The motor control apparatus 100 according to an embodiment of the present disclosure may further include a compensator 170. The compensator 170 may add a first compensation signal (i_comp) to the current signal (i_sig). For clear explanation, the sum of the current signal (i_sig) and the first compensation signal (i_comp) is referred to as a first compensation current signal (i_sig′). In this case, the signal input to the angle estimator 180 is the first compensation current signal. In an embodiment, the first compensation current signal or the current signal may be amplified and input to the angle estimator 180.

According to an embodiment of the present disclosure, the compensator 170 may change the signal input to the angle estimator 170 by adding the first compensation signal (i_comp) to the current signal (i_sig), and as a result, the convergence point of the angle estimator 170 may be changed.

The first compensation signal (i_comp) to which a predetermined torque command and a predetermined rotor position are applied may change the magnitude of the current signal (i_sig) without changing the waveform thereof.

In an embodiment, the first compensation signal (i_comp) may be determined as in Equation 6 below such that the angular error ({tilde over (θ)}_r) becomes 0 with respect to each torque command (T_e*) and each position (θ_r) of the rotor.

$\begin{array}{c}{i}_{\mathrm{comp}}?({}_{}^{}\end{array}$