Hello guys, I am finding it hard to understand how they managed to model the system(i.e bike). I am somewhat familiar with control theory(did some undergrad co

Hello guys, I am finding it hard to understand how they managed to model the system(i.e bike). I am somewhat familiar with control theory(did some undergrad courses on them). But this system seems like a non-linear system and coming up with a mathematical model seems like a herculian task to me.(I once modeled a conical tank and it was not quite easy) Could someday provide me any idea about what they have done here ? How they modeled this system ? What control algorithms they used here ? Any pointers might be helpful as well. P.S - Haven't read about developments in control theory in quite some time now. So forgive me if my comment is quite basic. Thank you.