Structured Control of an Electric Power Steering System

Table 3

Controllers design parameter.

Controller	1	2	3
a1	537	1039	1019
b1	8	5.39	2.22
a2	2	403	0.5
b2	40.2	127	146
a3	—	2	18.3
b3	—	135	168
a4	—	—	513
b4	—	—	14.6
γ	1.4340	1.0768	0.9621

The symbol “—” indicates that the value is the default value.