{HEAD ~ The PID controller} generates {TAIL ~ a command signal} to either modulate the brakes or motor up or down depending on the sign of the command signal 
generates
{ HEAD ~ The PID controller } generates { TAIL ~ a command signal } to either modulate the brakes or motor up or down depending on the sign of the command signal
HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH