# Vehicle Simple Nonlinear

Nonlinear bicycle model with 3 degrees of freedom.

The code of this class can be found in VehicleSimpleNonlinear. It inherits methods from abstract class VehicleSimple. The complete list of class codes is in API.

## Theory

The development of the equations of motion of this model can be found in TheoryVehicleSimple.

## Sintax

dx = VehicleModel.Model(t,states,tspan)

## Arguments

The following table describes the input arguments:

 t Time states Model state variables: [XT YT PSI VT ALPHAT dPSI] tspan Time span

## Description

The center of gravity of the vehicle is located at the point $$T$$. The front and rear axles are located at the points $$F$$ and $$R$$, respectively. The constant $$a$$ measures the distance of point $$F$$ to $$T$$ and $$b$$ the distance of point $$T$$ to $$R$$. The angles $$\alpha_F$$ e $$\alpha_R$$ are the front and rear slip angles, respectively. $$\alpha_T$$ is the vehicle side slip angle and $$\psi$$ is the vehicle yaw angle. $$\delta$$ is the steering angle.