The feedback control signal ub contributes to enhance {HEAD ~ the robustness} of {TAIL ~ the plant} 360 expressed in terms of the external disturbances and the modeling errors 
The feedback control signal ub contributes to enhance { HEAD ~ the robustness } of { TAIL ~ the plant } 360 expressed in terms of the external disturbances and the modeling errors
OTH OTH OTH OTH OTH OTH OTH OTH 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