Modeling, Validation, and Control of Electronically Actuated Pitman Arm Steering for Armored Vehicle

Table 3

Controller parameters for inner and outer loop.

Technique	Inner loop			Outer loop
	P	I	D	P	I	D
SILS	9.5	0.01	2.7	33	2.7	0.03
HILS	15	0.01	6	40	0.15	0.03