An
electric power assisted steering
assembly comprises a steering mechanism which operatively connects a
steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output
signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output
signal indicative from a
signal indicative of the
angular velocity of the portion of the steering mechanism, an
electric motor operatively connected to the steering mechanism, a
signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a
motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the
yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further
out of phase or in phase than within the band.