An electrically-operated steering apparatus in which in addition to avoiding an increase in cost caused by installing a new sensor or using a high process speed CPU, steering feels, such as steering wheel return, viscous feeling, inertial feeling and frictional feeling, are improved. In addition to assisting a static steering torque on the basis of a torque sensor, with a motor-applied voltage detection circuit capable of removing the square wave component attendant on the PWM drive of a motor, a motor angular velocity .omega. is estimated from the output data of the relevant circuit. A motor angular acceleration d.omega./dt is estimated from the motor angular velocity .omega. by using a differential calculator. The steering friction and the moment of inertia are compensated on the basis of the motor angular velocity .omega. and motor angular acceleration d.omega./dt, respectively.