A control apparatus for controlling a motor performing pressure control includes circuitry which calculates a detected speed of a motor based on an input pressure command, sensor reaction force, movable part viscous damping force and movable part mass, outputs the detected speed, calculates the movable part viscous damping force by multiplying the detected speed by a movable part viscous damping coefficient to calculate the detected speed, calculates a detected position of the motor by integrating the detected speed, outputs the detected position, calculates a sensor viscous damping pressure by multiplying the detected speed by a sensor viscous damping coefficient, calculates a sensor spring pressure by multiplying the detected position by a sensor spring constant, calculates a detected pressure of a pressure sensor by adding the sensor spring pressure to the sensor viscous damping pressure, and outputs the sensor reaction force which is the detected pressure to calculate the detected speed.