2000 Cadillac SLS

Steering problem
2000 Cadillac SLS V8 Front Wheel Drive Automatic 113000 miles

I'm getting a " Service Stability System" message. It comes on at random times and can be reset by shutting the engine off and back on. Also, I hear a popping sound when steering. Today, I experienced a grinding sound and feel like the steering was being taken over for an instant. No error message. Any ideas and will it be expensive?
January 28, 2010.

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