Editing Countersteering (section)

===Stable lean===
[[Image:Countersteer response.JPG|thumb|290px|Graphs showing the lean and steer angle response of an otherwise uncontrolled simplified model of a typical bike, traveling at a forward speed in its [[Bicycle and motorcycle dynamics#Self-stability|stable range]] (in this case 6 m/s), to a positive steer torque (to the right) that begins as an impulse and then remains constant. It causes an initial steer angle to the right, a lean to the left, and eventually a steady-state lean to the left, steer angle to the left, and thus a turn to the left.]]
As the desired angle is approached, the front wheel must usually be steered into the turn to maintain that angle or the bike will continue to lean with gravity, increasing in rate, until the side contacts the ground. This process often requires little or no physical effort, because the [[Bicycle and motorcycle geometry|geometry of the steering system of most bikes]] is designed in such a way that the front wheel has a strong tendency to steer in the direction of a lean.

The actual torque the rider must apply to the handlebars to maintain a steady-state turn is a complex function of bike geometry, mass distribution, rider position, tire properties, turn radius, and forward speed. At low speeds, the steering torque necessary from the rider is usually negative, that is opposite the direction of the turn, even when the steering angle is in the direction of the turn. At higher speeds, the direction of the necessary input torque often becomes positive, that is in the same direction as the turn.<ref name="Cossalter-p.1343" /><ref name="Cossalter">V. Cossalter pp. 241–342</ref>