I am currently trying to create a kinematic model based on the single-track model for vehicles.

The following equations are given: $$ \dot{x} = v * cos(\theta) \\ \dot{y} = v * sin(\theta) \\ \dot{\theta} = \frac{v}{L} * tan(\phi) $$ , where x, y are the vehicle coordinates, v is the velocity, L the lenght, $\theta$ and $\phi$ are the yaw and steering angle.

I am now having trouble creating a state-space model from these equations. The system matrix $A$ would contain trigonometric functions and I am wondering, if this is even possible. Am I missing something?

Any help is highly appreciated :)


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