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 steering wheel; 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 said 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. Further disclosed is a computer data signal for controlling an electric power steering system, the data signal comprising code configured to cause a controller to implement the disclosed method. Additionally, a method for optimizing controlling torque in an electric power steering system is disclosed. The method including: receiving a torque signal responsive to a torque applied to a steering wheel; obtaining a motor velocity; generating a command with a controller for the electric motor, where the command includes a torque control and motor velocity compensation, responsive to the torque signal, and the motor velocity. The performance of the torque control is responsive to a torque compensator, a high pass low pass structure, and motor velocity compensation.