extended equations for the extended bicycle model

There are two degrees of freedom for the lateral motion, the lean angle of the rear frame and the
steering angle.
the bicycle model : the linearized equations for the bicycle for the lateral perturbations
Bicycle Model Of Vehicle Motion

http://audiophile.tam.cornell.edu/~als93/Publications/MeijaardSchwab2006.pdf


http://qbx6.ltu.edu/asik/Vehicle_dynamics_tw_dw.htm

Four-Wheel Steering control system:
4WS system operates by steering the rear wheels as a function of the front steer angle.
Modeling and Control of an Autonomous Vehicle.
Vehicle Linear State Model.


http://alexandria.tue.nl/repository/books/626941.pdf