The system 10, wherein {HEAD ~ the logic control unit} of {TAIL ~ the closed loop controller} comprises a proportional calculator, a differential calculator and an integral calculator 
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The system 10 , wherein { HEAD ~ the logic control unit } of { TAIL ~ the closed loop controller } comprises a proportional calculator , a differential calculator and an integral calculator
OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH