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A modulating signal given by $x(t)=5\sin (4\pi 10^3t -10\pi  \cos 2\pi  10^3t)V$ is fed to a phase modulator with phase deviation constant $k_p=5$ rad/V. If the carrier frequency is $20$ kHz, the instantaneous frequency(in kHz) at $t=0.5$ ms is ____________
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