The error signal e generated at {HEAD ~ the subtractor} 320 is transmitted to the feedback compensator 330 in which the feedback control signal {TAIL ~ ub} is generated 
The error signal e generated at { HEAD ~ the subtractor } 320 is transmitted to the feedback compensator 330 in which the feedback control signal { TAIL ~ ub } is generated
OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL OTH OTH