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