Robust control of Electric Power Steering system using PI-type dynamic inversion method

Electric Power Steering (EPS) system has been greatly developed in the last decade. Control strategy design is the core technology, which reduce steering torque and improve return to center performance. The road torque generated by a friction between the tire and road, self-aligning torque, influences a steering wheel angle. After cornering, self-aligning torque is a help to return a steering wheel angle in place. But according to the road condition, self-aligning torque can change the steering wheel angle unexpectedly. The paper aims at designing a robust controller with PI-type dynamic inversion method, strengthening the robustness on stability and reducing the unexpected change of steering wheel angle. The simulation and results verified the effect of proposed controller.