The 4th derivative is quite important for good motion control where it is usually called 'snap'. Specifically, it is relevant both for feedforward control desig

The 4th derivative is quite important for good motion control where it is usually called 'snap'. Specifically, it is relevant both for feedforward control design [1] and trajectory planning [2]. As shown in the latter, it is advantageous to design trajectories based on segments of constant snap. Consequently, also including 'snap' in the feedforward signals makes the achieved position profiles notably smoother. [1] "Control for precision mechatronics" https://doi.org/10.1007/978-3-030-44184-5_100044 https://doi.org/10.1007/978-3-030-44184-5_100044 [2] "Trajectory planning and feedforward design for electromechanical motion systems" https://doi.org/10.1016/j.conengprac.2004.02.010 https://doi.org/10.1016/j.conengprac.2004.02.010