Robust and Constraint-Aware Steering Feedback Torque Tracking in Steer-by-Wire Systems with Resonant Modes

File: SehrGuteEMPC.m

Description:

This script is used to reproduce the H-infinity loop-shaping EMPC controller presented in the paper on steering feedback torque tracking control.

Related paper: "ARobust and Constraint-Aware Steering Feedback Torque Tracking in Steer-by-Wire Systems with Resonant Modes"

Author: Siteng Jian, Tsinghua University

Date: 2026-04-03

Environment: MATLAB R2024b

Notes:

1. This script requires the MPT3 toolbox. The toolbox can be installed automatically by running the code in the following section once. After installation, it is recommended to comment out that section to avoid repeated installation. For more information, please refer to the official website: https://www.mpt3.org/
2. This script is intended for research and academic reproduction only.