An electric power steering apparatus including a steering angle control section that calculates a steering angle control current command value. The steering angle control section includes a position control section that calculates a basic steering angular velocity command value, a steering intervention compensating section that obtains a compensatory steering angular velocity command value, and a steering angular velocity control section that calculates the steering angle control current command value from the basic steering angular velocity command value, the compensatory steering angular velocity command value and an actual steering angular velocity. The steering intervention compensating section obtains a first velocity command value using a basic map, and obtains a second velocity command value using a hysteresis characteristic, calculates the compensatory steering angular velocity command value from the first and second velocity command values, and calculates the current command value using at least the steering angle control current command value.
ELECTRIC POWER STEERING APPARATUS