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The object of this paper is to propose a development method for the implementation of the electric power steering (EPS) system with the permanent magnet synchronous machine (PMSM). For achieving the desired assist power with good steering feel, the internal model control (IMC) method is applied to the current control loop of the PMSM. The IMC philosophy is used to generate parameters for conventional PI controllers. It can take the advantage mentioned to reduce the trial-and-error procedures and to shorten the development time for the EPS control system. In order to verify the control algorithm, this paper introduces the co-simulation technique to validate the proposed controller for high accurate description of vehicle dynamics and models of the steering behavior. Finally, the EPS control system is implemented by an embedded microprocessor. The results showed that the current control has good tracking performance, and both of simulations and experiments had the same steering r.