Implement of a measuring system for a vehicle and its use for identifying vehicle and tire unknown parameters

Most of control systems are model-based. Parameters of the model (varying with time) must be estimated and unmeasured states must be estimated. Estimators and state observers must be implemented on purpose. Instrumented vehicles al- low the study and development of these features. In this thesis, the development of a measuring system for a passenger car is presented, includes the measurements of CAN BUS (sensors available on-board) and additional sensors placed on the ve- hicle with the aim of developing and verifying estimations and state observers. In particular, in the present thesis, estimations for tyre model parameters and state observers for sideslip angle estimation are proposed.