Development of Estimation Force Feedback Torque Control Algorithm for Driver Steering Feel in Vehicle Steer by Wire System: Hardware in the Loop

Table 4

The gains of LQR controller and steering feel.

(km/h)	(degree)
(0–30)	(±180° < < ±405°)	0.03	0.65	0.001	0.14
(31–100)	(±46° < < ±179°)	0.03	0.84	0.001	0.60
(101–120)	≤ +45° or ≤ −45°	0.05	0.95	0.001	0.95