A motor control apparatus includes: an oscillation instruction unit outputting an oscillation instruction signal; a filter unit performing filtering processing having frequency characteristic defined by a filter parameter; an oscillation forcing unit configuring a control loop in an oscillation period together with the filter unit, a current control unit, a motor, and a velocity calculation unit and causing the control loop to oscillate during the oscillation period in which the oscillation instruction signal is in the on-state; an amplitude evaluation unit acquiring, as an evaluation value, the amplitude ratio of an input signal to an output signal of the oscillation forcing unit when the control loop oscillates; and a filter adjustment unit comparing evaluation values provided when filter parameter candidates are set in the filter unit sequentially, selecting one of the filter parameters achieving a smaller evaluation value, and setting the selected filter parameter in the filter unit.