 are</p>
% <p>
%     \begin{eqnarray}
%     {\bf v}_{\rm F} &=& \left( \dot{x} - a \dot{\psi} \sin \psi \right) {\bf i} + \left( \dot{y} + a \dot{\psi} \cos \psi \right) {\bf j} \label{eq:velfront} \\
%     {\bf v}_{\rm R} &=& \left( \dot{x} + b \dot{\psi} \sin \psi \right) {\bf i} + \left( \dot{y} -b \dot{\psi} \cos \psi \right) {\bf j} \label{eq:velrear} 
%     \end{eqnarray}
% </p>
% </html>
%

% Angular velocity
wT_t        = [0 0 diff(PSI_t,t)];

% Velocity (T)
VTdiff_t    = diff(PTO_t,t);
VTdiff      