A steer-by-wire system for a vehicle, comprising: a steering wheel system comprising a steering wheel, an angle sensor coupled or applied to the steering wheel and adapted to determine a directed angular magnitude of the steering wheel and provide a corresponding control signal, and an angular rate sensor coupled or applied to the steering wheel and adapted to determine a directed angular rate of the steering wheel and provide a corresponding control signal offset; wherein the steering wheel system further comprises an angular rate filter adapted to receive an angular rate input from the angular rate sensor and derive an angular offset output corresponding to the control signal offset from the angular rate input , wherein the angular rate filter derives the angular offset output from the angular rate input by combining the angle of the steering wheel with a second order transfer function of the angular rate as follows: Second order system : T = K s 2 + 2 ξω n s + ω n 2 Angle + Filtered Angular Rate = Request 1 + sT = 1 + sK s 2 + 2 ξω n s + ω n 2 = s 2 + 2 ξω n + K s + ω n 2 s 2 + 2 ξω n s + ω n 2 = FeedForwardFilter where K is the gain of the feed forward angular velocity, ξ is the damping of the second order transfer function, and ω_n is the natural frequency of the second order transfer function, with the transfer function multiplied by an angle request; and a steering actuator system comprising a wheel angle actuator coupled to one or more wheels of the vehicle and adapted to receive the collective control signal and control signal offset from the steering wheel system and turn the one or more wheels responsive to the collective control signal and control signal offset. a steering wheel system comprising a steering wheel, an angle sensor coupled or applied to the steering wheel and adapted to determine a directed angular magnitude of the steering wheel and provide a corresponding control signal, and an angular rate sensor coupled or applied to the steering wheel and adapted to determine a directed angular rate of the steering wheel and provide a corresponding control signal offset; wherein the steering wheel system further comprises an angular rate filter adapted to receive an angular rate input from the angular rate sensor and derive an angular offset output corresponding to the control signal offset from the angular rate input , wherein the angular rate filter derives the angular offset output from the angular rate input by combining the angle of the steering wheel with a second order transfer function of the angular rate as follows: Second order system : T = K s 2 + 2 ξω n s + ω n 2 Angle + Filtered Angular Rate = Request 1 + sT = 1 + sK s 2 + 2 ξω n s + ω n 2 = s 2 + 2 ξω n + K s + ω n 2 s 2 + 2 ξω n s + ω n 2 = FeedForwardFilter where K is the gain of the feed forward angular velocity, ξ is the damping of the second order transfer function, and ω_n is the natural frequency of the second order transfer function, with the transfer function multiplied by an angle request; and a steering actuator system comprising a wheel angle actuator coupled to one or more wheels of the vehicle and adapted to receive the collective control signal and control signal offset from the steering wheel system and turn the one or more wheels responsive to the collective control signal and control signal offset. <EOS>