i have an ackerman steering model like so :
x_t = x_t_1 + v * cos(theta) * dt
y_t = y_t_1 + v * sin(theta) * dt
theta_t = theta_t_1 + v/L * tan(phi) * dt
theta: the heading angle
phi: the steering angle
dt: time step
v:linear velocity
what i'm looking for is to derive a linear state space representation:
x_new = A*x_old+B*u
given that the controls in this case are
v and phi