hicle side slip angle and \(\psi\) is the vehicle yaw angle. \(\delta\) is the steering angle.</p>
% </html>
%
%% Initialization
% Defining Symbols (sym) and Symbolic Functions (symfun). The subscript t
% indicates time symbolic functions.
%
% See
% <https://www.mathworks.com/help/symbolic/create-symbolic-functions.html create-symbolic-functions>.
%

clear ; close all ; clc

% Generalized coordinates (symfun)
syms x_t(t) y_t(t) PSI_t(t)
% Generalized coordinates and time derivatives (sym)
syms x dx ddx y dy