{HEAD ~ A load force} feeds into a PID controller programmed with {TAIL ~ preset proportional, differential and integral parameters} 
{ HEAD ~ A load force } feeds into a PID controller programmed with { TAIL ~ preset proportional , differential and integral parameters }
HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL