Technical features are described for a steering system to compute a state flag value that is indicative of a vehicle motion state, such as an understeer or an oversteer condition. The steering system further generates a reference torque signal based on the state flag value, and generates a motor-assist torque signal based on the reference torque signal. The state flag value indicates the vehicle motion state in both a dynamic-state or a steady-state. Further, the steering system generates the reference torque signal based on the state flag value by blending a first rack force generated based on a vehicle-speed signal and motor angle, and a second rack force generated based on a motor torque and an input torque provided to a handwheel of the steering system.