An electric power steering apparatus includes a steering mechanism, an electric motor, a torque signal generator, a column angular position signal generator and a signal processing unit. The steering mechanism operatively connects a steering wheel to the road wheels of the vehicle. The electric motor may be operatively connected to the steering mechanism. The torque signal generator may produce a torque signal indicative of the torque carried by a portion of the steering mechanism. The column angular position signal generator may produce a column angle signal indicative of the angular position of the steering wheel or steering column. The signal processing unit may receive the column torque signal and the column angle signal and may produce therefrom a torque demand signal representative of a torque to be applied to the steering mechanism by the motor.