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  ______     ___               _    _             
 /_____//   / _ \\      ___   | || | ||   ____    
 `____ `   / //\ \\    /   || | || | ||  |    \\  
 /___//   |  ___  ||  | [] || | \\_/ ||  | [] ||  
 `__ `    |_||  |_||   \__ ||  \____//   |  __//  
 /_//     `-`   `-`     -|_||   `---`    |_|`-`   
 `-`                     `-`             `-`

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Text this: Optimal LQ feedforward tracking with preview: Practical design for rigid body motion control