Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather

Table 3

Calculated eigenvalues of Jacobian matrix under various front wheel steering angles.

/rad	Eig. 1		Eig. 2		Eig. 3		Eig. 4		Eig. 5
	Re	Im	Re	Im	Re	Im	Re	Im	Re	Im
0.01	−1.8135	3.3965	−1.8135	−3.3965	−1.3298	2.1452	−1.3298	−2.1452	−0.0001	0
0.02	−1.7838	3.3517	−1.7838	−3.3517	−1.3154	2.1192	−1.3154	−2.1192	−0.0006	0
0.03	−1.7011	3.2258	−1.7011	−3.2258	−1.2801	2.0400	−1.2801	−2.0400	−0.0014	0
0.04	−1.4962	2.9357	−1.4962	−2.9357	−1.2203	1.8070	−1.2203	−1.8070	−0.0032	0
0.049	−0.8385	2.2125	−0.8385	−2.2125	0	0.1102	0	−0.1102	−2.1906	0