An exemplary method for controlling a vehicle includes providing a vehicle steering system including a moveable steering column assembly and a moveable steering wheel assembly, a first actuator and a second actuator, the first and second actuators configured to move vehicle steering system from a first position to a second position, providing a plurality of sensors, the sensors configured to measure a force characteristic, providing a controller electronically connected to the sensors and the vehicle steering system, monitoring first sensor data received from the first sensor and second sensor data received from the second sensor, generating a reference model based on a desired output displacement and the first and second sensor data, calculating, a revised output displacement based on the reference model, and automatically generating a first control signal to control the first actuator and a second control signal to control the second actuator.