The speed control module controls {HEAD ~ a speed} of {TAIL ~ a motor} based on an error signal generated based on a desired speed and back electromotive force 
The speed control module controls { HEAD ~ a speed } of { TAIL ~ a motor } based on an error signal generated based on a desired speed and back electromotive force
OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH