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274 add some automated model predictive current control to gem control #372

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Run time

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Job	Run time
build-doc	1m 22s
test-code (3.11)	1m 30s
test-code (3.13)	1m 32s
test-code (3.9)	1m 23s
test-code (3.12)	1m 26s
test-code (3.10)	1m 27s
	8m 40s