Seeing Equation 6 again, it may be found that the first compensation signal is expressed as a function of the torque command (T_e*) and the estimated angle ({circumflex over (θ)}_r). Thus, the motor control apparatus 100 according to an embodiment of the present disclosure may further include a reference table storing unit 175 for storing a corresponding relationship reference table of each torque command (T_e*) and each estimated angle ({circumflex over (θ)}_r) of the motor. The compensator 170 may generate the first compensation signal (i_comp) on the basis of the corresponding relationship reference table stored in the reference table storing unit 175 and the torque command (T_e*) and the estimated angle ({circumflex over (θ)}_r) presently input to the current controller 110.

Since the relationship of the torque command according to the position of the rotor may be different for individual motors, the corresponding relationship of the torque command and the estimated angle for individual motors at which the angular error becomes 0 and each value (the torque command value and the estimated angle value) may be calculated through a motor test and stored in advance. That is, the first compensation signal for individual motors may be prepared in advance and used for motor control.

FIG. 8 is a block diagram showing a motor control apparatus 100 according to an embodiment of the present disclosure.