A motor driving apparatus, comprising: an inverter configured to convert DC power (Vdc) of a dc stage capacitor into AC power (va, vb, vc) by a switching operation and outputting the converted AC power to a motor; a dc stage resistance element (Rs) disposed between the dc stage capacitor and the inverter; and a control unit configured to control the inverter based on a phase current sampled through the dc stage resistance element (Rs), characterized in that the control unit is configured to control a frequency of the voltage applied to the motor or a rotating frequency of the motor to be the same as the switching frequency of the inverter, wherein when the motor is rotated once, one pulse is applied to the motor, wherein, according to an instantaneous torque control method, the control unit is configured to generate a switching control signal (Sic) for controlling the inverter based on a sampled phase current every sampling time and control the generated switching control signal (Sic) to be incorporated in a next control cycle, wherein the control unit comprises a current compensation unit configured to compensate for the sampled phase current, wherein the current compensation unit comprises: a first compensation unit configured to compensate for a sampling time of the sampled phase current; and a second compensation unit configured to compensate for a sampling value of the sampled phase current, wherein the control unit is configured to compensate for at least one of the sampling value and the sampling time of the sampled phase current and output the switching control signal (Sic) for control of the inverter based on the compensated sampling value or sampling time. an inverter configured to convert DC power (Vdc) of a dc stage capacitor into AC power (va, vb, vc) by a switching operation and outputting the converted AC power to a motor; a dc stage resistance element (Rs) disposed between the dc stage capacitor and the inverter; and a control unit configured to control the inverter based on a phase current sampled through the dc stage resistance element (Rs), characterized in that the control unit is configured to control a frequency of the voltage applied to the motor or a rotating frequency of the motor to be the same as the switching frequency of the inverter, wherein when the motor is rotated once, one pulse is applied to the motor, wherein, according to an instantaneous torque control method, the control unit is configured to generate a switching control signal (Sic) for controlling the inverter based on a sampled phase current every sampling time and control the generated switching control signal (Sic) to be incorporated in a next control cycle, wherein the control unit comprises a current compensation unit configured to compensate for the sampled phase current, wherein the current compensation unit comprises: a first compensation unit configured to compensate for a sampling time of the sampled phase current; and a second compensation unit configured to compensate for a sampling value of the sampled phase current, wherein the control unit is configured to compensate for at least one of the sampling value and the sampling time of the sampled phase current and output the switching control signal (Sic) for control of the inverter based on the compensated sampling value or sampling time. a first compensation unit configured to compensate for a sampling time of the sampled phase current; and a second compensation unit configured to compensate for a sampling value of the sampled phase current, wherein the control unit is configured to compensate for at least one of the sampling value and the sampling time of the sampled phase current and output the switching control signal (Sic) for control of the inverter based on the compensated sampling value or sampling time.