This paper presents a robust current tracking controller for permanent magnet synchronous motors (PMSMs) with a performance recovery property for electric power steering (EPS) applications. The contributions of this work are twofold. First, a disturbance observer (DOB) is designed to compensate the disturbances arising from the model-plant mismatches while reducing the closed-loop sensitivity. Second, a current controller is designed to improve the current tracking performance in the frequency domain by assigning the performance recovery property to the closed-loop system. The closed-loop performance is verified through simulations and experiments using a 500 W PMSM connected to an EPS system.