Control design for an electro power steering system: Part II the control design

This paper dealing with the problem of modeling an Electro Power Steering System. In a previous paper in this proceedings (part I) we have introduce a new position model reference structure composed of two inter-connected models. Here we present the reference model control strategy used for this application. The resulting control structure has three major components: an inner force feedback loop with fast dynamics is used first to damp the steering shaft flexibility. An outer (feedback and a feed-forward) position loop is thus designed to ensure exact tracking and good disturbance rejection properties. We also present several simulation results and experimental results obtained with a Renault vehicle.