Q#D2+i iQ
/`Bp2 i?2 Kbb ~vr?22H `QiiBQMX aBM+2 G1aP +M 2biBKi2 M/
+QKT2Mbi2 7Q` 2ti2`MH M/ BMi2`MH /Bbim`#M+2b- i?2 HBM2` frame
bii2 2``Q` 722/#+F +QMi`QH Hr Bb 7m`i?2` bBKTHB}2/ iQ i?2
/2bB;M Q7 i?2 S. +QK#BMiBQM iQ `2iBM i?2 /pMi;2b Q7 i?2
SA. +QMi`QH H;Q`Bi?KX h?2 S. +QMi`QH +QK#BMiBQM +M #2 wheel1 steering balancer
r`Bii2M b,
u0 = kp (r − z1 (k + 1)) − kd z2 (k + 1), URNV
r?2`2 r Bb i?2 ;Bp2M /2bB`2/ iBHi M;H2 pHm2- z1 (k + 1) M/ wheel2
z2 (k + 1) `2 i?2 Q#b2`p2` bii2b 7`QK i?2 /Bb+`2iBx2/ G1aP-
M/ kp M/ kd `2 i?2 T`Q`i2/ M/ /Bz2`2MiBi2/ KTHB}+iBQM
7+iQ`b- `2bT2+iBp2HvX h?2 +QMi`QH Hr Bb, 6B;X 9X l_.6 bi`m+im`2 Q7 mMKMM2/ #B+v+H2 KQ/2H
u0 − z3 (k + 1)
u= . UkyV h?2 HBMF Bb +QMM2+i2/ #v DQBMibX h?2 Qp2`HH bi`m+im`2 Q7 i?2
b0 KQ/2H ?b 7Qm` DQBMib- M/ i?2 BM7Q`KiBQM QM 2+? DQBMi Bb
q?2M i?2 G1aP rQ`Fb T2`72+iHv- i?2 iQiH /Bbim`#M+2 f Q7 i?2 b?QrM #2HQr,
bvbi2K Bb 2biBKi2/ T2`72+iHv #v z3 (k + 1)- bQ i?2 +QMi`QHH2/ 7`K2nr?22HnDQBMi, h?2 T`2Mi DQBMi Bb i?2 7`K2 M/ i?2
Q#D2+i Bb bBKTHB}2/ iQ  /Qm#H2 BMi2;`H ivT2 bvbi2K, +?BH/Ƕb DQBMi Bb r?22HR- r?B+? +QMi`QHb i?2 `QiiBQM Q7 i?2 `2`
r?22H- BX2X i?2 7Q`r`/ KQp2K2Mi Q7 i?2 mMKMM2/ #BF2 KQ/2HX
θ̈ = f − z3 (k + 1) + u0 = u0 . UkRV h?2 DQBMi T`QT2`iv Bb +QMiBMmQmb- r?B+? ?b i?2 +?`+i2`BbiB+b
Q7 `QiiBM; QM  bBM;H2 tBb M/ ?pBM; +QMiBMmQmb KQiBQMX
h?Bb KF2b i?2 +HQb2/@HQQT i`Mb72` 7mM+iBQM  Tm`2 b2+QM/@
7`K2nbi22`BM;nDQBMi, h?2 T`2Mi DQBMi Bb i?2 7`K2 M/ i?2
Q`/2` bvbi2K rBi? MQ x2`Q TQBMib,
+?BH/Ƕb DQBMi Bb bi22`BM;- r?B+? +QMi`QHb i?2 bi22`BM; Q7 i?2 ?M@
kp /H2#`bX h?2 DQBMi ii`B#mi2 Bb `2pQHmi2- r?B+? Bb +?`+i2`Bx2/
G= . UkkV
s 2 + kd s + kp #v  }t2/ `M;2 Q7 ?BM;2 DQBMi KQiBQM rBi? `QiiBQM QM  bBM;H2
tBbX h?2 bi22`BM; Q7 i?2 ?M/H2#` ?b bT2+B}+ HBKBib- bQ i?2
kp M/ kd `2 i?2 +QMi`QHH2` ;BMb iQ #2 /2bB;M2/- T`K2i2`@ DQBMi 2H2K2Mi HbQ BM+Hm/2b ǴHBKBiǴ M/ Ǵ/vMKB+bǴX
Bx2/- M/ b2H2+i2/ bi22`BM;nr?22HnDQBMi, Aib T`2Mi DQBMi Bb bi22`BM; M/ Bib
kp = ωc 2 , kd = 2ωc , UkjV +?BH/ DQBMi Bb r?22Hk- r?B+? +QMi`QHb i?2 `QiiBQM Q7 i?2
7`QMi r?22HX h?2 DQBMi T`QT2`iv Bb +QMiBMmQmb- rBi? MQ Qi?2`
ωc Bb i?2 +QMi`QHH2` #M/rB/i? bQ i?i i?2 S. +QMi`QHH2` `2bi`B+iBQMbX .m`BM; i?2 +imH KQp2K2Mi Q7 i?2 #BF2- i?2 7`QMi
T`K2i2`b `2 mMB[m2Hv HBMF2/ iQ i?2 +QMi`QHH2` #M/rB/i?- r?22H `Qii2b `QmM/ Bib tBb b  TbbBp2 DQBMi- M/ MQ +iBp2
bBKTHB7vBM; i?2 +QMi`QHH2` /2bB;MX iQ`[m2 Bb TTHB2/ iQ BiX

6406

Authorized licensed use limited to: ROBERT BOSCH. Downloaded on October 31,2023 at 07:50:36 UTC from IEEE Xplore. Restrictions apply.
 7`K2n#HM+2`nDQBMi, h?2 T`2Mi DQBMi Bb i?2 7`K2- i?2 i?2 SA. +QMi`QHH2` M/ 6B;X 8U#V Bb i?2 2z2+i Q7 i?2 G._*
+?BH/Ƕb DQBMi Bb i?2 #HM+2`- M/ i?2 DQBMi ii`B#mi2 Bb +QMiBMm@ +QMi`QHH2`X
Qmb- r?B+? +QMi`QHb i?2 `QiiBQM Q7 i?2 Kbb r?22HX h?2 `QiiBQM
Q7 i?2 Kbb r?22H Bb mM+QMbi`BM2/ M/ +M #2 +QMiBMmQmb QM
 bBM;H2 tBbX h?2`27Q`2- r?2M +QMi`QHHBM; i?2 #B+v+H2 pB`imH
KQ/2H- i?2 7`QMi r?22H Bb mb2/ b  TbbBp2 DQBMi- M/ QMHv i?2
#Qp2 i?`22 DQBMib +M #2 +QMi`QHH2/X h?2 b2iiBM; Q7 i?2b2 DQBMi
ii`B#mi2b M/ 2H2K2Mib +M KF2 i?2 #B+v+H2 pB`imH KQ/2H
+HQb2` iQ i?2 `2H #B+v+H2X
AM //BiBQM- BM Q`/2` iQ +QMi`QH i?2 #B+v+H2 DQBMib- Bi Bb
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BMi2`7+2 ivT2 7Q` 2+? DQBMiX 6Q` 2+? DQBMi BM i?2 #Qp2 KQ/2H
bi`m+im`2- i?2 `2[mB`2/ +QMi`QHH2` ivT2 M/ ?`/r`2 BMi2`7+2
ivT2 b2iiBM;b `2 b?QrM BM h#H2 AAX "b2/ QM i?Bb- mbBM; i?2
6B;X eX h?2 T2`7Q`KM+2 Q7 1aP
h"G1 AA
CQBMi +QM};m`iBQM BM7Q`KiBQM
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CQBMi LK2 *QMi`QHH2` hvT2 >`/r`2 AMi2`7+2 hvT2 i?2 QmiTmi Q7 2bQ M/ v Bb i?2 QmiTmi Q7 i?2 bvbi2KX h?2 `2bmHi
7`K2nbi22`BM;nDQBMiCQBMiSQbBiBQM*QMi`QHH2` SQbBiBQMCQBMiAMi2`7+2
b?Qr i?i i?2 2bQ Bb #H2 iQ 2biBKi2 i?2 QmiTmi Q7 i?2 bvbi2K
7`K2nr?22HnDQBMi CQBMio2HQ+Biv*QMi`QHH2` o2HQ+BivCQBMiAMi2`7+2
++m`i2HvX
7`K2n#HM+2`nDQBMi CQBMi1zQ`i*QMi`QHH2` 1zQ`iCQBMiAMi2`7+2
h?2 bBKmHiBQM `2bmHib BHHmbi`i2 i?i i?2 #B+v+H2 bvbi2K
rBi? AqS +M KBMiBM i?2 #Q/v TQbim`2 i  bT2+B}+ M;H2
K2+?MBbK Q7 iQTB+ +QKKmMB+iBQM BM _Pa- i?2 /i Bb `2/ M/ i?i i?2 bvbi2K ;`/mHHv `2im`Mb iQ M mT`B;?i TQbBiBQM
7`QK i?2 #B+v+H2 KQ/2H M/ i?2 +QMi`QH H;Q`Bi?K Bb mb2/ iQ r?2M i?2 /2bB`2/ iBHi M;H2 Bb yêX h?2 G._* +QMi`QHH2` ?b 
Q#iBM i?2 +QMi`QH Hr- r?B+? Bb b2Mi iQ i?2 DQBMi +QMi`QHH2`X bKHH2` Qp2`b?QQi M/  bKQQi?2` T`Q+2bb rBi? MQ bB;MB}+Mi
AM i?2 _Pa@:x2#Q bBKmHiBQM 2MpB`QMK2Mi- i?2 7QHHQrBM; ~m+imiBQMb +QKT`2/ iQ i?2 SA. +QMi`QHH2`X
irQ b2H7@#HM+BM; +b2b `2 2tT2`BK2Mi2/ b2T`i2Hv #b2/ QM 6Q` i?2 b2+QM/ +b2- Bi Bb r2HH FMQrM i?i i?2 #B+v+H2 +M #2
i?2 #Qp2 b2iiBM;b, (1)r?2i?2` i?2 #B+v+H2 bvbi2K +M i`+F mM#HM+2/ #v im`MBM; i?2 ?M/H2#`bX h?2`27Q`2- i?2 +?M;2
i?2 ;Bp2M iBHi M;H2 r?2M i?2 `272`2M+2 BMTmi Q7 i?2 bvbi2K BM bi22`BM; M;H2 Bb i`2i2/ b  /Bbim`#M+2- M/ irQ b2ib Q7
+?M;2b- BX2X- i?2 /2bB`2/ iBHi M;H2 +?M;2bc (2)r?2i?2` i?2 2tT2`BK2Mib `2 /QM2 b2T`i2Hv iQ p2`B7v i?2 `Q#mbiM2bb Q7 i?2
#B+v+H2 bvbi2K +M KBMiBM i?2 #HM+2 r?2M i?2 ?M/H2#` #HM+2 +QMi`QH #b2/ QM i?2 #Q/v b2H7@#HM+BM;X aBM+2 i?2
im`MBM; M;H2 Bb /Bbim`#2/X h?2 G._* H;Q`Bi?K Bb +QKT`2/ ?M/H2#` im`MBM; M;H2 mb2b  TQbBiBQM +QMi`QHH2`- i?2 bK2
rBi? i?2 SA. H;Q`Bi?KX 7i2` b2p2`H 2tT2`BK2Mib iQ +QKT`2 /Bbim`#M+2 Bb TTHB2/ iQ #Qi? b2ib Q7 2tT2`BK2Mib iQ KF2 Bi
i?2 `2bmHib- i?2 T`K2i2`b Q7 i?2 H/`+ +QMi`QHH2` r2`2 }MHHv im`M iQ i?2 H27i iQ @jyê i R8s Q7 bBKmHiBQM iBK2- M/ iQ i?2
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i`QHH2` T`K2i2`b `2 b2H2+i2/ b kp 48XN-ki 4y-kd 4keXy- r?2`2 Q7 9ys- Bi rb `2biQ`2/ iQ i?2 BMBiBH bii2 Q7 yêX h?2 bBKmHiBQM
i?2 #b2M+2 Q7 M BMi2;`H i2`K ?b  #2ii2` BKT+i QM i?2 `2bmHib `2 b?QrM #2HQrX
`2bmHibX
AM i?Bb bBKmHiBQM 2tT2`BK2Mi- i?2 mTT2` M/ HQr2` HBKBib Q7
i?2 #B+v+H2 im`MBM; M;H2 `2 b2i iQ Ǭjyê- M/ i?2 ?M/H2#`
im`Mb iQ i?2 H27i r?2M i?2 7Q`+2 TTHB2/ iQ i?2 ?M/H2#` Bb
TQbBiBp2 M/ im`Mb iQ i?2 `B;?i r?2M i?2 7Q`+2 TTHB2/ iQ i?2
?M/H2#` Bb M2;iBp2- BM //BiBQM- i?2 im`MBM; M;H2 Bb M2;iBp2
r?2M i?2 ?M/H2#` im`Mb iQ i?2 H27i M/ Bb TQbBiBp2 r?2M i?2
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