alphaClarke InverseTransformabcbetaClarkeTransformabcalphabetaDQ PI Controld_refq_refdqd_fbq_fbPIPIPark InverseTransformdqalphabetaParkTransformalphabetadqiaibicvavbvcTqKKs + bs + aKSASBSCSHAFTMS - IPMEPSspg_assistk=100kinv_ClarkeClarkeDQ_PI_controlKp=40.0inv_ParkParkqsrc_id0Ideal_Driverp1radius=0.01gr1gear_ratio=5spg_torque_sensork=100wheel_massm=50steering_forcek=150kgain_inverse_gear_ratioK=0.2gain_amp_per_NmK=3.0steeringmotor_damping0.01frictionForce_fric_static=40Force_fric_kinetic=20d_viscous=10ktorque_assist_tablelead_lag_comp1.0Fp=100Fz=10.0spg_r3k=100kcolumn_damping0.1column_inertia0.001PMSMtheta_shafttheta_shaft_fbmotor_iq_cmdid_cmdv_d_drvv_q_drvv_alpha_drvv_beta_drvvavbvcva_drvvb_drvvc_drvi_alphai_betaia_fbib_fbic_fbid_fbiq_fbcolumn_angle_radsteering_angle_radrack_diplacementtrq_assist_cmdsteering_angle_degmotor_trq_cmdtrq_comp_outpinion_angle_radsteering_trq