A steering control device that controls a steering system in which a steering torque required for steering a steering wheel is changed using a motor torque applied from an actuator with a motor as a drive source, the steering control device comprising: a torque command value calculating unit configured to calculate a torque command value which is a target value of the motor torque when operation of the motor is controlled such that the motor torque is generated, wherein the torque command value calculating unit includes a first component calculating unit configured to calculate a first component based on a first state variable changing according to an operation of the steering system, a second component calculating unit configured to calculate a second component based on a second state variable changing with the operation of the steering system, and a torque component calculating unit configured to calculate a torque component used to calculate the torque command value based on at least one of the first component and the second component, wherein the torque command value calculating unit is configured to set the first state variable to a state variable not having hysteresis characteristics with respect to change of a specific state variable changing according to the operation of the steering system and to set the second state variable to a state variable having hysteresis characteristics with respect to change of the specific state variable, wherein the first component calculating unit is configured to add a calculational hysteresis component to the first component such that hysteresis characteristics with respect to change of the specific state variable are provided when the first component is calculated, characterized in that the torque component calculating unit is configured to perform calculation in a first calculation situation and calculation in a second calculation situation, wherein the first calculation situation is calculation for adjusting a gradient of the second component with respect to change of the specific state variable, the second component being acquired by the second component calculating unit, the adjusted second component being used to calculate the torque component, and wherein the second calculation situation is calculation for adjusting a gradient of the torque component with respect to change of the specific state variable, the torque component being acquired by calculation based on at least one of the first component and the second component, the adjusted torque component being calculated as the final torque component. a torque command value calculating unit configured to calculate a torque command value which is a target value of the motor torque when operation of the motor is controlled such that the motor torque is generated, wherein the torque command value calculating unit includes a first component calculating unit configured to calculate a first component based on a first state variable changing according to an operation of the steering system, a second component calculating unit configured to calculate a second component based on a second state variable changing with the operation of the steering system, and a torque component calculating unit configured to calculate a torque component used to calculate the torque command value based on at least one of the first component and the second component, wherein the torque command value calculating unit is configured to set the first state variable to a state variable not having hysteresis characteristics with respect to change of a specific state variable changing according to the operation of the steering system and to set the second state variable to a state variable having hysteresis characteristics with respect to change of the specific state variable, wherein the first component calculating unit is configured to add a calculational hysteresis component to the first component such that hysteresis characteristics with respect to change of the specific state variable are provided when the first component is calculated, characterized in that the torque component calculating unit is configured to perform calculation in a first calculation situation and calculation in a second calculation situation, wherein the first calculation situation is calculation for adjusting a gradient of the second component with respect to change of the specific state variable, the second component being acquired by the second component calculating unit, the adjusted second component being used to calculate the torque component, and wherein the second calculation situation is calculation for adjusting a gradient of the torque component with respect to change of the specific state variable, the torque component being acquired by calculation based on at least one of the first component and the second component, the adjusted torque component being calculated as the final torque component.