A system for detecting offset error in a power steering system is provided. The system includes a programmable high pass filter module configured to filter a final voltage command and generate a filtered final voltage command. The filtered final voltage command includes the sinusoidal component, a gain and phase compensation module configured to perform a gain compensation and a phase compensation on the filtered final voltage command to generate a compensated final voltage command. An error detection module is configured to determine an offset of the compensated final voltage command in a stator reference frame.