A control device for a steering apparatus , the steering apparatus including a reaction motor that generates a steering reaction force, the steering reaction force being a torque that is given to a steering shaft and that is in an opposite direction of a steering direction, dynamic force transmission between the steering shaft and a turning shaft being isolated, the turning shaft turning a turning wheel, the control device configured to control the reaction motor based on a command value that is computed depending on a steering state, the control device comprising: a first computation circuit configured to compute a first shaft force based on a state variable that is able to be converted into a rotation angle of a rotation body, the first shaft force being an ideal shaft force that acts on the turning shaft, the rotation body rotating depending on a motion of a steering wheel; and a second computation circuit configured to compute a second shaft force based on a state variable that reflects a road surface state or a vehicle behavior, the second shaft force being a force that acts on the turning shaft; the control device being characterized by further comprising a third computation circuit configured to set a limit value with reference to the second shaft force, the limit value being a value that limits a variation range of the first shaft force, the third computation circuit being configured to compute a final shaft force using the limit value, through execution of a limiting process by which the first shaft force is limited, the final shaft force being reflected in the command value. the control device configured to control the reaction motor based on a command value that is computed depending on a steering state, the control device comprising: a first computation circuit configured to compute a first shaft force based on a state variable that is able to be converted into a rotation angle of a rotation body, the first shaft force being an ideal shaft force that acts on the turning shaft, the rotation body rotating depending on a motion of a steering wheel; and a second computation circuit configured to compute a second shaft force based on a state variable that reflects a road surface state or a vehicle behavior, the second shaft force being a force that acts on the turning shaft; the control device being characterized by further comprising a third computation circuit configured to set a limit value with reference to the second shaft force, the limit value being a value that limits a variation range of the first shaft force, the third computation circuit being configured to compute a final shaft force using the limit value, through execution of a limiting process by which the first shaft force is limited, the final shaft force being reflected in the command value. a first computation circuit configured to compute a first shaft force based on a state variable that is able to be converted into a rotation angle of a rotation body, the first shaft force being an ideal shaft force that acts on the turning shaft, the rotation body rotating depending on a motion of a steering wheel; and a second computation circuit configured to compute a second shaft force based on a state variable that reflects a road surface state or a vehicle behavior, the second shaft force being a force that acts on the turning shaft; the control device being characterized by further comprising a third computation circuit configured to set a limit value with reference to the second shaft force, the limit value being a value that limits a variation range of the first shaft force, the third computation circuit being configured to compute a final shaft force using the limit value, through execution of a limiting process by which the first shaft force is limited, the final shaft force being reflected in the command value. <EOS>