Abstract: A regenerative braking control apparatus for use with a motor driven by a D.C. power source. In response to a series of operating parameters, the control apparatus causes the motor to transition between a drive mode, a transient mode, a regulated current regenerative braking mode, and a constant PWM regenerative braking mode. In particular, the motor enters the drive mode in response to a request for an increase in speed, the motor enters the transient mode in response to a request for a decrease in speed, the motor enters the regulated current regenerative braking mode in response to a lapse of a predetermined time delay or in response to a request for a reduction in the magnitude of the previously requested decrease in speed, and the motor enters the PWM regenerative braking mode in response to a request to continue braking when the requested braking torque cannot be maintained.