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