Fig. 2(a) iscomposedofanMTSmachineandthecontrol
system formimickingtheoutdoordrivingconditions.Thecontrol
system isoperatedbyasetofdrivefilesinwhichradial,lateral,
fore/aftforces,inclinationangle,velocity,andsoarerecorded.These
conditions canbeeithermeasureddirectlyfromtheactualoutdoor
test drivingorextractedfromthevirtualsimulationusing