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This paper presents a method of controlling a steer-by-wire system with force feedback to improve the feel and response of steering. The steering wheel actuator generating the reaction torque on the steering wheel is controlled by the external force applied to the rack. The external force is estimated using a disturbance observer. Stabilization of the system and adjustment of the steering feel are applied to the control of the steering wheel actuator. Experimental results on a test bench show that our steer-by-wire system successfully applies force feedback to achieve desired steering feel and response.