The error signal {HEAD ~ e} generated at {TAIL ~ the subtractor} 320 is transmitted to the feedback compensator 330 in which the feedback control signal ub is generated 
The error signal { HEAD ~ e } generated at { TAIL ~ the subtractor } 320 is transmitted to the feedback compensator 330 in which the feedback control signal ub is generated
OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH