PROBLEM TO BE SOLVED: To provide an electric power steering control device controlling a brushless motor having no motor rotating angle sensor by using an estimated value of the motor rotating angle estimated by two kinds or more systems. SOLUTION: The electric power steering control device is equipped with a current command generation means 11, and a current control means 12 for calculating each phase voltage command, a motor rotating angle signal and a motor rotational angular speed signal. The current command generation means 11 has respective compensators of damping, inertia, and friction, and calculates the current command in accordance with any one or more of the compensation current command of the compensators and an assist current command, the current control means 12 has two different motor rotating angle estimation means, calculates the motor rotating angle signal by selecting the output of any one of the motor rotating angle estimation means based on the motor rotational angular speed, and applies the calculated motor rotating angle signal and the motor rotational angular speed signal obtained by differentiating the rotating angle signal as the motor rotating angle signal or the motor rotational angular velocity signal to any one of compensators. COPYRIGHT: (C)2010,JPO&INPIT