A method for controlling an electric power steering apparatus, the electric power steering apparatus and a vehicle equipped with the same. The method includes detecting an upper-side angle of a torsion bar detecting a lower-side angle setting an angle target value of an opposite side by using one of the upper-side angle or the lower-side angle detecting an actual angle of the opposite side and performing an angle follow-up feedback control based on a deviation between the angle target value and the actual angle.
