Motor control device, motor control method, steering system, and vehicle drive system

A motor control device includes: an inverter circuit that drives a motor; and a control unit that generates a current command value on the basis of a torque command to the motor, and outputs a PWM pulse to the inverter circuit on the basis of the current command value to control the inverter circuit, and the control unit sets a phase shift amount of a carrier wave of the PWM pulse, estimates a fluctuating torque according to the phase shift amount, and corrects the current command value on the basis of the fluctuating torque.