A Study on Straight-Line Tracking and Posture Control in Electric Bicycle. Tanaka, Y. & Murakami, T. IEEE Transactions on Industrial Electronics, 56(1):159–168, January, 2009.
A Study on Straight-Line Tracking and Posture Control in Electric Bicycle [link]Paper  doi  bibtex   
@article{tanaka_study_2009,
	title = {A {Study} on {Straight}-{Line} {Tracking} and {Posture} {Control} in {Electric} {Bicycle}},
	volume = {56},
	issn = {0278-0046},
	url = {https://vpn.lib.ucdavis.edu/xpl/,DanaInfo=ieeexplore.ieee.org+articleDetails.jsp?tp=&arnumber=4559385&contentType=Journals+%26+Magazines&searchField%3DSearch_All%26queryText%3Dbicycle},
	doi = {10.1109/TIE.2008.927406},
	number = {1},
	urldate = {2013-02-17},
	journal = {IEEE Transactions on Industrial Electronics},
	author = {Tanaka, Y. and Murakami, T.},
	month = jan,
	year = {2009},
	pages = {159--168}
}

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