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