This package is a state equation solver for an ackermann crontroller. Original system is of type 0, hence we first add an integrator and then solve for the augmented matrix gains via LQR.
The states of the augmented system respresent the linear velocity and the steering angle of the vehicle.
X = [linear_velocity_actual; angular_position_actual; linear_vel_desired - actual; angular_vel_desired - actual]
input:
U = [linear_vel_desired; angular_vel_desired]