Fault Tolerant Control of Electric Power Steering using Kalman Filter-Simulation Study

This paper discusses a Fault tolerant Control (FTC) design for EPS considering the case of a faulty torsion bar torque sensor. The total torque that acts on the assist motor shaft is the sum of the torsion bar torque and road torque. By estimating the road torque using the vehicle model and signals from the vehicle stability systems and the torque on the assist motor shaft by using a motor based observer, the torsion bar torque sensor signal can be estimated. A Kalman filter design is used for the motor observer as the system is subjected to white noise.