Robust washout control for supporting bicycle riding

In this paper, we consider a reduction problem of vibration in riding and rider´s burden by stabilizing the bicycle at slow speed. In riding a bicycle, the reference input which is generally required by feedback methods is implicitly determined by a rider. Hence, the preassigned reference input may be biased against the rider´s intention. To compensate the bias, we adopt robust washout control which can asymptotically reject the influence of the bias and is robust against the speed fluctuation of the bicycle. Furthermore, by introducing a scaling in designing robust washout control, we improve the resulting control performance.