A rudder bias system for an aircraft with a right engine and a left engine includes a component determining a left and right primary and secondary thrust estimates. The system includes a left engine thrust estimate selector determining a left selected estimate based on the left thrust estimates and a right engine thrust estimate selector determining a right selected estimate based on the right thrust estimates. The system includes an enable and mode component determining one or more corresponding validities for the thrust estimates. The system includes a control component generating an engage command based on a thrust differential between the right engine and the left engine, calculated from the left selected estimate and the right selected estimate and a torque command based on an equivalent pedal force assistance calculated as a difference between the thrust differential and an activation threshold.