CNC machining relies on motion controls with higher order derivatives. https://tenmilesquare.com/resources/iot-connected-hardware/a-big-advance-in-desktop-manu

CNC machining relies on motion controls with higher order derivatives. https://tenmilesquare.com/resources/iot-connected-hardware/a-big-advance-in-desktop-manufacturing-jerk-controlled-motion-explained/ https://tenmilesquare.com/resources/iot-connected-hardware/a... "Note: In the past TinyG used 3rd-order “constant jerk” motion planning, similar to a form of controlled-jerk motion planning that is found in some commercial products. TinyG has since moved on to even smoother motion control that uses further derivatives “snap” (4th derivative), “crackle” (5th derivative), and “pop” (6th derivative). As far as we know, no commercial CNC products advertise that they use 6th-order motion planning."