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