> I think sideways forces on a bicycle wheel are usually minimal, ...

They may be minimal, but I think Bob is right - I would think the force
feedback is an integral part of the natural balancing.  I've not ridden
a recumbent, so I'm only trying to imagine steering with an underseat
handlebar with no feedback, but I don't think I would like it.
Perhaps you only need resistance to movement? and/or a centering spring?

> be arranged with a heavy duty end-stop  since you have a 40 cm lever...

I thought you were from the U.S.?  Have you been converted to metric?

>                  ...PIC drives the little servo which is coupled to the
> steering bar.  Signal off the little servo POT drives the PIC which runs
> the big servo.
> Now, can any one spell O S C I L L A T O R ?  I can imagine this thing
> going down the road flapping, or getting unstable at certain speeds.

Because you've created a circular reference!  I think this is called
resonance? Little servo and little servo pot need to be independent of
each other.

Someone else mentioned a concern about the battery.  I would assume that
you would take advantage of turning wheels for power as much as possible.
If wheels not turning, steering probably isn't critical.

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