Tyres operated at or close to their friction limits show a highly nonlinear motion to force response. This state is called limit handling. The objective of this research is to minimize lateral path tracking error while the tyres operate in limit handling. The State Dependent Riccati Equation technique is employed to develop a feedback-feedforward steering controller. It gives a systematic approach to take into account model nonlinearities such as combined slip tyre characteristics. Furthermore, the controller is implemented in a test vehicle and tested on a low friction skid pad. The controller shows robust path tracking performance even when the rear wheels are operated beyond their friction limits, and large body sideslip prevails.
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