An electric power steering apparatus that comprises a torsion bar which is provided in a column shaft of a steering wheel of a vehicle, and assist-controls a steering system by driving and controlling a motor connected to said column shaft based on a current command value, comprising: a target steering torque generating section to generate a target steering torque based on vehicle driving information, a converting section to convert said target steering torque into a target torsional angle, using a spring constant of said torsion bar, and a torsional angle control section (140, 240) to calculate said current command value based on at least said target torsional angle and a torsional angle of said torsion bar; wherein a steering state which indicates right-turning or left-turning of said steering wheel is inputted into said target steering torque generating section; wherein said target steering torque generating section comprises a basic map to output a first torque signal being vehicle speed sensitive, depending on said vehicle driving information, a phase compensating section disposed at a previous stage or a subsequent stage of said basic map, a hysteresis correcting section to perform hysteresis correction to said vehicle driving information depending on said steering state and output a second torque signal, a damper gain section to output a third torque signal obtained by multiplying a differential value of said vehicle driving information by a vehicle speed sensitive damper gain, and an output section to output said target steering torque by adding said second torque signal and said third torque signal to said first torque signal; said torsional angle control section (140, 240) comprises a torsional angle feedback compensating section to output a target torsional angular velocity corresponding to a deviation between said target torsional angle and said torsional angle, a velocity control section to input said target torsional angular velocity and a torsional angular velocity, and calculate and output said current command value so that said torsional angular velocity follows said target torsional angular velocity, and a stabilization compensating section (145, 241, 242) to perform feedback to said current command value by setting a transfer function to at least one of an angle relation information; and said electric power steering apparatus performs a control so that said torsional angle follows a value depending on said vehicle driving information. a target steering torque generating section to generate a target steering torque based on vehicle driving information, a converting section to convert said target steering torque into a target torsional angle, using a spring constant of said torsion bar, and a torsional angle control section (140, 240) to calculate said current command value based on at least said target torsional angle and a torsional angle of said torsion bar; wherein a steering state which indicates right-turning or left-turning of said steering wheel is inputted into said target steering torque generating section; wherein said target steering torque generating section comprises a basic map to output a first torque signal being vehicle speed sensitive, depending on said vehicle driving information, a phase compensating section disposed at a previous stage or a subsequent stage of said basic map, a hysteresis correcting section to perform hysteresis correction to said vehicle driving information depending on said steering state and output a second torque signal, a damper gain section to output a third torque signal obtained by multiplying a differential value of said vehicle driving information by a vehicle speed sensitive damper gain, and an output section to output said target steering torque by adding said second torque signal and said third torque signal to said first torque signal; said torsional angle control section (140, 240) comprises a torsional angle feedback compensating section to output a target torsional angular velocity corresponding to a deviation between said target torsional angle and said torsional angle, a velocity control section to input said target torsional angular velocity and a torsional angular velocity, and calculate and output said current command value so that said torsional angular velocity follows said target torsional angular velocity, and a stabilization compensating section (145, 241, 242) to perform feedback to said current command value by setting a transfer function to at least one of an angle relation information; and said electric power steering apparatus performs a control so that said torsional angle follows a value depending on said vehicle driving information.