Research Article

Robustness Assessment of Feedback Self-Tuning Controller for Steering Feel in Steer-by-Wire Systems through Numerical Simulation Approach

Volume: 10 Number: 3 September 8, 2026

Robustness Assessment of Feedback Self-Tuning Controller for Steering Feel in Steer-by-Wire Systems through Numerical Simulation Approach

Abstract

This study introduces a novel and highly applicable torque tracking algorithm as a controller to develop a realistic steering feel in a front steer-by-wire (SbW) architecture. The objective of this study was to propose a self-tuning PI-based controller using a gain scheduling method to mimic the torque generated by a rack and pinion system through the torque produced by a DC motor. To provide the foundation for the torque tracking control strategy, a full car model with 14 degrees of freedom was developed to assess the efficacy of the proposed control scheme in generating the steering feel. Based on the Newton’s second law, the SbW model was developed and verified using a step input signal in two extreme conditions. The performance of the proposed controller and its robustness were validated through two vehicle dynamic tests based on ISO standard, the Double Lane Change (DLC) and Slalom (SL) tests under varying vehicle speeds and extreme maneuvers. This robustness assessment demonstrates that the gain-scheduling proportional-integral (GS-PI) controller performs significantly well in tracking the desired steering wheel torque, compared to the results from the CarSim software, which served as a benchmark. Additionally, the results indicated that the proposed controller was capable of replicating the steering feel of a conventional steering system with a mean absolute error (MAE) of less than 1.90. This study prepares a platform for practical applications in developing realistic steering feel in future SbW systems. Furthermore, the control proposed in this study provides a practical control system approach suitable for hardware implementation.

Keywords

Supporting Institution

Universiti Teknikal Malaysia Melaka (UTeM), Universiti Tun Hussein Onn Malaysia (UTHM) and Ministry of Higher Education (MOHE) Malaysia

Project Number

PJP/2024/FTKM/PERINTIS/SA0027

Thanks

This study was supported by Universiti Teknikal Malaysia Melaka (UTeM) via the Short-Term Grant Research, No: PJP/2024/FTKM/PERINTIS/SA0027. The authors are sincere-ly grateful to Universiti Teknikal Malaysia Melaka (UTeM) for providing excellent research facilities for this study. Additional-ly, the first author would like to warmly thank the Malaysian Ministry of Higher Education (MOHE) and Universiti Tun Hussein Onn Malaysia (UTHM) for providing the fellowship program for PhD studies.

References

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Details

Primary Language

English

Subjects

Vehicle Technique and Dynamics, Automotive Engineering (Other)

Journal Section

Research Article

Publication Date

September 8, 2026

Submission Date

January 28, 2026

Acceptance Date

August 5, 2026

Published in Issue

Year 2026 Volume: 10 Number: 3

APA
Azizul, M. A., Ahmad, F. B., Karjanto, J., Md Isa, M. H., & Hamdi, H. (2026). Robustness Assessment of Feedback Self-Tuning Controller for Steering Feel in Steer-by-Wire Systems through Numerical Simulation Approach. International Journal of Automotive Science And Technology, 10(3), 616-629. https://doi.org/10.30939/ijastech..1871830
AMA
1.Azizul MA, Ahmad FB, Karjanto J, Md Isa MH, Hamdi H. Robustness Assessment of Feedback Self-Tuning Controller for Steering Feel in Steer-by-Wire Systems through Numerical Simulation Approach. IJASTECH. 2026;10(3):616-629. doi:10.30939/ijastech.1871830
Chicago
Azizul, Muhamad Asri, Fauzi Bin Ahmad, Juffrizal Karjanto, Mohamed Hafiz Md Isa, and Haziq Hamdi. 2026. “Robustness Assessment of Feedback Self-Tuning Controller for Steering Feel in Steer-by-Wire Systems through Numerical Simulation Approach”. International Journal of Automotive Science And Technology 10 (3): 616-29. https://doi.org/10.30939/ijastech. 1871830.
EndNote
Azizul MA, Ahmad FB, Karjanto J, Md Isa MH, Hamdi H (September 1, 2026) Robustness Assessment of Feedback Self-Tuning Controller for Steering Feel in Steer-by-Wire Systems through Numerical Simulation Approach. International Journal of Automotive Science And Technology 10 3 616–629.
IEEE
[1]M. A. Azizul, F. B. Ahmad, J. Karjanto, M. H. Md Isa, and H. Hamdi, “Robustness Assessment of Feedback Self-Tuning Controller for Steering Feel in Steer-by-Wire Systems through Numerical Simulation Approach”, IJASTECH, vol. 10, no. 3, pp. 616–629, Sept. 2026, doi: 10.30939/ijastech..1871830.
ISNAD
Azizul, Muhamad Asri - Ahmad, Fauzi Bin - Karjanto, Juffrizal - Md Isa, Mohamed Hafiz - Hamdi, Haziq. “Robustness Assessment of Feedback Self-Tuning Controller for Steering Feel in Steer-by-Wire Systems through Numerical Simulation Approach”. International Journal of Automotive Science And Technology 10/3 (September 1, 2026): 616-629. https://doi.org/10.30939/ijastech. 1871830.
JAMA
1.Azizul MA, Ahmad FB, Karjanto J, Md Isa MH, Hamdi H. Robustness Assessment of Feedback Self-Tuning Controller for Steering Feel in Steer-by-Wire Systems through Numerical Simulation Approach. IJASTECH. 2026;10:616–629.
MLA
Azizul, Muhamad Asri, et al. “Robustness Assessment of Feedback Self-Tuning Controller for Steering Feel in Steer-by-Wire Systems through Numerical Simulation Approach”. International Journal of Automotive Science And Technology, vol. 10, no. 3, Sept. 2026, pp. 616-29, doi:10.30939/ijastech. 1871830.
Vancouver
1.Muhamad Asri Azizul, Fauzi Bin Ahmad, Juffrizal Karjanto, Mohamed Hafiz Md Isa, Haziq Hamdi. Robustness Assessment of Feedback Self-Tuning Controller for Steering Feel in Steer-by-Wire Systems through Numerical Simulation Approach. IJASTECH. 2026 Sep. 1;10(3):616-29. doi:10.30939/ijastech. 1871830


International Journal of Automotive Science and Technology (IJASTECH) is published by Society of Automotive Engineers Turkey

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