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Vehicle Parameters: m = 1590 [kg] A = 2.0 [m] n=0.9 km = 1.2 kg = 0.0433 [V/rad/s] kcs = 0.5 [V/A] Rm = 12 kt = 2.0 (N.m/A] kb = 2.0 [V/rad/s] kf = 0.1 [N.m/rad/s] N = 4.875 r = 0.3 [m] Kap = 10 Kai = 6 Drive Condition: Coefficient of rolling resistance: f = 0.011 Air density: p= 1.2 [kg/m3) Coefficient of aerodynamic drag: Cw = 0.3 Average velocity: Vo = 50 [km/h] Head-wind velocity: Whw = 20 [km/h] Road slope: a = 6 Control Requirements: Steady state voltage error for step input voltage: Vestep (0) = 0 [V] Steady state voltage error for ramp input voltage: Veramp (0) 0, the vehicle is accelerating and when j 0, the vehicle is accelerating and when j