a feedforward controller and {HEAD ~ an adaptive feedback controller} including {TAIL ~ means} for applying a feedback equation having force control terms 
including
a feedforward controller and { HEAD ~ an adaptive feedback controller } including { TAIL ~ means } for applying a feedback equation having force control terms
OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH