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This paper presents the use of a feedforward-plus-proportional-integral-derivative ( FPID) controller for improving the control performance of the electrohydraulic steering system on an oroad vehicle. The FPID controller used an inverse valve transform in the feedforward loop to compensate for an electrohydraulic steering system deadband and used a conventional PID feedback loop to minimize the tracking error in steering control. On-simulator evaluation tests veri ed that the FPID resulted in adoi:10.1243/095440703321645089 fatcat:vcv4r7mqbrfetlinjrimt74ciq