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I have some minor background in control theory. After going trough the paper I had a very same thought thus I googled and found this: http://www.control.lth.se/media/Staff/KarlJohanAstrom/Lectur...

After checking out the slides I kind of feel that there might be some oversimplification in the used simulator, like producing _the desired lean angle_ might not be enough. But I am no expert.

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I give the authors a little bit of a break because they're sort of more thinking about the meta problem of how to build an automated system to create a controller. From that standpoint, the original paper is more introducing the early landscape of the problem and documenting some early stabs at it. Introducing the question of how to get that automated derivation to arrive a simple set of end controls for the system as simulated.

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