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In this correspondence, we point out an error in the mathematical model of a four-wheeled steering and four-wheeled drive vehicle in the paper ``Optimal Fault-Tolerant Path-Tracking Control for 4WS4WD Electric Vehicles'' (IEEE Trans. Intell. Transp. Syst., vol. 11, no. 1, pp. 237-243, Mar. 2010). This model forms the basis of the above paper. We derive the correct version of the model.
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Ramprasad Potluri (2010) studied this question.
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