טכניון מכון טכנולוגי לישראל
הטכניון מכון טכנולוגי לישראל - בית הספר ללימודי מוסמכים  
M.Sc Thesis
M.Sc StudentStein Yonatan
SubjectStabilization Control of a Standing Motorcycle
DepartmentDepartment of Civil and Environmental Engineering
Supervisor Professor Raphael Linker
Full Thesis textFull thesis text - English Version


Abstract

All motorcycles are unstable dynamic systems. While driving, the driver stabilizes it easily by steering, but this task becomes difficult as velocity decreases. This is due to the fact that the velocity affects the system’s dynamics. Mathematically, the velocity affects the location of the system’s poles and zeros, so as the velocity decreases one zero moves toward to the Right-Half-Plane (RHP) until it crosses the imaginary axis and the system becomes Non-Minimum-Phase (NMP) in addition to being unstable. Systems that are both unstable and non-minimum phase are notoriously difficult to stabilize and control.

This thesis presents an in-depth investigation of the feasibility of designing a stabilizing controller for a zero-velocity motorcycle.

An attempt to develop a Single-Input-Single-Output (SISO) Linear Time Invariant (LTI) stabilizing controller showed that robustness could not be achieved with such a simple controller. The “Singular-G” method was then selected for the task, and a detailed description of the Singular-G method, including an example, is provided. The application of the Singular-G method to the motorcycle system was only partially successful for two reasons: (1) the controller could only handle uncertainties much smaller than the uncertainties present in the real system and (2) even under such reduced uncertainties, the control effort required to stabilize the system was unrealistically large. The reasons for these results are discussed in the thesis.