A permanent-magnet type rotating electrical machine, including a rotor including a plurality of magnetic poles arranged at an equal interval, and a stator including a plurality of teeth and a plurality of armature windings. A high frequency voltage different in frequency and amplitude from voltages for generating a torque is applied to the armature windings. A magnetic pole position of the rotor is estimated by using a current trajectory of a measured high frequency current. When dq transform is applied to the measured high frequency current, a current trajectory forms an ellipse on d and q axes. Angular variation ranges of a major axis of the ellipse with respect to a load current and a rotor position are set so as to acquire a predetermined position estimation resolution.