In a further embodiment, the method includes selecting {HEAD ~ a third control profile} from {TAIL ~ the plurality} of control profiles when the variable of the control input variable is below a second threshold below the first threshold 
In a further embodiment , the method includes selecting { HEAD ~ a third control profile } from { TAIL ~ the plurality } of control profiles when the variable of the control input variable is below a second threshold below the first threshold
OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH