http://www.automotivedesignline.com/howto/...BCSKH0CJUMEKJVN Mentions the Prius power steering by type and describes in engineering detail what is happening.
Good article. The math is straighforward, at least for me it was. Figure 8 is also how most modern industrial 3-phase Variable Frequency Drive controllers work.
reading up on power steering for my vw... was trying to read the article posted by OP but it has since been taken down quite a while now. found it in archive org site and alternatively found it at its origin. article is named "Electric power steering: one good turn deserves another"
apparently i cant post a link since i have so few posts... will update the above when i get more posts approved by the moderator.
cant edit the above now, so here goes... Electric power steering: one good turn deserves another - Embedded.com