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• The center of mass of the front frame is probably close to the steer axis, so the effect of m*a is probably small but you do include it. You get "a" from the IMU on the rear frame combined with the steer angle sensor. How reliable is the IMU for acceleration? Does the IMU actually measure "a+g"? I don't see gravity included in your equations, maybe it is included in the IMU data?
• Figure 2: it would be helpful to expand the caption and explain the labels and variables.
• Discussion: Seems too short. Should have some references.
• In hindsight, would you recommend putting the torque sensor above the bearings? Then the inertial error is smaller and you eliminate the error from bearing torque. If so, might be good for Discussion.
• Not sure if the term "residuals" is correct. Residuals are differences between data and model, or between left hand side and right hand side of a system of equations. Small residuals usually indicate success. From what I undestand, you are looking at errors that you estimate from your model. You do not want them to be zero, you want to show that they are substantial so your work is important.
• Spelling: vibrations can be damped, but not "dampened" (unless it rains :-)
• Typo: an upside down exclamation mark in the Discussion paragraph.
• I suppose you could have determined the inertial properties and friction parameters from some sort of system ID experiment. It would have to be riding with no hands on the handlebars.

If someone else tries to run the makefile, it will fail unless they have my master file or point the master file to the reference.bib. Figure out how to do something like:

try:
open master file
except:
just build
else:
run sub bib then build

Combine sections 2 and 3 "Insturmented Bicycel Experiements"

Section 5 has subsection identification (dont' necessarily need section 5)

Section 7 can be "Summary and Acknowledgements" combine them.

References 12 and 13 are the lest needed, can remove them.

Don't need a percent sign in every sign.

Say waht C-P means. the letters