A matting agent composition comprises silica and wax wherein the composition has a median particle size in the range of about 2-12 microns, a wax content in the range of about 15-30 wt. A control device 15 controls the steering actuator 8, on the basis of a dynamics model of the mobile vehicle 1A configured by a mass point system having an inverted pendulum mass point 123 and a ground surface mass point 124, so as to stabilize a motional state quantity of the inverted pendulum mass point 123 and a motional state quantity of the steering angle of the steered wheel 3f. Additionally, users may interpose a requirement broker between a given legacy application and the operating system.