调节器中，通过横摆角速度和侧偏角的共同反馈控制助力电机的转角。
In the controller, the motor Angle was controlled by the feedback of the yaw rate and the sideslip Angle.
运用模糊控制原理，设计了横摆角速度反馈控制模糊控制器和质心侧偏角反馈控制模糊控制器。
Based on fuzzy control principle. The fuzzy controller of feedback control of yaw rate and the fuzzy controller of feedback control of side slip Angle were designed.
说明采用该控制方法可以很好的控制汽车的横摆角速度和质心侧偏角，提高汽车的侧向稳定性。
The research results showed that the method of feedback control can enhance the yaw rate and side-slip angle of mass centre, therefore lateral stability of vehicle is further improved.
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