Control unit of electric power steering apparatus

A control unit of an electric power steering apparatus that drives a motor based on a current command value, and assists and controls a steering system, comprising:

• a feedforward control section that inputs input angle information and calculates a first compensation signal compensating said current command value;
• a feedback control section that inputs output angle information and calculates a second compensation signal compensating said current command value;
• and
• a response control section that adjusts said current command value based on said first compensation signal and said second compensation signal;
• wherein said feedback control section arranges a pole of a characteristic of a vibration mode where steering wheel inertia and motor inertia that constitute said electric power steering apparatus are relatively displaced in a steering stabilization frequency domain;
• and
• wherein said response control section performs pole-and-zero cancellation so as to cancel said characteristic of said vibration mode.