The tracking control of the SBW system to achieve desired steering motion is the core is-sue for the design of algorithm. In this paper, an error-based tracking control strategy with rack force compensation is proposed. The rack force is considered as the system disturb-ance and estimated by the proposed full-state observer. Based on the rack force feed-for-ward compensation, the numerical simulations and the experimental study are conducted to verify the proposed steering controller. Based on the different steering input, the tracking performance of the SBW system are compared by the experimental platform.