Hi,

I am experimenting with the vehicle steering jupyter example. I noticed the following:

In subsection "Linearization of lateral steering dynamics (Example 6.13)":
# Compute the linearization at velocity 10 m/sec lateral_linearized = ct.linearize(lateral, [0, 0], [0], params=vehicle_params)

When I checked the output matrix of the linearized system, i.e, lateral_linearized.C, it is a 2x2 matrix. This is contradicting with the book & and the explanation on this page. It should rather be a 1x2 matrix with C = np.array([[1, 0]]). I am wondering the source of this inconsistency.

Additionally, a minor fix: The comment should be modified to 15/msec, since this is the given parameter of the vehicle in the code.

Thanks