Steering control method and apparatus of motor-driven power steering system

A steering control method and apparatus of a motor-driven power steering system, ma include setting, by a controller, a virtual steering model including a reaction force apparatus provided between a steering wheel and a rack gear; inducing, by the controller, a state equation for the virtual steering model, the state equation representing momentum of the steering wheel, the reaction force apparatus, and the rack gear as state variables of the state equation; determining, by the controller, target steering torque acting in the reaction force apparatus through numerical integration of the state equation; and feedback-controlling, by the controller, a steering motor control amount to the motor-driven power steering system to bring a steering torque of the motor-driven power steering system into agreement with the target steering torque.