Eden Ahbez在他的名曲即电影《红磨坊》的主题曲中唱得好：“你学到的最棒的事情莫过于懂得了如何去爱，并且得到了爱的回报。”

Eden Ahbez sums it nicely in the words to his famous song featured in the film Moulin Rouge - “The greatest thing you’ll ever learn is just to love, and be loved in return.”

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“好，棒，不错”是《星球大战》三部曲的走势。

Good, great, fine is how the Star Wars trilogy runs.

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之后，设计了双曲正切函数的鲁棒补偿项，从而得到一种没有抖振的平滑控制输入。

Then, a robust compensation term is developed in form of hyperbolic tangent function to obtain a smooth control input without chattering phenomena.

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