The repeatable component correcting module corrects the repeatable component based on transfer characteristics of {HEAD ~ the speed control module} and the motor and generates {TAIL ~ a corrected repeatable component} 
The repeatable component correcting module corrects the repeatable component based on transfer characteristics of { HEAD ~ the speed control module } and the motor and generates { TAIL ~ a corrected repeatable component }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL