r, orientation is \(\psi\). Thus, (\(\psi=0\)) in \ref{eq:slipangleFfull} and \ref{eq:slipangleRfull}. Then </p>
<p>
\begin{eqnarray}
\nonumber \alpha_{\rm F} &=& \arctan \left( \frac{v_{\rm T} \sin \alpha_{\rm T} + a \dot{\psi}}{ v_{\rm T} \cos \alpha_{\rm T}} \right) - \delta_{\rm F} \\
\alpha_{\rm R} &=& \arctan \left( \frac{v_{\rm T} \sin \alpha_{\rm T} - b \dot{\psi}}{ v_{\rm T} \cos \alpha_{\rm T}} \right) - \delta_{\rm R}
\label{eq:slipanglesnewvariables}
\end{eqnarray}
</p>
</p><pre class="codeinput