The invention relates to a method for control of an electrical steering servo system, with an electrical motor to provide a servo torque for a steering arrangement, whereby a steering wheel torque (TTS), applied by the driver is measured. The measured steering wheel torque signal (TTS) is subjected to a high pass filter for determination of an inertia compensation torque requirement (TIC) such that a signal (TTS,HP) representing the dynamics of the steering wheel torque signal (TTS) is obtained. Said method permits a steering angular speed based modification of the steering wheel torque dynamics. An electrical steering servo system with a controller for carrying out the above method comprises an electric motor to provide a servo torque for a steering arrangement. The controller comprises a high-pass filter (10) in which the steering wheel torque signal (TTS) is subjected to a high pass filter.