">VF_t    = diff(PFO_t,t);
VR_t    = diff(PRO_t,t);

VF      = formula(subs(VF_t,symfunVariables,symVariables));
VR      = formula(subs(VR_t,symfunVariables,symVariables));

VF_alt  = simplify(subs(VF,[dx dy],[dx_Alt dy_Alt]));
VR_alt  = simplify(subs(VR,[dx dy],[dx_Alt dy_Alt]));

<span class="comment">% Slip angle definition</span>
ALPHAF_def = atan2(VF_alt(2),VF_alt(1)) - (deltaf + PSI);
ALPHAR_def = atan2(VR_alt(2),VR_alt(1)) - (deltar + PSI);

<span class="comment">% Slip angle simplification (PSI=0 - 