Depending on the application and input source, the steering angle ( \(\delta \) ) represents either the tire steering angle or the steering wheel angle in vehicle dynamics simulations. It is essential to differentiate between these two in order to guarantee precise system modeling and analysis. The vehicle dynamics are modeled using the following state variables: \(\dot{\psi }\) : Yaw rate (rad/s), \(\beta \) : Sideslip angle (rad).