Abstract: In an electric steering device, a plurality of periodic disturbances (M(f1o), M(f2o), . . . M(fno)) can occur which are to be compensated, while additionally occurring, in particular non-periodic, disturbances (Mstoer) are not to be compensated.

Abstract: In an electric steering device, a plurality of periodic disturbances (M(f1o), M(f2o), . . . M(fno)) can occur which are to be compensated, while additionally occurring, in particular non-periodic, disturbances (Mstoer) are not to be compensated. So as to enable simultaneous compensation of a plurality of such periodic disturbances based on a model (Gnom(s)) of the steering device, it is proposed to map the further disturbances Mstoer occurring in addition to the disturbances M(f1o), M(f2o), (Mfno) to be compensated, together with inaccuracies or modeling errors (?s) of the model (Gnom(s)) in the form of an unstructured disturbance (Mstoer).

Abstract: A torque actuator is regulated so as to permit an activation of the torque actuator such that steering wheel rotary oscillations that occur can be compensated. For this purpose, in one embodiment, a torsion bar torque is detected. A compensation torque is determined as a function of the detected torsion bar torque by means of a variable-frequency disturbance variable and state variable calculator. The compensation torque or a signal corresponding to the compensation torque is then taken into consideration during activation of the torque actuator.

Abstract: A torque actuator is regulated so as to permit an activation of the torque actuator such that steering wheel rotary oscillations that occur can be compensated. For this purpose, in one embodiment, a torsion bar torque is detected. A compensation torque is determined as a function of the detected torsion bar torque by means of a variable-frequency disturbance variable and state variable calculator. The compensation torque or a signal corresponding to the compensation torque is then taken into consideration during activation of the torque actuator.