Alternatively, when {TAIL ~ the magnitudes} of rates of change of the target braking/driving force after a modification and the target yaw moment after the modification exceed the corresponding limited rates of change, {HEAD ~ these magnitudes} of the rates of change are limited to the limited rates of change 
Alternatively , when { TAIL ~ the magnitudes } of rates of change of the target braking / driving force after a modification and the target yaw moment after the modification exceed the corresponding limited rates of change , { HEAD ~ these magnitudes } of the rates of change are limited to the limited rates of change
OTH OTH OTH 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 OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH