Typo in Bicycle Kinematics/Steering Angle Equation?

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Pablo
Pablo 2025-10-5，9:42
Hi everyone,
Is there a typo in the documentation of Mobile Robot Kinematics -> Bicycle Kinematics -> Steering Angle Equation? See
https://uk.mathworks.com/help/robotics/ug/mobile-robot-kinematics-equations.html
The current model reads
However, I think the correct model should be
Am I missing something?

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