 T} - \delta_{\rm R} \right) - m_{\rm T} v \dot{\psi}}{m_{\rm T} v_{\rm T}} \\
%     \nonumber \ddot{\psi} &=& \frac{F_{x,{\rm F}} a \sin \delta  + F_{y,{\rm F}} a \cos \delta - F_{y,{\rm R}} b}{I_{\rm T}}.
%     \end{eqnarray}
% </p>
% <p>Therefore, the set of states variables is</p>
% <p>
%     \begin{eqnarray}
%     \nonumber {\rm x}_1 &=& x 				\\
%     \nonumber {\rm x}_2 &=& y 				\\
%     \nonumber {\rm x}_3 &=& \psi              \\
%     \nonumber {\rm x}_4 &=& v_{\rm T} 		\\
%     \nonumber {\rm x}