means for summing said auxiliary signal and adaptive gains and for outputting {HEAD ~ a control signal} to said {TAIL ~ manipulator} 
to
means for summing said auxiliary signal and adaptive gains and for outputting { HEAD ~ a control signal } to said { TAIL ~ manipulator }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL OTH TAIL TAIL TAIL TAIL TAIL