Patent ID: 8589030

Claim:
A power steering system, comprising: a force actuator for acting upon a part of a steering assembly according to a force control signal; at least one position sensor for deriving an actual angle signal of a wheel of a vehicle; at least one force sensor for deriving an actual force value signal of a force at a part of the steering assembly; and a control device for receiving the actual angle signal and the actual force value signal, for computing the force control signal, for outputting the force control signal to the force actuator, the control device comprising: a control unit for computing the force control signal from a force reference signal, from the actual force value signal of the at least one force sensor, from the actual angle signal of the at least one position sensor and from a stored force correction signal; an inverting unit for providing a first force correction signal from a difference between the actual force value signal and the force reference signal; a filtering unit for providing a second force correction signal from a sum of the first force correction signal and the stored force correction signal; and an iteration memory for storing an angle shifted second force correction signal as the stored force correction signal for later use.