Numerical Values and List of Symbols
axmax = aymax = 9.81 m/s2	longitudinal and lateral maximal accelerations
g = 9.81 m/s2	constant of gravity
h = 1 m	height of the centre of mass from the road surface
kv = ½ Af CD ρ = 0.15 kg/m	air drag force coefficient
m = 85 kg	cyclist’s body mass + bicycle mass
n0 = 0 m	initial lateral displacement
s0 = L0 = 0 m	initial longitudinal position
${\dot{W}}_{max}$= 50 W/s	maximal rate of power output
wD = π rad	wind direction
Af = 0.35 m2	frontal area
CD = 0.7	drag coefficient
Crr = 0.004	rolling friction coefficient
IX = 77 kgm2	inertia of the system along the longitudinal direction
L = 1.4 m	wheelbase
Lf = XX m	course length (depending on the course)
Vw = 0 m/s	wind speed
Wn0 = 0	initial normalised power output
Wmax = 1200 W	maximal power output
a0 = 0 rad	initial heading
Δwn = 1	weight of the lateral displacement in the objective function
Δwv = 1	weight of the error with the reference velocity in the objective function
Δww = 10	weight of the rate of change in the power output in the objective function
Δwδ = 10	weight of the rate of change in the steering angle in the objective function
δmax = 0.52 rad	maximal steering angle
${\dot{\delta }}_{max}$= 0.52 rad/s	maximal steering velocity
δn0 = 0	initial normalised steering angle
φ0 = 0 rad	initial rolling angle
${\dot{\phi }}_0$= 0 rad/s	initial roll rotational velocity
ρ = 1.23 kg/m3	air density