Control apparatus for driving motor

A control apparatus for a driving motor, comprising:

• a clock unit configured to generate a clock signal;
• a timer unit configured to count the clock signal as a first count value and measure time using the first count value;
• a main controller configured to periodically perform a main process using the time measured by the timer unit and to control the driving motor;
• a sub-processor configured to perform each sub-process;
• a time predictor configured to count the clock signal as a second count value when the control apparatus detect a first event relating to the timer unit, to stop counting the clock signal when any sub-process is performed by the sub-processor, and to predict time using the second count value;
• and
• a processing time storage unit configured to correlate each sub-process to a specified processing time of the sub-process and to store the correlation as a processing time list, wherein
• when the control apparatus detects the first event, the main controller periodically performs the main process by using the time predicted by the time predictor, and
• the time predictor predicts the time using a time corresponding to the second count value and a specified processing time of a sub-process performed by the sub-processor in the processing time list.