Abstract: A method for torque control for an electromechanically assisted steering system of a motor vehicle is described. The method comprises the following steps: providing a modified controlled system, wherein the modified controlled system imitates desired mechanical properties of a controlled system; detecting at least one measured variable of the controlled system by a sensor; ascertaining an inertia compensation torque and/or a damping torque and/or a friction compensation torque by a modification controller based on the at least one measured variable; generating a torque demand of a steering feel controller for the electric motor by the at least one steering feel controller based on the at least one measured variable; and superimposing a torque demand of the steering feel controller with the inertia compensation torque and/or the damping torque and/or the friction compensation torque, by which a modified torque demand is obtained for the electric motor.

Abstract: A method is proposed for processing a measurement signal, in particular for a steering system. The method comprises the following steps: A measured variable is acquired based on the measurement signal, wherein the measured variable comprises items of information about a physical variable, and wherein the measured variable is a superposition of the actual value of the physical variable and the measurement noise. Filter parameters of a filter are ascertained based on the measured variable and a mathematical model of the measurement noise. The measurement signal is filtered by means of the filter, whereby an estimated value of the physical variable is obtained, wherein the filter has the ascertained filter parameters. The filter parameters are ascertained in such a way that a deviation between the estimated value of the physical variable and the actual value of the physical variable is approximated and minimized.