5 (Rear-steered bicycle) A simple model for a bicycle was given by equation (3 .5) in Section 3 . A model for a bicycle with rear-wheel steering is...

Dynamic control problem: (rear-steering bicycle) a simple model

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6.5 (Rear-steered bicycle) A simple model for a bicycle was given by equation (3 .5)in Section 3 .2. A model for a bicycle with rear-wheel steering is obtained by revers-ing the sign of the velocity in the model. Determine the conditions under which this systems is reachable and explain any situations in which the system is notreachable.