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