| http://www.w3.org/ns/prov#value | - The apparatus according to claim 18, further comprising:means for converting each of the first signals to a control variable and said second signal generating means generating, as the second signal, a feed-forward signal approximated by a function f(t), wherein f(t)=E * exp(-t/T) where E is a maximum control variable and T is a time constant; and said signal-composing means combining the control v
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