This paper deals with Column-type Electric Power Steering systems. An state feedback Linear Parameter-Varying controller is developed considering a parameter-dependent Lyapunov function. For practical implementation, an Proportional Integral observer is added for state and driver torque estimation. The whole observer-based control has been implemented in real-time using dSpace/MicroAutobox on a test car. Some driving tests have been carried out on a test track, and promising results are achieved regarding both estimation and control performances.