Abstract
System identification of a real motorcycle is performed to design a control system for attitude stabilization of the motorcycle by front-wheel steering. In system identification, a front-steering impulse torque is used as the input signal and the roll angle response is used as the output signal. We reduce the identified model to the third order model and design the front-steering control system using the roll rate as the feedback signal by H∞, control theory. It is verified from experimental results that the attitude of motorcycle against front-steering torque disturbance is stabilized by the H∞ controller.
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