Abstract: A steering apparatus for steering a motor vehicle includes a target yaw angular velocity decider which outputs a target yaw angular velocity corresponding to a turned angle of a steering wheel. A controller produces a steering angle ratio command signal based on the difference between the actual yaw angular velocity of the motor vehicle and the target yaw angular velocity, and controls a steering angle ratio varying mechanism to vary a steering angle ratio in order to equalize the actual yaw angular velocity substantially with the target yaw angular velocity.