I've put together several circuit for my power steering assist and I think each successive design / build get better than the last. Here's the last, hopeful final, design. I had to modify the steering wheel position sensor from the supplier,from resistive to Hall effect design and because setting the neutral point to a even 5.00 volts I made the input section adjustable to compensate. The oscillator section give me a triangular wave for use in PWM, the feed back injection is current feed back...