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