The method 6 wherein the percent error is determined using a difference between the operating speed of the motor and {HEAD ~ the predetermined target speed} of {TAIL ~ the motor} 
The method 6 wherein the percent error is determined using a difference between the operating speed of the motor and { HEAD ~ the predetermined target speed } of { TAIL ~ the motor }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL