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