In A fading process, by gradually changing the command value of the position / velocity control and the control torque of the torque control, smooth, with self steareth, to provide an electric power steering apparatus capable of switching the control. Accordance An ON / OFF of the automatic steering command, the motor control method, and a function of switching between a position / speed control system with torque control scheme, in accordance with the steering torque, a fade characteristics 1 torque system fade gain signal F1 to impart a fade gain signal F2 to impart fade characteristics 2 of the steering angle-based, a characteristic calculation unit 140 for calculating the fading gain signal F3 which imparts fade characteristics 3 of the steering speed, the estimated disturbance torque the has a disturbance observer to be processed provided estimates, when the automatic steering command is turned ON, performs fading process by characteristics calculating unit 140 compensates the disturbance torque by the disturbance observer, the operation by the position / speed control system to. .The 10