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This paper proposes a new evaluation method of analyzing stability and design of a controller for an electric power steering (EPS) system. The main purpose of the EPS system’s control design is to ensure a comfortable driving experience of drivers, which mainly depends on the assist torque map. However, the high level of assist gain and its nonlinearity may cause oscillation, divergence and instability to the steering systems. Therefore, an EPS system needs to have an extra stability controller to eliminate the side effect of assist gain on system stability and attenuate the unpleasant vibration. In this paper, an accurate theoretical model is built and the method for evaluating system quality are suggested. The bench tests and vehicle experiments are carried out to verify the theoretical analysis.