a feedforward controller and an adaptive feedback controller including {HEAD ~ means} for applying {TAIL ~ a feedback equation} having force control terms 
for applying
a feedforward controller and an adaptive feedback controller including { HEAD ~ means } for applying { TAIL ~ a feedback equation } having force control terms
OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH