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This research work was done in an effort to provide a tool for predicting on-center behavior of automobiles using computer simulation. It was discovered through this research effort that steering systems can have nonlinear characteristics that strongly affect the vehicle performance, especially in on-center driving. These nonlinearities must be modeled, characterized and simulated with care in order to predict vehicle performance. This research proposes a nonlinear steering system model that is based on the study of individual steering system components from both a hydraulic rack-and-pinion and a hydraulic recirculating ball power steering system. Included in the model are friction, nonlinear stiffness characeristics of the steering system and nonlinear boost curve shape. In addition, a means by which to characterize the steering system model for each steering system type is provided.