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