An electronic steering control apparatus to which a redundancy system is applied and which comprises a first position controller for controlling the position of a first motor and a second position controller for controlling the position of a second motor, wherein when communication between the first and second position controllers (121, 122) is cut off, each of the first and second position controllers (121, 122) is configured to: check whether a motor control current is equal to or more than a first specific value, when a position control error value corresponding to a difference between the command steering angle and the feedback steering angle falls within a first specific range, check whether a command steering angle, a yaw rate, and a lateral acceleration fall within a second specific range, when the motor control current is equal to or more than the first specific value, and check whether the position control error value is actually equal to or less than a second specific value, when the command steering angle, the yaw rate, and the lateral acceleration fall within the second specific range, wherein, between the first and second position controllers (121, 122), a corresponding position controller, where the state in which the position control error value is equal to or less than the second specific value is retained for a designated specific time, resets all the position control error values which have been accumulated so far. wherein when communication between the first and second position controllers (121, 122) is cut off, each of the first and second position controllers (121, 122) is configured to: check whether a motor control current is equal to or more than a first specific value, when a position control error value corresponding to a difference between the command steering angle and the feedback steering angle falls within a first specific range, check whether a command steering angle, a yaw rate, and a lateral acceleration fall within a second specific range, when the motor control current is equal to or more than the first specific value, and check whether the position control error value is actually equal to or less than a second specific value, when the command steering angle, the yaw rate, and the lateral acceleration fall within the second specific range, check whether a motor control current is equal to or more than a first specific value, when a position control error value corresponding to a difference between the command steering angle and the feedback steering angle falls within a first specific range, check whether a command steering angle, a yaw rate, and a lateral acceleration fall within a second specific range, when the motor control current is equal to or more than the first specific value, and check whether the position control error value is actually equal to or less than a second specific value, when the command steering angle, the yaw rate, and the lateral acceleration fall within the second specific range, wherein, between the first and second position controllers (121, 122), a corresponding position controller, where the state in which the position control error value is equal to or less than the second specific value is retained for a designated specific time, resets all the position control error values which have been accumulated so far.