A feedback compensator generates a first control signal by using {HEAD ~ the error signal} and a feed forward compensator generates a second control signal by using {TAIL ~ the reference input signal} 
A feedback compensator generates a first control signal by using { HEAD ~ the error signal } and a feed forward compensator generates a second control signal by using { TAIL ~ the reference input signal }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL