# car

dynamic equations for the car benchmark model

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also
- References

## Syntax

f = car(x, u, w)

## Description

Dynamic equation for the car benchmark model (see Eq. (19) in [1]). The benchmark represents the kinematik single track model of an autonomous vehicle. The system states are the vehicle orientation, the velocity, and the x and y position of the center of mass. Control inputs to the system are the steering wheel angle and the vehicle acceleration.

## Input Arguments

x | system states x (dimension: [nx,1])
u | control inputs u (dimension: [nu,1])
w | disturbances w (dimension: [nw,1])

## Output Arguments

f | value of the dynamic function = time derivative of x

## See Also

`cart`, `robotArm`

## References

- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems

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