The motor control method comprises the steps of obtaining at least one measured torque angle and two estimated torque angles, and combining two torque angles for a set of at least one measured torque angle and two estimated torque angles. Determining the motor control mode from among a plurality of control modes having a sensor mode, a sensorless mode and a shutdown mode, determining all combinations and performing an operation to determine an error for each combination; The selection is made by referring to a table representing a relationship between a plurality of control modes and a plurality of reference patterns regarding the calculated error group, and controlling the motor according to the selected control mode. Includes.
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