Limited-angle torque motor (LATM) as a key component of the exhaust gas recirculation (EGR) valve, which can precisely control the position of the EGR valve, thus achieving dynamic adjust the amount of exhaust gas recirculation. This paper introduces the dynamic analysis, modelling and experimental validation of a concentrated winding axial-flux slotted LTAM with 4-poles/4-slots. Aiming at the prominent issues such as cogging torque and nonlinear torque characteristics in the operating region of slotted LATMs, analytical equations are derived based on the magnetic circuit to predict the torque-angle characteristics of LATM, covering both constant torque and linear torque regions. These equations help establish the relationship between performance and key parameters, enabling rapid design of LATM. The test results indicate that the proposed model can accurately describe the electromagnetic torque and cogging torque of the LTAM, with an error range of 5%. Utilizing the effective angle range proposed in this paper, an approximate linear relationship between the electromagnetic torque and current can be achieved, with a linear error of 6%.