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In this study, a test bench for electric power steering inclination angle and the caster angle. The force lever of the (EPS) system has been developed through the integration of the moment from the lateral force consists of the mechanical trail EPS mechanism, steering wheel angle sensor, vehicle speed meter, (from the caster angle) and the pneumatic trail (from the and the force feedback device. The feedback force can be compliance of the tire). Because the lateral force increases instantaneously calculated according to the steering wheel angle and the vehicle speed, and then controlled by using two load cells while the vehicle speeds up, the inghtng moment will vary at the ends of the rack as feedback signals. The force feedback with the speed. The longitudinal force will also contribute to device can simulate the reaction force of the rack while the driver the righting moment when the left and right front loads are turning the steering wheel. Moreover, as the torque sensor and different. In general, the EPS test bench use springs for the EPS motor signals connect with the data recorder, the test bench steering load setting [2][3][4]. The load cannot be can also be used to carry out the EPS performance tests, such as automatically adjusted with the change of the vehicle speed. the assistant torque characteristics and the return-to-center Hence, it is difficult to check the EPS basic control algorithm.performance. Hence, the test bench built in this work can provide For this reason, the tests that could be performed on this test engineers with the faster and safer access to the optimization of bench will be limited. The purpose of this study is to develop a EPS control methods at the development stage.steering hardware-in-the-loop (HIL) test bench, which has the