Find the relationship between $a$ and $b$ so that the function $f$ defined by $f(x) = \left\{ \begin{array} {1 1} ax + 1 ,& \quad\text{ if $ x $ \(\leq 3\)}\\ bx + 3,& \quad \text{if $x$ > 3}\\ \end{array} \right.$ is continuous at $x = 3$.

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