A motor control device includes a feedback filter that has filter characteristics that a frequency response gain is substantially one at frequencies equal to or lower than a filter cutoff frequency, a frequency response gain decreases with increase in frequency in a range from the filter cutoff frequency ωfL to a filter upper limit frequency ωfH higher than the filter cutoff frequency ωfL, and a frequency response gain is substantially constant at frequencies equal to or higher than the filter upper limit frequency ωfH, and performs computing to apply the filter characteristics to a feedback transfer function, wherein a control-constant set unit sets a speed gain Kv and at least one of the filter cutoff frequency ωfL and the filter upper limit frequency ωfH to reduce a ratio of the filter upper limit frequency ωfH to the filter cutoff frequency ωfL with increase in the speed gain Kv.