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This is a configuration similar to an LT6100 implemented with generic components. A Rail-to-Rail or Over-the-Top input op amp type is required (for the first section). The first section is a variation on the classic high-side where the P-MOSFET provides an accurate output current into R2 (compared to a BJT). The second section is a buffer to allow driving ADC ports, etc., and could be configured with gain if needed. As shown, this circuit can handle up to 36V operation. Small-signal range is limited by VOL in single-supply operation.