Len Hiley talks here about SARAH – the Simple And Reliable Automatic Helm:
John Letcher’s “Self-steering for sailing craft” is a good resource and of interest to anyone using self-steering, with or without vane gear.
You can see it below, copyright John S Letcher and with kind permission of the author, who made many small boat ocean voyages and contributed much to the development of yacht self-steering.
Extract on sheet to tiller self-steering from Gerard Dijkstra’s book “Self steering for Yachts”:
Many thanks to Len Hiley for converting John Letcher’s book to pdf files and
obtaining permission from John Letcher and Gerard Dijkstra.