The feedback control signal ub contributes to enhance the robustness of the plant 360 expressed in {TAIL ~ terms} of {HEAD ~ the external disturbances} and the modeling errors 
The feedback control signal ub contributes to enhance the robustness of the plant 360 expressed in { TAIL ~ terms } of { HEAD ~ the external disturbances } and the modeling errors
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH