% MIRS parameter —v•Ï�X
b=0.140;
d=0.064;
M=7.240;
Vmax=7.8e0;
cv=27.2;
cw=0.4;
JM=5.2e-2;

%Tire parameter —v•Ï�X
Jr=13.9e-4;
Jl=8.62e-4;
br=11.5e-2;
bl=7.5e-2;
cr=36.3e-3;
cl=19.3e-3;

% Parameter end

a1=d/8.*(M+JM/b/b);
a2=d/8.*(M-JM/b/b);
c1=d/8*(cv+cw/b/b);
c2=d/8*(cv-cw/b/b);

As=[Jr+d/2*a1 d/2*a2 ; d/2*a2 Jl+d/2*a1];
Act= -inv(As)*[cr+d/2*c1 d/2*c2 ; d/2*c2 cl+d/2*c1];
Bct= inv(As)*[br 0 ; 0 bl];

Ac=[zeros(2) eye(2) ; zeros(2) Act];
Bc=[zeros(2) ; Bct];
Cc=[1 0 0 0; 0 1 0 0];
Dc=[0 0; 0 0];

