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In this paper, we design a control system of an electric power steering for vehicles applying the gain-scheduled control according to the vehicle velocity and the sensor torque of the steering axis. The self aligning torque generated from the vehicle model was considered as a disturbance to the steering system. We formulated a generalized plant including the weighting functions of scheduling-parameters depending on the vehicle velocity and the sensor torque to design the gain-scheduled controller. By carrying out simulation using driver's second-order prediction model, it is verified that the controller designed is effective to improve stability of the steering system and to obtain a desired hysteresis curves on steering torque-steering angle characteristics.