This is a really really good post because the ideas used to solve this problem are applicable in almost every control theory problem which is one of those tools

This is a really really good post because the ideas used to solve this problem are applicable in almost every control theory problem which is one of those tools all good engineers should have in their backpocket because they're so versatile. Still, at the time of writing all 10 previous comments are about plotly. Talk about missing the forest for the trees. EDIT: I also seem to remember that a couple of months ago there was a youtube video posted here on HN about a bycicle-like contraption that allowed you to simulate an environment of zero friction. The comments under that post quickly became a flame war on the subject of countersteering. To those people who might be reading this, I doubly encourage to read this post and make a good faith attempt to understand it.