Motor circuit for electric power assisted steering and method

A method of operating an electric motor of an electric power assisted steering system comprising performing the following steps when the motor is in a defined fault mode: A) monitoring the position of the motor rotor, B) identifying the presence of a condition in which the rotor is within a predefined angular range of a known angular position, the rotor moving towards that position by turning of the steering wheel, and a torque is demanded from the motor which tends to move the rotor closer to that angular position as the wheel continues to move in the identified direction of movement; C) if the condition is identified varying currents applied to the motor to cause the rotor to move away from the known angular position; and D) subsequently varying the torque demanded from the motor to cause the rotor to move back in a direction towards the known angular position.