Compared with traditional space vector modulation, discontinuous PWM modulation can reduce switching times and losses and improve conversion efficiency. However, the dead-time effect and tube volage drop can cause phase voltage errors in the induction motor, increase harmonic distortion of stator current, reduce accuracy of rotor flux observer, and the traditional voltage error compensation method based on duty cycle is not suitable for discontinuous PWM modulation. In this paper, the loss and voltage error of DPWMMIN are studied. First, the conduction loss and switching loss are analyzed and calculated, and then the three phase-voltage of different sectors is deduced taking into account switching delay, dead time and tube voltage drop. The voltage error is deduced. From this an average voltage feedforward compensation strategy for DPWMMIN modulation is proposed. Finally, the simulation and experimental results show that the compensation strategy can effectively reduce the torque ripple and harmonic distortion of stator current and voltage, and increase the accuracy of the rotor flux observer. This proves the feasibility and correctness of the theoretical analysis and compensation strategy. This work is supported by the National Natural Science Foundation of China (No. 51507055).