Patent Document ID: 20100211263
Application ID: 12704201
Patent Flag: 0

Claim One:
1. 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 motion value signal of a motion 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 motion value 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 motion value signal of the at least one position sensor and from a stored force correction signal; an inverting unit for computing a first force correction signal from the actual force value signal and from the force reference signal; a filtering unit for computing a second force correction signal from the first force correction signal and from the stored force correction signal; and an iteration memory for storing the second force correction signal as the stored force correction signal for later use.