Robust decoupling of car steering dynamics with arbitrary mass distribution

The lateral and yaw motions of a car with active steering shall be decoupled. For an ideal longitudinal mass distribution assumption decoupling by yaw rate feedback has been shown to be robust with respect to uncertain nonlinear tire side force characteristic, velocity and vehicle mass. The restrictive mass distribution assumption is now abandoned and a generalized decoupling control law for arbitrary mass distribution is derived. A second feedback control law yields a unity transfer function from the steering wheel input to the lateral acceleration at a specific point in the front part of the car.