A motor driving apparatus comprising: an inverter to convert a direct current voltage into an alternating current voltage through a switching operation and to output the AC voltage to a motor; an output current detector to detect an output current flowing in the motor; and a controller to control the inverter, wherein a first current having a first flux current and a first torque current is supplied to the motor during a first period for alignment of the motor, and a second current having a second flux current and a second torque current is supplied to the motor during a second period for alignment of the motor, and wherein a stator resistance and inductance of the motor based on the first current and the second current is determined, wherein the first current, including the first flux current having a DC component and a high-frequency component based on a stationary coordinate system, and the first torque current, having a high-frequency component based on the stationary coordinate system is supplied to the motor during the first period, and the second current, including the second flux current having a DC component and a high-frequency component based on the stationary coordinate system, and a second torque current having a high-frequency component based on the stationary coordinate system is supplied to the motor during the second period, wherein the controller is configured to remove the high-frequency components from the first current and the second current, and to calculate the stator resistance of the motor using the DC components of the first current and the second current, wherein the controller is configured to remove the DC components from the first current and the second current, and to calculate the inductance of the motor using the high-frequency components of the first current and the second current. an inverter to convert a direct current voltage into an alternating current voltage through a switching operation and to output the AC voltage to a motor; an output current detector to detect an output current flowing in the motor; and a controller to control the inverter, wherein a first current having a first flux current and a first torque current is supplied to the motor during a first period for alignment of the motor, and a second current having a second flux current and a second torque current is supplied to the motor during a second period for alignment of the motor, and wherein a stator resistance and inductance of the motor based on the first current and the second current is determined, wherein the first current, including the first flux current having a DC component and a high-frequency component based on a stationary coordinate system, and the first torque current, having a high-frequency component based on the stationary coordinate system is supplied to the motor during the first period, and the second current, including the second flux current having a DC component and a high-frequency component based on the stationary coordinate system, and a second torque current having a high-frequency component based on the stationary coordinate system is supplied to the motor during the second period, wherein the controller is configured to remove the high-frequency components from the first current and the second current, and to calculate the stator resistance of the motor using the DC components of the first current and the second current, wherein the controller is configured to remove the DC components from the first current and the second current, and to calculate the inductance of the motor using the high-frequency components of the first current and the second current.