A power steering system for a motor vehicle includes a rack and pinion assembly in which the teeth of the pinion are engaged with the teeth of the rack. The power steering system further includes magnets (e.g., permanent magnets or electromagnets) connected to the rack, as well as magnets (e.g., permanent magnets or electromagnets) connected to a rack tube. A varying maglev (i.e., magnetic levitation) force obtained by controlling current flowing through at least some of the magnets (e.g., by varying duty cycle of pulse-width-modulation through an electronic control unit) provides steering assistance for the motor vehicle employing the power steering system. A power steering system includes first and second steering elements, magnets connected to the steering elements, and a controller configured to obtain speed information and steering position information and to control the activation of the magnets in response to the speed information and steering position information.