A method for generating and verifying an output command for using in a power steering system, the method comprising: receiving, by a module having at least a primary processing path and a secondary processing path that is in parallel with the primary processing path, a set of input signals; in the primary processing path: generating a primary output command based on the set of input signals; and sending the primary output command out of the module; and in the secondary processing path: generating a first range of command values based on the set of input signals; determining whether the primary output command falls within the range of command values; and based on determining that the primary output command does not fall within the first range of command values, generating a fault signal (125, 470); characterized by in the primary processing path: in response to the fault signal, generating a default output command based on a subset of the input signals; and sending the default output command out of the module; and in the secondary processing path: generating a second range of command values based on a subset of the input signals; determining whether the default output command falls within the second range of command values; and based on determining that the default output command does not fall within the second range of command values, initiating a fault response action in the power steering system. receiving, by a module having at least a primary processing path and a secondary processing path that is in parallel with the primary processing path, a set of input signals; in the primary processing path: generating a primary output command based on the set of input signals; and sending the primary output command out of the module; and generating a primary output command based on the set of input signals; and sending the primary output command out of the module; and in the secondary processing path: generating a first range of command values based on the set of input signals; determining whether the primary output command falls within the range of command values; and based on determining that the primary output command does not fall within the first range of command values, generating a fault signal (125, 470); generating a first range of command values based on the set of input signals; determining whether the primary output command falls within the range of command values; and based on determining that the primary output command does not fall within the first range of command values, generating a fault signal (125, 470); characterized by in the primary processing path: in response to the fault signal, generating a default output command based on a subset of the input signals; and sending the default output command out of the module; and in response to the fault signal, generating a default output command based on a subset of the input signals; and sending the default output command out of the module; and in the secondary processing path: generating a second range of command values based on a subset of the input signals; determining whether the default output command falls within the second range of command values; and based on determining that the default output command does not fall within the second range of command values, initiating a fault response action in the power steering system. generating a second range of command values based on a subset of the input signals; determining whether the default output command falls within the second range of command values; and based on determining that the default output command does not fall within the second range of command values, initiating a fault response action in the power steering system.