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Application of Robust Loop-Shaping Control to EPS Torque Control Augmentation
Published April 19, 2004 by University of Salerno in Italy
The paper presents the design of a pioneering torque compensator for robust control of Electric Power Steering (EPS) systems. The design process used advanced model reduction and robust loop-shaping control techniques that produced a low-order compensator for torque control augmentation. The results of the robust controller were evaluated and examined in Matlab by stability & control quality measurements, simulation and in-vehicle tests, and are compared to the results from an experimentally tuned controller using a 2nd-order compensator. The results demonstrate the promising and superior robust stability performance of the robust control approach at dry parking maneuvers, being the worst condition due to the highest loads and gains in the system.