Marcus Walter and  Norbert Nitzsche and  Dirk Odenthal and  Steffen M¨uller,  Friction Estimation and Compensation for Steering Angle Control for Highly Automated Driving.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    July 2015, vol. 102(6). 1131 - 1135
    [viewed 01 June 2020]. Available from: https://publications.waset.org/pdf/10002076.