H -control of a rack-assisted electric power steering system

C. Dannöhl, S. Müller, H. Ulbrich

Research output: Contribution to journalArticlepeer-review

54 Scopus citations


Electric power steering (EPS) is more and more in use for passenger cars. Compared with hydraulic steering systems there are many advantages, such as reduced CO 2 emissions and the possibility to use the EPS motor torque for advanced driver assistance systems. One task of the steering system is to give the driver an adequate steering feel. This includes providing road feedback and the right level of assistance torque. This article describes the steering torque control of a rack-assisted EPS. The controller's task is to follow a reference steering torque quickly and accurately. First, a mechanical model of the EPS is shown. Then, an H -controller is designed, implemented and compared with other steering torque controllers. As steering torque discontinuities are a topic when looking at new control algorithms, the phenomenon and its cause are analysed using a detailed mechanical model. The results of this analysis are considered in the controller design.

Original languageEnglish
Pages (from-to)527-544
Number of pages18
JournalVehicle System Dynamics
Issue number4
StatePublished - 1 Apr 2012


  • EPS model
  • electric power steering
  • steering torque control
  • steering torque discontinuities


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