Fig. 2. Physical Dimensions of Vehicle
We can further simply equations (2) by assuming that yG is small compared to the other terms. After several steps of linearization as in (Cristi, R. et al., 1990, and Riedel J.S., 1993), vertical motion equations become:
(m - Zw )w - (mxG + Zq )q = ZwUw + (m + Zq )Uq + U2ZsS (-Mw - mxG )w + ( Iy - Mq )q = -( zGW - zB )0 + MJUw + (Mq - mxG )Uq - M sU 2S
It can rewritten in the matrix form
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