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A linear model of the car along the longitudinal component of the path is represented in figure long_block.jpg. Symbols represent

PWM: the motor input signal.
const: a constant term representing friction.
W(s): transfer function between PWM signal and speed.
v: 2D speed of the car.
y^.: monodimensional speed obtained by projecting the 2D speed of the car on the path.
y: monodimensional position of the car obtained by projecting its 2D position on the path.
y_m: monodimensional position of the car measured by cameras.
D_a: actuator disturbances on the control variable.
D_slope: disturbances on the speed caused by slopes of the test-bed.
D_slip: disturbances on the speed caused by the coupling with the lateral dynamics of the car (i.e. with the steer).
D_proj: disturbances that

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