Table A1.

Cruise control problem, constants and variables.

	Description	Value
$s\left(t\right)$	car position	-
$r_g$	gear ratio divided by wheel radius	12
$a\left(t\right)$	control	-
$T_m$	maximum torque	190 Nm
$\beta$	motor constant	$0.4$
$\omega$	engine speed	${\alpha }_{n}v$
${\omega }_m$	speed that gives maximum torque	420 rad/s
m	car mass	100 kg
g	gravitational acceleration	$9.81$ m/s${}^2$
$\lambda$	slope of the road	$4^{\circ }$
$C_r$	coefficient of rolling friction	$0.01$
$\rho$	density of the air	$1.3$ kg/m${}^3$
$C_d$	aerodynamic drag coefficient	$0.32$
A	frontal area of the car	$2.4$ m${}^2$