Application of robust 2 degree-of-freedom control to an Active Steering Wheel System (ASWS)

The paper presents the application of robust 2 degree of freedom (2-DOF) control to the torque-feel control of an Active Steering Wheel System (ASWS). The control development used experimental based identification modelling, advanced model reduction and robust 2DOF loopshaping control techniques that produced a low-order 2-DOF robust controller for steering torque-feel control. The robust controller and control system performance were examined and validated by stability & control performance simulation in Matlab as well as extensive bench and driver-in-loop function tests. The results demonstrate the desirable control performance by the robust 2-DOF control in both the bandwidth torque tracking control and system robustness to system uncertainty and external disturbances.