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Fig 1.

System models.

(a) EPAS model. (b) Vehicle model.

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Fig 1 Expand

Fig 2.

Ideal assisted torque.

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Fig 2 Expand

Fig 3.

Proposed control scheme.

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Fig 3 Expand

Fig 4.

Simulation conditions.

(a) Hand torque. (b) External disturbances.

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Fig 4 Expand

Fig 5.

State variables (v1

= 30 km/h). (a) Steering column angle. (b) Steering column angular velocity. (c) Steering motor angle. (d) Steering motor angular velocity.

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Fig 5 Expand

Fig 6.

Assisted performance (v1

= 30 km/h). (a) Steering motor current. (b) Assisted torque.

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Fig 6 Expand

Fig 7.

Observed errors (v1

= 30 km/h). (a) RMS errors. (b) Augmented variable error.

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Fig 7 Expand

Fig 8.

Control signal (v1

= 30 km/h).

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Fig 8 Expand

Table 1.

RMS percentage errors (v1 = 30 km/h).

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Table 1 Expand

Fig 9.

State variables (v2

= 70 km/h). (a) Steering column angle. (b) Steering column angular velocity. (c) Steering motor angle. (d) Steering motor angular velocity.

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Fig 9 Expand

Fig 10.

Assisted performance (v2

= 70 km/h). (a) Steering motor current. (b) Assisted torque.

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Fig 10 Expand

Fig 11.

Observed errors (v2

= 70 km/h). (a) RMS errors. (b) Augmented variable error.

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Fig 11 Expand

Fig 12.

Control signal (v2

= 70 km/h).

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Fig 12 Expand

Table 2.

RMS percentage errors (v2 = 70 km/h).

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Table 2 Expand