A motor control system for wear compensation between a disc and a pad in an electromechanical brake is disclosed. The system includes a switching unit configured to select a force control loop when a state of the electronic pedal is an applied state and select a velocity control loop when the state of the electronic pedal is a released state, an angular displacement amount calculation unit configured to calculate an angular displacement amount for reverse rotation of a motor for the wear compensation using a clamping force measured by a clamping force sensor of the force control loop when the velocity control loop is selected, and an angular velocity profile generation unit configured to generate an angular velocity profile having an area of the calculated angular displacement amount, generate an angular velocity command value at every sampling time from the generated angular velocity profile, and apply the generated value to the velocity control loop.
