update notebook

Author: AtsushiSakai

PathTracking/model_predictive_speed_and_steer_control/notebook.ipynb

@@ -91,6 +91,18 @@
     "\\begin{equation*}\n",
     "B' =\n",
     "\\begin{bmatrix}\n",
+    "\\frac{\\partial }{\\partial a}vcos(\\phi) &\n",
+    "\\frac{\\partial }{\\partial \\delta}vcos(\\phi)\\\\\n",
+    "\\frac{\\partial }{\\partial a}vsin(\\phi) &\n",
+    "\\frac{\\partial }{\\partial \\delta}vsin(\\phi)\\\\\n",
+    "\\frac{\\partial }{\\partial a}a &\n",
+    "\\frac{\\partial }{\\partial \\delta}a\\\\\n",
+    "\\frac{\\partial }{\\partial a}\\frac{vtan(\\delta)}{L} &\n",
+    "\\frac{\\partial }{\\partial \\delta}\\frac{vtan(\\delta)}{L}\\\\\n",
+    "\\end{bmatrix}\n",
+    "\\\\\n",
+    "　=\n",
+    "\\begin{bmatrix}\n",
     "0 & 0 \\\\\n",
     "0 & 0 \\\\\n",
     "1 & 0 \\\\\n",