Pennycott, A., De Novellis, L., Sorniotti, A., and Gruber, P., "ERRATUM: The Application of Control and Wheel Torque Allocation Techniques to Driving Modes for Fully Electric Vehicles," SAE Int. J. Passeng. Cars - Mech. Syst. 7(4):1446, 2014, https://doi.org/10.4271/2014-01-0085.01.
The previously published equation found on page 492 contains an error which is corrected in the erratum.