les,symVariables);

%% Slip angles
% <html>
% <p>Using equations \ref{eq:velfront} and \ref{eq:velrear}, the slip angles can be written as</p>
% <p>
% \begin{eqnarray}
% \nonumber \alpha_{\rm F} &=& \arctan \left( \frac{\dot{y} + a \dot{\psi} \cos \psi}{ \dot{x} - a \dot{\psi} \sin \psi} \right) - \left( \delta_{\rm F} + \psi \right) \\
% \nonumber \alpha_{\rm R} &=& \arctan \left( \frac{\dot{y} - b \dot{\psi} \cos \psi}{ \dot{x} + b \dot{\psi} \sin \psi} \right) - \left( \delta_{\rm R} + \psi \right)
% \en