An electric power assisted steering apparatus for a vehicle, comprising:a steering mechanism, which operatively connects a steering wheel to road wheels of the vehicle;an electric motor operatively connected to the steering mechanism;a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism;a vehicle speed sensing means for producing a second output signal indicative of the speed of the vehicle;a signal processing means adapted to receive the first and second signals and to produce a torque demand signal representative of the torque to be applied to the steering mechanism by the motor; anda motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal;wherein the apparatus include at least one of the torque limiter arranged to limit the torque and the maximum rate of increase of the torque following a restart of the apparatus, the limit and rate being determined at least in part by information indicative of a state of the system prior to the restart.