...
- U(s): desired lateral distance from the path which is always 0.
- C(s) = c / s: constant compensation term of the controller.
- M(s) = m / s: constant term that accounts for the error of the model used to determine the compensation.
- D(s) = d / s^2: disturbance term that models the curve in the path.
- w: the wheelbase.
- alpha: the steer factor.
- delta: steer input in (-100, 100).
- omega: direction of the vehicle in radians, from the x1 axis, positive counter-clockwise.
- X(s): controlled variable, the lateral distance from the path.
...