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Since the unnatural road feel reactive torque was created by the variable steering ratio of vehicle steer-by-wire (SBW) system, a dynamic model was established to analyze the structure and dynamic characteristic of SBW system. In order to eliminate the coupling of steering angle and road feel torque, a bilateral control method called steering torque deviation and angle feedback was proposed, which referred to tele-presence technology of teleoperation robot by bilateral control method. The closed loop control strategies were described to guarantee the rapid performance and stability of SBW system by road motor and steering actuator motor. The effectiveness was experimentally verified using an experimental car. The results showed that the control strategies enhanceed the tracking accuracy of steering angle and improveed the vehicle handling.