The difference between {TAIL ~ the square root} of the distance and the moving velocity is obtained by {HEAD ~ a substracter}, and a feedforward signal is added to the difference 
The difference between { TAIL ~ the square root } of the distance and the moving velocity is obtained by { HEAD ~ a substracter } , and a feedforward signal is added to the difference
OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH