A motor driving apparatus comprising: an inverter configured to drive a motor using an alternating current voltage; and a control unit configured to control an operation of a switching element included in the inverter, wherein the control unit is configured to: generate one of first and second compensation values which differ from each other according to an instruction velocity (ωr) corresponding to an input target instruction value; characterised in that the control unit is further configured to compensate an output voltage instruction value vector (V_ref) used in controlling of the inverter using one of the first and second compensation values when the output voltage instruction value vector exceeds a predetermined space vector region; and output a PWM signal controlling the operation of the switch elements of the inverter, based on the compensated output voltage instruction value vector, wherein the control unit is configured to operate in one of a first mode and a second mode which differ from each other according to the instruction velocity corresponding to the input target instruction value, wherein in the first mode when the instruction velocity (ωr) is less than or equal to a predetermined velocity reference value (ωr_limit; S120), the first compensation value for reducing a size of the output voltage instruction value vector while maintaining a phase of the output voltage instruction value vector is generated, and wherein in the second mode when the instruction velocity (ωr) is greater than the predetermined velocity reference value (ωr_limit; S120), the second compensation value for compensating the output voltage instruction value vector with a minimum distance point between the output voltage instruction value vector and the space vector region is generated. an inverter configured to drive a motor using an alternating current voltage; and a control unit configured to control an operation of a switching element included in the inverter, wherein the control unit is configured to: generate one of first and second compensation values which differ from each other according to an instruction velocity (ωr) corresponding to an input target instruction value; characterised in that the control unit is further configured to compensate an output voltage instruction value vector (V_ref) used in controlling of the inverter using one of the first and second compensation values when the output voltage instruction value vector exceeds a predetermined space vector region; and output a PWM signal controlling the operation of the switch elements of the inverter, based on the compensated output voltage instruction value vector, wherein the control unit is configured to operate in one of a first mode and a second mode which differ from each other according to the instruction velocity corresponding to the input target instruction value, wherein in the first mode when the instruction velocity (ωr) is less than or equal to a predetermined velocity reference value (ωr_limit; S120), the first compensation value for reducing a size of the output voltage instruction value vector while maintaining a phase of the output voltage instruction value vector is generated, and wherein in the second mode when the instruction velocity (ωr) is greater than the predetermined velocity reference value (ωr_limit; S120), the second compensation value for compensating the output voltage instruction value vector with a minimum distance point between the output voltage instruction value vector and the space vector region is generated. wherein the control unit is configured to operate in one of a first mode and a second mode which differ from each other according to the instruction velocity corresponding to the input target instruction value, wherein in the first mode when the instruction velocity (ωr) is less than or equal to a predetermined velocity reference value (ωr_limit; S120), the first compensation value for reducing a size of the output voltage instruction value vector while maintaining a phase of the output voltage instruction value vector is generated, and wherein in the second mode when the instruction velocity (ωr) is greater than the predetermined velocity reference value (ωr_limit; S120), the second compensation value for compensating the output voltage instruction value vector with a minimum distance point between the output voltage instruction value vector and the space vector region is generated.