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 optimal control to reject oscillations of the steering column. Authors also revisited the LuGre tire dynamic friction model by improving the transient behaviour between the sticking phases and the dynamic ones. Simulation of the proposed control are shown at the end of the document.