The feedforward signal is obtained by differentiating a velocity profile with {TAIL ~ respect} to {HEAD ~ time} with a differentiator 
The feedforward signal is obtained by differentiating a velocity profile with { TAIL ~ respect } to { HEAD ~ time } with a differentiator
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL OTH HEAD HEAD HEAD HEAD HEAD OTH OTH OTH