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Table 1 Initial and terminal conditions implemented in the CW application

From: Experimental evaluation of a system for assisting motorcyclists to safely ride road bends

State variable ^a		Boundary conditions ^b
Symbol	Description	ζ = 0	ζ = L
s _n	Lateral position	$s_{n} (0) = ŝ_{n} (t_{k})$	s_n(L) = 0
α	Relative yaw angle	$α (0) = \hat{α} (t_{k})$	FREE
ϕ	Roll angle	$ϕ (0) = \hat{ϕ} (t_{k})$	FREE
u	Forward speed	$u (0) = û (t_{k})$	FREE
ω _ϕ	Roll rate	$ω_{ϕ} (0) = {\hat{ω}}_{ϕ} (t_{k})$	ω_ϕ(L) = 0
ω _ψ	Yaw rate	$ω_{ψ} (0) = {\hat{ω}}_{ψ} (t_{k})$	FREE
a _x	Longitudinal acceleration	$a_{x} (0) = \hat{a_{x}} (t_{k})$	a_x(L) = 0
a _ψ	Yaw acceleration	$a_{ψ} (0) = â_{ψ} (t_{k})$	a_ψ(L) = 0

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