A feedback compensator generates a first control signal by using the error signal and {HEAD ~ a feed forward compensator} generates {TAIL ~ a second control signal} by using the reference input signal 
A feedback compensator generates a first control signal by using the error signal and { HEAD ~ a feed forward compensator } generates { TAIL ~ a second control signal } by using the reference input signal
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH