A steering control device (200) is provided with a end-of-movement reaction force generation unit (an end reaction force control portion (20)). An end reaction force generating current i.sub.2 which act as return a handle toward a straight-ahead position is rapidly generated in the vicinity of an upper and a lower limit of a vehicle wheel steering range. For example, a reaction force motor (4) may be additionally commanded using a newly generated command current i.sub.2. Accordingly, an output torque of the reaction force motor (4) becomes proportional to a new command value i.sub.n of an Equation i.sub.n=i.sub.1+i.sub.2, where i.sub.1 is a current command of a reaction force control portion (5). As a result of configuring the end-of-movement reaction force generation unit is this manner, for example, it is possible to generate a virtual contact resistance force (a steering reaction force) for a steering angle .theta. without causing heat build-up, or the like, of a motor, when no physical limit (an end-of-movement of contact point) is provided for a rotation range of a steering wheel (handle).

 
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