Patent ID: 8100223

Claim:
A method for controlling an active front steering system of a vehicle, the active front steering system having a handwheel operably coupled through a gear assembly to an output member, the motor having a rotor operably coupled to the gear assembly for adjusting a position of the output member relative to a position of the handwheel, the method comprising: determining a first position error value associated with the rotor based on a desired rotational position value and a measured absolute rotational position value associated with the rotor; determining when an operator is turning the handwheel; increasing a commanded rotational position value associated with the rotor of the motor toward the desired rotational position value when the operator is turning the handwheel and the first position error value is greater than the threshold value; determining a second position error value associated with the rotor based on the commanded rotational position value and a measured absolute rotational position value associated with the rotor; determining a motor command value based on the second position error value and a predetermined gain value obtained from a plurality of gain values; and applying the motor command value to the motor to move the rotor toward a desired rotational position.