ADAS Contractes Floquet theory applied to limit cycles History of engineering & technology Pacejka's magic formula Sommerfeld effects Technology: general issues acceleration speed portraits actuator dynamics adhesion enhancement analytical travel speed amplitudes articulated vehicles artificial neural networks autonomous driving autonomous emergency steering autonomous vehicles central control comfort contact patch control allocation covariance equations curve fitting differential-algebraic systems dimple model directional stability driving comfort eigenvalue analysis empirical modeling energy consumption and recovery enhancement