How to apply Hopf Bifurcation to Speed Wobble?

Jan 2020
I've been looking into speed wobble in motorbikes and the mathematics behind it and I learned that both Hopf Bifurcation and SHM generally play a role in it. However I've been finding it hard to find mathematical explanations and equations which are detailed enough.

Here is a quick example of speed wobble (the driver in the video is ok):

If anyone could either explain it with a few equations or point to some relevant sources it would be much appreciated.