a feedforward controller and an adaptive feedback controller including {HEAD ~ means} for applying a feedback equation having {TAIL ~ force control terms} 
a feedforward controller and an adaptive feedback controller including { HEAD ~ means } for applying a feedback equation having { TAIL ~ force control terms }
OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL