A low-frequency torque controller 9 outputs a low-frequency torque controller output τdc* based on a torque command value τ* and a torque detection value τdet, and a vibrational torque controller 11 outputs a vibrational torque command value τpd* based on the torque command value τ*, the torque detection value τdet, and a rotational phase detection value θ. Meanwhile, in a high-frequency resonance suppression controller, an inverter torque command value τinv* is outputted based on the torque detection value τdet and a corrected torque command value τr* obtained by adding the low-frequency torque controller output τdc* to the vibrational torque command value τpd*. The invention thus provides shaft torque vibrational control of a motor drive system wherein engine vibrational torque command values including distortion components are tracked while entirely removing the influence of resonance, non-periodic disturbances, and periodic disturbances.