The vibration and noise generated in a permanent magnet synchronous motor are effectively suppressed. A motor control device 1 comprises: a triangular wave generation unit 17 which generates a triangular wave signal Tr that is a carrier wave, a carrier frequency adjustment unit 16 which adjusts a carrier frequency fc that represents a frequency of the triangular wave signal Tr, and a gate signal generation unit 18 which performs pulse-width modulation on three-phase voltage commands Vu*, Vv*, Vw* according to a torque command T* using the triangular wave signal Tr, thereby generating a gate signal for controlling an operation of an inverter. The carrier frequency adjustment unit 16 adjusts the carrier frequency fc so as to change a voltage phase error Δθv representing a phase difference of the three-phase voltage commands Vu*, Vv*, Vw* and the triangular wave signal Tr based on the torque command T*, and a rotation speed ωr of a motor.