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| Notation | Description |
|
| J1 | Moment of inertia of steering wheel |
| C1 | Damping coefficient of the steering wheel |
| K | Torsional stiffness of torque sensor |
| Jc | Moment of inertia of column |
| Cc | Damping coefficient of column |
| Jm | Moment of inertia of motor |
| Cm | Damping coefficient of motor |
| θ1 | Steering wheel angle |
| θ2 | Column angle |
| θm | Motor angle |
| τh | Driver torque |
| τm | Motor torque |
| τpinion | Pinon torque |
| τgear | Gear torque |
| N | Gear ratio |
| Mr | Mass of rack |
| Cr | Damping coefficient of rack |
| xr | Rack displacement |
| rp | Pinion radius |
| Fload | Load force of rack from tire |
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