An electric power steering system comprising: an assist mechanism that applies assist torque generated by a motor to a steering mechanism of a vehicle; and a controller that controls driving of the motor based on an assist command value (Tas*) corresponding to a target value of the assist torque, wherein the controller includes a basic assist component computing unit that computes a first assist component (Ta1*) that is a basic component of the assist torque based on steering torque (Th) that is applied to the steering mechanism in response to a steering operation of the vehicle, a torque command value computing unit that computes a torque command value (Th*) that is a target value of the steering torque (Th), a torque feedback control unit that computes an assist compensation component (Tac) by executing torque feedback control of causing the steering torque (Th) to follow the torque command value (Th*), a steered angle command value computing unit that computes a steered angle command value (θt*) corresponding to a target value of a steered angle (θt) of steered wheels of the vehicle based on a sum of a basic drive torque (Tc) and the assist compensation component (Tac), a steered angle feedback control unit that computes a second assist component (Ta2*) by executing steered angle feedback control of causing an actual steered angle (θt) of the steered wheels to follow the steered angle command value (θt*), and an assist command value computing unit that computes the assist command value (Tas*) based on a sum of the first assist component (Ta1*) and the second assist component (Ta2*). an assist mechanism that applies assist torque generated by a motor to a steering mechanism of a vehicle; and a controller that controls driving of the motor based on an assist command value (Tas*) corresponding to a target value of the assist torque, wherein the controller includes a basic assist component computing unit that computes a first assist component (Ta1*) that is a basic component of the assist torque based on steering torque (Th) that is applied to the steering mechanism in response to a steering operation of the vehicle, a torque command value computing unit that computes a torque command value (Th*) that is a target value of the steering torque (Th), a torque feedback control unit that computes an assist compensation component (Tac) by executing torque feedback control of causing the steering torque (Th) to follow the torque command value (Th*), a steered angle command value computing unit that computes a steered angle command value (θt*) corresponding to a target value of a steered angle (θt) of steered wheels of the vehicle based on a sum of a basic drive torque (Tc) and the assist compensation component (Tac), a steered angle feedback control unit that computes a second assist component (Ta2*) by executing steered angle feedback control of causing an actual steered angle (θt) of the steered wheels to follow the steered angle command value (θt*), and an assist command value computing unit that computes the assist command value (Tas*) based on a sum of the first assist component (Ta1*) and the second assist component (Ta2*). a basic assist component computing unit that computes a first assist component (Ta1*) that is a basic component of the assist torque based on steering torque (Th) that is applied to the steering mechanism in response to a steering operation of the vehicle, a torque command value computing unit that computes a torque command value (Th*) that is a target value of the steering torque (Th), a torque feedback control unit that computes an assist compensation component (Tac) by executing torque feedback control of causing the steering torque (Th) to follow the torque command value (Th*), a steered angle command value computing unit that computes a steered angle command value (θt*) corresponding to a target value of a steered angle (θt) of steered wheels of the vehicle based on a sum of a basic drive torque (Tc) and the assist compensation component (Tac), a steered angle feedback control unit that computes a second assist component (Ta2*) by executing steered angle feedback control of causing an actual steered angle (θt) of the steered wheels to follow the steered angle command value (θt*), and an assist command value computing unit that computes the assist command value (Tas*) based on a sum of the first assist component (Ta1*) and the second assist component (Ta2*).