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