This disclosure discloses a motor control apparatus including a current conversion part, a voltage control part, a current detection part, and a current estimation part. The current conversion part generates a voltage command on the basis of a current deviation between a current command and an estimated current. The voltage control part controls an output voltage to a motor. The current detection part detects a motor current. The current estimation part inputs the detected motor current and the voltage command and outputs the motor current in which an influence by a disturbance has been compensated for as the estimated current.