An electric power steering apparatus having a steering system capable of flexibly
setting a relationship between a steering angle of a steering wheel and a wheel
angle of a tire. The first motor controls steering reaction force exerted on the
steering wheel. The on-center region determination section determines whether the
steering wheel is in a position of an on-center region. The tire reaction force
torque detection section detects tire reaction force torque transferred from the
tire. The control section calculates a steering torque based on the tire reaction
force torque and a torque gain. This torque is detected by the tire reaction force
torque detection section. And the control section controls the first motor to exert
the steering reaction force corresponding to the above calculated steering torque
on the steering wheel. This control section also sets the torque gain in case of
determining of on-center region larger than that in case of determining of non-on-center region.
