Robust PI Controller Design for Vehicle Steering Systems

J.-W. Perng, L.-S. Ma, B.-F. Wu, and T.-T. Lee (Taiwan)


Vehicle steering system, PI control, parameter plane, gain-phase margin. limit cycle.


In this paper, the robust analysis and design of vehicle steering control systems with uncertainties are considered by the use of parameter plane method and gain-phase margin tester method. A systematic design procedure is proposed to solve this problem. First, a single tracked vehicle model is given for the design and the suitable operating range of vehicle system is also defined. Based on the parameter plane method and gain-phase margin tester method, a simple PI controller is developed to have desirable values of gain margins and phase margins in our work. Furthermore, limit cycles generated from a saturation element of vehicle system are also discussed. Computer simulation results show the efficiency of our approach.

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