A method of controlling disturbances associated with electric power steering (EPS) systems maintains an original assist torque to feedback signal in the EPS, such as a column torque, and further minimizes the impact from the disturbance source to the feedback signal so that the disturbance is rejected while the original steering feel is maintained. The method further considers interaction of the rejection feature with other functions of the EPS. In one embodiment, relationships for isolating the disturbance are achieved by utilizing a combined feedback and feed-forward compensator.