A vehicle steering system, comprising an electric power steering, EPS, control system and an EPS linkage arrangement, wherein the EPS control system comprises: a motor operatively coupled to the EPS linkage arrangement, the motor comprising a first winding and a second winding; a power source for the motor; and a controller in operative communication with the motor and the power source, the controller comprising: a microprocessor configured to receive input from a torque sensor and a motor sensor; a first field-effect transistor, FET, driver in operative communication with the microprocessor and a first plurality of FETs operatively connected to the first winding of the motor, wherein the first FET driver is electrically connected to the first plurality of FETs and adapted to regulate the electric power provided to the first plurality of FETs; and a second FET driver in operative communication with the microprocessor and a second plurality of FETs operatively connected to the second winding of the motor, wherein the second FET driver is electrically connected to the second plurality of FETs and adapted to regulate the electric power provided to the second plurality of FETs, characterized in that the EPS linkage arrangement comprises: a first linkage arm pivotally coupled to the cross-link member extending in a generally transverse direction; a second linkage arm pivotally coupled to the cross-link member; a first shaft operatively configured to rotate the first linkage arm; and a linkage member extending from the motor and directly coupled to the cross-link member, wherein the motor is configured to translate the linkage member in a substantially linear manner in the extending direction of the linkage member. a motor operatively coupled to the EPS linkage arrangement, the motor comprising a first winding and a second winding; a power source for the motor; and a controller in operative communication with the motor and the power source, the controller comprising: a microprocessor configured to receive input from a torque sensor and a motor sensor; a first field-effect transistor, FET, driver in operative communication with the microprocessor and a first plurality of FETs operatively connected to the first winding of the motor, wherein the first FET driver is electrically connected to the first plurality of FETs and adapted to regulate the electric power provided to the first plurality of FETs; and a second FET driver in operative communication with the microprocessor and a second plurality of FETs operatively connected to the second winding of the motor, wherein the second FET driver is electrically connected to the second plurality of FETs and adapted to regulate the electric power provided to the second plurality of FETs, a microprocessor configured to receive input from a torque sensor and a motor sensor; a first field-effect transistor, FET, driver in operative communication with the microprocessor and a first plurality of FETs operatively connected to the first winding of the motor, wherein the first FET driver is electrically connected to the first plurality of FETs and adapted to regulate the electric power provided to the first plurality of FETs; and a second FET driver in operative communication with the microprocessor and a second plurality of FETs operatively connected to the second winding of the motor, wherein the second FET driver is electrically connected to the second plurality of FETs and adapted to regulate the electric power provided to the second plurality of FETs, characterized in that the EPS linkage arrangement comprises: a first linkage arm pivotally coupled to the cross-link member extending in a generally transverse direction; a second linkage arm pivotally coupled to the cross-link member; a first shaft operatively configured to rotate the first linkage arm; and a linkage member extending from the motor and directly coupled to the cross-link member, wherein the motor is configured to translate the linkage member in a substantially linear manner in the extending direction of the linkage member. a first linkage arm pivotally coupled to the cross-link member extending in a generally transverse direction; a second linkage arm pivotally coupled to the cross-link member; a first shaft operatively configured to rotate the first linkage arm; and a linkage member extending from the motor and directly coupled to the cross-link member, wherein the motor is configured to translate the linkage member in a substantially linear manner in the extending direction of the linkage member.