A method of estimating velocity of an electric motor implemented in an electric power steering system utilizing a computer, said method comprising the steps of: obtaining a first representation of the velocity of the electric motor from a first velocity signal having a first set of characteristics; obtaining a second representation of the velocity of the electric motor from a second velocity signal having a second set of characteristics different from the first set of characteristics, wherein the first set of characteristics of the first signal includes a first up-date speed and the second set of characteristics of the second signal includes a second update speed; computing a rate of change of the velocity of the electric motor based on the first and second representations of the velocity; and determining the velocity of the electric motor based on the rate of change of the velocity of the electric motor, the first representation of the velocity of the electric motor, and the second representation of the velocity of the electric motor to produce the estimated velocity of the electric motor, wherein said step of determining the velocity of the electric motor includes computing a ratio R of the rate of change of the velocity to a predetermined constant, limiting the computed ratio R to a value between 1 and -1, determining a relative weight value W R using the equation W R = R P in which P is a constant value limited to even positive values greater or equal to 1 and calculating the estimated velocity of the electric motor using the equation v est = v 1 1 − W R + v 2 W R in which v 1 is the first representation of the velocity and v 2 is the second representation of the velocity. obtaining a first representation of the velocity of the electric motor from a first velocity signal having a first set of characteristics; obtaining a second representation of the velocity of the electric motor from a second velocity signal having a second set of characteristics different from the first set of characteristics, wherein the first set of characteristics of the first signal includes a first up-date speed and the second set of characteristics of the second signal includes a second update speed; computing a rate of change of the velocity of the electric motor based on the first and second representations of the velocity; and determining the velocity of the electric motor based on the rate of change of the velocity of the electric motor, the first representation of the velocity of the electric motor, and the second representation of the velocity of the electric motor to produce the estimated velocity of the electric motor, wherein said step of determining the velocity of the electric motor includes computing a ratio R of the rate of change of the velocity to a predetermined constant, limiting the computed ratio R to a value between 1 and -1, determining a relative weight value W R using the equation W R = R P in which P is a constant value limited to even positive values greater or equal to 1 and calculating the estimated velocity of the electric motor using the equation v est = v 1 1 − W R + v 2 W R in which v 1 is the first representation of the velocity and v 2 is the second representation of the velocity.