Alternatively, when 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 {TAIL ~ the rates} of change are limited to the limited rates of change 
of
Alternatively , when 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 { TAIL ~ the rates } of change are limited to the limited rates of change
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 OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH