There has been a large amount of publications concerning nonlinear and intelligent control in recent years. It has become an important field of research. As each new algorithm becomes available, the need for realistic and accurate test bed systems is apparent. Some previous simulation models have not been real world systems, or a simplification of a much larger system. It is the goal of this document to present a much more complete description of one real world model so that others may use this model to test their control algorithms. The system analyzed in this document is a trailer truck system. The model, based on the physical system, extends the models of previous publications. A full dynamical representation is given. Tests show the models accuracy against the actual system.