Technical solutions are described for facilitating an electric power steering (EPS) system for providing a motor torque assist command. An example EPS system includes a first module configured to generate a regulation signal or a tuning signal based on a mode of operation of the EPS system. The EPS system further includes a second module configured to generate a stability signal irrespective of the mode of operation of the EPS system. The EPS system further includes a blending module configured to combine the stability signal with either the regulation signal or the tuning signal to generate an assist motor torque signal for the EPS system.