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