I have a velocity command, which is:
where each quantity $\rho$ and $\alpha$ depend by the time.
I would like now to take the time derivative of this, in order to use it as feedforward. The problem is that I have also an angular velocity command, which is much more complex than this, and do it by hand would be almost impossible to do it without mistakes.
So, my question is:
What is a matlab code that takes the time derivative of expression of this type?