Conference article

A Virtual Motorcycle Rider Based on Automatic Controller Design

Thomas Schmitt
Vorarlberg Univ. Of Appl. Sc., Austria

Dirk Zimmer
ETH Zürich, Switzerland

François E. Cellier
ETH Zürich, Switzerland

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Published in: Proceedings of the 7th International Modelica Conference; Como; Italy; 20-22 September 2009

Linköping Electronic Conference Proceedings 43:3, s. 19-28

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Published: 2009-12-29

ISBN: 978-91-7393-513-5

ISSN: 1650-3686 (print), 1650-3740 (online)


This paper introduces a new and freely available Modelica library for the purpose of simulation; analysis and control of bicycles and motorcycles (single-track vehicles). The library is called MotorcycleLib and focuses on the modeling of virtual riders based on automatic controller design.

For the single-track vehicles; several models of different complexity have been developed. To validate these models and their driving performance; virtual riders are provided. The main task of a virtual rider is to track either a roll angle profile or a pre-defined trajectory using path-preview information. Both methods are implemented and several test tracks are also included in the library.


virtual rider; automatic controller design; state-space controller; bicycle and motorcycle modeling; pole placement


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