A multivariable centralized controller design methodology for a Steer-by-Wire system

This paper presents a multivariable centralized control law for a Steer-by-Wire system. The controller is design by solving an H
₂
problem, the H
₂
criterion being made thanks to a model-matching approach. The use of a reference model of a steering column is motivated to define a priori the performances to be reached by the Steer-by-Wire system. A driver and a vehicle models are also included in the H
₂
criterion. This strategy ensures that the designed control law leads to the best performance of the closed-loop Steer-by-Wire system in the usual working conditions.