{HEAD ~ A velocity control device} 8, wherein said feedforward signal corresponds to a time differential value of {TAIL ~ said velocity profile} 
{ HEAD ~ A velocity control device } 8 , wherein said feedforward signal corresponds to a time differential value of { TAIL ~ said velocity profile }
HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL