1. A method for generating torque commands, comprising: setting a threshold increase rate and a threshold decrease rate of an initial torque command according to performance of a torque source; comparing an increase rate of the initial torque command with the threshold increase rate, while generating a final torque command based on the initial torque command; determining a first time at which the increase rate of the initial torque command reaches the threshold increase rate, and generating the final torque command which increases according to the threshold increase rate after the first time, when the increase rate of the initial torque command is greater than the threshold increase rate; determining a second time at which the final torque command reaches the initial torque command, and calculating a torque loss amount between the first time and the second time, when the final torque command reaches the initial torque command after the first time; and generating the final torque command for correcting the torque loss amount after the second time.