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In this paper, the fail-operation algorithm is proposed in order to maintain the steering assist even when motor position sensor failure occurs at MDPS(Motor Driven Power Steering)System. Although there are various kinds of motor position sensors, this paper covers only about sensor that composed of the hall and encoder signal. Conventional method for detecting failure mode of the motor position sensor is that using an angle deviation between the two sensor signals and then the motor drives stop when fault detection. The reason stop the motor is that unable to detect failure with only other normal sensor. So this paper proposed a method for detecting a fault each sensor. Through this proposed algorithm, the motor is able to continue its operation using a normal sensor. Experimental results are presented to verify feasibility of the proposed fail-operation algorithm.