Low-order simultaneous stabilization of linear bicycle models at different forward speeds

Linear models of bicycles with rigidly attached riders, operating at different forward speeds, are considered as a challenging platform for the simultaneous stabilization problem. It is shown that any number of such models obtained at reasonable speeds can be simultaneously stabilized using simple, low-order controllers with only the steering torque as input. Stabilizing controllers for individual systems modeled at extremely low speeds are also proposed.