While physics dictates the maximum possible speed, the "art" lies in the execution of the racing line. Krumm details how small adjustments in turn-in points exit trajectories

If you are looking for a "proper paper" in PDF format, these are the most relevant academic and technical resources:

Format:

: Optimum Vehicle Dynamics Control Based on Tire Driving and Braking Forces . This technical report from Toyota Central R&D Labs details methods for ensuring steerability and stability when driving on the "critical limit".

The PDF would argue that true mastery involves knowing when to step back from the edge. A champion driver uses 90% of the limit in qualifying but 70% on the first lap of a 24-hour race. Sustainability of performance is the ultimate edge.