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## 9.5.2 Low-Authority Control/High-Authority Control [HAC-HAC]({{< relref "hac_hac.md" >}}) {#9-dot-5-dot-2-low-authority-control-high-authority-control-hac-hac--hac-hac-dot-md}
> Figure <fig:bryson93_hac_lac> shows the concept of Low-Authority Control/High-Authority Control (LAC/HAC) is the s-plane.
> [Figure 1](#figure--fig:bryson93-hac-lac) shows the concept of Low-Authority Control/High-Authority Control (LAC/HAC) is the s-plane.
> LAC uses a co-located rate sensor to add damping to all the vibratory modes (but not the rigid-body mode).
> HAC uses a separated displacement sensor to stabilize the rigid body mode, which slightly decreases the damping of the vibratory modes but not enough to produce instability (called "spillover")