Design and implementation of hardware-in-the-loop simulation for haptic feedback control system validation in steer-by-wire

Noval Lilansa; Faisal Abdulrahman Budikasih; Fitria Suryatini; Nadya Zahra Putriutami; Noval Lilansa; Faisal Abdulrahman Budikasih; Fitria Suryatini; Nadya Zahra Putriutami

doi:10.55981/j.mev.2026.1357

Design and implementation of hardware-in-the-loop simulation for haptic feedback control system validation in steer-by-wire

Noval Lilansa, Faisal Abdulrahman Budikasih, Fitria Suryatini, Nadya Zahra Putriutami

Abstract

The advancement of steer-by-wire (SbW) technology in the modern automotive industry demands efficient and safe testing methods for complex control systems. Conventional validation on physical prototypes is often prohibitively expensive and highrisk, particularly in the initial development phases where control algorithms are still immature. To mitigate these challenges, hardware-in-the-loop (HIL) simulation provides a crucial intermediate step, enabling rapid, cost-effective, and safe iterative testing of control algorithms in a controlled environment. This research presents the design, implementation, and validation of a haptic feedback control system for an SbW application using a low-cost HIL platform. The developed architecture integrates a physical steering wheel plant with a real-time virtual model of the front wheels, controlled via an NI MyRIO and LabVIEW. The control system performance was analyzed by comparing proportional (P) and proportional-derivative (PD) controllers. The proportional controller was tuned using an empirical approach, while the proportional-derivative controller was designed analytically using the pole-zero cancellation method. The results demonstrated a clear trade-off with the proportional controller, which produced physical oscillations on the hardware. In contrast, the proportional-derivative controller successfully eliminated overshoot and damped all oscillations, which was physically validated as a stable and responsive haptic feedback. This research successfully demonstrates that the HIL platform can effectively validate and differentiate the physical performance of control architectures, confirming the superiority of the proportional-derivative controller for achieving a stable, high-fidelity haptic feedback system for SbW applications.

10.55981/j.mev.2026.1357

Keywords

steer-by-wire; hardware-in-the-loop (HIL); proportional control; haptic feedback; pole zero cancellation

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References

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