{HEAD ~ The difference} between {TAIL ~ the square root} of the distance and the moving velocity is obtained by a substracter, and a feedforward signal is added to the difference 
between
{ HEAD ~ The difference } between { TAIL ~ the square root } of the distance and the moving velocity is obtained by a substracter , and a feedforward signal is added to the difference
HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH