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For the derivation of the model check formulae.pdf. The model does not consider the measurements disturbances (including leaps) and considers negligible disturbances associated with the actuator, projection on the path and slip angles.
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CONTROLLER CALIBRATION
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The controller used is a PD in the form
delta = k1 * x' + k2 * x = k1 * (beta - gamma) + k2 * x
where beta and gamma are respectively the direction of the car and of the path in radians.
DOCUMENTATION EXPANSION
These are likely to be expanded and moved on the main wiki page at some point.
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