More particularly such incorporation includes {HEAD ~ Equations} through for {TAIL ~ the gains} of the PID controller of FIG 3 hereof in the implementation of the linear adaptive force control law given by Equations and : and likewise the formulation and implementation of the linear adaptive position control law of Equation and the controller gains of Equations through  
through for
More particularly such incorporation includes { HEAD ~ Equations } through for { TAIL ~ the gains } of the PID controller of FIG 3 hereof in the implementation of the linear adaptive force control law given by Equations and : and likewise the formulation and implementation of the linear adaptive position control law of Equation and the controller gains of Equations through
OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH