Abstract : This document is a working report concerning the Task 5.1 of the project VolHand 09 VTT 14. This task is competence of the GipsaLab. This report presents several aspects of modelling, observation and control towards a new generation of Electrical Power Steering(EPS) systems. In particular authors design an observer to estimate the driver's applied torque (steering wheel torque) and the load torque (tire/ground contact friction). Simulation of the proposed control and observer are shown at the end of the document.