A feedback compensator generates {HEAD ~ a first control signal} by using {TAIL ~ the error signal} and a feed forward compensator generates a second control signal by using the reference input signal 
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A feedback compensator generates { HEAD ~ a first control signal } by using { TAIL ~ the error signal } and a feed forward compensator generates a second control signal by using the reference input signal
OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH