ACTUATOR CONTROL DEVICE

Provided is an actuator control device for making it less likely that a large change occurs in a steered angle of a steered wheel of a vehicle. An actuator control device (30) controls an actuator such that the actuator generates a force that causes a steering operation mechanism to steer a steered wheel. The actuator control device (30) includes an assist control circuit (60) for calculating a first assist component (Ta1*) and an automatic steering control circuit (70) for calculating a second assist component (Ta2*). The automatic steering control circuit (70) is allowed to calculate the second assist component (Ta2*) while a steering torque (Tm) is less than a first threshold value (B). The automatic steering control circuit (70) calculates the second assist component (Ta2*) by performing PID control that uses an integral term obtained on the basis of an angle deviation (”¸s). When the steering torque (Tm) is less than the first threshold value (B) but not less than a second threshold value (A), the automatic steering control circuit (70) limits the integral term in such a manner that it is harder for the integral term to increase while the steering torque (Tm) is not less than the second threshold value (A) than while the steering torque (Tm) is less than the second threshold value (A).