Vehicle longitudinal and lateral combined dynamics.

Can anyone provide me with a 3 degree of freedom vehicle dynamic state space model. So far what I came across was just the two degree of freedom model for lateral. But I need the 3 D.O.F one involving longitudinal, lateral and yaw rate as states with torque and steering angle as inputs. I have a model which I derived based on certain papers but the controller I designed is unstable for this model. Any help will be appreciated. Thanks

[yassine kebbati]

Hi were you able to get the 3dof model?