Abstract: A steering control apparatus for a steering system includes a controller. The controller sets a limit value to less than or equal to a steering angle limit value, the limit value being an upper limit of an absolute value of a torque command value, and controls a motor such that a motor torque follows the torque command. When the absolute value of a rotation angle of a rotary shaft exceeds a steering angle threshold, the controller computes a damping control amount such that the damping control amount increases with an increase in an excess of an angular velocity of the rotary shaft over a first upper limit angular velocity. The controller computes the torque command value based on a value obtained by combining the basic command value and the damping control amount such that an absolute value of the basic command value is reduced.

Abstract: A steering control device includes a microcomputer. The microcomputer is configured to calculate a torque command value that is a target value of a motor torque, set a restricting value that is an upper limit of an absolute value of the torque command value, restrict the absolute value of the torque command value to be equal to or less than the restricting value, control driving of a motor such that the motor torque follows the restricted torque command value, calculate a steering angle restricting value that decreases based on an increase of an absolute value of a rotation angle, and an absolute value of an angular velocity, when the absolute value of the rotation angle of the rotary shaft exceeds a steering angle threshold, and set the restricting value to be a value equal to or less than the steering angle restricting value.