 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>
</p><pre class="codeinput">EQ = ddTddq-dTdq;
EQ = subs(EQ,symfunVariables,symVariables);
EQ = formula(simplify(subs(EQ,[dx dy ddx ddy],[dx_Alt dy_Alt ddx_Alt ddy_Alt])));

dvar = [dVT dAL