Patent ID: 11884297
Assignee: NISSAN MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 3:
4. The control apparatus according to claim 3, wherein the value (θ) is computed using the mathematical expression:, θ
    =
    
      
        tanh
        ⁡
        
          (
          
            α
            ⁡
            
              (
              
                
                  δ
                  K
                
                -
                
                  δ
                  ref
                
              
              )
            
          
          )
        
      
      
        α
        ⁡
        
          (
          
            
              δ
              K
            
            -
            
              δ
              ref
            
          
          )
        
      
    
  
  ,

where a is a predetermined constant;
δK is the unsaturated turning angle setpoint; and
δref is the saturated turning angle setpoint.