This study examines lane-keeping performance of motorcycles using steering control system designed by the Model Matching Control (MMC) to improve transient characteristics. The effects of the MMC on the lane-keeping performance are evaluated by examining computer simulation with the rider-in-the-loop system which consists of a motorcycle model, a steering control system and a rider control model. The MMC realizes the good lane-keeping performance under the steering torque disturbance in comparison with the conventional control without considering transient characteristics by improving the tracking performance of the actual rolling angle to the commanded rolling angle.