This report considers trajectory planning with constrained dynamics and design of an appropriate

feedforward controller for single axis motion control. A motivation is given for using

model-based fourth order feedforward with fourth order trajectories. An algorithm is given

for calculating higher order trajectories with bounds on all considered derivatives for point to

point moves. It is shown that these trajectories are time-optimal in the most relevant cases.

All required equations for third and fourth order trajectory planning are explicitly derived.

Implementation, discretization and quantization effects are considered. Simulation results

show the superior effectiveness of fourth order feedforward in comparison with rigid-body

feedforward