sw1d1sw2d2sw3d3sw4d4sw5d5sw6d6IIImotor_damping0.01ControllerBLDC MotorDQSVMbattery1SASBSCSHAFTMS - IPMEPSgr1gear_ratio=5column_damping0.1spg_r3100krp1radius=0.01frictionForce_fric_static=40Force_fric_kinetic=20d_viscous=10kwheel_massm=50steering_forcek=150kspg_torque_sensork=100q2r1Tqtr2q1qgen2s + bs + aKlead_lag_compK=1.0Fp=100Fz=10.0Kgain_inverse_gear_ratioK=0.2Kgain_amp_per_Nm_div_10K=0.3torque_assist_tabled_a_pud_a_pdd_a_pdd_b_pud_b_pud_b_pdd_b_pdd_c_pud_c_pud_c_pdd_c_pdv_a_pwmvav_b_pwmvbv_c_pwmvcia_fbib_fbic_fbv_batttheta_shaft_fbdrv_cmdtheta_shaftpinion_angle_radrack_displacementsteering_angle_radsteering_trqsteering_angle_degmotor_trq_cmdtrq_comp_outtrq_assist_cmdu5spg_assist100kcolumn_angle_radcolumn_inertia0.001