The present invention provides an excellent electric power steering
apparatus in which torque ripple caused by a quantization error of a
current control system generated in case of slow steering state and
steering holding state, namely, vibration and noise on a steering wheel
can be suppressed. A current controller in which a steady state gain of
feedback control is a finite value is used so as to be capable of
suppressing the vibration and noise. Further, according to the present
invention, a smoothing filter is included in a current control system so
that the quantization error is smoothed so that the torque ripple is
suppressed.