Optimal linear quadratic control theory is applied to longitudinal and lateral control of a high-performance motorcycle. Central to the story is the use of sufficient preview of the road to obtain the full benefit available from it. The focus is on effective control near to the cornering limits of the machine and gain scheduling according to speed and lateral acceleration is employed to ensure that the linear controller used at any time is that most appropriate to the running conditions. The motorcycle model employed and the control theory background are described briefly. Optimal preview controls and closed-loop system frequency responses are illustrated. Path-tracking simulations are discussed and results are shown. Excellent machine control near to the feasible cornering limit is demonstrated. (Author/publisher) For this paper, other papers and posters presented at this Symposium see http://bicycle.tudelft.nl/bmd2010/
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