Disclosed herein is a method as well as a system for controlling an electric power steering system. The method includes: receiving a torque signal from a torque sensor responsive to a torque applied to a handwheel; obtaining a motor velocity signal, the motor velocity signal indicative of a speed of an electric motor which applies torque to a steerable wheel; and generating a command for the electric motor with a controller coupled to the torque sensor, and the electric motor. The command includes torque control and motor velocity compensation, responsive to at least one of the torque signal, and a motor velocity signal. Also disclosed herein is a storage medium encoded with a computer program code for controlling an electric power steering system, the storage medium includes instructions for causing controller to implement the disclosed method.