A velocity control device 8, wherein {HEAD ~ said feedforward signal} corresponds to a time differential value of {TAIL ~ said velocity profile} 
A velocity control device 8 , wherein { HEAD ~ said feedforward signal } corresponds to a time differential value of { TAIL ~ said velocity profile }
OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL