A motor angle calculation unit acquires from a motor rotation angle sensor a motor rotation angle signal corresponding to a rotational position of the motor, and calculates a motor angle based on the motor rotation angle signal. An output shaft signal acquisition unit acquires, from an output shaft sensor that detects a rotational position of an output shaft, an output shaft signal corresponding to the rotational position of an output shaft. An abnormality determination unit determines abnormality in the output shaft sensor. A target angle setting unit sets a target rotation angle corresponding to a target shift range. A drive control unit controls driving of the motor so that the motor angle becomes a target rotation angle. The target angle setting unit sets the target rotation angle to different values when the output shaft sensor is normal and when the output shaft sensor is abnormal.