ring">IT</span>
</pre><h2 id="3">Generalized coordinates and time derivatives</h2><p>
<p>The generalized coordinates are</p>
<p>
\begin{eqnarray}
\nonumber q_1 &=& x     \\
\nonumber q_2 &=& y     \\
\nonumber q_3 &=& \psi
\end{eqnarray}
</p>
<p>where \(x\) and \(y\) are the coordinates of the CG of the vehicle.
\(\psi\) is the yaw angle of the vehicle.</p>
</p><pre class="codeinput"><span class="comment">% symfun</span>
q_t     = [x_t y_t PSI_t];
dq_t    = diff(q_t,t);
ddq_t   = diff(diff(q_t,t));
<span cl