An electric power steering apparatus comprising a torque control section configured to calculate a current command value based on at least a steering torque, and to assist-control a steering system by driving a motor by means of a current control system based on said current command value, comprising: a motor angular velocity calculating section configured to calculate a motor angular velocity ω from a motor rotational angle, a stability compensating section (110,110A) configured to calculate a steering torque for compensation and a current command value for compensation based on said motor angular velocity ω, wherein said steering torque for compensation is for compensating said steering torque, and said current command value for compensation is for compensating said current command value, characterized by: the electric power steering apparatus further comprising a motor angular acceleration calculating section configured to calculate a motor angular acceleration α from said motor angular velocity ω, and wherein said steering torque for compensation and said current command value for compensation are calculated based on said motor angular velocity ω and said motor angular acceleration α, and wherein said stability compensating section (110, 110A) comprises a first cut-off frequency varying section (111,111A) configured to set a cut-off frequency fc1 based on said motor angular velocity ω, a first filtering section configured to filtering-process said motor angular acceleration α depending on said cut-off frequency fc1, a second cut-off frequency varying section (112, 112A) configured to set a cut-off frequency fc2 based on said motor angular velocity ω, and a second filtering section configured to filtering-process said motor angular acceleration α depending on said cut-off frequency fc2. a motor angular velocity calculating section configured to calculate a motor angular velocity ω from a motor rotational angle, a stability compensating section (110,110A) configured to calculate a steering torque for compensation and a current command value for compensation based on said motor angular velocity ω, wherein said steering torque for compensation is for compensating said steering torque, and said current command value for compensation is for compensating said current command value, characterized by: the electric power steering apparatus further comprising a motor angular acceleration calculating section configured to calculate a motor angular acceleration α from said motor angular velocity ω, and wherein said steering torque for compensation and said current command value for compensation are calculated based on said motor angular velocity ω and said motor angular acceleration α, and wherein said stability compensating section (110, 110A) comprises a first cut-off frequency varying section (111,111A) configured to set a cut-off frequency fc1 based on said motor angular velocity ω, a first filtering section configured to filtering-process said motor angular acceleration α depending on said cut-off frequency fc1, a second cut-off frequency varying section (112, 112A) configured to set a cut-off frequency fc2 based on said motor angular velocity ω, and a second filtering section configured to filtering-process said motor angular acceleration α depending on said cut-off frequency fc2. the electric power steering apparatus further comprising a motor angular acceleration calculating section configured to calculate a motor angular acceleration α from said motor angular velocity ω, and wherein said steering torque for compensation and said current command value for compensation are calculated based on said motor angular velocity ω and said motor angular acceleration α, and wherein said stability compensating section (110, 110A) comprises a first cut-off frequency varying section (111,111A) configured to set a cut-off frequency fc1 based on said motor angular velocity ω, a first filtering section configured to filtering-process said motor angular acceleration α depending on said cut-off frequency fc1, a second cut-off frequency varying section (112, 112A) configured to set a cut-off frequency fc2 based on said motor angular velocity ω, and a second filtering section configured to filtering-process said motor angular acceleration α depending on said cut-off frequency fc2.