MOTOR CONTROL DEVICE AND ELECTRIC BRAKE DEVICE INCLUDING THE SAME

An object of the present invention is to provide a motor control device capable of estimating a delay with high accuracy even in a case where there is a fluctuation in disturbance torque or delay time and of suppressing the influence of the delay. For this end, the present invention includes a motor MTR, an ECU that controls the rotation of the motor MTR, and an ECU that sends a torque command to the ECU based on a command value. The ECU includes a disturbance estimation block and a delay estimation block . The disturbance estimation block estimates disturbance torque (τd) using a torque command input to the ECU and a feedback value of the motor MTR. The delay estimation block estimates a delay using a torque command output from the ECU , the feedback value of the motor MTR, and the disturbance torque (τd).