- m_{\rm T} v \dot{\psi}}{m_{\rm T} v_{\rm T}} \\
    \nonumber \ddot{\psi} &=& \frac{F_{x,{\rm F}} a \sin \delta  + F_{y,{\rm F}} a \cos \delta - F_{y,{\rm R}} b}{I_{\rm T}}.
    \end{eqnarray}
</p>
<p>Therefore, the set of states variables is</p>
<p>
    \begin{eqnarray}
    \nonumber {\rm x}_1 &=& x 				\\
    \nonumber {\rm x}_2 &=& y 				\\
    \nonumber {\rm x}_3 &=& \psi              \\
    \nonumber {\rm x}_4 &=& v_{\rm T} 		\\
    \nonumber {\rm x}_5 &=& \alpha_{\rm T} 	\\
    \nonumber {\rm x}_6 &