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In this paper, we present trajectory tracking and balancing of autonomous motorcycles for agile maneuvers. Based on the newly developed autonomous motorcycle dynamics in the companion paper, we present a nonlinear control design. The control systems design is based on the external/internal convertible (EIC) dynamical structure of the motorcycle dynamics. The control design of the EIC systems guarantees an exponential convergence of the motorcycle trajectory to a neighborhood of the desired profiles while the roll motion converges to a neighborhood of the desired equilibria that are estimated for a given desired trajectory. The effectiveness of the integrated control systems are demonstrated and validated by numerical examples based on a racing motorcycle prototype.