means for summing said auxiliary signal and adaptive gains and for outputting {TAIL ~ a control signal} to said {HEAD ~ manipulator} 
means for summing said auxiliary signal and adaptive gains and for outputting { TAIL ~ a control signal } to said { HEAD ~ manipulator }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH HEAD HEAD HEAD HEAD HEAD