A control system for controlling a power steering system, the control system comprising: a primary processing path; a secondary processing path in parallel with the primary processing path; a first module in the primary processing path, the first module configured to: generate a primary output command based on a set of input signals; and output the primary output command; and a second module in the secondary processing path, the second module configured to: generate a first range of command values based on the set of input signals; determine 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, generate a fault signal, characterized in that the first module is configured to generate the primary output command by: generating static content based on the set of input signals; and performing a first dynamic processing on the static content to generate the primary output command, wherein the second module is further configured to perform a second dynamic processing on the set of input signals prior to generating the first range of command values; and wherein the first module is further configured to: receive at least one of an input overlay signal, an output factor signal, and output overlay signal; add the input overlay signal to the set of input signals in response to receiving the input overlay signal; multiply the static content by the output factor signal in response to receiving the output factor signal; and add the output overlay signal to the static content in response to receiving the output overlay signal. a primary processing path; a secondary processing path in parallel with the primary processing path; a first module in the primary processing path, the first module configured to: generate a primary output command based on a set of input signals; and output the primary output command; and generate a primary output command based on a set of input signals; and output the primary output command; and a second module in the secondary processing path, the second module configured to: generate a first range of command values based on the set of input signals; determine 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, generate a fault signal, characterized in that generate a first range of command values based on the set of input signals; determine 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, generate a fault signal, characterized in that the first module is configured to generate the primary output command by: generating static content based on the set of input signals; and performing a first dynamic processing on the static content to generate the primary output command, wherein the second module is further configured to perform a second dynamic processing on the set of input signals prior to generating the first range of command values; and wherein the first module is further configured to: receive at least one of an input overlay signal, an output factor signal, and output overlay signal; add the input overlay signal to the set of input signals in response to receiving the input overlay signal; multiply the static content by the output factor signal in response to receiving the output factor signal; and add the output overlay signal to the static content in response to receiving the output overlay signal. generating static content based on the set of input signals; and performing a first dynamic processing on the static content to generate the primary output command, wherein the second module is further configured to perform a second dynamic processing on the set of input signals prior to generating the first range of command values; and wherein the first module is further configured to: receive at least one of an input overlay signal, an output factor signal, and output overlay signal; add the input overlay signal to the set of input signals in response to receiving the input overlay signal; multiply the static content by the output factor signal in response to receiving the output factor signal; and receive at least one of an input overlay signal, an output factor signal, and output overlay signal; add the input overlay signal to the set of input signals in response to receiving the input overlay signal; multiply the static content by the output factor signal in response to receiving the output factor signal; and add the output overlay signal to the static content in response to receiving the output overlay signal.