We are working on three fronts for the suspension plant model:
Here are the State-space matrices:
A few notes: If you want the values for these parameters see the .yml file or the State-space model file. I also haven't been able to find what exactly this s is in the matrices.
UPDATE [11/16/21 4:26pm]: I updated the matrices to make them more general and eliminate the "s" that I couldn't identify.
The input vector will take the form:
where x is the position, theta is the pitch, phi is the yaw, and y is the y-direction displacement