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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

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