The feedback control signal ub contributes to enhance the robustness of the plant 360 expressed in {HEAD ~ terms} of the external disturbances and {TAIL ~ the modeling errors} 
of
The feedback control signal ub contributes to enhance the robustness of the plant 360 expressed in { HEAD ~ terms } of the external disturbances and { TAIL ~ the modeling errors }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL