Stabilization control for inverted pendulum simulating behavior of circling bicycle

This study focuses on a stabilizing control for the electrically-assisted bicycle equipping a power-steering system. We have developed the power-steering system for the bicycle on whose front seat a child sits. The power-steering system has the ability to recover the maneuverability of handlebars compromised by a child sitting on the front seat. The power-steering system has also capability to realize automatic stabilization. Hence, in this paper, 1) a simple inverted pendulum model is introduced to simulate the behavior of the bicycle, and 2) a stabilizing control is designed based on the simple model.