Using the $2-$dof simple transient handling $($bicycle$)$ model derived in the class, develop a MATLAB model in state$-$space form such that steering angle is input and model derivatives are outputs. A passenger car is traveling at a constant speed of $60$ km$/$h$.$ CG location and tire cornering stiffness values are given below. Assume that the road has sufficient coefficient of adhesion. While this vehicle is traveling on a straight path, in the $3$rd second, $1)$ Apply a step steering wheel angle dsw of $135$ with a $0\mathrm{.}2$ s build up time. a$.$ Plot yaw rate as a function of time. b$.$ Plot lateral acceleration as a function of time. c$.$ Plot side slip angle as a function of time. d$.$ Plot the trajectory of the vehicle in earth fixed coordinate system $2)$ Apply a sinusoidal steering wheel angle with an amplitude of $135$ with $2$ Hz frequency. a$.$ Plot yaw rate as a function of time. b$.$ Plot lateral acceleration as a function of time. c$.$ Plot side slip angle as a function of time. d$.$ Plot the trajectory of the vehicle in earth fixed coordinate system $3)$ Repeat part $1$ with $30\%$ lower rear tire cornering stiffness values and compare the results. a$.$ Plot yaw rate as a function of time. b$.$ Plot lateral acceleration as a function of time. c$.$ Plot side slip angle as a function of time. d$.$ Plot the trajectory of the vehicle in earth fixed coordinate system $4)$ Comment on your results. Iz $=2800$ kg$.$m$2$ Mass moment of inertia about the z axis m $=1400$ kg Total mass l$1=1\mathrm{.}3$ m Location of CG from the from axle L $=2\mathrm{.}7$ m Wheelbase Caf $=30$ kN$/$rad Front tire cornering stiffness Car $=35$ kN$/$rad Rear tire cornering stiffness i $=20$ Steering ratio

can u send me full matlab code to verify my plots as anwers