More particularly such incorporation includes Equations through for the gains of the PID controller of FIG 3 hereof in the implementation of the linear adaptive force control law given by Equations and : and likewise the formulation and implementation of the linear adaptive position control law of Equation and {HEAD ~ the controller gains} of {TAIL ~ Equations} through  
More particularly such incorporation includes Equations through for the gains of the PID controller of FIG 3 hereof in the implementation of the linear adaptive force control law given by Equations and : and likewise the formulation and implementation of the linear adaptive position control law of Equation and { HEAD ~ the controller gains } of { TAIL ~ Equations } through
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL OTH OTH