An electric power steering apparatus that has a function to switch an assist control mode and a steering angle control mode, generates a motor current command value (Iref) by means of a first assist control command value (Itref) calculated at an assist control section and a first steering angle control command value (Imref) calculated at a steering angle control section, and assist-controls a steering system of a vehicle by driving a motor (20, 150) by means of said motor current command value (Iref), wherein said steering angle control section comprises: a position control section that inputs a target steering angle (θt) and an actual steering angle (θr) and outputs a first steering angle speed command value (ωc); a gradual-changing limiting section that limits an upper limiting value and a lower limiting value by gradual-changing said first steering angle speed command value (ωc) corresponding to a steering angle control gradual-changing gain; a speed control section that processes a second steering angle speed command value (ωcb), which is outputted from said gradual-changing limiting section; and a first gradual-changing section that gradual-changes said first steering angle control command value (Imref), which is outputted from said speed control section, corresponding to said steering angle control gradual-changing gain and outputs a second steering angle control command value (Imrefc), wherein said electric power steering apparatus further comprises a second gradual-changing section that gradual-changes said first assist control command value (Itref), which is outputted from said assist control section, with an assist control gradual-changing gain and outputs a second assist control command value (Itrefc), wherein said motor current command value (Iref) is generated based on said second steering angle control command value (Imrefc) and said second assist control command value (Itrefc), characterized in that said speed control section processes said second steering angle speed command value (ωcb) based on an actual steering angle speed (ωr) and said steering angle control gradual-changing gain. a position control section that inputs a target steering angle (θt) and an actual steering angle (θr) and outputs a first steering angle speed command value (ωc); a gradual-changing limiting section that limits an upper limiting value and a lower limiting value by gradual-changing said first steering angle speed command value (ωc) corresponding to a steering angle control gradual-changing gain; a speed control section that processes a second steering angle speed command value (ωcb), which is outputted from said gradual-changing limiting section; and a first gradual-changing section that gradual-changes said first steering angle control command value (Imref), which is outputted from said speed control section, corresponding to said steering angle control gradual-changing gain and outputs a second steering angle control command value (Imrefc), wherein said electric power steering apparatus further comprises a second gradual-changing section that gradual-changes said first assist control command value (Itref), which is outputted from said assist control section, with an assist control gradual-changing gain and outputs a second assist control command value (Itrefc), wherein said motor current command value (Iref) is generated based on said second steering angle control command value (Imrefc) and said second assist control command value (Itrefc), characterized in that said speed control section processes said second steering angle speed command value (ωcb) based on an actual steering angle speed (ωr) and said steering angle control gradual-changing gain.