Technical solutions are described for generating and providing a motor torque command in electric systems such as an electric power steering (EPS) system. For example, an example EPS system includes a motor, and a controller that operates the motor to generate torque. The controller determines a torque reference twist based on a torque reference. The controller further determines a motor angle reference twist based on an angle-difference by multiplying the angle-difference by an autonomous mode enable signal. The autonomous mode enable signal is indicative whether the EPS is operating in autonomous mode. The controller further computes a total reference twist based on the torque reference twist and the motor angle reference twist, and computes a motor angle reference based on the total reference twist and a handwheel angle. The controller further generates the motor torque command using the motor angle reference, and sends the motor torque command to the motor.