Stabilizing a bicycle below critical speed

This paper discusses the control of a naturally unstable bicycle at stand still based on local linearization of a nonlinear model which results in a 2times2 multiple input multiple output system. It is shown through simulation plus new insights on stabilizing non-minimum phase systems and f-domain design techniques that it is possible to keep the bicycle vertical outside the self stability speed domain where theory in the literature has predicted that it´s not possible. In reality the stabilization goal is a skill which can be acquired through practice.