A motor control apparatus includes an error calculation unit which calculates an error between a position of a movable unit and a position of a driven unit, a memory unit which memorizes the error in association with a torque command value as an initial error, and a compensation amountcompensation amount calculation unit which calculates a compensation amountcompensation amount for compensating an elastic deformation amount of an elastic factor between the movable unit and the driven unit. The compensation amountcompensation amount calculation unit calculates the compensation amountcompensation amount based on the initial error held by the memory unit, the torque command value held in association with the initial error, and a torque command value calculated by a torque command calculation unit when a motor rotates reversely.

The present invention relates to a vehicle monitoring system for improving the maintenance of equipment, in particular vehicles. One embodiment relates to of a monitoring system for attachment to a craft/vehicle and for monitoring the condition of said vehicle, comprising at least one inertial measurement unit configured to measure the triple-axis proper acceleration, velocity and angular orientation of the chassis of the vehicle sampled over a time period, at least one GPS receiver for measuring the location of the vehicle, a computer comprising memory and a processing unit configured for executing any of the methods described herein for assessing the condition of said vehicle.