{TAIL ~ A velocity control device} 8, wherein said feedforward signal corresponds to a time differential value of {HEAD ~ said velocity profile} 
{ TAIL ~ A velocity control device } 8 , wherein said feedforward signal corresponds to a time differential value of { HEAD ~ said velocity profile }
TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD