Automotive industry is looking for new design and product development practices to become more competitive. Challenges in current global market have often included sustainable development, environmental regulation and innovative solution to reach customer needs. Today, carmakers are striving to take competitive advantages over global marketplace. Model-Based-Design (MBD) seems to be a feasible answer to improve software development practices in automotive industry. Furthermore, it has been reported as a novel development approach to develop advanced driver assistance systems (ADAS). Among ADAS technologies often required to reduce driver fatigue is Electric Power Assisted Steering (EPAS). By using an auxiliary servomotor, it can reduce significantly driver effort in parking maneuvers. In this scenario, this paper aims to describe how MBD can be used to design EPAS control system. In addition, the tests Model-In-the-Loop (MIL), Software-In-the-Loop(SIL) and Hardware-In-the-Loop (HIL) are also performed.