Sizing Motor for a balancing scooter

[ASTRE54]

Hello,
My name is Anis and i am student at the INSA (Applied Sciences National Institute) of Strasboug in France.

I work on a Gyropode and i need some help. I want to size the motor of the machin, i made some research on google and i found a very helpful document, it's about a gyropode built by australien's students, there is the links:

http://www.mecheng.adelaide.edu.au/r...wseb ytitle=1
(you can download the final repport)

-On this document we can see the KINEMATIC ANALYSIS (from page 42 to 47) with wich they could find the transfert function of the balancing scooter. My question is how can i from this equation (eq 4.27 Page 47) find the torque to applied for a maximum angle lean of 8° ? can i make de it with Matlab ?