A target pinion angle computation unit (62) computes a target pinion angle (¸p*) on the basis of a basic assist component (Ta1*) and a steering torque (Th), and computes the target pinion angle (¸p*) so as to rapidly increase a steering reaction force when it is determined based on the target pinion angle (¸p*) that a rack shaft of a rack-and-pinion mechanism reaches a position near a limit of a movable range of the rack shaft. In an EPS, a correction component for the basic assist component (Ta1*), which is necessary to increase the steering reaction force rapidly, is computed through execution of PID control for causing an actual pinion angle to coincide with the target pinion angle (¸p*). Because the correction component is added to the basic assist component (Ta1*), the steering reaction force is increased rapidly when the rack shaft reaches the position near the limit of the movable range.