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