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