An electric power steering apparatus that has a torsion bar in a column shaft of a handle of a vehicle, and assist-controls a steering system by driving and controlling a motor connected to said column shaft based on a current command value, comprising: a target steering torque generating section to generate a target steering torque based on at least one of electric power steering (EPS)/vehicle information; a converting section to convert said target steering torque into a target torsional angle; and a torsional angle control section to calculate said current command value based on said target torsional angle, a steering angle, a torsional angle of said torsion bar and a motor angular velocity or a column angular velocity, wherein said torsional angle control section comprises: a torsional angle feedback compensating section to output a first target column angular velocity according to a deviation between said target torsional angle and said torsional angle; a steering angle disturbance compensating section to output a second target column angular velocity according to said steering angle; an adding section to output a third target column angular velocity obtained by adding said second target column angular velocity with said first target column angular velocity; and a velocity control section to output said current command value based on said third target column angular velocity and said column angular velocity, wherein said electric power steering apparatus performs a control so as to follow-up said torsional angle to said target torsional angle. a target steering torque generating section to generate a target steering torque based on at least one of electric power steering (EPS)/vehicle information; a converting section to convert said target steering torque into a target torsional angle; and a torsional angle control section to calculate said current command value based on said target torsional angle, a steering angle, a torsional angle of said torsion bar and a motor angular velocity or a column angular velocity, wherein said torsional angle control section comprises: a torsional angle feedback compensating section to output a first target column angular velocity according to a deviation between said target torsional angle and said torsional angle; a steering angle disturbance compensating section to output a second target column angular velocity according to said steering angle; an adding section to output a third target column angular velocity obtained by adding said second target column angular velocity with said first target column angular velocity; and a velocity control section to output said current command value based on said third target column angular velocity and said column angular velocity, wherein said electric power steering apparatus performs a control so as to follow-up said torsional angle to said target torsional angle. a torsional angle feedback compensating section to output a first target column angular velocity according to a deviation between said target torsional angle and said torsional angle; a steering angle disturbance compensating section to output a second target column angular velocity according to said steering angle; an adding section to output a third target column angular velocity obtained by adding said second target column angular velocity with said first target column angular velocity; and a velocity control section to output said current command value based on said third target column angular velocity and said column angular velocity, wherein said electric power steering apparatus performs a control so as to follow-up said torsional angle to said target torsional angle. <EOS>