Slightly related, bicycle and motorcycle dynamics (or any two wheeled vehicle) are quite a complex subject and only recently fully described mathematically (in the last ten years or so). The solutions are too complex to solve so numeric methods are used.

Not only complex but very few people who ride bikes or motorcycles even know how they initiate a turn. Most assume that if you want to turn left, you pull back on the left handlebar, but in fact to turn left (while moving at a reasonable speed) you push on the left handlebar. The dynamics cause the bike to lean left, and the geometry causes the wheel to turn left to compensate. It is one of the reasons it is hard to learn how to ride a bike, the handling changes with speed.

Try it, push lightly with your fingertips, the handlebar will push back after the turn is initiated. Hang glider turning dynamics are related.

Rick