To provide methods of controlling a hybrid vehicle and a motor which improve a control efficiency of a total system by making a first motor/generator quickly reach a target speed for preventing occurrence of vibrations.

The methods of controlling the hybrid vehicle including an internal combustion engine and a first motor/generator unit for assisting rotation of the internal combustion engine, and the motor, include the steps of: calculating a target speed of the first motor/generator based on output speed of the internal combustion engine; calculating an error speed between a current speed and the target speed of the first motor/generator; applying a correction value to the error speed; and calculating a target torque of the first motor/generator by applying a proportional gain (P gain) and an integration gain (I gain) to the corrected error speed to which the correction value is applied.