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Section 19.6: Smooth Dynamic Nonlinearities for Stable and Stably Invertible Models is covered by slides: 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, [67], 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79

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