{TAIL ~ Circuits} in the adaptive feedback and feedforward controllers are varied by {HEAD ~ novel adaptation laws} 
{ TAIL ~ Circuits } in the adaptive feedback and feedforward controllers are varied by { HEAD ~ novel adaptation laws }
TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD