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   &CV& $\theta=0$ & $\theta=1$ & $\theta=2$ \\ \hline
  Gain-scheduled IMC & $P_{in}$ & 60\% & 60\% & 50\% \\
  Output linearization & $P_{rb} \; \& \; P_{rt}$ & 60\% & 40\% & 25\% \\
  Nonlinear observer & $P_{rt}$ & 28\% & 24\% & 22\% \\
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