1. A power steering system for providing a motor torque assist command, the power steering system comprising: a rack torque estimator module that determines an estimated rack torque value based on a motor angle, and a motor velocity; a driver intent detection module that computes a disturbance torque scaling factor based on the estimated rack torque value by computing a disturbance torque signal based on the estimated rack torque value; and a blend module that generates the motor torque assist command based on a scaled value of the estimated rack torque value using the disturbance torque scaling factor, the scaling comprising multiplying the estimated rack torque value by the disturbance torque scaling factor.