A system comprising: a logic device configured to receive one or more sensor signals and generate one or more controller signals to provide directional control for a vehicle, wherein the logic device is adapted to receive a steering angle and a yaw rate of the vehicle, wherein the steering angle is based, at least in part, on a steering demand, characterized in that the logic device is further adapted to: determine a nominal vehicle steering rate based, at least in part, on the steering angle, by processing the steering angle, adjusted by the nominal vehicle feedback signal, with a nominal vehicle predictor, and receiving the nominal vehicle steering rate from the nominal vehicle predictor, wherein the nominal vehicle predictor is implemented as a transfer function modeling dynamics of a nominal vehicle derived, at least in part, from a selection of vehicles, and the transfer function comprises a ratio of a nominal vehicle steering rate gain term to a nominal vehicle steering rate lag term; and determine a nominal vehicle feedback signal based, at least in part, on a combination of the nominal vehicle steering rate and the yaw rate, wherein the nominal vehicle feedback signal is provided to adjust the steering demand. a logic device configured to receive one or more sensor signals and generate one or more controller signals to provide directional control for a vehicle, wherein the logic device is adapted to receive a steering angle and a yaw rate of the vehicle, wherein the steering angle is based, at least in part, on a steering demand, characterized in that the logic device is further adapted to: determine a nominal vehicle steering rate based, at least in part, on the steering angle, by processing the steering angle, adjusted by the nominal vehicle feedback signal, with a nominal vehicle predictor, and receiving the nominal vehicle steering rate from the nominal vehicle predictor, wherein the nominal vehicle predictor is implemented as a transfer function modeling dynamics of a nominal vehicle derived, at least in part, from a selection of vehicles, and the transfer function comprises a ratio of a nominal vehicle steering rate gain term to a nominal vehicle steering rate lag term; and determine a nominal vehicle feedback signal based, at least in part, on a combination of the nominal vehicle steering rate and the yaw rate, wherein the nominal vehicle feedback signal is provided to adjust the steering demand. determine a nominal vehicle steering rate based, at least in part, on the steering angle, by processing the steering angle, adjusted by the nominal vehicle feedback signal, with a nominal vehicle predictor, and receiving the nominal vehicle steering rate from the nominal vehicle predictor, wherein the nominal vehicle predictor is implemented as a transfer function modeling dynamics of a nominal vehicle derived, at least in part, from a selection of vehicles, and the transfer function comprises a ratio of a nominal vehicle steering rate gain term to a nominal vehicle steering rate lag term; and determine a nominal vehicle feedback signal based, at least in part, on a combination of the nominal vehicle steering rate and the yaw rate, wherein the nominal vehicle feedback signal is provided to adjust the steering demand.