Patent Document ID: 20150232121
Application ID: 14312032
Patent Flag: 0

Claim One:
1. A method for simultaneously compensating for a plurality of periodic disturbances (M(f 1o ), M(f 2o ),. .. , M(f no )) occurring during the operation of an electric steering device, the electric steering device comprising a torque control element, and at least one compensation signal ( M (f 1o ), M (f 2o ),. .. , M (f no )) corresponding to the disturbances (M(f 1o ), M(f 2o ),. .. , M(f no )) to be compensated for being determined as a function of a signal (M servo ) characterizing an actuating torque of the torque control element and a signal (MTB mess ) characterizing a current torsion bar torque, using a model (G nom (s)) of the steering device wherein further disturbances M Stoer , which occur in addition to the disturbances (M( 1o ), M(f 2o ),. .. M(f no )) that are to be compensated for, are mapped together with modeling errors (Δs) of the model (G nom (s)) in the form of an unstructured disturbance ( Mstoer ).