add yaw smooth function

PathTracking/model_predictive_speed_and_steer_control/notebook.ipynb

@@ -18,13 +18,19 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "# Linear vehicle model\n",
+    "# Vehicle model linearization\n",
     "\n",
     "State vector is:\n",
     "$$ x = [x, y, v,\\phi]$$ x: x-position, y:y-position, v:velocity, φ: yaw angle\n",
     "\n",
     "Input vector is:\n",
-    "$$ u = [a, \\delta]$$ a: accellation, δ: steering angle\n"
+    "$$ u = [a, \\delta]$$ a: accellation, δ: steering angle\n",
+    "\n",
+    "Vehicle model is \n",
+    "$$ \\dot{x} = vcos(\\phi)$$\n",
+    "$$ \\dot{y} = vsin((\\phi)$$\n",
+    "$$ \\dot{v} = a$$\n",
+    "$$ \\dot{\\phi} = \\frac{vtan(\\delta)}{L}$$"
    ]
   },
   {