## 3 Results  
All bicycle configuration present similar graphs. Figure 7 addresses an example of the eigenvalues, namely from bicycle configuration 1. From 0 km/h till point A, four eigenvalues are found: two positive ones from the weave mode corresponding to a falling motion and two negative ones from the capsize and caster mode corresponding to a righting motion. The weave mode dominates and, without any rider corrections, the bicycle falls over as an unstabilized inverted pendulum. At point A, the two positive eigenvalues form a complex conjugate pair and the steering perturbation lead to an oscillatory weave motion. From point A until point B, the bicycle is less stable by the decreasing eigenvalue of the weave mode. From point B until point C, all the eigenvalues are negative and the corrective actions of the bicycle are large enough to prevent the bicycle from falling and small enough to not exhibit overcorrection. The bicycle is self-stable without any actions of the cyclist. As only the capsize and weave mode are significant for bicycle stability, the seven bicycle configurations are compared based on these values. Table 7 present the cycling speed of (i) the transition of the inverted pendulum motion to the oscillatory weave motion in point A, (ii) the start of the self-stable mode in point B, and (iii) the end of the self-stable mode in point C. Initially, the bicycles present the motion of an unstabilized inverted pendulum. For bicycle 1 and 2, it reaches up to 1.25 km/h. Figure 7: Stability behaviour of bicycle configuration 1. For bicycle 3 until 7, it reaches up to 1.40 km/h. After this point, the bicycles get increasingly more stable and presents an escalating weave oscillation. For bicycle 1 and 2, it reaches up to 14.72 km/h, for bicycle 3 to 14.64 km/h, for bicycle 4 to 14.57 km/h, for bicycle 5 and 6 to 14.50 km/h, and for bicycle 7 to 14.28 km/h. Subsequently, the self-stable mode starts and reaches up to 23.09 km/h for bicycle 1, to 23.68 km/h for bicycle 2, to 22.07 km/h for bicycle 3, to 22.66 km/h for bicycle 4, to 22.44 km/h for bicycle 5, to 23.10 km/h for bicycle 6, and to 22 km/h for bicycle 7. From point A to B, the bicycle is easy to stabilize. This semi-stable range is 13.47 km/h for bicycle 1 and 2, 13.24 km/h for bicycle 3, 13.17 km/h for bicycle 4, 13.1 km/h for bicycle 5 and 6, and 12.88 km/h for bicycle 7. From point B to C, the bicycle is self-stable. The self-stable range is 8.37 km/h for bicycle 1, 8.96 km/h for bicycle 2, 7.43 km/h for bicycle 3, 8.09 km/h for bicycle 4, 7.94 km/h for bicycle 5, 8.6 km/h for bicycle 6, and 7.72 km/h for bicycle 7. The sum of both ranges counts 21.84 km/h for bicycle 1, 22.43 km/h for bicycle 2, 20.67 km/h for bicycle 3, 21.26 km/h for bicycle 4, 21.04 km/h for bicycle 5, 21.70 km/h for bicycle 6, and 20.6 km/h for bicycle 7. Figure 8 presents the deviation from the mean for every bicycle configuration for point A, B, C and for the semi-stable range, self-stable range, and the sum of both. The horizontal lines correspond to the mean and two times the standard deviation. When comparing the points, the highest difference is found for bicycle 7 in point B. However, no significant differences are found since all the values are within two times the standard deviation.