Modeling and control of an electric power steering system using model reference adaptive controller

Power-assisted steering systems (or power steering systems) are widely used in vehicles nowadays. Thus, evaluating the stability and accuracy of the control system for the power-assisted steering process is necessary. The paper presents the modeling and control of an electric power steering (EPS) system. The EPS plant model consists of three parts: motor, drive tires, and steering linkage, derived from basic electrical physics laws, virtual power principle, and TMeasy method, respectively. The model Reference Adaptive Control (MRAC) algorithm is chosen to deal with uncertainties in the system. These are implemented and simulated in MATLAB/ Simulink. The simulation result proved the proposed method's robustness and effectiveness, especially regarding disturbance resistance.