Modelling a Non-Holonomic Mechatronic System Based on the Bicycle Chassis Principle

The controllability of mechanical systems of the non-holonomic type is currently one of the most discussed topics. The effects of limitations thus play an important role and, at the same time, become an automatic part of the movement. This paper discusses the constraints on the control accuracy of dynamical systems with non-minimum phase. These are limitations caused by the dynamics of the regulated system. Limitations due to unstable zeros and unstable poles will be clarified. Constraints caused by the pole and zero in the right half of the root plane were applied for the case of vertical stabilization of the chassis on the principle of a bicycle chassis with rear wheel steering.