} \right) - m_{\rm T} v \dot{\psi}}{m_{\rm T} v_{\rm T}} \\
%     \dot{{\rm x}}_6 &=& \frac{F_{x,{\rm F}} a \sin \delta  + F_{y,{\rm F}} a \cos \delta - F_{y,{\rm R}} b}{I_{\rm T}}. \label{eq:stateequationnonlinear3dof}
%     \end{eqnarray}
% </p>
% <p>The nonlinear model of the package uses equations in \ref{eq:stateequationnonlinear3dof} with slip angles defined in \ref{eq:slipanglesnewvariables}</p>
% </html>

EQ = ddTddq-dTdq;
EQ = subs(EQ,symfunVariables,symVariables);
EQ = formula(simplify(subs(EQ,[dx