A control apparatus for controlling a motor includes: a command unit for generating a command signal including a running command signal and a stopping command signal; a rotation sensor for generating an AC signal having a period corresponding to a rotational speed of the motor; a speed detector for detecting a rotational speed of the motor from the AC signal generated by the rotation sensor; a compensator for generating a control signal for controlling the motor, and a driver for driving the motor in response to the control signal generated by the compensator. The compensator includes: a time measuring unit for generating a detection timing signal at predetermined time intervals when the detected signal from the speed detector is not inputted; a control signal renewal unit for changing the control signal by a predetermined amount in response to the detection timing signal of the time measuring unit to generate a new control signal; a memory for storing a value in response to the control signal from the control signal renewal unit as a memory value; a rotation error generator for generating a rotation error in response to the detected signal from the speed detector, and a control signal generator for generating the control signal by adding the memory value stored in the memory to the rotation error as an adding signal, and if the detected signal from the speed detector is not inputted, the control signal is changed in a step-by-step manner by the time measuring unit and the control signal renewal unit.