Original non-linear EOM

doubledot(J1+mh2)+(J3-J2mh2)(v*tan/d1)sincos-mghsin=mhcos(d2*vd1/cos^2)dot+v2d1tan

J is the moment of inertia, m is the mass, h is the height, d1 is the distance between the wheels, d2 is the vertical distance to the center of gravity, is the roll angle, and is the steering angle, g is gravity, and v is the forward velocity

Linearization of EOM
Equation linearized by assuming small angles and high velocity Therefore sin is about , cos is about 1, and tan is about Therefore this linearizes to J1+mh2doubledotmgh=-mh/d1*(d2*v*dot+v2)

State Space Model

xdot=Ax+B =Cx+D With A=[0 mgh/(J1+mh^2);1 0] B=[1;0] C=[-mhd2*vd1J1+mh^2 D=0 -mhv^2/(d2(J1+mh^2)]