I. Introduction
The major transitions in automotive industry are driven by factors, such as safety, high precise motion control and fuel efficiency [1]. Another significant transition under the development is X-by-Wire system. Steer-by-Wire (SbW) systems are considered the most significant innovation among X-by-Wire technologies with potential to revolutionize the automotive industry [2]. A SbW system comprises electronic control units, steering motors, and sensors and replaces mechanical steering column linkages [3], [4]. The most challenging issue in the SbW systems is reliability and fault tolerance.