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.