An angle calculation unit acquires a motor rotation angle signal, output from a motor rotation angle sensor detecting a rotational position of a motor, and calculates a motor angle. A signal acquisition unit acquires an output shaft signal that is output from an output shaft sensor and has a value changing stepwise in accordance with a rotational position of an output shaft, the output shaft sensor detecting a rotational position of an output shaft to which the rotation of the motor 10 is transmitted. A drive control unit controls the drive of the motor such that the motor angle becomes a target motor angle value corresponding to a target shift range. A range determination unit determines an actual range based on the output shaft signal and the motor rotation angle signal.