Abstract: This improved signal discontinuity compensation method compensates for discontinuity in the relationship between motor position commands received by a motor driver, and motor current signals sent to a motor by the motor driver. A best fit approximation of the signal discontinuity is generated based on median data points which provides resistance to anomalous data points. The compensation is accomplished by adding an offset to specific motor position commands sent to the motor driver based on the best fit approximation. The offset command maximizes accuracy and control over motor motion by avoiding the motor driver's motor current signal discontinuity.