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Add a child view controller
UIViewController* controller = [self.storyboard instantiateViewControllerWithIdentifier:@"identifier"]; // or whatever
[self addChildViewController:controller];
controller.view.frame = CGRectMake(0, 0, 100, 100); // or whatever
[self.view addSubview:controller.view];
[controller didMoveToParentViewController:self];
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