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This paper describes a system which, in order to give a more natural and pleasing steering feeling, has incorporated vehicle speed and steering angle sensors in a hydraulic reaction type power steering system for control in accordance with the frequency of steering angles, control in accordance with vehicle speed and steering angle and control in accordance with forward and reverse acceleration. This system enables the steering characteristics to be matched to the road conditions; light steering for driving in the city, or increased responsiveness for winding mountain roads or sporty driving. The aims in developing this system and details of the method of control are described.