The EPS motor control electronics consist of a microcontroller such as the TI Hercules Safety MCU, a power supply like the TI TPS65 Multi Rail Power Supply series, a motor driver like the DRV3000, and several FETs for operating the motor. CAN or Flexray communication is used to interface with the rest of the control units in the vehicle. The motor position and speed is typically controlled through an encoder or a resolver and the torque is controlled through voltage and current feedback from the motor's power stage.