Abstract: A method for controlling an electric assist motor for providing steering assist in response to a steering sensed torque signal includes filtering the sensed steering torque signal to provide a low frequency torque signal and a high frequency torque signal. A low frequency assist torque signal is determined as a function of the low frequency torque signal. A high frequency assist gain signal is determined as a function of the sensed torque signal and a sensed vehicle speed. The high frequency assist gain signal is applied to the high frequency torque signal to determine a high frequency assist torque signal. A torque command signal is determined as a function of the low frequency assist torque signal and the high frequency assist torque signal. The electric assist motor is commanded to provide steering assist in accordance with the torque command signal.