An electric power assisted steering system comprising: (a) a first part that in use determines the sign of a first signal (Qcol) indicative of the position of a part of the steering, (b) a second part that in use determines the sign of a second signal indicative of the velocity of a part of the steering, and (c) a processing unit that in use determines whether a steering wheel is moving away from a centre position or returning to the centre position from the determined signs of the two signals (Qcol, CV), and further in which the processing unit sets a value of a torque damping component predominantly or exclusively using a first function which includes both a linear steering column velocity term and optionally a quadratic (or higher factor) steering column velocity term when the steering wheel is moving away from the centre and sets a value of a torque damping component predominantly or exclusively using a second, different, function which includes both a linear steering column velocity term and optionally a quadratic (or higher factor) steering column velocity term when the steering wheel is returning to the centre, characterized in that the two functions (10, 11) have different tunes, and further in that: the processing unit is arranged to detect at least one of a change in the direction of steering corresponding to a return to centre following movement away from centre and a movement away from centre following a return to centre and upon detection applies a blend of the first and second functions (10, 11) to ensure a gradual transition in the torque damping component from one function to the other. (a) a first part that in use determines the sign of a first signal (Qcol) indicative of the position of a part of the steering, (b) a second part that in use determines the sign of a second signal indicative of the velocity of a part of the steering, and (c) a processing unit that in use determines whether a steering wheel is moving away from a centre position or returning to the centre position from the determined signs of the two signals (Qcol, CV), and further in which the processing unit sets a value of a torque damping component predominantly or exclusively using a first function which includes both a linear steering column velocity term and optionally a quadratic (or higher factor) steering column velocity term when the steering wheel is moving away from the centre and sets a value of a torque damping component predominantly or exclusively using a second, different, function which includes both a linear steering column velocity term and optionally a quadratic (or higher factor) steering column velocity term when the steering wheel is returning to the centre, characterized in that the two functions (10, 11) have different tunes, and further in that: the processing unit is arranged to detect at least one of a change in the direction of steering corresponding to a return to centre following movement away from centre and a movement away from centre following a return to centre and upon detection applies a blend of the first and second functions (10, 11) to ensure a gradual transition in the torque damping component from one function to the other.