Thecontrolandmonitorsubsystem, the forcefeedbacktechnique for steeringwheel, the smoothswitching for motion mode, andthe telecommunicationsubsystem are detailed in the paper.
Thankfully there is a suite of configurable parameters that can be changed on the wheel itself, things like total forcefeedback effect, the linearity of motion of the wheel, the number of degrees of rotation you'd like on offer (up to 900), and about a half-dozen other minutia.
For iRacing we found ourselves adding a little bit of what the company calls "drift, " which actually uses the forcefeedback motors to help you turn the wheel faster.