State-Space Bicycle Vehicle Model

2 May 14, 2024

The state-space matrices for a bicycle vehicle model is
$$\begin{bmatrix}
\dot{\beta} \\ \dot{r}
\end{bmatrix}
=\begin{bmatrix}
\frac{-C_0}{mV} & -(1+\frac{C_1}{mV^2}) \\
\frac{-C_1}{I_Z} & \frac{-C_2}{I_ZV}
\end{bmatrix}
\begin{bmatrix}
\beta \\
r
\end{bmatrix}+
\begin{bmatrix}
\frac{C_{\alpha f}}{mV} \\ \frac{\alpha C_{\alpha f}}{I_Z}
\end{bmatrix}\delta$$