eriod);

% Defining steering input
VehicleModel.deltaf = [delta_amplitude*sin(delta_freq*TSPAN(1:sine_index)) zeros(1,length(TSPAN)-sine_index)];

figure
hold on ; grid on ; box on
plot(TSPAN,VehicleModel.deltaf*180/pi,'r','linewidth',2)
xlabel('Time [s]')
ylabel('Steering angle [deg]')

%% Run simulation
% To define a simulation object (simulator) the arguments must be the
% vehicle object and the time span.

simulator = Simulator(VehicleModel, TSPAN);

%%
% Initial conditions
% Changing initial conditions