An electric power steering control system comprising: an electric motor disposed in a vehicle to apply torque to a steerable wheel; a torque sensor disposed in the vehicle for detecting a steering wheel torque and generating a torque signal indicative thereof; a vehicle speed sensor, the vehicle speed sensor generating a vehicle speed signal; a controller coupled to the torque sensor, the vehicle speed sensor and the electric motor. The controller generates a scheduled compensated torque command to the electric motor. The scheduled compensated torque command is based on at least one of: a torque command signal responsive to the torque signal; a compensated torque command signal; and a blend of the torque command signal and the compensated torque command signal. At least one of the torque command signal, the compensated torque command signal and the blend is based the vehicle speed signal.