Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Scaled motorcycle model showing the masses of the seven rigid bodies included, each with area in proportion to mass

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Motorcycle model bodies showing tree structure and freedoms allowed

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Rear wheel drive torque f1 * f2 as a function of rear wheel spin speed and normalized throttle opening

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Transmission torque multiplier f3 as a function of motorcycle speed

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Diagrammatic representation of a motorcycle tracking a specified path. xdem and ydem define the intended path points at time intervals of Ts while xtrim and ytrim are the discrete path points at these same intervals implied by the current trim state. Control inputs are sums of trim, state-perturbation-feedback and path-preview contributions. ns and np are the numbers of states and preview points, respectively.

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Silverstone circuit path results for lap time 153.36 s. The crosses are 2 s apart in time.

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Catalunya circuit control inputs for lap time 134.3 s

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Catalunya circuit roll angle and lateral acceleration results for lap time 134.3 s

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Catalunya circuit path and speed results for lap time 134.3 s. In the upper diagram, the crosses are 2 s apart in time.

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Silverstone circuit lap times for 51 successive completed laps

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Catalunya circuit lap times for 18 successive completed laps

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Snapshot of motorcycle in a general motion state using local reference axes. The current trim defines points along a circular path while the intended path points are known through the preview. Differences constitute errors that are employed, together with the optimal preview gains, in the preview part of the control. Each complete control signal is made up of a trim-state part, a state-feedback part and a preview part; see also Fig. 5.

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Silverstone circuit machine speed for lap time 153.36 s

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Silverstone circuit roll angle and lateral acceleration results for lap time 153.36 s

Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: A Method for Predicting Minimum-Time Capability of a Motorcycle on a Racing Circuit J. Dyn. Sys., Meas., Control. 2014;136(4):041007-041007-10. doi:10.1115/1.4026324 Figure Legend: Silverstone circuit control inputs for lap time 153.36 s