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