Lukas Schwerdt

>Your split jerk solution looks like the effect of using the [ZV input shaper](http://web.tuat.ac.jp/~gvlab/ronbun/ReadingGroupControl/Command_Shaping_for_Flexible_Systems_A_Review_of_the_First_50_Years.pdf). Is that what you used? Splitting the velocity jump this way is just a special case...

To gain some more understanding of the workings of the ZV shaper, I have added some input shaped motion profiles to my [Jupyter notebook](https://github.com/LSchwerdt/Optimize3dPrinterMotion/blob/master/DecelerationProfilesOneAxis/DecelerationProfilesOneAxis.ipynb). The proposed corner cutting method is...