A control system for a steering system in a vehicle comprising: a reference model responsive to an operator input that computes desired states of the vehicle; a feedforward controller in operable communication with the reference model. The feedforward controller computes a first control value based on...http://www.google.de/patents/US20040193345?utm_source=gb-gplus-sharePatent US20040193345 - ACTIVE STEERING FOR HANDLING/STABILITY ENHANCEMENT
