An electric power steering apparatus that calculates a first motor current command value based on a steering torque and a vehicle velocity, performs an assist control of a steering system by driving a motor based on said first motor current command value, and has a function for switching between an automatic steering mode and a manual steering mode, said electric power steering apparatus comprising: a steering angle control section that calculates a second motor current command value based on a target steering angle, an actual steering angle, a motor angular velocity and a motor angular acceleration of said motor, said steering torque and a previous time current command value; and a switching section that inputs said first motor current command value and said second motor current command value to switch, wherein said steering angle control section comprises a feedback control section that generates a feedback control current command value based on said target steering angle, said actual steering angle, said motor angular velocity and said steering torque; an SAT compensating section that generates an SAT compensation current command value based on said motor angular velocity, said motor angular acceleration, said steering torque and said previous time current command value; and an output section (201, 202) that generates said second motor current command value from said feedback control current command value and said SAT compensation current command value, wherein said feedback control section comprises a rate limiter that performs a smoothing with respect to said target steering angle; a low pass filter that is connected to an output of said rate limiter; a first proportional gain section that multiplies an angle deviation between an output of said LPF and said actual steering angle by a proportional gain; an integral gain section (216A, 216B) that integrates a velocity deviation between an error velocity from said first proportional gain section and said motor angular velocity and multiplies said integrated velocity deviation by an integral gain; a second proportional gain section that multiplies said velocity deviation by a proportional gain; a differential gain section (215A, 215B) that differentiates said steering torque and multiplies said differentiated steering torque by a differential gain; and an output section (213C, 213D,217) that performs an addition that adds an output of said differential gain section (215A, 215B) to a deviation value between an output of said integral gain section (216A, 216B) and an output of said second proportional gain section, limits a result of said addition by an upper and a lower limit values and outputs said feedback control current command value, wherein said switching section is switched depending on a switching command of said automatic steering mode and said manual steering mode, said motor is drive-controlled based on said second motor current command value in said automatic steering mode. a steering angle control section that calculates a second motor current command value based on a target steering angle, an actual steering angle, a motor angular velocity and a motor angular acceleration of said motor, said steering torque and a previous time current command value; and a switching section that inputs said first motor current command value and said second motor current command value to switch, wherein said steering angle control section comprises a feedback control section that generates a feedback control current command value based on said target steering angle, said actual steering angle, said motor angular velocity and said steering torque; an SAT compensating section that generates an SAT compensation current command value based on said motor angular velocity, said motor angular acceleration, said steering torque and said previous time current command value; and an output section (201, 202) that generates said second motor current command value from said feedback control current command value and said SAT compensation current command value, wherein said feedback control section comprises a rate limiter that performs a smoothing with respect to said target steering angle; a low pass filter that is connected to an output of said rate limiter; a first proportional gain section that multiplies an angle deviation between an output of said LPF and said actual steering angle by a proportional gain; an integral gain section (216A, 216B) that integrates a velocity deviation between an error velocity from said first proportional gain section and said motor angular velocity and multiplies said integrated velocity deviation by an integral gain; a second proportional gain section that multiplies said velocity deviation by a proportional gain; a differential gain section (215A, 215B) that differentiates said steering torque and multiplies said differentiated steering torque by a differential gain; and an output section (213C, 213D,217) that performs an addition that adds an output of said differential gain section (215A, 215B) to a deviation value between an output of said integral gain section (216A, 216B) and an output of said second proportional gain section, limits a result of said addition by an upper and a lower limit values and outputs said feedback control current command value, wherein said switching section is switched depending on a switching command of said automatic steering mode and said manual steering mode, said motor is drive-controlled based on said second motor current command value in said automatic steering mode.