Optimal Design of Fault-Tolerant Controller for an Electric Power Steering System with Sensor Failures Using Genetic Algorithm

Table 1

The parameters of EPS.

Parameter	Value
Is (kg·m^2)	0.0012
Cs (N-m-s/rad)	0.261
Ks (N-m/rad)	184.33
Im (kg-m^2)	0.00018
Cm (N-m-s/rad)	0.00339
Mr (kg)	0.89
Kr (N/m)	91061.4
N (—)	16.5
Ie (kg-m^2)	0.001
Ce (N-m-s/rad)	0.031
rp (m)	0.007
R (Ω)	0.67
Km (N-m/rad)	125
Ka (N-m/A)	0.04
Kb (V/rad-s^−1)	0.057