Systems and methods for decoupling steering rack force disturbances in electric steering

A system for decoupling steering rack force disturbances in electric steering, comprising:

• a yaw rate sensor, a lateral acceleration sensor, and at least one electric steering sensor;
• a rack force generator configured to receive signals from the yaw rate sensor, the lateral acceleration sensor, and the at least one electric steering sensor and send a reference rack force to a controller;
• and
• a rack force observer configured to receive signals from the at least one electric steering sensor and send an estimated rack force to the controller,
• wherein the controller is configured to receive signals from the rack force generator and the rack force observer, compare the estimated rack force with the reference rack force to determine a rack force disturbance, and adjust an auxiliary torque based on the rack force disturbance.

A method for decoupling steering rack force disturbances in electric steering, comprising:

• estimating a reference rack force;
• formulating an observer to provide an estimated rack force;
• comparing the estimated rack force with the reference rack force to determine a rack force disturbance;
• and
• adjusting an auxiliary torque in response to the rack force disturbance.