EPS Mafunctioning in my i10 Era

I am facing the EPS malfunctioning in my Hyundai i10 Era which I bought from Sharma Hyundai, Ahmedabad in Sept. 2009. At present the car is with their Naroda Workshop. According to them, the estimated cost for replacement would be around Rs.20K. I am shocked, as the vehicle is not yet completed its 4 years run, and before that this huge amount for a single replacement!!! Is it not a technical problem? I expect the company to replace the same free of cost. In fact, with my reference, the dealer could sell 4 units of Hyundai cars (two i20 and one i10 to my office staff and one Getz to my cousin). I request the company to consider this issue also while taking a policy on replacement in my car.