A motor apparatus comprises a permanent magnet synchronous motor circuit having a plurality of lanes, each lane comprising a plurality of unbalanced phases. A current demand circuit which receives a torque demand signal having a value equal to the torque that is to be generated by the motor apparatus and generates a respective current demand signal for each lane indicative of the current to be applied to each phase of the lane to achieve the demanded torque. A first drive circuit and a second drive circuit each comprise a plurality of switches which selectively connect the phases of a respective one of the plurality of lanes to a supply such that PWM modulated currents flow in each of the phases that correspond to the demanded current. The current demand circuit is adapted to modify one or both of the current demand signals such that one or both lanes additionally generate a set of radial forces that are applied to the rotor of the motor that do not net to zero.