If the steer and roll torque are used to stabilize to the upright equilibrium you can use full state feedback to drive all states to zero. This is a general model that implements this feedback and steering/roll torques can still be applied in parallel from the rider. I demonstrate finding a simple LQR controller for all speeds in the docs:
TODO:
[ ] Make a new parameter set that includes these control gains (instead of just adding them in the model.
[ ] Make sure that all the controls are calculated correctly, try some simpler controllers on steer and roll.
If the steer and roll torque are used to stabilize to the upright equilibrium you can use full state feedback to drive all states to zero. This is a general model that implements this feedback and steering/roll torques can still be applied in parallel from the rider. I demonstrate finding a simple LQR controller for all speeds in the docs:
TODO: