逗号+with将主语和谓语隔开的句子

遇见了一句逗号+with将主语和谓语隔开的句子，搞不知道。

Despite this characteristic, the most common drawback for any PD controller, with unknown dynamics or even with unmodeled dynamics is the error signal differentiation.

句中为何用逗号和with将主语和谓语隔开？这是什么语法结构？

事实上，这个句子还缺少一个逗号，改为：

Despite this characteristic, the most common drawback for any PD controller, with unknown dynamics or even with unmodeled dynamics, is the error signal differentiation.

with 短语前后都要加逗号，一个是不可以的。如此可以凸显主语和谓语（主系表）：the most common drawback isthe error signal differentiation.

如此，整个划线的 with 短语作 drawback 的非限制性定语，表示“缘由”。