J. P. Meijaard; J. M. Papadopoulos; A. Ruina; A. L. Schwab (2007). "Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review". Proceedings of the Royal Society A463 (2084): 1955–1982. doi:10.1098/rspa.2007.1857. "lean and steer perturbations die away in a seemingly damped fashion. However, the system has no true damping and conserves energy. The energy in the lean and steer oscillations is transferred to the forward speed rather than being dissipated."