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In hydraulic power assisted steering (HPAS) system higher steering oil temperature can cause deterioration of oil reservoir, thermal failure of pump/valves and can diminish system performance. Thermal analysis is performed for HPAS system architecture development in order to maintain steering oil temperature within design limits for optimal performance & increased life of HPAS steering system. In present study mathematical model of HPAS system consisting of steering pump, flow and pressure control mechanism, rotary valve, steering circuit pipes and hoses, thermal interaction with ambient is developed. The model is able to predict steering torque-hydraulic pressure dynamics of HPAS system as per design. Developed HPAS system model is integrated with steering kinematic and uniquely developed tire-road contact patch sliding model for estimating non-linear rack force behavior at higher steering angle.