A motor driving apparatus includes an inverter to convert a direct current (DC) voltage into an alternating current (AC) voltage through a switching operation and to output the AC voltage to a motor, an output current detector to detect an output current flowing in the motor, and a controller to control the inverter, wherein, at the time of starting the motor, the controller controls a first current, including a DC component and a high-frequency component, to be supplied to the motor during a first period for alignment of the motor, and controls a second current, including a DC component and a high-frequency component, to be supplied to the motor during a second period for alignment of the motor, and the controller calculates the stator resistance and inductance of the motor based on the first current and the second current. Consequently, it is possible to easily calculate the stator resistance and inductance of the motor during the alignment of the motor.