Bicycle Dynamics and Control

Karl Johan Åström, Richard E. Klein, Anders Lennartsson

Research output: Contribution to journalArticlepeer-review

248 Citations (SciVal)
2309 Downloads (Pure)


In this paper, the dynamics of bicycles is analyzed from the perspective of control. Models of different complexity are presented, starting with simple ones and ending with more realistic models generated from multibody software. Models that capture essential behavior such as self-stabilization as well as models that demonstrate difficulties with rear wheel steering are considered. Experiences using bicycles in control education along with suggestions for fun and thought-provoking experiments with proven student attraction are presented. Finally, bicycles and clinical programs designed for children with disabilities are described.
Original languageEnglish
Pages (from-to)26-47
JournalControl Systems Magazine
Issue number4
Publication statusPublished - 2005

Subject classification (UKÄ)

  • Control Engineering


Dive into the research topics of 'Bicycle Dynamics and Control'. Together they form a unique fingerprint.

Cite this