Internal equilibrium control of a bicycle

Internal equilibrium control is applied to the problem of path-tracking with balance for the bicycle using steering and rear-wheel torque as inputs. From the internal dynamics of the bicycle an internal equilibrium manifold, a submanifold of the state-space, is constructed. The internal equilibrium controller makes a neighborhood of the manifold attractive and invariant. This results in approximate tracking of time-parameterized paths in the plane while retaining balance.