[myjess]

My diesel power steering gives the EPS light for a few seconds intermittently every now and again, only immediately after cold start and my having turned the steering wheel to get out of a parking spot. Light goes off and stays off a few seconds later.
In addition there is a knocking when I go over bumps.
There is no recall for my car.

Anyone any ideas, I was thinking battery cos it happens just after cold start and I have turned the wheel straight away.

Thanks.

[Dazzler]

Sounds like the plastic bush in the steering is worn (only a cheap part but a couple of hours labour to switch it over I believe) There is a belief this can at times make the light come on.. there are recent threads discussing this. It also causes a rattle in the steering.   

[Shambles]

Have it checked professionally (by Hyundai)

Just one word here:

W.a.r.r.a.n.t.y.