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 1.4.4 The global system including the rider and 2-Wheeler in the the road environment:

A global servomechanism block diagram can also be identified and modeled: The rider sees an image of the environment in front of him. In this image, he 'throws' his torso towards a point on the road in front of him. The torso lean angle to the vertical controls the 2-Wheeler lean angle to the vertical and the front wheel orientation, according to the steering servomechanism explained above. So the 2-Wheeler keeps on moving forward but also turns on the road towards that point in front of him. This changes the image seen by the rider who 'throws' his torso towards a different point on the road in front of him, which modifies his torso lean angle and the front wheel orientation…

 This global servomechanism easily explains that if a misalignment exists in the 2-Wheeler construction, if the rider sits sideways or if there are road imperfections, all these errors are corrected by this global servomechanism: If the 2-Wheeler does not go in the right direction, the rider will throw his body towards the right point in front of him, so the 2-Wheeler will change course towards this point. The image in front will change again, the rider will again throw his torso ... until this right point is attained. It's exactly the same as in a car where the driver aims at a point in front on the road.

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