Technical solutions are described for mitigating traction steer using an electric power steering system (EPS). A control system for a power steering system including a processor and memory are provided. The memory includes instructions that, when executed by the processor, cause the processor to generate a motor command as a function of a handwheel velocity, and to modify the motor command based upon a traction torque signal. A method for controlling a power steering system is also provided. The method includes generating a motor command as a function of a handwheel velocity; modifying the motor command based upon a traction torque signal; and applying the motor command to an actuator of the power steering system.