Steering control apparatus

A steering control apparatus that controls a motor used to turn a steered wheel of a vehicle, which synchronizes with a steering wheel, based on a command value, the command value being computed according to a target angle of an angle convertible to a wheel steering angle of the steered wheel, the target angle being determined by an onboard host control apparatus, the steering control apparatus comprising an electronic control unit, wherein:

• the electronic control unit is configured to compute a feedback control torque to be reflected in the command value through execution of feedback control, the feedback control is control to cause a predetermined angle to follow the target angle, the predetermined angle is the angle convertible to the wheel steering angle and detected through a first sensor;
• the electronic control unit is configured to compute a disturbance torque based on the computed feedback control torque and the predetermined angle, the disturbance torque is a torque that affects the predetermined angle and that is other than a torque to be generated by the motor;
• the electronic control unit is configured to correct the computed feedback control torque by using the computed disturbance torque;
• and
• the electronic control unit is configured to correct the command value reflecting the corrected feedback control torque based on an applied torque, the applied torque is a torque to be applied to the steering wheel and detected through a second sensor.