Electric power steering apparatus

An electric power steering apparatus that calculates a first current command value based on at least a steering torque, and performs an assist-control of a steering system by driving a motor based on said first current command value, comprising:

• a rack end approach judging section that performs judgment of being in a rack end approach region being a predetermined range in front of a rack end based on steering position information, and outputs a rack displacement and a switching signal;
• a viscoelastic model following control section that generates a second shaft force, setting a viscoelastic model as a reference model, based on at least one of a first shaft force obtained by performing a first conversion for said first current command value, and said rack displacement, and said switching signal;
• and
• a state judging section that sets a threshold for separating said rack end approach region into two regions, judges a state of approaching said rack end based on at least a result of comparing said steering position information with said threshold, a steering velocity, and a steering state signal which shows turning or returning, and outputs a judgment signal;
• and
• a control output adjusting section that adjusts said second shaft force based on said judgment signal;
• wherein said electric power steering apparatus performs said assist-control by correcting said first current command value by a second current command value which is obtained by performing a second conversion for said adjusted second shaft force.