The mathematical model of the electric power steering (EPS) system is developed，and control strategy is designed by the way of frequency analysis using Bode diagram，on a basis of steering feel expression．A complete model used for analysis of automotive steering characteristic，with fourtire and threefreedom vehicle models is built．In order to meet optimal goals，including steering agility，returnability and steering effort requirements of drivers, the rule of controller parameter values under the condition of different speeds and steering torques is concluded through numerous simulation tests．