ring">dVT</span> <span class="string">dALPHAT</span>

<span class="comment">% Inputs</span>
syms <span class="string">deltaf</span> <span class="string">deltar</span> <span class="string">FxF</span> <span class="string">FxR</span>
<span class="comment">% Tire lateral forces</span>
syms <span class="string">FyF</span> <span class="string">FyR</span>
<span class="comment">% Vehicle parameters</span>
syms <span class="string">a</span> <span class="string">b</span> <span class="string">mT</span> <span class="st