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A gain scheduled robust linear quadratic regulator for vehicle direct yaw moment control

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Figure

Figure 2. Robust Linear Quadratic Regulator control scheme.
Figure 3. ��� as function of ��� during a ramp steer (continuous line) and a step steer (dashed line), and selected nominal values (Point 1)
TABLE 1 - VEHICLE PARAMETERS
TABLE 2 - OBJECTIVE PERFORMANCE INDICATORS FOR THE SINE-WITH-DWELL TESTS WITH DIFFERENT TYRES
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