This document is a preliminary version of the working report concerning the work packages 5.3 and 5.4 of the project VolHand 09 VTT 14, that are in charge to the Gipsa-Lab. In this working report, authors introduce the general architecture used to simulate the Electronic Power Steering (EPS) system for a standard and a non-standard driver. In this rst part, the models, the controller and the observer used for the simulation are introduced. Then, the methodology used to adapt the model to a non-standard driver is described in detail. Finally, the experimental validation of this general architecture is proposed. Section 2 refers to the module Gipsa-Comp. Section 3 concerns the module Gipsa-Obs. Section 4 is dedicated to the module Gipsa-Booster. The module Gipsa-Tune is under development.