Abstract
In this paper, we design a control system to stabilize a motorcycle during steady-state circular turning at the low speed. The nonlinear dynamical model of a rider-motorcycle system is derived and linearized to perform the eigenvalue analysis and the frequency response analysis. A reduced-order model that can be used to design the control system is derived on the basis of the frequency response analysis. The attitude stabilization control system is designed to assist the front steering by H_∞ control theory. It is verified that the H_∞ control system designed can stabilize the attitude of motorcycle against a front-steering torque disturbance during steady-state circular turning.
