“…In the literature, there is a range of nonlinear models of road vehicles used to describe longitudinal, lateral and yaw motions (Abbassi, Aït-Amirat, & Outbib, 2007a;Andrea & Chou, 2005;Cao, Rakheja, & Su, 2008;Jia, 2000;Sayers, 1990). The majority of the models are characterised by a nonlinear aspect which cannot be tackled by using classical linear approaches (King, Chapman, & Ilic, 1994;Mielczarsky & Zajaczkowski, 1994;Vandergrift, Lewis, & Zhu, 1994;Ackermann, Guldner, Sienel, Steinhauser, & Utkin, 1995).…”