A car with two trailers is controllable. The approximately linearized model fails to reveal the controllability, while the affine model does. »
The affine model.
The linear model is not controllable.
The affine model shows that the system is controllable.
Simulate the affine system for a set of input signals.
Visualize its motion.
Mathematica is available on Windows, macOS, Linux & cloud »
Questions? Comments? Contact a Wolfram expert »