def METHOD_NAME(u: float, VM: VehicleModel) -> Tuple[np.ndarray, np.ndarray]:
  """Returns the A and B matrix for the dynamics system
  Args:
    u: Vehicle speed [m/s]
    VM: Vehicle model
  Returns:
    A tuple with the 2x2 A matrix, and 2x2 B matrix
  Parameters in the vehicle model:
    cF: Tire stiffness Front [N/rad]
    cR: Tire stiffness Front [N/rad]
    aF: Distance from CG to front wheels [m]
    aR: Distance from CG to rear wheels [m]
    m: Mass [kg]
    j: Rotational inertia [kg m^2]
    sR: Steering ratio [-]
    chi: Steer ratio rear [-]
  """
  A = np.zeros((2, 2))
  B = np.zeros((2, 2))
  A[0, 0] = - (VM.cF + VM.cR) / (VM.m * u)
  A[0, 1] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.m * u) - u
  A[1, 0] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.j * u)
  A[1, 1] = - (VM.cF * VM.aF**2 + VM.cR * VM.aR**2) / (VM.j * u)
  # Steering input
  B[0, 0] = (VM.cF + VM.chi * VM.cR) / VM.m / VM.sR
  B[1, 0] = (VM.cF * VM.aF - VM.chi * VM.cR * VM.aR) / VM.j / VM.sR
  # Roll input
  B[0, 1] = -ACCELERATION_DUE_TO_GRAVITY
  return A, B