Motor controller

A controller (1) for a brushless motor (4) that suppresses torque reduction resulting from the influence of motor inductance (L) and suppresses the generation of invalid current. A phase advancing angle calculator (35) calculates a delay angle (ϕ) of phases of phase currents with respect to the phases of the phase voltage command and a phase advancing angle (Φ) corresponding to the delay angle based on the function (ϕ=tan-1(ω•L/R)) of the angular velocity (ω) and the motor inductance (L) (and armature winding resistance R) of the brushless motor. An adder (36) adds the phase advancing angle to the rotation angle (θ) provided from the rotation angle calculator to generate the corrected rotation angle (θ'). The adder further provides the corrected rotation angle to a two-phase/three-phase converter (21).