This paper presents an activity concerning the modeling and the control of an innovative power-assisted electric bicycle. The proposed control method is based on a torque control designed via an optimal approach to achieve multi-objective performances regarding the external disturbance input, control signal magnitude, and velocity tracking error. The performance of the methodology has been evaluated applying the proposed control to a new pedelec (pedal electric cycle) model characterized by the measurement of the total torque (rider torque and electric motor one) employed as a feedback for the control. To this aim, a mathematical model of the bicycle, equipped with the electric motor, has been developed. Simulations have been performed in order to evaluate the tracking capability and the disturbance rejection. The performances have been compared with the ones referred to a traditional assistance approach, and the results demonstrate that the proposed approach provides improvements in terms of riding comfort and energy employment.