A rotational speed command output unit receives and outputs a command value of a motor rotational speed inputted from outside. A PWM duty calculator calculates a PWM duty based on the command value and an actual rotational speed of a motor. A maximum speed estimator estimates, based on the actual rotational speed measured, a parameter representing a controlled state of the motor, a current PWM duty and a predetermined upper limit of the PWM duty, a maximum rotational speed of the motor to be reached under PWM control with the upper limit of the PWM duty. The command value inputted from outside is restricted not to exceed the maximum rotational speed. In this way, when a motor is PWM-controlled, abrupt changes in the rotational speed of the motor due to supply voltage fluctuations can be suppressed.