  This paper is concerned with the design of a human-in-the-loop system for
deployment on a smart pedelec (e-bike). From the control-theoretic perspective,
the goal is not only to use the power assistance of the e-bike to reject
disturbances along the route but also to manage the possibly competitive
interactions between a human and the motor intervention. Managing the
competitive/cooperative nature of the interactions is crucial for applications
in which we wish to control physical aspects of the cycling behavior (e.g.
heart rate and breathing rate). The basis of the control is a pitchfork
bifurcation system, modeling the interactions, augmented using ideas from
gain-scheduling. In vivo experiments have been conducted, showing the
effectiveness of the proposed control strategy.
