Robust 2-DOF H∞ controller for a force feedback system

Abstract

In the future, automotive steering system will be based on by-wire technology for many reasons. Then, a force feedback system is necessary to provide a virtual steering feel to the driver. In a previous paper, we have optimised the electrical and mechanical architecture of such a system. Because the control law did not guarantee robustness, we are now presenting a new control law that fits this safety requirement. The idea is to design a H∞ controller that guarantees the required performance, but also to take into account the system uncertainties to ensure robustness in stability and in performance.