To model, control, and analyze an electric power steering system used for autonomous driving. Firstly, a linearized model of steering system is obtained. The open-loop behavior is obtained to study system behavior. For control purpose, a proportional integral and derivative (PID) controller is used and the performance of controller (MSE/settling time/overshoot) is analyzed using simulation. The behavior of assist angle produced by motor in response to steering wheel movement is analyzed. © 2021, Springer Nature Singapore Pte Ltd.