The present invention is aimed at provision of a control apparatus for and a control method of controlling a motor for a vehicle driven by a driving circuit that operates according to a pulse width modulation (PWM) signal. Measurement of a duty of an output signal from the driving circuit is executed, and a difference between the measured duty and a target duty in a PWM control is then obtained to further execute setting of a correction value for correcting the target duty based on the above difference and to generate the PWM signal based on the corrected target duty.